CN115808672A

CN115808672A - Coupling method of dToF laser radar range finding machine core

Info

Publication number: CN115808672A
Application number: CN202211636228.0A
Authority: CN
Inventors: 徐其彬; 梁航; 刘肇凭; 魏威; 宋云鹏
Original assignee: Guangwei Technology Guangzhou Co ltd
Current assignee: Guangwei Technology Guangzhou Co ltd
Priority date: 2022-12-15
Filing date: 2022-12-15
Publication date: 2023-03-17

Abstract

The application discloses coupling method of dToF laser radar range finding core includes: providing a coupling platform and a range finder core to be coupled and placing the range finder core on the coupling platform, wherein the range finder core comprises a PCB (printed circuit board) and a lens fixing frame, an optical detection chip is fixedly arranged on the PCB, a transmitting end laser is fixed on the lens fixing frame, and a movable transmitting end collimating lens and a receiving end receiving lens are arranged on the lens fixing frame, and the PCB can move relative to the transmitting end laser to adjust the position of the optical detection chip; supplying power to the PCB to light the laser at the transmitting end, and establishing communication connection between the PCB or the optical detection chip and the electronic equipment; a reflecting object is arranged in front of the distance measuring machine core, and the positions of the transmitting end collimating lens, the optical detection chip and the receiving end receiving lens are adjusted according to data of the optical detection chip displayed by debugging software; and fixing the positions of the transmitting end collimating lens and the receiving end receiving lens on the lens fixing frame, fixing the relative positions of the PCB and the lens fixing frame, and taking out the PCB and the lens fixing frame from the coupling platform integrally.

Description

Coupling method of dToF laser radar range finding machine core

Technical Field

The application relates to the technical field of dToF laser radars, in particular to a coupling method of a dToF laser radar range finder core.

Background

The dToF laser radar of the sweeper mainly comprises a laser, a single photon avalanche detection diode SPAD (optical detection chip), a functional circuit, a transmitting end collimating lens, a receiving end receiving lens and a lens fixing frame. The dToF laser radar transmits laser by using a laser, is received by the SPAD after being reflected by an object, and obtains the distance after being processed and calculated by the chip, thereby realizing the distance measuring function.

Because the structural size of the dToF laser radar of the sweeper is very small, and the size of the photosensitive surface of the SPAD is submillimeter, the requirement on the coupling of the light path of the transmitting end laser, the transmitting end collimating lens, the receiving end receiving lens and the SPAD is very high, and in the assembling process, the relative positions of the laser, the SPAD, the transmitting end collimating lens and the receiving end receiving lens directly influence the distance measuring capacity and the distance measuring effect of the laser radar.

In the existing assembly process, steps are processed in a lens fixing frame to serve as lens limiting, a laser is installed in the lens fixing frame in advance, a SPAD is installed on a functional circuit PCB in advance, the lens fixing frame is mechanically connected with the functional circuit PCB through a screw hole, the relative position of the laser, a transmitting end collimating lens, a receiving end receiving lens and the SPAD cannot be adjusted in the whole process, and if the positions of devices or lenses are different or the processing precision is deviated, the laser radar cannot measure the distance or the distance measuring capability is poor.

Based on this background, it is necessary to provide a coupling method for a dtoflaser radar range finder core, which can adjust the relative positions of a transmitting end laser, a light detection chip, a transmitting end collimating lens and a receiving end receiving lens to ensure the coupling effect.

Disclosure of Invention

The application aims to provide a coupling method of a dToF laser radar range finder core, which can adjust the relative positions of a transmitting end laser, a light detection chip, a transmitting end collimating lens and a receiving end receiving lens so as to ensure the coupling effect.

In order to achieve the above object, the present application provides a coupling method for a dToF laser radar range finder core, comprising:

providing a coupling platform and a range finder core to be coupled, and placing the range finder core on the coupling platform, wherein the range finder core comprises a PCB (printed circuit board) and a lens fixing frame positioned on the front side of the PCB, a light detection chip is fixedly arranged on the PCB, a transmitting end laser is fixed on the lens fixing frame, a movable transmitting end collimating lens and a movable receiving end receiving lens are arranged on the lens fixing frame, a pin of the transmitting end laser is welded with the PCB, and the PCB can move relative to the transmitting end laser to adjust the position of the light detection chip;

supplying power to the PCB to light the laser at the transmitting end, establishing communication connection between the PCB or the optical detection chip and electronic equipment so that the electronic equipment can receive data of the optical detection chip, wherein the electronic equipment is provided with debugging software capable of displaying the data of the optical detection chip in real time;

the positions of the transmitting end collimating lens, the optical detection chip and the receiving end receiving lens are adjusted according to the data of the optical detection chip displayed by the debugging software so as to realize optical path coupling;

after the optical path coupling is completed, the positions of the transmitting end collimating lens and the receiving end receiving lens on the lens fixing frame are fixed, the relative positions of the PCB and the lens fixing frame are fixed, and the PCB and the lens fixing frame are integrally taken out of the coupling platform.

Optionally, the step of arranging a reflection object in front of the range finder core and adjusting the positions of the transmitting end collimating lens, the optical detection chip and the receiving end receiving lens according to the data of the optical detection chip displayed by the debugging software to realize optical path coupling includes the following steps:

adjusting the position of the emission end collimating lens on the lens fixing frame to enable the light spots emitted by the emission end laser to be converged into a thin light spot and fall on the reflecting object arranged at the first position in front of the range finder core;

adjusting the position of the PCB according to the data of the optical detection chip displayed by the debugging software to enable the optical detection chip to receive the light spot reflected by the reflecting object;

and moving the reflecting object forwards to a second position far away from the range finder core, and adjusting the position of the receiving lens of the receiving end on the lens fixing frame according to the data of the optical detection chip displayed by the debugging software, so that the light sensing surface of the optical detection chip is positioned at the focus of the receiving lens of the receiving end.

Optionally, when the reflecting object is moved forward to a second position far away from the range finder core, the position of the optical detection chip is also adjusted by adjusting the position of the PCB board.

Optionally, after the adjusting of the reflective object in the second position is completed, the method further includes:

and moving the reflecting object to a third position in front of the second position, and determining whether the light sensing surface of the light detection chip is located at the focus of the receiving lens of the receiving end when the reflecting object is located at the third position.

Optionally, before performing the position adjustment, the PCB board and the lens holder are maintained at a zero gap.

Optionally, a through hole through which a pin of the emitter laser passes is formed in the PCB, and the size of the through hole is larger than the size of the cross section of the pin to allow the pin to move in the through hole.

Optionally, the pin of the emitter laser is electrically connected to the PCB board by a removable conductor.

Optionally, the removable conductor is a lead or a probe.

Optionally, the lens holder includes a transmitting end chamber and a receiving end chamber, the transmitting end collimating lens is disposed in the transmitting end chamber, and the receiving end receiving lens is disposed in the receiving end chamber;

the lens fixing frame is provided with adjusting grooves which are correspondingly communicated with the transmitting end cavity and the receiving end cavity respectively;

the coupling platform comprises a lens adjusting device and a lens clamping structure, the lens clamping structure is connected to the output end of the lens adjusting device, and a clamping part of the lens clamping structure extends into the corresponding adjusting groove to clamp the transmitting end collimating lens or the receiving end receiving lens; and driving the lens clamping structure to adjust the position of the transmitting end collimating lens in the transmitting end chamber or the position of the receiving end receiving lens in the receiving end chamber through the lens adjusting device.

Optionally, the adjusting groove allows the clamping portion to drive the transmitting end collimating lens or the receiving end receiving lens to move back and forth or rotate.

Optionally, the lens fixing frame is provided with a positioning hole;

the coupling platform comprises a fixedly arranged base, a positioning pin is arranged on the base, and a screw hole is formed in the positioning pin;

the lens fixing frame is located on the base through the adaptive connection of the locating hole and the locating pin and is fastened through a screw in the screw hole in a threaded connection mode.

Optionally, the coupling platform includes a PCB adjusting device and a PCB supporting structure, the PCB supporting structure is connected to an output end of the PCB adjusting device, the PCB is fixed to the PCB supporting structure, and the position of the PCB is adjusted by the PCB adjusting device.

The utility model provides a position of placing of lens mount is movably arranged in to the transmission end collimation lens and the receiving terminal receiving lens of the range finding core of waiting to couple, the transmission end laser instrument is fixed on the lens mount, the PCB board can remove relative transmission end laser instrument, the PCB board couples and the data of optical detection chip can show in real time through electronic equipment's debugging software under power supply state, and then can realize the light path coupling through setting up a reflection object in range finding core the place ahead and adjusting the transmission end collimation lens according to the data of the optical detection chip that debugging software shows, the optical detection chip and the position of receiving terminal receiving lens, after accomplishing the light path coupling, fix the position of transmission end collimation lens and receiving terminal receiving lens at the lens mount again and the relative position of PCB board and lens mount and take out PCB board and lens mount wholly from the coupling platform. The coupling method can be used for coupling according to the actual light path and the data of the optical detection chip displayed in real time, is convenient to adjust, and is beneficial to ensuring the coupling effect of the distance measuring machine core.

Drawings

Fig. 1 is a schematic perspective view of a range finder core of a dtoflaser radar according to an embodiment of the present invention.

Fig. 2 is a schematic perspective view of the PCB hidden in fig. 1.

Fig. 3 is an exploded view of fig. 1.

Fig. 4 is a schematic perspective view of a range finder core disposed on a coupling platform according to an embodiment of the present application.

Fig. 5 is a schematic perspective view of fig. 4 with a part of the structure hidden.

Fig. 6 is an exploded view of the lens holder and the like and the base in fig. 5.

Fig. 7 is a perspective view of the lens holder of fig. 4.

Fig. 8 is a perspective view of the PCB board and the PCB carrier structure of fig. 5.

Detailed Description

In order to explain the technical contents and structural features of the present application in detail, the following description is made with reference to the embodiments and the accompanying drawings.

Fig. 1 to 3 disclose a range finder core of a dToF lidar. The distance measuring machine core comprises a PCB (printed Circuit Board) 10, a lens fixing frame 20 positioned on the front side of the PCB 10 and a transmitting end laser 30 positioned between the PCB 10 and the lens fixing frame 20, wherein a light detection chip 11 is fixedly arranged on the PCB 10, a pin 31 of the transmitting end laser 30 is welded with the PCB 10, and a transmitting end collimating lens 40 and a receiving end receiving lens 50 are arranged on the lens fixing frame 20. The laser emitted by the emitting end laser 30 is converged on an object after passing through the emitting end collimating lens 40, then is reflected to the receiving end receiving lens 50 by the object and then is converged to the optical detection chip 11, and then the distance can be obtained after processing operation, thereby realizing the distance measuring function.

Specifically, the light detection chip 11 is a SPAD chip.

In order to carry out coupling by using the coupling method of the present application, the distance measuring movement to be coupled has not finished final assembly, the coupling method of the present application fixes the transmitting end laser 30 on the lens fixing frame 20, so that the PCB board 10 can move relative to the transmitting end laser 30 to be able to adjust the position of the optical detection chip 11 relative to the transmitting end laser 30, and the transmitting end collimating lens 40 and the receiving end receiving lens 50 can be movably arranged at the placing position of the lens fixing frame 20 to be able to adjust the positions of the transmitting end collimating lens 40 and the receiving end receiving lens 50. Specifically, the movement of the PCB 10 relative to the emitting end laser 30 may include up and down movement, left and right movement, and may also include a change in a pitch angle, and of course, the movement of the PCB 10 relative to the emitting end laser 30 is not limited to the above manner.

Specifically, the lens holder 20 includes an emitting end chamber 21, and the emitting end laser 30 is disposed at a rear end of the emitting end chamber 21.

Specifically, the PCB board 10 is provided with through holes 12 through which the pins 31 of the emitter laser 30 pass. In the embodiment of the present application, in order to enable the PCB board 10 to move relative to the emitter laser 30, the size of the through hole 12 is larger than the cross-sectional size of the pin 31 to allow the pin 31 to move within the through hole 12, thereby facilitating a degree of freedom of the emitter laser 30 relative to the PCB board 10. In addition, in order to keep the laser 30 on the emitting end powered when the PCB board 10 moves relative to the laser 30 on the emitting end, in the embodiment of the present application, the pin 31 of the laser 30 on the emitting end is electrically connected (e.g. soldered) to the PCB board 10 through a lead, and after the coupling is completed, the lead is removed and the pin 31 is soldered directly on the PCB board 10. Of course, the pin 31 is not limited to be electrically connected to the PCB 10 through a lead, and may be connected through another conductor, as long as the conductor can be removed after coupling, for example, the pin 31 may be electrically connected to the PCB 10 through a probe, and after coupling, the probe may be removed, and the pin 31 may be directly soldered on the PCB 10.

Of course, in order to enable the PCB board 10 to move relative to the emission end laser 30, the present application is not limited to the above-mentioned technical means.

In order to couple by using the coupling method of the present application, the present application provides a coupling platform to place the range finder core in the coupling platform for coupling. The present application is not limited to the specific form of the coupling platform as long as it can fix the lens holder 20 and the PCB board 10 respectively and can adjust the position of the PCB board 10 relative to the emitter laser 30.

The present application is further described below in conjunction with fig. 1 through 8.

On the basis of the above arrangement, the coupling method of the present application further includes:

the power is supplied to the PCB board 10 to light the laser 30 at the emitting end, and the communication connection between the PCB board 10 or the optical detection chip 11 and the electronic device (such as a computer) is established so that the electronic device can receive the data of the optical detection chip 11, and the electronic device is provided with debugging software capable of displaying the data of the optical detection chip 11 in real time. Specifically, the electronic device may simultaneously power the PCB board 10 and receive data of the photo detection chip 11. Of course, the PCB board 10 may be powered by other devices. The optical detection chip 11 may directly establish a communication connection with the electronic device, or may establish a communication connection with the electronic device through the PCB 10, which is not limited in this application, and when the communication connection is performed through the PCB 10, the PCB 10 may simply forward data, or further perform data processing by using its processing unit and output the data to the electronic device.

The optical path coupling is realized by arranging a reflecting object (such as a white board) in front of the range finder core and adjusting the positions of the transmitting end collimating lens 40, the optical detection chip 11 and the receiving end receiving lens 50 according to the data of the optical detection chip 11 displayed by the debugging software.

After the optical path coupling is completed, the positions of the transmitting end collimating lens 40 and the receiving end receiving lens 50 on the lens holder 20 are fixed, and the relative positions of the PCB board 10 and the lens holder 20 are fixed and taken out integrally from the coupling platform.

The transmitting end collimating lens 40 and the receiving end receiving lens 50 of the range finder core to be coupled are movably arranged at the placing position of the lens fixing frame 20, the transmitting end laser 30 is fixed on the lens fixing frame 20, the PCB 10 can move relative to the transmitting end laser 30, the PCB 10 is coupled in a power supply state, data of the optical detection chip 11 can be displayed in real time through debugging software of the electronic device, further, the light path coupling can be realized by arranging a reflecting object in front of the range finder core and adjusting the positions of the transmitting end collimating lens 40, the optical detection chip 11 and the receiving end receiving lens 50 according to the data of the optical detection chip 11 displayed by the debugging software, and after the light path coupling is completed, the positions of the transmitting end collimating lens 40 and the receiving end receiving lens 50 on the lens fixing frame 20 and the relative positions of the PCB 10 and the lens fixing frame 20 are fixed again, and the whole PCB 10 and the lens fixing frame 20 are taken out of the coupling platform. The coupling method can be used for coupling according to the actual light path and the data of the optical detection chip 11 displayed in real time, is convenient to adjust, and is favorable for guaranteeing the coupling effect of the distance measuring machine core.

In some embodiments, the optical path coupling is realized by disposing a reflective object in front of the range finder core and adjusting the positions of the transmitting end collimating lens 40, the optical detection chip 11 and the receiving end receiving lens 50 according to the data of the optical detection chip 11 displayed by the debugging software, including:

the position of the emission end collimating lens 40 on the lens fixing frame 20 is adjusted to enable the light spots emitted by the emission end laser 30 to be converged into a thin light spot which falls on a reflecting object arranged at the first position in front of the range finder core, and the position of the emission end collimating lens 40 can be kept unchanged after the adjustment is finished. Adjusting the position of the emitter side collimating lens 40 is adjusted by moving back and forth, and the emitter side collimating lens 40 can be rotated as needed.

The position of the PCB board 10 is adjusted according to the data of the optical detection chip 11 displayed by the debugging software (the lens fixing frame 20 is always kept still), so that the optical detection chip 11 receives the light spot reflected by the reflecting object, and the position of the optical detection chip 11 is adjusted. Specifically, in order to facilitate adjustment of the position of the light detection chip 11, the first position is set at a position relatively close to the range finder core, for example, at a position 20cm to 30mm in front of the range finder core. Specifically, the adjustment of the position of the PCB board 10 mainly includes the adjustment of up-down, left-right, and pitch angles. Specifically, for the SPAD chip, histogram statistics is carried out on the distance calculated by each laser pulse emission return, after the statistics is completed, a plurality of histograms are generated, the histogram output data with the most data is selected to serve as a ranging value, the ranging value is transmitted to electronic equipment through communication after being packaged, the debugging software displays a ranging curve according to the received data, the ranging curve is real-time updated distance data, the horizontal axis is time, and the vertical axis is distance. When the reflecting object is at the first position, if the ranging curve displayed by the debugging software appears a stable straight line, the SPAD chip receives the light spot reflected back by the reflecting object.

The reflecting object is moved forward to a second position (focusing position) far away from the range finder core, and the position of the receiving lens 50 at the lens fixing frame 20 is adjusted according to the data of the optical detection chip 11 displayed by the debugging software, so that the light sensing surface of the optical detection chip 11 is positioned at the focus of the receiving lens 50. The position of the receiving lens 50 at the receiving end is adjusted by moving forward and backward, and the receiving lens 50 at the receiving end can be rotated as needed. In a specific example, the second position is about 5 meters in front of the range finder core. Specifically, for the SPAD chip, when the reflected light spot converges on a single channel thereof, the light-sensitive surface thereof is located at the focal point of the receiving lens 50 of the receiving end, which can be seen from the data read by the electronic device, the SPAD chip has a plurality of channels, when it is shown that the data of only one channel is flat and the data of other channels fluctuates greatly, it is indicated that the light spot has focused on the single channel, and if there is stable data of other channels, the position of the receiving lens 50 of the receiving end can be continuously adjusted. Specifically, when the reflecting object is moved forward to a second position far away from the range finder core, it may be found that there is still a little deviation in the position of the light detection chip 11, and at this time, the position of the light detection chip 11 may be further adjusted by adjusting the position of the PCB board 10. Adjusting the position of the PCB board 10 may include adjustment of up and down, left and right, and pitch angles, etc.

It should be noted that the data of the optical detection chip 11 displayed by the debugging software is not limited to a certain form, as long as the data is output by the optical detection chip 11, and the accurate positions of the optical detection chip 11 and the receiving lens 50 can be determined based on the data display.

In the above adjustment mode, the transmitting end collimating lens 40 and the receiving end receiving lens 50 are independently adjusted, and the receiving end receiving lens 50 is adjusted after the transmitting end collimating lens 40 is adjusted, so that uncertainty of increasing adjustment process due to simultaneous adjustment can be avoided.

In some embodiments, after the adjusting of the reflective object to the second position is completed, the method further comprises: and moving the reflecting object to a third position in front of the second position, and determining whether the photosensitive surface of the light detection chip 11 is located at the focus of the receiving lens 50 when the reflecting object is located at the third position, so as to verify the coupling effect. In a particular example, the third position may be a position 8-10 meters in front of the range finder core. It will be appreciated that the reflective object may also be moved to other locations for verification.

In some embodiments, the PCB board 10 is maintained at zero clearance from the lens holder 20 before position adjustment is performed. Of course, it is not limited thereto.

In some embodiments, after completing the optical path coupling, fixing the transmitting end collimating lens 40 and the receiving end receiving lens 50 at the position of the lens holder 20 may be performed by using UV glue. Fixing the relative positions of the PCB board 10 and the lens holder 20 is also performed using UV glue, and specifically, a ring of UV glue may be reinforced around the lens holder 20 and the PCB board 10.

Referring to fig. 1, 4, 5 and 7, in some embodiments, the lens holder 20 includes a transmitting-end chamber 21 and a receiving-end chamber 22, the transmitting-end collimating lens 40 is disposed in the transmitting-end chamber 21, and the receiving-end receiving lens 50 is disposed in the receiving-end chamber 22; the lens holder 20 is provided with adjusting grooves 23 correspondingly communicated with the emitting end cavity 21 and the receiving end cavity 22 respectively.

The coupling platform comprises a lens adjusting device 60 and a lens holding structure 61, the lens holding structure 61 being connected to an output of the lens adjusting device 60. The holding portion 611 of the lens holding structure 61 extends into the corresponding adjusting groove 23 to hold the transmitting end collimating lens 40 or the receiving end receiving lens 50, and the position of the transmitting end collimating lens 40 in the transmitting end cavity 21 or the position of the receiving end receiving lens 50 in the receiving end cavity 22 can be adjusted by driving the lens holding structure 61 through the lens adjusting device 60. The meaning of "or" expression herein includes: there may be two lens holding structures 61, the holding portions 611 of which respectively extend into different adjusting grooves 23 to hold the transmitting-end collimating lens 40 and the receiving-end receiving lens 50, or a lens holding structure 61, the holding portions 611 of which extend into different adjusting grooves 23 to hold the transmitting-end collimating lens 40 or the receiving-end receiving lens 50 according to the requirement. In a specific example, the clamping of the lens may be removed after the lens is fixed by UV glue or the like to ensure that the lens is in the adjusted position.

Specifically, the adjusting groove 23 allows the clamping portion 611 to drive the transmitting-end collimating lens 40 or the receiving-end receiving lens 50 to move or rotate back and forth (without limitation), and further the lens clamping structure 61 can drive the corresponding lens to perform position adjustment in the front-back direction and the rotation direction (without limitation) under the driving of the lens adjusting device 60.

Specifically, the number of the lens holding structures 61 is two, and the number of the lens adjusting devices 60 is also two, so as to respectively drive the corresponding lens holding structures 61, thereby facilitating the rapid operation.

In the specific example, the lens adjusting device 60 is a six-axis adjusting base, and the output end thereof is connected with a cantilever 62, and the cantilever 62 is fixedly connected with the lens clamping structure 61 to drive the lens clamping structure 61 through the cantilever 62.

In the specific example, the lens holding structure 61 includes a first holding arm 612 and a second holding arm 613, which are hinged by a rotating shaft 614 to form a scissors-like structure, and a torsion spring 615 is disposed between the two holding

arms

612, 613. The opposite ends of the first and second holding

arms

612 and 613 are provided with holding parts 611, respectively. In the free state, under the action of the torsion spring 615, the two clamping portions 611 respectively extend into the adjusting grooves 23 on the two opposite sides to clamp the corresponding lens, and when the clamping of the lens needs to be released, the other ends of the first clamping arm 612 and the second clamping arm 613 are pressed. Of course, only one specific example of a lens retaining structure 61 is provided herein, and the lens retaining structure 61 may take a variety of possible forms.

Referring to fig. 4, 5 and 8, in some embodiments, the coupling platform includes a PCB board adjusting device 70 and a PCB board supporting structure 80, the PCB board supporting structure 80 is connected to an output end of the PCB board adjusting device 70, the PCB board 10 is fixed on the PCB board supporting structure 80, and the position of the PCB board 10 is adjusted by driving the PCB board adjusting device 70, and specifically, the adjustment including, but not limited to, an up-down direction, a left-right direction and a pitch angle may be performed for specific situations.

Specifically, the PCB board supporting structure 80 includes a frame 81 and a cover plate 82, the frame 81 is provided with a limiting groove 811, the PCB board 10 is placed in the limiting groove 811, and the cover plate 82 is mounted on the edge of the frame 81 through a positioning column, and the PCB board 10 can be blocked by a limiting pin to prevent movement or falling out. Of course, this is only a specific example of the PCB board carrying structure 80 and is not limited thereto.

In a specific example, the PCB adjusting device 70 is a six-axis adjusting base, the output end of the six-axis adjusting base is connected with a connecting frame 71, the PCB carrying structure 80 is connected with the connecting frame 71, and the PCB carrying structure 80 can be driven by the PCB adjusting device 70 to perform position adjustment.

Referring to fig. 4 to fig. 6, in some embodiments, the lens holder 20 is provided with a positioning hole 25. The coupling platform comprises a base 90 fixedly arranged, a positioning pin 901 is arranged on the base 90, and a screw hole 902 is formed in the positioning pin 901. The lens holder 20 is positioned on the base 90 by the fitting connection of the positioning holes 25 and the positioning pins 901 and fastened by screws screwed in the screw holes 902, so that the lens holder 20 can be fixed. It is to be understood that the fixing of the lens holder 20 in the present application is not limited to this manner as long as the purpose of fixing the lens holder 20 can be achieved.

In particular, the coupling platform comprises a support 91, on which support 91 the base 90 is fixed, for example by means of screws.

In a specific example, the bracket 91 includes a base 911 and a riser 912 fixed to the base 911, the base 90 is fixed to the top of the riser 912 by screws, and the lens adjusting device 60 and the PCB adjusting device 70 are fixed to the base 911.

The above disclosure is only a preferred embodiment of the present application and should not be taken as limiting the scope of the present application, so that the claims of the present application are covered by the appended claims. It will be appreciated that the three adjustable positions referred to herein are: the transmitting end collimating lens 40, the receiving end receiving lens 50 and the PCB board 10 do not need to be adjusted by 3, and only 1 or 2 of them may be needed to be adjusted according to actual needs. For example, the lens holder 20 has high processing precision, and the emission end collimating lens 40 is directly assembled to the emission end cavity 21 without adjustment; for example, when the processing and assembling precision of the lens holder 20 and the PCB 10 is high, the PCB 10 is directly assembled on the lens holder 20 without adjusting the PCB 10.

Claims

1. A coupling method of a dToF laser radar range finder core is characterized by comprising the following steps:

2. The coupling method of claim 1,

the method comprises the following steps of arranging a reflecting object in front of the range finder core, and adjusting the positions of the transmitting end collimating lens, the optical detection chip and the receiving end receiving lens according to the data of the optical detection chip displayed by the debugging software to realize light path coupling, wherein the method comprises the following steps:

3. The coupling method of claim 2,

when the reflecting object is moved forwards to a second position far away from the range finder core, the position of the optical detection chip is adjusted by adjusting the position of the PCB.

4. The coupling method of claim 2,

when the adjustment that the reflecting object is at the second position is completed, the method further comprises the following steps:

and moving the reflecting object to a third position in front of the second position, and determining whether the light sensing surface of the light detection chip is positioned at the focus of the receiving lens of the receiving end when the reflecting object is positioned at the third position.

5. The coupling method of claim 1, wherein the PCB board is maintained at zero clearance from the lens holder before the position adjustment is performed.

6. The coupling method according to claim 1, wherein the PCB board is provided with a through hole for passing through a pin of the emitter laser, and the size of the through hole is larger than the cross-sectional size of the pin to allow the pin to move within the through hole.

7. The coupling method according to claim 1 or 6, wherein the pin of the transmitting end laser is electrically connected to the PCB board by a removable conductor.

8. The coupling method of claim 7, wherein the removable conductor is a lead or a probe.

9. The coupling method of claim 1,

the lens fixing frame comprises a transmitting end cavity and a receiving end cavity, the transmitting end collimating lens is arranged in the transmitting end cavity, and the receiving end receiving lens is arranged in the receiving end cavity;

the lens fixing frame is provided with corresponding communicated adjusting grooves aiming at the transmitting end cavity and the receiving end cavity respectively;

the coupling platform comprises a lens adjusting device and a lens clamping structure, the lens clamping structure is connected to the output end of the lens adjusting device, and a clamping part of the lens clamping structure extends into the corresponding adjusting groove to clamp the transmitting end collimating lens or the receiving end receiving lens; and the lens clamping structure is driven by the lens adjusting device to adjust the position of the emission end collimation lens in the emission end cavity or the position of the receiving end receiving lens in the receiving end cavity.

10. The coupling method of claim 9,

the adjusting groove allows the clamping part to drive the transmitting end collimating lens or the receiving end receiving lens to move back and forth or rotate.

11. The coupling method of claim 1,

the lens fixing frame is provided with a positioning hole;

12. The coupling method of claim 1,

the coupling platform comprises a PCB adjusting device and a PCB bearing structure, the PCB bearing structure is connected with the output end of the PCB adjusting device, the PCB is fixed on the PCB bearing structure, and the position of the PCB is adjusted through the PCB adjusting device.