Solid-state lidar module, and packaging method and system

Abstract

A solid-state LiDAR module, and a packaging method and system, which belong to the technical field of LiDAR modules. The solid-state LiDAR module comprises a front housing and a rear housing, which are integrally connected, wherein a lens housing is connected to the front end of the front housing, an integrated lens barrel is detachably connected to the front housing by means of connecting bolts, a lens group is pre-provided in the integrated lens barrel, and a PCBA is provided on the back surface of the integrated lens barrel. The LiDAR module integrates core components such as a transmitting lens, a receiving lens and a PCB into the integrated lens barrel to serve as a standard component, which is then subjected to subsequent assembly. During assembly, it is only necessary to fit the standard component into the front housing, then cover the front housing with the rear housing and weld the front housing and the rear housing for packaging, thereby achieving rapid assembly.

Description

A solid-state lidar module, packaging method and system Technical Field

[0001] This application relates to the field of lidar module technology, specifically a solid-state lidar module, packaging method, and system. Background Technology

[0002] The working principle of a solid-state lidar module is based on the combination of lidar module technology and solid-state laser technology. It typically includes a laser module, a receiver module, and a signal processing module. During laser emission, the solid-state laser generates a high-energy, short-pulse laser beam. When the laser beam encounters a target object, a portion of the reflected light signal is received by the receiver of the solid-state lidar module. During laser reception, the receiver converts the received reflected light signal into an electrical signal, amplifies and processes it, thereby obtaining information such as the target's position, shape, and velocity.

[0003] Currently, the conventional assembly method for solid-state LiDAR modules typically involves creating a lens barrel groove on the die-cast front shell that matches the lens size. During assembly, the lens is fitted into the lens barrel groove using AA machining technology. Subsequently, the PCB is fixed to the die-cast front shell by dispensing adhesive. This assembly method can lead to the scrapping of the front shell if the lens is poorly assembled, and it can also lead to the scrapping of the front shell if the PCB is not properly focused. This results in significant processing difficulties and is prone to wasting raw materials. Therefore, to address the above problems, a solid-state LiDAR module that is easier to assemble is proposed.

[0004] Furthermore, most current laser welding technologies rely on fixed process parameters, such as laser power and welding speed. However, these parameters are typically set based on historical experience, making real-time adjustments difficult to make according to actual welding conditions. Traditional methods usually do not consider dynamic changes during the welding process, thus failing to address welding quality issues caused by material variations, process fluctuations, and other factors. While setting standard parameters can improve welding consistency, this approach fails to fully utilize real-time monitoring data for dynamic adjustment of the welding process, potentially leading to insufficient penetration, uneven weld width, or welding instability, thus affecting the final welding quality and module performance. Technical issues

[0005] 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 based on experience, lack real-time adjustment capabilities, and thus cannot effectively cope with material and process fluctuations, affecting welding quality and performance. Technical solutions

[0006] The technical problem to be solved by this invention is to provide a solid-state lidar module, packaging method and system. This lidar module integrates core components such as the transmitting lens, receiving lens and PCB into a compact module. That is, the integrated lens barrel and PCBA board for mounting the lens are assembled into a core module before assembly. During assembly, only the core module needs to be assembled in the front shell, and then the rear shell is closed and welded for sealing. There is no need to install the lens after the die-cast part is integrally formed, which can greatly reduce the assembly difficulty and avoid waste of the die-cast shell. It is also easy to replace a damaged lens, thereby reducing maintenance costs. This solves the technical problem in the prior art that when the lens is assembled into the die-cast front shell, it is easy to scrap the front shell due to poor lens assembly and poor PCB focusing, which has great processing difficulty and is easy to waste raw materials.

[0007] The technical solution adopted by the embodiments of this application to solve its technical problem is:

[0008] A solid-state lidar module includes a front shell and a rear shell, both made of aluminum and connected as one piece, with a lens shell connected to the front end of the front shell; an integrated lens barrel inserted into the lens shell and detachably connected to the front shell by connecting bolts; wherein, a lens group is pre-set inside the integrated lens barrel, and several pins are pressed on its back for mounting a PCBA board; the front shell (1) and the rear shell (2) are connected as one piece by laser welding during assembly;

[0009] The front and rear shells of the solid-state laser module are laser welded and packaged using historical output parameters, and the weld parameters between the front and rear shells are collected after the packaging is completed; wherein, the historical output parameters include laser power and welding speed, and the weld parameters include penetration depth, weld width and flatness;

[0010] The flatness is compared with the preset standard flatness to determine whether the historical output parameters need to be adjusted. If the result is that adjustment is needed, the welding speed is adjusted according to the difference between the flatness and the standard flatness to obtain the final welding speed value.

[0011] Several acquisition points are set on the weld to collect the weld depth and weld width at each acquisition point. The weld depth at each acquisition point is compared with a pre-set standard weld depth range to obtain a depth comparison result. The weld width at each acquisition point is compared with a pre-set standard weld width range to obtain a width comparison result. Based on the depth comparison result and the width comparison result, it is determined whether the laser power should be adjusted.

[0012] If the overall judgment result indicates that the laser power needs to be adjusted, calculate the standard deviation of the weld penetration and the standard deviation of the weld width. Based on the standard deviation of the weld penetration, the standard deviation of the weld width, and the number of unqualified sampling points, obtain the adjustment coefficient of the laser power. Adjust the laser power according to the adjustment coefficient to obtain the final value of the laser power. Beneficial effects

[0013] The present invention has the following beneficial technical effects:

[0014] This lidar module integrates core components such as the transmitting lens, receiving lens, and PCB into a single, standardized lens housing. This standard housing is then used for further assembly. Assembly is simple: the standard housing is installed in the front shell, the rear shell is then closed, and the front and rear shells are welded together. This standardization and speed of assembly, along with modularity and disassembly for maintenance, eliminates the need for the careful installation of lenses, PCBs, and other core components after the die-cast housing is integrally formed, as is done in existing technologies. This significantly reduces assembly difficulty, avoids scrapping the die-cast housing, and facilitates easy replacement of a damaged lens, thereby reducing maintenance costs.

[0015] This invention significantly improves the stability of the welding process and the quality of the weld by dynamically adjusting laser power and welding speed. First, historical output parameters (such as laser power and welding speed) are used to weld and encapsulate the front and rear shells of the module, ensuring 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, this invention automatically adjusts the welding speed to achieve the predetermined quality standard. By setting collection points and comparing the penetration depth and weld width, a comprehensive judgment is made as to whether laser power adjustment is needed, thereby ensuring that each weld meets strict dimensional requirements. Furthermore, this invention calculates the standard deviation of weld penetration depth and weld width, and calculates the laser power adjustment coefficient based on the number of non-conforming collection points. This adjustment process effectively compensates for unstable factors in welding, improving welding quality. The advantages of this method are that it can monitor and adjust welding parameters in real time, avoiding interference from human factors, and reducing scrap and rework rates through precise adjustments, 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. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0017] Figure 1 is a schematic diagram of the overall structure of a solid-state lidar module according to the present invention;

[0018] Figure 2 is a schematic diagram of the structure of the solid-state lidar module in Figure 1;

[0019] Figure 3 is a partial structural schematic diagram of the solid-state lidar module in Figure 1;

[0020] Figure 4 is a schematic diagram of the internal structure of the rear shell of the solid-state lidar module in Figure 1.

[0021] Figure 5 is a schematic diagram of the back structure of the solid-state lidar module in Figure 1.

[0022] Figure 6 is a schematic diagram of the overall structure of another solid-state lidar module according to the present invention;

[0023] Figure 7 is a flowchart of the solid-state lidar module packaging method provided in an embodiment of the present invention;

[0024] Figure 8 is a functional block diagram of the solid-state lidar module packaging system provided in an embodiment of the present invention.

[0025] In the diagram: 1. Front housing; 11. Mounting hole; 12. Positioning shaft; 2. Rear housing; 21. Annular pad; 22. Heat dissipation teeth; 23. Connection port; 3. Lens housing; 31. Lens barrel groove; 32. Glass cover plate; 4. Integrated lens barrel; 41. Positioning hole; 42. Connecting bolt; 43. PIN pin; 5. PCBA board; 51. Connecting hole; 6. Heat conduction plate. Detailed Implementation

[0026] The technical solution in this application embodiment is to solve the problems mentioned in the background art, and the overall idea is as follows:

[0027] As shown in Figures 1-3, this embodiment provides an easy-to-assemble solid-state lidar module, including a front shell 1 and a rear shell 2, both made of 1-series aluminum. During assembly, the two shells are joined together by laser welding, and a lens shell 3 is connected to the front end of the front shell 1. It should be noted that, in addition to laser welding, the front shell 1 and rear shell 2 can also be joined together using a sealing ring and threaded fastening method. However, the sealing ring may age over time, affecting lens performance. Laser welding provides a permanent seal, offering better acid, water, fog, and dust resistance.

[0028] The easy-to-assemble solid-state lidar module also includes: an integrated lens barrel 4, which is inserted into the lens housing 3 and is detachably connected to the front housing 1 by connecting bolts 42; wherein, the integrated lens barrel 4 has a pre-set lens assembly, and several pins 43 are pressed onto its back for mounting PCBA board 5.

[0029] This lidar module integrates core components such as the transmitting lens, receiving lens, and PCB into a single, standardized lens housing. This standard housing is then assembled into a single unit. Assembly is simple: the standard housing is fitted into the front shell 1, the rear shell 2 is then closed, and the front and rear shells are welded together. This eliminates the need for careful installation of the lens, PCB, and other core components after the die-cast part is integrally formed, as is done in existing technologies. This significantly reduces assembly difficulty, avoids scrapping the die-cast housing, and facilitates easy replacement of a damaged lens, thus reducing maintenance costs. Furthermore, since the traditional die-casting process is no longer used, this application specifically selects 1-series aluminum. Compared to traditional die-cast aluminum alloys (ADC12), 1-series aluminum offers better heat dissipation, which, combined with external finned heat dissipation teeth, results in highly efficient heat dissipation.

[0030] In the above scheme, two integrated lens tubes 4 can be provided, one for emitting laser and the other for receiving laser. Alternatively, three integrated lens tubes 4 can be arranged, as shown in Figure 6, with the middle integrated lens tube 4 for emitting laser and the two side integrated lens tubes 4 for receiving laser.

[0031] As shown in Figures 2 and 3, the lens housing 3 and the front housing 1 have a through-hole lens barrel groove 31, the size of which matches the size of the lens barrel part of the integrated lens barrel 4. This structure provides the necessary structural basis for the positioning and installation of the integrated lens barrel 4. The front end face of the lens housing 3 is covered with a glass cover plate 32, which can protect the integrated lens barrel 4.

[0032] As shown in Figure 3, several positioning shafts 12 are fixedly installed inside the front shell 1, and corresponding positioning holes 41 are opened on the integrated lens barrel 4. The above structure can play a guiding and positioning role when the integrated lens barrel 4 is installed, so that the integrated lens barrel 4 can be installed in the designated position. In addition, the front shell 1 is provided with mounting holes 11 that match the connecting bolts 42. This structure provides the necessary structural basis for the fixed connection between the connecting bolts 42 and the front shell 1. The back of the integrated lens barrel 4 is provided with several mounting bottom holes. The PIN pin 43 is press-fitted to the mounting bottom holes, and the two are interference fit. This technical solution can ensure the stability of the PIN pin 43 installation, so that it will not loosen under high and low temperature environment and long-term vibration.

[0033] As shown in Figure 3, PCBA board 5 has four corner holes 51, the opening positions of which correspond to the setting positions of PIN pins 43. PCBA board 5 is fixedly connected to PIN pins 43 at the holes 51 by solder. The combined effect of PIN pins 43 and holes 51 can provide positioning for the installation of PCBA board 5 and prevent its installation position from shifting, resulting in focal length mismatch.

[0034] As shown in Figures 4 and 5, the rear shell 2 has an outwardly protruding annular pad 21 inside, and a heat-conducting plate 6 is attached to the PCBA board 5. After the front shell 1 and the rear shell 2 are welded together, the back of the heat-conducting plate 6 abuts against the annular pad 21. The above structure can fix the heat-conducting plate 6 and reserve heat dissipation space to ensure that the PCBA board 5 can efficiently exchange heat with the outside. A centrally located connection port 23 is fixedly provided on the back of the rear shell 2, and fin-shaped heat dissipation teeth 22 are fixedly provided on all four sides of the back of the rear shell 2. The heat dissipation teeth 22 can enhance the heat dissipation effect of the rear shell 2 and prevent heat accumulation inside the radar.

[0035] The heat-conducting plate 6 is composed of a metal plate and a graphene layer bonded together, with the graphene layer located on the front side for bonding with the PCBA board 5. This structure can further ensure that the heat-conducting plate 6 has high heat dissipation performance through the bonding of the graphene layer with the PCBA board 5.

[0036] The principle and process of using this invention:

[0037] This lidar module integrates core components such as the transmitting lens, receiving lens, and PCB into a compact module. Specifically, the integrated lens barrel 4 and PCBA board 5 for mounting the lens are pre-assembled into a core module before assembly. During assembly, the core module only needs to be installed in the front shell 1, and then the rear shell 2 is closed and welded for sealing. There is no need to install the lens after the die-cast part is integrally formed, which can greatly reduce the assembly difficulty, avoid waste of the die-cast shell, and facilitate replacement if a lens is damaged, thereby reducing maintenance costs.

[0038] The front shell 1 has several positioning shafts 12 fixedly installed inside, and the integrated lens barrel 4 has corresponding positioning holes 41. The above structure can play a guiding and positioning role when the integrated lens barrel 4 is installed, so that the integrated lens barrel 4 can be installed in the designated position. In addition, the combination of PIN pin 43 and connector hole 51 can provide positioning for the installation of PCBA board 5, preventing its installation position from shifting and causing focal length mismatch.

[0039] In addition, the rear shell 2 has an outwardly protruding annular pad 21 inside, and a heat-conducting plate 6 is attached to the PCBA board 5. After the front shell 1 and the rear shell 2 are welded together, the back of the heat-conducting plate 6 abuts against the annular pad 21. The above structure can fix the heat-conducting plate 6 and reserve heat dissipation space to ensure that the PCBA board 5 can efficiently exchange heat with the outside. A centrally located connection port 23 is fixedly provided on the back of the rear shell 2, and heat dissipation teeth 22 are fixedly provided on all four sides of the back of the rear shell 2. The heat dissipation teeth 22 can enhance the heat dissipation effect of the rear shell 2 and prevent heat accumulation inside the radar.

[0040] Referring to FIG7, in some embodiments of this application, this embodiment provides a solid-state lidar module packaging method, including the following steps:

[0041] S100. The front and rear shells of the solid-state laser module are laser welded and packaged using historical output parameters, and the weld parameters between the front and rear shells are collected after the packaging is completed. The historical output parameters include laser power and welding speed, and the weld parameters include penetration depth, weld width and flatness.

[0042] S200. Compare the flatness with the preset standard flatness to determine whether the historical output parameters need to be adjusted. If the result is that adjustment is needed, adjust the welding speed according to the difference between the flatness and the standard flatness to obtain the final welding speed value.

[0043] S300. Set up several acquisition points on the weld, and collect the weld depth and weld width at each acquisition point. Compare the weld depth at each acquisition point with the pre-set standard weld depth range to obtain the depth comparison result; compare the weld width at each acquisition point with the pre-set standard weld width range to obtain the width comparison result; and make a comprehensive judgment on whether to adjust the laser power based on the depth comparison result and the width comparison result.

[0044] S400. If the comprehensive judgment result indicates that the laser power needs to be adjusted, calculate the standard deviation of the weld penetration depth and the standard deviation of the weld width. Based on the standard deviation of the weld penetration depth, the standard deviation of the weld width, and the number of unqualified sampling points, obtain the adjustment coefficient of the laser power. Adjust the laser power according to the adjustment coefficient to obtain the final value of the laser power.

[0045] Understandably, this solid-state lidar module packaging method significantly improves the stability of the welding process and the quality of the weld by dynamically adjusting the laser power and welding speed. First, historical output parameters (such as laser power and welding speed) are used to weld and package the front and rear shells of the module, ensuring 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, this invention automatically adjusts the welding speed to reach the predetermined quality standard. By setting collection points and comparing the penetration depth and weld width, a comprehensive judgment is made as to whether the laser power needs to be adjusted, thereby ensuring that each weld meets strict dimensional requirements. Furthermore, this invention calculates the standard deviation of the weld penetration depth and weld width, and calculates the laser power adjustment coefficient based on the number of non-conforming collection points. This adjustment process effectively compensates for unstable factors in the welding process, improving welding quality. The advantages of this method are that it can monitor and adjust welding parameters in real time, avoiding interference from human factors, and reducing scrap and rework rates through precise adjustments, 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] In some embodiments of this application, before comparing the flatness with a pre-set standard flatness, the following steps are included:

[0047] Obtain external and internal image information of the weld and determine whether cracks exist in the external and internal image information;

[0048] If the judgment result is that there are no cracks, then the flatness is the standard flatness;

[0049] If the assessment result indicates the presence of cracks, calculate the sum of the lengths and depths of all cracks, and then calculate the flatness using the following formula:

[0050] P = P0*a + P0*b;

[0051] In the above formula, P represents flatness, P0 represents standard flatness, a represents length and value weighting coefficient, and b represents depth and value weighting coefficient, where the values ​​of a and b are both in the range of [0, 0.5].

[0052] Understandably, detecting cracks in the external and internal images of the weld seam provides a precise monitoring mechanism for packaging quality. Specifically, by determining whether cracks exist in the weld seam, potential quality issues during the welding process can be effectively avoided. If no cracks are found, the weld seam's flatness is assumed to be standard flatness, simplifying the process. If cracks are present, the length and depth of the cracks are further calculated, and the weld seam's flatness is adjusted using a preset formula. This approach quantifies the impact of cracks and dynamically adjusts welding process parameters based on their severity. The formula not only ensures that flatness adjustments are targeted but also provides a quantitative assessment of welding quality, helping to optimize the welding process. Dynamically adjusting flatness effectively avoids 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, effectively improving welding quality, enhancing packaging stability, reducing subsequent problems caused by welding defects, and thus reducing defect rates and rework rates, ensuring product consistency and high reliability.

[0053] In some embodiments of this application, when comparing the flatness with a preset standard flatness to determine whether adjustments to historical output parameters are needed, the method includes:

[0054] 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.

[0055] If the flatness is less than the standard flatness, it is determined that the historical output parameters need to be adjusted.

[0056] In some embodiments of this application, when adjusting the welding speed based on the difference between the flatness and the standard flatness to obtain the final welding speed value, the following steps are included:

[0057] Set a first difference and a second difference, where the first difference is less than the second difference;

[0058] If the difference is less than or equal to the first difference, then it is determined that the welding speed should be adjusted using the first adjustment coefficient;

[0059] If the difference is greater than the first difference and less than the second difference, then it is determined that the welding speed should be adjusted using the second adjustment coefficient.

[0060] If the difference is greater than or equal to the second difference, then it is determined that the welding speed should be adjusted using the third adjustment coefficient;

[0061] The adjustment coefficient ranges from 1 to 0, and the final welding speed is the product of the welding speed and the adjustment coefficient.

[0062] Understandably, the welding speed adjustment method in this application provides an intelligent and precise dynamic adjustment mechanism based on the difference between the weld flatness and the standard flatness. When the weld flatness meets the standard, there is no need to adjust historical output parameters, keeping the welding speed constant, thus avoiding unnecessary adjustments and improving efficiency. When the flatness is below the standard, the welding speed is flexibly adjusted by calculating the flatness difference and introducing different adjustment coefficients to ensure optimal welding quality. By setting a first difference and a second difference, an appropriate adjustment coefficient can be dynamically selected based on the magnitude of the flatness difference. This tiered adjustment method facilitates fine-tuning of 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, ensuring improved welding quality. The adjustment coefficient is designed to gradually decrease from 1, making the adjustment more flexible and avoiding the adverse effects of over-adjustment. Through precise adjustment strategies, the welding speed can be dynamically controlled according to the actual welding situation, improving the stability of the welding process and weld quality, reducing the generation of defective products, and increasing production efficiency. At the same time, by setting different adjustment coefficients based on the difference, the adjustment range can be effectively controlled, avoiding negative effects caused by over-adjustment, and optimizing the accuracy and reliability of the welding process.

[0063] In some embodiments of this application, when setting several sampling points on the weld and collecting the weld penetration and weld width at each sampling point, the following steps are included:

[0064] Several sampling points are evenly set on the weld, and each sampling point is numbered sequentially.

[0065] Based on the melting depth at each sampling point, a melting depth sequence A = (S, S1, S2, S3, ..., Sn) is constructed; where A represents the melting depth sequence, S represents the standard melting depth range, and Si represents the melting depth at sampling point numbered i, i = 1, 2, 3, ..., n;

[0066] Based on the melt width of each collection point, construct a melt width sequence B = (K, K1, K2, K3, ..., Kn); where B represents the melt width sequence, K represents the standard melt width range, and Ki represents the melt width of the collection point numbered i, i = 1, 2, 3, ..., n.

[0067] Understandably, by setting up several sampling points on the weld and collecting the penetration depth and width at each point, precise monitoring and evaluation of welding quality can be achieved. First, sampling points are evenly distributed and numbered on the weld, ensuring the systematic nature and comparability of the data collection. Next, by constructing penetration depth sequence A and penetration width sequence B, the penetration depth and width at each sampling point can be visually represented. The standard penetration depth range S and standard penetration width range K serve as reference benchmarks, facilitating the rapid identification of anomalies during the welding process. Si and Ki in the sequence represent the penetration depth and penetration width of sampling point i, respectively. By comparing these values ​​with the standard ranges S and K, the welding quality of each sampling point can be evaluated. This collection and analysis method not only helps to promptly detect welding defects, such as insufficient penetration depth or uneven penetration width, but also helps to optimize welding process parameters, improving the consistency and reliability of welding quality. Furthermore, by continuously monitoring and recording penetration depth and penetration 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.

[0068] In some embodiments of this application, when determining whether to adjust the laser power based on a comprehensive assessment of depth and width comparison results, the following steps are included:

[0069] If the melting depth at each acquisition point is within the standard melting depth range and the melting width at each acquisition point is within the standard melting width range, then it is determined that the laser power will not be adjusted.

[0070] Otherwise, the laser power is adjusted.

[0071] In some embodiments of this application, when obtaining the laser power adjustment coefficient based on the standard deviation of the weld depth, the standard deviation of the weld width, and the number of defective sampling points, the following methods are included:

[0072] Set a first standard deviation and a second standard deviation, compare the standard deviation of melt depth with the first standard deviation, and compare the standard deviation of melt width with the second standard deviation;

[0073] Calculate the third difference between the standard deviation of the melt depth and the first standard deviation, and calculate the fourth difference between the standard deviation of the melt width and the second standard deviation;

[0074] The adjustment coefficient for laser power is calculated based on the third difference, the fourth difference, and the number of unqualified acquisition points;

[0075] Among them, the unqualified sampling points are those whose melting depth is not within the standard melting depth range and / or whose melting width is not within the standard melting width range.

[0076] Understandably, determining whether to adjust the laser power by comprehensively comparing depth and width comparison results ensures the accuracy and stability of the laser processing. When the melt depth and width of all acquisition points are within the preset standard range, it is determined that no laser power adjustment is needed. This helps maintain the current processing quality, avoids unnecessary power fluctuations, and thus improves processing efficiency and reduces resource waste. Conversely, if there are acquisition points exceeding the standard range, it is determined that the laser power needs to be adjusted to ensure that the processing quality meets the requirements. This helps to correct processing deviations in a timely manner and ensure the consistency of the final product quality. Furthermore, in some embodiments, the laser power adjustment coefficient is obtained by calculating the standard deviation of melt depth and width, as well as the number of unqualified acquisition points. This method provides more precise control. By setting the first and second standard deviations as reference benchmarks and comparing the actual standard deviations with the benchmark values, the degree of fluctuation in melt depth and width can be quantitatively assessed. Combined with the number of unqualified acquisition points, the processing quality can be more comprehensively evaluated, and an appropriate laser power adjustment coefficient can be calculated accordingly. This data-driven adjustment strategy not only improves the adaptability and flexibility of the laser processing process, but also effectively reduces the scrap rate and improves overall production efficiency and product quality.

[0077] In some embodiments of this application, when calculating the adjustment coefficient of laser power based on the third difference, the fourth difference, and the number of defective acquisition points, the following steps are included:

[0078] The adjustment factor for laser power is calculated using the following formula:

[0079] T=(α*△1+β*△2)*[1+γ*(N1 / N0)];

[0080] 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, and α, β and γ all represent influence coefficients, and the values ​​of α, β and γ are all in the range of (0, 1).

[0081] In some embodiments of this application, when adjusting the laser power according to an adjustment coefficient to obtain a final laser power value, the following steps are included:

[0082] When the third difference is less than 0 and the fourth difference is less than 0, α*△1+β*△2=1;

[0083] The final value of the laser power is the product of the laser power and the adjustment coefficient.

[0084] It is understood that, in some embodiments of this application, optimizing the performance of laser equipment by calculating the adjustment coefficient of laser power has significant advantages. First, by introducing a third and fourth difference, the system can self-adjust based on the difference between the actual and expected laser output, thereby improving the accuracy and stability of the laser. Second, considering the ratio of the number of defective 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. Furthermore, by setting influence coefficients α, β, and γ, the system can flexibly weigh the impact of different factors on laser power adjustment, ensuring that the adjustment process is both reasonable and efficient. When both the third and fourth differences are less than 0, a specific adjustment strategy (α*△1+β*△2=1) is adopted to ensure that the laser power adjustment meets actual needs without deviating excessively from the original setting, thereby avoiding potential equipment damage or processing errors. Finally, by multiplying the adjustment coefficient T by the current laser power, the final value of the laser power is obtained. This process ensures that the laser output is always in an optimal state, meeting 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 significant practical value and market potential.

[0085] On the other hand, referring to Figure 8, this application also provides a solid-state lidar module packaging system for applying the above-described solid-state lidar module packaging method, including:

[0086] The acquisition module is configured to acquire the weld parameters between the front and rear shells of the solid-state laser module after laser welding and packaging 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.

[0087] 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 result indicates that adjustment is needed, the welding speed is adjusted based on the difference between the flatness and the standard flatness to obtain the final welding speed value.

[0088] The judgment module is configured to set several acquisition points on the weld, acquire the weld depth and weld width at each acquisition point, compare the weld depth at each acquisition point with a pre-set standard weld depth range to obtain the depth comparison result, compare the weld width at each acquisition point with a pre-set standard weld width range to obtain the width comparison result, and make a comprehensive judgment on whether to adjust the laser power based on the depth comparison result and the width comparison result.

[0089] The laser power adjustment module is configured to calculate the standard deviation of weld penetration and weld width if the comprehensive judgment result indicates that the laser power needs to be adjusted. Based on the standard deviation of weld penetration, weld width and the number of unqualified sampling points, the laser power adjustment coefficient is obtained. The laser power is then adjusted according to the adjustment coefficient to obtain the final laser power value.

[0090] Understandably, the real-time monitoring of weld parameters after laser welding and encapsulation via the acquisition module ensures an initial assessment of weld quality. Historical output parameters, including laser power and welding speed, combined with weld parameters such as penetration depth, weld width, and flatness, provide crucial data support for subsequent quality control. Secondly, the welding speed adjustment module, by comparing with standard flatness, can promptly identify and adjust the welding speed, ensuring weld flatness and thus improving overall product quality. The judgment module further refines quality control by setting acquisition points on the weld to compare penetration depth and width, ensuring uniformity and consistency of weld quality. Finally, the laser power adjustment module calculates the laser power adjustment coefficient based on the standard deviation of penetration depth and width, as well as the number of non-conforming acquisition points, achieving precise laser power adjustment and ensuring the stability and reliability of the welding process. In summary, this system, through the collaborative work of multiple modules, not only improves the packaging quality of solid-state lidar modules but also optimizes production efficiency and reduces scrap rates, demonstrating significant practical value and economic benefits.

[0091] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program goods. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program goods embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0092] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program goods according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0093] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0094] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

Claims

1. A solid-state lidar module, characterized in that, include: The front shell (1) and the rear shell (2) are connected as one piece, and the front shell (1) is connected to the lens shell (3). An integrated lens barrel (4) is inserted into the lens housing (3) and is detachably connected to the front housing (1) by connecting bolts (42); The integrated lens barrel (4) has a lens assembly pre-installed inside, and several pins (43) are pressed onto its back side. At the same time, a PCBA board (5) is provided on the back side of the integrated lens barrel (4), and the two are soldered together. The front shell (1) and the rear shell (2) are joined together by laser welding during assembly; The front and rear shells of the solid-state laser module are laser welded and packaged using historical output parameters, and the weld parameters between the front and rear shells are collected after the packaging is completed; wherein, the historical output parameters include laser power and welding speed, and the weld parameters include penetration depth, weld width and flatness; The flatness is compared with the preset standard flatness to determine whether the historical output parameters need to be adjusted. If the result is that adjustment is needed, the welding speed is adjusted according to the difference between the flatness and the standard flatness to obtain the final welding speed value. Several acquisition points are set on the weld to collect the weld depth and weld width at each acquisition point. The weld depth at each acquisition point is compared with a pre-set standard weld depth range to obtain a depth comparison result. The weld width at each acquisition point is compared with a pre-set standard weld width range to obtain a width comparison result. Based on the depth comparison result and the width comparison result, it is determined whether the laser power should be adjusted. If the overall judgment result indicates that the laser power needs to be adjusted, calculate the standard deviation of the weld penetration and the standard deviation of the weld width. Based on the standard deviation of the weld penetration, the standard deviation of the weld width, and the number of unqualified sampling points, obtain the adjustment coefficient of the laser power. Adjust the laser power according to the adjustment coefficient to obtain the final value of the laser power.

2. A solid-state lidar module according to claim 1, characterized in that: The lens housing (3) and the front housing (1) are provided with a lens barrel groove (31) that is connected and penetrates through it. Its size is consistent with the size of the lens barrel part of the integrated lens barrel (4). The front end face of the lens housing (3) is attached with a glass cover plate (32). Several positioning shafts (12) are fixedly provided in the front housing (1). The integrated lens barrel (4) is provided with corresponding positioning holes (41). In addition, the front housing (1) is provided with mounting holes (11) that match the connecting bolts (42). Several mounting bottom holes are provided on the back of the integrated lens barrel (4). The PIN pin (43) is crimped with the mounting bottom hole and the two are interference fit. The PCBA board (5) is provided with connecting holes (51) at all four corners. The opening position corresponds to the setting position of the PIN pin (43). The PCBA board (5) is fixedly connected to the PIN pin (43) at the connecting hole (51) by solder.

3. A method for packaging a solid-state lidar module, characterized in that, include: The front and rear shells of the solid-state laser module are laser welded and packaged using historical output parameters, and the weld parameters between the front and rear shells are collected after the packaging is completed; wherein, the historical output parameters include laser power and welding speed, and the weld parameters include penetration depth, weld width and flatness; The flatness is compared with the preset standard flatness to determine whether the historical output parameters need to be adjusted. If the result is that adjustment is needed, the welding speed is adjusted according to the difference between the flatness and the standard flatness to obtain the final welding speed value. Several acquisition points are set on the weld to collect the weld depth and weld width at each acquisition point. The weld depth at each acquisition point is compared with a pre-set standard weld depth range to obtain a depth comparison result. The weld width at each acquisition point is compared with a pre-set standard weld width range to obtain a width comparison result. Based on the depth comparison result and the width comparison result, it is determined whether the laser power should be adjusted. If the overall judgment result indicates that the laser power needs to be adjusted, calculate the standard deviation of the weld penetration and the standard deviation of the weld width. Based on the standard deviation of the weld penetration, the standard deviation of the weld width, and the number of unqualified sampling points, obtain the adjustment coefficient of the laser power. Adjust the laser power according to the adjustment coefficient to obtain the final value of the laser power.

4. The solid-state lidar module packaging method according to claim 3, characterized in that, Before comparing the flatness with a preset standard flatness, the process includes: Obtain external and internal image information of the weld, and determine whether cracks exist in the external and internal image information; If the judgment result is that there are no cracks, then the flatness is the standard flatness. If the assessment result indicates the presence of cracks, calculate the sum of the lengths and depths of all cracks, and then calculate the smoothness using the following formula: P = P0*a + P0*b; In the above formula, P represents flatness, P0 represents standard flatness, a represents length and value weighting coefficient, and b represents depth and value weighting coefficient, where the values ​​of a and b are both in the range of [0, 0.5].

5. The solid-state lidar module packaging method according to claim 4, characterized in that, When comparing the flatness with a pre-set standard flatness to determine whether the historical output parameters need to be adjusted, the following steps are included: If the flatness is the standard flatness, it is determined that no adjustment is needed to the historical output parameters, and the welding speed is taken as the final value of the welding speed. If the flatness is less than the standard flatness, it is determined that the historical output parameters need to be adjusted.

6. The solid-state lidar module packaging method according to claim 5, characterized in that, When adjusting the welding speed based on the difference between the flatness and the standard flatness to obtain the final welding speed value, the following steps are included: Set a first difference and a second difference, wherein the first difference is less than the second difference; If the difference is less than or equal to the first difference, it is determined that the welding speed should be adjusted using the 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 the second adjustment coefficient. If the difference is greater than or equal to the second difference, it is determined that the welding speed should be adjusted using a third adjustment coefficient. The adjustment coefficient ranges from 1 to 0, and the final value of the welding speed is the product of the welding speed and the adjustment coefficient.

7. The solid-state lidar module packaging method according to claim 3, characterized in that, The step of setting several sampling points on the weld and sampling the weld penetration and weld width at each sampling point includes: A plurality of collection points are evenly arranged on the weld, and each collection point is numbered sequentially. Based on the melting depth of each sampling point, a melting depth sequence A = (S, S1, S2, S3, ..., Sn) is constructed; where A represents the melting depth sequence, S represents the standard melting depth range, and Si represents the melting depth of the sampling point numbered i, i = 1, 2, 3, ..., n; Based on the melt width of each collection point, construct a melt width sequence B = (K, K1, K2, K3, ..., Kn); where B represents the melt width sequence, K represents the standard melt width range, and Ki represents the melt width of the collection point numbered i, i = 1, 2, 3, ..., n.

8. The solid-state lidar module packaging method according to claim 3, characterized in that, When determining whether to adjust the laser power based on the depth comparison result and the width comparison result, the following steps are included: 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, then it is determined that the laser power will not be adjusted. Otherwise, it is determined that the laser power should be adjusted.

9. The solid-state lidar module packaging method according to claim 8, characterized in that, The method for obtaining the laser power adjustment coefficient based on the standard deviation of melt depth, the standard deviation of melt width, and the number of defective sampling points includes: Set a first standard deviation and a second standard deviation, compare the standard deviation of the melt depth with the first standard deviation, and compare the standard deviation of the melt width with the second standard deviation; Calculate the third difference between the standard deviation of the melt depth and the first standard deviation, and calculate the fourth difference between the standard deviation of the melt width and the second standard deviation; The adjustment coefficient for laser power is calculated based on the third difference, the fourth difference, and the number of unqualified acquisition points; Among them, the unqualified sampling points are those whose melting depth is not within the standard melting depth range and / or whose melting width is not within the standard melting width range.

10. A solid-state lidar module packaging system, used for applying the solid-state lidar module packaging method as described in any one of claims 3-9, characterized in that, include: The acquisition module is configured to acquire the weld parameters between the front and rear shells of the solid-state laser module after laser welding and packaging 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; 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 determination result is that adjustment is needed, the welding speed is adjusted according to the difference between the flatness and the standard flatness to obtain the final welding speed value. The judgment module is configured to set several acquisition points on the weld, acquire the weld depth and weld width of each acquisition point, compare the weld depth of each acquisition point with a preset standard weld depth range to obtain a depth comparison result, compare the weld width of each acquisition point with a preset standard weld width range to obtain a width comparison result, and comprehensively judge whether to adjust the laser power based on the depth comparison result and the width comparison result. The laser power adjustment module is configured to, if the comprehensive judgment result indicates that the laser power needs to be adjusted, calculate the standard deviation of the weld penetration depth and the standard deviation of the weld width, obtain the laser power adjustment coefficient based on the standard deviation of the weld penetration depth, the standard deviation of the weld width and the number of unqualified sampling points, adjust the laser power according to the adjustment coefficient, and obtain the final value of the laser power.

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