Design Method of LiDAR Debugging Lens

Abstract

The present invention belongs to the field of lidar and relates to a design method for a lidar debugging lens. The method includes the following steps: First, the optical detector in the lidar receiving module is used as the observation object of the debugging lens; the light emitted by the optical detector exits as parallel light after passing through the optical receiving lens group in the lidar receiving module; after the parallel light enters the optical condenser lens group, an enlarged inverted real image A'B' is formed on the photoelectric sensor; Second, calculate the field of view angle and focal length of the debugging lens; Finally, perform optical path design and optimization. According to this solution, a debugging lens suitable for different lidars can be designed, enabling the debugging lens to effectively converge the emission spot, determine the position of the spot on the laser emission optical path, and at the same time clearly observe the receiving optical path. It solves the problem that in the existing method, it is impossible to clearly and accurately complete the optical path debugging of the lidar using an optical camera. It has important significance for the quantization and market promotion of lidar.

Description

Technical Field

[0001] The present invention belongs to the field of lidar, and particularly relates to a design method for a lidar debugging lens. Background Art

[0002] Lidar is a high-precision and complex detection device. It mainly includes a lidar emission module and a lidar reception module. The lidar emission module includes a laser emission light source, a collimating lens group, a beam splitting device, a driving circuit, etc. The lidar reception module includes: a receiving lens group, an optical receiving device, a signal reading circuit, etc. Accurate optical path debugging directly affects the detection distance and detection accuracy of the lidar. The conventional optical path debugging method generally adopts the method of comparing the echo signal threshold of the lidar reception module with a preset echo signal threshold. This method cannot visually observe the position of the emission light spot, the position of the lens, and the position of the optical detection device, increasing the uncertainty of the debugging position and making the debugging process more complex. Moreover, the difficulty of batch debugging is large and the time consumption is long. In order to overcome the above problems, an optical camera can be used to visually observe the optical path, so as to achieve the purpose of accurate debugging. However, since the lidar reception module and the lidar emission module often contain multiple lenses, which destroys the imaging system of the optical camera itself, it is difficult for the optical camera to converge light and form a clear image, so the laser optical path cannot be accurately debugged.

[0003] Based on this, the present invention proposes a design method for a lidar debugging lens, so that the debugging lens and the lidar reception module and the lidar emission module jointly form an optical system. The optical path can be accurately debugged, the debugging process is simple, the debugging error of the lidar is reduced, and the further development of the lidar is promoted. Summary of the Invention

[0004] The purpose of the present invention is to provide a design method for a lidar debugging lens. The debugging lens can jointly form an optical system with the lidar reception module and the lidar emission module, can effectively converge the emission light spot, determine the position of the light spot on the laser emission optical path, and can clearly observe the reception optical path at the same time. It solves the problem that in the existing method, it is impossible to clearly and highly accurately complete the lidar optical path debugging by using an optical camera. It improves the optical path debugging accuracy and efficiency of the lidar, and has important significance for the quantification and market promotion of the lidar.

[0005] The technical solution of the present invention is to provide a design method for a lidar debugging lens. The special feature is that the debugging lens includes an optical condenser lens group and a photoelectric sensor. The lidar debugging lens is a condenser system that can converge the collimated laser emitted by the lidar emission module through the optical condenser lens group and focus it into a light spot at the center of the optical surface of the photoelectric sensor. The lidar debugging lens and the lidar receiving module form a finite conjugate optical system, and the lidar receiving module can be debugged by adjusting the position and imaging effect of the laser receiving device in the fixed installation position on the photoelectric sensor.

[0006] It includes the following steps:

[0007] Step 1: Take the optical detector in the lidar receiving module as the observation object of the debugging lens. The light rays emitted from the optical detector exit as parallel light after passing through the optical receiving lens group in the lidar receiving module. After the parallel light enters the optical condenser lens group, an enlarged inverted real image A'B' is formed on the photoelectric sensor.

[0008] Step 2: Calculate the field of view angle and focal length of the debugging lens.

[0009] Step 3: Optical path design and optimization.

[0010] Step 3.1: Combine the field of view angle and focal length calculated in Step 2 to build a model of the debugging lens and design the optical path in an optical design software.

[0011] Step 3.2: Take the lidar receiving module and the debugging lens as a set of finite conjugate optical systems, optimize the optical path of the finite conjugate optical system, and complete the final design of the debugging lens.

[0012] Further, Step 2 is specifically:

[0013] The focal length f of the optical condenser lens group in the debugging lens 2 is:

[0014] f 2 = nf 1

[0015] where f 1 is the focal length of the optical receiving lens group, and n is the system magnification;

[0016] The field of view angle ω of the debugging lens 2 is:

[0017]

[0018] where b is the size of the photoelectric sensor, and this size includes the size of part of the peripheral observation structure area.

[0019] Further, in order to be applicable to an optical sensor with a relatively large image plane size, the above debugging lens may further include at least one optical relay system; the optical relay system and the optical condenser lens group together constitute the optical condenser lens group in the debugging lens;

[0020] Step 1 is specifically as follows: taking the optical detector in the lidar receiving module as the observation object of the debugging lens; the light emitted from the optical detector exits as parallel light after passing through the optical receiving lens group in the lidar receiving module and then enters the optical condenser lens group jointly constituted by the optical relay system and the optical condenser lens group, and forms an image A'B' on the photoelectric sensor, where:

[0021]

[0022] AB is the height of the area containing the optical detector to be observed. A'B' is within the focal length of the optical relay system, so an inverted and enlarged virtual image A”B” can be formed on the same side:

[0023]

[0024] Further, the total magnification of the debugging lens:

[0025] Στ = N*N'*N”*......N κ ,

[0026] where N k is the ratio of the image height inserted into the Kth optical relay system to the image height of the system when inserting the (K - 1)th optical relay system, and K is the number of optical relay systems.

[0027] Further, the optical relay system includes one, two, or three or more lenses, and the lens surface type is spherical, aspherical, or cylindrical.

[0028] Further, the optical design software in Step 3.1 is Zemax or CodeV optical simulation software.

[0029] Further, the optical power of the optical condenser lens group is positive, and it may include one, two, or three or more lenses, and the lens surface type may be optical surface types such as spherical, aspherical, or cylindrical.

[0030] Further, the photoelectric sensor is a photoelectric conversion device such as COMS or CCD.

[0031] Further, the optical receiving lens group may include one, two, or three or more lenses, and the lens surface type may be optical surface types such as spherical, aspherical, or cylindrical.

[0032] Further, the optical detector may be a photoelectric detection device such as a photomultiplier tube or an avalanche diode.

[0033] The beneficial effects of the present invention are as follows:

[0034] The present invention provides a design method for a debugging lens of a lidar. According to this solution, a debugging lens suitable for different lidars can be designed, so that the debugging lens, the lidar receiving module, and the lidar transmitting module together form an optical system, which can effectively converge the emission light spot, determine the position of the light spot in the laser emission optical path, and at the same time clearly observe the receiving optical path. It solves the problem that in the existing method, it is impossible to clearly and accurately complete the optical path debugging of the lidar using an optical camera. It promotes the precision and refinement of lidar debugging, improves the optical path debugging efficiency of the lidar, and has important significance for the quantification and market promotion of the lidar. Description of the Drawings

[0035] Figure 1 It is a schematic diagram of a lidar debugging solution of the present invention.

[0036] Figure 2 It is a schematic diagram of the design of a lidar debugging lens of the present invention.

[0037] Figure 3 It is another schematic diagram of the design of a lidar debugging lens of the present invention.

[0038] Figure 4 It is a schematic diagram of the optical path of a lidar receiving module in Embodiment 1.

[0039] Figure 5 It is an optical path diagram of a lidar debugging lens in Embodiment 1.

[0040] Figure 6a It is an MTF curve graph of a lidar debugging lens in Embodiment 1.

[0041] Figure 6b It is a field curvature and distortion graph of a lidar debugging lens in Embodiment 1.

[0042] Figure 6c It is a spot diagram of a lidar debugging lens in Embodiment 1.

[0043] Figure 7 It is an optical path diagram of a two-in-one optical system in Embodiment 1.

[0044] Figure 8a It is a spot diagram of a two-in-one optical system in Embodiment 1.

[0045] Figure 8b It is a field curvature and distortion graph of a two-in-one optical system in Embodiment 1.

[0046] Figure 8c It is an MTF curve graph of a two-in-one optical system in Embodiment 1.

[0047] Figure 9 It is the optical path diagram for emitting laser through the optical debugging lens. Specific implementation manners

[0048] The traditional debugging of the lidar receiving system is carried out by comparing the echo signal threshold of the debugging lidar receiving module with the preset echo signal threshold of the lidar receiving module. It is impossible to visually observe the positions of the emission spot, the lens, and the optical detection device, which increases the uncertainty of debugging. A better debugging method is to use an optical camera to accurately and visually observe the optical path. However, due to the influence of the lidar receiving module and the lens of the lidar transmitting module, a conventional optical camera cannot or hardly clearly observe the laser optical path. Based on this, the present invention proposes a design scheme for a lidar debugging lens, so that the lidar debugging lens can jointly form a high-image-quality optical system with the lenses of the existing receiving and lidar transmitting modules. It can effectively converge the emission spot, determine the position of the laser emission optical path spot, and at the same time can clearly observe the receiving optical path. It solves the problem that an ordinary camera lens cannot clearly and highly accurately complete the lidar optical path debugging. It improves the accuracy and efficiency of the lidar optical path debugging, and has important significance for the quantization and market promotion of lidar.

[0049] As Figure 1 shown, the lidar debugging lens C is located in the optical paths of the lidar transmitting module A and the lidar receiving module B; wherein the lidar transmitting module A includes a laser emission light source 1 and a laser collimating lens group 2; after the laser emission light source 1 passes through the laser collimating lens group 2, a nearly parallel light source is emitted. The lidar receiving module B includes an optical receiving lens group 3 and an optical detector 4. Among them, the nearly parallel light emitted by the lidar transmitting module A is reflected by the target object and then converged by the optical receiving lens group 3 onto the optical detector 4. The lens of the optical receiving lens group 3 can have multiple lenses such as 1, 2, 3, etc., and the shape can be any shape of lens such as circular, cylindrical, spherical, aspherical, etc. The optical detector 4 can be an optical detection device such as a photomultiplier tube or an avalanche diode. The laser collimating lens group 2 can have multiple lenses such as 1, 2, 3, etc., and the shape can be any shape of lens such as circular, cylindrical, spherical, aspherical, etc.

[0050] The lidar debugging lens C includes an optical condenser lens group 5 and a photoelectric sensor 6. The optical condenser lens group 5 can be composed of multiple lenses such as 2 or 3 lenses, and the surface shape can be various shapes of lenses such as circular, cylindrical, spherical, and aspherical, and has a positive optical power. The photoelectric sensor 6 can be a photoelectric conversion device such as a COMS or a CCD. The lidar debugging lens C is a condenser system that can converge the collimated laser emitted by the lidar emission module A through the optical condenser lens group 5 of the lidar debugging lens C and focus it into a small-sized light spot at the center of the optical surface of the photoelectric sensor 6. The lidar debugging lens C and the lidar receiving module B form an optical system with a finite conjugate. Among them, the photodetector 4 is used as the observation target, and the two-in-one optical system (hereinafter referred to as the two-in-one system) composed of the optical condenser lens group 5 of the lidar debugging lens C and the laser receiving optical path lens group 3 forms a clear magnified inverted image of the photodetector 4 on the optical photosensitive device 6. The center of the formed image coincides with the center of the optical sensor device 4. The optical schematic diagram is as shown in Figure 1 .

[0051] The lidar debugging lens C can achieve the debugging of the spot position of the lidar transmitting module A, the debugging of the optical path of the lidar receiving module B, and the debugging of the optical central axes of the lidar transmitting module A and the lidar receiving module B. Among them, the debugging of the optical path of the lidar receiving module B includes the debugging of the optical receiving lens group 3 and the photodetector 4. Fix the position of the lidar debugging lens C to ensure that the nearly parallel light emitted by the lidar transmitting module A passes through the optical condenser lens group 5 of the lidar debugging lens C. The optical condenser lens group 5 has a positive optical power. When the emitted laser passes through the optical condenser lens group 5 of the lidar debugging lens C, a converging small spot can be formed on the photoelectric sensor 6. According to Fresnel's law, the center of the converging spot should be located at the center of the photoelectric sensor 6 of the optical debugging lens. When the position of the emitted spot deviates from the center of the photoelectric sensor 6 of the lidar debugging lens C, there is a problem of central axis deviation in the optical path of the lidar transmitting module A. Manually and mechanically adjust the up, down, left, right, and front-back positions of the emitting lens group 2 or the laser light source 1 by means of a fixture or other methods to ensure that the laser emission spot converges at the center of the photoelectric sensor 6, and the spot deviation of the lidar transmitting module A can be corrected. The position of the optical receiving lens group 3 can be installed by presetting the position of the structural member. Considering the machining accuracy and installation tolerance of the structure, the position of the photodetector 4 needs to be debugged. Take the receiving board containing the photodetector 4 as the target object, and form an enlarged and clear real image on the photoelectric sensor 6 through the two-in-one optical system composed of the optical receiving lens group 3 and the optical condenser lens group 5. Continue to ensure that the position of the lidar debugging lens C remains unchanged, adjust the position of the optical receiving optical path B, and make the image of the photodetector 4 be at the center of the photoelectric sensor 6. At this time, the central axis of the lidar receiving optical path B is coaxial or parallel to the central axis of the laser emission optical path C. Adjust the front-back position of the photodetector 4 to form a clear image of the photodetector 4 on the photoelectric sensor 6. At this time, the Z-direction position of the detector 4 is the preset focal position of the receiving optical path B. Through software processing, the converging emission spot and the optical detector 7 can be combined on the same screen, making the debugging more intuitive. Using camera debugging improves the debugging accuracy, reduces the debugging time, and promotes the mass production of lidars.

[0052] The lidar emits nearly parallel light to the detection target. After being diffusely reflected by the surface of the detection target, part of the light enters the lidar receiving module B. Since the distance between the laser detection target and the lidar is much larger than the size of the lidar, and the aperture of the lidar receiving module B is much smaller than the diffuse reflection range of the detection target object, it can be approximately considered that the light entering the lidar receiving module B is a small beam of parallel light. Therefore, the lidar receiving module B is an infinite conjugate system with a certain field of view. The two-in-one optical system composed of the lidar receiving module B and the debugging lens C is a finite conjugate system. As Figure 1 shown. Therefore, the design of the debugging lens C can be achieved through the following solutions.

[0053] The incident light of the lidar receiving module B is parallel light with a certain field of view angle, which is converged on the photodetector 4 by the optical receiving lens group 3 of the lidar receiving module B. According to the principle of reversibility of light, the photodetector 4 to be measured is used as the observation object AB. The light rays emitted by AB will emerge as parallel light after passing through the optical receiving lens group 3 and be incident on the optical condenser lens group 5 of the lidar debugging lens C.

[0054] After the parallel light enters the optical condenser lens group 5, an enlarged inverted real image A'B' is formed on the optical sensor 6. Since the incident light of the lidar debugging lens C is parallel light with a certain field of view. Therefore, the debugging lens C is an infinite conjugate system.

[0055] Combined with the field of view angle and focal length, the model building and optical path design of the debugging lens C can be carried out in the Zemax software. Since the lidar receiving module B is also an infinite conjugate optical system. When the field of view angle of the lidar receiving module B is the same as that of the debugging lens C, the optical paths of the lidar receiving module B and the debugging lens C can be optically spliced. The lidar receiving module B and the debugging lens C together form a finite conjugate optical system (two-in-one optical system). The optical path of the finite conjugate optical system (two-in-one optical system) is optimized to complete the final design effect of the debugging lens C. The design schematic diagram is Figure 2 . For the sake of simple example, a single lens is used in the figure to represent the optical receiving lens group 3 and the optical condenser lens group 5 of the lidar debugging lens C. In practice, the number of lenses in the optical receiving lens group 3 and the optical condenser lens group 5 can be single or multiple, and the shape can also be spherical or aspherical optical lenses such as circular and rectangular. Assume that the focal length of the optical receiving lens group 3 is f 1 , the focal length f of the optical condenser lens group 5 of the debugging lens system C 2 , the size of the photoelectric sensor 6 is b, and the imaging size of the photodetector 4 on the photoelectric sensor is Then, according to the definition of the vertical magnification:

[0056] Vertical magnification τ:

[0057]

[0058] According to Newton's formula, the focal length f of the optical condenser lens group 5 of the debugging lens system C 2 is:

[0059] f 2 = nf 1 (2)

[0060] Then: The calculation method of the field of view angle of the lidar debugging lens C is:

[0061]

[0062] In order to combine the optical receiving system B and the lidar debugging lens C into a finite conjugate optical system, when the imaging surface of the optical receiving system B is the field of view angle

[0063] ω 1 = ω 2 (4)

[0064] Given that the imaging size of the photodetector 4 on the photosensor 6 and the lidar parameter f 1 are determined, the focal length f of the lidar debugging lens C is solved according to formulas (1) and (2). 2 According to formula (3), the field of view angle ω of the optical debugging lens can be solved. 2 Based on the focal length f 2 and the field of view angle ω 2 the initial structure of the lidar debugging lens C can be built and the optical path can be designed.

[0065] In order to further shorten the optical path and be applicable to a larger-sized photosensor 6, an optical relay system 7 can be added. The photodetector 4 to be measured is used as the observation object AB. The light rays emitted from AB pass through the optical receiving lens group 3 and then exit as parallel light and enter the optical condenser lens group 5a to form an image A'B'. Among them, A'B' is within the focal length of the optical relay system 7, so an inverted and enlarged virtual image A”B” can be formed on the same side. There can be one or more optical relay systems 7, so the total magnification Στ of the system = N*N'*N”*......N κ where N k is the ratio of the image height inserted into the Kth optical relay system to the image height of the system when inserting the (K - 1)th optical relay system, and K is the number of the optical relay systems 7. The corresponding optical principle diagram is as Figure 3 shown. The optical relay system 7 and the optical condenser lens group 5 together form a complete optical condenser lens group. The optical relay system 7 can be a single lens or multiple lenses, and its surface type can be spherical, aspherical, cylindrical, aspherical and other optical surface types.

[0066] The following describes the specific implementation manners of the present invention in detail with reference to the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0067] In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention. However, the present invention may be practiced in other ways different from those described herein. Those skilled in the art can make similar generalizations without departing from the spirit of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0068] Embodiment 1

[0069] It is known that the field of view angle of the laser receiving optical path is 1.9°, and the photosensitive surface size of the photodetector 4 is: 1*1 mm. The corresponding optical path diagram is as Figure 4 shown. It can be seen from the figure that the radar receiving system includes two lenses, namely lens 3a and lens 3b. The photodetector 4 is located behind lens 3b. The laser receiving optical path converges the light reflected by the observed object onto the photodetector 4. A COMS with 12 million pixels, a target surface of 1 / 1.1, and an image plane diagonal size of 17.5 mm is selected as the photoelectric sensor 6 of the lidar debugging lens C.

[0070] Taking the photodetector 4 as the observation target, in order to facilitate positioning and observation, a circular area with a diameter of 4 mm centered on the photodetector 4 is used as the observation area. According to formula (1), it can be known that

[0071]

[0072] According to the lidar field of view angle formula, the focal length f of the optical lidar receiving module 1 is:

[0073]

[0074] f 1 = 30.16 (mm)

[0075] According to formula (2), the focal length f of the optical debugging lens can be obtained 2 as:

[0076] f 2 = nf 1 = 4.375 * 30.16 = 131.95 mm

[0077] According to formula (3), the field of view angle of the lidar debugging lens C can be calculated

[0078]

[0079] According to the focal length f 2 and ω 2 . The optical path is selected and designed, and the corresponding optical path diagram is as Figure 5As shown in the figure. From the simulation structure diagram, the optical debugging lens consists of 5 pcs of lenses with different shapes. The specific parameter values are shown in Table 1. Among them, surface type numbers 1 and 2 are the surfaces of lens 5a; surface type numbers 2 and 3 are the surfaces of lens 5b; 4 is the air gap; surface type numbers 5 and 6 are the surfaces of lens 5c; surface type numbers 6 and 7 are the surfaces of lens 5d; surface type numbers 8 and 9 are the surfaces of lens 5e;

[0080] Table 1: Data Sheet of an Optical Lens for LiDAR Debugging

[0081] Number Surface shape Radius of curvature Thickness (mm) Material 1 STANDARD 29.408 5.539 N-BK7 2 STANDARD -50.234 3.470 N-BASF2 3 STANDARD 331.617 4.155 4 STANDARD IN 36.37 5 STANDARD -17.365 3 N-KZF55 6 STANDARD -16.38 3 N-BAK4HT 7 STANDARD -33.807 13.283 8 STANDARD 40.262 3.117 SF1 9 STANDARD 41.268 35.065

[0082] An object with a field of view range of 7.588° can be imaged on the photoelectric sensor 6. Figures 6a to 6c , which is the corresponding optical parameter diagram. When viewed from Figures 6a to 6c , it can be known that the MTF value is ≥0.3 at 100mm / LP, and the size of the blur spot in each field of view is less than 16um, the distortion and field curvature are less than 0.2%, and the optical performance is good. Therefore, it can be clearly imaged on the photoelectric sensor 6.

[0083] Place the 3a lens in the lidar receiving system B adjacent to the 5a lens in the lidar debugging lens C. The lidar receiving system B and the lidar debugging lens C are combined into a two-in-one optical system. As Figure 7 shown. Taking the photodetector 4 as the observation target, the optical receiving lens group 3 of the lidar receiving module B and the lidar debugging lens C form an optical system with a finite object distance, and the small-sized photodetector 4 is magnified and imaged on the optical sensor 6. The distance between the photodetector 4 and the optical receiving lens group 3 is kept fixed. The corresponding optical parameter diagram of the two-in-one optical system is as Figures 8a to 8b shown. From Figures 8a to 8b , it can be known that the MTF value is ≥0.2 at 100mm / LP, and the size of the blur spot in each field of view is less than 6um, the distortion and field curvature are less than 0.2%, and the optical performance is good. Therefore, the optical detector 4 can be clearly observed. Through Figure 9 , it can be known that the near-parallel light emitted by the laser converges to the center of the optical sensor 6 after passing through the lidar debugging lens C. Therefore, by fixing the lidar debugging lens C, by adjusting the light emitted by the lidar transmitting module A to converge to the center of the photoelectric sensor 6, and adjusting the photodetector 4 and the optical receiving lens 3 in the laser receiving optical path to ensure that the photodetector 4 is at the center of the photoelectric sensor 6, it is possible to ensure that the central axes of the lidar transmitting module A and the lidar receiving module B are parallel or coaxial.

[0084] Table 2 Vertical Magnification Values

[0085] Parameter <![CDATA[f 1 (mm)]]> <![CDATA[f 2 (mm)]]> Theoretical τ Simulated τ Value 30 131.95 4.375 4.16

[0086] Table 2 shows the vertical magnification values. It can also be seen from Table 2 that the theoretical value of the vertical magnification is in good agreement with the simulation value.

Claims

1. A design method for a lidar debugging lens, characterized in that, the lidar debugging lens includes an optical condenser lens group (5) and a photoelectric sensor (6). The lidar debugging lens is a condenser system that can converge the collimated laser emitted by the lidar emission module through the optical condenser lens group (5) and focus it into a light spot at the center of the optical surface of the photoelectric sensor (6). The lidar debugging lens and the lidar receiving module form an optical system with a finite conjugate. The position and imaging effect of the laser receiving device in a fixed installation position on the photoelectric sensor can be adjusted to debug the lidar receiving module; including the following steps: Step 1: Use the optical detector (4) in the lidar receiving module as the observation object of the debugging lens; the light rays emitted by the optical detector (4) are emitted as parallel light after passing through the optical receiving lens group (3) in the lidar receiving module; after the parallel light enters the optical condenser lens group (5), an enlarged inverted real image A'B' is formed on the photoelectric sensor (6); Step 2: Calculate the field of view angle and focal length of the debugging lens; Step 3: Optical path design and optimization; Step 3.1: Combine the field of view angle and focal length calculated in Step 2 to build a model of the debugging lens and design the optical path in an optical design software; Step 3.2: Take the lidar receiving module and the debugging lens as a set of optical systems with a finite conjugate, optimize the optical path of the optical system with a finite conjugate, and complete the final design of the debugging lens.

2. The design method for a lidar debugging lens according to claim 1, characterized in that, Step 2 is specifically: Debug the focal length f of the optical condenser lens group (5) in the lens 2 is as follows: f 2 = nf 1 where f 1 is the focal length of the optical receiving lens group (3), and n is the system magnification factor; Debug the field of view angle ω of the lens 2 It is: where b is the size of the photoelectric sensor (6), and this size includes the structural sizes of some peripheral observation areas.

3. The design method for a lidar debugging lens according to claim 2, characterized in that, the debugging lens further includes at least one optical transfer system (7); the optical transfer system (7) and the optical condenser lens group (5) together constitute the optical condenser lens group in the debugging lens; Step 1 is specifically: Use the optical detector (4) in the lidar receiving module as the observation object of the debugging lens; the light rays emitted by the optical detector (4) are emitted as parallel light after passing through the optical receiving lens group (3) in the lidar receiving module and enter the optical condenser lens group jointly constituted by the optical transfer system (7) and the optical condenser lens group (5), and then an image A'B' is formed on the photoelectric sensor (6), where: AB is the height of the area containing the optical detector to be observed, and A'B' is within the focal length of the optical transfer system (7), so an inverted enlarged virtual image A”B” can be formed on the same side; 4. The design method for a lidar debugging lens according to claim 3, characterized in that, the total magnification of the debugging lens: Στ = N*N'*N”*......N κ , where N k is the ratio of the image height when inserting the K-th optical relay system (7) to the image height of the system when inserting the (K-1)-th optical relay system (7), and K is the number of optical relay systems (7).

5. The design method for a lidar debugging lens according to claim 4, characterized in that: the optical transfer system (7) includes one, two or three or more lenses, and the lens surface type is spherical, aspherical or cylindrical.

6. The design method for a lidar debugging lens according to any one of claims 1-5, characterized in that, The optical design software in Step 3.1 is Zemax or Code V optical simulation software.

7. The design method of the lidar debugging lens according to claim 6, characterized in that: The optical focusing lens group (5) has a positive optical power and includes one, two or more than three lenses, and the lens surface type is spherical, aspherical or cylindrical.

8. The design method of the lidar debugging lens according to claim 6, characterized in that: The photoelectric sensor (6) is a COMS or CCD photoelectric conversion device.

9. The design method of the lidar debugging lens according to claim 6, characterized in that: The optical receiving lens group (3) includes one, two or more than three lenses, and the lens surface type is spherical, aspherical or cylindrical.

10. The design method of the lidar debugging lens according to claim 6, characterized in that: The optical detector (4) is a photomultiplier tube or an avalanche diode optical detection device.

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