LiDAR Debugging System

Abstract

The invention discloses a laser radar debugging system, comprising a base, a laser radar, a collimator, a first camera and a second camera. The laser radar comprises a mounting platform and a radar body arranged on the mounting platform. The radar body comprises a transmitting plate and a receiving plate. The transmitting plate is provided with a laser for emitting light forwards, and the receiving plate is provided with a receiver. At least one of the mounting platform, the transmitting plate and the receiving plate is movably arranged relative to the base. The collimator is arranged on the base and located at the front side of the laser radar, and has an imaging surface arranged backwards, for receiving the light emitted by the laser to form a first image on the imaging surface, and then reflecting the light backwards to the receiver to form a second image. The first camera is arranged corresponding to the imaging surface to capture the first image, and the second camera is arranged corresponding to the receiver to capture the second image. According to the first image and the second image, the corresponding movably arranged mounting platform, the transmitting plate and the receiving plate are controlled to move. The structure is simple, the operation is convenient, and the debugging efficiency is high.

Description

Technical Field

[0001] The present invention relates to the field of laser radar technology, and in particular to a laser radar debugging system. Background Art

[0002] When the LiDAR is assembled and produced, there is often a deviation in the position of the laser and the receiver. Therefore, it is often necessary to debug the laser and the receiver so that the light emitted by each laser can be aligned with the corresponding receiver after reflection to ensure the accuracy of LiDAR detection. During debugging, the conventional practice is to debug each laser and each receiver. For example, 16 lasers need to be debugged 16 times, and 32 lasers need to be debugged 32 times. This method is extremely inefficient. Summary of the invention

[0003] The main purpose of the present invention is to propose a laser radar debugging system, aiming to solve the problem of extremely low efficiency in debugging the relative position of the laser and receiver of the current laser radar.

[0004] To achieve the above object, the present invention proposes a laser radar debugging system, comprising:

[0005] Pedestal;

[0006] A laser radar is arranged on the base, the laser radar comprises a mounting platform and a radar body arranged on the mounting platform, the radar body comprises a transmitting plate and a receiving plate, the transmitting plate is provided with a laser for emitting light forward, the receiving plate is provided with a receiver, and at least one of the mounting platform, the transmitting plate and the receiving plate is movably arranged relative to the base;

[0007] a collimator, arranged on the base and located at the front side of the laser radar, the collimator extending in the front-to-back direction and having an imaging surface arranged backward, the collimator being used to receive the light emitted by the laser to form a first image on the imaging surface, and then reflecting the light backward to the receiver to form a second image; and

[0008] A first camera and a second camera, wherein the first camera is arranged corresponding to the front end of the parallel light tube to capture the first image, and the second camera is arranged corresponding to the receiver to capture the second image, so that the user can control the activities of the mounting platform, the transmitting plate and the receiving plate of the corresponding activity settings according to the first image and the second image.

[0009] Optionally, the mounting platform is installed on the base so as to be movably installed in the up-down direction, so as to adjust the radar body to align with the collimator during the translation process; and / or,

[0010] The mounting platform is rotatably mounted on the base along a left-right axis so as to adjust the laser and the receiver to align with the collimator during the rotational travel.

[0011] Optionally, the laser radar debugging system further includes a first adjustment mechanism disposed on the base, wherein the first adjustment mechanism is connected to the mounting platform and is used to drive the mounting platform to move in an up-and-down direction;

[0012] The first adjustment mechanism includes a driver, two first brackets and a second bracket spaced apart and oppositely arranged in the up-down direction, and a first connecting rod and a second connecting rod cross-arranged between the first bracket and the second bracket, the two ends of the first connecting rod are respectively connected to the first bracket and the second bracket for rotation, the two ends of the second connecting rod are respectively slidably installed on the first bracket and the second bracket, the first connecting rod is rotationally connected to the second connecting rod, the driver drives one end of the second bracket to move to adjust the distance between the first bracket and the second bracket, the first bracket is connected to the base, and the second bracket is connected to the mounting platform.

[0013] Optionally, the driver includes a motor, a screw and a threaded hole provided on the second bracket. The screw is rotatably installed on the first bracket and / or the second bracket along the sliding direction of the second bracket as the axis. The threaded hole of the second bracket is threadedly connected to the screw. The motor drives the screw to rotate so that the second bracket can move translationally toward or away from the first bracket.

[0014] Optionally, the transmitting plate can be translated and flipped toward the receiving plate, and the laser radar debugging system further includes a third adjustment mechanism provided on the mounting platform, the third adjustment mechanism is connected to the transmitting plate to drive the transmitting plate to move, and the third adjustment mechanism includes:

[0015] A first adjustment seat, fixedly mounted on the mounting platform, with a first annular rack and a gear on its upper end, the gear being movably mounted on the side wall of the first adjustment seat so as to translate and rotate along its own axial direction, and having a locking state in which the gear moves toward the first annular rack to mesh with the first annular rack, and a rotating state in which the gear moves away from the first annular shape to separate from the first annular rack;

[0016] A second adjustment seat is rotatably mounted on the first adjustment seat along an axis in the up-down direction, a second annular rack is provided at its lower end corresponding to the first annular rack, the gear is meshed with the second annular rack to drive the second adjustment seat to rotate along the axis in the up-down direction, a first sleeve is provided on one side of the second adjustment seat to rotate along the axis in the front-back direction, and the first sleeve is provided with an internal thread;

[0017] A third adjustment seat is slidably mounted on the upper end of the second adjustment seat in the front-to-back direction, one side of the third adjustment seat is provided with a first screw extending in the front-to-back direction, and the other side is provided with a second sleeve rotating along the front-to-back direction as an axis, the second sleeve is provided with an internal thread, and the first screw is threadedly connected with the first sleeve to drive the third adjustment seat to move in the front-to-back direction;

[0018] A fourth adjustment seat is slidably mounted on the third adjustment seat in the left-right direction, a second screw extending in the up-down direction is provided on one side of the fourth adjustment seat, and a third screw extending in the up-down direction is provided on the other side, and the second screw is threadedly connected to the second sleeve to drive the fourth adjustment seat to translate in the left-right direction;

[0019] A fifth adjustment seat is slidably mounted on the fourth adjustment seat in the up-down direction, a third sleeve extending in the up-down direction is provided on one side of the fifth adjustment seat, and a first worm extending in the front-back direction is provided on the other side, the third sleeve is provided with an internal thread, and the third sleeve is threadedly connected with the third screw to drive the fifth adjustment seat to translate in the up-down direction;

[0020] The sixth adjustment seat has a first worm gear rotating along the left-right direction as an axis on one side and a second worm extending in the up-down direction on the other side, wherein the first worm gear meshes with the first worm gear to drive the sixth adjustment seat to rotate along the left-right direction;

[0021] The seventh adjustment seat has a second worm wheel rotating along the front-rear axis on one side, the second worm wheel is meshed with the second worm, and the seventh adjustment seat is also provided with a clamping portion, which is used to clamp the launch plate to drive the seventh adjustment seat to rotate along the front-rear axis.

[0022] Optionally, there are multiple lasers, which are spaced apart on the transmitting plate along the up-down direction, and there are multiple receivers corresponding to the lasers, which are spaced apart on the receiving plate along the up-down direction. The third adjustment mechanism drives the transmitting plate to move to adjust the relative positions of the corresponding lasers and receivers.

[0023] Optionally, the laser located in the middle position among the multiple lasers serves as the first laser, and the two lasers located farthest in the up and down directions are the second laser and the third laser respectively, and the first laser is located on the center line of the second worm gear, so that after the first laser is debugged, when the second laser and the third laser are debugged, the position of the first laser remains unchanged during the process of the second worm gear driving the second worm gear to rotate.

[0024] Optionally, the laser radar debugging system further comprises a fill light arranged on the mounting platform, the fill light having a movable travel in the up and down directions, so that the fill light can move to a corresponding position of any of the receivers on the receiving plate;

[0025] The wavelength of the fill light is the same as the wavelength of the laser radar.

[0026] Optionally, a graticule is provided at the front end of the collimator, the rearward side of the graticule constitutes the imaging surface, and the first camera is located in front of the graticule.

[0027] Optionally, a beam splitter is provided between the collimator and the receiving plate, the beam splitter is tilted in the front-rear direction, the second camera is arranged toward the beam splitter, and the beam splitter is used to reflect the light emitted from the receiving plate to the second camera.

[0028] In the technical solution of the present invention, the light emitted forward by the laser will pass through the collimator, then be focused on the imaging plane to form a first image, and be reflected to the receiver to form a second image. The rotation angle of the transmitting plate in the left and right directions is adjusted according to the brightness and thickness of the first image, so that the laser is aligned with the collimator. Then, according to the position of the second image on the corresponding receiver, the relative position of the transmitting plate except for the forward and backward rotation is adjusted, so that the light emitted by the laser can be incident on the exact center position of the receiver after reflection. The laser can be aligned with the receiver by debugging the transmitting plate multiple times. The structure is simple, the operation is convenient, and the debugging efficiency is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0030] Figure 1 A schematic structural diagram of an embodiment of a laser radar debugging system provided by the present invention;

[0031] Figure 2 for Figure 1 Schematic diagram of the laser in the second image;

[0032] Figure 3 for Figure 1 A schematic structural diagram of an embodiment of the first regulating structure;

[0033] Figure 4 for Figure 1 A schematic structural diagram of an embodiment of the third adjustment mechanism in FIG.

[0034] Description of Figure Numbers:

[0035]

[0036] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] It should be noted that if directional indication is involved in the embodiments of the present invention, the directional indication is only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly, such as "front and back", "left and right" and "up and down".

[0039] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0040] When the LiDAR is assembled and produced, there is often a deviation in the position of the laser and the receiver. Therefore, it is often necessary to debug the laser and the receiver so that the light emitted by each laser can be aligned with the corresponding receiver after reflection to ensure the accuracy of LiDAR detection. During debugging, the conventional practice is to debug each laser and each receiver. For example, 16 lasers need to be debugged 16 times, and 32 lasers need to be debugged 32 times. This method is extremely inefficient.

[0041] In view of this, the present invention provides a laser radar debugging system. Figures 1 to 4 This is an embodiment of the laser radar debugging system provided by the present invention.

[0042] Please refer to Figures 1 to 2 The laser radar 2 debugging system includes a base 1, a laser radar 2, a collimator 3, a first camera 4 and a second camera 5. The laser radar 2 is arranged on the base 1, including a mounting platform 21 and a radar body arranged on the mounting platform 21. The radar body includes a transmitting plate 22 and a receiving plate 23. The transmitting plate 22 is provided with a laser 221 for emitting light forward, and the receiving plate 23 is provided with a receiver. At least one of the mounting platform 21, the transmitting plate 22 and the receiving plate 23 can be movably arranged relative to the base 1; the collimator 3 is arranged on the base 1 and is located at the front side of the laser radar 2. The parallel light tube 3 extends along the front-to-back direction F1 and has an imaging surface 311 set backwards. The parallel light tube 3 is used to receive the light emitted by the laser 221 to form a first image on the imaging surface 311, and then reflect the light backwards to the receiver to form a second image 51; the first camera 4 is set corresponding to the front end of the parallel light tube 3 to capture the first image, and the second camera 5 is set corresponding to the receiver to capture the second image 51, so that the user can control the activities of the corresponding active installation platform 21, the transmitting plate 22 and the receiving plate 23 according to the first image and the second image 51.

[0043] In the technical solution of the present invention, the light emitted forward by the laser 221 will pass through the collimator 3, then be focused on the imaging surface 311 to form a first image, and be reflected to the receiver to form a second image 51. The rotation angle of the transmitting plate 22 in the left and right directions is adjusted according to the brightness and thickness of the first image, so that the laser 221 is aligned with the collimator 3. Then, according to the position of the second image 51 on the corresponding receiver, the relative position of the transmitting plate 22 except for the forward and backward rotation is adjusted, so that the light emitted by the laser 221 can be incident on the center position of the receiver after reflection. The laser 221 can be aligned with the receiver by debugging the transmitting plate 22 multiple times. The structure is simple, the operation is convenient, and the debugging efficiency is high.

[0044] In the present invention, the mounting platform 21 is installed on the base 1 so as to be movably moved along the up-down direction F3, so as to adjust the radar body to align with the collimator 3 during the translation process, so as to adjust the height of the laser radar 2, so that the light emitted by the laser 221 of the laser radar 2 can be irradiated into the collimator 3;

[0045] In the present invention, the mounting platform 21 is rotatably mounted on the base 1 along the left-right axis, so that during its rotational travel, the laser 221 and the receiver can be adjusted to align with the collimator 3, so as to adjust the emission direction of the laser 221 so that the light can be horizontally incident on the collimator 3.

[0046] The above two technical features, that the mounting platform 21 can be translationally installed on the base 1 along the up and down direction F3, and that the mounting platform 21 can be rotatably installed on the base 1 along the left and right axis, can be set selectively or simultaneously. In the present embodiment, the simultaneous settings have better effect and high debugging accuracy.

[0047] For details, please refer to Figure 3 The laser radar 2 debugging system also includes a first adjustment mechanism 6 arranged on the base 1, the first adjustment mechanism 6 is connected to the mounting platform 21, and is used to drive the mounting platform 21 to move along the up-down direction F3. Specifically, the first adjustment mechanism 6 includes a driver 65, two first brackets 61 and second brackets 62 spaced and arranged oppositely along the up-down direction F3, and a first connecting rod 63 and a second connecting rod 64 arranged crosswise between the first bracket 61 and the second bracket 62. The two ends of the first connecting rod 63 are respectively connected to the first bracket 61 and the second bracket 62 for rotation connection, and the two ends of the second connecting rod 64 are respectively slidably installed on the first bracket 61 and the second bracket 62. The first connecting rod 63 is connected to the rotation of the second connecting rod 64. The driver 65 drives one end of the second bracket 62 to move to adjust the distance between the first bracket 61 and the second bracket 62. The second bracket 62 is connected to the base 1, and the first bracket 61 is connected to the mounting platform 21. The structure is simple, and the first bracket 61 and the second bracket 62 can be always parallel, and the movement is stable and reliable. The first adjustment mechanism 6 may be provided in plurality, so as to stably support the installation platform 21. The present invention does not limit the shape and size of the first bracket 61 and the second bracket 62, which may be in the shape of a long rod or a plate.

[0048] Further, the driver 65 includes a motor, a lead screw and a threaded hole provided on the second bracket 62. The lead screw is rotatably installed on the first bracket 61 and / or the second bracket 62 along the sliding direction of the second bracket 62 as an axis, and the threaded hole of the second bracket 62 is threadedly connected with the lead screw. The motor drives the lead screw to rotate so that the second bracket 62 can move toward or away from the first bracket 61. The structure is simple, the screw drive mode is stable, and the adjustment of the upper and lower heights of the first bracket 61 and the second bracket 62 is more convenient. Of course, the driver can also be a cylinder, which is not limited.

[0049] It should be noted that the present invention does not limit the specific implementation method of the first adjusting mechanism 6. In another embodiment, the first adjusting mechanism 6 can directly achieve height changes through a screw drive, but this method requires limiting the rotation of the mounting platform 21, and therefore requires a guide rail extending up and down to abut and limit the rotation of the mounting platform 21.

[0050] In order to make the radar body flip in the left-right direction, the laser radar 2 debugging system also includes a second adjustment mechanism 7 provided on the base 1, and the second adjustment mechanism 7 is connected to the first adjustment mechanism 6, and is used to drive the mounting platform 21 to flip in the left-right direction F2, so that the light emitted by the laser 221 is parallel to the collimator 3. The present invention does not limit the specific implementation of the second adjustment mechanism 7, for example, it can be an angle table, which is a prior art and will not be described here.

[0051] In addition, please refer to Figure 4In the present invention, the transmitting plate 22 can be translated and flipped toward the receiving plate 23, and the laser radar 2 debugging system also includes a third adjustment mechanism 8 arranged on the mounting platform 21, and the third adjustment mechanism 8 is connected to the transmitting plate 22 to drive the transmitting plate 22 to move. The third adjustment mechanism 8 includes: a first adjustment seat 81, which is fixedly mounted on the mounting platform 21, and a first annular rack and a gear are arranged on the upper end thereof, and the gear can be movably installed on the side wall of the first adjustment seat 81 by translation and rotation along its own axial direction, and has a locking state of moving toward the first annular rack to mesh with the first annular rack, and a rotation state of moving away from the first annular rack to separate from the first annular rack. The second adjusting seat 82 is rotatably installed on the first adjusting seat 81 along the axis of the up-down direction F3, and a second annular rack is provided at the lower end thereof corresponding to the first annular rack. The gear is meshed with the second annular rack to drive the second adjusting seat 82 to rotate along the axis of the up-down direction F3. A first sleeve that rotates along the front-to-back direction F1 is provided on one side of the second adjusting seat 82, and the first sleeve is provided with an internal thread; the third adjusting seat 83 is slidably installed on the upper end of the second adjusting seat 82 along the front-to-back direction F1, and a first screw extending toward the front-to-back direction F1 is provided on one side of the third adjusting seat 83, and a second sleeve that rotates along the front-to-back direction F1 is provided on the other side. The second sleeve is provided with an internal thread. The first screw is threadedly connected to the first sleeve to drive the third adjustment seat 83 to translate along the front-to-back direction; the fourth adjustment seat 84 is slidably installed on the third adjustment seat 83 along the left-right direction F2, one side of the fourth adjustment seat 84 is provided with a second screw extending along the up-down direction F3, and the other side is provided with a third screw extending along the up-down direction F3, the second screw is threadedly connected to the second sleeve to drive the fourth adjustment seat 84 to translate along the left-to-right direction F2; the fifth adjustment seat 85 is slidably installed on the fourth adjustment seat 84 along the up-down direction F3, one side of the fifth adjustment seat 85 is provided with a third sleeve extending along the up-down direction F3, and the other side is provided with a first worm extending along the front-to-back direction, the third sleeve An internal thread is provided, and the third sleeve is threadedly connected with the third screw to drive the fifth adjustment seat 85 to translate along the up-down direction F3; the sixth adjustment seat 86 is provided with a first worm wheel rotating along the left-right direction F2 as an axis on one side, and a second worm extending along the up-down direction on the other side, and the first worm wheel is meshed with the first worm to drive the sixth adjustment seat 86 to rotate along the left-right axis; the seventh adjustment seat 87 is provided with a second worm wheel 871 rotating along the front-back direction as an axis on one side, and the second worm wheel 871 is meshed with the second worm, and the seventh adjustment seat 87 is also provided with a clamping part 872, and the clamping part 872 is used to clamp the launch plate 22 to drive the seventh adjustment seat 87 to rotate along the front-back axis. Through this structure, the position of the launch plate 22 is adjusted respectively, the operation is simple, and the debugging effect is good.

[0052] In the present invention, a plurality of lasers 221 are provided, which are spaced apart on the transmitting plate 22 along the up-down direction F3. A plurality of receivers are provided corresponding to the lasers 221 one by one, which are spaced apart on the receiving plate 23 along the up-down direction F3. The third adjustment mechanism 8 drives the transmitting plate 22 to move so as to adjust the relative positions of the corresponding lasers 221 and the receivers. By adjusting the relative positions of several lasers 221 on the transmitting plate 22 and the corresponding receivers on the receiving plate 23, the relative positions of the entire transmitting plate 22 and the receivers can be adjusted. The operation is simple and efficient, and there is no need to adjust each laser 221.

[0053] Specifically, in this embodiment, the laser 221 located in the middle position among the plurality of lasers 221 is used as the first laser, and the two lasers 221 located at the farthest ends in the up-down direction F3 are the second laser and the third laser, respectively. The first laser is located on the center line of the second worm gear 871, so that after the first laser is debugged, during the debugging of the second laser and the third laser, the position of the first laser remains unchanged during the process of the second worm driving the second worm gear 871 to rotate. In this way, the laser 221 at the middle position is debugged first, and then the lasers 221 at the two farthest ends in the up-down direction are debugged, so that the relative position of the transmitting plate 22 and the receiving plate 23 can be debugged quickly, and the efficiency is high.

[0054] In order to make the second image 51 clearer, the laser radar 2 debugging system also includes a fill light arranged on the mounting platform 21, and the fill light has a movable travel along the up and down direction F3, so that the fill light can move to the corresponding position of any receiver on the receiving plate 23; the wavelength of the fill light is the same as that of the laser radar 2 to enhance the light and facilitate observation.

[0055] Please refer to Figure 1 In the present invention, a graticule 31 is provided at the front end of the collimator 3, and the rear side of the graticule 31 constitutes the imaging surface 311. The first camera 4 is located in front of the graticule 31, and the graticule 31 can be used as a cross target to facilitate observation of the first image.

[0056] Please refer to Figure 1 In addition, a beam splitter 9 is provided between the collimator 3 and the receiving plate 23. The beam splitter 9 is tilted in the front-to-back direction. The second camera 5 is arranged toward the beam splitter 9. The beam splitter 9 is used to reflect the light emitted from the receiving plate 23 to the second camera 5, so as to observe the second image 51.

[0057] The specific debugging process is to adjust the height of the radar body and the rotation angle along the left and right directions according to the first image on the graticule 31. If the light spot on the first image reaches the thinnest and brightest, the radar body is adjusted so that the light of the laser 221 can be parallel to the collimator 3 and reflected from the graticule 31 to the receiver on the receiving board 23; then put the fill light next to the receiver corresponding to the first laser, adjust the translation or rotation of the transmitting board 22, so that the reflected light spot of the second image 51 is in the center position, and the first laser is debugged. Finished; then move the fill light to the receiver corresponding to the second laser, adjust the height of the radar body and the rotation angle in the left and right direction again, so that the second laser is emitted to the graticule 31 and forms a light spot, then debug the rotation angle of the transmitting plate 22 in the front-to-back direction or the up-down direction, as long as the first laser is not translated and the first laser is flipped in the left-right direction, so that the reflected light spot on the second image 51 is located in the center, the second laser is debugged, and then debug the third laser. This process is the same as the debugging process of the second laser, and will not be repeated here. Repeatedly debug the second laser and the third laser until the reflected light spot is located in the center.

[0058] For the convenience of debugging, the first laser should be located on the center line of the second worm gear. In this way, when debugging the second laser and the third laser, the installation position of the first laser on the radar body will not be translated. That is, taking the first laser as the reference point, the second laser and the third laser are debugged respectively to gradually improve the debugging accuracy and achieve a debugging effect that meets the requirements. For any type of the laser radar, debugging can be completed three times. Compared with the method of debugging 16 lasers 16 times, this solution has obviously higher debugging efficiency.

[0059] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A laser radar debugging system, characterized in that: include: Pedestal; A laser radar is arranged on the base, the laser radar comprises a mounting platform and a radar body arranged on the mounting platform, the radar body comprises a transmitting plate and a receiving plate, the transmitting plate is provided with a laser for emitting light forward, the receiving plate is provided with a receiver, and at least one of the mounting platform, the transmitting plate and the receiving plate is movably arranged relative to the base; A collimator, provided on the base and located at the front side of the laser radar, the collimator extending in the front-to-back direction and having an imaging surface arranged backwards, the collimator being used to receive the light emitted by the laser to form a first image on the imaging surface, and then reflecting the light backwards to the receiver to form a second image; as well as, A first camera and a second camera, wherein the first camera is arranged corresponding to the front end of the collimator to capture the first image, and the second camera is arranged corresponding to the receiver to capture the second image, so that the user can control the activities of the installation platform, the transmitting plate and the receiving plate arranged in the corresponding activities according to the first image and the second image; The transmitting plate can be translated and flipped toward the receiving plate. The laser radar debugging system also includes a third adjustment mechanism disposed on the mounting platform. The third adjustment mechanism is connected to the transmitting plate to drive the transmitting plate to move. The third adjustment mechanism includes: A first adjustment seat, fixedly mounted on the mounting platform, with a first annular rack and a gear on its upper end, the gear being movably mounted on the side wall of the first adjustment seat so as to translate and rotate along its own axial direction, and having a locking state in which the gear moves toward the first annular rack to mesh with the first annular rack, and a rotating state in which the gear moves away from the first annular ring to separate from the first annular rack; A second adjustment seat is rotatably mounted on the first adjustment seat along an axis in the up-down direction, a second annular rack is provided at its lower end corresponding to the first annular rack, the gear is meshed with the second annular rack to drive the second adjustment seat to rotate along the axis in the up-down direction, a first sleeve is provided on one side of the second adjustment seat to rotate along the axis in the front-back direction, and the first sleeve is provided with an internal thread; A third adjustment seat is slidably mounted on the upper end of the second adjustment seat in the front-to-back direction, one side of the third adjustment seat is provided with a first screw extending in the front-to-back direction, and the other side is provided with a second sleeve rotating along the front-to-back direction as an axis, the second sleeve is provided with an internal thread, and the first screw is threadedly connected with the first sleeve to drive the third adjustment seat to move in the front-to-back direction; A fourth adjustment seat is slidably mounted on the third adjustment seat in the left-right direction, a second screw extending in the up-down direction is provided on one side of the fourth adjustment seat, and a third screw extending in the up-down direction is provided on the other side, and the second screw is threadedly connected to the second sleeve to drive the fourth adjustment seat to translate in the left-right direction; A fifth adjustment seat is slidably mounted on the fourth adjustment seat in the up-down direction, a third sleeve extending in the up-down direction is provided on one side of the fifth adjustment seat, and a first worm extending in the front-back direction is provided on the other side, the third sleeve is provided with an internal thread, and the third sleeve is threadedly connected with the third screw to drive the fifth adjustment seat to translate in the up-down direction; The sixth adjustment seat has a first worm gear rotating along the left-right direction as an axis on one side and a second worm extending in the up-down direction on the other side, wherein the first worm gear meshes with the first worm gear to drive the sixth adjustment seat to rotate along the left-right direction; A seventh adjustment seat, one side of which is provided with a second worm wheel that rotates along the front-back direction, the second worm wheel is meshed with the second worm, and the seventh adjustment seat is further provided with a clamping portion, the clamping portion is used to clamp the launch plate to drive the seventh adjustment seat to rotate along the front-back direction; The lasers are provided in plurality and are arranged on the transmitting plate at intervals in the vertical direction. The receivers are provided in plurality in one-to-one correspondence with the lasers and are arranged on the receiving plate at intervals in the vertical direction. The third adjustment mechanism drives the transmitting plate to move so as to adjust the relative positions of the corresponding lasers and the receivers. The laser located in the middle of the plurality of lasers is used as the first laser, and the two lasers located at the farthest ends in the up-down direction are respectively the second laser and the third laser, and the first laser is located on the center line of the second worm gear, so that after the first laser is debugged, when the second laser and the third laser are debugged, the position of the first laser remains unchanged during the process of the second worm gear driving the second worm gear to rotate; A graticule is disposed at the front end of the collimator, the rearward side of the graticule forms the imaging surface, and the first camera is located in front of the graticule.

2. The laser radar debugging system according to claim 1, characterized in that: The mounting platform is installed on the base in a translationally movable manner in the up-down direction, so as to adjust the radar body to align with the collimator during the translation process; and / or, The mounting platform is rotatably mounted on the base along a left-right axis so as to adjust the laser and the receiver to align with the collimator during the rotational travel.

3. The laser radar debugging system according to claim 2, characterized in that: The laser radar debugging system further includes a first adjustment mechanism disposed on the base, the first adjustment mechanism being connected to the mounting platform and used to drive the mounting platform to move in an up-and-down direction; The first adjustment mechanism includes a driver, two first brackets and a second bracket spaced apart and oppositely arranged in the up-down direction, and a first connecting rod and a second connecting rod cross-arranged between the first bracket and the second bracket, the two ends of the first connecting rod are respectively connected to the first bracket and the second bracket for rotation, the two ends of the second connecting rod are respectively slidably installed on the first bracket and the second bracket, the first connecting rod is rotationally connected to the second connecting rod, the driver drives one end of the second bracket to move to adjust the distance between the first bracket and the second bracket, the first bracket is connected to the base, and the second bracket is connected to the mounting platform.

4. The laser radar debugging system as claimed in claim 3, characterized in that: The driver includes a motor, a lead screw and a threaded hole provided on the second bracket. The lead screw is rotatably installed on the first bracket and / or the second bracket along the sliding direction of the second bracket as the axis. The threaded hole of the second bracket is threadedly connected to the lead screw. The motor drives the lead screw to rotate so that the second bracket can move translationally toward or away from the first bracket.

5. The laser radar debugging system according to claim 1, characterized in that: The laser radar debugging system further includes a fill light arranged on the mounting platform, wherein the fill light has a movable travel in the up-down direction so that the fill light can move to a corresponding position of any of the receivers on the receiving plate; The wavelength of the fill light is the same as the wavelength of the laser radar.

6. The laser radar debugging system according to claim 1, characterized in that: A beam splitter is also provided between the collimator and the receiving plate. The beam splitter is tilted in the front-rear direction. The second camera is arranged toward the beam splitter. The beam splitter is used to reflect the light emitted from the receiving plate to the second camera.

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