Lidar light transmission window uniformity detection method, device and system

Abstract

The application provides a laser radar light transmission window uniformity detection method, device and system. The method comprises the following steps: capturing a first light point coordinate on a receiving light screen at a preset distance away when a single point light source irradiates a first preset position on an inner wall of a laser radar light transmission window to be detected at a first preset incidence angle; capturing a second light point coordinate on the receiving light screen at the preset distance away when the single point light source irradiates the first preset position at a second preset incidence angle different from the first preset incidence angle by a preset angle; calculating a distance between the first light point coordinate and the second light point coordinate, and recording the distance as a first actual deviation distance corresponding to the light ray deviating by the preset angle when irradiating the first preset position; and determining whether the laser radar light transmission window to be detected is uniform according to a corresponding theoretical deviation distance and the first actual deviation distance. The application can reliably and effectively detect the uniformity of the laser radar light transmission window, and further helps to improve the laser radar ranging capability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser radar detection, and in particular to a laser radar light-transmitting window uniformity detection method, device and system. BACKGROUND

[0002] With the increasing application of laser radars, the requirements for laser radars are also getting higher and higher in the industry. Especially in the ranging capability aspect, higher requirements are put forward for laser radars. In addition to the performance parameters of light and electricity, the uniformity of the light-transmitting window of the laser radar plays a crucial role in the ranging capability.

[0003] However, since the light-transmitting window of the laser radar is usually a curved screen, and general vernier calipers, micrometers and other ranging tools are difficult to measure the thickness of the curved screen, there is currently no reliable and effective method to detect whether the uniformity of the light-transmitting window of the laser radar is qualified. SUMMARY

[0004] Embodiments of the present application provide a laser radar light-transmitting window uniformity detection method, device and system to solve the problem that the uniformity of the laser radar light-transmitting window is difficult to be reliably and effectively detected.

[0005] In a first aspect, embodiments of the present application provide a laser radar light-transmitting window uniformity detection method, comprising:

[0006] When a single-point light source irradiates a first preset position of an inner wall of a to-be-detected laser radar light-transmitting window at a first preset incidence angle, a first light point coordinate of the single-point light source projected on a receiving light screen at a preset distance away after passing through the to-be-detected laser radar light-transmitting window is captured;

[0007] When the single-point light source irradiates the first preset position at a second preset incidence angle different from the first preset incidence angle by a preset angle, a second light point coordinate of the single-point light source projected on the receiving light screen at the preset distance away after passing through the to-be-detected laser radar light-transmitting window is captured;

[0008] A distance between the first light point coordinate and the second light point coordinate is calculated, which is recorded as a first actual deviation distance corresponding to the light ray deviation of the preset angle when irradiating the first preset position;

[0009] Whether the to-be-detected laser radar light-transmitting window is uniform is determined according to a theoretical deviation distance corresponding to the light ray deviation of the preset angle when irradiating the first preset position and the first actual deviation distance.

[0010] In a possible implementation manner, the determination of whether the to-be-detected laser radar light-transmitting window is uniform according to the theoretical deviation distance corresponding to the light ray deviation of the preset angle when irradiating the first preset position and the first actual deviation distance comprises:

[0011] determining whether the first actual deviation distance is equal to the theoretical deviation distance;

[0012] if the first actual deviation distance is equal to the theoretical deviation distance, determining that the to-be-tested light-transmitting window of the laser radar is uniform in a first preset area, the first preset area being an area between a first position refracted out by an outer wall of the to-be-tested light-transmitting window when the first preset position is irradiated at the first preset incident angle and a second position refracted out by the outer wall of the to-be-tested light-transmitting window when the first preset position is irradiated at the second preset incident angle;

[0013] if the first actual deviation distance is not equal to the theoretical deviation distance, determining that the to-be-tested light-transmitting window of the laser radar is not uniform in the first preset area.

[0014] In a possible implementation, the determining whether the to-be-tested light-transmitting window of the laser radar is uniform according to the theoretical deviation distance corresponding to the deviation of the light ray from the preset angle when irradiating the first preset position and the first actual deviation distance comprises:

[0015] determining whether the first actual deviation distance is within a set error range of the theoretical deviation distance;

[0016] if the first actual deviation distance is within the set error range of the theoretical deviation distance, determining that the to-be-tested light-transmitting window of the laser radar is uniform in a first preset area, the first preset area being an area between a first position refracted out by an outer wall of the to-be-tested light-transmitting window when the first preset position is irradiated at the first preset incident angle and a second position refracted out by the outer wall of the to-be-tested light-transmitting window when the first preset position is irradiated at the second preset incident angle;

[0017] if the first actual deviation distance is not within the set error range of the theoretical deviation distance, determining that the to-be-tested light-transmitting window of the laser radar is not uniform in the first preset area.

[0018] In a possible implementation, after determining that the to-be-tested light-transmitting window of the laser radar is uniform in the first preset area, the method further comprises:

[0019] recording a corresponding position of the second position on an inner wall of the to-be-tested light-transmitting window as a second preset position, and rotating the to-be-tested light-transmitting window so that a position of the single-point light source irradiating the to-be-tested light-transmitting window changes from the first preset position to the second preset position;

[0020] capture a third light point coordinate of a third light point projected on a receiving light screen at a preset distance far away from the single-point light source after passing through the to-be-tested laser radar light-transmitting window when the single-point light source irradiates the second preset position at the first preset incident angle;

[0021] capture a fourth light point coordinate of a fourth light point projected on a receiving light screen at a preset distance far away from the single-point light source after passing through the to-be-tested laser radar light-transmitting window when the single-point light source irradiates the second preset position at the second preset incident angle;

[0022] calculate a distance between the third light point coordinate and the fourth light point coordinate, and record the distance as a second actual deviation distance corresponding to a light deviation preset angle when irradiating the second preset position;

[0023] determine whether the to-be-tested laser radar light-transmitting window is uniform according to the theoretical deviation distance and the second actual deviation distance.

[0024] In a possible implementation, the process of determining the theoretical deviation distance corresponding to the light deviation preset angle when irradiating the first preset position includes:

[0025] establish a theoretical model of the to-be-tested laser radar light-transmitting window according to a design thickness and a design curvature of the to-be-tested laser radar light-transmitting window;

[0026] determine a first theoretical refraction angle of the to-be-tested laser radar light-transmitting window according to the first preset incident angle and a refractive index of the to-be-tested laser radar light-transmitting window;

[0027] determine a first theoretical exit angle of the to-be-tested laser radar light-transmitting window according to the first theoretical refraction angle and a theoretical outer wall in the theoretical model;

[0028] determine a second theoretical exit angle of the to-be-tested laser radar light-transmitting window according to the second preset incident angle according to a method of determining the first theoretical exit angle according to the first preset incident angle;

[0029] determine a theoretical deviation angle of a first theoretical exit light ray corresponding to the first theoretical exit angle and a second theoretical exit light ray corresponding to the second theoretical exit angle according to the first theoretical exit angle and the second theoretical exit angle;

[0030] determine the theoretical deviation distance corresponding to the light deviation preset angle when irradiating the first preset position according to the preset distance and the theoretical deviation angle.

[0031] In a possible implementation, the process of determining the theoretical deviation distance corresponding to the light deviation preset angle when irradiating the first preset position according to the preset distance and the theoretical deviation angle includes:

[0032] determine a theoretical deviation distance corresponding to the light ray deviation preset angle when the light ray irradiates the first preset position according to ΔY=N×tanΔθ;

[0033] ΔY is the theoretical deviation distance corresponding to the light ray deviation preset angle when the light ray irradiates the first preset position, N is the preset distance, and Δθ is the theoretical deviation angle.

[0034] In a second aspect, an embodiment of the present application provides a laser radar light-transmitting window uniformity detection device, comprising:

[0035] A first capturing module is configured to capture a first light point coordinate of a single-point light source projected on a receiving light screen at a preset distance away after passing through a laser radar light-transmitting window to be detected when the single-point light source irradiates a first preset position of an inner wall of the laser radar light-transmitting window to be detected at a first preset incident angle.

[0036] A second capturing module is configured to capture a second light point coordinate of the single-point light source projected on the receiving light screen at the preset distance away after passing through the laser radar light-transmitting window to be detected when the single-point light source irradiates the first preset position at a second preset incident angle different from the first preset incident angle by a preset angle.

[0037] A first processing module is configured to calculate a distance between the first light point coordinate and the second light point coordinate, denoted as a first actual deviation distance corresponding to the light ray deviation preset angle when the light ray irradiates the first preset position.

[0038] A second processing module is configured to determine whether the laser radar light-transmitting window to be detected is uniform according to a theoretical deviation distance corresponding to the light ray deviation preset angle when the light ray irradiates the first preset position and the first actual deviation distance.

[0039] In a third aspect, an embodiment of the present application provides a laser radar light-transmitting window uniformity detection system, comprising a detection device, wherein the detection device comprises a memory and a processor, the memory is configured to store a computer program, and the processor is configured to call and run the computer program stored in the memory to execute steps of the method according to the first aspect or any possible implementation manner of the first aspect.

[0040] In a possible implementation manner, the laser radar light-transmitting window uniformity detection system further comprises a single-point light source, a rotating platform, a fixed table, and a receiving light screen.

[0041] The single-point light source is fixed on the rotating platform, the rotating platform is fixed on the fixed table, and the rotating platform drives the single-point light source to rotate with a straight line perpendicular to the fixed table and passing through the first preset position of the inner wall of the laser radar light-transmitting window to be detected as a rotating shaft.

[0042] The fixing table is also used for fixing a light-transmitting window of a laser radar to be tested.

[0043] The receiving light screen is arranged at a preset distance away from the light-transmitting window of the laser radar to be tested and is connected with the detection device.

[0044] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the method in the first aspect or any possible implementation manner of the first aspect are implemented.

[0045] The embodiment of the present application provides a laser radar light-transmitting window uniformity detection method, device and system. First, when a single-point light source irradiates a preset position of a laser radar light-transmitting window to be tested at a first preset incidence angle, a first light point coordinate of the single-point light source projected on a receiving light screen at a preset distance away after passing through the laser radar light-transmitting window to be tested is captured. Then, when the single-point light source irradiates the preset position of the laser radar light-transmitting window to be tested at a second preset incidence angle different from the first preset incidence angle by a preset angle, a second light point coordinate of the single-point light source projected on the receiving light screen at the preset distance away after passing through the laser radar light-transmitting window to be tested is captured. Thus, the distance between the first light point coordinate and the second light point coordinate of the light ray projected on the receiving light screen at the preset distance away when the light ray irradiating the preset position of the laser radar light-transmitting window to be tested deviates by the preset angle can be calculated, that is, the actual deviation distance corresponding to the deviation of the preset angle when the light ray irradiating the preset position of the laser radar light-transmitting window to be tested deviates by the preset angle. Then, whether the laser radar light-transmitting window to be tested is uniform can be determined according to the theoretical deviation distance corresponding to the deviation of the preset angle when the light ray irradiating the preset position of the laser radar light-transmitting window to be tested deviates by the preset angle and the actual deviation distance. Since the thickness change of the laser radar light-transmitting window to be tested is converted into the position change of the light point received by the receiving light screen at the preset distance away when the light ray irradiating the preset position of the laser radar light-transmitting window to be tested deviates by the preset angle, the thickness change of the laser radar light-transmitting window to be tested can be magnified by the receiving light screen at the preset distance away. Thus, the uniformity of the laser radar light-transmitting window can be reliably and effectively detected by using the theoretical deviation distance corresponding to the deviation of the preset angle when the light ray irradiating the preset position of the laser radar light-transmitting window to be tested deviates by the preset angle and the actual deviation distance between the first light point coordinate and the second light point coordinate received by the receiving light screen, thereby helping to improve the ranging capability of the laser radar. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0047] Figure 1 is an implementation flowchart of the laser radar light-transmitting window uniformity detection method provided by the embodiment of the present application;

[0048] Figure 2 is a structural schematic diagram of the laser radar light-transmitting window uniformity detection system provided by the embodiment of the present application;

[0049] Figure 3 is a local enlarged view of irradiating the laser radar light-transmitting window to be detected in a theoretical case;

[0050] Figure 4 is a structural schematic diagram of the laser radar light-transmitting window uniformity detection device provided by the embodiment of the present application;

[0051] Figure 5 is a schematic diagram of the detection equipment provided by the embodiment of the present application. DETAILED DESCRIPTION

[0052] In the following description, specific details are set forth, such as particular system configurations, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, persons skilled in the art should understand that the present application can be implemented in other embodiments without these specific details. In other cases, well-known systems, devices, circuits, and methods have not been described in detail in order not to obscure the description of the present application with unnecessary detail.

[0053] In order to make the objectives, technical solutions and advantages of the present application clearer, the following will be described by specific embodiments in conjunction with the accompanying drawings.

[0054] Referring to Figure 1 , it shows an implementation flowchart of the laser radar light-transmitting window uniformity detection method provided by the embodiment of the present application, which is described in detail as follows:

[0055] In step 101, when a single-point light source irradiates a first preset position of the inner wall of the laser radar light-transmitting window to be detected at a first preset incident angle, a first light point coordinate of the single-point light source projected on a receiving light screen at a preset distance away after passing through the laser radar light-transmitting window to be detected is captured.

[0056] In combination with Figure 2 , when the laser radar light-transmitting window uniformity detection method provided by the embodiment is used for detection, the single-point light source can first irradiate the first preset position P1 of the inner wall of the laser radar light-transmitting window to be detected at the first preset incident angle a1, so as to obtain the first light point coordinate of the single-point light source projected on the receiving light screen at the preset distance away after passing through the laser radar light-transmitting window to be detected by the detection equipment.

[0057] When the single-point light source is selected, a single-point light source with a smallest light spot can be selected to obtain more accurate detection results.

[0058] The detection device can be a computer with an image capturing function, so that the receiving screen is connected to the computer with the image capturing function, so as to obtain the first light point coordinate of the single-point light source projected on the receiving screen at a preset distance after passing through the transparent window of the laser radar to be detected.

[0059] The first preset position P1 of the inner wall of the transparent window of the laser radar to be detected can be determined according to the area of the transparent window of the laser radar to be detected that needs to be detected for uniformity, and the first preset incident angle a1 can also be determined according to actual needs. The embodiment does not limit the specific position of the single-point light source irradiated to the inner wall of the transparent window of the laser radar to be detected and the specific incident angle of the single-point light source irradiated to the inner wall of the transparent window of the laser radar to be detected. The specific first preset position P1 and the first preset incident angle a1 can be adjusted according to the difference of the transparent window of the laser radar to be detected.

[0060] The preset distance of the receiving screen from the transparent window of the laser radar to be detected can also be determined according to actual needs. When the thickness of the transparent window of the laser radar to be detected is not uniform, the single-point light source irradiated to the inner wall and the outer wall of the laser radar to be detected will cause the normal line of the inner wall and the outer wall of the transparent window of the laser radar to be detected to deviate, thereby causing the angle of the single-point light to change. When the changed outgoing light is projected on the receiving screen far away, the change of the thickness of the transparent window of the laser radar to be detected is magnified. The greater the preset distance of the receiving screen from the transparent window of the laser radar to be detected, the greater the magnification of the change of the thickness of the transparent window of the laser radar to be detected, and the more conducive to accurately judging whether the transparent window of the laser radar to be detected is uniform.

[0061] In a possible implementation, in order to reduce the occupied space of the entire transparent window uniformity detection system of the laser radar and accurately judge whether the transparent window of the laser radar to be detected is uniform, a range finder or a mirror can be added between the receiving screen and the transparent window of the laser radar.

[0062] In step 102, when the single-point light source irradiates the first preset position at a second preset incident angle different from the first preset incident angle by a preset angle, the second light point coordinate of the single-point light source projected on the receiving screen at a preset distance after passing through the transparent window of the laser radar to be detected is captured.

[0063] In this embodiment, the second preset incident angle α2 can also be determined according to actual needs. The smaller the preset angle difference between the first preset incident angle α1 and the second preset incident angle α2, the smaller the area for uniformity detection of the light-transmitting window of the lidar under test. Correspondingly, the smaller the preset angle, the better it reflects the wall thickness difference near the light-transmitting window of the lidar under test, and the higher the accuracy of uniformity detection of the light-transmitting window of the lidar under test.

[0064] It should be noted that for a certain LiDAR transmission window under test, once the detection area of ​​the LiDAR transmission window under test and the first preset position of the single point light source illumination are determined, the corresponding first preset incident angle and second preset incident angle are also determined and used throughout the subsequent detection process.

[0065] In step 103, the distance between the coordinates of the first light spot and the coordinates of the second light spot is calculated and recorded as the first actual deviation distance corresponding to the deviation of the light rays illuminating the first preset position from the preset angle.

[0066] like Figure 2 As shown, the detection device can record the coordinates of the light spot hit by the first emitted light beam on the receiving screen, and the coordinates of the light spot hit by the second emitted light beam on the receiving screen, and calculate the distance between the coordinates of the two light spots, and then record it as the first actual deviation distance corresponding to the light beam deviating from the preset angle when illuminating the first preset position.

[0067] The thickness of the LiDAR's transparent window varies because the inner and outer walls may be concave or convex due to manufacturing processes. This variation in thickness causes light rays illuminating the same location (the first preset location) to exit from different points after passing through the outer wall. When two different incident angles are used to illuminate the same location, the deviation distance between the two exiting rays will also change. Therefore, the uniformity of the LiDAR's transparent window can be determined by the distance between the coordinates of the first and second light spots—that is, the first actual deviation distance corresponding to the deviation of the light rays illuminating the first preset location from the preset angle.

[0068] In step 104, the uniformity of the light transmission window of the lidar under test is determined based on the theoretical deviation distance and the first actual deviation distance corresponding to the deviation of the light from the first preset position at a preset angle.

[0069] Based on the analysis in step 103, if neither the inner nor outer wall of the light-transmitting window of the lidar under test is concave inward or convex outward, then the first actual deviation distance should be equal to the theoretical deviation distance corresponding to the deviation of the light illuminating the first preset position from the preset angle. Therefore, the uniformity of the light-transmitting window of the lidar under test can be determined by comparing the first actual deviation distance and the theoretical deviation distance.

[0070] Optionally, the process of determining the theoretical deviation distance corresponding to the deviation of the light rays illuminating the first preset position from the preset angle may include:

[0071] Based on the design thickness and curvature of the transparent window of the lidar under test, a theoretical model of the transparent window is established. The first theoretical refraction angle of the transparent window is determined according to the first preset incident angle and the refractive index of the transparent window. The first theoretical exit angle of the transparent window is determined according to the first theoretical refraction angle and the theoretical outer wall in the theoretical model. Following the method of determining the first theoretical exit angle based on the first preset incident angle, the second theoretical exit angle of the transparent window is determined according to the second preset incident angle. Based on the first and second theoretical exit angles, the theoretical deviation angles of the first and second theoretical exit rays corresponding to the first and second theoretical exit angles are determined. Based on the preset distance and the theoretical deviation angle, the theoretical deviation distance corresponding to the preset angle deviation of the light irradiating the first preset position is determined.

[0072] Optionally, determining the theoretical deviation distance corresponding to the preset angle deviation of the light illuminating the first preset position, based on the preset distance and the theoretical deviation angle, may include:

[0073] Based on ΔY=N×tanΔθ, determine the theoretical deviation distance corresponding to the preset angle when the light rays illuminating the first preset position deviate from the preset angle.

[0074] Where ΔY is the theoretical deviation distance corresponding to the light beam deviating from the preset angle when illuminating the first preset position, N is the preset distance, and Δθ is the theoretical deviation angle.

[0075] For example, such as Figure 3 As shown, the theoretical model of the light-transmitting window of the lidar under test, i.e., the curvature of the theoretical inner wall and the theoretical outer wall is the design curvature, and the distance between the theoretical inner wall and the theoretical outer wall is the surface with the design thickness. Assuming that the first preset incident angle α1, the second preset incident angle α2, and the first preset position P1 are all determined, the corresponding incident rays can be marked on the theoretical model of the light-transmitting window of the lidar under test. According to... Given the refractive index n1 of the light-transmitting window of the lidar under test, the first theoretical refraction angle β1 corresponding to the first preset incident angle α1 and the second theoretical refraction angle β2 corresponding to the second preset incident angle α2 can be determined. Here, n is the refractive index of a certain medium, α is the incident angle of light, and β is the refraction angle of light.

[0076] After determining the first theoretical refraction angle β1 and the second theoretical refraction angle β2, the corresponding refracted rays can be marked on the theoretical model of the transmission window of the lidar under test. The intersection of the refracted ray corresponding to the first theoretical refraction angle β1 and the theoretical outer wall is theoretically the first position refracted by the outer wall of the transmission window of the lidar under test when the first preset position P1 is irradiated by the first preset incident angle α1. The intersection of the refracted ray corresponding to the second theoretical refraction angle β2 and the theoretical outer wall is theoretically the second position refracted by the outer wall of the transmission window of the lidar under test when the first preset position P1 is irradiated by the second preset incident angle α2. After determining the theoretical first and second positions, the tangents at the theoretical first and second positions are marked on the theoretical model. Then, the perpendiculars to the tangents at the theoretical first and second positions are drawn. The angle between the refracted ray corresponding to the first theoretical refraction angle β1 and the perpendicular to the tangent at the theoretical first position is the theoretical incident angle α1, corresponding to the first preset incident angle α1, which represents the angle of incidence from the light-transmitting window of the lidar under test towards its outer wall. The angle between the refracted ray corresponding to the second theoretical refraction angle β2 and the perpendicular to the tangent at the theoretical second position is the theoretical incident angle α2, corresponding to the second preset incident angle α2, which represents the angle of incidence from the light-transmitting window of the lidar under test towards its outer wall. Based on this, according to... Then the first theoretical exit angle corresponding to the first preset incident angle α1 and the second theoretical exit angle corresponding to the second preset incident angle α2 can be determined.

[0077] The first theoretical emitted ray can be identified by drawing a perpendicular line from the first theoretical emission angle to the tangent at the theoretical first position. Similarly, the second theoretical emitted ray can be identified by drawing a perpendicular line from the second theoretical emission angle to the tangent at the theoretical second position. However, since the directions of the tangents at the theoretical first and second positions may differ, the perpendicular lines from the tangents at the theoretical first and second positions may not be parallel. Therefore, the theoretical deviation angle cannot be obtained by directly calculating the difference between the first and second theoretical emission angles.

[0078] To obtain the true theoretical deviation angle between the first theoretical emitted ray corresponding to the first theoretical emission angle and the second theoretical emitted ray corresponding to the second theoretical emission angle, the absolute perpendicular line (i.e., the vertical axis of the theoretical model) on the theoretical model can be marked first. This will give us the first deviation angle between the perpendicular line of the tangent at the theoretical first position and the absolute perpendicular line, and the second deviation angle between the perpendicular line of the tangent at the theoretical second position and the absolute perpendicular line. Then, the theoretical deviation angle can be obtained by calculating the first theoretical emission angle + the first deviation angle - (the second theoretical emission angle + the second deviation angle).

[0079] After obtaining the theoretical deviation angle, since the receiving screen is at a preset distance from the light transmission window of the lidar under test, the theoretical deviation distance corresponding to the preset angle of light deviation at the first preset position can be determined according to ΔY=N×tanΔθ.

[0080] It should be noted that the first preset incident angle, second preset incident angle, first preset position, and preset distance used when determining the theoretical deviation distance should be consistent with the first preset incident angle, second preset incident angle, first preset position, and preset distance used for subsequent uniformity detection of the light transmission window of the lidar under test.

[0081] This invention first captures the coordinates of a first light spot projected onto a receiving screen at a preset distance by a single point light source illuminating a preset position of the laser radar's transparent window at a first preset incident angle. Then, it captures the coordinates of a second light spot projected onto the receiving screen at a preset distance by a single point light source illuminating the preset position of the laser radar's transparent window at a second preset incident angle differing from the first preset incident angle. This allows for the calculation of the distance between the coordinates of the first and second light spots projected onto the receiving screen at a preset distance when the incident angle of the light illuminating the preset position of the laser radar's transparent window deviates from the preset angle. This distance represents the actual deviation distance corresponding to the deviation of the light illuminating the preset position of the laser radar's transparent window from the preset angle. Finally, based on the theoretical and actual deviation distances corresponding to the deviation of the light illuminating the preset position of the laser radar's transparent window from the preset angle, the uniformity of the laser radar's transparent window can be determined. Because this embodiment transforms the change in the thickness of the LiDAR's transparent window into the change in the position of the light spot received by the receiving screen at a preset distance when the light illuminating the preset position of the LiDAR's transparent window deviates by a preset angle, the change in the thickness of the LiDAR's transparent window can be amplified by the receiving screen at a preset distance. Furthermore, by utilizing the theoretical deviation distance corresponding to the preset deviation angle of the light illuminating the preset position of the LiDAR's transparent window and the actual deviation distance between the coordinates of the first and second light spots received by the receiving screen, the uniformity of the LiDAR's transparent window can be reliably and effectively detected, thereby contributing to the improvement of the LiDAR's ranging capability.

[0082] Optionally, to accurately determine whether the light-transmitting window of the lidar under test is uniform, the uniformity of the light-transmitting window can be determined based on the theoretical deviation distance and the first actual deviation distance corresponding to the deviation of the light from the first preset position by a preset angle. This can include:

[0083] Determine whether the first actual deviation distance is equal to the theoretical deviation distance; if the first actual deviation distance is equal to the theoretical deviation distance, then determine that the light transmission window of the lidar under test is uniform within the first preset area; if the first actual deviation distance is not equal to the theoretical deviation distance, then determine that the light transmission window of the lidar under test is not uniform within the first preset area.

[0084] The first preset area is the area between the first position refracted by the outer wall of the light-transmitting window of the lidar under test when the first preset position is irradiated by the first preset incident angle and the second position refracted by the outer wall of the light-transmitting window of the lidar under test when the first preset position is irradiated by the second preset incident angle.

[0085] In this embodiment, the actual deviation distance is directly compared with the theoretical deviation distance to accurately determine whether the light-transmitting window of the lidar under test is uniform within the first preset area. Combined with... Figure 3 As shown, the first preset area is the area between the actual first position and the actual second position after passing through the light-transmitting window of the lidar under test.

[0086] Optionally, to improve the applicability of lidar transmittance window uniformity detection, determining whether the transmittance window of the lidar under test is uniform based on the theoretical deviation distance and the first actual deviation distance corresponding to the deviation of the light from the first preset position by a preset angle can include:

[0087] Determine whether the first actual deviation distance is within the set error range of the theoretical deviation distance; if the first actual deviation distance is within the set error range of the theoretical deviation distance, then determine that the light transmission window of the lidar under test is uniform within the first preset area; if the first actual deviation distance exceeds the set error range of the theoretical deviation distance, then determine that the light transmission window of the lidar under test is not uniform within the first preset area.

[0088] The first preset area is the area between the first position refracted by the outer wall of the light-transmitting window of the lidar under test when the first preset position is irradiated by the first preset incident angle and the second position refracted by the outer wall of the light-transmitting window of the lidar under test when the first preset position is irradiated by the second preset incident angle.

[0089] In this embodiment, in order to improve the applicability of the uniformity detection of the light transmission window of the lidar, or according to the error level required for the uniformity detection of the light transmission window of the lidar under test, a set error range can be determined. If the first actual deviation distance is within the set error range of the theoretical deviation distance, the light transmission window of the lidar under test is considered to be uniform. If the first actual deviation distance exceeds the set error range of the theoretical deviation distance, the light transmission window of the lidar under test is considered to be non-uniform.

[0090] The specific error range can be determined according to the requirements of the light-transmitting window of the lidar under test, and this embodiment does not limit it.

[0091] Optionally, in order to perform uniformity detection on multiple areas of the light-transmitting window of the lidar under test, after determining that the light-transmitting window of the lidar under test is uniform within a first preset area, the following may also be included:

[0092] The corresponding position of the second position on the inner wall of the light-transmitting window of the lidar under test is recorded as the second preset position. The light-transmitting window of the lidar under test is rotated so that the position of the single-point light source illuminating the light-transmitting window of the lidar under test changes from the first preset position to the second preset position. When the single-point light source illuminates the second preset position at the first preset incident angle, the coordinates of the third light point projected by the single-point light source through the light-transmitting window of the lidar under test onto the receiving screen at a preset distance are captured. When the single-point light source illuminates the second preset position at the second preset incident angle, the coordinates of the fourth light point projected by the single-point light source through the light-transmitting window of the lidar under test onto the receiving screen at a preset distance are captured. The distance between the coordinates of the third light point and the coordinates of the fourth light point is calculated and recorded as the second actual deviation distance corresponding to the light deviation of the light illuminating the second preset position at a preset angle. The uniformity of the light-transmitting window of the lidar under test is determined based on the theoretical deviation distance and the second actual deviation distance.

[0093] In this embodiment, if it is determined that the light-transmitting window of the lidar under test is uniform within the first preset area, it indicates that the inner and outer walls of the light-transmitting window are neither concave inward nor convex outward between the actual first position and the actual second position. In this case, to perform uniformity detection over a larger area on the light-transmitting window, the corresponding position of the second position on the inner wall of the light-transmitting window can be recorded as the second preset position. The light-transmitting window is then rotated so that the position of the single-point light source illuminating the light-transmitting window changes from the first preset position to the second preset position. Since the light-transmitting window is uniform within the first preset area, after changing the position of the single-point light source illuminating the light-transmitting window from the first preset position to the second preset position, the same theoretical deviation distance can be used to determine whether the corresponding area is uniform when illuminating the light-transmitting window from the second preset position.

[0094] Based on this, once it is determined that the corresponding area is uniform when the light-transmitting window of the lidar under test is illuminated from the second preset position, the light-transmitting window of the lidar under test can be rotated further. Then, the same theoretical deviation distance is used to judge whether the corresponding area is uniform when the light-transmitting window of the lidar under test is illuminated from the rotated position, until the judged area meets the requirements.

[0095] Correspondingly, if it is necessary to rotate the light transmission window of the lidar under test, the light transmission window of the lidar under test can be fixed by rotating the platform.

[0096] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0097] The following are device embodiments of the present invention. For details not described in detail, please refer to the corresponding method embodiments described above.

[0098] Figure 4 A schematic diagram of the uniformity detection device for the light transmission window of a lidar provided in an embodiment of the present invention is shown. For ease of explanation, only the parts related to the embodiment of the present invention are shown, and are described in detail below:

[0099] like Figure 4 As shown, the uniformity detection device for the light transmission window of a lidar includes: a first capture module 41, a second capture module 42, a first processing module 43, and a second processing module 44.

[0100] The first capture module 41 is used to capture the coordinates of the first light spot projected by the single point light source onto the receiving screen at a preset distance after passing through the light-transmitting window of the laser radar under test when the single point light source illuminates the first preset position of the inner wall of the light-transmitting window of the laser radar under test at the first preset incident angle.

[0101] The second capture module 42 is used to capture the coordinates of the second light spot projected by the single point light source onto the receiving screen at a preset distance after passing through the light-transmitting window of the laser radar under test when the single point light source illuminates the first preset position at a second preset incident angle that differs from the first preset incident angle by a preset angle.

[0102] The first processing module 43 is used to calculate the distance between the coordinates of the first light spot and the coordinates of the second light spot, and record it as the first actual deviation distance when the light rays illuminating the first preset position deviate from the preset angle.

[0103] The second processing module 44 is used to determine whether the light transmission window of the laser radar under test is uniform based on the theoretical deviation distance corresponding to the preset angle when the light irradiating the first preset position deviates from the preset angle and the first actual deviation distance.

[0104] This invention first captures the coordinates of a first light spot projected onto a receiving screen at a preset distance by a single point light source illuminating a preset position of the laser radar's transparent window at a first preset incident angle. Then, it captures the coordinates of a second light spot projected onto the receiving screen at a preset distance by a single point light source illuminating the preset position of the laser radar's transparent window at a second preset incident angle differing from the first preset incident angle. This allows for the calculation of the distance between the coordinates of the first and second light spots projected onto the receiving screen at a preset distance when the incident angle of the light illuminating the preset position of the laser radar's transparent window deviates from the preset angle. This distance represents the actual deviation distance corresponding to the deviation of the light illuminating the preset position of the laser radar's transparent window from the preset angle. Finally, based on the theoretical and actual deviation distances corresponding to the deviation of the light illuminating the preset position of the laser radar's transparent window from the preset angle, the uniformity of the laser radar's transparent window can be determined. Because this embodiment transforms the change in the thickness of the LiDAR's transparent window into the change in the position of the light spot received by the receiving screen at a preset distance when the light illuminating the preset position of the LiDAR's transparent window deviates by a preset angle, the change in the thickness of the LiDAR's transparent window can be amplified by the receiving screen at a preset distance. Furthermore, by utilizing the theoretical deviation distance corresponding to the preset deviation angle of the light illuminating the preset position of the LiDAR's transparent window and the actual deviation distance between the coordinates of the first and second light spots received by the receiving screen, the uniformity of the LiDAR's transparent window can be reliably and effectively detected, thereby contributing to the improvement of the LiDAR's ranging capability.

[0105] In one possible implementation, the second processing module 44 can be used to determine whether the first actual deviation distance is equal to the theoretical deviation distance; if the first actual deviation distance is equal to the theoretical deviation distance, then it is determined that the light-transmitting window of the lidar under test is uniform within a first preset region, the first preset region being the region between a first position refracted by the outer wall of the light-transmitting window of the lidar under test when the first preset position is irradiated by the first preset incident angle, and a second position refracted by the outer wall of the light-transmitting window of the lidar under test when the first preset position is irradiated by the second preset incident angle; if the first actual deviation distance is not equal to the theoretical deviation distance, then it is determined that the light-transmitting window of the lidar under test is not uniform within the first preset region.

[0106] In one possible implementation, the second processing module 44 can be used to determine whether the first actual deviation distance is within the set error range of the theoretical deviation distance; if the first actual deviation distance is within the set error range of the theoretical deviation distance, then it is determined that the light-transmitting window of the lidar under test is uniform within a first preset region, the first preset region being the region between a first position refracted by the outer wall of the light-transmitting window of the lidar under test when the first preset position is irradiated by the first preset incident angle, and a second position refracted by the outer wall of the light-transmitting window of the lidar under test when the first preset position is irradiated by the second preset incident angle; if the first actual deviation distance exceeds the set error range of the theoretical deviation distance, then it is determined that the light-transmitting window of the lidar under test is not uniform within the first preset region.

[0107] In one possible implementation, after determining that the light-transmitting window of the lidar under test is uniform within a first preset area, the corresponding position of the second position on the inner wall of the light-transmitting window of the lidar under test can be recorded as the second preset position, and the light-transmitting window of the lidar under test can be rotated so that the position of the single-point light source illuminating the light-transmitting window of the lidar under test changes from the first preset position to the second preset position; at this time, the first capturing module 41 can also be used to capture the first point of light source projected onto the receiving screen at a preset distance after passing through the light-transmitting window of the lidar under test when the single-point light source illuminates the second preset position at the first preset incident angle. The third light point coordinates; the second capture module 42 can also be used to capture the coordinates of the fourth light point projected by the single light source through the light transmission window of the laser radar under test onto the receiving screen at a preset distance when the single light source illuminates the second preset position at the second preset incident angle; the first processing module 43 can also be used to calculate the distance between the third light point coordinates and the fourth light point coordinates, and record it as the second actual deviation distance corresponding to the light deviating from the preset angle when illuminating the second preset position; the second processing module 44 can also be used to determine whether the light transmission window of the laser radar under test is uniform based on the theoretical deviation distance and the second actual deviation distance.

[0108] In one possible implementation, the uniformity detection device for the LiDAR transmission window may further include a third processing module 45. The third processing module 45 can be used to: establish a theoretical model of the LiDAR transmission window under test according to its design thickness and curvature; determine a first theoretical refraction angle of the LiDAR transmission window under test based on the first preset incident angle and the refractive index of the LiDAR transmission window under test; determine a first theoretical exit angle of the LiDAR transmission window under test based on the first theoretical refraction angle and the theoretical outer wall in the theoretical model; determine a second theoretical exit angle of the LiDAR transmission window under test based on the second preset incident angle, following the method of determining the first theoretical exit angle based on the first preset incident angle; determine the theoretical deviation angle between the first theoretical exit ray corresponding to the first theoretical exit angle and the second theoretical exit ray corresponding to the second theoretical exit angle, based on the first theoretical exit angle and the second theoretical exit angle; and determine the theoretical deviation distance corresponding to the deviation of the light illuminating the first preset position from the preset angle based on the preset distance and the theoretical deviation angle.

[0109] In one possible implementation, the third processing module 45 can be used to determine the theoretical deviation distance corresponding to the preset angle of the light deviating from the first preset position based on ΔY=N×tanΔθ;

[0110] Wherein, ΔY is the theoretical deviation distance corresponding to the light rays illuminating the first preset position deviating from the preset angle, N is the preset distance, and Δθ is the theoretical deviation angle.

[0111] Figure 5 This is a schematic diagram of the detection device provided in an embodiment of the present invention. Figure 5 As shown, the detection device 5 in this embodiment includes a processor 50, a memory 51, and a computer program 52 stored in the memory 51 and executable on the processor 50. When the processor 50 executes the computer program 52, it implements the steps in the various embodiments of the lidar transmittance window uniformity detection method described above, for example... Figure 1 Steps 101 to 104 are shown. Alternatively, when processor 50 executes computer program 52, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 4 The functions of modules / units 41 to 45 shown.

[0112] For example, computer program 52 can be divided into one or more modules / units, one or more of which are stored in memory 51 and executed by processor 50 to complete the present invention. One or more modules / units can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of computer program 52 in detection device 5. For example, computer program 52 can be divided into...Figure 4 Modules / units 41 to 45 are shown.

[0113] The testing device 5 can be a computing device such as a desktop computer, laptop, handheld computer, or cloud server. The testing device 5 may include, but is not limited to, a processor 50 and a memory 51. Those skilled in the art will understand that... Figure 5 This is merely an example of the detection device 5 and does not constitute a limitation on the detection device 5. It may include more or fewer components than shown, or combine certain components, or different components. For example, the detection device may also include input / output devices, network access devices, buses, etc.

[0114] The processor 50 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0115] The memory 51 can be an internal storage unit of the testing device 5, such as a hard disk or RAM of the testing device 5. The memory 51 can also be an external storage device of the testing device 5, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the testing device 5. Furthermore, the memory 51 can include both internal and external storage units of the testing device 5. The memory 51 is used to store computer programs and other programs and data required by the testing device. The memory 51 can also be used to temporarily store data that has been output or will be output.

[0116] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0117] As another embodiment of the present invention, combined with Figure 2 As shown, the present invention may further include a laser radar transmittance window uniformity detection system, which may include the detection equipment described in the above embodiments, and further include a single point light source and a rotating platform ( Figure 2 (not shown in the image), fixed platform ( Figure 2 (not shown in the image) and receiving screen.

[0118] The single-point light source is fixed on a rotating platform, which is in turn fixed on a fixed platform. The rotating platform rotates around a straight line perpendicular to the fixed platform, with the first preset position of the inner wall of the light-transmitting window of the lidar under test located therein. This allows the single-point light source to first illuminate the first preset position of the inner wall of the light-transmitting window of the lidar under test at a first preset incident angle, and then illuminate the first preset position of the inner wall of the light-transmitting window of the lidar under test at a second preset incident angle.

[0119] The fixed platform is also used to fix the light-transmitting window of the lidar under test. The receiving screen is set at a preset distance from the light-transmitting window of the lidar under test and connected to the detection equipment, so that the detection equipment can perform steps 101 to 104.

[0120] Optionally, when the light transmission window of the lidar under test needs to be rotated, the lidar light transmission window uniformity detection system may also include another rotating platform to fix the light transmission window of the lidar under test on the fixed platform through the other rotating platform.

[0121] Optionally, the mounting stage can be an optical platform or other suitable standard plane.

[0122] The lidar transmittance window uniformity detection system provided in this embodiment has the same beneficial effects as the lidar transmittance window uniformity detection method in the above embodiments, and will not be described again here.

[0123] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0124] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0125] In the embodiments provided by this invention, it should be understood that the disclosed apparatus / detection device and method can be implemented in other ways. For example, the apparatus / detection device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0126] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0127] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0128] If integrated modules / units are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various embodiments of the lidar transmittance window uniformity detection method described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0129] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for detecting the uniformity of a laser radar transmittance window, characterized in that, The application relates to a method for testing uniformity of a light-transmitting window of a laser radar. When a single light source irradiates a first preset position on an inner wall of a light-transmitting window of a laser radar to be tested at a first preset incident angle, a first light point coordinate of a light spot projected on a receiving screen at a preset distance away from the light-transmitting window of the laser radar to be tested is captured; When the single light source irradiates the first preset position at a second preset incident angle which is different from the first preset incident angle by a preset angle, a second light point coordinate of a light spot projected on the receiving screen at the preset distance away from the light-transmitting window of the laser radar to be tested is captured; A distance between the first light point coordinate and the second light point coordinate is calculated, and the distance is recorded as a first actual deviation distance corresponding to the light ray deviating from the first preset position by the preset angle; Whether the light-transmitting window of the laser radar to be tested is uniform is determined according to a theoretical deviation distance corresponding to the light ray deviating from the first preset position by the preset angle and the first actual deviation distance. The determination process of the theoretical deviation distance corresponding to the light ray deviating from the first preset position by the preset angle comprises the following steps: A theoretical model of the light-transmitting window of the laser radar to be tested is established according to a designed thickness and a designed curvature of the light-transmitting window of the laser radar to be tested; A first theoretical refraction angle of the light-transmitting window of the laser radar to be tested is determined according to the first preset incident angle and a refractive index of the light-transmitting window of the laser radar to be tested; A first theoretical exit angle of the light-transmitting window of the laser radar to be tested is determined according to the first theoretical refraction angle and a theoretical outer wall in the theoretical model; A second theoretical exit angle of the light-transmitting window of the laser radar to be tested is determined according to the second preset incident angle according to the method of determining the first theoretical exit angle according to the first preset incident angle; A theoretical deviation angle of a first theoretical exit light ray corresponding to the first theoretical exit angle and a second theoretical exit light ray corresponding to the second theoretical exit angle is determined according to the first theoretical exit angle and the second theoretical exit angle; A theoretical deviation distance corresponding to the light ray deviating from the first preset position by the preset angle is determined according to the preset distance and the theoretical deviation angle.

2. The lidar light-transmitting window uniformity detection method of claim 1, wherein, The determination of whether the light-transmitting window of the laser radar to be tested is uniform according to the theoretical deviation distance corresponding to the light ray deviating from the first preset position by the preset angle and the first actual deviation distance comprises the following steps: Whether the first actual deviation distance is equal to the theoretical deviation distance is judged; If the first actual deviation distance is equal to the theoretical deviation distance, it is determined that the light-transmitting window of the laser radar to be tested is uniform in a first preset area, the first preset area being an area between a first position of the light-transmitting window of the laser radar to be tested which is refracted out of the light-transmitting window of the laser radar to be tested when the first preset position is irradiated at the first preset incident angle and a second position of the light-transmitting window of the laser radar to be tested which is refracted out of the light-transmitting window of the laser radar to be tested when the first preset position is irradiated at the second preset incident angle; If the first actual deviation distance is not equal to the theoretical deviation distance, it is determined that the light-transmitting window of the laser radar to be tested is not uniform in the first preset area.

3. The lidar light-transmitting window uniformity detection method of claim 1, wherein, The determination of whether the light-transmitting window of the laser radar to be tested is uniform according to the theoretical deviation distance corresponding to the light ray deviating from the first preset position by the preset angle and the first actual deviation distance comprises the following steps: determining whether the first actual deviation distance is within a set error range of the theoretical deviation distance; if the first actual deviation distance is within the set error range of the theoretical deviation distance, determining that the to-be-measured laser radar light-transmitting window is uniform in a first preset area, the first preset area being an area between a first position refracted out by an outer wall of the to-be-measured laser radar light-transmitting window when the first preset position is irradiated at the first preset incident angle and a second position refracted out by the outer wall of the to-be-measured laser radar light-transmitting window when the first preset position is irradiated at the second preset incident angle; if the first actual deviation distance is beyond the set error range of the theoretical deviation distance, determining that the to-be-measured laser radar light-transmitting window is not uniform in the first preset area.

4. The lidar light-transmitting window uniformity detection method according to claim 2 or 3, characterized by, after determining that the to-be-measured laser radar light-transmitting window is uniform in the first preset area, further comprising: taking a corresponding position of the second position on an inner wall of the to-be-measured laser radar light-transmitting window as a second preset position, and rotating the to-be-measured laser radar light-transmitting window so that a position of the single-point light source irradiating the to-be-measured laser radar light-transmitting window changes from the first preset position to the second preset position; when the single-point light source irradiates the second preset position at the first preset incident angle, capturing a third light point coordinate of a light point projected on a receiving light screen at a preset distance away from the to-be-measured laser radar light-transmitting window after the single-point light source; when the single-point light source irradiates the second preset position at the second preset incident angle, capturing a fourth light point coordinate of a light point projected on the receiving light screen at the preset distance away from the to-be-measured laser radar light-transmitting window after the single-point light source; calculating a distance between the third light point coordinate and the fourth light point coordinate, and taking the distance as a second actual deviation distance corresponding to a light ray deviation preset angle when the second preset position is irradiated; determining whether the to-be-measured laser radar light-transmitting window is uniform according to the theoretical deviation distance and the second actual deviation distance.

5. The lidar light-transmitting window uniformity detection method of claim 1, wherein, the determining, according to the preset distance and the theoretical deviation angle, of a theoretical deviation distance corresponding to a light ray deviation preset angle when the first preset position is irradiated, comprising: According to , a theoretical deviation distance corresponding to a deviation preset angle of a light ray irradiating the first preset position is determined; wherein, a theoretical deviation distance corresponding to a preset angle of deviation of the light ray irradiating the first preset position, a preset distance, a theoretical deviation angle.

6. A laser radar light-transmitting window uniformity detection device, characterized by, comprising: a first capturing module, configured to capture a first light point coordinate of a light point projected on a receiving light screen at a preset distance away from the to-be-measured laser radar light-transmitting window after a single-point light source when the single-point light source irradiates a first preset position on an inner wall of the to-be-measured laser radar light-transmitting window at a first preset incident angle; a second capturing module, configured to capture a second light point coordinate of a light point projected on the receiving light screen at the preset distance away from the to-be-measured laser radar light-transmitting window after the single-point light source when the single-point light source irradiates the first preset position at a second preset incident angle different from the first preset incident angle by a preset angle; a first processing module, configured to calculate a distance between the first light point coordinate and the second light point coordinate, and take the distance as a first actual deviation distance corresponding to a light ray deviation preset angle when the first preset position is irradiated; a second processing module, configured to determine whether the to-be-measured laser radar light-transmitting window is uniform according to a theoretical deviation distance corresponding to the light ray deviation preset angle when the first preset position is irradiated and the first actual deviation distance; The third processing module is configured to establish a theoretical model of the transparent window of the laser radar to be tested according to a designed thickness and a designed curvature of the transparent window of the laser radar to be tested; determine a first theoretical refraction angle of the transparent window of the laser radar to be tested according to the first preset incident angle and a refractive index of the transparent window of the laser radar to be tested; determine a first theoretical exit angle of the transparent window of the laser radar to be tested according to the first theoretical refraction angle and a theoretical outer wall in the theoretical model; determine a second theoretical exit angle of the transparent window of the laser radar to be tested according to the second preset incident angle according to a method of determining the first theoretical exit angle according to the first preset incident angle; determine a theoretical deviation angle of a first theoretical exit light corresponding to the first theoretical exit angle and a second theoretical exit light corresponding to the second theoretical exit angle according to the first theoretical exit angle and the second theoretical exit angle; and determine a corresponding theoretical deviation distance when a light deviation preset angle irradiates the first preset position according to the preset distance and the theoretical deviation angle.

7. A lidar light-transmitting window uniformity detection system, characterized by, The detection device comprises a memory and a processor, the memory is configured to store a computer program, and the processor is configured to call and run the computer program stored in the memory to execute the method of any one of claims 1 to 5.

8. The lidar light-transmitting window uniformity detection system of claim 7, wherein, Further comprising: a single-point light source, a rotating platform, a fixed table and a receiving light screen; the single-point light source is fixed on the rotating platform, the rotating platform is fixed on the fixed table, and the rotating platform drives the single-point light source to rotate with a straight line perpendicular to the fixed table and passing through a first preset position of an inner wall of the transparent window of the laser radar to be tested as a rotating shaft; the fixed table is further configured to fix the transparent window of the laser radar to be tested; the receiving light screen is arranged at a preset distance away from the transparent window of the laser radar to be tested and is connected with the detection device.

9. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 8. The computer program is executed by the processor to realize the steps of the method of any one of claims 1 to 5.

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