Single-line laser radar laser calibration method, device, system, computer-readable medium and program product

Abstract

The present application provides a single-line laser radar laser calibration method, device, system, computer-readable medium and program product. The single-line laser radar laser calibration method includes: when the laser is adsorbed under the suction nozzle, the corner light source is turned on, and the camera light source of the camera module is turned on, a first adjustment instruction is sent to the single-line laser radar laser calibration device; when the absolute value of the difference between the distance between the laser and the transmitting lens and the focal length of the transmitting lens is less than a first preset threshold, at least one of a second adjustment instruction and a third adjustment instruction is sent to the single-line laser radar laser calibration device; when the distance between the center position of the laser beam emitted by the laser and the center position of the transmitting lens is less than a second preset threshold, an ultraviolet light control instruction is sent to the single-line laser radar laser calibration device; after the ultraviolet glue is ultraviolet cured, a fourth adjustment instruction is sent to the single-line laser radar laser calibration device.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of laser radar technology, and in particular to a single-line laser radar laser calibration method, device, system, computer-readable medium and program product. Background Art

[0002] LiDAR is involved in related fields such as industrial automation, mobile robots and driver assistance. With the development of laser technology, its application is extensive. LiDAR plays a key role in the reasonable design of the launch system in LiDAR. As an active detection and ranging system for emitting light sources, LiDAR can achieve high-precision, high-range resolution, and high-angle resolution measurement and imaging thanks to the short wavelength, excellent directionality and monochromaticity of lasers.

[0003] At this stage, laser radars are divided into single-line laser radars and multi-line laser radars. Whether the optical axis of the laser of the single-line laser radar is concentric with the optical axis of the transmitting lens in the transmitting lens barrel directly affects the ranging performance and accuracy of the single-line laser radar. Therefore, the laser of the single-line laser radar needs to be calibrated so that the optical axis of the laser is concentric with the optical axis of the transmitting lens in the transmitting lens barrel.

[0004] The laser and transmitting lens barrel in a conventional single-line laser radar are installed through a structural assembly method, and it is difficult or even impossible to ensure that the optical axis of the laser is concentric with the optical axis of the transmitting lens in the transmitting lens barrel. Summary of the invention

[0005] Embodiments of the present application provide a single-line lidar laser calibration method, device, system, computer-readable medium, and program product.

[0006] In a first aspect, an embodiment of the present application provides a single-line laser radar laser calibration method, which is applied to a control device, comprising: when the laser is adsorbed under a suction nozzle, the corner light source of the single-line laser radar laser calibration device is turned on, and the camera light source of the camera module of the single-line laser radar laser calibration device is turned on, a first adjustment instruction is sent to the single-line laser radar laser calibration device, and the first adjustment instruction is used to adjust the position of the laser in a first straight line direction; wherein the first straight line direction is the adjustment direction of the first linear fine-tuning module in the single-line laser radar laser calibration device; when the absolute value of the difference between the distance between the laser and the transmitting lens in the first straight line direction and the focal length of the transmitting lens is less than or equal to a first preset threshold, at least one of a second adjustment instruction and a third adjustment instruction is sent to the single-line laser radar laser calibration device, and the second adjustment instruction is used to adjust the position of the laser in the second straight line direction, The third adjustment instruction is used to adjust the position of the laser in a third straight line direction; wherein, the second straight line direction is the adjustment direction of the second linear fine-tuning module in the single-line laser radar laser calibration device, and the third straight line direction is the adjustment direction of the third linear fine-tuning module in the single-line laser radar laser calibration ear; when the distance between the center position of the laser beam emitted by the laser and the center position of the emitting lens is less than or equal to a second preset threshold, a UV lamp control instruction is sent to the single-line laser radar laser calibration device, and the UV lamp control instruction is used to control the UV lamp of the single-line laser radar laser calibration device to turn on; after the UV lamp UV-cures the UV glue coated on the edge of the upper surface of the emitting lens barrel of the single-line laser radar laser calibration device, a fourth adjustment instruction is sent to the single-line laser radar laser calibration device, and the fourth adjustment instruction is used to adjust the position of the laser in the first straight line direction to the target position.

[0007] The single-line LiDAR laser calibration method provided in the embodiment of the present application adjusts the position of the laser 250 in three mutually perpendicular directions by adjusting the first linear fine-tuning module 110, the second linear fine-tuning module 150 and the third linear fine-tuning module 190 in the adjustment component 200, so as to achieve laser calibration. The calibration process is simple and fast, which effectively saves the installation time and difficulty of the laser transmitting tube; and improves the consistency of LiDAR product assembly and the yield of LiDAR products. Moreover, the laser calibration is achieved by taking pictures with the camera module 440. During the calibration process, the corner light source 400 is used for fill light, so that problems arising during the installation process can be observed more directly, which effectively improves the stability of the LiDAR product, thereby improving the overall performance of the LiDAR product.

[0008] In some exemplary embodiments, before sending the first adjustment instruction to the single-line lidar laser calibration device, the method also includes: acquiring and displaying the image captured by the camera module.

[0009] In some exemplary embodiments, sending the first adjustment instruction to the single-line lidar laser calibration device includes: sending the first adjustment instruction to the single-line lidar laser calibration device according to an image captured by a camera module of the single-line lidar laser calibration device.

[0010] In some exemplary embodiments, sending a first adjustment instruction to the single-line lidar laser calibration device based on an image captured by the camera module of the single-line lidar laser calibration device includes: acquiring the image captured by the camera module; determining whether the absolute value of the difference between the distance between the laser and the transmitting lens in the first straight line direction and the focal length of the transmitting lens is less than or equal to the first preset threshold value based on the captured image; when it is determined that the absolute value of the difference between the distance between the laser and the transmitting lens in the first straight line direction and the focal length of the transmitting lens is greater than the first preset threshold value, sending the first adjustment instruction to the single-line lidar laser calibration device, the first adjustment instruction including the positive direction or reverse direction of the first straight line direction, and the adjustment step size; repeating the above steps until the absolute value of the difference between the distance between the laser and the transmitting lens in the first straight line direction and the focal length of the transmitting lens is less than or equal to the first preset threshold value.

[0011] In some exemplary embodiments, sending at least one of a second adjustment instruction and a third adjustment instruction to the single-line lidar laser calibration device includes: sending at least one of a second adjustment instruction and a third adjustment instruction to the single-line lidar laser calibration device based on an image captured by the camera module.

[0012] In some exemplary embodiments, sending at least one of the second adjustment instruction and the third adjustment instruction to the single-line lidar laser calibration device based on the image captured by the camera module includes: acquiring the image captured by the camera module; determining whether the distance between the center position of the laser beam emitted by the laser and the center position of the emitting lens is less than or equal to a second preset threshold value based on the captured image; when it is determined that the distance between the center position of the laser beam emitted by the laser and the center position of the emitting lens is greater than the second preset threshold value, sending at least one of the second adjustment instruction and the third adjustment instruction to the single-line lidar laser calibration device, the second adjustment instruction including the positive direction or the reverse direction of the second straight line direction, and the adjustment step length, and the third adjustment instruction including the positive direction or the reverse direction of the third straight line direction, and the adjustment step length; repeating the above steps until the distance between the center position of the laser beam emitted by the laser and the center position of the emitting lens is less than or equal to the second preset threshold value.

[0013] In a second aspect, an embodiment of the present application provides a single-line laser radar laser calibration device, including: an adjustment component 200, an imaging component 500 and a driving circuit 600.

[0014] The adjustment assembly 200 includes: a first linear fine-tuning module 110; a second linear fine-tuning module 150; a third linear fine-tuning module 190; the third linear fine-tuning module 190 is fixedly connected to the top plate 350; and

[0015] A first adapter plate 120; the first adapter plate 120 is an L-shaped structure, the first linear fine-tuning module 110 is fixedly connected to one arm of the first adapter plate 120, and the second linear fine-tuning module 150 is fixedly connected to the other arm of the first adapter plate 120; and

[0016] a second adapter plate 170; the second linear fine-tuning module 150 is fixedly connected to the top surface of the second adapter plate 170, and the third linear fine-tuning module 190 is fixedly connected to the bottom surface of the second adapter plate 170; and

[0017] A nozzle mounting seat 230; the nozzle mounting seat 230 is fixedly connected to the first linear fine-tuning module 110; the nozzle mounting seat 230 is used to mount a nozzle 240; and

[0018] A pressing block 310 with a first magnet 320 is installed at the bottom; an ultraviolet lamp printed circuit board 260 is installed at the middle position of the top of the pressing block 310, and an ultraviolet lamp 270 and an ultraviolet lamp power interface 280 are installed on the ultraviolet lamp printed circuit board 260. The ultraviolet lamp printed circuit board 260, the ultraviolet lamp 270 and the ultraviolet lamp power interface 280 are electrically connected, and the ultraviolet lamp power interface 280 is used to be electrically connected to a power source.

[0019] The adjustment directions of any two modules among the first linear fine-tuning module 110 , the second linear fine-tuning module 150 and the third linear fine-tuning module 190 are perpendicular to each other; the orientation of the suction nozzle 240 is parallel to the adjustment direction of the first linear fine-tuning module 110 .

[0020] The imaging assembly 500 includes: a bottom plate 450; a top plate 350; a first assembly hole is provided on the top plate 350, and the first assembly hole is used to install the transmitting lens barrel 290 of the single-line laser radar; a second magnet 330 is installed on the top of the top plate 350; a pressing block 310 with a first magnet 320 installed on the bottom is adsorbed on the top plate 350 through the first magnet 320; and

[0021] Four guide posts 410; one end of each of the four guide posts 410 is fixedly connected to the bottom plate 450, and the other end of each of the four guide posts 410 is fixedly connected to the top plate 350; and

[0022] A camera module 440; one end of the camera module 440 is fixedly connected to the bottom plate 450; and

[0023] A camera lens 441; one end of the camera lens 441 is fixedly connected to the other end of the camera module 440; and

[0024] Corner light source 400; the corner light source 400 is fixedly connected to the top plate 350;

[0025] The driving circuit 600 is electrically connected to the first linear fine-tuning module 110, the second linear fine-tuning module 150, the third linear fine-tuning module 190, the corner light source 400 and the camera module 440 respectively, and is used to receive a first adjustment instruction sent by the control device 700 when the laser 250 is adsorbed under the suction nozzle 240, the corner light source 400 is turned on, and the camera light source of the camera module 440 is turned on. The first adjustment instruction is used to adjust the position of the laser 250 in the first straight line direction, and control the first linear fine-tuning module 190 according to the first adjustment instruction. The linear fine-tuning module 110 moves in a first straight line direction; wherein the first straight line direction is the adjustment direction of the first linear fine-tuning module 110; when the absolute value of the difference between the distance between the laser 250 and the transmitting lens 300 in the first straight line direction and the focal length of the transmitting lens 300 is less than or equal to a first preset threshold value, at least one of a second adjustment instruction and a third adjustment instruction sent by the control device 700 is received, wherein the second adjustment instruction is used to adjust the position of the laser 250 in the second straight line direction, and the third adjustment instruction is used to adjust the position of the laser 250 in the third straight line direction. direction, control the second linear fine-tuning module 150 to move in the second linear direction according to the second adjustment instruction, and control the third linear fine-tuning module 190 to move in the third linear direction according to the third adjustment instruction; wherein, the second linear direction is the adjustment direction of the second linear fine-tuning module 150, and the third linear direction is the adjustment direction of the third linear fine-tuning module 190; when the distance between the center position of the laser beam emitted by the laser 250 and the center position of the emitting lens 300 is less than or equal to the second preset threshold, receive the ultraviolet lamp control instruction sent by the control device 700, the ultraviolet lamp control instruction is used to control the ultraviolet lamp 270 to turn on, and control the ultraviolet lamp 270 to turn on according to the ultraviolet lamp control instruction; after the ultraviolet lamp 270 performs ultraviolet curing on the ultraviolet glue coated on the edge of the upper surface of the emitting lens barrel of the single-line laser radar laser calibration device, receive the fourth adjustment instruction sent by the control device 700, the fourth adjustment instruction is used to adjust the position of the laser 250 in the first linear direction to the target position, and control the first linear fine-tuning module 110 to move to the target position in the first linear direction according to the fourth adjustment instruction.

[0026] The single-line LiDAR laser calibration device provided in the embodiment of the present application adjusts the position of the laser 250 in three mutually perpendicular directions by adjusting the first linear fine-tuning module 110, the second linear fine-tuning module 150 and the third linear fine-tuning module 190 in the adjustment component 200, so as to achieve laser calibration. The calibration process is simple and fast, which effectively saves the installation time and difficulty of the laser transmitting tube; and improves the consistency of LiDAR product assembly and the yield of LiDAR products. Moreover, the laser calibration is achieved by taking pictures with the camera module 440. During the calibration process, the corner light source 400 is used for fill light, so that problems arising during the installation process can be observed more directly, which effectively improves the stability of the LiDAR product, thereby improving the overall performance of the LiDAR product.

[0027] In a third aspect, an embodiment of the present application provides a control device, comprising at least one processor and a memory, wherein at least one program is stored in the memory, and when the at least one program is executed by the at least one processor, any one of the single-line lidar laser calibration methods described in the first aspect is implemented.

[0028] In a fourth aspect, an embodiment of the present application provides a computer-readable medium having a computer program or instructions stored thereon, and when the computer program or instructions are executed by a processor, any one of the single-line lidar laser calibration methods described in the first aspect is implemented.

[0029] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements any one of the single-line lidar laser calibration methods described in the first aspect.

[0030] In a sixth aspect, an embodiment of the present application provides a single-line LiDAR laser calibration system, comprising: the single-line LiDAR laser calibration device described in the second aspect and the control device 700 described in the third aspect.

[0031] The single-line LiDAR laser calibration system provided in the embodiment of the present application adjusts the position of the laser 250 in three mutually perpendicular directions by adjusting the first linear fine-tuning module 110, the second linear fine-tuning module 150 and the third linear fine-tuning module 190 in the adjustment component 200, so as to achieve laser calibration. The calibration process is simple and fast, which effectively saves the installation time and difficulty of the laser transmitting tube; and improves the consistency of LiDAR product assembly and the yield of LiDAR products. Moreover, the laser calibration is achieved by taking pictures with the camera module 440. During the calibration process, the corner light source 400 is used for fill light, so that problems arising during the installation process can be observed more directly, which effectively improves the stability of the LiDAR product, thereby improving the overall performance of the LiDAR product. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic diagram of a flow chart of a single-line laser radar calibration method provided in one embodiment of the present application;

[0033] Figure 2 A schematic diagram of a single-line laser radar laser calibration device provided for another embodiment of the present application;

[0034] Figure 3 An exploded schematic diagram of the installation structure of the adjustment component in the single-line laser radar laser calibration device provided in an embodiment of the present application;

[0035] Figure 4 An exploded schematic diagram of the installation structure of the adjustment component in the single-line laser radar laser calibration device and the transmitting module of the single-line laser radar provided in an embodiment of the present application;

[0036] Figure 5 An exploded schematic diagram of the installation structure of the imaging assembly provided in an embodiment of the present application;

[0037] Figure 6 A schematic diagram of the composition of a control device provided in another embodiment of the present application;

[0038] Figure 7 A schematic diagram of a single-line laser radar laser calibration system provided for another embodiment of the present application;

[0039] Wherein, 200: adjustment component, 500: imaging component, 600: driving circuit, 700: control device;

[0040] 100: first mounting screw, 110: first linear fine-tuning module, 111: first driving interface, 112: first fine-tuning component, 113: first fixing component, 120: first adapter plate, 130: second mounting screw, 140: third mounting screw, 150: second linear fine-tuning module, 151: second driving interface, 152: second fine-tuning component, 153: second fixing component, 160: fourth mounting screw, 170: second adapter plate, 180: fifth mounting screw, 190: third linear fine-tuning module, 191: third driving interface, 192: third fine-tuning component, 193: third fixing component;

[0041] 210: sixth mounting screw, 220: trachea interface, 230: nozzle mounting seat, 240: nozzle, 250: laser, 260: UV lamp printed circuit board (PCB), 270: UV lamp, 280: UV lamp power interface, 290: emitting lens barrel, 300: emitting lens, 310: pressing block, 320: first magnet, 330: second magnet, 340: seventh mounting screw, 350: top plate, 360: eighth mounting screw, 370: ninth mounting screw, 380: first fixing block, 390: second fixing block, 400: corner light source, 410: guide column, 420: tenth mounting screw, 430: eleventh mounting screw, 440: camera module, 441: camera lens, 450; bottom plate, 460: twelfth mounting screw, 470: thirteenth mounting screw. DETAILED DESCRIPTION

[0042] In order to enable technicians in this field to better understand the technical solution of the present application, the single-line lidar laser calibration method, device, system, computer-readable medium and program product provided by the present application are described in detail below in conjunction with the accompanying drawings.

[0043] Example embodiments will be described more fully below with reference to the accompanying drawings, but the example embodiments may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. On the contrary, the purpose of providing these embodiments is to make this application thorough and complete and to enable those skilled in the art to fully understand the scope of this application.

[0044] In the absence of conflict, the embodiments of the present application and the features therein may be combined with each other.

[0045] As used herein, the term "and / or" includes any and all combinations of at least one of the associated listed items.

[0046] The terms used herein are only used to describe specific embodiments and are not intended to limit the present application. As used herein, the singular forms "a", "an" and "the" are also intended to include the plural forms, unless the context clearly indicates otherwise. It will also be understood that when the terms "comprising" and / or "made of" are used in this specification, the presence of the features, wholes, steps, operations, elements and / or components is specified, but the presence or addition of at least one other feature, whole, step, operation, element, component and / or its group is not excluded.

[0047] The embodiments described herein may be described with reference to plan views and / or cross-sectional views by means of idealized schematic diagrams of the present application. Therefore, the example illustrations may be modified according to manufacturing techniques and / or tolerances. Therefore, the embodiments are not limited to the embodiments shown in the drawings, but include modifications of the configurations formed based on the manufacturing process. Therefore, the regions illustrated in the drawings have schematic properties, and the shapes of the regions shown in the drawings illustrate the specific shapes of the regions of the elements, but are not intended to be limiting.

[0048] In the description of the embodiments, unless otherwise clearly specified and limited, the terms "disposed", "connected" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, a connection through an intermediate medium, or a connection between two components. For those of ordinary skill in the art, the specific meanings of the above in this application can be understood according to the specific circumstances.

[0049] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and this application, and will not be interpreted as having an idealized or overly formal meaning unless explicitly defined herein.

[0050] Figure 1 A schematic flowchart of a single-line laser radar calibration method provided for one embodiment of the present application.

[0051] First, refer to Figure 1 An embodiment of the present application provides a single-line laser radar laser calibration method, which is applied to a control device, including:

[0052] Step 100, when the laser is adsorbed under the suction nozzle, the corner light source of the single-line laser radar laser calibration device is turned on, and the camera light source of the camera module of the single-line laser radar laser calibration device is turned on, a first adjustment instruction is sent to the single-line laser radar laser calibration device, and the first adjustment instruction is used to adjust the position of the laser in the first straight line direction; wherein the first straight line direction is the adjustment direction of the first linear fine-tuning module in the single-line laser radar laser calibration device.

[0053] In an embodiment of the present application, when an air pump pressure control instruction input by the user is received, an air pump pressure control instruction can be sent to the single-line lidar laser calibration device. The air pump pressure control instruction is used to control the suction nozzle to press up so as to adsorb the laser under the suction nozzle.

[0054] In some exemplary embodiments, the user can input the air pump pressure control instruction by clicking the first button on the display interface. In some exemplary embodiments, the first button can display words such as "air pump" or "press up" for user identification.

[0055] In an embodiment of the present application, when a corner light source turning on instruction input by a user is received, a corner light source turning on instruction can be sent to a single-line laser radar laser calibration device, and the corner light source turning on instruction is used to control the turning on of the corner light source.

[0056] In some exemplary embodiments, the user can input the corner light source opening instruction by clicking the second button on the display interface. In some exemplary embodiments, the second button can display words such as "fill light" or "corner light source" for user identification.

[0057] In an embodiment of the present application, when a camera light source on instruction input by a user is received, a camera light source on instruction can be sent to a single-line lidar laser calibration device, and the camera light source on instruction is used to control the camera light source to turn on.

[0058] In some exemplary embodiments, the user can input the camera light source opening instruction by clicking the third button on the display interface. In some exemplary embodiments, the third button can display words such as "camera" for user identification.

[0059] In an embodiment of the present application, the first adjustment instruction sent to the single-line laser radar laser calibration device may be one, or two or more. Specifically, if a first adjustment instruction can control the first linear fine-tuning module to satisfy the absolute value of the difference between the distance between the laser and the transmitting lens in the first straight line direction and the focal length of the transmitting lens after adjustment is less than or equal to the first preset threshold, then it is sufficient to send one first adjustment instruction to the single-line laser radar laser calibration device; if a first adjustment instruction still does not satisfy the absolute value of the difference between the distance between the laser and the transmitting lens in the first straight line direction and the focal length of the transmitting lens is less than or equal to the first preset threshold after controlling the adjustment of the first linear fine-tuning module, then it is necessary to send two or more first adjustment instructions to the single-line laser radar laser calibration device to meet the demand.

[0060] In an embodiment of the present application, the first adjustment instruction can be input by a user, or it can be automatically obtained when it is determined that the first adjustment instruction needs to continue to be sent to the single-line lidar laser calibration device.

[0061] In some exemplary embodiments, the user can input the first adjustment instruction by clicking a fourth button on the display interface. In some exemplary embodiments, the fourth button can display words such as "Z+" or "Z-" for user identification.

[0062] In an embodiment of the present application, a variety of methods may be used to determine whether to continue sending the first adjustment instruction to the single-line laser radar laser calibration device. For example, an image captured by a camera module may be displayed on a display interface, and a user determines whether to continue inputting the first adjustment instruction by observing the image displayed on the display interface. Then, before sending the first adjustment instruction to the single-line laser radar laser calibration device, the method further includes: acquiring and displaying the image captured by the camera module. For another example, image analysis may be performed on the image captured by the camera module to determine whether to continue sending the first adjustment instruction to the single-line laser radar laser calibration device. In other words, sending the first adjustment instruction to the single-line laser radar laser calibration device includes: sending the first adjustment instruction to the single-line laser radar laser calibration device according to the image captured by the camera module of the single-line laser radar laser calibration device.

[0063] In some exemplary embodiments, the first adjustment instruction includes a positive direction or a negative direction of the first straight line direction, and an adjustment step length.

[0064] In some exemplary embodiments, sending a first adjustment instruction to the single-line LiDAR laser calibration device based on an image captured by a camera module of the single-line LiDAR laser calibration device includes: acquiring an image captured by the camera module; determining based on the captured image whether the absolute value of the difference between the distance between the laser and the transmitting lens in the first straight line direction and the focal length of the transmitting lens is less than or equal to a first preset threshold; when it is determined that the absolute value of the difference between the distance between the laser and the transmitting lens in the first straight line direction and the focal length of the transmitting lens is greater than the first preset threshold, sending a first adjustment instruction to the single-line LiDAR laser calibration device, the first adjustment instruction including a positive direction or a reverse direction of the first straight line direction, and an adjustment step; repeating the above steps until the absolute value of the difference between the distance between the laser and the transmitting lens in the first straight line direction and the focal length of the transmitting lens is less than or equal to the first preset threshold.

[0065] In some exemplary embodiments, when it is determined that the absolute value of the difference between the distance between the laser and the transmitting lens in the first straight line direction and the focal length of the transmitting lens is less than or equal to the first preset threshold, the first adjustment instruction is stopped from being sent to the single-line laser radar laser calibration device. In some exemplary embodiments, the user may be prompted that the adjustment of the laser in the first straight line direction has been completed.

[0066] In some exemplary embodiments, the positive direction of the first straight line direction may be the positive axis direction of the Z axis in the Cartesian coordinate system, and the negative direction of the first straight line direction may be the negative axis direction of the Z axis in the Cartesian coordinate system.

[0067] In some exemplary embodiments, the adjustment step size can be input by the user or customized. For example, the user can enter a specific adjustment step size value through a text box, or select an adjustment step size value from a drop-down list, or click one of a plurality of step size buttons on the display interface, where each step size button corresponds to a specific adjustment step size value.

[0068] In some exemplary embodiments, determining whether the absolute value of the difference between the distance between the laser and the transmitting lens in the first straight line direction and the focal length of the transmitting lens is less than or equal to a first preset threshold value based on the captured image includes: performing image processing on the captured image to obtain the sharpness degree of the captured image; when the sharpness degree of the captured image is greater than the sharpening threshold, it means that the clarity of the captured image is relatively high, thereby determining that the absolute value of the difference between the distance between the laser and the transmitting lens in the first straight line direction and the focal length of the transmitting lens is less than or equal to the first preset threshold value; when the sharpness degree of the captured image is less than or equal to the sharpening threshold, it means that the clarity of the captured image is relatively low, thereby determining that the absolute value of the difference between the distance between the laser and the transmitting lens in the first straight line direction and the focal length of the transmitting lens is greater than the first preset threshold value.

[0069] Step 101, when the absolute value of the difference between the distance between the laser and the transmitting lens in the first straight line direction and the focal length of the transmitting lens is less than or equal to a first preset threshold value, at least one of a second adjustment instruction and a third adjustment instruction is sent to the single-line laser radar laser calibration device, the second adjustment instruction is used to adjust the position of the laser in the second straight line direction, and the third adjustment instruction is used to adjust the position of the laser in the third straight line direction; wherein the second straight line direction is the adjustment direction of the second linear fine-tuning module in the single-line laser radar laser calibration device, and the third straight line direction is the adjustment direction of the third linear fine-tuning module in the single-line laser radar laser calibration device.

[0070] In an embodiment of the present application, a variety of methods may be used to determine whether to continue sending the second adjustment instruction or the third adjustment instruction to the single-line laser radar laser calibration device. For example, the image captured by the camera module may be displayed on the display interface, and the user determines whether to continue sending the second adjustment instruction or the third adjustment instruction to the single-line laser radar laser calibration device by observing the image displayed on the display interface. For another example, image analysis may be performed on the image captured by the camera module to determine whether to continue sending the second adjustment instruction or the third adjustment instruction to the single-line laser radar laser calibration device. In other words, sending at least one of the second adjustment instruction and the third adjustment instruction to the single-line laser radar laser calibration device includes: sending at least one of the second adjustment instruction and the third adjustment instruction to the single-line laser radar laser calibration device according to the image captured by the camera module.

[0071] In some exemplary embodiments, sending at least one of a second adjustment instruction and a third adjustment instruction to a single-line lidar laser calibration device based on an image captured by a camera module includes: acquiring an image captured by a camera module; determining whether the distance between the center position of the laser beam emitted by the laser and the center position of the emitting lens is less than or equal to a second preset threshold value based on the captured image; when it is determined that the distance between the center position of the laser beam emitted by the laser and the center position of the emitting lens is greater than the second preset threshold value, sending at least one of a second adjustment instruction and a third adjustment instruction to the single-line lidar laser calibration device, the second adjustment instruction including a positive direction or a reverse direction of the second straight line direction, and an adjustment step length, and the third adjustment instruction including a positive direction or a reverse direction of the third straight line direction, and an adjustment step length; repeating the above steps until the distance between the center position of the laser beam emitted by the laser and the center position of the emitting lens is less than or equal to the second preset threshold value.

[0072] In some exemplary embodiments, when it is determined that the distance between the center position of the laser beam emitted by the laser and the center position of the emitting lens is less than or equal to the second preset threshold, the second adjustment instruction and the third adjustment instruction are stopped from being sent to the single-line laser radar laser calibration device. In some exemplary embodiments, the user may be prompted that the adjustment of the laser in the second straight line direction and the third straight line direction has been completed.

[0073] In some exemplary embodiments, the positive direction of the second straight line direction may be the positive axis direction of the X-axis in the Cartesian coordinate system, the negative direction of the second straight line direction may be the negative axis direction of the X-axis in the Cartesian coordinate system, the positive direction of the third straight line direction may be the positive axis direction of the Y-axis in the Cartesian coordinate system, and the negative direction of the third straight line direction may be the negative axis direction of the Y-axis in the Cartesian coordinate system.

[0074] In some exemplary embodiments, the positive direction of the second straight line direction may be the positive axis direction of the Y axis in the Cartesian coordinate system, the negative direction of the second straight line direction may be the negative axis direction of the Y axis in the Cartesian coordinate system, the positive direction of the third straight line direction may be the positive axis direction of the X axis in the Cartesian coordinate system, and the negative direction of the third straight line direction may be the negative axis direction of the X axis in the Cartesian coordinate system.

[0075] In some exemplary embodiments, the user can input the second adjustment instruction by clicking the fifth button on the display interface. In some exemplary embodiments, the fifth button can display words such as "X+" or "X-" or "Y+" or "Y-" for user identification.

[0076] In some exemplary embodiments, the user can input the third adjustment instruction by clicking the sixth button on the display interface. In some exemplary embodiments, the sixth button can display words such as "Y+" or "Y-" or "X+" or "X-" for user identification.

[0077] In some exemplary embodiments, the adjustment step size can be input by the user or customized. For example, the user can enter a specific adjustment step size value through a text box, or select an adjustment step size value from a drop-down list, or click one of a plurality of step size buttons on the display interface, where each step size button corresponds to a specific adjustment step size value.

[0078] In the embodiment of the present application, the adjustment step sizes corresponding to the first linear direction, the second linear direction, and the third linear direction may be the same or different.

[0079] In some exemplary embodiments, when determining based on a captured image whether the distance between the center position of the laser beam emitted by the laser and the center position of the emitting lens is less than or equal to a second preset threshold, target recognition can be performed on the captured image to obtain the outline of the laser beam emitted by the laser and the outline of the emitting lens, and the center position of the laser beam is determined based on the outline of the laser beam emitted by the laser, and the center position of the emitting lens is determined based on the outline of the emitting lens.

[0080] In some exemplary embodiments, the laser beam emitted by the laser may be a single laser beam, or may be four laser beams, five laser beams, seven laser beams, etc. When the laser beam emitted by the laser is a single laser beam, the profile of the laser beam emitted by the laser is the profile of the single laser beam; when the laser beam emitted by the laser is four laser beams, generally there is a central laser beam surrounded by three laser beams, and the angle between any two of the three laser beams is 120°. Then, the profile of the laser beam emitted by the laser is the profile of the laser beam located in the center or the circle where the centers of the three laser beams are located; when the laser beam emitted by the laser is five laser beams, generally there is a central laser beam surrounded by three laser beams. There are four laser beams, and the angle between any two of the four laser beams is 90°. Then, the outline of the laser beam emitted by the laser is the outline of the laser beam located in the center or the circle where the centers of the four laser beams are located; when the laser beams emitted by the laser are seven laser beams, generally there is a central laser beam, and the central laser beam is surrounded by six laser beams, and the angle between any two of the six laser beams is 60°. Then, the outline of the laser beam emitted by the laser is the outline of the laser beam located in the center or the circle where the centers of the six laser beams are located; other situations are similar and will not be repeated here.

[0081] In some exemplary embodiments, when at least one of the second adjustment instruction and the third adjustment instruction is sent to the single-line laser radar laser calibration device, if the distance between the center position of the laser beam emitted by the laser and the center position of the transmitting lens in the second straight line direction is greater than the third preset threshold, it is necessary to send the second adjustment instruction to the single-line laser radar laser calibration device; if the distance between the center position of the laser beam emitted by the laser and the center position of the transmitting lens in the second straight line direction is less than or equal to the third preset threshold, it is not necessary to send the second adjustment instruction to the single-line laser radar laser calibration device; if the distance between the center position of the laser beam emitted by the laser and the center position of the transmitting lens in the third straight line direction is greater than the fourth preset threshold, it is necessary to send the third adjustment instruction to the single-line laser radar laser calibration device; if the distance between the center position of the laser beam emitted by the laser and the center position of the transmitting lens in the third straight line direction is less than or equal to the fourth preset threshold, it is not necessary to send the third adjustment instruction to the single-line laser radar laser calibration device.

[0082] Step 102, when the distance between the center position of the laser beam emitted by the laser and the center position of the transmitting lens is less than or equal to a second preset threshold, an ultraviolet lamp control instruction is sent to the single-line laser radar laser calibration device, and the ultraviolet lamp control instruction is used to control the ultraviolet lamp of the single-line laser radar laser calibration device to turn on.

[0083] Step 103, after the ultraviolet lamp ultraviolet-cures the ultraviolet glue coated on the edge of the upper surface of the emitting lens barrel of the single-line laser radar laser calibration device, a fourth adjustment instruction is sent to the single-line laser radar laser calibration device, and the fourth adjustment instruction is used to adjust the position of the laser in the first straight line direction to the target position.

[0084] In the embodiment of the present application, the target position may be the position of the adjustment component in the first straight line direction when the transmitting lens barrel with the transmitting lens and the laser installed is conveniently taken out.

[0085] In some exemplary embodiments, after the UV lamp UV-cures the UV glue coated on the edge of the upper surface of the emitting lens barrel of the single-line laser radar laser calibration device, before sending the fourth adjustment instruction to the single-line laser radar laser calibration device, an air pump downward pressure control instruction can also be sent to the single-line laser radar laser calibration device. The air pump downward pressure control instruction is used to control the suction nozzle to press down to release the laser.

[0086] In some exemplary embodiments, the user can input the air pump pressure control instruction by clicking the seventh button on the display interface. In some exemplary embodiments, the seventh button can display words such as "air pump" or "press down" for user identification.

[0087] The single-line LiDAR laser calibration method provided in the embodiment of the present application adjusts the position of the laser 250 in three mutually perpendicular directions by adjusting the first linear fine-tuning module 110, the second linear fine-tuning module 150 and the third linear fine-tuning module 190 in the adjustment component 200, so as to achieve laser calibration. The calibration process is simple and fast, which effectively saves the installation time and difficulty of the laser transmitting tube; and improves the consistency of LiDAR product assembly and the yield of LiDAR products. Moreover, the laser calibration is achieved by taking pictures with the camera module 440. During the calibration process, the corner light source 400 is used for fill light, so that problems arising during the installation process can be observed more directly, which effectively improves the stability of the LiDAR product, thereby improving the overall performance of the LiDAR product.

[0088] Figure 2 A schematic diagram of a single-line lidar laser calibration device provided for one embodiment of the present application.

[0089] Second, refer to Figure 2 Another embodiment of the present application provides a single-line laser radar laser calibration device, including: an adjustment component 200, an imaging component 500 and a driving circuit 600. The adjustment component 200, the imaging component 500 and the driving circuit 600 are described in detail below.

[0090] In the embodiment of the present application, an achievable adjustment component 200 includes: a first linear fine-tuning module 110; a second linear fine-tuning module 150; a third linear fine-tuning module 190; and

[0091] The first adapter plate 120 is an L-shaped structure, the first linear fine-tuning module 110 is fixedly connected to one arm of the first adapter plate 120, and the second linear fine-tuning module 150 is fixedly connected to the other arm of the first adapter plate 120; and

[0092] The second adapter plate 170; the second linear fine-tuning module 150 is fixedly connected to the top surface of the second adapter plate 170, and the third linear fine-tuning module 190 is fixedly connected to the bottom surface of the second adapter plate 170; and

[0093] The nozzle mounting seat 230; the nozzle mounting seat 230 is fixedly connected to the first linear fine-tuning module 110; the nozzle mounting seat 230 is used to mount the nozzle 240; and

[0094] A pressing block 310 with a first magnet 320 is installed at the bottom; an ultraviolet lamp printed circuit board 260 is installed at the middle position of the top of the pressing block 310, and an ultraviolet lamp 270 and an ultraviolet lamp power interface 280 are installed on the ultraviolet lamp printed circuit board 260. The ultraviolet lamp printed circuit board 260, the ultraviolet lamp 270 and the ultraviolet lamp power interface 280 are electrically connected, and the ultraviolet lamp power interface 280 is used to be electrically connected to a power source.

[0095] The adjustment directions of any two modules among the first linear fine-tuning module 110 , the second linear fine-tuning module 150 and the third linear fine-tuning module 190 are perpendicular to each other; the direction of the suction nozzle 240 is parallel to the adjustment direction of the first linear fine-tuning module 110 .

[0096] In the embodiment of the present application, an implementable imaging assembly 500 includes: a bottom plate 450; and

[0097] A top plate 350; the top plate 350 has a first assembly hole, and the first assembly hole is used to install the transmitting lens barrel 290 of the single-line laser radar; the third linear fine-tuning module 190 is fixedly connected to the top plate 350; a second magnet 330 is installed on the top of the top plate 350; the pressing block 310 with the first magnet 320 installed on the bottom is adsorbed on the top plate 350 through the first magnet 320; and

[0098] Four guide posts 410; one end of the four guide posts 410 is fixedly connected to the bottom plate 450, and the other end of the four guide posts 410 is fixedly connected to the top plate 350; and

[0099] A camera module 440; one end of the camera module 440 is fixedly connected to the bottom plate 450; and

[0100] A camera lens 441; one end of the camera lens 441 is fixedly connected to the other end of the camera module 440; and

[0101] Corner light source 400 ; the corner light source 400 is fixedly connected to the top plate 350 .

[0102] In an embodiment of the present application, the driving circuit 600 is electrically connected to the first linear fine-tuning module 110, the second linear fine-tuning module 150, the third linear fine-tuning module 190, the corner light source 400 and the camera module 440, respectively, and is used to control the first linear fine-tuning module 110, the second linear fine-tuning module 150, and the third linear fine-tuning module 190 to move along their respective adjustment directions, control the corner light source 400 to turn on or off, and control the camera module 440 to turn on or off the camera light source.

[0103] In some exemplary embodiments, the driving circuit 600 is specifically used to receive a first adjustment instruction sent by the control device 700 when the laser 250 is adsorbed under the suction nozzle 240, the corner light source 400 is turned on, and the camera light source of the camera module 440 is turned on, the first adjustment instruction is used to adjust the position of the laser 250 in the first straight line direction, and the first linear fine-tuning module 110 is controlled to move in the first straight line direction according to the first adjustment instruction; wherein the first straight line direction is the adjustment direction of the first linear fine-tuning module 110; when the absolute value of the difference between the distance between the laser 250 and the transmitting lens 300 in the first straight line direction and the focal length of the transmitting lens 300 is less than or equal to the first preset threshold, at least one of the second adjustment instruction and the third adjustment instruction sent by the control device 700 is received, the second adjustment instruction is used to adjust the position of the laser 250 in the second straight line direction, and the third adjustment instruction is used to adjust the position of the laser 250 in the third straight line direction, and the second linear fine-tuning module 15 is controlled according to the second adjustment instruction. 0 moves in the second straight line direction, and controls the third linear fine-tuning module 190 to move in the third straight line direction according to the third adjustment instruction; wherein, the second straight line direction is the adjustment direction of the second linear fine-tuning module 150, and the third straight line direction is the adjustment direction of the third linear fine-tuning module 190; when the distance between the center position of the laser beam emitted by the laser 250 and the center position of the emitting lens 300 is less than or equal to the second preset threshold value, the receiving control device 700 sends an ultraviolet lamp control instruction, and the ultraviolet lamp control instruction is used to control the ultraviolet lamp 270 to turn on, and the ultraviolet lamp 270 is controlled to turn on according to the ultraviolet lamp control instruction; after the ultraviolet lamp 270 performs ultraviolet curing on the ultraviolet glue coated on the edge of the upper surface of the emitting lens barrel of the single-line laser radar laser calibration device, the receiving control device 700 sends a fourth adjustment instruction, and the fourth adjustment instruction is used to adjust the position of the laser 250 in the first straight line direction to the target position, and the first linear fine-tuning module 110 is controlled to move to the target position in the first straight line direction according to the fourth adjustment instruction.

[0104] The single-line LiDAR laser calibration device provided in the embodiment of the present application adjusts the position of the laser 250 in three mutually perpendicular directions by adjusting the first linear fine-tuning module 110, the second linear fine-tuning module 150 and the third linear fine-tuning module 190 in the adjustment component 200, so as to achieve laser calibration. The calibration process is simple and fast, which effectively saves the installation time and difficulty of the laser transmitting tube; and improves the consistency of LiDAR product assembly and the yield of LiDAR products. Moreover, the laser calibration is achieved by taking pictures with the camera module 440. During the calibration process, the corner light source 400 is used for fill light, so that problems arising during the installation process can be observed more directly, which effectively improves the stability of the LiDAR product, thereby improving the overall performance of the LiDAR product.

[0105] In the embodiments of the present application, Figure 2 As shown, the first linear fine-tuning module 110 has a first driving interface 111, a first fine-tuning component 112 and a first fixing component 113. The first driving interface 111 and the first fine-tuning component 112 are both fixedly mounted on the first fixing component 113. The first driving interface 111 is electrically connected to the driving circuit 600. Under the drive of the driving circuit 600, the position of the first fine-tuning component 112 can be fine-tuned along the first straight line direction. The position of the first fixing component 113 remains unchanged during the driving process of the driving circuit 600. In this way, the first linear fine-tuning module 110 is fixedly connected to one of the arms of the first adapter plate 120, which actually means that the first fixing component 113 is fixedly connected to one of the arms of the first adapter plate 120, and the nozzle mounting seat 230 is fixedly connected to the first linear fine-tuning module 110, which actually means that the nozzle mounting seat 230 is fixedly connected to the first fine-tuning component 112.

[0106] Similarly, the second linear fine-tuning module 150 has a second driving interface 151, a second fine-tuning component 152, and a second fixing component 153. The second driving interface 151 and the second fine-tuning component 152 are both fixedly mounted on the second fixing component 153. The second driving interface 151 is electrically connected to the driving circuit 600. Under the drive of the driving circuit 600, the position of the second fine-tuning component 152 can be fine-tuned along the second straight line direction. The position of the second fixing component 153 remains unchanged during the driving process of the driving circuit 600. In this way, the second linear fine-tuning module 150 is fixedly connected to the other arm of the first adapter plate 120, which actually means that the second fine-tuning component 152 is fixedly connected to the other arm of the first adapter plate 120, and the second linear fine-tuning module 150 is fixedly connected to the top surface of the second adapter plate 170, which actually means that the second fixing component 153 is fixedly connected to the top surface of the second adapter plate 170.

[0107] Similarly, the third linear fine-tuning module 190 has a third driving interface 191, a third fine-tuning component 192 and a third fixing component 193. The third driving interface 191 and the third fine-tuning component 192 are fixedly mounted on the third fixing component 193. The third driving interface 191 is electrically connected to the driving circuit 600. Under the drive of the driving circuit 600, the position of the third fine-tuning component 192 can be fine-tuned along the third straight line direction. The position of the third fixing component 193 remains unchanged during the driving process of the driving circuit 600. In this way, the third linear fine-tuning module 190 is fixedly connected to the bottom surface of the second adapter plate 170, which actually means that the third fine-tuning component 192 is fixedly connected to the bottom surface of the second adapter plate 170.

[0108] In the embodiment of the present application, when installing the first linear fine-tuning module 110, the second linear fine-tuning module 150, and the third linear fine-tuning module 190, any other two directions among the first linear direction, the second linear direction, and the third linear direction are perpendicular to each other. The first linear direction is the adjustment direction of the first linear fine-tuning module 110, the second linear direction is the adjustment direction of the second linear fine-tuning module 150, and the third linear direction is the adjustment direction of the third linear fine-tuning module 190.

[0109] In the embodiments of the present application, Figure 2 As shown, in order to ensure that the adjustment directions of the first linear fine-tuning module 110 and the second linear fine-tuning module 150 are perpendicular to each other, the two arms of the first adapter plate 120 are perpendicular to each other.

[0110] The embodiment of the present application does not limit the fixed connection method between the first linear fine-tuning module 110 and one of the arms of the first adapter plate 120, and any fixed connection method known to those skilled in the art can be used. Figure 2 As shown, the first linear fine-tuning module 110 can be fixedly connected to one of the arms of the first adapter plate 120 by using the first mounting screw 100. Specifically, the first mounting screw 100 can be installed at the countersunk position on the first linear fine-tuning module 110 to achieve the first linear fine-tuning module 110 being fixedly connected to one of the arms of the first adapter plate 120.

[0111] Similarly, the embodiment of the present application does not limit the fixed connection method between the first fixing component 113 and one of the arms of the first adapter plate 120, and any fixed connection method known to those skilled in the art can be used. Figure 2 As shown, the first fixing member 113 can be fixedly connected to one of the arms of the first adapter plate 120 by using the first mounting screw 100. Specifically, the first mounting screw 100 can be installed at the countersunk position on the first fixing member 113 to fix the first fixing member 113 to one of the arms of the first adapter plate 120.

[0112] The embodiment of the present application does not limit the fixed connection method between the second linear fine-tuning module 150 and the other arm of the first adapter plate 120, and any fixed connection method known to those skilled in the art can be used. Figure 2 As shown, the second linear fine-tuning module 150 can be fixedly connected to the other arm of the first adapter plate 120 by using the second mounting screw 130. Specifically, the second mounting screw 130 can be installed at the countersunk position on the first adapter plate 120 to achieve the second linear fine-tuning module 150 being fixedly connected to the other arm of the first adapter plate 120.

[0113] Similarly, the embodiment of the present application does not limit the fixed connection method between the second fine-tuning component 152 and the other arm of the first adapter plate 120, and any fixed connection method known to those skilled in the art can be used. Figure 2 As shown, the second fine-tuning component 152 can be fixedly connected to the other arm of the first adapter plate 120 by using the second mounting screw 130. Specifically, the second mounting screw 130 can be installed at the countersunk position on the first adapter plate 120 to achieve the second fine-tuning component 152 being fixedly connected to the other arm of the first adapter plate 120.

[0114] In some exemplary embodiments, the second adapter plate 170 can be any plate structure having two parallel surfaces, for example, a rectangular structure, a cube structure, a cylindrical structure, etc., all of which have parallel top and bottom surfaces, and these two parallel surfaces are perpendicular to the adjustment direction of the first linear fine-tuning module 110.

[0115] The embodiment of the present application does not limit the fixed connection method between the second linear fine-tuning module 150 and the top surface of the second adapter plate 170, and any fixed connection method known to those skilled in the art can be used. Figure 2 As shown, the second linear fine-tuning module 150 can be fixedly connected to the top surface of the second adapter plate 170 by using the third mounting screw 140. Specifically, the third mounting screw 140 can be installed at the countersunk position of the second linear fine-tuning module 150 to achieve the second linear fine-tuning module 150 being fixedly connected to the top surface of the second adapter plate 170.

[0116] Similarly, the embodiment of the present application does not limit the fixing connection method between the second fixing component 153 and the top surface of the second adapter plate 170, and any fixing connection method known to those skilled in the art can be used. Figure 2 As shown, the second fixing member 153 can be fixedly connected to the top surface of the second adapter plate 170 by using the third mounting screw 140. Specifically, the third mounting screw 140 can be installed at the countersunk position of the second fixing member 153 to fix the second fixing member 153 to the top surface of the second adapter plate 170.

[0117] The embodiment of the present application does not limit the fixed connection method between the third linear fine-tuning module 190 and the bottom surface of the second adapter plate 170, and any fixed connection method known to those skilled in the art can be used. Figure 2 As shown, the third linear fine-tuning module 190 can be fixedly connected to the bottom surface of the second adapter plate 170 by using the fourth mounting screw 160. Specifically, the fourth mounting screw 160 can be installed at the countersunk position on the second adapter plate 170 to achieve the third linear fine-tuning module 190 being fixedly connected to the bottom surface of the second adapter plate 170.

[0118] Similarly, the embodiment of the present application does not limit the fixed connection method between the third fine-tuning component 192 and the bottom surface of the second adapter plate 170, and any fixed connection method known to those skilled in the art can be used. Figure 2 As shown, the third fine-tuning component 192 can be fixedly connected to the bottom surface of the second adapter plate 170 by using the fourth mounting screw 160. Specifically, the fourth mounting screw 160 can be installed at the countersunk position on the second adapter plate 170 to achieve the third fine-tuning component 192 being fixedly connected to the bottom surface of the second adapter plate 170.

[0119] The embodiment of the present application does not limit the specific adjustment directions of the first linear fine-tuning module 110, the second linear fine-tuning module 150 and the third linear fine-tuning module 190, as long as the adjustment directions of any two modules among the first linear fine-tuning module 110, the second linear fine-tuning module 150 and the third linear fine-tuning module 190 are perpendicular to each other. For example, the specific adjustment direction of the first linear fine-tuning module 110 can be the positive direction of the z-axis in the Cartesian coordinate system, or the negative direction of the z-axis in the Cartesian coordinate system; the specific adjustment direction of the second linear fine-tuning module 150 can be any one of the positive direction of the x-axis, the negative direction of the x-axis, the positive direction of the y-axis, and the negative direction of the y-axis in the Cartesian coordinate system; the specific adjustment direction of the third linear fine-tuning module 190 can be any one of the positive direction of the x-axis, the negative direction of the x-axis, the positive direction of the y-axis, and the negative direction of the y-axis in the Cartesian coordinate system that is different from the specific adjustment direction of the second linear fine-tuning module 150.

[0120] The embodiment of the present application does not limit the fixed connection method between the nozzle mounting base 230 and the first linear fine-tuning module 110, and any fixed connection method known to those skilled in the art can be used. Figure 3 As shown, the sixth mounting screw 210 can be used to fix the nozzle mounting seat 230 to the first linear fine-tuning module 110. Specifically, the sixth mounting screw 210 and the nozzle mounting seat 230 can be installed to the corresponding threaded hole position of the first linear fine-tuning module 110 to fix the nozzle mounting seat 230 to the first linear fine-tuning module 110.

[0121] Similarly, the embodiment of the present application does not limit the fixed connection method between the nozzle mounting base 230 and the first fine-tuning component 112, and any fixed connection method known to those skilled in the art can be used. Figure 3As shown, the sixth mounting screw 210 can be used to fix the nozzle mounting seat 230 to the first fine-tuning component 112. Specifically, the sixth mounting screw 210 and the nozzle mounting seat 230 can be installed to the corresponding threaded hole position of the first fine-tuning component 112 to fix the nozzle mounting seat 230 to the first fine-tuning component 112.

[0122] In the embodiments of the present application, Figure 1 and Figure 3 As shown, when the laser 250 is calibrated using the single-line laser radar laser calibration device, the laser 250 needs to be adsorbed on the suction nozzle 240, and the suction nozzle 240 is mounted on the suction nozzle mounting seat 230. The position of the suction nozzle 240 is adjusted by adjusting the first linear fine-tuning module 110, the second linear fine-tuning module 150 and the third linear fine-tuning module 190, thereby adjusting the position of the laser 250. Since the suction nozzle 240 is a detachable component, the suction nozzle 240 can be considered as a part of the adjustment component 200, or it can be considered that the suction nozzle 240 is an independent component, which can be installed on the adjustment component 200 for use when in use. That is to say, in some exemplary embodiments, the adjustment component 200 can also include: a suction nozzle 240; the suction nozzle 240 is mounted on the suction nozzle mounting seat 230. In some exemplary embodiments, the adjustment component 200 does not include the suction nozzle 240.

[0123] The embodiment of the present application does not limit the specific types of the nozzle mounting seat 230 and the nozzle 240, as long as the nozzle mounting seat 230 and the nozzle 240 are used in combination.

[0124] like Figure 3 As shown, one end of the nozzle mounting base 230 of the embodiment of the present application has an air pipe interface 220, and the other end of the nozzle mounting base 230 can be installed with a nozzle 240. The air pipe interface 220 can be connected to an air pipe corresponding to the size of the air pipe interface 220. The laser 250 can be adsorbed on the nozzle 240 by pumping air into the air pipe, and the laser 250 adsorbed on the nozzle 240 can be released from the nozzle 240 by blowing air into the air pipe.

[0125] The embodiment of the present application does not limit the installation method of the suction nozzle 240 on the suction nozzle mounting seat 230, and any installation method known to those skilled in the art can be used for installation. For example, the suction nozzle 240 can be installed in its entirety into the suction nozzle mounting seat 230 and sealed and fixed by a side rubber ring.

[0126] In some exemplary embodiments, the driving circuit 600 includes: a first linear fine-tuning module driving sub-circuit, a second linear fine-tuning module driving sub-circuit, a third linear fine-tuning module driving sub-circuit, a corner light source control sub-circuit, and a camera control sub-circuit.

[0127] The first linear fine-tuning module driving sub-circuit is electrically connected to the first linear fine-tuning module 110 and is used to control the first linear fine-tuning module 110 to move along a corresponding adjustment direction.

[0128] The second linear fine-tuning module driving sub-circuit is electrically connected to the second linear fine-tuning module 150 and is used to control the second linear fine-tuning module 150 to move along the corresponding adjustment direction.

[0129] The third linear fine-tuning module driving sub-circuit is electrically connected to the third linear fine-tuning module 190 and is used to control the third linear fine-tuning module 190 to move along the corresponding adjustment direction.

[0130] The corner light source control subcircuit is electrically connected to the corner light source 400 and is used to control the corner light source 400 to turn on or off.

[0131] The camera control subcircuit is electrically connected to the camera module 440 and is used to control the camera module 440 to turn on or off the camera light source.

[0132] The embodiment of the present application does not limit the fixed connection method between the third linear fine-tuning module 190 and the top plate 350, and any fixed connection method known to those skilled in the art can be used. Figure 2 As shown, the third linear fine-tuning module 190 can be fixedly connected to the top plate 350 by using the fifth mounting screw 180. Specifically, the fifth mounting screw 180 can be installed at the countersunk position on the third linear fine-tuning module 190 and the threaded hole corresponding to the top plate 350 to achieve the third linear fine-tuning module 190 being fixedly connected to the top plate 350.

[0133] In some exemplary embodiments, Figure 3 As shown, in order to prevent the emission lens barrel 290 from being displaced or tilted after being installed in the assembly hole on the top plate 350, the adjustment component 200 may further include: a pressing block 310 with a first magnet 320 installed at the bottom; a second magnet 330 installed on the top of the top plate 350 in the imaging component 500; and the pressing block 310 with the first magnet 320 installed at the bottom is adsorbed on the top plate 350 through the first magnet 320. In this way, the pressing block 310 is fixed on the top plate 350 through the mutual adsorption between the first magnet 320 and the second magnet 330, thereby preventing the emission lens barrel 290 from being displaced or tilted on the top plate 350, thereby improving the success rate of installation and the yield rate of the laser radar product.

[0134] In some exemplary embodiments, Figure 3 As shown, the bottom of the pressing block 310 has a magnet installation hole (not shown in the figure), and the first magnet 320 can be installed in the corresponding magnet installation hole at the bottom of the pressing block 310.

[0135] Likewise, if Figure 4 As shown, the top plate 350 has magnet mounting holes, and the second magnet 330 can be installed in the corresponding magnet mounting holes on the top plate 350 .

[0136] It should be noted that in order to ensure that the first magnet 320 and the second magnet 330 can adsorb each other, the positions of the magnet mounting holes at the bottom of the pressing block 310 and the positions of the magnet mounting holes on the top plate 350 correspond to each other, that is, the relative positions of the different magnet mounting holes at the bottom of the pressing block 310 and the phase positions of the corresponding different magnet mounting holes on the top plate 350 are the same. For example, assuming that the bottom of the pressing block 310 has magnet mounting hole position one, magnet mounting hole position two, magnet mounting hole position three, and magnet mounting hole position four, and the top plate 350 has magnet mounting hole position five, magnet mounting hole position six, magnet mounting hole position seven, and magnet mounting hole position eight, then magnet mounting hole position one corresponds to magnet mounting hole position five, magnet mounting hole position two corresponds to magnet mounting hole position six, magnet mounting hole position three corresponds to magnet mounting hole position seven, and magnet mounting hole position four corresponds to magnet mounting hole position eight. In this way, the magnet mounting hole position one and the magnet mounting hole position The relative position between the magnet mounting hole positions two is the same as the relative position between the magnet mounting hole position five and the magnet mounting hole position six, the relative position between the magnet mounting hole position two and the magnet mounting hole position three is the same as the relative position between the magnet mounting hole position six and the magnet mounting hole position seven, the relative position between the magnet mounting hole position three and the magnet mounting hole position four is the same as the relative position between the magnet mounting hole position six and the magnet mounting hole position seven, and the relative position between the magnet mounting hole position one and the magnet mounting hole position four is the same as the relative position between the magnet mounting hole position five and the magnet mounting hole position eight.

[0137] In some exemplary embodiments, a UV lamp PCB 260 is installed at the middle position of the top of the pressing block 310, a UV lamp 270 and a UV lamp power interface 280 are installed on the UV lamp PCB 260, the UV lamp PCB 260, the UV lamp 270 and the UV lamp power interface 280 are electrically connected, and the UV lamp power interface 280 is used to be electrically connected to a power source. The UV lamp of this embodiment can cure the UV glue coated on the periphery of the laser 250, thereby ensuring that there is no secondary assembly error between the laser 250 and the emission lens barrel 290.

[0138] In some exemplary embodiments, the pressing block 310 has a second assembly hole at a middle position on the top thereof, and the second assembly hole is used for mounting the ultraviolet lamp PCB 260 .

[0139] The embodiment of the present application does not limit the fixed connection method between the top plate 350 and one end of the four guide pillars 410, and any fixed connection method known to those skilled in the art can be used. Figure 4As shown, the seventh mounting screw 340 can be used to fix one end of the four guide posts 410 to the top plate 350. Specifically, the seventh mounting screw 340 can be installed at the countersunk position on the top plate 350 to fix one end of the four guide posts 410 to the top plate 350.

[0140] The embodiment of the present application does not limit the fixed connection method between the bottom plate 450 and the other ends of the four guide pillars 410, and any fixed connection method known to those skilled in the art can be used. Figure 4 As shown, the other ends of the four guide posts 410 can be fixedly connected to the bottom plate 450 by using the thirteenth mounting screw 470. Specifically, the thirteenth mounting screw 470 can be installed at the countersunk position on the bottom plate 450 to achieve the other ends of the four guide posts 410 being fixedly connected to the bottom plate 450.

[0141] The embodiment of the present application does not limit the fixed connection method between the camera module 440 and the bottom plate 450, and any fixed connection method known to those skilled in the art can be used. Figure 4 As shown, the camera module 440 can be fixedly connected to the bottom plate 450 by using the twelfth mounting screw 460. Specifically, the twelfth mounting screw 460 can be installed at the countersunk position at the bottom of the bottom plate 450 to achieve the camera module 440 being fixedly connected to the bottom plate 450.

[0142] In some exemplary embodiments, the imaging assembly 500 may also include: a first fixed block 380 and a second fixed block 390; the corner light source 400 is fixedly connected to the top plate 350 through the first fixed block 380 and the second fixed block 390, the first fixed block 380 is fixedly connected to the first side surface of the corner light source 400 and the top plate 350, and the second fixed block 390 is fixedly connected to the second side surface of the corner light source 400 and the top plate 350; the first side surface and the second side surface are two opposite sides of the corner light source 400.

[0143] The embodiment of the present application does not limit the fixing connection method between the first fixing block 380 and the first side surface of the corner light source 400, and any fixing connection method known to those skilled in the art can be used. Figure 4 As shown, the first fixing block 380 can be fixedly connected to the first side of the corner light source 400 by using the eighth mounting screw 360. Specifically, the eighth mounting screw 360 can be installed at the countersunk position on the first fixing block 380 to fix the first fixing block 380 to the first side of the corner light source 400.

[0144] The embodiment of the present application does not limit the fixing connection method between the first fixing block 380 and the top plate 350, and any fixing connection method known to those skilled in the art can be used. Figure 4 As shown, the first fixing block 380 can be fixedly connected to the top plate 350 by using the tenth mounting screw 420. Specifically, the tenth mounting screw 420 can be installed at the countersunk position on the first fixing block 380 to achieve the first fixing block 380 being fixedly connected to the top plate 350.

[0145] The embodiment of the present application does not limit the fixing connection method between the second fixing block 390 and the second side surface of the corner light source 400, and any fixing connection method known to those skilled in the art can be used. Figure 4 As shown, the second fixing block 390 can be fixedly connected to the second side of the corner light source 400 by using the ninth mounting screw 370. Specifically, the ninth mounting screw 370 can be installed at the countersunk position on the second fixing block 390 to fix the second fixing block 390 to the second side of the corner light source 400.

[0146] The embodiment of the present application does not limit the fixing connection method between the second fixing block 390 and the top plate 350, and any fixing connection method known to those skilled in the art can be used. Figure 4 As shown, the second fixing block 390 can be fixedly connected to the top plate 350 by using the eleventh mounting screw 430. Specifically, the eleventh mounting screw 430 can be installed at the countersunk position on the second fixing block 390 to achieve the second fixing block 390 being fixedly connected to the top plate 350.

[0147] In some exemplary embodiments, the bottom plate 450 may have a central positioning groove; one end of the camera module 440 is fixedly connected to the central positioning groove on the bottom plate 450 .

[0148] The embodiment of the present application does not limit the fixed connection method between one end of the camera lens 441 and the other end of the camera module 440, and any fixed connection method known to those skilled in the art can be used. For example, one end of the camera lens 441 can be fixedly connected to the other end of the camera module 440 by installing a thread.

[0149] In some exemplary embodiments, the bottom plate 450 may have four countersunk holes; the top plate 350 may also have four countersunk holes; one end of the four guide columns 410 is fixedly connected to the corresponding countersunk holes on the bottom plate 450, and the other end of the four guide columns 410 is fixedly connected to the corresponding countersunk holes on the top plate 350.

[0150] In some exemplary embodiments, after receiving the air pump upward pressure control instruction sent by the control device 700 , the driving circuit 600 may control the suction nozzle 240 to be pressed upward, so as to adsorb the laser 250 under the suction nozzle 240 .

[0151] In some exemplary embodiments, the driving circuit 600 may control the corner light source 400 to turn on after receiving a corner light source turn-on instruction sent by the control device 700 .

[0152] In some exemplary embodiments, the driving circuit 600 may control the camera module 440 to turn on the camera light source after receiving a camera light source turn-on instruction sent by the control device 700 .

[0153] In some exemplary embodiments, the first adjustment instruction includes a positive direction or a negative direction of the first straight line direction, and an adjustment step length.

[0154] In some exemplary embodiments, the positive direction of the first straight line direction may be the positive axis direction of the Z axis in the Cartesian coordinate system, and the negative direction of the first straight line direction may be the negative axis direction of the Z axis in the Cartesian coordinate system.

[0155] In an embodiment of the present application, the driving circuit 600 controls the moving distance of the first linear fine-tuning module 110 in the first straight line direction to be the adjustment step. If the moving direction in the first adjustment instruction is a positive direction, the driving circuit 600 controls the moving direction of the first linear fine-tuning module 110 in the first straight line direction to be a positive direction; if the moving direction in the first adjustment instruction is a negative direction, the driving circuit 600 controls the moving direction of the first linear fine-tuning module 110 in the first straight line direction to be a negative direction.

[0156] The driving circuit 600 controls the moving distance of the second linear fine-tuning module 150 in the second straight line direction to be the adjustment step length. If the moving direction in the second adjustment instruction is a positive direction, the driving circuit 600 controls the moving direction of the second linear fine-tuning module 150 in the second straight line direction to be a positive direction; if the moving direction in the second adjustment instruction is a negative direction, the driving circuit 600 controls the moving direction of the second linear fine-tuning module 150 in the second straight line direction to be a negative direction.

[0157] The driving circuit 600 controls the moving distance of the third linear fine-tuning module 190 in the third straight line direction to be the adjustment step length. If the moving direction in the third adjustment instruction is a positive direction, the driving circuit 600 controls the moving direction of the third linear fine-tuning module 190 in the third straight line direction to be a positive direction; if the moving direction in the third adjustment instruction is a negative direction, the driving circuit 600 controls the moving direction of the third linear fine-tuning module 190 in the third straight line direction to be a negative direction.

[0158] In the embodiment of the present application, the target position may be the position of the adjustment component in the first straight line direction when the transmitting lens barrel with the transmitting lens and the laser installed is conveniently taken out.

[0159] In some exemplary embodiments, after the UV lamp 270 UV-cures the UV glue coated on the edge of the upper surface of the emitting lens barrel 290 of the single-line laser radar laser calibration device, before the drive circuit 600 receives the fourth adjustment instruction sent by the single-line laser radar laser calibration device, it can also receive an air pump downward pressure control instruction sent by the single-line laser radar laser calibration device, and the air pump downward pressure control instruction is used to control the suction nozzle to be pressed downward to release the laser, and the suction nozzle 240 is controlled to be pressed downward to release the laser 250 according to the air pump downward pressure control instruction.

[0160] In some exemplary embodiments, after the laser 250 is released, the pressing block 310 can be removed, and the emitting lens barrel 290 with the laser 250 and the emitting lens 300 installed therein can be taken out.

[0161] Thirdly, refer to Figure 6 Another embodiment of the present application provides a control device, including at least one processor 501 and a memory 502, wherein at least one program is stored in the memory 502. When the at least one program is executed by the at least one processor 501, any one of the above-mentioned single-line lidar laser calibration methods is implemented.

[0162] In some exemplary embodiments, the control device further includes: one or more I / O interfaces 503 connected between the processor 501 and the memory 502 , and configured to implement information interaction between the processor 501 and the memory 502 .

[0163] Among them, the processor 501 is a device with data processing capabilities, including but not limited to a central processing unit (CPU) and the like; the memory 502 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory (FLASH); the I / O interface (read-write interface) 503 is connected between the processor 501 and the memory 502, and can realize information interaction between the processor 501 and the memory 502, including but not limited to a data bus (Bus) and the like.

[0164] In some embodiments, the processor 501 , the memory 502 , and the I / O interface 503 are connected to each other via a bus 504 , and further connected to other components of the computing device.

[0165] In a fourth aspect, another embodiment of the present application provides a computer-readable medium having a computer program or instruction stored thereon, and when the computer program or instruction is executed by a processor, any one of the above-mentioned single-line lidar laser calibration methods is implemented.

[0166] In a fifth aspect, another embodiment of the present application is a computer program product, comprising a computer program or instructions, which implements any of the above-mentioned single-line lidar laser calibration methods when executed by a processor.

[0167] Sixth, refer to Figure 7 Another embodiment of the present application provides a single-line laser radar laser calibration system, including: any one of the above-mentioned single-line laser radar laser calibration devices and any one of the above-mentioned control devices 700.

[0168] The single-line LiDAR laser calibration system provided in the embodiment of the present application adjusts the position of the laser 250 in three mutually perpendicular directions by adjusting the first linear fine-tuning module 110, the second linear fine-tuning module 150 and the third linear fine-tuning module 190 in the adjustment component 200, so as to achieve laser calibration. The calibration process is simple and fast, which effectively saves the installation time and difficulty of the laser transmitting tube; and improves the consistency of LiDAR product assembly and the yield of LiDAR products. Moreover, the laser calibration is achieved by taking pictures with the camera module 440. During the calibration process, the corner light source 400 is used for fill light, so that problems arising during the installation process can be observed more directly, which effectively improves the stability of the LiDAR product, thereby improving the overall performance of the LiDAR product.

[0169] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or transient medium). As is known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0170] Example embodiments have been disclosed herein, and although specific terms are employed, they are used and should be interpreted only in a general illustrative sense and not for limiting purposes. In some instances, it will be apparent to those skilled in the art that, unless otherwise expressly noted, features, characteristics, and / or elements described in conjunction with a particular embodiment may be used alone or in combination with features, characteristics, and / or elements described in conjunction with other embodiments. Therefore, those skilled in the art will appreciate that various changes in form and detail may be made without departing from the scope of the present application as set forth in the appended claims.

Claims

1. A single-line laser radar laser calibration method, applied to a control device, comprising: When the laser is adsorbed under the suction nozzle, the corner light source of the single-line laser radar laser calibration device is turned on, and the camera light source of the camera module of the single-line laser radar laser calibration device is turned on, a first adjustment instruction is sent to the single-line laser radar laser calibration device, and the first adjustment instruction is used to adjust the position of the laser in the first straight line direction; wherein the first straight line direction is the adjustment direction of the first linear fine-tuning module in the single-line laser radar laser calibration device; When the absolute value of the difference between the distance between the laser and the transmitting lens in the first straight line direction and the focal length of the transmitting lens is less than or equal to a first preset threshold, at least one of a second adjustment instruction and a third adjustment instruction is sent to the single-line laser radar laser calibration device, wherein the second adjustment instruction is used to adjust the position of the laser in the second straight line direction, and the third adjustment instruction is used to adjust the position of the laser in the third straight line direction; wherein the second straight line direction is the adjustment direction of the second linear fine-tuning module in the single-line laser radar laser calibration device, and the third straight line direction is the adjustment direction of the third linear fine-tuning module in the single-line laser radar laser calibration device; When the distance between the center position of the laser beam emitted by the laser and the center position of the emitting lens is less than or equal to a second preset threshold, sending an ultraviolet lamp control instruction to the single-line laser radar laser calibration device, wherein the ultraviolet lamp control instruction is used to control the ultraviolet lamp of the single-line laser radar laser calibration device to turn on; After the UV lamp UV-cures the UV glue coated on the edge of the upper surface of the emitting lens barrel of the single-line laser radar calibration device, a fourth adjustment instruction is sent to the single-line laser radar laser calibration device, and the fourth adjustment instruction is used to adjust the position of the laser in the first straight line direction to the target position.

2. The single-line laser radar laser calibration method according to claim 1, before sending the first adjustment instruction to the single-line laser radar laser calibration device, the method further comprises: The image captured by the camera module is obtained and displayed.

3. The single-line laser radar laser calibration method according to claim 1, wherein: The sending a first adjustment instruction to the single-line laser radar laser calibration device comprises: A first adjustment instruction is sent to the single-line laser radar calibration device according to an image captured by a camera module of the single-line laser radar calibration device.

4. The single-line laser radar laser calibration method according to claim 3, wherein: The sending a first adjustment instruction to the single-line laser radar calibration device according to the image captured by the camera module of the single-line laser radar calibration device comprises: Acquire an image captured by the camera module; Determine, based on the captured image, whether the absolute value of the difference between the distance between the laser and the transmitting lens in the first straight line direction and the focal length of the transmitting lens is less than or equal to the first preset threshold; When it is determined that the absolute value of the difference between the distance between the laser and the transmitting lens in the first straight line direction and the focal length of the transmitting lens is greater than a first preset threshold, sending the first adjustment instruction to the single-line laser radar laser calibration device, where the first adjustment instruction includes a positive direction or a reverse direction of the first straight line direction, and an adjustment step length; The above steps are repeated until the absolute value of the difference between the distance between the laser and the emitting lens in the first straight line direction and the focal length of the emitting lens is less than or equal to the first preset threshold.

5. The single-line laser radar laser calibration method according to claim 1, wherein: The sending at least one of the second adjustment instruction and the third adjustment instruction to the single-line laser radar laser calibration device comprises: At least one of a second adjustment instruction and a third adjustment instruction is sent to the single-line lidar laser calibration device according to the image captured by the camera module.

6. The single-line laser radar laser calibration method according to claim 5, wherein: The sending at least one of a second adjustment instruction and a third adjustment instruction to the single-line laser radar laser calibration device according to the image captured by the camera module comprises: Acquire an image captured by the camera module; Determine, based on the captured image, whether the distance between the center position of the laser beam emitted by the laser and the center position of the emitting lens is less than or equal to a second preset threshold; When it is determined that the distance between the center position of the laser beam emitted by the laser and the center position of the emitting lens is greater than a second preset threshold, at least one of the second adjustment instruction and the third adjustment instruction is sent to the single-line laser radar laser calibration device, wherein the second adjustment instruction includes a positive direction or a reverse direction of the second straight line direction, and an adjustment step length, and the third adjustment instruction includes a positive direction or a reverse direction of the third straight line direction, and an adjustment step length; The above steps are repeated until the distance between the center position of the laser beam emitted by the laser and the center position of the emitting lens is less than or equal to a second preset threshold.

7. A single-line laser radar laser calibration device, comprising: An adjustment component (200), an imaging component (500) and a driving circuit (600); Wherein, the adjustment component (200) comprises: A first linear fine-tuning module (110); Second linear fine-tuning module (150); The third linear fine-tuning module (190); A first adapter plate (120); the first adapter plate (120) is an L-shaped structure, the first linear fine-tuning module (110) is fixedly connected to one arm of the first adapter plate (120), and the second linear fine-tuning module (150) is fixedly connected to the other arm of the first adapter plate (120); a second adapter plate (170); the second linear fine-tuning module (150) is fixedly connected to the top surface of the second adapter plate (170), and the third linear fine-tuning module (190) is fixedly connected to the bottom surface of the second adapter plate (170); A suction nozzle mounting seat (230); the suction nozzle mounting seat (230) is fixedly connected to the first linear fine-tuning module (110); the suction nozzle mounting seat (230) is used to mount a suction nozzle (240); A pressing block (310) having a first magnet (320) installed at the bottom; an ultraviolet lamp printed circuit board (260) is installed at the middle position of the top of the pressing block (310); an ultraviolet lamp (270) and an ultraviolet lamp power interface (280) are installed on the ultraviolet lamp printed circuit board (260); the ultraviolet lamp printed circuit board (260), the ultraviolet lamp (270) and the ultraviolet lamp power interface (280) are electrically connected; and the ultraviolet lamp power interface (280) is used to be electrically connected to a power source; Wherein, the adjustment directions of any two of the first linear fine-tuning module (110), the second linear fine-tuning module (150) and the third linear fine-tuning module (190) are perpendicular to each other; the orientation of the suction nozzle (240) is parallel to the adjustment direction of the first linear fine-tuning module (110); Wherein, the imaging component (500) comprises: Bottom plate (450); A top plate (350); the top plate (350) is provided with a first assembly hole, the first assembly hole being used to install a transmitting lens barrel (290) of a single-line laser radar; the third linear fine-tuning module (190) is fixedly connected to the top plate (350); a second magnet (330) is installed on the top of the top plate (350); a pressing block (310) on which a first magnet (320) is installed at the bottom is adsorbed on the top plate (350) through the first magnet (320); Four guide pillars (410); one end of each of the four guide pillars (410) is fixedly connected to the bottom plate (450), and the other end of each of the four guide pillars (410) is fixedly connected to the top plate (350); A camera module (440); one end of the camera module (440) is fixedly connected to the bottom plate (450); A camera lens (441); one end of the camera lens (441) is fixedly connected to the other end of the camera module (440); A corner light source (400); the corner light source (400) is fixedly connected to the top plate (350); The driving circuit (600) is respectively electrically connected to the first linear fine-tuning module (110), the second linear fine-tuning module (150), the third linear fine-tuning module (190), the corner light source (400) and the camera module (440), and is used to: When the laser (250) is adsorbed under the suction nozzle (240), the corner light source (400) is turned on, and the camera light source of the camera module (440) is turned on, a first adjustment instruction sent by a control device (700) is received, the first adjustment instruction is used to adjust the position of the laser (250) in a first straight line direction, and the first linear fine-tuning module (110) is controlled to move in the first straight line direction according to the first adjustment instruction; wherein the first straight line direction is the adjustment direction of the first linear fine-tuning module (110); In a case where the absolute value of the difference between the distance between the laser (250) and the transmitting lens (300) in the first straight line direction and the focal length of the transmitting lens (300) is less than or equal to a first preset threshold, receiving at least one of a second adjustment instruction and a third adjustment instruction sent by the control device (700), wherein the second adjustment instruction is used to adjust the position of the laser (250) in the second straight line direction, and the third adjustment instruction is used to adjust the position of the laser (250) in the third straight line direction; controlling the second linear fine-tuning module (150) to move in the second straight line direction according to the second adjustment instruction, and controlling the third linear fine-tuning module (190) to move in the third straight line direction according to the third adjustment instruction; wherein the second straight line direction is the adjustment direction of the second linear fine-tuning module (150), and the third straight line direction is the adjustment direction of the third linear fine-tuning module (190); When the distance between the center position of the laser beam emitted by the laser (250) and the center position of the emitting lens (300) is less than or equal to a second preset threshold, receiving an ultraviolet lamp control instruction sent by the control device (700), the ultraviolet lamp control instruction being used to control the ultraviolet lamp (270) to turn on, and controlling the ultraviolet lamp (270) to turn on according to the ultraviolet lamp control instruction; After the ultraviolet lamp (270) performs ultraviolet curing on the ultraviolet glue coated on the edge of the upper surface of the emitting lens barrel of the single-line laser radar laser calibration device, a fourth adjustment instruction sent by the control device (700) is received, and the fourth adjustment instruction is used to adjust the position of the laser (250) in the first straight line direction to the target position, and the first linear fine-tuning module (110) is controlled to move to the target position in the first straight line direction according to the fourth adjustment instruction.

8. A control device, comprising at least one processor and a memory, wherein at least one program is stored in the memory, and when the at least one program is executed by the at least one processor, the single-line laser radar laser calibration method as described in any one of claims 1 to 6 is implemented.

9. A computer-readable medium having a computer program or instruction stored thereon, wherein the computer program or instruction, when executed by a processor, implements the single-line lidar laser calibration method as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program or instructions, which, when executed by a processor, implements the single-line lidar laser calibration method as described in any one of claims 1 to 6.

11. A single-line laser radar laser calibration system, comprising: The single-line lidar laser calibration device as described in claim 7 and the control device as described in claim 8.

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