CN114594447A

CN114594447A - Debugging equipment and debugging method thereof

Info

Publication number: CN114594447A
Application number: CN202011400925.7A
Authority: CN
Inventors: 韩筱敏; 曾昭明; 向少卿
Original assignee: Hesai Technology Co Ltd
Current assignee: Hesai Technology Co Ltd
Priority date: 2020-12-04
Filing date: 2020-12-04
Publication date: 2022-06-07

Abstract

The embodiment of the invention provides a mounting and adjusting device and a mounting and adjusting method thereof, which are suitable for mounting and adjusting an integrated circuit board of a laser radar. And in this installation and debugging equipment, the regulation of first direction, second direction and third direction has been injectd through three-dimensional alignment jig, through angle adjustment mechanism, has injectd the rotation in first direction and second direction place plane, avoids the too much regulation mixed and disorderly chapter that causes of manual regulation degree of freedom, and the corresponding installation and debugging efficiency that is favorable to improving integrated circuit board.

Description

Debugging equipment and debugging method thereof

Technical Field

The embodiment of the invention relates to the technical field of mechanical equipment, in particular to adjusting equipment and an adjusting method thereof.

Background

Laser radar (LIDAR), which is a radar system that emits laser beams to detect characteristic quantities such as position and speed of a target, has important tasks such as road edge detection, obstacle identification, and real-time positioning and mapping in automatic driving.

The working principle of the system is that a transmitting unit transmits a detection signal (transmitting beam) to a target, a receiving unit compares a received echo signal (echo beam) reflected from the target with the transmitting signal, and after appropriate processing, relevant information of the target, such as target distance, direction, height, speed, posture, even shape and other parameters, can be obtained, so that the targets such as automobiles, pedestrians and the like are detected, tracked and identified. The laser changes the electric pulse into optical pulse and emits it, and the optical receiver restores the reflected optical pulse from the target into electric pulse.

Therefore, the receiving unit receives the echo signal corresponding to the detection signal of the transmitting unit, which is a necessary condition for the laser radar to have high performance, but the precision of the existing traditional machining is difficult to ensure the requirement of transmitting and receiving optical links between the transmitting unit and the receiving unit in the laser radar, and the adjustment of the transmitting unit and the receiving unit in the laser radar is necessary.

Disclosure of Invention

The invention aims to provide the adjusting equipment and the adjusting method thereof, which improve the accuracy of the laser radar transmitting and receiving optical link.

The technical scheme of the invention provides a debugging device, which is suitable for debugging an integrated circuit board of a laser radar, and comprises the following components: the device comprises a three-dimensional adjusting frame, an angle adjusting mechanism connected with the three-dimensional adjusting frame and a clamping part connected with the angle adjusting mechanism, wherein the clamping part is provided with a first target output end; the three-dimensional adjusting bracket comprises: the first mobile station is used for realizing the position adjustment of the first target output end along the first direction; the second mobile station is used for realizing the position adjustment of the first target output end along the second direction; the third mobile station is used for realizing the position adjustment of the first target output end along a third direction, and the third direction is vertical to the second direction and a plane where the first direction is located; the first mobile station, the second mobile station and the third mobile station are connected in series; the angle adjusting mechanism is used for realizing the rotation of the first target output end in a plane in which a first direction and a second direction are positioned; the clamping part is used for clamping the integrated circuit board.

Correspondingly, the technical scheme of the invention also provides an installation and debugging method, which comprises the following steps: the method for assembling and adjusting the integrated circuit board suitable for the laser radar, wherein the integrated circuit board is internally provided with a first direction and a second direction which are perpendicular to each other, and the method for assembling and adjusting the integrated circuit board comprises the following steps: clamping the integrated circuit board; rotating the integrated circuit board in a plane formed by the first direction and the second direction; moving the integrated circuit board in at least one direction of the first direction, the second direction and a third direction, wherein the third direction is perpendicular to a plane where the first direction and the second direction are located; and after the integrated circuit board is moved in at least one direction of the first direction, the second direction and the third direction, the integrated circuit board is fixed on the laser radar.

Compared with the prior art, the technical scheme of the invention has the following advantages:

in the assembly and adjustment device provided by the embodiment of the invention, the clamping part clamps the integrated circuit board, the integrated circuit board can move in the first direction, the second direction and the third direction by adjusting the three-dimensional adjusting frame, the integrated circuit board can rotate in the plane of the first direction and the second direction by the angle adjusting mechanism, the assembly and adjustment position and the inclination angle of the integrated circuit board clamped by the clamping part can be adjusted, the assembly and adjustment precision is improved, and the optical path accuracy of the laser radar after being installed and the accuracy of the laser radar distance detection can be further improved. In the assembly and adjustment equipment, the adjustment in the first direction, the adjustment in the second direction and the adjustment in the third direction are limited through the three-dimensional adjusting frame, the rotation in the plane where the first direction and the second direction are located is limited through the angle adjusting mechanism, the adjustment disorder caused by excessive manual adjustment freedom is avoided, and the assembly and adjustment efficiency of the integrated circuit board is correspondingly improved.

Drawings

Fig. 1 is a schematic structural view of a first view angle of an integrated circuit board mounted and adjusted by a first embodiment of the mounting and adjusting device of the present invention;

fig. 2 is a schematic structural diagram of a second view angle of the integrated circuit board mounted and adjusted by the first embodiment of the mounting and adjusting device of the present invention;

FIG. 3 is a third perspective view of the first embodiment of the assembly apparatus for assembling and adjusting the IC board of the present invention;

FIG. 4 is a schematic structural diagram of an IC board fixing device according to a first embodiment of the assembly and adjustment apparatus of the present invention;

fig. 5 is a schematic structural view of a lens barrel holder according to a first embodiment of the adjustment apparatus of the present invention;

FIG. 6 is a schematic flow chart of a first embodiment of the debugging method of the present invention;

FIG. 7 is a schematic flow chart illustrating the clamping of the IC board according to the first embodiment of the assembly and adjustment method of the present invention;

fig. 8 is a schematic flow chart of the first embodiment of the assembly and adjustment method of the invention, which is used for rotating the integrated circuit board in a plane formed by the first direction and the second direction;

fig. 9 is a schematic flow chart of the first embodiment of the adjusting method of the present invention for moving the ic board in at least one of the first direction, the second direction and the third direction;

FIG. 10 is a schematic view of a first embodiment of the assembly method of the present invention, which employs an IC board fixing device to fix the IC board on the lidar;

fig. 11 is a flow chart illustrating a second embodiment of the debugging method of the present invention.

Detailed Description

As known from the background art, the transmitting unit and the receiving unit in the lidar are adjusted to meet the working requirements of the transceiving optical link between the transmitting unit and the receiving unit in the lidar.

The transmitting board (Tx board) in the transmitting unit provides a transmitting detection signal, the receiving board (Rx board) in the receiving unit is used for receiving an echo signal, and the positions of the transmitting board and the receiving board are adjusted in order to enable the transmitting board and the receiving board to be located on proper positions and obtain a view field range required by design. The method comprises the steps of adopting a line scanning method to conduct debugging currently, namely sequentially emitting a plurality of points to a preset reflecting plate through an emitting plate, judging whether a field range which can be received currently is consistent with a scanning range of a receiving plate or not according to the points received by the receiving plate end, and conducting debugging on the emitting plate or the receiving plate when inconsistency is found so as to enable the emitting plate or the receiving plate to meet design requirements. And the degree of freedom that current installation and debugging equipment adopted is too much, leads to the part that needs manual regulation more, and installation and debugging speed is slower.

In order to improve the assembly precision of the laser radar, an embodiment of the present invention provides an assembly device, which is used for the assembly of the laser radar, and includes: the device comprises a three-dimensional adjusting frame, an angle adjusting mechanism connected with the three-dimensional adjusting frame and a clamping part connected with the angle adjusting mechanism, wherein the clamping part is provided with a first target output end; the three-dimensional adjusting bracket comprises: the first mobile station is used for realizing the position adjustment of the first target output end along the first direction; the second mobile station is used for realizing the position adjustment of the first target output end along the second direction; the third mobile station is used for realizing the position adjustment of the first target output end along a third direction, and the third direction is vertical to the second direction and a plane where the first direction is located; the first mobile station, the second mobile station and the third mobile station are connected in series; the angle adjusting mechanism is used for realizing the rotation of the first target output end in a plane in which a first direction and a second direction are positioned; the clamping part is used for clamping the integrated circuit board.

In the assembly and adjustment device provided by the embodiment of the invention, the clamping part clamps the integrated circuit board, the integrated circuit board can move in the first direction, the second direction and the third direction by adjusting the three-dimensional adjusting frame, the integrated circuit board can rotate in the plane of the first direction and the second direction by the angle adjusting mechanism, the assembly and adjustment position and the inclination angle of the integrated circuit board clamped by the clamping part can be adjusted, the assembly and adjustment precision is improved, and the optical path accuracy of the laser radar after being installed and the accuracy of the laser radar distance detection can be further improved. And in this installation and debugging equipment, injectd the regulation of first direction, second direction and third direction through three-dimensional alignment jig, through angle adjustment mechanism, injectd the rotation in first direction and second direction place plane, avoided the too much regulation mixed and disorderly that causes of manual regulation degree of freedom, the corresponding installation and debugging efficiency that is favorable to improving integrated circuit board.

An embodiment of the present invention provides a debugging device, and referring to fig. 1 to 5, a schematic structural diagram of a first embodiment of the debugging device is shown.

As shown in fig. 1, the tuning apparatus provided in the embodiment of the present invention is applicable to tuning of an integrated circuit board of a laser radar, and includes: the three-dimensional adjusting device comprises a three-dimensional adjusting frame 100, an angle adjusting mechanism 200 connected with the three-dimensional adjusting frame 100 and a clamping part 300 connected with the angle adjusting mechanism 200, wherein the clamping part 300 is provided with a first target output end; the three-dimensional adjusting bracket 100 includes: a first mobile station 101 for implementing a position adjustment of a first target output end along a first direction (Y); a second mobile station 102 for effecting a position adjustment of the first target output end in a second direction (Z); a third moving stage 103 for effecting position adjustment of the first target output end along a third direction (X), the third direction X being perpendicular to a plane in which the second direction Z and the first direction Y lie; the first mobile station 101, the second mobile station 102, and the third mobile station 103 are connected in series; the angle adjusting mechanism 200 is configured to implement rotation of the first target output end in a plane in which the second direction Z and the third direction X are located; the clamping portion 300 is used for clamping the integrated circuit board.

In the assembling and adjusting device provided by the embodiment of the invention, a three-dimensional adjusting frame 100, an angle adjusting mechanism 200 connected with the three-dimensional adjusting frame 100 and a clamping part 300 connected with the angle adjusting mechanism 200 are provided, wherein the clamping part 300 is provided with a first target output end; the three-dimensional adjusting bracket 100 includes: a first mobile station 101, configured to implement position adjustment of a first target output end along a first direction; a second mobile station 102, configured to implement position adjustment of the first target output end along the second direction; a third mobile station 103, configured to implement position adjustment of the first target output end along a third direction, where the third direction is perpendicular to the second direction and a plane where the first direction is located; the first mobile station 101, the second mobile station 102 and the third mobile station 103 are connected in series, and the three-dimensional adjusting bracket 100 is used for realizing the movement of the first output end in the first direction, the second direction and the third direction. The angle adjusting mechanism 200 is configured to implement rotation of the first target output end in the plane where the second direction and the third direction are located, so that the first target output end has movement in the first direction, the second direction, and the third direction, and a rotational degree of freedom in the plane where the second direction and the third direction are located.

In the embodiment of the present invention, the tuning apparatus further includes: clamping part 300 for the centre gripping integrated circuit board can make integrated circuit board remove in first direction, second direction, third direction through adjusting three-dimensional alignment jig, can make integrated circuit board be in through angle adjustment mechanism 200 the rotational degree of freedom in first direction and second direction place plane can be adjusted the position and the inclination are transferred to the dress of the integrated circuit board that clamping part 300 was held, improve the dress and transfer precision, and then can improve the laser radar's of installing the completion light path accuracy and the accuracy that laser radar apart from detecting. In addition, in the assembling and debugging equipment, the adjustment of the first direction, the second direction and the third direction is limited through the three-dimensional adjusting frame 100, the rotation in the plane where the first direction and the second direction are located is limited through the angle adjusting mechanism 200, the condition that the manual adjustment freedom degree is too high to cause is avoided, and the assembling and debugging efficiency of the integrated circuit board is correspondingly improved.

In this embodiment, the laser radar includes: and a transmitting unit (not shown in the figure) for providing a transmitting beam, wherein the transmitting beam is reflected by the target object to form an echo beam, and the emitting direction of the transmitting beam is a second direction.

Correspondingly, the integrated circuit board comprises a transmitting plate (Tx), the transmitting beam is provided by the transmitting plate, an edge-emitting laser diode (EEL) is arranged on the transmitting plate, and when the transmitting unit works, the transmitting beam is located on the plane where the first direction and the second direction are located, so that the number of turning reflectors in the laser radar is correspondingly reduced, and the miniaturization requirement of the laser radar is favorably met. In other embodiments, the emitting plate has a Vertical Cavity Surface Emitting Laser (VCSEL), and accordingly, when the emitting unit is operated, the emitting beam is perpendicular to the plane of the first direction and the second direction.

In this embodiment, the receiving unit (not shown in the figure) is configured to receive the echo light beam, and an incident direction of the echo light beam is a second direction.

Correspondingly, the integrated circuit board comprises a receiving board (Rx), the echo beam being received by the receiving board, the receiving board having a detector thereon. Specifically, the detector includes an Avalanche Photodiode (APD), a silicon photomultiplier (SiPM), or a Single Photon Avalanche Diode (SPAD).

In this embodiment, a lens assembly (not shown) is used for transmitting the emission beam or receiving the echo beam. The lens group (not shown) includes a receiving lens barrel (not shown) for transmitting the emission beam and a transmitting lens barrel (not shown) for transmitting the receiving beam.

The laser radar further includes: the lens barrel holder 700 is used for placing a lens group, and comprises a first lens hole 701 and a second lens hole 702 positioned on the first lens hole 701, the receiving lens barrel is positioned in the first lens hole 701, the transmitting lens barrel is positioned in the second lens hole 702, the side of the first lens hole 701 is provided with a first surface 703 (shown in fig. 5) parallel to the extending direction of the first lens hole 701, and the bottom of the second lens hole 702 is provided with a second surface 704 (shown in fig. 5) parallel to the extending direction of the first lens hole 701.

Since the extending direction of the first mirror hole 701 is the same as the extending direction of the second mirror hole 702, the extending direction of the receiving barrel is the same as the extending direction of the transmitting barrel.

In this embodiment, the integrated circuit board includes the transmitting board or the receiving board, and correspondingly, the debugging device is a transmitting board debugging device or a receiving board debugging device.

In this embodiment, the first direction is a Y direction in fig. 1, the second direction is a Z direction in fig. 1, and the third direction is an X direction in fig. 1. Those skilled in the art will appreciate that the correspondence relationship between the first, second and third directions and the actual coordinate system is not unique, and in some other embodiments, when the first direction is the X direction, the second direction and the third direction may be the Y direction and the Z direction, respectively, and when the first direction is the Y direction, the second direction and the third direction may be the X direction and the Z direction, respectively.

The three-dimensional adjusting bracket 100 is used to adjust the position of the first target output end in the clamping portion 300 in the first direction, the second direction and the third direction, and also to adjust the position of the emitting plate or the receiving plate in the first direction, the second direction and the third direction.

In this embodiment, the first mobile station 101 is located on the third mobile station 103, and the second mobile station 102 is located on the first mobile station 101. Specifically, the first mobile station 101, the second mobile station 102, and the third mobile station 103 in the three-dimensional adjustment frame 100 are connected as follows:

the output of the second mobile station 102 is the output of the three-dimensional adjusting frame 100 in the second direction, and is used for realizing the position adjustment of the first target output end in the second direction.

The output of the first moving stage 101 is the output of the three-dimensional adjusting frame 100 in the first direction, and is used for realizing the position adjustment of the first target output end along the first direction. The position adjustment of the second mobile station 102 in the first direction is driven by the first mobile station 101 in the process of adjusting the position along the first direction.

The output of the third moving stage 103 is the output of the three-dimensional adjusting frame 100 in the third direction, and is used for realizing the position adjustment of the first target output end in the third direction. The third mobile station 103 drives the first mobile station 101 and the second mobile station 102 to adjust the position in the third direction during the process of adjusting the position in the third direction.

When the three-dimensional adjusting frame 100 works, the position of the second moving stage 102 along the first direction is adjusted by driving the first moving stage 101 along the first direction; the position adjustment of the third mobile station 103 along the third direction drives the position adjustment of the first mobile station 101 and the second mobile station 102 along the third direction.

In this embodiment, the top surface of the second mobile station 102 is located in a plane in which the second direction and the third direction are located.

In the present embodiment, when the three-dimensional adjusting bracket 100 is used to adjust the transmitting plate, the movable range of the three-dimensional adjusting bracket 100 in the second direction is less than 1.2mm, and as an example, the adjustable range of the three-dimensional adjusting bracket 100 in the second direction relative to the initial position is-0.2 mm to 1 mm. The three-dimensional adjustment bracket 100 can move in the first direction in a range of less than 1.4mm, and as an example, the adjustment range of the three-dimensional adjustment bracket 100 in the first direction with respect to the initial position is-0.7 mm to 0.7 mm.

When the three-dimensional adjusting bracket 100 is used to adjust a receiving board, the movable range of the three-dimensional adjusting bracket 100 in the second direction is less than 1.5mm, and as an example, the adjustable range of the three-dimensional adjusting bracket 100 in the second direction relative to the initial position is-0.5 mm to 1 mm. And the first target output end of the three-dimensional adjusting bracket 100 is located in a circle with a radius of 0.9mm by taking the preset ideal position as the center at the initial position in the plane where the second direction and the first direction are located.

The angle adjusting mechanism 200 is configured to implement rotation of the first target output end in a plane where the first direction and the second direction are located, so that the first target output end drives the receiving board or the transmitting board to rotate in the plane where the first direction and the second direction are located.

In this embodiment, the angle adjusting mechanism 200 includes: and a meshing transmission structure.

In this embodiment, the meshing transmission structure includes a worm 201 and a worm wheel 202 meshed with the worm 201, and the worm wheel 202 is an output end of the angle adjusting mechanism 200.

Preferably, the worm 201 and the worm wheel 202 have characteristics of low transmission ratio, such as: when the worm 201 rotates one turn, the worm wheel 202 rotates one angle corresponding to the tooth profile. In the process of adjusting the rotation of the clamping portion 300 in the plane of the first direction and the second direction by using the worm 201 and the worm wheel 202, the worm wheel 202 can be precisely rotated, so that the transmitting plate or the receiving plate clamped by the clamping portion 300 has a proper adjusting position and an inclination angle in the plane of the first direction and the second direction.

Preferably, the worm 201 and the worm wheel 202 have a self-locking characteristic, so that after the angle adjusting mechanism 200 is adopted to realize that the first target output end rotates in the plane where the first direction and the second direction are located, and reaches a preset angle position, the angle of the first target output end in the plane where the first direction and the second direction are located is not easy to change, so that the stability of the adjusting device is high, and the uniformity of the optical link of each laser radar to be adjusted is high.

In other embodiments, the meshing transmission structure includes two first bevel gears and a second bevel gear which are vertically meshed, the number of teeth of the second bevel gear is greater than the number of teeth of the first bevel gear, the second bevel gear is an output end of the angle adjustment mechanism, and the low transmission ratio of the first bevel gear and the second bevel gear facilitates accurate rotation of a worm gear.

In this embodiment, the angle adjusting mechanism 200 further includes: and the angle fixing frame 203 is used for arranging the meshing transmission structure.

The angle fixing frame 203 provides structural support for the engagement of the worm wheel 202 and the worm 201, so that the worm wheel 202 and the worm 201 can smoothly complete the engagement transmission, the rotation of the worm wheel 202 in the planes of the first direction and the second direction is transmitted to the clamping part 300, and the rotation of a first target output end of the clamping part 300 in the planes of the first direction and the second direction drives the transmitting plate or the receiving plate to rotate in the plane where the first direction and the second direction are located.

Specifically, the angle fixing frame 203 includes:

the first fixing plate 2031 is used for fixing and connecting to the second mobile station 102.

Therefore, when the adjustment device works, the three-dimensional adjusting frame 100 drives the meshing transmission structure to adjust the positions in the first direction, the second direction and the third direction in the process of adjusting the positions in the first direction, the second direction and the third direction, and correspondingly adjusts the positions of the worm wheel 202 in the first direction, the second direction and the third direction.

And a second fixing plate 2032 standing on a side of the first fixing plate 2031.

The second fixing plate 2032 is used to set the position of the third fixing plate 2034.

A third fixing plate 2034 connected to the top of the second fixing plate 2032 and extending above the first fixing plate 2031, wherein the worm 201 penetrates the third fixing plate 2034 and is rotatably engaged with the third fixing plate 2034.

The third fixing plate 2034 defines a meshing transmission area of the worm wheel 202 and the worm 201.

Referring to fig. 2, the angle adjusting mechanism further includes: a rotation shaft 2033, one end of the rotation shaft 2033 being fixedly connected to the worm wheel 201, and the other end of the rotation shaft 2033 penetrating the second fixing plate 2032 and being fixedly connected to the clamping portion 300.

The rotating shaft 2033 transmits the rotation of the worm wheel 202 in the plane of the first direction and the second direction to the clamping portion 300, so that the clamping portion 300 is driven to rotate in the plane of the first direction and the second direction when the adjusting structure works.

The rotating shaft 2033 and the second fixing plate 2032 are rotatably engaged with each other, and are configured to have, for example, a bearing.

In this embodiment, the extending direction of the rotating shaft 2033 is the same as the third direction, because the first direction, the second direction and the third direction are perpendicular to each other, the clamping portion 300 connected to the rotating shaft 2033 can rotate in the plane of the first direction and the second direction.

In this embodiment, the second fixing plate 2032 is perpendicular to the third fixing plate 2034.

The rotating shaft 2033 is rotatably engaged with the second fixing plate 2032, and the second fixing plate 2032 defines a spatial position of the rotating shaft 2033 and correspondingly defines a spatial position of the worm wheel 202; the worm 201 is rotatably engaged with the third fixing plate 2034, and the third fixing plate 2034 defines a spatial position of the worm 201. The second fixing plate 2032 is perpendicular to the third fixing plate 2033, so that the worm wheel 202 defined by the second fixing plate 2032 and the worm 201 defined by the third fixing plate 2033 can be smoothly engaged, the assembly difficulty of the angle transmission mechanism 200 is reduced, and the consistency of the transmitting and receiving optical links between the transmitting unit and the receiving unit of the laser radar installed and adjusted by different installation and adjustment devices is correspondingly improved.

In this embodiment, the second fixing plate 2032 is located in a plane where the first direction and the second direction are located.

Specifically, the first fixing plate 2031 is fixedly connected to the top surface of the second mobile station 102, because the top surface of the second mobile station 102 is located in a plane where the second direction and the third direction are located, the second fixing plate 2032 is located in a plane where the first direction and the second direction are located, and the corresponding second fixing plate 2032 is perpendicular to the first fixing plate 2031.

The angle adjusting mechanism 200 further includes: a worm fixing screw 2035 rotatably disposed on the second fixing plate 2032, wherein an extending direction of the worm fixing screw 2035 is perpendicular to an extending direction of the rotation shaft 2033, and the worm fixing screw 2035 is configured to fix the rotation shaft 2033.

In the process of assembling and adjusting the assembling and adjusting device, when the angle adjusting mechanism 200 makes the clamping portion 300 be at a proper angle in the plane of the first direction and the second direction, in order to prevent the clamping portion 300 from generating an additional angle rotation error in the plane of the first direction and the second direction, the worm wheel fixing screw 2035 is used to fix the rotating shaft 2033, so that the angle of the clamping portion 200 in the plane of the first direction and the second direction is not changed, and preparation is made for installing the integrated circuit board in the laser radar.

The angle adjusting mechanism 200 is used for adjusting the integrated circuit board, and the rotation angle in the plane of the first direction and the second direction is less than 10 degrees. As an example, the adjustment range of the integrated circuit board with respect to the initial position ranges from-5 ° to 5 °.

It will be appreciated by those skilled in the art that by performing a relatively accurate error analysis at an early stage, the error between the initial installation position and the actual preferred position can be made within the appropriate range as described above. I.e. within reasonable error margins.

In this embodiment, the clamping portion 300 includes: a first tray 301, wherein the bottom of the first tray 301 is provided with a first extending part 305 which is bent upwards; a second holder 302 on the first holder 301, the second holder 302 having a second extension 304 opposite to the first extension 305; a fixed support part 306 positioned at one end of the bottom of the second supporting part 302; and a screw fastener 303 penetrating through the second holder 302 and contacting the top of the fixing support 306.

Clamping the integrated circuit board at a clamping part 300, and rotating the threaded fixing part 303 to enable the distance between the first supporting piece 301 and the second supporting piece 302 to be increased and the distance between the corresponding first extending part 305 and the second extending part 304 to be increased; placing the integrated circuit board between the first extension 305 and the second extension 304; when the threaded fastener 303 is rotated, the size of the threaded fastener 303 between the first holder 301 and the threaded fastener 303 is increased, so that the end of the second extension portion 304 close to the fixed support portion 306 is warped upwards, the end of the second extension portion 304 far from the fixed support portion 306 is warped downwards, and the end of the second extension portion 304 far from the fixed support portion 306 and the first extension portion 305 clamp the integrated circuit board.

In other embodiments, the clamping portion may be other structures capable of clamping the integrated circuit board.

The laser radar includes: an ic board fixing device 400 disposed opposite to the first mirror hole 701 or the second mirror hole 702, the ic board fixing device 400 comprising: a positioning frame 401; positioning blocks 402 separated from the positioning frame 401 in the first direction, the number of the positioning blocks 402 being two; a fixing block 403, which is located on the positioning frame 401 on the side of the positioning block 402 in the second direction and is spaced from the positioning block 402; a pressing block 404, the pressing block 404 having a groove on a side wall in the second direction, the groove being slidably fitted with the fixing block 403 in the second direction, and pressing portions 405 protruding in the second direction being provided on both sides of the groove in the first direction, the pressing portions 405 being adapted to be fitted with the positioning block 402; and a pressing block fixing member 406 penetrating through the pressing block 404 and being in threaded fit with the fixing block 403, so that the pressing block 404 is displaced in the second direction relative to the fixing block 403.

In the assembling and adjusting process, after the integrated circuit board is adjusted to a proper position by an assembling and adjusting device, the integrated circuit board is arranged between the pressing block 404 and the positioning blocks 402, the integrated circuit board corresponds to the two positioning blocks 402 in the first direction, the pressing block 404 is pushed to move towards the positioning blocks 402 through the thread matching between the pressing block fixing piece 406 and the positioning blocks 403, so that the distance between the pressing part 405 and the positioning blocks 402 is reduced, and the integrated circuit board positioned between the pressing part 405 and the positioning blocks 402 can be fixed.

In this embodiment, the fixing block 403 is separated from two sides of the positioning block 402 in the second direction. Two integrated circuit boards can be positioned on the corresponding positioning frames 403. In other embodiments, the fixing block may be located on only one side of the positioning block in the second direction.

In this embodiment, the debugging device further includes: and a platform 800 located at the bottom of the three-dimensional adjusting frame 100, wherein the surface normal of the platform 800 extends along the first direction Y.

The platform 800 provides an assembly and adjustment basis for the assembly and adjustment equipment, and when the assembly and adjustment equipment works, the three-dimensional adjusting frame displaces relative to the platform 800.

In this embodiment, the debugging device further includes: and a supporting platform 900 for placing the lens barrel holder 700.

The invention also provides a second embodiment of the debugging device.

The parts of the lidar in the second embodiment that are the same as those of the lidar in the first embodiment are not described again, and the differences between the lidar in the second embodiment and the lidar in the first embodiment are as follows:

the laser radar further includes: the turning mirror support 600 corresponds to the lens group (not shown) and has a sliding fit in the second direction.

In this embodiment, the turning mirror support 600 is used for placing a receiving board, and the turning mirror is placed on the turning mirror support 600. The sliding fit refers to that the folding mirror bracket 600 slides relative to the lens barrel bracket 700 through the first surface 703 and the second surface 704, so that the positions between the receiving plate and the lens groups on the folding mirror bracket 600 are changed.

The same parts of the installation and debugging device of the second embodiment as those of the first embodiment are not described again, and the differences from the installation and debugging device of the first embodiment are as follows:

in this embodiment, the debugging device is a receiving debugging device.

In this embodiment, the tuning apparatus includes: and a linear driving structure 500 having a second target output end for pushing the turning mirror support 600 to move in a second direction.

The receiving plate is located on the turning reflector bracket 600, the linear driving structure 500 pushes the turning reflector bracket 600 to move in the second direction, so that the turning reflector bracket 600 drives the receiving plate and the turning reflector to move, the receiving plate can be located at a proper distance relative to the lens group by adjusting the distance between partial light paths of the turning reflector and the receiving plate and relative to the lens group, the purpose of adjusting an optical link between the transmitting plate and the receiving plate is achieved, and the accuracy of receiving and transmitting the optical link of the laser radar is improved.

In addition, the linear driving structure 500 pushes the turning mirror support 600 to move in the second direction, and the effect of adjusting the distance between the receiving lens barrel and the turning mirror is achieved, so that the turning mirror is located in the focal plane of the receiving lens barrel, and therefore the echo light beam passes through the lens group and can be better converged on the receiving plate after being reflected by the turning mirror.

The range of movement in the second direction when the linear driving mechanism 500 drives the turning mirror support 600 is less than 1.5mm, and as an example, the linear driving mechanism 500 drives the turning mirror support 600 to move in the second direction by a distance of-0.5 mm to 1mm with respect to the initial position.

In this embodiment, the linear driving structure includes a differential head. The differential head is suitable for the adjustment of the small displacement.

It should be noted that, in other embodiments, when the emission plate has a Vertical-Cavity Surface-Emitting Laser (VCSEL), the turning mirror support and the linear driving structure may also be configured on the emission plate for adjusting the optical path of the emission beam emitted by the reflection plate.

The invention also provides an installation and debugging method, and referring to fig. 6 to fig. 10, a flow diagram of a first embodiment of the installation and debugging method is shown.

The adjusting method is suitable for adjusting the integrated circuit board of the laser radar, and the integrated circuit board is internally provided with a first direction Y and a second direction Z which are perpendicular to each other.

Referring to fig. 6, the tuning method includes: step S1, clamping the integrated circuit board; step S2, the integrated circuit board rotates in the plane formed by the first direction and the second direction; step S3, moving the integrated circuit board in at least one of the first direction, the second direction and a third direction, wherein the third direction is perpendicular to the plane of the first direction and the second direction; step S4, after moving the integrated circuit board in at least one of the first direction, the second direction, and the third direction, fixing the integrated circuit board on the laser radar.

In the embodiment of the invention, after the integrated circuit board is clamped, the integrated circuit board moves in the first direction, the second direction and the third direction, so that the integrated circuit board has rotational freedom in a plane where the first direction and the second direction are located, the adjusting position and the inclination angle of the integrated circuit board can be adjusted, the adjusting precision is improved, and the optical path accuracy of the laser radar after installation and the accuracy of the laser radar distance detection can be improved. In addition, this embodiment has injectd and has removed in first direction, second direction, third direction, avoids the manual regulation degree of freedom too much to cause regulation disorder, and the corresponding dress that is favorable to improving is transferred efficiency.

In this embodiment, the laser radar includes: and a transmitting unit (not shown) for providing a transmitting beam, wherein the transmitting beam is reflected by the target object to form an echo beam, and the emitting direction of the transmitting beam is a second direction.

Correspondingly, the integrated circuit board comprises the transmitting plate (Tx) and the integrated circuit board comprises at least one transmitting plate for providing a transmitting beam, which is reflected by the object to form an echo beam and which exits in a second direction.

Correspondingly, the adjusting method for the at least one transmitting plate comprises the following steps: rotating the emitting plate in a plane formed by the first direction and the second direction; moving the emitting plate in at least one of the first direction, the second direction, and the third direction; and after the transmitting plate is moved in at least one direction of the first direction, the second direction and the third direction, the transmitting plate is fixed on the transmitting unit.

In this embodiment, the transmitting unit includes a transmitting plate (Tx), the transmitting beam is provided by the transmitting plate, an edge-emitting laser diode (EEL) is provided on the transmitting plate, and when the transmitting unit works, the transmitting beam is located on a plane where the first direction and the second direction are located, so that a turning mirror in the laser radar is reduced, and the miniaturization requirement of the laser radar is satisfied. In other embodiments, the emission plate has a Vertical Cavity Surface Emitting Laser (VCSEL), and accordingly, when the emission unit is in operation, the emission beam is perpendicular to a plane in which the first direction and the second direction are located.

In this embodiment, the laser radar includes: a receiving unit (not shown in the figure) for receiving the echo light beam, wherein the incident direction of the echo light beam is a second direction.

Correspondingly, the integrated circuit board comprises a receiving board (Rx). The integrated circuit board comprises a receiving board, and the receiving board is used for receiving the echo light beam.

Correspondingly, the adjusting method for the receiving plate comprises the following steps: rotating the receiving plate in a plane formed by the first direction and the second direction; moving the receiving plate in at least one of the first direction, the second direction, and the third direction; and after moving the receiving plate in at least one of the first direction, the second direction and the third direction, fixing the receiving plate on the receiving unit.

In this embodiment, the receiving unit comprises a receiving board (Rx), the echo beam is received by the receiving board, and the receiving board has a detector thereon. Specifically, the detector includes an Avalanche Photodiode (APD), a silicon photomultiplier (SiPM), or a Single Photon Avalanche Diode (SPAD).

The laser radar further includes: and a lens assembly (not shown) for transmitting the emission beam or receiving the echo beam, wherein the emission direction of the emission beam or the incidence direction of the echo beam is the second direction.

In this embodiment, the lens assembly (not shown in the figure) includes a receiving lens barrel (not shown in the figure) and a transmitting lens barrel (not shown in the figure) located above the receiving lens barrel, and an extending direction of the receiving lens barrel is the same as an extending direction of the transmitting lens barrel, the transmitting lens barrel is configured to transmit the transmitting beam, and the receiving lens barrel is configured to transmit the receiving beam.

In this embodiment, the debugging method is performed by using a debugging device.

Specifically, in step S1, the integrated circuit board is clamped by the clamping portion 300.

Specifically, referring to fig. 7, the step of clamping the ic board by using the clamping part 300 includes:

in step S11, the threaded fastener 303 is rotated to increase the distance between the first extension 305 and the end of the second extension 304 away from the fastening support 306.

The distance between the end of the second extension portion 304 away from the fixed support portion 306 and the first extension portion 305 is increased to prepare for subsequently placing an ic board between the end of the second extension portion 304 away from the fixed support portion 306 and the first extension portion 305.

In step S12, the integrated circuit board is placed between the first extension 305 and the second extension 304.

Step S13, the threaded fastener 303 is rotated to cause one end of the second extending portion 304 close to the fixing and supporting portion 306 to warp upward, and one end of the second extending portion 304 far from the fixing and supporting portion 306 to warp downward, and the end of the second extending portion 304 far from the fixing and supporting portion 306 and the first extending portion 305 clamp the integrated circuit board.

Specifically, the integrated circuit board is rotated in a plane formed by the first direction and the second direction by using an angle adjusting mechanism 200 in the adjusting device.

In this installation and debugging equipment, through angle adjustment mechanism 200, be in through integrated circuit board the rotational degree of freedom in first direction and second direction place plane can be adjusted integrated circuit board's installation and debugging position and inclination have improved the installation and debugging precision, and then can improve the laser radar's of installation completion light path accuracy and the accuracy that laser radar distance detected. In addition, this embodiment has limited the rotation in first direction and second direction place plane, avoids the manual regulation degree of freedom too much to cause regulation disorder, and the corresponding dress that is favorable to improving is transferred efficiency.

In this embodiment, the angle adjusting mechanism 200 includes: and a meshing transmission structure. The meshing transmission structure comprises a worm 201 and a worm wheel 202 meshed with the worm 201, and the worm wheel 202 is an output end of the angle adjusting mechanism 200.

The worm 201 and the worm wheel 202 have the characteristic of low transmission ratio, and the worm 201 can be adjusted to realize accurate rotation of the worm wheel 202 in the plane of the first direction and the second direction, so that the integrated circuit board clamped by the clamping part 300 is easy to have a proper assembly position and an inclination angle in the plane of the first direction and the second direction.

The worm 201 and the worm wheel 202 have self-locking characteristics, and after the integrated circuit board clamped by the clamping part 300 reaches a preset angle position, the angle of the integrated circuit board in the plane where the first direction and the second direction are located is not easy to change, so that the stability of the adjusting device is high, and the uniformity of optical links of each laser radar to be adjusted is high.

The angle adjusting mechanism 200 further includes: an angle fixing frame 203 for setting the engagement transmission structure, the angle fixing frame 203 comprising: a first fixing plate 2031 for being fixedly connected to an output end of the three-dimensional adjusting bracket 100; a second fixing plate 2032 standing on a side of the first fixing plate 2031; a third fixing plate 2032 connected to the top of the second fixing plate 2032 and extending above the first fixing plate 2031, wherein the worm 201 penetrates the third fixing plate 2032 and is rotationally matched with the third fixing plate 2032; the angle adjusting mechanism 200 further includes: a rotation shaft 2033, one end of the rotation shaft 2033 being fixedly connected to the worm wheel 202, and the other end of the rotation shaft 2033 penetrating the second fixing plate 2032 and being fixedly connected to the clamping portion 300.

Specifically, referring to fig. 8, in step S2, the step of rotating the ic board in the plane formed by the first direction and the second direction by using the angle adjustment mechanism 200 includes:

in step S21, the worm wheel fixing screw 2035 is rotated to separate the worm wheel fixing screw 2035 from the rotation shaft 2033.

The worm wheel fixing screw 2035 is separated from the rotating shaft 2033, and is ready for the subsequent rotation of the worm 201 to drive the worm 202 to rotate.

Step S22, the worm 201 is rotated, the worm 201 meshes with the worm wheel 202, and the worm wheel 202 drives the rotating shaft 2033 to rotate.

In step S23, the worm wheel fixing screw 2035 is rotated to fix the rotation shaft 2033 to the worm wheel fixing screw 2035.

The worm wheel fixing screw 2035 fixes the rotation shaft 2033, so that the adjustment position and the inclination angle of the plane of the integrated circuit board in the first direction and the second direction do not change in the subsequent process of moving the integrated circuit board in at least one of the first direction, the second direction, and the third direction (X).

As an example, when the angle adjusting mechanism 200 is used to adjust an ic board, the angle of rotation in the plane of the first direction and the second direction is less than 10 °. As an example, the adjustment range of the integrated circuit board with respect to the initial position ranges from-5 ° to 5 °.

Specifically, the three-dimensional adjusting bracket 100 is used to move the ic board in at least one of the first direction, the second direction, and the third direction.

In this installation and debugging equipment, remove in first direction, second direction, third direction through integrated circuit board to the adjustment the integrated circuit board's that the clamping part was held installation position and inclination are favorable to improving the installation and debugging precision, and then can improve the laser radar's of installation completion light path accuracy and the accuracy that laser radar apart from detecting. In addition, the three-dimensional adjusting bracket limits the adjustment of the first direction, the second direction and the third direction, avoids the disorder adjustment caused by the excessive manual adjustment freedom degree, and is correspondingly favorable for improving the assembly and adjustment efficiency.

In this embodiment, the three-dimensional adjusting bracket 100 includes: a third mobile station 103, a first mobile station 101 located on said third mobile station 103 and a second mobile station 102 located on said first mobile station. The components of the three-dimensional adjusting bracket 100 have been described in detail above, and are not described in detail here.

Specifically, referring to fig. 9, in step S3, the step of moving the ic board in at least one of the first direction, the second direction, and the third direction using the three-dimensional adjusting bracket 100 includes:

in step S31, the second mobile station adjusts the position of the first target output end along the second direction.

Step S32, the first mobile station realizes the position adjustment of the first target output end along the first direction, and drives the second mobile station to adjust the position of the second mobile station along the first direction during the position adjustment of the first mobile station along the first direction.

And step S33, the third mobile station adjusts the position of the first target output end along the third direction, and drives the first mobile station and the second mobile station to adjust the position of the first target output end along the third direction during the position adjustment of the third mobile station along the third direction.

In the embodiment of the invention, the steps S31, S32 and S33 are not sequential in order.

In the adjusting method, the step of moving the ic board in at least one of the first direction, the second direction, and the third direction (X) is performed after the ic board is rotated in a plane formed by the first direction and the second direction.

In this embodiment, the movement of the integrated circuit board in the first direction, the second direction and the third direction can compensate for the limitation of the rotation of the integrated circuit board in the plane where the first direction and the second direction are located to a certain extent.

When the three-dimensional adjusting bracket 100 is used to adjust a receiving board, the movable range of the three-dimensional adjusting bracket 100 in the second direction is less than 1.5mm, and as an example, the adjustable range of the three-dimensional adjusting bracket 100 in the second direction relative to the initial position is-0.5 mm to 1 mm. And the first target output end of the three-dimensional adjusting bracket 100 is located in a circle with a radius of 0.9mm at the preset ideal position at the initial position in the plane of the second direction and the first direction.

Specifically, the integrated circuit board is fixed to the laser radar by using an integrated circuit board fixing device 400.

With reference to fig. 4 in combination, the lidar comprises: an ic board fixing device 400 disposed opposite to the first mirror hole 701 or the second mirror hole 702, the ic board fixing device 400 comprising: a positioning frame 401; positioning blocks 402 separated from the positioning frame 401 in the first direction, the number of the positioning blocks 402 being two; a fixing block 403, which is located on the positioning frame 401 on the side of the positioning block 402 in the second direction and is spaced from the positioning block 402; a pressing block 404, the pressing block 404 having a groove on a side wall in the second direction, the groove being slidably fitted with the fixing block 403 in the second direction, and pressing portions 405 protruding in the second direction being provided on both sides of the groove in the first direction, the pressing portions 405 being adapted to be fitted with the positioning block 402; and a pressing block fixing member 406 penetrating through the pressing block 404 and being in threaded fit with the fixing block 403, so that the pressing block 404 is displaced in the second direction relative to the fixing block 403.

Specifically, referring to fig. 10, in step S4, the step of fixing the ic board on the lidar by the ic board fixing device 400 includes:

step S41, the ic board is disposed between the pressing block 404 and the positioning block 402.

In step S42, the press block 404 is pushed to move toward the positioning block 402 by the thread fit between the press block fixing member 406 and the fixing block 403. So that the distance between the pressing part 405 and the positioning block 402 is reduced, the integrated circuit board positioned between the pressing part 405 and the positioning block 402 can be fixed.

Referring to fig. 11, a flow diagram of a second embodiment of the installation method is shown.

The same points of the embodiment of the present invention as the first embodiment are not described again, and the difference from the first embodiment is that the laser radar further includes: and a turning mirror support 600 corresponding to the lens group and having a sliding fit in the second direction.

The debugging method further comprises the following steps: step S5, before rotating the integrated circuit in the plane formed by the first direction and the second direction, adjusting the folding mirror holder 600 along the second direction to adjust the distance of the folding mirror holder 600 relative to the lens group.

In this embodiment, the fact that the folding mirror holder 600 has a sliding fit in the second direction means that the folding mirror holder 600 slides relative to the lens barrel holder 700 through the first surface 703 and the second surface 704, so that the positions between the receiving plate and the lens groups on the folding mirror holder 600 are changed.

The distance between the receiving lens cone and the turning reflector is adjusted, so that the turning reflector is located in a focal plane of the receiving lens cone, the echo light beam penetrates through the lens group and can be better converged on the receiving plate after being reflected by the turning reflector, and then the echo light beam can still be converged on the receiving plate in the subsequent process of plane rotation of the integrated circuit board formed in the first direction and the second direction.

In this embodiment, the adjusting method uses the linear driving structure 500 to push the turning mirror support 600 to move in the second direction.

In this embodiment, the linear driving structure includes a differential head. The differential head is suitable for the adjustment of the small displacement, so that the adjustment of the small displacement can be carried out between the folding reflector and the lens group and between the receiving plate and the lens group.

The receiving plate is located on the turning reflector bracket 600, the straight line driving structure 500 pushes the turning reflector bracket 600 to move in the second direction, so that the turning reflector bracket 600 drives the receiving plate and the turning reflector to move, the receiving plate can be located at a proper distance relative to the lens group by adjusting the distance between partial light paths of the turning reflector and the receiving plate and relative to the lens group, the purpose of adjusting an optical link between the transmitting plate and the receiving plate is achieved, and the accuracy of the laser radar receiving and transmitting optical link is improved.

The debugging method further comprises the following steps: step S6, before rotating the integrated circuit in the plane formed by the first direction and the second direction, adjusting the catadioptric mirror holder 600 along the third direction to adjust the distance of the catadioptric mirror holder 600 relative to the lens group.

The folding mirror support 600 slides relative to the lens barrel support 700 through the first surface 703 and the second surface 704, so that the positions of the receiving plate and the lens group on the folding mirror support 600 along the third direction are changed. The distance between the deflection reflector and part of the light path of the receiving plate relative to the lens group is adjusted, so that the receiving plate can be located at a proper distance relative to the lens group, the purpose of adjusting the optical link between the transmitting plate and the receiving plate is achieved, and the accuracy of the laser radar receiving and transmitting optical link is improved.

It should be noted that, in other embodiments, when the emission plate has a Vertical Cavity Surface Emitting Laser (VCSEL), the turning mirror support and the linear driving structure may also be matched with the emission plate for adjusting the optical path of the emission beam emitted by the reflection plate.

It should be noted that the turning mirror support 600 may also be adjusted in position in the second direction and in position in the third direction. In other embodiments, the turning mirror support can be adjusted in position in the second direction after being adjusted in position in the third direction.

It should be noted that in some embodiments, the fold mirror support may also be adjustable in the second direction only.

In other embodiments, the fold mirror support can also be adjusted in the third direction only.

Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims. Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. The utility model provides a debug equipment, is applicable to the debug of laser radar's integrated circuit board, its characterized in that includes:

the device comprises a three-dimensional adjusting frame, an angle adjusting mechanism connected with the three-dimensional adjusting frame and a clamping part connected with the angle adjusting mechanism, wherein the clamping part is provided with a first target output end;

the three-dimensional adjusting bracket comprises:

the first mobile station is used for realizing the position adjustment of the first target output end along the first direction;

the second mobile station is used for realizing the position adjustment of the first target output end along the second direction;

the third mobile station is used for realizing the position adjustment of the first target output end along a third direction, and the third direction is vertical to the second direction and a plane where the first direction is located; the first mobile station, the second mobile station and the third mobile station are connected in series;

the angle adjusting mechanism is used for realizing the rotation of the first target output end in a plane in which a first direction and a second direction are positioned;

the clamping part is used for clamping the integrated circuit board.

2. The assembly apparatus of claim 1, wherein the lidar comprises:

the lens group is used for transmitting the emitted light beam or receiving the echo light beam, and the emergent direction of the emitted light beam or the incident direction of the echo light beam is a second direction;

the folding reflector bracket corresponds to the lens group and is in sliding fit in the second direction;

the debugging device comprises: and the linear driving structure is provided with a second target output end and is used for pushing the turning mirror bracket to move in the second direction.

3. The assembly apparatus of claim 1, wherein the lidar comprises: a transmitting unit, the integrated circuit board including a transmitting board;

the laser radar includes: a receiving unit, the integrated circuit board including a receiving board;

the debugging equipment is transmitting plate debugging equipment or receiving plate debugging equipment.

4. The assembly apparatus of claim 2, wherein the lidar comprises: a receiving unit, the integrated circuit board including a receiving board;

the debugging equipment is receiving plate debugging equipment.

5. A conditioning apparatus according to claim 2 or 4, wherein the linear drive arrangement comprises a differential head.

6. A commissioning apparatus according to claim 1 or 2 wherein said first mobile station is located on said third mobile station and said second mobile station is located on said first mobile station.

7. The fitting apparatus according to claim 1 or 2, wherein the angle adjusting mechanism comprises: and a meshing transmission structure.

8. The assembly apparatus of claim 7, wherein the geared drive arrangement includes a worm and a worm gear in engagement with the worm, the worm gear being an output of the angle adjustment mechanism.

9. The assembly apparatus of claim 8, wherein the angle adjustment mechanism further comprises:

the angle mount for setting meshing transmission structure, the angle mount includes:

a first fixing plate;

the second fixing plate stands on the side part of the first fixing plate;

the third fixing plate is connected with the top of the second fixing plate and extends above the first fixing plate, and the worm penetrates through the third fixing plate and is in running fit with the third fixing plate;

the angle adjustment mechanism further includes: and one end of the rotating shaft is fixedly connected with the worm wheel, and the other end of the rotating shaft penetrates through the second fixing plate and is fixedly connected with the clamping part.

10. The assembly apparatus of claim 9, wherein the rotation shaft extends in the same direction as the third direction.

11. The assembly apparatus of claim 9, wherein the second retaining plate is perpendicular to the third retaining plate, and the second retaining plate is located in a plane in which the first and second directions lie.

12. The assembly apparatus of claim 9, wherein the angle adjustment mechanism further comprises: and the worm wheel fixing screw is rotationally arranged in the second fixing plate, and the extending direction of the worm wheel fixing screw is perpendicular to the extending direction of the rotating shaft and is used for fixing the rotating shaft.

13. The assembly apparatus of claim 7, wherein the geared structure comprises two vertically meshed first and second bevel gears, the second bevel gear having a larger number of teeth than the first bevel gear, the second bevel gear being an output of the angle adjustment mechanism.

14. The fitting apparatus according to claim 1 or 2, wherein the clamping portion comprises:

the bottom of the first supporting piece is provided with a first extending part which is bent upwards;

the second supporting piece is positioned on the first supporting piece and is provided with a second extending part opposite to the first extending part;

the fixed supporting part is positioned at one end of the bottom of the second supporting piece;

and the threaded fixing piece penetrates through the second supporting piece and is contacted with the top of the fixed supporting part.

15. The debugging apparatus of claim 1 wherein the debugging apparatus further comprises: the platform is located at the bottom of the three-dimensional adjusting frame, and the surface normal of the platform extends along a first direction.

16. A method for debugging an integrated circuit board of a laser radar, wherein the integrated circuit board has a first direction and a second direction which are perpendicular to each other, the method comprising:

clamping the integrated circuit board;

rotating the integrated circuit board in a plane formed by the first direction and the second direction;

moving the integrated circuit board in at least one direction of the first direction, the second direction and a third direction, wherein the third direction is perpendicular to a plane where the first direction and the second direction are located;

and after the integrated circuit board is moved in at least one direction of the first direction, the second direction and the third direction, the integrated circuit board is fixed on the laser radar.

17. The fitting method of claim 16,

the laser radar includes: the lens group is used for transmitting the emission light beam or receiving the echo light beam, and the direction of the emission light beam or the echo light beam is a second direction;

the integrated circuit board is a transmitting board or a receiving board;

the debugging method further comprises the following steps:

and adjusting the folding mirror bracket along the second direction to adjust the distance of the folding mirror bracket relative to the lens group before rotating the integrated circuit in a plane formed by the first direction and the second direction.

18. The fitting method according to claim 16 or 17,

the laser radar comprises a transmitting unit;

the integrated circuit board comprises at least one emission plate for providing an emission beam, which is reflected by the target to form an echo beam, and which exits in a second direction.

19. The fitting method according to claim 16 or 17,

the laser radar further comprises a receiving unit;

the integrated circuit board comprises a receiving board, and the receiving board is used for receiving the echo light beam.

20. The fitting method according to claim 17, wherein the fitting method comprises:

before the integrated circuit board is rotated in a plane formed by the first direction and the second direction, the folding mirror support is adjusted along the third direction so as to adjust the distance between the folding mirror support and the lens group.

21. The fitting method of claim 16,

clamping the integrated circuit board with the clamping portion of claim 14, the step of clamping the integrated circuit board with the clamping portion comprising:

rotating the threaded fixing piece to enable the distance between one end, away from the fixing support part, of the second extending part and the first extending part to be increased;

placing the integrated circuit board between the first extension part and the second extension part;

and rotating the threaded fixing part to enable one end of the second extending part close to the fixed supporting part to warp upwards and one end of the second extending part far from the fixed supporting part to warp downwards, wherein one end of the second extending part far from the fixed supporting part and the first extending part clamp the integrated circuit board.

22. The assembly method of claim 16, wherein the step of rotating the ic board in the plane defined by the first and second directions using the angle adjustment mechanism of claim 12 comprises:

rotating the worm wheel fixing screw to separate the worm wheel fixing screw from the rotating shaft;

rotating the worm, wherein the worm is meshed with the worm wheel, so that the worm wheel drives the rotating shaft to rotate;

and rotating the worm wheel fixing screw to fix the rotating shaft by the worm wheel fixing screw.

23. The fitting method of claim 16,

the step of moving the ic board in at least one of the first direction, the second direction, and the third direction using the three-dimensional adjusting bracket of claim 6 comprises:

the second mobile station realizes the position adjustment of the first target output end along a second direction;

the first mobile station realizes the position adjustment of the first target output end along the first direction, and drives the second mobile station to adjust the position of the second mobile station along the first direction in the process of the position adjustment of the first mobile station along the first direction;

and the third mobile station realizes the position adjustment of the first target output end along the third direction, and drives the first mobile station and the second mobile station to adjust the position in the third direction in the process of adjusting the position of the third mobile station along the third direction.

24. The method of claim 16, wherein the step of moving the ic board in at least one of the first direction, the second direction, and the third direction is performed after the ic board is rotated in a plane formed by the first direction and the second direction.