阅读说明：本技术 用于激光雷达的光学组件、制造方法及包括其的激光雷达 (Optical assembly for a lidar, method of manufacture and lidar comprising same ) 是由 马洋 向少卿 于 2020-04-10 设计创作，主要内容包括：本发明提供一种可用于激光雷达的光学组件,包括：收/发光模块；保护盖,所述保护盖固定连接到所述收/发光模块的一侧；透镜模块,所述透镜模块固定连接到所述收/发光模块的另一侧,所述透镜模块的尺寸配置为当所述收/发光模块和所述保护盖在装配过程中发生最大偏移时,所述透镜模块仍然可以将所述收/发光模块和所述保护盖完全覆盖。通过本发明的实施例,避免了所述光学组件在装调过程中因敲击收/发光模块造成的粉屑进入收/发光模块而影响收/发光功能,避免了光学组件在装调之后的工序中因受到外力使其相对位置发生改变。(The invention provides an optical assembly usable with a lidar comprising: a light receiving/emitting module; a protective cover fixedly connected to one side of the light receiving/emitting module; a lens module fixedly connected to the other side of the light receiving/emitting module, the lens module being sized such that the lens module can still completely cover the light receiving/emitting module and the protective cover when the light receiving/emitting module and the protective cover are maximally displaced during assembly. According to the embodiment of the invention, the phenomenon that the dust caused by knocking the light receiving/emitting module enters the light receiving/emitting module to affect the light receiving/emitting function in the assembling and adjusting process of the optical assembly is avoided, and the phenomenon that the relative position of the optical assembly is changed due to external force in the process after the assembling and adjusting is avoided.)

1. An optical assembly usable with a lidar comprising:

a light receiving/emitting module;

a protective cover fixedly connected to one side of the light receiving/emitting module;

a lens module fixedly connected to the other side of the light receiving/emitting module, the lens module being sized such that the lens module can still completely cover the light receiving/emitting module and the protective cover when the light receiving/emitting module and the protective cover are maximally displaced during assembly.

2. The optical assembly of claim 1, wherein the light-receiving/emitting module and the protective cover each have a corresponding through hole, the lens module has a threaded hole corresponding to the through hole, and the light-receiving/emitting module, the protective cover and the lens module are fastened together by a threaded fastener that passes through the through hole and is threaded into the threaded hole.

3. The optical assembly of claim 1 or 2, further comprising an adhesive layer between the protective cover and the light-receiving/emitting module, the adhesive layer bonding the protective cover and the light-receiving/emitting module together.

4. The optical assembly according to claim 1 or 2, wherein the light receiving/emitting module, the protective cover and the lens module each have a rectangular shape, the protective cover being the same size as the light receiving/emitting module.

5. The optical assembly of claim 2, wherein the through hole is sized such that when the transceiver module and the protective cover are maximally displaced during assembly, the through hole still fully exposes the threaded hole for assembly by the threaded fastener.

6. The optical assembly of claim 2, wherein the light receiving/emitting module and the protective cover have four through holes respectively distributed at four corners of the light receiving/emitting module and the protective cover, the lens module has four threaded holes correspondingly distributed at four corners of the lens module, and the distances between the corresponding holes on the light receiving/emitting module, the protective cover and the lens module are respectively equal.

7. A method of manufacturing an optical assembly usable with a lidar comprising:

providing or preparing a light receiving/emitting module and a protective cover;

providing or preparing a lens module;

fixing the light receiving/emitting module between the protective cover and the lens module such that the center of the light receiving/emitting module and the center of the lens module tend to coincide;

wherein the lens module is sized such that the lens module can still completely cover the light/reflective module and the protective cover when the light/reflective module and the protective cover are maximally displaced during assembly.

8. The method of manufacturing as claimed in claim 7, wherein the light-receiving/emitting module and the protective cover have corresponding through holes, respectively, and the lens module has a screw hole corresponding to the through hole, the step of fixing the light-receiving/emitting module between the protective cover and the lens module includes: and the light receiving/emitting module, the protective cover and the lens module are fastened together through a threaded fastener by penetrating the through hole through the threaded fastener and screwing the threaded fastener into the threaded hole.

9. The manufacturing method according to claim 7 or 8, the step of fixing the light receiving/emitting module between the protective cover and the lens module comprising: and the protective cover and the transceiver module are bonded together through an adhesive layer.

10. The manufacturing method according to claim 7 or 8, wherein the light receiving/emitting module, the protective cover, and the lens module each have a rectangular shape, and the protective cover is the same size as the light receiving/emitting module.

11. The manufacturing method according to claim 8, wherein the through hole is sized such that when the maximum displacement of the light/light emitting module and the protective cover occurs during the assembling process, the through hole still fully exposes the threaded hole for the assembly of the threaded fastener.

12. The manufacturing method as claimed in claim 8, wherein the light-receiving/emitting module and the protective cover have four through holes respectively distributed at four corners of the light-receiving/emitting module and the protective cover, the lens module has four threaded holes correspondingly distributed at four corners of the lens module, and the distances between the holes corresponding to each other on the light-receiving/emitting module, the protective cover and the lens module are respectively equal.

13. A lidar comprising:

an emitting unit comprising the first optical assembly of any one of claims 1-6, wherein the light receiving/emitting module of the first optical assembly comprises a light emitting module;

a receiving unit comprising the second optical assembly of any one of claims 1-6, wherein the light receiving/emitting module of the second optical assembly comprises a receiving module.

Technical Field

The present invention generally relates to the field of optoelectronic technologies, and in particular, to an optical assembly for a lidar, a method of manufacturing the optical assembly, and a lidar including the optical assembly.

Background

The laser radar is a radar system for detecting characteristic quantities such as position, speed and the like of a target by emitting laser beams, and is an advanced detection mode combining a laser technology and a photoelectric detection technology. The laser radar has the advantages of high resolution, good concealment, strong active interference resistance, good low-altitude detection performance, small volume, light weight and the like, is widely applied to the fields of automatic driving, traffic communication, unmanned aerial vehicles, intelligent robots, energy safety detection, resource exploration and the like, provides very important original data for national economy, social development and scientific research, and shows good application prospect.

The lidar generally comprises a transmitting module, a receiving module and an information processing module, wherein the transmitting module is a laser in various forms, and the receiving module adopts a telescope and a photoelectric detector in various forms. Due to actual process fluctuation, the light emitting area of the emitting module and the light receiving area of the light receiving module of the laser radar need to be adjusted during assembly, so that the center of the light emitting area and the center of the light receiving area tend to coincide. When the center of the light emitting area and the center of the light receiving area tend to coincide, the protective cover and the light receiving/emitting module are fixed on the lens module (or the refraction device) by screws, and the adjustment is completed.

The conventional external design of the protective cover, the light receiving/emitting module and the lens module is designed according to the logic of the same basic size. According to the principle of adjustment, the center of the light emitting area and the center of the light receiving area are moved to enable the centers of the light emitting area and the light receiving area to tend to coincide, according to the traditional design logic, the outer sides and the edges of the adjusted three modules are not aligned, and the outer sides of the protective cover and the light receiving/emitting module exceed the lens module (the lens module is the assembly main body by default, and the other two modules are matched with the lens).

In the production process of the rear section, the whole assembled and adjusted device can be clamped or collided, the protective cover and the light receiving and transmitting module can be impacted beyond the edge of the lens module in the collision process to enable the light receiving and transmitting module to deviate from the lens module to a certain extent, the relative position of the center of the originally assembled and adjusted light emitting module is changed, the direction of relative deviation from the center is changed, and the original assembled and adjusted result is invalid.

The statements in the background section are merely prior art as they are known to the inventors and do not, of course, represent prior art in the field.

Disclosure of Invention

The invention provides an optical component suitable for a laser radar, which solves the problems that the receiving/light emitting function of the optical component is influenced because powder scraps enter a receiving/light emitting module and the relative position of the optical component is changed because of the action of external force in the assembling and adjusting process and afterwards.

To solve the above technical problem, an embodiment of the present invention provides an optical assembly for a laser radar, including:

a light receiving/emitting module;

a protective cover fixedly connected to one side of the light receiving/emitting module;

a lens module fixedly connected to the other side of the light receiving/emitting module, the lens module being sized such that the lens module can still completely cover the light receiving/emitting module and the protective cover when the light receiving/emitting module and the protective cover are maximally displaced during assembly.

According to an aspect of the present invention, the light receiving/emitting module and the protective cover have corresponding through holes, the lens module has a threaded hole corresponding to the through hole, and the light receiving/emitting module, the protective cover and the lens module are fastened together by a threaded fastener which passes through the through hole and is screwed into the threaded hole.

According to one aspect of the invention, the protective cover further comprises an adhesive layer positioned between the protective cover and the light receiving/emitting module, and the adhesive layer adheres the protective cover and the light receiving/emitting module together.

According to an aspect of the present invention, wherein the light receiving/emitting module, the protective cover and the lens module each have a rectangular shape, the protective cover has the same size as the light receiving/emitting module.

According to an aspect of the invention, the size of the through hole is configured such that when the maximum displacement of the light/light module and the protective cover occurs during the assembling process, the through hole can still fully expose the threaded hole for the assembling use of the threaded fastener.

According to an aspect of the invention, the light receiving/emitting module and the protective cover have four through holes respectively, and are distributed at four corners of the light receiving/emitting module and the protective cover, the lens module has four threaded holes correspondingly distributed at four corners of the lens module, and the distances between the corresponding holes on the light receiving/emitting module, the protective cover and the lens module are respectively equal.

The invention also relates to a method for manufacturing an optical component usable in a lidar comprising:

providing or preparing a light receiving/emitting module and a protective cover;

providing or preparing a lens module;

fixing the light receiving/emitting module between the protective cover and the lens module such that the center of the light receiving/emitting module and the center of the lens module tend to coincide;

wherein the lens module is sized such that the lens module can still completely cover the light/reflective module and the protective cover when the light/reflective module and the protective cover are maximally displaced during assembly.

According to an aspect of the present invention, wherein the light receiving/emitting module and the protective cover have corresponding through holes, respectively, and the lens module has a screw hole corresponding to the through hole, the step of fixing the light receiving/emitting module between the protective cover and the lens module comprises: and the light receiving/emitting module, the protective cover and the lens module are fastened together through a threaded fastener by penetrating the through hole through the threaded fastener and screwing the threaded fastener into the threaded hole.

According to an aspect of the present invention, the step of fixing the light receiving/emitting module between the protective cover and the lens module includes: and the protective cover and the transceiver module are bonded together through an adhesive layer.

According to an aspect of the present invention, wherein the light receiving/emitting module, the protective cover and the lens module each have a rectangular shape, the protective cover has the same size as the light receiving/emitting module.

According to an aspect of the invention, the size of the through hole is configured such that when the maximum displacement of the light/light module and the protective cover occurs during the assembling process, the through hole can still fully expose the threaded hole for the assembling use of the threaded fastener.

According to an aspect of the invention, the light receiving/emitting module and the protective cover have four through holes respectively, and are distributed at four corners of the light receiving/emitting module and the protective cover, the lens module has four threaded holes correspondingly distributed at four corners of the lens module, and the distances between the corresponding holes on the light receiving/emitting module, the protective cover and the lens module are respectively equal.

The invention also relates to a lidar comprising:

an emitting unit comprising a first optical assembly as described in any one of the above, wherein the light receiving/emitting module of the first optical assembly comprises a light emitting module;

a receiving unit comprising a second optical assembly as described in any one of the above, wherein the light receiving/emitting module of the second optical assembly comprises a receiving module.

The embodiment of the invention solves the problems that the collection/light-emitting function is influenced because the dust generated by knocking the collection/light-emitting module of the optical component for the laser radar enters the collection/light-emitting module in the assembly and adjustment process, and the relative position of the optical module is changed due to the external force generated by clamping or collision and the like after the assembly and adjustment.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 shows a schematic view of an optical assembly according to one embodiment of the present invention;

FIG. 2 shows a schematic view of another optical assembly according to an embodiment of the invention;

FIG. 3 is a schematic diagram illustrating the mounting surface of components in an optical package according to one embodiment of the present invention;

FIG. 4 is a schematic diagram illustrating an offset of a light/light emitting module relative to a lens module according to one embodiment of the present invention;

FIG. 5 shows a flow chart of a method of manufacturing an optical assembly according to one embodiment of the invention; and

FIG. 6 shows a block diagram of a lidar in accordance with one embodiment of the invention.

Detailed Description

In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection, either mechanically, electrically, or in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

The invention provides an optical component for a laser radar, which solves the problems of the influence on the light receiving/emitting function and the assembly and adjustment failure caused by the change of the relative position of the protective cover, the light receiving/emitting module and the lens module due to the misalignment of the outer sides and the edges of the protective cover, the light receiving/emitting module and the lens module during and after the assembly and adjustment of the optical component.

Fig. 1 shows a schematic diagram of an optical assembly 100 according to an embodiment of the present invention, and as shown, the optical assembly 100 includes a light receiving/emitting module 110, a protective cover 120, and a lens module 130. The light receiving/emitting module 110 may be a separate light receiving module (e.g., the receiving module 113), a separate light emitting module (e.g., the light emitting module 112), or both a light emitting module and a light receiving module. Wherein the protective cover 120 is fixedly connected to one side of the light receiving/emitting module 110, the lens module 130 is fixedly connected to the other side of the light receiving/emitting module 110, and the lens module 130 is sized such that the lens module 130 can still completely cover the light receiving/emitting module 110 and the protective cover 120 when the light receiving/emitting module 110 and the protective cover 120 are maximally displaced during the assembling process.

According to an aspect of the present invention, as can be seen from fig. 1, the light receiving/emitting module 110 and the protective cover 120 have corresponding through holes 111 and 121, respectively, the lens module 130 has a threaded hole 131 corresponding to the through hole, and the light receiving/emitting module 110, the protective cover 120 and the lens module 130 are fixed together by a threaded fastener, such as a screw, which is passed through the through hole and screwed into the threaded hole. It will be understood by those skilled in the art that the positions, numbers and sizes of the through holes and the threaded holes can be adjusted according to the requirements of the light receiving/emitting module 110, the protective cover 120 and the lens module 130 when they are assembled and fixed, and are not limited to the reference numerals in the drawings. According to a preferred embodiment of the present invention, the light receiving/emitting module 110 and the protective cover 120 of the optical assembly 100 have four through holes 111 and 121 respectively distributed at four corners of the light receiving/emitting module 110 and the protective cover 120, the lens module 130 has four threaded holes 131 correspondingly distributed at four corners thereof, and the distances between the corresponding holes of the light receiving/emitting module 110, the protective cover 120 and the lens module 130 are respectively equal, so that they can be connected together by a threaded fastener.

Fig. 2 shows a schematic view of another optical assembly 200 according to an embodiment of the invention. As shown, the optical assembly 200 further includes an adhesive layer 140 between the protective cover 120 and the light receiving/emitting module 110, compared to the optical assembly 100 shown in fig. 1. As can be seen from the above, in the assembling and adjusting process of the optical assembly 200, the light receiving/emitting module 110 needs to be slightly knocked to make fine adjustment so that the center of the light receiving area and the center of the light emitting area tend to coincide, and as the side edge of the light receiving/emitting module 110 is a PCB, powder can be generated in the assembling and adjusting knocking process, and the powder can enter the inside of the light receiving/emitting module 110 to influence the light receiving/emitting efficiency, thereby influencing the function of the optical assembly 200. The adhesive layer 140 thus adheres the protective cover 120 and the light receiving/emitting module 110 by an adhesive, so that the protective cover 120 and the light receiving/emitting module 110 are integrated. Therefore, during the assembling and adjusting process, only the plastic piece is needed to knock the protective cover 120, the whole of the protective cover 120 and the light receiving/emitting module 110 will be displaced, and the light receiving/emitting module 110 is protected.

Fig. 3 shows a schematic view of the mounting face of the components in an optical package according to one embodiment of the invention. As shown in the drawings, the mounting surfaces of the protective cover 120, the light receiving/emitting module 110 and the lens module 130 are respectively shown from left to right in the drawings, and all three of them have a rectangular shape according to a preferred embodiment of the present invention, wherein the horizontal sizes of the protective cover 120 and the light receiving/emitting module 110 are W1 and W3, respectively, the longitudinal sizes thereof are L1 and L3, respectively, the diameters of through holes therein are Φ 1 and Φ 3, respectively, the horizontal intervals of the centers of the through holes are W2 and W4, respectively, and the longitudinal intervals of the centers of the through holes are L2 and L4, respectively. The lens module 130 has horizontal and longitudinal dimensions W5 and L5, respectively, a threaded hole dimension M5, and horizontal and longitudinal intervals at the center of the threaded hole W6 and L6, respectively. For assembly with threaded fasteners, L2-L4-L6 and W2-W4-W6 are used. In addition, in order to prevent the additional position deviation from being generated during the process of bonding the protective cover 120 and the light receiving/emitting module 110 and maintain the consistency of the two, it is preferable that the outer dimensions of the protective cover 120 and the light receiving/emitting module 110 are the same, that is, the horizontal dimension W1 and the longitudinal dimension L1 of the protective cover 120 are respectively equal to the horizontal dimension W3 and the longitudinal dimension L3 of the light receiving/emitting module 110 (W1 is W3, and L1 is L3).

Fig. 4 is a schematic view illustrating an offset of the light receiving/emitting module 110 with respect to the lens module 130 according to an embodiment of the present invention. As shown, when the optical assembly 100 or 200 is assembled, the light receiving/emitting module 110 may be shifted horizontally by Δ x, vertically by Δ y, and angularly by θ with respect to the lens module 130 during the assembling process. According to a preferred embodiment of the present invention, the minimum of the horizontal dimension W5 and the longitudinal dimension L5 of the lens module 130 is:

min W5＝αL3+βW3+Δx，

min L5＝βL3+αW3+Δy，

where α is a shift coefficient of the longitudinal dimension of the light receiving/emitting module 110 in the horizontal direction due to the angular shift θ, where α ═ sin θ, and β is a shift coefficient of the horizontal dimension of the light receiving/emitting module 110 in the horizontal direction due to the angular shift θ, where β ═ cos θ.

According to an aspect of the present invention, in the optical assembly 100 or 200, the dimension M5 of the threaded hole of the lens module 130 can be set according to experience or actual needs, and is matched with a bolt, a stud or a screw, and the through hole is configured to be capable of completely exposing the threaded hole for the assembly of the threaded fastener when the light/light module 110 and the protective cover 120 are maximally deviated during the assembly process. The through holes Φ 1 and Φ 3 can be derived from the following formulas:

min(W2+Φ1)＝min(W4+Φ3)＝α(L6+M5)+β(W6+M5)+Δx，

min(L2+Φ1)＝min(L4+Φ3)＝β(L6+M5)+α(W6+M5)+Δy，

the size of the through-hole is the maximum of Φ 1 and Φ 3. The outer dimensions of the protective cover 120 and the light receiving/emitting module 110 are respectively less than or equal to the outer dimensions of the lens module 130.

The present invention also relates to a method for manufacturing an optical assembly for lidar, such as a flow chart of a method 500 for manufacturing an optical assembly according to an embodiment of the present invention shown in fig. 5, wherein the manufacturing method 500 can be used for manufacturing the optical assembly 100 or 200. The following detailed description, with reference to the drawings, includes the steps of:

in step S501: a light receiving/emitting module and a protective cover are provided or prepared.

In step S502: a lens module is provided or prepared.

In step S503: fixing the light receiving/emitting module between the protective cover and the lens module such that the center of the light receiving/emitting module and the center of the lens module tend to coincide. When the light receiving/emitting module, the protective cover and the lens module are assembled, the light receiving/emitting module, the protective cover and the lens module are assembled and adjusted, so that the center of a light emitting area of the light emitting module and the center of a light receiving area of the light receiving module tend to coincide.

In step S504: wherein the lens module is sized such that the lens module can still completely cover the light/reflective module and the protective cover when the light/reflective module and the protective cover are maximally displaced during assembly. And calculating the maximum offset of the light receiving/emitting module according to the optical design and the actual verification result.

According to an aspect of the present invention, in the above manufacturing method, the light receiving/emitting module and the protective cover have corresponding through holes, respectively, and the lens module has a threaded hole corresponding to the through hole. The positions, the number and the sizes of the through holes and the corresponding threaded holes can be set according to the assembly requirement. The step of fixing the light receiving/emitting module between the protective cover and the lens module includes: and the light receiving/emitting module, the protective cover and the lens module are fastened together through the screw rod by penetrating through the through hole and screwing into the threaded hole. Preferably, the light receiving/emitting module and the protective cover are respectively provided with four through holes which are respectively distributed at four corners of the light receiving/emitting module and the protective cover, the lens module is provided with four threaded holes which are correspondingly distributed at the four corners, and the distances between the holes corresponding to each other on the light receiving/emitting module, the protective cover and the lens module are respectively equal.

According to an aspect of the present invention, the step of fixing the light receiving/emitting module between the protective cover and the lens module in the above manufacturing method includes: and the protective cover and the light receiving/emitting module are bonded together through an adhesive layer. Specifically, an adhesive is added into the protective cover and the light receiving/emitting module, and the adhesive forms an adhesive layer to enable the protective cover and the light receiving/emitting module to be integrated.

According to an aspect of the present invention, the above-mentioned manufacturing method wherein the light receiving/emitting module, the protective cover and the lens module each have a rectangular shape, the protective cover has the same size as the light receiving/emitting module, and specifically, the horizontal dimension W1 and the longitudinal dimension L1 of the protective cover 120 are respectively equal to the horizontal dimension W3 and the longitudinal dimension L3 of the light receiving/emitting module 110. The light receiving/emitting module can generate horizontal deviation Deltax, longitudinal deviation Delay and angle deviation theta relative to the lens module in the assembling process, and the minimum value of the horizontal dimension W5 and the longitudinal dimension L5 of the lens module is as follows:

min W5＝αL3+βW3+Δx，

min L5＝βL3+αW3+Δy，

wherein α is a shift coefficient in the horizontal direction of the longitudinal dimension of the light receiving/emitting module caused by the angular shift θ, and β is a shift coefficient in the horizontal direction of the horizontal dimension of the light receiving/emitting module caused by the angular shift θ.

According to an aspect of the present invention, the threaded hole is pre-sized in the manufacturing method, and the size of the through hole is configured such that the through hole can still fully expose the threaded hole for the assembly of the threaded fastener when the light-emitting/receiving module and the protective cover are maximally deviated during the assembly process. The through holes Φ 1, Φ 3 can be derived from the following equations:

min(W2+Φ1)＝min(W4+Φ3)＝α(L6+M5)+β(W6+M5)+Δx，

min(L2+Φ1)＝min(L4+Φ3)＝β(L6+M5)+α(W6+M5)+Δy，

wherein W2, W4 are the horizontal dimension of visor and receipts/the through-hole center of luminous module respectively, and L2, L4 are the longitudinal dimension of its through-hole center respectively, and W6, L6 are the horizontal dimension and the longitudinal dimension of lens module screw hole center respectively, and M5 is for setting for empirical value or actual need, and with bolt, double-screw bolt or screw cooperation. The outer dimension of the protective cover and the outer dimension of the light receiving and transmitting module are respectively less than or equal to the outer dimension of the lens module.

Fig. 6 shows a block diagram of a lidar 600 according to an embodiment of the invention. As shown, the lidar 600 includes a transmitting unit 610 and a receiving unit 620. Wherein the emitting unit 610 comprises a first optical assembly as described above, the light receiving/emitting module of which comprises the light emitting module 112. The receiving unit 620 includes the second optical assembly as described above, and the light receiving/emitting module of the second optical assembly includes the receiving module 113. The emitting unit 610 is configured to emit a plurality of laser beams for detecting the object OB, and the light emitting module 112 is configured to modulate the emitted laser beams into parallel light and emit the parallel light into an environmental space around the laser radar 600. The receiving unit 620 is configured to receive the echo of the laser beam reflected by the detection object OB, and the receiving module 113 is configured to modulate the echo of the outgoing laser beam reflected by the detection object OB into parallel light and emit the parallel light back to the receiving unit 620. Specifically, the laser beam L1 emitted from the emitting unit 610 is modulated by the light emitting module 112 and projected onto the object OB to cause scattering, and a part of the laser beam is reflected and converged by the receiving module 113 to form the echo L1'. The receiving unit 620 receives the reflected echo L1' and converts it into an electrical signal.

According to the embodiment of the invention, the protective cover and the light receiving/emitting module in the adjusted optical assembly cannot exceed the lens module in the lateral direction, so that the problem of light module failure caused by collision in the later process cannot occur; the protective cover is characterized in that an adhesive layer is added between the protective cover and the light receiving/emitting module to enable the protective cover and the light receiving/emitting module to be integrated, the protective cover is knocked instead of being directly knocked to carry out assembly and adjustment when the assembly and adjustment is carried out, and therefore generation of powder scraps is avoided, and the problem that the light focusing module fails due to the powder scraps is avoided.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.