Alignment apparatus and method for a laser radar

Abstract

An aligning device and method for a laser radar, the aligning device comprising: a first mirror adapted to reflect part of first light rays emitted from a transmitting module and part of second light rays emitted from a receiving module; a second mirror adapted to reflect part of first light rays emitted from the transmitting module and part of second light rays emitted from the receiving module; and an imaging device to obtain a transmitting image and a receiving image. The obtained transmitting image and receiving image can fully reflect the positions and alignment of the transmitting module and the receiving module, and the imaging device can realize photographing of three angles, i.e. upper, middle and lower angles, without rotating the camera, without mechanical movement, without increasing the imaging device, and can display the alignment changes in real time, thereby effectively reducing the mechanical movement in the aligning process, effectively improving the aligning speed and shortening the aligning time.

Description

Technical Field

[0001] This invention relates to the field of lidar, and in particular to a lidar assembly and adjustment device and method. Background Technology

[0002] As an active detection sensor, lidar measures the distance to a target by emitting laser light through an optical path and receiving the echo signal from the target through the optical path. The optical system plays an important role in the detection process of lidar by emitting and receiving light.

[0003] Based on the different layouts of the transmitting and receiving optical paths, lidar can be divided into two categories: non-coaxial optical systems and coaxial systems. In a coaxial optical system, the transmitting and receiving optical paths are arranged coaxially, often using the same mirror group to handle both the transmission of the probe light and the reception of the echo light. The system optical axes of the transmitting and receiving optical paths coincide, and the separation and coaxiality of the transmitted and received light are achieved through beam-splitting elements (such as beam splitters, pinhole mirrors, etc.).

[0004] Coaxial LiDAR requires the transmitting and receiving modules to be aligned. Therefore, the transmitting and receiving modules need to be assembled and adjusted during the production process. One method for this assembly and adjustment is the imaging method. A successful assembly and adjustment process requires the transmitting and receiving modules to be clearly imaged in the assembly and adjustment camera, thereby enabling precise assembly and adjustment of the transmitting and receiving modules.

[0005] However, the existing assembly and adjustment methods for lidar using coaxial optical systems involve a lot of mechanical movement, which often leads to slow assembly and adjustment speeds and long assembly times. Summary of the Invention

[0006] The problem addressed by this invention is how to reduce the mechanical movement involved in the assembly and adjustment process in order to increase the assembly and adjustment speed and shorten the assembly and adjustment time.

[0007] To address the aforementioned problems, this invention provides an assembly and adjustment device for a lidar, wherein the lidar to be assembled and adjusted is a coaxial transceiver lidar, and the lidar has a transmitting module and a receiving module, comprising:

[0008] A first reflector, adapted to reflect a portion of a first light ray emitted from the transmitting module and a portion of a second light ray emitted from the receiving module; a second reflector, adapted to reflect a portion of the first light ray emitted from the transmitting module and a portion of the second light ray emitted from the receiving module; an imaging device, located in the optical path of the first and second light rays, adapted to acquire the first light ray reflected by the first and second reflectors to obtain an emitted image, and to acquire the second light ray reflected by the first and second reflectors to obtain a received image.

[0009] Optionally, the transmitting module generates the first light ray; or, the transmitting module reflects illumination light to form the first light ray; and the receiving module reflects illumination light to form the second light ray.

[0010] Optionally, it may also include an external light source suitable for generating illumination light.

[0011] Optionally, it may also include: a beam splitter located in the optical path of the illumination light, the beam splitter being adapted to split the illumination light, with a portion of the illumination light projected onto the transmitting module and a portion of the illumination light projected onto the receiving module.

[0012] Optionally, the external light source is either a point light source or a surface light source.

[0013] Optionally, the external light source further includes: an illumination optical component located between the light-emitting device and the lidar, the illumination optical component being adapted to expand the light beam generated by the light-emitting device.

[0014] Optionally, it may also include: a light homogenizing component, which is located in the optical path of the illumination light between the external light source and the lidar, and the light homogenizing component is suitable for improving the uniformity of the intensity distribution of the illumination light.

[0015] Optionally, the transmitting module includes multiple transmitting channels, and the receiving module includes multiple receiving channels; the center position of the first reflector is adapted to reflect a portion of the first light rays emitted from the position of the preset first central transmitting channel; the center position of the second reflector is adapted to reflect a portion of the first light rays emitted from the position of the preset second central transmitting channel.

[0016] Optionally, the first reflector is adapted to reflect a portion of the first light rays emitted from positions of a plurality of preset first emission channels, wherein the plurality of first emission channels includes the first central emission channel; the second reflector is adapted to reflect a portion of the first light rays emitted from positions of a plurality of preset second emission channels, wherein the plurality of second emission channels includes the second central emission channel.

[0017] Optionally, the emitted image further includes: a first emitted sub-image formed by a first ray reflected by the first reflector, and a second emitted sub-image formed by a first ray reflected by the second reflector; and the received image further includes: a first received sub-image formed by a second ray reflected by the first reflector, and a second received sub-image formed by a second ray reflected by the second reflector.

[0018] Optionally, the transmitted image further includes a third sub-transmitted image, and the received image further includes a third sub-received image; the imaging device is also adapted to directly acquire a portion of the first light to obtain the third sub-transmitted image; and / or directly acquire a portion of the second light to obtain the third sub-received image.

[0019] Optionally, it may also include: an adjustment device adapted to adjust the position of the receiving module and / or the transmitting module so that the transmitted image is aligned with the received image to achieve alignment of the receiving module and the transmitting module.

[0020] Optionally, the assembly and adjustment device includes: a fixing module adapted to fix the position of one of the receiving module and the transmitting module; and an adjustment module adapted to adjust the position of the other module to achieve alignment of the receiving module and the transmitting module.

[0021] Optionally, the adjustment module is adapted to cause the other module to translate and / or rotate within a preset plane.

[0022] Optionally, when the transmitted image includes multiple sub-transmitted images and the received image includes multiple sub-received images, the mounting and adjusting device is adapted to align the centroid of each sub-transmitted image with the centroid of its corresponding sub-received image.

[0023] Optionally, the assembly and adjustment device further includes an identification module, which is adapted to obtain the centroid positions of the transmitted image and the received image respectively.

[0024] Optionally, the assembly and adjustment device further includes: an identification module, which is adapted to obtain the desired centroid position of another image based on the centroid position of one of the transmitted image and the received image.

[0025] Accordingly, the present invention also provides a method for assembling and adjusting a lidar, comprising:

[0026] The invention provides a laser radar assembly and adjustment device and a laser radar to be assembled and adjusted, wherein the assembly and adjustment device is the assembly device of the present invention; the imaging device acquires a first light reflected by the first reflector and the second reflector to obtain a transmitted image, and acquires a second light reflected by the first reflector and the second reflector to obtain a received image; the positions of the receiving module and / or the transmitting module are adjusted so that the transmitted image and the received image are aligned to achieve alignment of the receiving module and the transmitting module.

[0027] Optionally, the emitted image further includes: a first emitted sub-image formed by a first ray reflected by the first reflector, and a second emitted sub-image formed by a first ray reflected by the second reflector; and the received image further includes: a first received sub-image formed by a second ray reflected by the first reflector, and a second received sub-image formed by a second ray reflected by the second reflector.

[0028] Optionally, the transmitted image further includes a third sub-transmitted image, and the received image further includes a third sub-received image; the step of obtaining the transmitted image and the received image through the imaging device further includes: directly acquiring a portion of the first light ray through the imaging device to obtain the third sub-transmitted image; and / or directly acquiring a portion of the second light ray through the imaging device to obtain the third sub-received image.

[0029] Optionally, the step of adjusting the position of the receiving module and the transmitting module includes: fixing the position of one of the receiving module and the transmitting module; adjusting the position of the other module to achieve alignment of the receiving module and the transmitting module.

[0030] Optionally, the step of adjusting the position of another module includes: translating and / or rotating the other module within a preset plane.

[0031] Optionally, the step of adjusting the positions of the receiving module and the transmitting module includes aligning the centroid of the transmitted image with the centroid of the received image.

[0032] Optionally, when the transmitted image includes multiple sub-transmitted images and the received image includes multiple sub-received images, the step of adjusting the positions of the receiving module and the transmitting module includes: aligning the centroid position of each sub-transmitted image with the centroid position of its corresponding sub-received image.

[0033] Optionally, after obtaining the transmitted image and the received image, and before adjusting the positions of the receiving module and the transmitting module, the assembly and adjustment method further includes: obtaining the centroid positions of the transmitted image and the received image respectively; and obtaining adjustment information of the centroid position of the other image based on the centroid position of one of the transmitted image and the received image.

[0034] Optionally, after obtaining the transmitted image and the received image, and before adjusting the positions of the receiving module and the transmitting module, the assembly and adjustment method further includes: obtaining the desired centroid position of the other image based on the centroid position of one of the transmitted image and the received image.

[0035] The invention provides a laser radar assembly and adjustment device and a laser radar to be assembled and adjusted, wherein the assembly and adjustment device is the assembly device of the present invention; the imaging device acquires a first light reflected by the first reflector and the second reflector to obtain a transmitted image, and acquires a second light reflected by the first reflector and the second reflector to obtain a received image; the positions of the receiving module and / or the transmitting module are adjusted so that the transmitted image and the received image are aligned to achieve alignment of the receiving module and the transmitting module.

[0036] Optionally, the emitted image further includes: a first emitted sub-image formed by a first ray reflected by the first reflector, and a second emitted sub-image formed by a first ray reflected by the second reflector; and the received image further includes: a first received sub-image formed by a second ray reflected by the first reflector, and a second received sub-image formed by a second ray reflected by the second reflector.

[0037] Optionally, the transmitted image further includes a third sub-transmitted image, and the received image further includes a third sub-received image; the step of obtaining the transmitted image and the received image through the imaging device further includes: directly acquiring a portion of the first light ray through the imaging device to obtain the third sub-transmitted image; and / or directly acquiring a portion of the second light ray through the imaging device to obtain the third sub-received image.

[0038] Optionally, the step of adjusting the position of the receiving module and the transmitting module includes: fixing the position of one of the receiving module and the transmitting module; adjusting the position of the other module to achieve alignment of the receiving module and the transmitting module.

[0039] Optionally, the step of adjusting the position of another module includes: translating and / or rotating the other module within a preset plane.

[0040] Optionally, the step of adjusting the positions of the receiving module and the transmitting module includes aligning the centroid of the transmitted image with the centroid of the received image.

[0041] Optionally, when the transmitted image includes multiple sub-transmitted images and the received image includes multiple sub-received images, the step of adjusting the positions of the receiving module and the transmitting module includes: aligning the centroid position of each sub-transmitted image with the centroid position of its corresponding sub-received image.

[0042] Optionally, after obtaining the transmitted image and the received image, and before adjusting the positions of the receiving module and the transmitting module, the assembly and adjustment method further includes: obtaining the centroid positions of the transmitted image and the received image respectively; and obtaining adjustment information of the centroid position of the other image based on the centroid position of one of the transmitted image and the received image.

[0043] Optionally, after obtaining the transmitted image and the received image, and before adjusting the positions of the receiving module and the transmitting module, the assembly and adjustment method further includes: obtaining the desired centroid position of the other image based on the centroid position of one of the transmitted image and the received image.

[0044] Compared with the prior art, the technical solution of the present invention has the following advantages:

[0045] In the technical solution of this invention, the reflection of a portion of the first light ray and a portion of the second light ray by the first and second reflectors enables the imaging device to image the entirety of the transmitting module and the receiving module. That is, the obtained transmitted and received images can completely reflect the position and alignment of the transmitting and receiving modules. A single imaging device can achieve shooting from the upper, middle, and lower angles without rotating the camera, without involving mechanical movement, without adding an imaging device, and can display the changes in alignment in real time. This can effectively reduce the mechanical movement during the assembly and adjustment process, and can effectively improve the assembly and adjustment speed and shorten the assembly and adjustment time.

[0046] In an optional embodiment of the present invention, the transmitted image further includes: a first transmitted sub-image formed by a first ray reflected by the first reflector, and a second sub-transmitted image formed by a first ray reflected by the second reflector; and the received image further includes: a first received sub-image formed by a second ray reflected by the first reflector, and a second received sub-image formed by a second ray reflected by the second reflector; the transmitted image further includes: a third transmitted image, and the received image further includes: a third received image. Each sub-transmitted image reflects the position of the transmitting module at different angles, and each sub-received image reflects the position of the receiving module at different angles. Therefore, by obtaining each sub-transmitted image and each sub-received image through a single imaging device, the influence of the same adjustment action on the alignment of the receiving module and the transmitting module at different positions can be simultaneously reflected, effectively simplifying the assembly and adjustment method, improving the assembly and adjustment speed, and making it more intuitive and faster.

[0047] In the optional embodiment of the present invention, image alignment is achieved by recognizing and aligning the centroid position, thereby enabling assembly and adjustment using image recognition methods. This is beneficial for automated equipment to achieve assembly and adjustment, for automating the assembly and adjustment process, and for improving production efficiency. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of the optical path structure of a lidar assembly and adjustment device;

[0049] Figure 2 This is a schematic diagram of the optical path structure of an embodiment of the laser radar assembly and adjustment equipment of the present invention;

[0050] Figure 3 This is a schematic diagram of the optical path structure of another embodiment of the laser radar assembly and adjustment equipment of the present invention;

[0051] Figure 4 This is a schematic diagram of the optical path structure of another embodiment of the laser radar assembly and adjustment equipment of the present invention;

[0052] Figure 5 This is a schematic diagram of the optical path structure of another embodiment of the laser radar assembly and adjustment equipment of the present invention;

[0053] Figure 6 yes Figure 2 A schematic diagram of the transmitted and received images obtained by the imaging device 130 in the embodiment of the assembly and adjustment equipment shown;

[0054] Figure 7 yes Figure 2 The diagram shows the functional block diagram of the assembly and adjustment device in the assembly and adjustment equipment of the lidar shown.

[0055] Figure 8 This is a flowchart illustrating a laser radar assembly and adjustment method according to the present invention.

[0056] Figure 9 yes Figure 8 The diagram shows the structure of the assembly and adjustment device used in the embodiment of the laser radar assembly and adjustment method. Detailed Implementation

[0057] As can be seen from the background technology, existing laser radar assembly and adjustment methods suffer from slow speed and long processing time. This paper analyzes the reasons for the slow speed problem by combining a laser radar assembly and adjustment device and method:

[0058] refer to Figure 1 The diagram shows a schematic of the optical path structure of a lidar assembly and adjustment device.

[0059] like Figure 1As shown, the transmitting module 11 of the lidar uses a laser array (such as a VCSEL array), and the receiving module 12 uses a detector array (such as a SiPM array). During the imaging process, the first light ray 11g emitted from the transmitting module 11 is captured by the imaging device 14 after passing through the optical system 13 of the lidar to obtain the emitted image; under the illumination of the external light source 10, the second light ray 12g emitted from the receiving module 12 is captured by the imaging device 14 after passing through the optical system 13 of the lidar to obtain the received image. The relative positions of the transmitting module 11 and the receiving module 12 are adjusted until the emitted and received images coincide; at this point, the transmitting module 11 and the receiving module 12 are considered to be aligned.

[0060] However, due to the large size of both the transmitting module 11 and the receiving module 12, the scattered light exits at a large angle after passing through the radar lens. The exiting light needs to be imaged on the focal plane by an external imaging lens and camera for adjustment. To ensure alignment accuracy, it is desirable to align the transmitting module 11 and the receiving module 12 by at least the upper, middle, and lower parts.

[0061] However, because the external imaging lens and the radar lens cannot be perfectly matched—that is, the entrance and exit pupils of the radar lens and the imaging lens used in the assembly are mismatched—it is impossible to image all three parts of the transmitting module 11 and the receiving module 12 using only one imaging device (e.g., only one camera). One current method is to rotate the camera to different angles using a mechanical structure and align it angle by angle (as shown in positions 14a, 14b, and 14c in the figure). Once the upper, middle, and lower angles are aligned, the transmission and reception alignment is considered complete. Another method is to directly use three sets of cameras and lenses, placed at the upper, middle, and lower angles for imaging.

[0062] Therefore, to achieve the required alignment, it is necessary to rotate the imaging lens or radar, or increase the number of cameras, to obtain images of the upper and lower ends of the transmitting and receiving modules. These images are then used for alignment. This process either involves mechanical movement or requires additional imaging devices, and it cannot display alignment changes at other angles in real time, requiring repeated cycles of alignment, which takes a considerable amount of time.

[0063] To address the aforementioned technical problem, this invention provides a lidar assembly and adjustment device. The lidar to be assembled and adjusted is a coaxial transceiver lidar. The lidar has a transmitting module and a receiving module, including: a first reflector adapted to reflect a portion of a first light ray emitted from the transmitting module and a portion of a second light ray emitted from the receiving module; a second reflector adapted to reflect a portion of the first light ray emitted from the transmitting module and a portion of the second light ray emitted from the receiving module; and an imaging device located on the optical path of the first and second light rays. The imaging device is adapted to acquire the first light ray reflected by the first and second reflectors to obtain a transmitted image, and to acquire the second light ray reflected by the first and second reflectors to obtain a received image.

[0064] In the technical solution of this invention, the reflection of a portion of the first light ray and a portion of the second light ray by the first and second reflectors enables the imaging device to image the entirety of the transmitting module and the receiving module. That is, the obtained transmitted and received images can completely reflect the position and alignment of the transmitting and receiving modules. A single imaging device can achieve shooting from the upper, middle, and lower angles without rotating the camera, without involving mechanical movement, without adding an imaging device, and can display the changes in alignment in real time. This can effectively reduce the mechanical movement during the assembly and adjustment process, and can effectively improve the assembly and adjustment speed and shorten the assembly and adjustment time.

[0065] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0066] refer to Figure 2 The diagram shows a schematic optical path structure of an embodiment of the lidar assembly and adjustment device of the present invention.

[0067] It should be noted that the lidar to be installed and adjusted is a coaxial transceiver lidar, which has a transmitting module 101 and a receiving module 102.

[0068] like Figure 2As shown, the assembly and adjustment device includes: a first reflector 110, adapted to reflect a portion of the first light ray 111 emitted from the transmitting module 101 and a portion of the second light ray 112 emitted from the receiving module 102; a second reflector 120, adapted to reflect a portion of the first light ray 111 emitted from the transmitting module 101 and a portion of the second light ray 112 emitted from the receiving module 102; and an imaging device 130, located on the optical path of the first light ray 111 and the second light ray 112, adapted to acquire the first light ray 111 reflected by the first reflector 110 and the second reflector 120 to obtain an emitted image, and to acquire the second light ray 112 reflected by the first reflector 110 and the second reflector 120 to obtain a received image.

[0069] The reflection of a portion of the first light ray 111 and a portion of the second light ray 112 by the first reflector 110 and the second reflector 120 enables the imaging device 130 to image the entirety of the transmitting module 101 and the receiving module 102. That is, the obtained transmitted and received images can completely reflect the position and alignment of the transmitting module 101 and the receiving module 102. A single imaging device can capture images from the upper, middle, and lower angles without rotating the camera, without involving mechanical movement, without requiring additional imaging devices, and can display changes in alignment in real time. This can effectively reduce mechanical movement during the assembly and adjustment process, and can effectively improve the assembly and adjustment speed and shorten the assembly and adjustment time.

[0070] In some embodiments of the present invention, the transmitting module 101 reflects the illumination light 141 to form the first light ray 111; the receiving module 102 reflects the illumination light 141 to form the second light ray 112. Specifically, as... Figure 2 As shown, the assembly and adjustment equipment further includes an external light source 140, which is adapted to generate illumination light 141.

[0071] The transmitting module 101 does not need to generate light, that is, the transmitting module 101 does not need to emit light, and the transmitting module 101 does not need to be powered, which can reduce the peripheral equipment required during the assembly and adjustment process. Moreover, since the assembly and adjustment module 101 does not need to be powered, the assembly and adjustment equipment can directly adjust the position of the transmitting module 101 and the receiving module 102 without the need for other components at the transmitting end, and can perform assembly and adjustment without the need for circuit and other functional debugging. Therefore, in the assembly and adjustment process of the lidar, parallel processes can be added to improve the overall assembly and adjustment efficiency of the lidar.

[0072] It should be noted that the method of illuminating the reflective module with illumination light to generate the first light ray is only one example. In other embodiments of the present invention, the first light ray may also be generated directly by the emitting module, that is, the emitting module generates the first light ray.

[0073] In some embodiments of the present invention, the assembly and adjustment device further includes a beam splitter 150, which is located in the optical path of the illumination light 141. The beam splitter 150 is adapted to split the illumination light 141, with a portion of the illumination light 141 projected onto the transmitting module 101 and a portion of the illumination light 141 projected onto the receiving module 102. Specifically, the beam splitter may be an optical component such as a polarization beam splitter (PBS) that can split the illumination light 141.

[0074] In some embodiments of the present invention, the external light source 140 may be a point light source or a surface light source. For example... Figure 2 As shown, the external light source 140 includes a light-emitting device 142 for generating light. Specifically, the light-emitting device 142 can be one or more LEDs, or other light-emitting devices.

[0075] Furthermore, in some embodiments of the present invention, the external light source 140 may further include an illumination optical component 143, which is located between the light-emitting device 142 and the lidar, and is adapted to expand the beam of light generated by the light-emitting device 142. Specifically, the illumination optical component 143 may be an optical component capable of beam expansion, such as a telecentric lens.

[0076] It should be noted that in other embodiments of the present invention, such as Figure 3 As shown, the external light source 240 can be a point light source. Specifically, the external light source 240 includes one or more LED lights. Furthermore, Figure 3 In this embodiment, the assembly and adjustment device further includes a light-uniforming component 260, which is located in the optical path of the illumination light between the external light source 240 and the lidar. The light-uniforming component 260 is suitable for improving the uniformity of the illumination light intensity distribution. Specifically, the light-uniforming component 260 can be an optical device such as a light-uniforming sheet or a diffuser.

[0077] The illumination light generated by the external light source 240 is homogenized by the light homogenizing component 260, resulting in a more uniform energy distribution. This creates uniform illumination fields of view at both the transmitting module 201 and the receiving module 202, improving the imaging of the light reflected from these modules. Therefore, the light homogenizing component 260 effectively improves the uniformity of illumination light energy distribution within a certain illumination range, preventing excessively strong contrast between the edge and center of the field of view in both the transmitting and receiving modules 201 and 202, thus ensuring better imaging performance and increasing the recognition success rate.

[0078] It should also be noted that, such as Figure 4 As shown, in some embodiments of the present invention, the light-emitting device 342 of the external light source 340 can be an LED array. In other embodiments of the present invention, the emitting module 301 is a laser array (such as a VCSEL array), and the receiving module 302 is a detector array (such as a SiPM array). Therefore, setting the light-emitting device 342 as an LED array can effectively expand the illumination field of view to obtain better imaging effect.

[0079] Furthermore, the size of the LED array, which serves as the light-emitting device 342, is comparable to the size of the receiving module 302, so as to uniformly illuminate the larger receiving module 302, thereby further improving the imaging effect. Moreover, the spacing between adjacent LEDs in the LED array is kept as small as possible to ensure uniform energy distribution after light homogenization; and the wavelength of the light generated by the LED array is consistent with the wavelength of the light generated by the emitting module 301.

[0080] Since the area of ​​the transmitting module 301 is often smaller than that of the receiving module 302, the illumination light generated by the LED array, which is the light-emitting device 342, is uniformly illuminated by the light-uniforming component 360, and can form an expanded uniform illumination field of view at both the transmitting module 301 and the receiving module 302, covering the entire laser array and the entire detector array, so that the laser and detector of each channel can be clearly imaged.

[0081] Of course, such as Figure 5 As shown, in some other embodiments of the present invention, the LED array can also be used in conjunction with the lighting optical component 443, that is, the external light source 440 includes an LED array as a light-emitting device 442 and a lighting optical component 443 that plays a beam-expanding role, so as to form a uniformly distributed illumination light.

[0082] Continue to refer to Figure 2The illumination light 141 is projected onto the transmitting module 101 and the receiving module 102, illuminating both modules. The transmitting module 101 and the receiving module 102 reflect the illumination light to form a first ray 111 and a second ray 112, respectively.

[0083] The first light ray 111 and the second light ray 112 pass through the optical system 103 of the lidar and exit from the lidar window. Specifically, the first light ray 111, formed by the reflection of the transmitting module 101, passes through the transmitting lens group of the lidar and exits from the lidar window; the second light ray 112, formed by the reflection of the receiving module 102, passes through the receiving lens group of the lidar and exits from the lidar window.

[0084] The assembly equipment includes: a first reflector 110 and a second reflector 120, wherein the first reflector 110 is located on the optical path of a portion of the first ray 111 and a portion of the second ray 112, and the second reflector 120 is located on the optical path of a portion of the first ray 111 and a portion of the second ray 112.

[0085] like Figure 2 As shown, the reflective surfaces of the first reflector 110 and the second reflector 120 are arranged parallel to each other and both face the optical path of the lidar. Furthermore, the reflective surfaces of the first reflector 110 and the second reflector 120 are both parallel to the optical axis of the lidar's optical path.

[0086] It should be noted that the direction in which the first reflector 110 points to the second reflector 120 is perpendicular to the field of view of the lidar.

[0087] The positions of the first reflector 110 and the second reflector 120 can be determined based on the incident point positions of the first light rays emitted from the preset emission channel position on the first reflector 110 and the second reflector 120. That is, in some embodiments of the present invention, the emission module 101 includes multiple emission channels, and the receiving module 102 includes multiple receiving channels; the center position of the first reflector 110 is suitable for reflecting a portion of the first light rays 111 emitted from the preset first central emission channel position; the center position of the second reflector 120 is suitable for reflecting a portion of the first light rays 111 emitted from the preset second central emission channel position.

[0088] For example, taking the assembly and adjustment equipment for a lidar with a vertical field of view of ±12.8° as an example, the first central transmitting channel and the second central transmitting channel can be selected as transmitting channels with an emission angle of ±8° within the vertical field of view, that is, the transmitting channel with an emission angle of +8° within the vertical field of view is selected as the first central transmitting channel to determine the center position of the first reflector 110, and the transmitting channel with an emission angle of -8° within the vertical field of view is selected as the second central transmitting channel to determine the center position of the second reflector 120.

[0089] Specifically, the center of the first reflector 110 corresponds to the center of the first ray 111 emitted from the emission channel position with an exit angle of +8° within the vertical field of view. That is, the incident point of the first ray 111 emitted from the emission channel position with an exit angle of +8° within the vertical field of view on the first reflector 110 is the center of the first reflector 110, and reflection occurs at the center of the first reflector 110. Similarly, the center of the second reflector 120 corresponds to the center of the first ray 111 emitted from the emission channel position with an exit angle of -8° within the vertical field of view. That is, the incident point of the first ray 111 emitted from the emission channel position with an exit angle of -8° within the vertical field of view on the second reflector 120 is the center of the second reflector 120, and reflection occurs at the center of the second reflector 120.

[0090] The dimensions of the first reflector 110 and the second reflector 120 can be determined based on the distribution range of the incident points of the first light rays emitted from the emission channels within a preset range on the first reflector 110 and the second reflector 120. That is, in some embodiments of the present invention, the first reflector 110 is adapted to reflect a portion of the first light rays 111 emitted from the positions of a plurality of preset first emission channels, wherein the plurality of first emission channels includes the first central emission channel; the second reflector 120 is adapted to reflect a portion of the first light rays 111 emitted from the positions of a plurality of preset second emission channels, wherein the plurality of second emission channels includes the second central emission channel.

[0091] It should be noted that, in some embodiments of the present invention, in the transmitting module 101, the plurality of transmitting channels are arranged in an array, with the column direction corresponding to the vertical direction of the lidar field of view and the row direction corresponding to the horizontal direction of the lidar field of view. Furthermore, the direction in which the first reflector 110 points to the second reflector 120 is perpendicular to the lidar field of view.

[0092] Therefore, continuing to take the assembly and adjustment equipment for a lidar with a vertical field of view of ±12.8° as an example, the first transmission channel and the second transmission channel are transmission channels with an emission angle in the vertical field of view within the range of ±5° to ±11°, that is, along the direction of the lidar pointing to the imaging device 130, the size of the first reflector 110 is such that it can at least cover the first light 111 emitted from the transmission channel with an emission angle in the vertical field of view within the range of +5° to +11°; the size of the second reflector 120 is such that it can at least cover the first light 111 emitted from the transmission channel with an emission angle in the vertical field of view within the range of -5° to -11°.

[0093] Specifically, along the direction from the lidar to the imaging device 130, the size of the first reflector 110 is such that it reflects at least the first light ray 111 emitted from the transmission channel within the vertical field of view with an exit angle in the range of +5° to +11°. That is, the end of the first reflector 110 closest to the lidar can reflect at least the first light ray 111 emitted from the transmission channel with an exit angle of +11° within the vertical field of view, and the end of the first reflector 110 closest to the imaging device 130 can reflect at least the first light ray 111 emitted from the transmission channel with an exit angle of +5° within the vertical field of view. 1; Along the direction from the lidar to the imaging device 130, the size of the second reflector 120 is such that it reflects at least the first light ray 111 emitted from the transmission channel with an exit angle in the vertical field of view within the range of -5° to -11°. That is, the end of the second reflector 120 closest to the lidar can reflect at least the first light ray 111 emitted from the transmission channel position with an exit angle of -11° in the vertical field of view, and the end of the second reflector 120 closest to the imaging device 130 can reflect at least the first light ray 111 emitted from the transmission channel position with an exit angle of -5° in the vertical field of view.

[0094] Since the direction in which the first reflector 110 points to the second reflector 120 is perpendicular to the field of view of the lidar, the direction perpendicular to both the direction in which the first reflector 110 points to the second reflector 120 and the direction in which the lidar points to the imaging device 130 corresponds to the horizontal direction of the lidar's field of view. Therefore, in the plane perpendicular to the direction in which the lidar points to the imaging device 130, the dimensions of the first reflector 110 and the second reflector 120 are related to the horizontal field of view angle of the lidar.

[0095] Taking a lidar with multiple emission channels arranged in an array within the emission module 101 as an example, the first emission channel and the second emission channel are respectively distributed between the center column and the edge columns of the emission module 101 arranged in an array. For example, the distance between the center column and the two edge columns is about 3mm. The first emission channel and the second emission channel are emission channels with an emission angle within ±2.5° in the horizontal field of view, that is, in the plane perpendicular to the direction of the lidar pointing towards the imaging device 130. The size of the first reflector 110 is such that it can at least cover the first light ray 111 emitted by the emission channel with an emission angle within -2.5° to +2.5° in the horizontal field of view; the size of the second reflector 120 is such that it can at least cover the first light ray 111 emitted by the emission channel with an emission angle within -2.5° to +2.5° in the horizontal field of view.

[0096] Specifically, in the plane perpendicular to the direction of the lidar pointing towards the imaging device 130, the size of the first reflector 110 is such that it reflects at least the first light ray 111 emitted from the emission channel within the horizontal field of view with an emission angle in the range of -2.5° to +2.5°. That is, in the plane perpendicular to the direction of the lidar pointing towards the imaging device 130, one end of the first reflector 110 can reflect at least the first light ray 111 emitted from the emission channel position with an emission angle of -2.5° within the horizontal field of view, and the other end can reflect at least the first light ray 111 emitted from the emission channel position with an emission angle of +2.5° within the horizontal field of view; one end of the second reflector 120 can reflect at least the first light ray 111 emitted from the emission channel position with an emission angle of -2.5° within the horizontal field of view, and the other end can reflect at least the first light ray 111 emitted from the emission channel position with an emission angle of +2.5° within the horizontal field of view.

[0097] Continue to refer to Figure 2 After a portion of the first ray 111 and a portion of the second ray 112 are reflected by the first reflector 110 and the second reflector 120, their propagation directions change and they are both projected onto the imaging device 130. The imaging device 130 collects the first ray to obtain an emitted image and simultaneously collects the second ray to obtain a received image.

[0098] Reference Figure 6 , showed Figure 2 A schematic diagram of the transmitted and received images obtained by the imaging device 130 in the embodiment of the assembly and adjustment equipment shown.

[0099] like Figure 2 and Figure 6As shown, the transmitted image (not shown in the figure) further includes: a first transmitted sub-image 131a formed by a first ray 111 reflected by the first reflector 110, and a second sub-transmitted image 131b formed by a first ray 111 reflected by the second reflector 120; the received image (not shown in the figure) further includes: a first received sub-image 132a formed by a second ray 112 reflected by the first reflector 110, and a second received image 132b formed by a second ray 112 reflected by the second reflector 120.

[0100] In addition, the emitted image also includes a third sub-emitted image 131c, and the imaging device 130 is also adapted to directly acquire a portion of the first light ray 111 to obtain the third sub-emitted image 131c; the received image also includes a third sub-received image 132c; the imaging device 130 is also adapted to and / or directly acquire a portion of the second light ray 112 to obtain the third sub-received image 132c.

[0101] It should be noted that, in some embodiments of the present invention, the assembly and adjustment equipment is suitable for assembling and adjusting vehicle-mounted lidar. The vehicle-mounted lidar is a long-range lidar, and the conjugate planes of the transmitting and receiving modules of the long-range lidar are at infinity. Therefore, the imaging device 130 focuses at infinity to achieve clear imaging of the transmitting module 110 and the receiving module 120.

[0102] Each sub-transmitted image reflects the position of the transmitting module 110 at different angles, and each sub-received image reflects the position of the receiving module 120 at different angles. Therefore, by obtaining each sub-transmitted image and each sub-received image through a single imaging device, the influence of the same adjustment action on the alignment of the receiving module and the transmitting module at different positions can be reflected simultaneously. This can effectively simplify the assembly and adjustment method, improve the assembly and adjustment speed, and make it more intuitive and faster.

[0103] Furthermore, the imaging device 130 can simultaneously acquire each sub-transmitted image and each sub-received image. That is, it can obtain the relative positions of the transmitting module 110 and the receiving module 120 from the upper, middle, and lower angles using a single lens and camera. This does not involve mechanical movement, does not require additional imaging devices, and can display the changes in alignment in real time. This effectively reduces mechanical movement during the assembly and adjustment process, thereby improving the assembly and adjustment speed and shortening the assembly and adjustment time.

[0104] It should be noted that the imaging device 130 directly collecting a portion of the first light ray 111 and / or directly collecting a portion of the second light ray 112 means that after a portion of the first light ray 111 and / or a portion of the second light ray 112 is emitted from the window of the lidar, it is directly projected onto the imaging device 130 and collected by the imaging device 130, without being reflected by the first and second reflectors in the middle.

[0105] like Figure 2 As shown, in some embodiments of the present invention, the assembly and adjustment device further includes an assembly and adjustment apparatus 170, which is adapted to adjust the position of the receiving module 101 and / or the transmitting module 102, so that the transmitted image is aligned with the received image to achieve alignment of the receiving module 101 and the transmitting module 102. Specifically, the assembly and adjustment apparatus is adapted to align the centroid position of the transmitted image with the centroid position of the received image.

[0106] Reference Figure 7 , showed Figure 2 The diagram shows the functional block diagram of the assembly and adjustment device in the assembly and adjustment equipment of the lidar shown.

[0107] The assembly and adjustment device 170 includes: a fixing module 171, adapted to fix the position of one of the receiving module 110 and the transmitting module 120; and an adjustment module 172, adapted to adjust the position of the other module to achieve alignment between the receiving module 110 and the transmitting module 120. Fixing the position of one module and adjusting the other effectively improves assembly and adjustment efficiency.

[0108] In some embodiments of the present invention, the adjustment module 172 is adapted to cause the other module to translate and / or rotate within a preset plane. The preset plane may be a plane perpendicular to the first ray or the second ray, or it may be a plane obliquely intersecting the first ray 111 or the second ray 112.

[0109] In the transmitting module 110 and the receiving module 120, the surfaces from which the first ray 111 and the second ray 112 are emitted are the preset planes. When the surface from which the first ray 111 is emitted is perpendicular to the optical axis of the first ray 111, the preset plane is perpendicular to the optical axis of the first ray 111; when the surface from which the first ray 111 is emitted is oblique to the optical axis of the first ray 111, the preset plane is oblique to the optical axis of the first ray 111. When the surface from which the second ray 112 is emitted is perpendicular to the optical axis of the second ray 112, the preset plane is perpendicular to the optical axis of the second ray 112; when the surface from which the second ray 112 is emitted is oblique to the optical axis of the second ray 112, the preset plane is oblique to the optical axis of the second ray 112.

[0110] In some embodiments of the present invention, when the transmitted image includes multiple sub-transmitted images and the received image includes multiple sub-received images, the assembly and adjustment device is adapted to align the centroid of each sub-transmitted image with the centroid of its corresponding sub-received image.

[0111] Specifically, refer to the following: Figure 6 The transmitted image includes three sub-transmitted images corresponding to the upper, lower, and center angles: a first sub-transmitted image 131a, a second sub-transmitted image 131b, and a third sub-transmitted image 131c. The received image includes three sub-received images corresponding to the upper, lower, and center angles: a first sub-received image 132a, a second sub-received image 132b, and a third sub-received image 132c. The assembly and adjustment device is adapted to align the centroids of the three sub-transmitted images and the three sub-received images, specifically, the centroid of the first sub-received image 132a is aligned with the centroid of the first sub-received image 132a, the centroid of the second sub-received image 132b is aligned with the centroid of the second sub-received image 132b, and the centroid of the third sub-received image 132a is aligned with the centroid of the third sub-received image 132c.

[0112] Therefore, as Figure 7 As shown, the assembly and adjustment device 170 further includes an identification module 173, which is adapted to obtain the centroid positions of the transmitted image and the received image respectively.

[0113] The identification module 173 is connected to the imaging device 130 and obtains the transmitted image and the received image from the imaging module 130. The identification module 173 obtains the centroid positions of the transmitted image and the received image respectively. The adjustment module 172 obtains an adjustment amount based on the centroid position obtained by the identification module 173, and then adjusts the position of one of the transmitting module and the receiving module based on the obtained adjustment amount, so that the difference between the centroid positions of different sub-modules is within a preset range to achieve alignment.

[0114] In some embodiments of the present invention, since the optical path is folded by a reflector in the assembly and adjustment device, the magnification of the transmitted image and the received image obtained by the assembly and adjustment device is the same. Therefore, the recognition module 173 can obtain the centroid position of the transmitted image and the received image by pattern recognition.

[0115] The recognition module 173 can be combined with computer programs (such as Python, Matlab, Labview, etc.) to obtain the centroid positions of the transmitted and received images using pattern recognition. By adjusting the position of the receiving module, the centroid position of the received image is made closer to the execution position of the transmitted image, and finally the distance between the centroids of the two images is within a certain range, which means that the transmission and reception alignment can be considered complete.

[0116] In other embodiments of the present invention, the identification module is adapted to obtain the desired centroid position of another image based on the centroid position of one of the transmitted image and the received image; the adjustment module adjusts the position of the module corresponding to the other image so that its centroid is located at the desired centroid position obtained by the identification module.

[0117] Accordingly, the present invention also provides a method for assembling and adjusting a lidar.

[0118] refer to Figure 8 The diagram shows a flowchart of a laser radar assembly and adjustment method according to the present invention.

[0119] The assembly and adjustment method of the lidar includes: performing step S100, providing a lidar assembly and adjustment device and a lidar to be assembled and adjusted, wherein the assembly and adjustment device is the assembly and adjustment device of the present invention.

[0120] Reference Figure 2 and Figure 9 ,in Figure 9 yes Figure 8 The diagram shows the structure of the assembly and adjustment device used in the embodiment of the laser radar assembly and adjustment method. Figure 2 yes Figure 9 The diagram shows the optical path structure of the assembly and adjustment device.

[0121] It should be noted that the lidar to be installed and adjusted is a coaxial transceiver lidar, which has a transmitting module 501 and a receiving module 502.

[0122] like Figure 2 As shown, the assembly and adjustment device includes: a first reflector 110, adapted to reflect a portion of the first light ray 111 emitted from the transmitting module 101 and a portion of the second light ray 112 emitted from the receiving module 102; a second reflector 120, adapted to reflect a portion of the first light ray 111 emitted from the transmitting module 101 and a portion of the second light ray 112 emitted from the receiving module 102; and an imaging device 130, located on the optical path of the first light ray 111 and the second light ray 112, adapted to acquire the first light ray 111 reflected by the first reflector 110 and the second reflector 120 to obtain an emitted image, and to acquire the second light ray 112 reflected by the first reflector 110 and the second reflector 120 to obtain a received image.

[0123] The reflection of a portion of the first light ray 111 and a portion of the second light ray 112 by the first reflector 110 and the second reflector 120 enables the imaging device 130 to image the entirety of the transmitting module 101 and the receiving module 102. That is, the obtained transmitted and received images can completely reflect the position and alignment of the transmitting module 101 and the receiving module 102. A single imaging device can capture images from the upper, middle, and lower angles without rotating the camera, without involving mechanical movement, without requiring additional imaging devices, and can display changes in alignment in real time. This can effectively reduce mechanical movement during the assembly and adjustment process, and can effectively improve the assembly and adjustment speed and shorten the assembly and adjustment time.

[0124] like Figure 9 As shown, the illumination light generated by the external light source 540 is projected onto the local reflector 510 after passing through the transmission beam splitter 500. The local reflector 510 splits the illumination light into two parts. One part of the illumination light is reflected by the local reflector 510 to the reflector 560, and then reflected by the reflector 560 to the transmitting module 501. The other part of the illumination light passes through the local reflector 510 and is reflected by the reflector 520 to the receiving module 502.

[0125] The transmitting module 501 reflects the illumination light to form a first ray 511. After being reflected by the local reflector 510, the first ray 511 is reflected by the beam splitter 550 to the imaging device 530. The receiving module 502 reflects the illumination light to form a second ray 512. After being reflected by the reflector 520 and transmitted through the local reflector 510, the second ray 512 is reflected by the beam splitter 550 to the imaging device 530.

[0126] Specifically, the specific technical solution of the imaging device is described in the foregoing embodiments of the imaging device, and will not be repeated here again.

[0127] Continue to refer to Figure 8 Then, step S200 is executed, in which the imaging device acquires the first light reflected by the first reflector and the second reflector to obtain the emitted image, and acquires the second light reflected by the first reflector and the second reflector to obtain the received image.

[0128] Specifically, by adjusting the lens in the imaging device, the transmitting module and the receiving module can simultaneously achieve clear imaging in the imaging module, thereby obtaining high-quality transmitted and received images.

[0129] In some embodiments of the present invention, reference is made to the following: Figure 2 and Figure 6 The transmitted image (not shown in the figure) further includes: a first transmitted sub-image 131a formed by a first ray 111 reflected by the first reflector 110, and a second sub-transmitted image 131b formed by a first ray 111 reflected by the second reflector 120; the received image (not shown in the figure) further includes: a first received sub-image 132a formed by a second ray 112 reflected by the first reflector 110, and a second received image 132b formed by a second ray 112 reflected by the second reflector 120.

[0130] Therefore, the steps of obtaining the transmitted image and the received image include: obtaining the first transmitted sub-image 131a by the imaging device 130 through the first light ray 111 reflected by the first reflector 110, and obtaining the second sub-transmitted image 131b by the first light ray 111 reflected by the second reflector 120; obtaining the first received sub-image 132a by the imaging device 130 through the second light ray 112 reflected by the first reflector 110, and obtaining the second received image 132b by the second light ray 112 reflected by the second reflector 120.

[0131] Furthermore, the transmitted image also includes a third sub-transmitted image 131c, and the received image also includes a third sub-received image 132c; the steps of obtaining the transmitted image and the received image through the imaging device 130 further include: directly acquiring a portion of the first light ray through the imaging device 130 to obtain the third sub-transmitted image; and / or directly acquiring a portion of the second light ray through the imaging device 130 to obtain the third sub-received image.

[0132] It should be noted that the imaging device 130 directly collecting a portion of the first light ray 111 and / or directly collecting a portion of the second light ray 112 means that after a portion of the first light ray 111 and / or a portion of the second light ray 112 is emitted from the window of the lidar, it is directly projected onto the imaging device 130 and collected by the imaging device 130, without being reflected by the first and second reflectors in the middle.

[0133] Continue to refer to Figure 8 and Figure 2 After obtaining the transmitted image and the received image, step S300 is executed to adjust the position of the receiving module and / or the transmitting module so that the transmitted image and the received image are aligned to achieve alignment of the receiving module and the transmitting module.

[0134] In some embodiments of the present invention, the step of adjusting the positions of the receiving module 102 and the transmitting module 101 includes: fixing the position of one of the receiving module 102 and the transmitting module 101; and adjusting the position of the other module to achieve alignment between the receiving module 102 and the transmitting module 101. Fixing the position of one module and adjusting the other can effectively improve assembly and adjustment efficiency.

[0135] Specifically, the step of adjusting the position of the other module includes: translating and / or rotating the other module within a preset plane. The preset plane can be a plane perpendicular to the first ray or the second ray, or it can be a plane obliquely intersecting the first ray 111 or the second ray 112.

[0136] In the transmitting module 110 and the receiving module 120, the surfaces from which the first ray 111 and the second ray 112 are emitted are the preset planes. When the surface from which the first ray 111 is emitted is perpendicular to the optical axis of the first ray 111, the preset plane is perpendicular to the optical axis of the first ray 111; when the surface from which the first ray 111 is emitted is oblique to the optical axis of the first ray 111, the preset plane is oblique to the optical axis of the first ray 111. When the surface from which the second ray 112 is emitted is perpendicular to the optical axis of the second ray 112, the preset plane is perpendicular to the optical axis of the second ray 112; when the surface from which the second ray 112 is emitted is oblique to the optical axis of the second ray 112, the preset plane is oblique to the optical axis of the second ray 112.

[0137] Reference Figure 6 The step of adjusting the positions of the receiving module and the transmitting module includes aligning the centroid of the transmitted image with the centroid of the received image.

[0138] In some embodiments of the present invention, when the transmitted image includes multiple sub-transmitted images and the received image includes multiple sub-received images, the step of adjusting the positions of the receiving module 102 and the transmitting module 101 includes: aligning the centroid position of each sub-transmitted image with the centroid position of its corresponding sub-received image.

[0139] Specifically, refer to the following: Figure 6 The transmitted image includes three sub-transmitted images corresponding to the upper, lower, and center angles: a first sub-transmitted image 131a, a second sub-transmitted image 131b, and a third sub-transmitted image 131c. The received image includes three sub-received images corresponding to the upper, lower, and center angles: a first sub-received image 132a, a second sub-received image 132b, and a third sub-received image 132c. The assembly and adjustment device is adapted to align the centroids of the three sub-transmitted images and the three sub-received images, specifically, the centroid of the first sub-received image 132a is aligned with the centroid of the first sub-received image 132a, the centroid of the second sub-received image 132b is aligned with the centroid of the second sub-received image 132b, and the centroid of the third sub-received image 132a is aligned with the centroid of the third sub-received image 132c.

[0140] Therefore, after obtaining the transmitted image and the received image, before adjusting the positions of the receiving module 102 and the transmitting module 101, the assembly and adjustment method further includes: obtaining the centroid positions of the transmitted image and the received image respectively; and obtaining adjustment information of the centroid position of the other image based on the centroid position of one of the transmitted image and the received image.

[0141] In other embodiments of the present invention, after obtaining the transmitted image and the received image, and before adjusting the positions of the receiving module and the transmitting module, the assembly and adjustment method further includes: obtaining the desired centroid position of the other image based on the centroid position of one of the transmitted image and the received image.

[0142] In summary, in the technical solution of this invention, the reflection of a portion of the first light ray and a portion of the second light ray by the first and second reflectors enables the imaging device to image the entirety of the transmitting module and the receiving module. That is, the obtained transmitted and received images can completely reflect the position and alignment of the transmitting and receiving modules. A single imaging device can achieve shooting from the upper, middle, and lower angles without rotating the camera, without involving mechanical movement, without requiring additional imaging devices, and can display changes in alignment in real time. This effectively reduces mechanical movement during the assembly and adjustment process, and can effectively improve the assembly and adjustment speed and shorten the assembly and adjustment time.

[0143] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. A laser radar assembly and adjustment device, characterized in that, The lidar to be installed and adjusted is a coaxial transceiver lidar, which has a transmitting module and a receiving module, including: A first reflector is adapted to reflect a portion of a first light ray emitted from the transmitting module and a portion of a second light ray emitted from the receiving module. The second reflector is adapted to reflect a portion of the first light emitted from the transmitting module and a portion of the second light emitted from the receiving module. The first light reflected by the second reflector has a different exit angle in the field of view than the first light reflected by the first reflector. The second light reflected by the second reflector has a different exit angle in the field of view than the first light reflected by the first reflector. An imaging device is located on the optical paths of the first and second light rays. The imaging device is adapted to acquire the first light ray reflected by the first and second reflectors to obtain an emitted image, and to acquire the second light ray reflected by the first and second reflectors to obtain a received image. The emitted image includes a first emitted sub-image formed by the first light ray reflected by the first reflector and a second emitted sub-image formed by the first light ray reflected by the second reflector. The received image includes a first received sub-image formed by the second light ray reflected by the first reflector and a second received sub-image formed by the second light ray reflected by the second reflector.

2. The assembly and adjustment equipment as described in claim 1, characterized in that, The transmitting module generates the first light ray; or, the transmitting module reflects illumination light to form the first light ray. The receiving module reflects the illumination light to form the second light ray.

3. The assembly and adjustment equipment as described in claim 2, characterized in that, Also includes: An external light source, which is suitable for producing illumination light.

4. The assembly and adjustment equipment as described in claim 3, characterized in that, Also includes: A beam splitter is located in the optical path of the illumination light. The beam splitter is adapted to split the illumination light, with a portion of the illumination light projected onto the transmitting module and a portion of the illumination light projected onto the receiving module.

5. The assembly and adjustment equipment as described in claim 3, characterized in that, The external light source is either a point light source or a surface light source.

6. The assembly and adjustment equipment as described in claim 5, characterized in that, The external light source further includes an illumination optical component, which is located between the light-emitting device and the lidar, and is adapted to expand the light beam generated by the light-emitting device.

7. The assembly and adjustment equipment as described in claim 3, characterized in that, Also includes: A light-uniforming component is located in the optical path of the illumination light between the external light source and the lidar, and the light-uniforming component is suitable for improving the uniformity of the intensity distribution of the illumination light.

8. The assembly and adjustment equipment as described in claim 1, characterized in that, The transmitting module includes multiple transmitting channels, and the receiving module includes multiple receiving channels; The center position of the first reflector is suitable for reflecting a portion of the first light rays emitted from the preset first central emission channel position; The center position of the second reflector is suitable for reflecting a portion of the first light rays emitted from the preset position of the second central emission channel.

9. The assembly and adjustment equipment as described in claim 8, characterized in that, The first reflector is adapted to reflect a portion of the first light rays emitted from a plurality of preset first emission channels, wherein the plurality of first emission channels includes the first central emission channel; The second reflector is adapted to reflect a portion of the first light rays emitted from the positions of a plurality of preset second emission channels, wherein the plurality of second emission channels includes the second central emission channel.

10. The assembly and adjustment equipment as described in claim 1, characterized in that, The transmitted image further includes a third sub-transmitted image, and the received image further includes a third sub-received image; The imaging device is also suitable for directly acquiring a portion of the first light rays to obtain the third sub-emission image; and / or directly acquiring a portion of the second light rays to obtain the third sub-reception image.

11. The assembly and adjustment equipment as described in claim 1, characterized in that, Also includes: An assembly and adjustment device is suitable for adjusting the position of the receiving module and / or the transmitting module so that the transmitted image is aligned with the received image to achieve alignment of the receiving module and the transmitting module.

12. The assembly and adjustment equipment as described in claim 11, characterized in that, The assembly and adjustment device includes: A fixing module, which is adapted to fix the position of one of the receiving module and the transmitting module; An adjustment module is provided, which is adapted to adjust the position of another module to achieve alignment between the receiving module and the transmitting module.

13. The assembly and adjustment equipment as described in claim 12, characterized in that, The adjustment module is adapted to cause the other module to translate and / or rotate within a preset plane.

14. The assembly and adjustment equipment as described in claim 11, characterized in that, When the transmitted image includes multiple sub-transmitted images, and the received image includes multiple sub-received images. The mounting and adjusting device is adapted to align the centroid of each sub-transmitted image with the centroid of its corresponding sub-received image.

15. The assembly and adjustment equipment as described in claim 14, characterized in that, The assembly and adjustment device further includes: The identification module is adapted to obtain the centroid positions of the transmitted image and the received image respectively.

16. The assembly and adjustment equipment as described in claim 14, characterized in that, The assembly and adjustment device further includes: The identification module is adapted to obtain the desired centroid position of another image based on the centroid position of one image, the transmitted image, and the received image.

17. A method for assembling and adjusting a lidar, characterized in that, include: The equipment for assembling and adjusting a lidar and a lidar to be assembled and adjusted are provided, wherein the equipment for assembling and adjusting is as described in any one of claims 1 to 10; The imaging device acquires a first light ray reflected by the first and second reflectors to obtain an emitted image, and acquires a second light ray reflected by the first and second reflectors to obtain a received image; Adjust the position of the receiving module and / or the transmitting module so that the transmitted image is aligned with the received image to achieve alignment of the receiving module and the transmitting module.

18. The assembly and adjustment method as described in claim 17, characterized in that, The transmitted image further includes: A first emitted sub-image formed by the first light ray reflected by the first reflector, and a second emitted sub-image formed by the first light ray reflected by the second reflector; and, The received image further includes: A first received sub-image formed by the second light rays reflected by the first reflector, and a second received sub-image formed by the second light rays reflected by the second reflector.

19. The assembly and adjustment method as described in claim 17, characterized in that, The transmitted image further includes a third sub-transmitted image, and the received image further includes a third sub-received image; The step of obtaining the transmitted image and the received image through the imaging device further includes: The third sub-emission image is obtained by directly acquiring a portion of the first light rays through the imaging device; and / or the third sub-reception image is obtained by directly acquiring a portion of the second light rays through the imaging device.

20. The assembly and adjustment method as described in claim 17, characterized in that, The steps for adjusting the positions of the receiver and transmitter modules include: The position of one of the receiving module and the transmitting module is fixed. Adjust the position of another module to align the receiving module and the transmitting module.

21. The assembly and adjustment method as described in claim 20, characterized in that, The step of adjusting the position of another module includes: translating and / or rotating the other module within a preset plane.

22. The assembly and adjustment method as described in claim 17, characterized in that, The steps for adjusting the positions of the receiving module and the transmitting module include: Align the centroid of the transmitted image with the centroid of the received image.

23. The assembly and adjustment method as described in claim 17, characterized in that, When the transmitted image includes multiple sub-transmitted images and the received image includes multiple sub-received images, the step of adjusting the positions of the receiving module and the transmitting module includes: aligning the centroid position of each sub-transmitted image with the centroid position of its corresponding sub-received image.

24. The assembly and adjustment method as described in claim 23, characterized in that, After obtaining the transmitted image and the received image, and before adjusting the positions of the receiving module and the transmitting module, the assembly and adjustment method further includes: The centroid positions of the transmitted image and the received image are obtained respectively. Based on the centroid position of one of the transmitted and received images, adjustment information for the centroid position of the other image is obtained.

25. The assembly and adjustment method as described in claim 23, characterized in that, After obtaining the transmitted image and the received image, and before adjusting the positions of the receiving module and the transmitting module, the assembly and adjustment method further includes: Based on the centroid position of one of the transmitted and received images, the desired centroid position of the other image is obtained.

Images