A solid-state laser radar module packaging method and system

Abstract

The present invention relates to the field of laser welding technology, and discloses a solid-state laser radar module packaging method and system, the method comprising: using historical output parameters to perform laser welding packaging on the front shell and the rear shell of the solid-state laser module, collecting the weld parameters between the front shell and the rear shell after the packaging is completed; comparing the flatness with the preset standard flatness, judging whether the historical output parameters need to be adjusted, adjusting the welding speed according to the difference between the flatness and the standard flatness, and obtaining the final value of the welding speed; comprehensively judging whether to adjust the laser power according to the depth comparison result and the width comparison result; obtaining the adjustment coefficient of the laser power according to the standard deviation of the penetration depth, the standard deviation of the penetration width and the number of unqualified collection points, adjusting the laser power according to the adjustment coefficient, and obtaining the final value of the laser power. The present invention can significantly improve the stability of the welding process and the quality of the weld by dynamically adjusting the laser power and the welding speed.

Description

Technical Field

[0001] The present invention relates to the field of laser welding technology, and in particular to a solid-state laser radar module packaging method and system. Background Art

[0002] Solid-state LiDAR modules are widely used in autonomous driving, robot navigation, environmental monitoring and other fields, and their packaging quality directly affects their performance and reliability. Laser welding, as a high-precision and high-efficiency welding technology, has been widely used in the packaging of solid-state LiDAR modules. However, due to the complexity of the welding process, changes in various welding parameters will affect the welding quality and thus the performance of the module. Therefore, how to ensure the stability of parameters during the welding process and ensure welding quality has become an important issue in the packaging of solid-state LiDAR modules.

[0003] At present, most laser welding technologies rely on fixed process parameters, such as laser power and welding speed, but the settings of these parameters are usually based on historical experience and are difficult to adjust in real time according to actual welding conditions. Traditional methods usually do not take into account the dynamic changes in the welding process, and therefore cannot cope with welding quality problems caused by factors such as material changes and process fluctuations. Although the consistency of welding can be improved by setting standard parameters, this method fails to make full use of real-time monitoring data to dynamically adjust the welding process, which may lead to problems such as insufficient penetration depth, uneven penetration width, or unstable welding, affecting the final welding quality and module performance.

[0004] Therefore, it is necessary to provide a solid-state lidar module packaging method and system to solve the problem that most laser welding technologies rely on fixed process parameters set based on experience and lack real-time adjustment capabilities, resulting in the inability to effectively respond to material and process fluctuations, affecting welding quality and performance. Summary of the invention

[0005] In view of this, the present invention proposes a solid-state laser radar module packaging method and system, aiming to solve the problem that most laser welding technologies rely on fixed process parameters set based on experience and lack real-time adjustment capabilities, resulting in the inability to effectively cope with material and process fluctuations, affecting welding quality and performance.

[0006] On the one hand, the present invention provides a solid-state laser radar module packaging method, comprising:

[0007] The front shell and the rear shell of the solid-state laser module are laser welded and packaged using historical output parameters, and the weld parameters between the front shell and the rear shell after the packaging is completed are collected; wherein the historical output parameters include laser power and welding speed, and the weld parameters include penetration depth, penetration width and flatness;

[0008] Comparing the flatness with a preset standard flatness to determine whether the historical output parameter needs to be adjusted, and if the determination result is that adjustment is required, adjusting the welding speed according to the difference between the flatness and the standard flatness to obtain a final value of the welding speed;

[0009] A plurality of collection points are set on the weld, the melting depth and the melting width of each of the collection points are collected, and the melting depth of each of the collection points is compared with a preset standard melting depth range to obtain a depth comparison result; the melting width of each of the collection points is compared with a preset standard melting width range to obtain a width comparison result; and whether to adjust the laser power is comprehensively judged according to the depth comparison result and the width comparison result;

[0010] If the comprehensive judgment result is that the laser power needs to be adjusted, the standard deviation of the weld depth and the standard deviation of the weld width are calculated, and the adjustment coefficient of the laser power is obtained based on the standard deviation of the weld depth, the standard deviation of the weld width and the number of unqualified collection points. The laser power is adjusted according to the adjustment coefficient to obtain the final value of the laser power.

[0011] Furthermore, before comparing the flatness with a preset standard flatness, the method includes:

[0012] Acquire external image information and internal image information of the weld, and determine whether there is a crack in the external image information and the internal image information;

[0013] If the judgment result is that there is no crack, the flatness is the standard flatness;

[0014] If the result of the judgment is that cracks exist, the length and depth of all cracks are calculated, and the flatness is calculated by the following formula:

[0015] P = P0*a+P0*b;

[0016] In the above formula, P represents flatness, P0 represents standard flatness, a represents length and value weight coefficient, and b represents depth and value weight coefficient, where the value range of a and b is [0, 0.5).

[0017] Furthermore, the step of comparing the flatness with a preset standard flatness to determine whether the historical output parameter needs to be adjusted includes:

[0018] If the flatness is the standard flatness, it is determined that there is no need to adjust the historical output parameter, and the welding speed is used as the final value of the welding speed;

[0019] If the flatness is less than the standard flatness, it is determined that the historical output parameter needs to be adjusted.

[0020] Furthermore, the step of adjusting the welding speed according to the difference between the flatness and the standard flatness to obtain a final value of the welding speed includes:

[0021] Setting a first difference and a second difference, wherein the first difference is smaller than the second difference;

[0022] If the difference is less than or equal to the first difference, it is determined that the welding speed is adjusted using a first adjustment coefficient;

[0023] If the difference is greater than the first difference and less than the second difference, it is determined that the welding speed is adjusted using a second adjustment coefficient;

[0024] If the difference is greater than or equal to the second difference, it is determined that the welding speed is adjusted using a third adjustment coefficient;

[0025] The value range of the adjustment coefficient is 1>first adjustment coefficient>second adjustment coefficient>third adjustment coefficient>0, and the final value of the welding speed is the product of the welding speed and the adjustment coefficient.

[0026] Furthermore, the step of setting a plurality of collection points on the weld and collecting the penetration depth and the penetration width of each of the collection points includes:

[0027] Evenly setting a plurality of the collection points on the weld, and numbering each of the collection points in sequence;

[0028] According to the melting depth of each of the acquisition points, a melting depth sequence A=(S, S1, S2, S3, ..., Sn) is constructed; wherein A represents the melting depth sequence, S represents the standard melting depth range, Si represents the melting depth of the acquisition point numbered i, i=1, 2, 3, ..., n;

[0029] According to the melt widths of the respective collection points, a melt width sequence B=(K, K1, K2, K3, ..., Kn) is constructed; wherein B represents the melt width sequence, K represents the standard melt width range, Ki represents the melt width of the collection point numbered i, and i=1, 2, 3, ..., n.

[0030] Furthermore, the comprehensive determination of whether to adjust the laser power according to the depth comparison result and the width comparison result includes:

[0031] If the melting depth of each of the acquisition points is within the standard melting depth range, and the melting width of each of the acquisition points is within the standard melting width range, it is determined that the laser power is not adjusted;

[0032] Otherwise, it is determined that the laser power is to be adjusted.

[0033] Furthermore, when the adjustment coefficient of the laser power is obtained according to the standard deviation of the depth of penetration, the standard deviation of the width of penetration and the number of unqualified collection points, it includes:

[0034] Setting a first standard deviation and a second standard deviation, comparing the standard deviation of the penetration depth with the first standard deviation, and comparing the standard deviation of the penetration width with the second standard deviation;

[0035] Calculating a third difference between the standard deviation of the penetration depth and the first standard deviation, and calculating a fourth difference between the standard deviation of the penetration width and the second standard deviation;

[0036] Calculating an adjustment coefficient of the laser power according to the third difference, the fourth difference and the number of unqualified acquisition points;

[0037] The unqualified collection point is that the melting depth of the collection point is not within the standard melting depth range and / or the melting width of the collection point is not within the standard melting width range.

[0038] Furthermore, the step of calculating the adjustment coefficient of the laser power according to the third difference, the fourth difference and the number of unqualified acquisition points includes:

[0039] The adjustment factor of laser power is calculated by the following formula:

[0040] T=(α*△1+β*△2)*[1+γ*(N1 / N0)];

[0041] In the above formula, T represents the adjustment coefficient, △1 represents the third difference, △2 represents the fourth difference, N1 represents the number of unqualified collection points, N0 represents the total number of collection points, α, β and γ all represent influence coefficients, and the value range of α, β and γ is (0, 1].

[0042] Furthermore, the laser power is adjusted according to the adjustment coefficient to obtain a final value of the laser power, including:

[0043] When the third difference is less than 0 and the fourth difference is less than 0, α*△1+β*△2=1;

[0044] The final value of the laser power is the product of the laser power and the adjustment coefficient.

[0045] Compared with the prior art, the beneficial effect of the present invention is that the present invention can significantly improve the stability of the welding process and the quality of the weld by dynamically adjusting the laser power and welding speed. First, the front and rear shells of the module are welded and packaged using historical output parameters (such as laser power and welding speed) to ensure the consistency and stability of the welding process. By collecting weld parameters (penetration depth, weld width and flatness) and comparing them with standard values, the welding quality can be evaluated in real time. When the welding result deviates from the standard, the present invention automatically adjusts the welding speed to meet the predetermined quality standard. By setting the collection points and comparing the depth and width of the penetration depth and the weld width, it is comprehensively judged whether the laser power needs to be adjusted, thereby ensuring that each weld meets the strict size requirements. In addition, the present invention calculates the standard deviation of the penetration depth and the standard deviation of the weld width, and calculates the adjustment coefficient of the laser power according to the number of unqualified collection points. Through this adjustment process, the unstable factors in welding can be effectively compensated and the welding quality can be improved. The advantage of the method is that the welding parameters can be monitored and adjusted in real time, the interference of human factors is avoided, and the scrap rate and rework rate are reduced through precise adjustment, thereby improving production efficiency and product reliability. In summary, this method not only ensures the high quality of solid-state lidar module packaging, but also improves the automation and intelligence level of the production process.

[0046] On the other hand, the present application also provides a solid-state laser radar module packaging system, including:

[0047] The acquisition module is configured to acquire weld parameters between the front shell and the rear shell after the front shell and the rear shell of the solid-state laser module are laser welded and packaged using historical output parameters; wherein the historical output parameters include laser power and welding speed, and the weld parameters include penetration depth, weld width and flatness;

[0048] A welding speed adjustment module is configured to compare the flatness with a preset standard flatness to determine whether the historical output parameter needs to be adjusted, and if the judgment result is that adjustment is required, the welding speed is adjusted according to the difference between the flatness and the standard flatness to obtain a final value of the welding speed;

[0049] The judgment module is configured to set a number of collection points on the weld, collect the melting depth and the melting width of each of the collection points, perform a depth comparison on the melting depth of each of the collection points with a preset standard melting depth range to obtain a depth comparison result; perform a width comparison on the melting width of each of the collection points with a preset standard melting width range to obtain a width comparison result; and comprehensively judge whether to adjust the laser power according to the depth comparison result and the width comparison result;

[0050] The laser power adjustment module is configured to calculate the standard deviation of the weld depth and the standard deviation of the weld width if the comprehensive judgment result shows that the laser power needs to be adjusted, obtain the adjustment coefficient of the laser power according to the standard deviation of the weld depth, the standard deviation of the weld width and the number of unqualified collection points, adjust the laser power according to the adjustment coefficient, and obtain the final value of the laser power.

[0051] It can be understood that the solid-state laser radar module packaging method and system provided in the present application have the same beneficial effects and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0053] Figure 1 A flow chart of a solid-state laser radar module packaging method provided by an embodiment of the present invention;

[0054] Figure 2 A functional block diagram of a solid-state LiDAR module packaging system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0055] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0056] In some embodiments of the present application, see Figure 1 As shown, this embodiment provides a solid-state laser radar module packaging method, comprising the following steps:

[0057] S100, using historical output parameters to perform laser welding packaging on the front shell and the rear shell of the solid-state laser module, and collecting the weld parameters between the front shell and the rear shell after the packaging is completed; wherein the historical output parameters include laser power and welding speed, and the weld parameters include penetration depth, penetration width and flatness;

[0058] S200, comparing the flatness with a preset standard flatness to determine whether the historical output parameters need to be adjusted. If the result of the determination is that adjustment is required, adjusting the welding speed according to the difference between the flatness and the standard flatness to obtain a final value of the welding speed;

[0059] S300, setting a number of collection points on the weld, collecting the melting depth and the melting width of each collection point, performing a depth comparison on the melting depth of each collection point with a preset standard melting depth range, and obtaining a depth comparison result; performing a width comparison on the melting width of each collection point with a preset standard melting width range, and obtaining a width comparison result; and comprehensively judging whether to adjust the laser power according to the depth comparison result and the width comparison result;

[0060] S400. If the comprehensive judgment result is that the laser power needs to be adjusted, the standard deviation of the weld depth and the standard deviation of the weld width are calculated, and the adjustment coefficient of the laser power is obtained according to the standard deviation of the weld depth, the standard deviation of the weld width and the number of unqualified collection points. The laser power is adjusted according to the adjustment coefficient to obtain the final value of the laser power.

[0061] It is understandable that the solid-state laser radar module packaging method can significantly improve the stability of the welding process and the quality of the weld by dynamically adjusting the laser power and welding speed. First, the front and rear shells of the module are welded and packaged using historical output parameters (such as laser power and welding speed) to ensure the consistency and stability of the welding process. By collecting weld parameters (penetration depth, weld width and flatness) and comparing them with standard values, the welding quality can be evaluated in real time. When the welding result deviates from the standard, the present invention automatically adjusts the welding speed to meet the predetermined quality standard. By setting the acquisition point and comparing the depth and width of the penetration depth and the weld width, it is comprehensively judged whether the laser power needs to be adjusted, thereby ensuring that each weld meets the strict size requirements. In addition, the present invention calculates the standard deviation of the penetration depth and the standard deviation of the weld width, and calculates the adjustment coefficient of the laser power according to the number of unqualified acquisition points. Through this adjustment process, the unstable factors in welding can be effectively compensated and the welding quality can be improved. The advantage of the method is that it can monitor and adjust the welding parameters in real time, avoid the interference of human factors, and reduce the scrap rate and rework rate through precise adjustment, thereby improving production efficiency and product reliability. In summary, this method not only ensures the high quality of solid-state lidar module packaging, but also improves the automation and intelligence level of the production process.

[0062] In some embodiments of the present application, before comparing the flatness with a preset standard flatness, the process includes:

[0063] Obtaining external image information and internal image information of the weld, and determining whether there are cracks in the external image information and the internal image information;

[0064] If the judgment result is that there is no crack, the flatness is the standard flatness;

[0065] If the result is that cracks exist, calculate the length and depth of all cracks, and calculate the flatness by the following formula:

[0066] P = P0*a+P0*b;

[0067] In the above formula, P represents flatness, P0 represents standard flatness, a represents length and value weight coefficient, and b represents depth and value weight coefficient, where the value range of a and b is [0, 0.5).

[0068] It is understandable that by detecting cracks in the external and internal image information of the weld, an accurate monitoring mechanism is provided for the packaging quality. Specifically, by judging whether there are cracks in the weld, quality problems that may be caused during the welding process can be effectively avoided. If there are no cracks in the weld, its flatness is assumed to be standard flatness, which simplifies the processing process. If there are cracks, the length and value of the cracks and the depth and value are further calculated, and the flatness of the weld is adjusted by a preset formula. This approach dynamically adjusts the welding process parameters according to the severity of the cracks by quantifying the impact of the cracks. The formula not only ensures that the adjustment of the flatness is targeted, but also provides a quantitative assessment of the welding quality, which helps to optimize the welding process. Dynamic adjustment of flatness can effectively avoid welding defects caused by cracks, thereby improving the overall performance and reliability of the solid-state lidar module. The advantage of this method is that through intelligent image recognition and crack detection, the welding process can be adjusted in real time according to the actual situation, which effectively improves the welding quality, enhances the stability of the package, and reduces the subsequent problems caused by welding defects, thereby reducing the defective rate and rework rate, and ensuring the consistency and high reliability of the product.

[0069] In some embodiments of the present application, when the flatness is compared with a preset standard flatness and it is determined whether the historical output parameters need to be adjusted, the following steps are included:

[0070] If the flatness is the standard flatness, it is determined that there is no need to adjust the historical output parameters, and the welding speed is taken as the final value of the welding speed;

[0071] If the flatness is less than the standard flatness, it is determined that the historical output parameters need to be adjusted.

[0072] In some embodiments of the present application, the welding speed is adjusted according to the difference between the flatness and the standard flatness to obtain the final value of the welding speed, including:

[0073] Setting a first difference and a second difference, wherein the first difference is smaller than the second difference;

[0074] If the difference is less than or equal to the first difference, it is determined that the welding speed is adjusted using the first adjustment coefficient;

[0075] If the difference is greater than the first difference and less than the second difference, it is determined that the welding speed is adjusted using the second adjustment coefficient;

[0076] If the difference is greater than or equal to the second difference, it is determined that the welding speed is adjusted using the third adjustment coefficient;

[0077] The value range of the adjustment coefficient is 1> first adjustment coefficient> second adjustment coefficient> third adjustment coefficient> 0, and the final value of the welding speed is the product of the welding speed and the adjustment coefficient.

[0078] It is understandable that the welding speed adjustment method in the present application provides an intelligent and accurate dynamic adjustment mechanism based on the difference between the flatness of the weld and the standard flatness. When the flatness of the weld meets the standard, there is no need to adjust the historical output parameters, keep the welding speed unchanged, thereby avoiding unnecessary adjustments and improving efficiency. When the flatness is lower than the standard, the welding speed is flexibly adjusted by calculating the flatness difference and introducing different adjustment coefficients to ensure that the welding quality reaches the best state. By setting the first difference and the second difference, the appropriate adjustment coefficient can be dynamically selected according to the difference in flatness. This hierarchical adjustment method helps to finely adjust the welding speed. When the flatness deviation is small (the difference is less than the first difference), a smaller adjustment coefficient can be used. When the deviation is large (the difference is greater than the second difference), a larger adjustment coefficient is used to ensure the improvement of welding quality. The value range of the adjustment coefficient is designed to be gradually reduced from 1, making the adjustment more flexible and avoiding the adverse effects of excessive adjustment. Through a precise adjustment strategy, the welding speed can be dynamically controlled according to the actual welding situation, the stability of the welding process and the quality of the weld can be improved, the generation of defective products can be reduced, and production efficiency can be improved. At the same time, by setting different adjustment coefficients according to the difference, the adjustment range can be effectively controlled to avoid the negative effects caused by excessive adjustment, thereby optimizing the accuracy and reliability of the welding process.

[0079] In some embodiments of the present application, a plurality of collection points are set on the weld, and the collection of the penetration depth and the penetration width at each collection point includes:

[0080] Evenly set a number of collection points on the weld, and number each collection point in sequence;

[0081] According to the melting depth of each acquisition point, a melting depth sequence A=(S, S1, S2, S3, …, Sn) is constructed; wherein A represents the melting depth sequence, S represents the standard melting depth range, Si represents the melting depth of the acquisition point numbered i, i=1, 2, 3, …, n;

[0082] According to the melt width of each collection point, a melt width sequence B=(K, K1, K2, K3, …, Kn) is constructed; where B represents the melt width sequence, K represents the standard melt width range, Ki represents the melt width of the collection point numbered i, and i=1, 2, 3, …, n.

[0083] It can be understood that by setting several collection points on the weld and collecting the penetration depth and width of each point, accurate monitoring and evaluation of welding quality can be achieved. First, the collection points are evenly set and numbered on the weld to ensure the systematic and comparability of data collection. Then, by constructing the penetration sequence A and the width sequence B, the penetration depth and width of each collection point can be intuitively represented, where the standard penetration range S and the standard width range K are used as reference benchmarks to help quickly identify abnormal conditions in the welding process. Si and Ki in the sequence represent the penetration depth and width of the collection point numbered i, respectively. By comparing with the standard ranges S and K, the welding quality of each collection point can be evaluated. This collection and analysis method not only helps to timely discover welding defects such as insufficient penetration or uneven penetration width, but also helps to optimize welding process parameters and improve the consistency and reliability of welding quality. In addition, by continuously monitoring and recording the penetration depth and width data during the welding process, valuable data support can be provided for subsequent quality control and process improvement, thereby achieving continuous optimization of the welding process and improvement of product quality.

[0084] In some embodiments of the present application, comprehensively judging whether to adjust the laser power according to the depth comparison result and the width comparison result includes:

[0085] If the melting depth of each acquisition point is within the standard melting depth range, and the melting width of each acquisition point is within the standard melting width range, it is determined that the laser power is not adjusted;

[0086] Otherwise, it is determined that the laser power should be adjusted.

[0087] In some embodiments of the present application, when obtaining the adjustment coefficient of the laser power according to the standard deviation of the melting depth, the standard deviation of the melting width and the number of unqualified collection points, it includes:

[0088] Set a first standard deviation and a second standard deviation, compare the standard deviation of the weld depth with the first standard deviation, and compare the standard deviation of the weld width with the second standard deviation;

[0089] Calculating a third difference between the standard deviation of the penetration depth and the first standard deviation, and calculating a fourth difference between the standard deviation of the penetration width and the second standard deviation;

[0090] Calculating an adjustment coefficient of the laser power according to the third difference, the fourth difference and the number of unqualified acquisition points;

[0091] The unqualified collection point is that the melting depth of the collection point is not within the standard melting depth range and / or the melting width of the collection point is not within the standard melting width range.

[0092] It is understandable that the method can ensure the accuracy and stability of the laser processing process by comprehensively judging whether to adjust the laser power through the depth comparison results and the width comparison results. When the melting depth and melting width of all the acquisition points are within the preset standard range, it is judged that there is no need to adjust the laser power, which helps to maintain the current processing quality, avoid unnecessary power fluctuations, thereby improving processing efficiency and reducing resource waste. On the contrary, if there are acquisition points beyond the standard range, it will be judged that the laser power needs to be adjusted to ensure that the processing quality meets the requirements, which helps to correct the processing deviation in time and ensure the quality consistency of the final product. Further, in some embodiments, the adjustment coefficient of the laser power is obtained by calculating the standard deviation of the melting depth and the melting width and the number of unqualified acquisition points. This method can provide more precise control. The first and second standard deviations are set as reference benchmarks. By comparing the actual standard deviation with the benchmark value, the fluctuation degree of the melting depth and the melting width can be quantitatively evaluated. Combined with the number of unqualified acquisition points, the processing quality can be more comprehensively evaluated, and the appropriate laser power adjustment coefficient can be calculated accordingly. This data-driven adjustment strategy can not only improve the adaptability and flexibility of the laser processing process, but also effectively reduce the scrap rate and improve overall production efficiency and product quality.

[0093] In some embodiments of the present application, when calculating the adjustment coefficient of the laser power according to the third difference, the fourth difference and the number of unqualified acquisition points, it includes:

[0094] The adjustment factor of laser power is calculated by the following formula:

[0095] T=(α*△1+β*△2)*[1+γ*(N1 / N0)];

[0096] In the above formula, T represents the adjustment coefficient, △1 represents the third difference, △2 represents the fourth difference, N1 represents the number of unqualified collection points, N0 represents the total number of collection points, α, β and γ all represent influence coefficients, and the value range of α, β and γ is (0, 1].

[0097] In some embodiments of the present application, the laser power is adjusted according to the adjustment coefficient to obtain the final value of the laser power, including:

[0098] When the third difference is less than 0 and the fourth difference is less than 0, α*△1+β*△2=1;

[0099] The final value of laser power is the product of laser power and adjustment coefficient.

[0100] It can be understood that in some embodiments of the present application, optimizing the performance of the laser device by calculating the adjustment coefficient of the laser power has significant benefits. First, by introducing the third difference and the fourth difference, it is possible to self-adjust according to the difference between the actual laser output and the expected output, thereby improving the accuracy and stability of the laser. Secondly, considering the ratio of the number of unqualified acquisition points N1 to the total number of acquisition points N0, the laser power can be dynamically adjusted to adapt to different working conditions and material properties, further improving the quality and efficiency of laser processing. In addition, by setting the influence coefficients α, β and γ, the system can flexibly weigh the influence of different factors on the laser power adjustment to ensure that the adjustment process is both reasonable and efficient. When the third difference and the fourth difference are both less than 0, a specific adjustment strategy (α*△1+β*△2=1) is adopted to ensure that the adjustment of the laser power meets the actual needs and does not deviate too much from the original setting, thereby avoiding possible equipment damage or processing errors. Finally, by multiplying the adjustment coefficient T with the current laser power, the final value of the laser power is obtained. This process ensures that the laser output is always in the best state and meets the requirements of high-precision and high-efficiency industrial applications. In summary, the laser power adjustment method provided in this application not only improves the accuracy and efficiency of laser processing, but also enhances the adaptability and stability of the system, and has important practical value and market potential.

[0101] On the other hand, see Figure 2 As shown, the present application also provides a solid-state laser radar module packaging system, which is used to apply the above-mentioned solid-state laser radar module packaging method, including:

[0102] The acquisition module is configured to acquire weld parameters between the front shell and the rear shell after the front shell and the rear shell of the solid-state laser module are laser welded and packaged using historical output parameters; wherein the historical output parameters include laser power and welding speed, and the weld parameters include penetration depth, penetration width and flatness;

[0103] The welding speed adjustment module is configured to compare the flatness with a preset standard flatness to determine whether the historical output parameters need to be adjusted. If the judgment result is that adjustment is required, the welding speed is adjusted according to the difference between the flatness and the standard flatness to obtain a final value of the welding speed;

[0104] The judgment module is configured to set a number of collection points on the weld, collect the melting depth and the melting width of each collection point, compare the melting depth of each collection point with a preset standard melting depth range to obtain a depth comparison result; compare the melting width of each collection point with a preset standard melting width range to obtain a width comparison result; and comprehensively judge whether to adjust the laser power according to the depth comparison result and the width comparison result;

[0105] The laser power adjustment module is configured to calculate the standard deviation of the weld depth and the standard deviation of the weld width if the comprehensive judgment result shows that the laser power needs to be adjusted, obtain the adjustment coefficient of the laser power based on the standard deviation of the weld depth, the standard deviation of the weld width and the number of unqualified collection points, adjust the laser power based on the adjustment coefficient, and obtain the final value of the laser power.

[0106] It can be understood that the acquisition module monitors the weld parameters after laser welding packaging in real time, ensuring the preliminary evaluation of welding quality. The historical output parameters, including laser power and welding speed, are used in combination with weld parameters such as penetration depth, weld width and flatness, providing important data support for subsequent quality control. Secondly, the welding speed adjustment module can timely detect and adjust the welding speed by comparing with the standard flatness, ensuring the flatness of the weld, thereby improving the overall quality of the product. The setting of the judgment module further refines the quality control. By setting acquisition points on the weld, the depth and width of the penetration depth and weld width are compared to ensure the uniformity and consistency of the welding quality. Finally, the laser power adjustment module calculates the adjustment coefficient of the laser power according to the standard deviation of the penetration depth and weld width and the number of unqualified acquisition points, realizing the precise adjustment of the laser power and ensuring the stability and reliability of the welding process. In summary, through the collaborative work of multiple modules, this system not only improves the packaging quality of the solid-state lidar module, but also optimizes the production efficiency and reduces the scrap rate, which has important practical value and economic benefits.

[0107] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0108] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0109] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0110] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0111] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A solid-state laser radar module packaging method, characterized in that: include: The front shell and the rear shell of the solid-state laser module are laser welded and packaged using historical output parameters, and the weld parameters between the front shell and the rear shell after the packaging is completed are collected; wherein the historical output parameters include laser power and welding speed, and the weld parameters include penetration depth, penetration width and flatness; Comparing the flatness with a preset standard flatness to determine whether the historical output parameter needs to be adjusted, and if the determination result is that adjustment is required, adjusting the welding speed according to the difference between the flatness and the standard flatness to obtain a final value of the welding speed; A plurality of collection points are set on the weld, the melting depth and the melting width of each of the collection points are collected, and the melting depth of each of the collection points is compared with a preset standard melting depth range to obtain a depth comparison result; the melting width of each of the collection points is compared with a preset standard melting width range to obtain a width comparison result; and whether to adjust the laser power is comprehensively judged according to the depth comparison result and the width comparison result; If the comprehensive judgment result is that the laser power needs to be adjusted, the standard deviation of the weld depth and the standard deviation of the weld width are calculated, and the adjustment coefficient of the laser power is obtained according to the standard deviation of the weld depth, the standard deviation of the weld width and the number of unqualified collection points. The laser power is adjusted according to the adjustment coefficient to obtain the final value of the laser power; Before comparing the flatness with a preset standard flatness, the method includes: Acquire external image information and internal image information of the weld, and determine whether there is a crack in the external image information and the internal image information; If the judgment result is that there is no crack, the flatness is the standard flatness; If the result of the judgment is that cracks exist, the length and depth of all cracks are calculated, and the flatness is calculated by the following formula: P = P0*a+P0*b; In the above formula, P represents flatness, P0 represents standard flatness, a represents length and value weight coefficient, and b represents depth and value weight coefficient, where the value range of a and b is [0, 0.5).

2. The solid-state laser radar module packaging method according to claim 1, characterized in that: The step of comparing the flatness with a preset standard flatness to determine whether the historical output parameter needs to be adjusted includes: If the flatness is the standard flatness, it is determined that there is no need to adjust the historical output parameter, and the welding speed is used as the final value of the welding speed; If the flatness is less than the standard flatness, it is determined that the historical output parameter needs to be adjusted.

3. The solid-state laser radar module packaging method according to claim 2, characterized in that: The step of adjusting the welding speed according to the difference between the flatness and the standard flatness to obtain a final value of the welding speed includes: Setting a first difference and a second difference, wherein the first difference is smaller than the second difference; If the difference is less than or equal to the first difference, it is determined that the welding speed is adjusted using a first adjustment coefficient; If the difference is greater than the first difference and less than the second difference, it is determined that the welding speed is adjusted using a second adjustment coefficient; If the difference is greater than or equal to the second difference, it is determined that the welding speed is adjusted using a third adjustment coefficient; The value range of the adjustment coefficient is 1>first adjustment coefficient>second adjustment coefficient>third adjustment coefficient>0, and the final value of the welding speed is the product of the welding speed and the adjustment coefficient.

4. The solid-state laser radar module packaging method according to claim 1, characterized in that: The step of setting a plurality of collection points on the weld and collecting the penetration depth and penetration width of each of the collection points includes: Evenly setting a plurality of the collection points on the weld, and numbering each of the collection points in sequence; According to the melting depth of each of the acquisition points, a melting depth sequence A=(S, S1, S2, S3, ..., Sn) is constructed; wherein A represents the melting depth sequence, S represents the standard melting depth range, Si represents the melting depth of the acquisition point numbered i, i=1, 2, 3, ..., n; According to the melt widths of the respective collection points, a melt width sequence B=(K, K1, K2, K3, ..., Kn) is constructed; wherein B represents the melt width sequence, K represents the standard melt width range, Ki represents the melt width of the collection point numbered i, and i=1, 2, 3, ..., n.

5. The solid-state laser radar module packaging method according to claim 4, characterized in that: The comprehensively judging whether to adjust the laser power according to the depth comparison result and the width comparison result includes: If the melting depth of each of the acquisition points is within the standard melting depth range, and the melting width of each of the acquisition points is within the standard melting width range, it is determined that the laser power is not adjusted; Otherwise, it is determined that the laser power is to be adjusted.

6. The solid-state laser radar module packaging method according to claim 5, characterized in that: When the adjustment coefficient of the laser power is obtained according to the standard deviation of the melting depth, the standard deviation of the melting width and the number of unqualified collection points, it includes: Setting a first standard deviation and a second standard deviation, comparing the standard deviation of the penetration depth with the first standard deviation, and comparing the standard deviation of the penetration width with the second standard deviation; Calculating a third difference between the standard deviation of the penetration depth and the first standard deviation, and calculating a fourth difference between the standard deviation of the penetration width and the second standard deviation; Calculating an adjustment coefficient of the laser power according to the third difference, the fourth difference and the number of unqualified acquisition points; The unqualified collection point is that the melting depth of the collection point is not within the standard melting depth range and / or the melting width of the collection point is not within the standard melting width range.

7. The solid-state laser radar module packaging method according to claim 6, characterized in that: The step of calculating the adjustment coefficient of the laser power according to the third difference, the fourth difference and the number of unqualified acquisition points includes: The adjustment factor of laser power is calculated by the following formula: T=(α*△1+β*△2)*[1+γ*(N1 / N0)]; In the above formula, T represents the adjustment coefficient, △1 represents the third difference, △2 represents the fourth difference, N1 represents the number of unqualified collection points, N0 represents the total number of collection points, α, β and γ all represent influence coefficients, and the value range of α, β and γ is (0, 1].

8. The solid-state laser radar module packaging method according to claim 7, characterized in that: The step of adjusting the laser power according to the adjustment coefficient to obtain a final value of the laser power includes: When the third difference is less than 0 and the fourth difference is less than 0, α*△1+β*△2=1; The final value of the laser power is the product of the laser power and the adjustment coefficient.

9. A solid-state laser radar module packaging system, used for applying the solid-state laser radar module packaging method according to any one of claims 1 to 8, characterized in that: include: The acquisition module is configured to acquire weld parameters between the front shell and the rear shell after the front shell and the rear shell of the solid-state laser module are laser welded and packaged using historical output parameters; wherein the historical output parameters include laser power and welding speed, and the weld parameters include penetration depth, weld width and flatness; A welding speed adjustment module is configured to compare the flatness with a preset standard flatness to determine whether the historical output parameter needs to be adjusted, and if the judgment result is that adjustment is required, the welding speed is adjusted according to the difference between the flatness and the standard flatness to obtain a final value of the welding speed; The judgment module is configured to set a number of collection points on the weld, collect the melting depth and the melting width of each of the collection points, perform a depth comparison on the melting depth of each of the collection points with a preset standard melting depth range to obtain a depth comparison result; perform a width comparison on the melting width of each of the collection points with a preset standard melting width range to obtain a width comparison result; and comprehensively judge whether to adjust the laser power according to the depth comparison result and the width comparison result; The laser power adjustment module is configured to calculate the standard deviation of the weld depth and the standard deviation of the weld width if the comprehensive judgment result shows that the laser power needs to be adjusted, obtain the adjustment coefficient of the laser power according to the standard deviation of the weld depth, the standard deviation of the weld width and the number of unqualified collection points, adjust the laser power according to the adjustment coefficient, and obtain the final value of the laser power.

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