Transceiver module and assembly method, device, laser radar, and movable platform

Abstract

The present application provides a transceiver module and its assembly method, equipment, laser radar, and movable platform. The transceiver module assembly equipment includes a transceiver module adjustment fixture, a receiving board focusing system, and a transmitting board focusing and optical axis adjustment system. The transceiver module adjustment fixture is used to fix the transceiver module and adjust the relative position of the receiving board and / or transmitting board with the transceiver module bracket; the transceiver module adjustment fixture is used to access the receiving board focusing system, and adjust the relative position of the receiving board and the transceiver module bracket based on the imaging quality of the first light on the receiving board; the transceiver module adjustment fixture is also used to access the transmitting board focusing and optical axis adjustment system, and adjust the relative position of the transmitting board and the transceiver module bracket based on the imaging quality of the second light, and adjust the optical axis of the transceiver module based on the imaging quality of the third light on the receiving board. The present application can reduce the equipment and procedures required for the assembly process of the transceiver module, which is conducive to reducing the assembly cost of the transceiver module.

Description

Technical Field

[0001] The present application relates to laser radar assembly technology, and in particular to a transceiver module and its assembly method, equipment, laser radar, and movable platform. Background Art

[0002] The transceiver module of the LiDAR is the core component of the LiDAR, responsible for the emission and reception of lasers. Its performance directly determines key indicators of the LiDAR, such as ranging accuracy, detection distance and imaging quality.

[0003] During the assembly process, the transceiver module needs to perform the steps of transmitting focus, receiving focus and optical axis adjustment. In the solution of the related technology, it is necessary to perform the transmitting focus and receiving focus of the transceiver module separately, and then adjust the optical axis. The assembly process requires more equipment and processes, and the cost is high. Summary of the invention

[0004] In order to overcome the above-mentioned defects of the related art, the purpose of the present application is to provide a transceiver module and its assembly method, equipment, laser radar, and movable platform. The present application is conducive to reducing the equipment and processes required for the assembly process of the transceiver module, and is conducive to reducing the assembly cost of the transceiver module.

[0005] On the one hand, the present application provides a transceiver module assembly device, including:

[0006] A transceiver module adjustment jig, the transceiver module adjustment jig is used to fix the transceiver module, the transceiver module includes a transceiver module bracket, a receiving board and a transmitting board, the transceiver module bracket is provided with a receiving lens assembly and a transmitting lens assembly, the receiving lens assembly is adapted to the receiving board, and the transmitting lens assembly is adapted to the transmitting board; the transceiver module adjustment jig is also used to adjust the relative position of the receiving board and / or the transmitting board and the transceiver module bracket;

[0007] A receiving board focusing system, wherein the transceiver module adjustment fixture is used to connect the transceiver module to the receiving board focusing system, the receiving board focusing system can emit a first light to the receiving board, and the transceiver module adjustment fixture adjusts the relative position of the receiving board and the transceiver module bracket based on the imaging quality of the first light on the receiving board;

[0008] The transmitting board focusing and optical axis adjustment system, the transceiver module adjustment fixture is also used to connect the transceiver module to the transmitting board focusing and optical axis adjustment system, the transmitting board focusing and optical axis adjustment system can receive the second light emitted by the transmitting board and reflect the third light to the receiving board; the transceiver module adjustment fixture adjusts the relative position of the transmitting board and the transceiver module bracket based on the imaging quality of the second light; the transceiver module adjustment fixture adjusts the optical axis of the transceiver module based on the imaging quality of the third light on the receiving board.

[0009] In a possible implementation, the receiving plate focusing system includes a light source, a reflector and a teleconverter, the teleconverter is arranged between the light source and the reflector, and the transceiver module adjustment fixture is used to be arranged on the reflection light path of the reflector;

[0010] The light source is used to emit the first light, and the first light is received by the receiving plate after passing through the teleconverter and the reflector in sequence; the transceiver module adjustment fixture adjusts the position and deflection angle of the receiving plate in three-dimensional space based on the imaging quality of the first light on the receiving plate.

[0011] In a possible implementation, the transmitting plate focusing and optical axis adjustment system includes a beam splitter, an attenuation plate, a cemented lens, a filter, a camera and a diffuse reflection plate, wherein the camera and the diffuse reflection plate are respectively arranged on the first side and the second side of the beam splitter, and the attenuation plate, the cemented lens and the filter are sequentially arranged between the beam splitter and the camera; the transceiver module adjustment fixture is used to be arranged on the third side of the beam splitter, and the transceiver module adjustment fixture and the camera are located in the same direction;

[0012] The transmitting plate is used to emit transmitting light, and part of the transmitting light passes through the beam splitter, attenuation plate, cemented lens and filter in sequence to form the second light to be received by the camera; the transceiver module adjustment fixture adjusts the position and deflection angle of the transmitting plate in three-dimensional space based on the imaging quality of the second light on the camera;

[0013] Another part of the emitted light is reflected by the beam splitter to the diffuse reflection plate, and is reflected by the diffuse reflection plate to form the third light, and the third light is reflected by the beam splitter and received by the receiving plate; the transceiver module adjustment fixture adjusts the position of the transmitting plate in the horizontal plane and the deflection angle in the three-dimensional space based on the imaging quality of the third light on the receiving plate.

[0014] In a possible implementation, the transceiver module adjustment fixture includes a bracket fixing device and an adjustment device, the bracket fixing device is used to fix the transceiver module bracket, and the adjustment device is used to fix and adjust the relative position of the receiving board and / or transmitting board and the transceiver module bracket.

[0015] On the other hand, the present application provides a transceiver module assembly method, comprising:

[0016] Fixing the transceiver module bracket and the receiving board, and connecting the fixed transceiver module bracket and the receiving board to the receiving board focusing system;

[0017] The receiving plate focusing system emits a first light beam, and adjusts the relative position of the receiving plate and the transceiver module bracket based on the imaging quality of the first light beam on the receiving plate;

[0018] Fix the transceiver module bracket and the transmitting board, and connect the fixed transceiver module bracket and the transmitting board to the transmitting board focusing and optical axis adjustment system;

[0019] The transmitting plate focusing and optical axis adjustment system receives the second light emitted by the transmitting plate, and adjusts the relative position of the transmitting plate and the transceiver module bracket based on the imaging quality of the second light;

[0020] The transmitting plate focusing and optical axis adjustment system further reflects the third light to the receiving plate, and adjusts the optical axis of the transceiver module based on the imaging quality of the third light on the receiving plate.

[0021] In a possible implementation, the receiving plate focusing system includes a light source, a reflector and a teleconverter, the teleconverter is arranged between the light source and the reflector, and the transceiver module adjustment fixture is used to be arranged on the reflection light path of the reflector;

[0022] The receiving and focusing system emits a first light beam, and adjusts the relative position of the receiving plate and the transceiver module bracket based on the position of the first light beam, including:

[0023] The light source emits the first light, and the first light passes through the teleconverter and the reflector in sequence and is received by the receiving plate;

[0024] The position and deflection angle of the receiving plate in three-dimensional space are adjusted based on the imaging quality of the first light on the receiving plate.

[0025] In a possible implementation, the transmitting plate focusing and optical axis adjustment system includes a beam splitter, an attenuation plate, a cemented lens, a filter, a camera and a diffuse reflection plate, wherein the camera and the diffuse reflection plate are respectively arranged on the first side and the second side of the beam splitter, and the attenuation plate, the cemented lens and the filter are sequentially arranged between the beam splitter and the camera; the transceiver module adjustment fixture is used to be arranged on the third side of the beam splitter, and the transceiver module adjustment fixture and the camera are located in the same direction;

[0026] The launch plate focusing and optical axis adjustment system receives the second light emitted by the launch plate, and adjusts the relative position of the launch plate and the transceiver module bracket based on the position of the second light, including:

[0027] The transmitting plate emits an emission light, and part of the emission light passes through the beam splitter, the attenuation plate, the cemented lens and the filter in sequence to form the second light which is received by the camera;

[0028] The position and deflection angle of the transmitting plate in three-dimensional space are adjusted based on the imaging quality of the second light on the receiving plate.

[0029] In a possible implementation, the transmitting board focusing and optical axis adjustment system further reflects the third light to the receiving board, and adjusts the optical axis of the transceiver module based on the imaging quality of the third light on the receiving board, including:

[0030] Another part of the emitted light is reflected by the beam splitter to the diffuse reflection plate, and is reflected by the diffuse reflection plate to form the third light, and the third light is further reflected by the beam splitter and is received by the receiving plate;

[0031] The position of the transmitting plate in the horizontal plane and the deflection angle in the three-dimensional space are adjusted based on the imaging quality of the third light on the receiving plate.

[0032] On the other hand, the present application provides a transceiver module, which is assembled using any of the transceiver module assembly devices described above, or any of the transceiver module assembly methods described above; the transceiver module includes a transceiver module bracket, a receiving board and a transmitting board, the transceiver module bracket is provided with a receiving lens assembly and a transmitting lens assembly, the transceiver module bracket is also provided with a plurality of fixing columns, the receiving board is fixedly connected to some of the fixing columns and corresponds to the receiving lens assembly, and the transmitting board is fixedly connected to another part of the fixing columns and corresponds to the transmitting lens assembly.

[0033] On the other hand, the present application provides a laser radar, including the transceiver module as described above.

[0034] On the other hand, the present application provides a movable platform, comprising the laser radar as described above.

[0035] The present application provides a transceiver module and its assembly method, equipment, laser radar, movable platform, transceiver module assembly equipment, including a transceiver module adjustment fixture, a receiving board focusing system and a transmitting board focusing and optical axis adjustment system, the transceiver module adjustment fixture is used to fix the transceiver module, the transceiver module includes a transceiver module bracket, a receiving board and a transmitting board, the transceiver module bracket is provided with a receiving lens assembly and a transmitting lens assembly, the receiving lens assembly is adapted to the receiving board, and the transmitting lens assembly is adapted to the transmitting board; the transceiver module adjustment fixture is also used to adjust the relative position of the receiving board and / or the transmitting board and the transceiver module bracket; the transceiver module adjustment fixture is used to fix the transceiver module. The group is connected to the receiving board focusing system, the receiving board focusing system can emit a first light to the receiving board, and the transceiver module adjustment fixture adjusts the relative position of the receiving board and the transceiver module bracket based on the imaging quality of the first light on the receiving board; the transceiver module adjustment fixture is also used to connect the transceiver module to the transmitting board focusing and optical axis adjustment system, the transmitting board focusing and optical axis adjustment system can receive the second light emitted by the transmitting board and reflect the third light to the receiving board; the transceiver module adjustment fixture adjusts the relative position of the transmitting board and the transceiver module bracket based on the imaging quality of the second light; the transceiver module adjustment fixture adjusts the optical axis of the transceiver module based on the imaging quality of the third light on the receiving board. The present application completes the transmitting board focusing and the transceiver module optical axis adjustment at one time through the transmitting board focusing and optical axis adjustment system, thereby reducing the equipment and procedures required for the transceiver module assembly process, which is conducive to reducing the assembly cost of the transceiver module. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the following is a brief introduction to the drawings required for use in the embodiments or the related technical descriptions. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 A simplified structural diagram of a transceiver module assembly device provided in one embodiment of the present application;

[0038] Figure 2 A simplified structural diagram of a transceiver module adjustment fixture provided in one embodiment of the present application;

[0039] Figure 3 A simplified structural diagram of a receiving plate focusing system provided in one embodiment of the present application;

[0040] Figure 4 A schematic diagram of a transceiver module adjustment jig provided in an embodiment of the present application adjusting a receiving board;

[0041] Figure 5A schematic diagram of a gluing process for a receiving plate provided in an embodiment of the present application;

[0042] Figure 6 A simplified structural diagram of a transmitter focusing and optical axis adjustment system provided in one embodiment of the present application;

[0043] Figure 7 A schematic diagram of a transceiver module adjustment fixture provided in an embodiment of the present application when adjusting a transmitting board;

[0044] Figure 8 A schematic diagram of a gluing process for a launch plate provided in an embodiment of the present application;

[0045] Fig. 9 A simplified structural diagram of a transceiver module provided in an embodiment of the present application at a first viewing angle;

[0046] Fig.10 A simplified structural diagram of a transceiver module provided in an embodiment of the present application at a second viewing angle;

[0047] Fig.11 A flowchart of a transceiver module assembly method provided in one embodiment of the present application.

[0048] Reference numerals:

[0049] 100-transceiver module adjustment fixture; 110-bracket fixing device; 111-clamping member; 112-positioning pin; 120-adjusting device; 121-clamping claw; 122-driving mechanism;

[0050] 200-receiving board focusing system; 210-light source; 220-reflector; 230-teleconverter;

[0051] 300-emitter focusing and optical axis adjustment system; 310-beam splitter; 320-attenuation plate; 330-cemented lens; 340-filter; 350-camera; 360-diffuse reflection plate;

[0052] 1000-transceiver module; 1100-transceiver module bracket; 1110-fixing column; 1200-receiving board; 1300-transmitting board; 1400-receiving lens assembly; 1500-transmitting lens assembly; 1600-first glue dispensing position; 1700-second glue dispensing position; 1800-fixing hole. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0054] Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0055] As described in the background technology, in the scheme of the related technology, three process steps, namely, transmitting focus, receiving focus and optical axis adjustment, are required in the assembly process of the transceiver module, so three corresponding stations need to be set. Specifically, the transmitting focus is performed at the corresponding transmitting focus station, and the relative position of the transmitting plate and the transmitting lens assembly is adjusted by the transmitting focusing device. After the adjustment, the two are fixed to the transmitting bracket, for example, they can be fixed to the transmitting bracket by gluing. The receiving focus is performed at the corresponding receiving focus station, and the relative position of the receiving plate and the receiving lens assembly is adjusted by the receiving focusing device. After the adjustment, the two are fixed to the receiving bracket, for example, they can be fixed to the receiving bracket by gluing. The optical axis adjustment is performed at the corresponding optical axis adjustment station, and the relative position of the transmitting bracket and the receiving bracket is adjusted by the optical axis adjustment device. After the adjustment, the transmitting bracket and the receiving bracket are relatively fixed by the connecting piece, for example, they can be fixed to the connecting piece by gluing. Finally, the connecting piece is fixed to the bottom shell of the device to complete the assembly.

[0056] In the solution of the related art, three assembly steps are required in the assembly process of the transceiver module, so three special workstations and equipment are needed, and the equipment cost and labor cost are both high.

[0057] In addition, the above process requires three gluing processes to connect, which increases the failure probability of the transceiver module and has low reliability.

[0058] In view of this, the embodiments of the present application aim to provide a transceiver module and its assembly method, equipment, laser radar, and movable platform, which complete the transmitter plate focusing and transceiver module optical axis adjustment at one time through the transmitter plate focusing and optical axis adjustment system, thereby reducing the equipment and procedures required for the assembly process of the transceiver module, which is beneficial to reducing the assembly cost of the transceiver module; in addition, it also reduces the number of gluing times, which is beneficial to reducing the failure rate of the transceiver module and improving reliability.

[0059] The contents of the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings so that those skilled in the art can understand the contents of the present application in more detail.

[0060] Please refer to Figure 1-Figure 10 This embodiment provides a transceiver module assembly device, including:

[0061] The transceiver module adjustment fixture 100 is used to fix the transceiver module 1000. For example, Figure 2As shown, the transceiver module adjustment fixture 100 includes a bracket fixing device 110, which is used to fix the transceiver module bracket 1100. The bracket fixing device 110 may include, for example, a plurality of clamping members 111 and a plurality of positioning pins 112 (three clamping members 111 and three positioning pins 112 are shown in the figure), and the plurality of clamping members 111 and the plurality of positioning pins 112 correspond to each other one by one; the plurality of positioning pins 112 may be inserted into the corresponding fixing holes 1800 on the transceiver module bracket 1100, and the plurality of clamping members 111 may clamp the transceiver module bracket 1100 in different directions, thereby fixing the position of the transceiver module bracket 1100. Fig. 9 and Fig.10 As shown, the transceiver module 1000 includes a transceiver module bracket 1100, a receiving board 1200 and a transmitting board 1300. The transceiver module bracket 1100 is also provided with a receiving lens assembly 1400 and a transmitting lens assembly 1500. Exemplarily, the receiving lens assembly 1400 can be fixed to the transceiver module bracket 1100 by threaded connection and bonding; the transceiver module bracket 1100 is provided with a mounting groove, and the transmitting lens assembly 1500 is arranged in the mounting groove and fixedly connected to the transceiver module bracket 1100 by bonding. It can be understood that the transceiver module bracket 1100, the receiving lens assembly 1400 and the transmitting lens assembly 1500 are fixedly connected as a whole, and are moved and used as a whole in the subsequent process. In the transceiver module 1000, the receiving lens assembly 1400 is adapted to the receiving board 1200, and the transmitting lens assembly 1500 is adapted to the transmitting board 1300. The transceiver module adjustment fixture 100 is also used to adjust the relative position of the receiving plate 1200 and / or the transmitting plate 1300 and the transceiver module bracket 1100, so as to achieve the transmission focus, receiving focus and optical axis adjustment of the transceiver module 1000; that is, in this embodiment, the transmission focus, receiving focus and optical axis adjustment of the transceiver module 1000 are achieved by moving the receiving plate 1200 and the transmitting plate 1300. For example, please continue to refer to Figure 2 The transceiver module adjustment fixture 100 also includes an adjustment device 120, which is used to fix and adjust the relative position of the receiving plate 1200 and / or the transmitting plate 1300 and the transceiver module bracket 1100; illustratively, the adjustment device 120 may include a clamp 121 and a driving mechanism 122, the clamp 121 is used to clamp the receiving plate 1200 or the transmitting plate 1300, and the driving mechanism 122 can drive the clamp 121 to move or deflect in a three-dimensional space, thereby adjusting the relative position of the receiving plate 1200 or the transmitting plate 1300 and the transceiver module bracket 1100.

[0062] Receiving plate focusing system 200, such as Figure 1 As shown by the dotted line on the left, the transceiver module adjustment fixture 100 is used to connect the transceiver module 1000 to the receiving board focus system 200. Figure 3As shown, the receiving plate focusing system 200 can emit the first light S1 to the receiving plate 1200, and the transceiver module adjustment fixture 100 adjusts the relative position of the receiving plate 1200 and the transceiver module bracket 1100 based on the imaging quality of the first light S1 on the receiving plate 1200. Exemplarily, the transceiver module adjustment fixture 100 can adjust the relative position of the receiving plate 1200 and the transceiver module bracket 1100 based on the calculation result of the imaging quality of the first light S1 on the receiving plate 1200 by the host computer, until the center of the imaging of the first light S1 on the receiving plate 1200 is the clearest. After adjusting the position, the receiving plate 1200 and the transceiver module bracket 1100 can be bonded together by an adhesive process using a dispensing device. In other embodiments, the receiving plate 1200 and the transceiver module bracket 1100 can also be fixedly connected by other methods such as welding.

[0063] The transmitting plate focusing and optical axis adjustment system 300, such as Figure 1 As shown by the dotted line on the right, the transceiver module adjustment fixture 100 is also used to connect the transceiver module 1000 to the transmitter focusing and optical axis adjustment system 300. Figure 6 As shown, the transmitting plate focusing and optical axis adjustment system 300 can receive the second light S2 emitted by the transmitting plate 1300 and reflect the third light S3 to the receiving plate 1200. The transceiver module adjustment fixture 100 adjusts the relative position of the transmitting plate 1300 and the transceiver module bracket 1100 based on the imaging quality of the second light S2. Exemplarily, the transceiver module adjustment fixture 100 can adjust the relative position of the transmitting plate 1300 and the transceiver module bracket 1100 based on the calculation result of the imaging quality of the second light S2 by the host computer until the center of the image card of the second light S2 is the clearest. The transceiver module adjustment fixture 100 adjusts the optical axis of the transceiver module 1000 based on the imaging quality of the third light S3 on the receiving plate 1200. Exemplarily, the transceiver module adjustment fixture 100 can adjust the optical axis of the transceiver module 1000 based on the calculation result of the upper computer on the imaging quality of the third light ray S3 on the receiving plate 1200 until the spot position of the third light ray S3 on the receiving plate 1200 meets the requirements.

[0064] It can be understood that this embodiment completes the focus of the transmitting plate 1300 and the optical axis adjustment of the transceiver module 1000 at one time through the transmitting plate focus and optical axis adjustment system 300, thereby reducing the equipment and processes required for the assembly process of the transceiver module 1000 (i.e., reducing the equipment and processes from three to two), which is beneficial to reducing the assembly cost of the transceiver module 1000.

[0065] In this embodiment, the receiving focus is adjusted by moving the receiving plate 1200, the transmitting focus is adjusted by moving the transmitting plate 1300, and the optical axis of the transceiver module 1000 is adjusted. Compared with the adjustment method of moving the lens assembly in the related art, the damage of the lens assembly can be reduced, which is beneficial to improving the reliability of the transceiver module 1000.

[0066] It should be noted that in this embodiment, receiving focus is performed first, and then transmitting focus and optical axis adjustment are performed. In other possible implementations, transmitting focus can be performed first, and then receiving focus and optical axis adjustment are performed; that is, optical axis adjustment and receiving focus are completed at one time.

[0067] Please continue to refer to Figure 3-Figure 5 The receiving plate focusing system 200 of the present embodiment includes a light source 210 and a reflector 220. The transceiver module adjustment fixture 100 is used to be arranged on the reflection light path of the reflector 220.

[0068] In other possible implementations, the receiving plate focusing system 200 may further include a teleconverter 230, which may be disposed between the light source 210 and the reflector 220 to simulate a distant object image. The teleconverter 230 may save physical space required for the receiving plate focusing system 200.

[0069] Among them, the transceiver module adjustment fixture 100 connects the integrated structure of the transceiver module bracket 1100, the receiving lens assembly 1400 and the transmitting lens assembly 1500, and the receiving board 1200 to the receiving board focusing system 200. The light source 210 is used to emit the first light S1, and the first light S1 is received by the receiving board 1200 after passing through the teleconverter 230 and the reflector 220 in sequence. The transceiver module adjustment fixture 100 adjusts the position and deflection angle of the receiving board 1200 in three-dimensional space based on the imaging quality of the first light S1 on the receiving board 1200, that is, adjusts the position of the receiving board 1200 in the three directions of X, Y, and Z and the three deflection angles around the X axis, Y axis, and Z axis. Exemplarily, the light source 210 lights up the picture card pattern to emit light, forming the first light S1, and the first light S1 will generate a picture card image on the receiving board 1200. When the center of the picture card pattern is clear and located at the center of the image, and the angle of the receiving board 1200 needs to be adjusted so that the four corners of the picture card are clear and the pattern direction is also positive, it can be considered that the receiving board 1200 is in focus, that is, the position of the receiving board 1200 is adjusted in place. Among them, the light source 210 is an infrared light source board with a picture card, and its function is to illuminate the picture card through the light source board, and its image enters the receiving board 1200 through the lens to form an image. The host computer connected to the receiving board 1200 can calculate the current focus state by identifying the features of the picture card. Then, the SPAD (Single Photon Avalanche Diode) on the receiving board 1200 is powered on and lit up. The SPAD collects the features of the image card. The host computer calculates the features of the center of the image card and drives the transceiver module to adjust the fixture 100 (such as a gripper) to adjust the z-axis with the receiving board 1200 until the center of the image card is clearest. Then the host computer continues to calculate the center position of the image card and drives the transceiver module to adjust the fixture 100 to adjust the xy-axis with the receiving board 1200 until the image card is located at the center of the imaging. Then the host computer calculates the clarity of the four corners of the image card and drives the transceiver module to adjust the fixture 100 to adjust the yaw and pith axes with the receiving board 1200 until the clarity of the four corners of the image card meets the specification requirements. Finally, the host computer calculates the deflection of the image card around the Z-axis and drives the transceiver module to adjust the fixture 100 to adjust the rotation axis with the receiving board 1200 until the deflection of the image card meets the specification requirements.

[0070] like Figure 4 As shown, during the specific adjustment, the transceiver module bracket 1100 can be first fixed on the bracket fixing device 110 to keep the position of the transceiver module bracket 1100 fixed. Then, the receiving plate 1200 is clamped by the clamping claw 121 of the adjusting device 120. The adjusting device 120 adjusts the position and / or deflection angle of the receiving plate 1200 based on the calculation result of the imaging quality of the first light S1 on the receiving plate 1200 by the upper computer. After the adjustment is completed, the receiving plate 1200 is fixed to the transceiver module bracket 1100 by glue. Figure 5As shown, a plurality of fixing posts 1110 (including four fixing posts 1110 as shown) are provided on the transceiver module bracket 1100. When all positions and deflection angles of the receiving plate 1200 are adjusted into place, a gluing device is used to glue and fix the four corners of the receiving plate 1200 to the first gluing positions 1600 between the four fixing posts 1110, so that the receiving plate 1200 and the transceiver module bracket 1100 are connected as one.

[0071] Furthermore, after the glue is applied, the position of the receiving board 1200 and the transceiver module bracket 1100 can be re-judged to detect whether the position and deflection angle of the receiving board 1200 after the glue is cured meet the requirements. If the requirements are met, the fixed receiving board 1200 and the transceiver module bracket 1100 can be transferred to the next station for subsequent processing; if the requirements are not met, the receiving board 1200 is removed from the transceiver module bracket 1100 and re-fixed.

[0072] Please continue to refer to Figure 6-Figure 8 , the transmitting plate focusing and optical axis adjustment system 300 of this embodiment includes a beam splitter 310, an attenuation plate 320, a cemented lens 330, a filter 340, a camera 350 and a diffuse reflection plate 360. The camera 350 and the diffuse reflection plate 360 ​​are respectively arranged on the first side and the second side of the beam splitter 310, and the attenuation plate 320, the cemented lens 330, and the filter 340 are sequentially arranged between the beam splitter 310 and the camera 350. Among them, the attenuation plate 320 is used to reduce the intensity of light to prevent the light source image collected by the camera 350 from being overexposed and unable to capture a clear light spot; the cemented lens 330 is used to focus the light so as to form an image on the camera 350; and the filter 340 is used to filter the ambient light that is not in the light source band. The transceiver module adjustment fixture 100 is used to be arranged on the third side of the beam splitter 310, and the transceiver module adjustment fixture 100 and the camera 350 are respectively located on opposite sides of the same direction of the beam splitter 310 (for example, on Figure 6 The transceiver module adjustment fixture 100 is located above the beam splitter 310 in the vertical direction, and the camera 350 is located below the beam splitter 310 in the vertical direction).

[0073] The transceiver module adjustment fixture 100 connects the integrated structure of the transceiver module bracket 1100, the receiving board 1200, the receiving lens assembly 1400 and the transmitting lens assembly 1500, and the transmitting board 1300 to the transmitting board focus and optical axis adjustment system 300. The transmitting board 1300 is used to emit the transmitting light, and part of the transmitting light passes through the beam splitter 310, the attenuation plate 320, the cemented lens 330 and the filter 340 in sequence to form the second light S2 received by the camera 350. The transceiver module adjustment fixture 100 adjusts the position and deflection angle of the transmitting board 1300 in three-dimensional space based on the imaging quality of the second light S2 on the camera 350. That is, the position of the transmitting board 1300 in the three directions of X, Y, and Z and the three deflection angles around the X axis, Y axis, and Z axis are adjusted. Exemplarily, after the transmitting plate 1300 is turned on, the light spot pattern forms an emitted light, and part of the emitted light passes through the beam splitter 310, the attenuation plate 320, the cemented lens 330 and the filter 340 to form a second light ray S2. The second light ray S2 generates a light spot image on the camera 350. When the center of the light spot pattern is clear and located at the center of the light spot, and the angle needs to be adjusted so that the four corners of the light spot are clear and the direction of the pattern is positive, it can be considered that the transmitting plate 1300 is in focus, that is, the position of the transmitting plate 1300 is adjusted into place. The transceiver module bracket 1100 is fixed by the transceiver module adjustment fixture 100, and the launch plate 1300 is clamped by the clamp on the transceiver module adjustment fixture 100. The transceiver module adjustment fixture 100 controls the six axes to pre-adjust the launch plate 1300 to a default position, and then powers on to light up the launch plate 1300. The launch plate spot passes through the cemented lens 330 and is focused on the camera 350. The host computer calculates the clarity of the emission spot collected by the camera 350 and drives the clamp to adjust the Z axis with the launch plate 1300 until the adjustment is completed. Adjust the light spot to a clearer position, then the host computer calculates the light spot position and drives the gripper to carry the launch plate 1300 to adjust the xy axis until the light spot is adjusted to the center position; then the host computer calculates and compares the difference in clarity of the light spot edge, and drives the gripper to carry the launch plate 1300 to adjust the yaw and pith axes until the clarity of the four corners of the light spot meets the specification requirements; finally, the host computer calculates the deflection of the light spot around the Z axis, and drives the gripper to carry the launch plate 1300 to adjust the rotation axis until the deflection of the light spot meets the specification requirements.

[0074] After the emission focus is completed, the optical axis adjustment continues. Specifically, another part of the emission light is reflected by the beam splitter 310 to the diffuse reflection plate 360, and the third light S3 is formed after being reflected by the diffuse reflection plate 360. The third light S3 is then reflected by the beam splitter 310 and received by the receiving plate 1200. The transceiver module adjustment fixture 100 adjusts the position of the transmitting plate 1300 in the horizontal plane and the deflection angle in the three-dimensional space based on the imaging quality of the third light S3 on the receiving plate 1200. That is, the position of the transmitting plate 1300 in the X and Y directions and the three deflection angles around the X axis, Y axis and Z axis are adjusted. Exemplarily, the transceiver module adjustment fixture 100 can adjust the optical axis of the transceiver module 1000 based on the calculation result of the imaging quality of the third light S3 on the receiving plate 1200 by the host computer, until the spot position of the third light S3 on the receiving plate 1200 meets the requirements, which means that the optical axis of the transceiver module 1000 is adjusted in place.

[0075] like Figure 7 As shown, during specific adjustments, the transceiver module bracket 1100 can be first fixed on the bracket fixing device 110 to keep the position of the transceiver module bracket 1100 fixed. Then, the transmitting plate 1300 is clamped by the clamping claw 121 of the adjusting device 120. The adjusting device 120 first adjusts the position and / or deflection angle of the transmitting plate 1300 based on the calculation result of the imaging quality of the second light ray S2 on the camera 350 by the upper computer. Then, based on the calculation result of the imaging quality of the third light ray S3 on the receiving plate 1200 by the upper computer, the position and / or deflection angle of the transmitting plate 1300 is adjusted again. After the adjustment is completed, the transmitting plate 1300 is fixed to the transceiver module bracket 1100 by glue. As shown Figure 8 As shown, a plurality of fixing posts 1110 (including three fixing posts 1110 in the figure) are provided on the transceiver module bracket 1100. When all positions and deflection angles of the launch plate 1300 are adjusted to the right position, a second glue spot 1700 between the launch plate 1300 and the three fixing posts 1110 is glued and fixed by a glue dispensing device, so that the launch plate 1300 and the transceiver module bracket 1100 are connected as one, thereby completing the assembly of the transceiver module 1000.

[0076] Please refer to Fig.11 This embodiment also provides a method for assembling a transceiver module, including:

[0077] Step S110, fixing the transceiver module bracket and the receiving board, and connecting the fixed transceiver module bracket and the receiving board to the receiving board focusing system.

[0078] Step S120: The receiving board focusing system emits a first light beam, and adjusts the relative position of the receiving board and the transceiver module bracket based on the imaging quality of the first light beam on the receiving board.

[0079] Step S130: fix the transceiver module bracket and the transmitting board, and connect the fixed transceiver module bracket and the transmitting board to the transmitting board focusing and optical axis adjustment system.

[0080] Step S140: the transmitting board focusing and optical axis adjustment system receives the second light emitted by the transmitting board, and adjusts the relative position of the transmitting board and the transceiver module bracket based on the imaging quality of the second light S2.

[0081] Step S150: The transmitting board focusing and optical axis adjustment system further reflects the third light to the receiving board, and adjusts the optical axis of the transceiver module based on the imaging quality of the third light on the receiving board.

[0082] Specifically, Figure 3 The receiving plate focusing system 200 shown includes a light source 210 and a reflector 220 , and the transceiver module adjustment fixture 100 is used to be arranged on the reflection light path of the reflector 220 .

[0083] In other possible implementations, the receiving plate focusing system 200 may further include a teleconverter 230, which may be disposed between the light source 210 and the reflector 220 to simulate a distant object image. The teleconverter 230 may save physical space required for the receiving plate focusing system 200.

[0084] The above step S120 receives the first light emitted by the focusing system, and adjusts the relative position of the receiving board and the transceiver module bracket based on the position of the first light, including:

[0085] The light source 210 emits a first light beam S1 , which passes through the teleconverter 230 and the reflector 220 in sequence and is then received by the receiving plate 1200 .

[0086] The position and deflection angle of the receiving plate 1200 in the three-dimensional space are adjusted based on the imaging quality of the first light S1 on the receiving plate 1200 .

[0087] like Figure 6 As shown, the transmitter focusing and optical axis adjustment system 300 includes a beam splitter 310, an attenuation plate 320, a cemented lens 330, a filter 340, a camera 350 and a diffuse reflection plate 360, the camera 350 and the diffuse reflection plate 360 ​​are respectively arranged on the first side and the second side of the beam splitter 310, the attenuation plate 320, the cemented lens 330, and the filter 340 are sequentially arranged between the beam splitter 310 and the camera 350; the transceiver module adjustment fixture 100 is used to be arranged on the third side of the beam splitter 310, and the transceiver module adjustment fixture 100 and the camera 350 are respectively located on opposite sides of the same direction of the beam splitter 310 (for example, on the left and right sides of the beam splitter 310). Figure 6 The transceiver module adjustment fixture 100 is located above the beam splitter 310 in the vertical direction, and the camera 350 is located below the beam splitter 310 in the vertical direction).

[0088] In step S140, the transmitting board focusing and optical axis adjustment system receives the second light emitted by the transmitting board, and adjusts the relative position of the transmitting board and the transceiver module bracket based on the position of the second light, including:

[0089] The transmitting plate 1300 emits an emission light, and part of the emission light passes through the beam splitter 310 , the attenuation plate 320 , the cemented lens 330 and the filter 340 in sequence to form a second light S2 which is received by the camera 350 .

[0090] The position and deflection angle of the transmitting plate 1300 in the three-dimensional space are adjusted based on the imaging quality of the second light S2 on the receiving plate 1200 .

[0091] In the above step S150, the transmitting board focusing and optical axis adjustment system further reflects the third light to the receiving board, and adjusts the optical axis of the transceiver module based on the imaging quality of the third light on the receiving board, including:

[0092] Another part of the emitted light is reflected by the beam splitter 310 to the diffuse reflection plate 360 ​​, and is reflected by the diffuse reflection plate 360 ​​to form a third light S3 , and the third light S3 is further reflected by the beam splitter 310 and is received by the receiving plate 1200 .

[0093] The position of the transmitting plate 1300 in the horizontal plane and the deflection angle in the three-dimensional space are adjusted based on the imaging quality of the third light ray S3 on the receiving plate 1200 .

[0094] The specific implementation methods in each step of this embodiment have been described in detail in the above-mentioned transceiver module assembly device, and will not be repeated in this embodiment.

[0095] It can be understood that the transceiver module assembly method of this embodiment completes the focus of the transmitting plate 1300 and the optical axis adjustment of the transceiver module 1000 at one time through the transmitting plate focus and optical axis adjustment system 300, thereby reducing the equipment and processes required for the assembly process of the transceiver module 1000 (i.e., reducing the equipment and processes from three to two), which is beneficial to reducing the assembly cost of the transceiver module 1000.

[0096] In this embodiment, the receiving focus is adjusted by moving the receiving plate 1200, the transmitting focus is adjusted by moving the transmitting plate 1300, and the optical axis of the transceiver module 1000 is adjusted. Compared with the adjustment method of moving the lens assembly in the related art, the damage of the lens assembly can be reduced, which is beneficial to improving the reliability of the transceiver module 1000.

[0097] Please continue to refer to Fig. 9 and Fig.10, this embodiment also provides a transceiver module 1000, and the transceiver module 1000 is assembled using the above-mentioned transceiver module assembly device, or the above-mentioned transceiver module assembly method. Specifically, the transceiver module 1000 includes a transceiver module bracket 1100, a receiving board 1200 and a transmitting board 1300; the transceiver module bracket 1100 is provided with a receiving lens assembly 1400 and a transmitting lens assembly 1500. Exemplarily, the receiving lens assembly 1400 can be fixed to the transceiver module bracket 1100 by threaded connection and bonding. The transceiver module bracket 1100 is provided with a mounting groove, and the transmitting lens assembly 1500 is arranged in the mounting groove and fixedly connected to the transceiver module bracket 1100 by bonding. The transceiver module bracket 1100 is also provided with a plurality of fixing columns 1110, the receiving plate 1200 is fixedly connected to some of the fixing columns 1110 and corresponds to the receiving lens assembly 1400, and the transmitting plate 1300 is fixedly connected to another part of the fixing columns 1110 and corresponds to the transmitting lens assembly 1500. The transceiver module bracket 1100 is also provided with a plurality of fixing holes 1800. During the assembly process of the transceiver module 1000, the fixing holes 1800 can cooperate with the positioning pins 112 on the transceiver module adjustment fixture 100 to achieve the fixation of the transceiver module bracket 1100; after the transceiver module 1000 is assembled, the fixing holes 1800 can also be fixed to the bottom shell of the device by fasteners to complete the assembly of the transceiver module 1000.

[0098] The transceiver module 1000 of this embodiment integrates the receiving board 1200, the transmitting board 1300, the receiving lens assembly 1400 and the transmitting lens assembly 1500 through the transceiver module bracket 1100. Compared with the solutions of the related art, the number of brackets can be saved, and there is no need to set connecting parts, thereby reducing the number of gluing times (from three gluings to two gluings, reducing one gluing station), which is beneficial to improving the reliability of the transceiver module 1000 and reducing the reliability risk of the transceiver module 1000.

[0099] This embodiment also provides a laser radar, including the above-mentioned transceiver module.

[0100] It can be understood that, due to the use of the above-mentioned transceiver module, the laser radar of this embodiment has a lower assembly cost and higher reliability.

[0101] This embodiment also provides a movable platform, including the above-mentioned laser radar.

[0102] Specifically, the movable platform of the present embodiment may be, for example, a vehicle, a drone, a robot, etc. Since the above-mentioned laser radar is adopted, the reliability of the movable platform can be improved and the assembly cost of the movable platform can be reduced.

[0103] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0104] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0105] It should be noted that in the description of this application, the terms "first" and "second" are only used to facilitate the description of different components, and cannot be understood as indicating or implying a sequential relationship, relative importance, or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features.

[0106] The various embodiments or implementation methods in the present application are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0107] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In the present application, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0108] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A transceiver module assembly device, characterized in that: include: A transceiver module adjustment jig, the transceiver module adjustment jig is used to fix the transceiver module, the transceiver module includes a transceiver module bracket, a receiving board and a transmitting board, the transceiver module bracket is provided with a receiving lens assembly and a transmitting lens assembly, the receiving lens assembly is adapted to the receiving board, and the transmitting lens assembly is adapted to the transmitting board; the transceiver module adjustment jig is also used to adjust the relative position of the receiving board and / or the transmitting board and the transceiver module bracket; A receiving board focusing system, wherein the transceiver module adjustment fixture is used to connect the transceiver module to the receiving board focusing system, the receiving board focusing system can emit a first light to the receiving board, and the transceiver module adjustment fixture adjusts the relative position of the receiving board and the transceiver module bracket based on the imaging quality of the first light on the receiving board; The transmitting plate focusing and optical axis adjustment system, the transceiver module adjustment fixture is also used to connect the transceiver module to the transmitting plate focusing and optical axis adjustment system, the transmitting plate focusing and optical axis adjustment system can receive the second light emitted by the transmitting plate, and reflect the third light to the receiving plate; the transceiver module adjustment fixture adjusts the relative position of the transmitting plate and the transceiver module bracket based on the imaging quality of the second light; the transceiver module adjustment fixture adjusts the optical axis of the transceiver module based on the imaging quality of the third light on the receiving plate; The receiving plate focusing system comprises a light source, a reflector and a teleconverter, wherein the teleconverter is arranged between the light source and the reflector, and the transceiver module adjustment fixture is used to be arranged on the reflection light path of the reflector; The light source is used to emit the first light, and the first light is received by the receiving board after passing through the teleconverter and the reflector in sequence; the transceiver module adjustment fixture adjusts the position and deflection angle of the receiving board in three-dimensional space based on the imaging quality of the first light on the receiving board; The transmitting plate focusing and optical axis adjustment system comprises a beam splitter, an attenuation plate, a cemented lens, a filter, a camera and a diffuse reflection plate, wherein the camera and the diffuse reflection plate are respectively arranged on the first side and the second side of the beam splitter, and the attenuation plate, the cemented lens and the filter are sequentially arranged between the beam splitter and the camera; the transceiver module adjustment fixture is used to be arranged on the third side of the beam splitter, and the transceiver module adjustment fixture and the camera are located in the same direction; The transmitting plate is used to emit transmitting light, and part of the transmitting light passes through the beam splitter, attenuation plate, cemented lens and filter in sequence to form the second light to be received by the camera; the transceiver module adjustment fixture adjusts the position and deflection angle of the transmitting plate in three-dimensional space based on the imaging quality of the second light on the camera; Another part of the emitted light is reflected by the beam splitter to the diffuse reflection plate, and is reflected by the diffuse reflection plate to form the third light, and the third light is reflected by the beam splitter and received by the receiving plate; the transceiver module adjustment fixture adjusts the position of the transmitting plate in the horizontal plane and the deflection angle in the three-dimensional space based on the imaging quality of the third light on the receiving plate.

2. The transceiver module assembly device according to claim 1, characterized in that: The transceiver module adjustment fixture includes a bracket fixing device and an adjustment device, the bracket fixing device is used to fix the transceiver module bracket, and the adjustment device is used to fix and adjust the relative position of the receiving board and / or transmitting board and the transceiver module bracket.

3. A transceiver module assembly method, applied to the transceiver module assembly device according to claim 1 or 2, characterized in that: include: Step S110, fixing the transceiver module bracket and the receiving board, and connecting the fixed transceiver module bracket and the receiving board to the receiving board focusing system; Step S120, the receiving plate focusing system emits a first light, and adjusts the relative position of the receiving plate and the transceiver module bracket based on the imaging quality of the first light on the receiving plate; Step S130, fixing the transceiver module bracket and the transmitting board, and connecting the fixed transceiver module bracket and the transmitting board to the transmitting board focusing and optical axis adjustment system; Step S140, the transmitting board focusing and optical axis adjustment system receives the second light emitted by the transmitting board, and adjusts the relative position of the transmitting board and the transceiver module bracket based on the imaging quality of the second light; Step S150: the transmitting board focusing and optical axis adjustment system further reflects the third light to the receiving board, and adjusts the optical axis of the transceiver module based on the imaging quality of the third light on the receiving board.

4. The method for assembling a transceiver module according to claim 3, characterized in that: The step S120, receiving the first light emitted by the focusing system, and adjusting the relative position of the receiving plate and the transceiver module bracket based on the position of the first light, includes: The light source emits the first light, and the first light passes through the teleconverter and the reflector in sequence and is received by the receiving plate; The position and deflection angle of the receiving plate in three-dimensional space are adjusted based on the imaging quality of the first light on the receiving plate.

5. The method for assembling a transceiver module according to claim 3, characterized in that: The step S140, in which the launch plate focusing and optical axis adjustment system receives the second light emitted by the launch plate, and adjusts the relative position of the launch plate and the transceiver module bracket based on the position of the second light, includes: The transmitting plate emits an emission light, and part of the emission light passes through the beam splitter, the attenuation plate, the cemented lens and the filter in sequence to form the second light which is received by the camera; The position and deflection angle of the transmitting plate in three-dimensional space are adjusted based on the imaging quality of the second light on the receiving plate.

6. The method for assembling a transceiver module according to claim 5, characterized in that: The step S150, in which the transmitting board focusing and optical axis adjustment system further reflects the third light to the receiving board, and adjusts the optical axis of the transceiver module based on the imaging quality of the third light on the receiving board, includes: Another part of the emitted light is reflected by the beam splitter to the diffuse reflection plate, and is reflected by the diffuse reflection plate to form the third light, and the third light is further reflected by the beam splitter and is received by the receiving plate; The position of the transmitting plate in the horizontal plane and the deflection angle in the three-dimensional space are adjusted based on the imaging quality of the third light on the receiving plate.

7. A transceiver module, characterized in that: The transceiver module is assembled using the transceiver module assembly equipment as described in claim 1 or 2, or the transceiver module assembly method as described in any one of claims 3-6; the transceiver module includes a transceiver module bracket, a receiving board and a transmitting board, the transceiver module bracket is provided with a receiving lens assembly and a transmitting lens assembly, the transceiver module bracket is also provided with a plurality of fixing columns, the receiving board is fixedly connected to some of the fixing columns and corresponds to the receiving lens assembly, and the transmitting board is fixedly connected to another part of the fixing columns and corresponds to the transmitting lens assembly.

8. A laser radar, characterized in that: Comprising the transceiver module as described in claim 7.

9. A movable platform, characterized in that: Comprising a laser radar as described in claim 8.

Images