Method and device for assembling and adjusting solid-state laser radar

Abstract

The invention discloses an installation and adjustment method and device for a solid-state laser radar, and the method comprises the steps: carrying out the adjustment of a receiving and transmitting module when the distance between the solid-state laser radar and a target plate is short or long, namely, adjusting the position relation of a receiving and transmitting lens relative to a receiving and transmitting chip; therefore, the transceiver chip and the transceiver lens are in an optimal relative position relation for imaging. According to the method provided by the embodiment of the invention, all light spot contours formed by laser emitted by the solid-state laser radar can be adjusted during close-range adjustment, so that the light spot contours are clear, and in addition, since most application scenes of the solid-state laser radar are remote detection, remote adjustment is carried out by the method provided by the embodiment of the invention; therefore, the solid-state laser radar can realize the function of an actual application scene, and the ranging precision of the solid-state laser radar is finally improved.

Description

Technical Field

[0001] The present application relates to the technical field of lens assembly and adjustment, and in particular to an assembly and adjustment method and device for a solid-state laser radar. Background Art

[0002] Solid-state laser radar has the characteristics of small size, large field of view, high reliability and fast scanning speed, which makes it play a key role in intelligent driving and unmanned driving technology. The solid-state laser radar includes a transmitting module (TX module) and a receiving module (RX module), wherein the transmitting module includes a transmitting chip and a transmitting lens, and the receiving module includes a receiving chip and a receiving lens. In order to ensure that the solid-state laser radar can perform well, it is necessary to assemble and adjust the solid-state laser radar so that the optical axis of the transceiver lens and the central axis of the transceiver chip overlap and align the assembly, while reducing the assembly error of the module package. However, the solid-state laser radar assembled by the assembly method in the related art is not accurate when detecting objects. Summary of the invention

[0003] In view of this, the present application provides a method and device for assembling and adjusting a solid-state laser radar, in which the transceiver module is adjusted when the solid-state laser radar and the target plate are close and far away, that is, the position relationship of the transceiver lens relative to the transceiver chip is adjusted so that the transceiver chip and the transceiver lens are in the best relative position relationship for imaging. During close-range adjustment, all the spot contours formed by the laser emitted by the solid-state laser radar can be adjusted to make the spot contours clear. In addition, since the application scenarios of solid-state laser radars are mostly long-distance detection, the method of the embodiment of the present application also performs long-distance adjustment, which can ensure that the solid-state laser radar can realize the functions of the actual application scenarios, and ultimately improve the ranging accuracy of the solid-state laser radar.

[0004] According to one aspect of the present application, a method for assembling and adjusting a solid-state laser radar is provided, wherein the solid-state laser radar comprises a transceiver module, the transceiver module comprises a transceiver chip and a transceiver lens, the transceiver module is mounted on a tooling fixture, the tooling fixture comprises a mounting seat and an adjustment mechanism, the transceiver chip is mounted on the mounting seat, the transceiver lens is mounted on the adjustment mechanism, the adjustment mechanism is used to adjust the position of the transceiver lens relative to the transceiver chip, and a target plate is arranged in front of the tooling fixture; the method comprises:

[0005] When the distance between the transceiver lens and the target plate is a first distance, close-range adjustment is performed on the position of the transceiver lens relative to the transceiver chip;

[0006] When the distance between the transceiver lens and the target plate is a second distance, the position of the transceiver lens relative to the transceiver chip is remotely adjusted, and the second distance is greater than the first distance.

[0007] In some embodiments, the transceiver module includes a transmitting module, and the transmitting module includes a transmitting lens and a transmitting chip; the step of closely adjusting the position of the transceiver lens relative to the transceiver chip includes:

[0008] Controlling the solid-state laser radar to emit laser light so that the laser light forms a first light spot set on the target plate;

[0009] Based on the first light spot set and a first theoretical light spot set pre-set on the target plate, a first strategic adjustment is performed on the position of the emission lens relative to the emission chip so that the contours of the first light spot set and the first theoretical light spot set overlap.

[0010] In some embodiments, the step of performing a first strategic adjustment on the position of the transmitting lens relative to the transmitting chip includes:

[0011] Moving the emitting lens along the optical axis of the emitting lens so that the light spot contour of the first light spot formed by the laser on the target plate is clear;

[0012] Adjust the displacement of the emitting lens in the x-axis and y-axis directions so that the light spot located at the edge point on the horizontal line of the first light spot set coincides with the light spot at the edge point on the horizontal line of the first theoretical light spot set, and the light spot located at the edge point on the vertical line of the first light spot set coincides with the light spot at the edge point on the vertical line of the first theoretical light spot set;

[0013] The pitch and yaw of the emitting lens are adjusted so that the light spot located at the maximum edge field of view in the first light spot set coincides with the light spot located at the maximum edge field of view in the first theoretical light spot set.

[0014] In some embodiments, the step of adjusting the pitch and yaw of the transmitting lens includes:

[0015] Determining whether the rotation centers of the pitch and yaw of the adjustment mechanism and the rotation center of the transmitting lens are completely aligned;

[0016] If it is not perfectly aligned, the pitch and yaw of the transmitting lens are adjusted, and the displacement of the transmitting lens in the x, y and z directions is adjusted during the adjustment process to offset it.

[0017] In some embodiments, when the distance between the target plate and the transmitting lens is a second distance, a second theoretical spot set is pre-set on the target plate, and the step of remotely calibrating the transceiver module includes:

[0018] Controlling the solid-state laser radar to emit laser light so that the laser light forms a second light spot set on the target plate;

[0019] Based on the spot sizes of the second light spot set and the second theoretical light spot set, a second strategic adjustment is performed on the position of the emitting lens to make the spot size of the second light spot set the same as the spot size of the second theoretical light spot set.

[0020] In some embodiments, the step of performing a second strategic adjustment on the position of the emission lens based on the spot sizes of the second spot set and the second theoretical spot set includes:

[0021] The position of the emitting lens is displaced along the optical axis of the emitting lens until the light spot outline in the second light spot set is clearly displayed, and the light spot in the center field of view of the second light spot set is the same size as the light spot in the center field of view of the second theoretical light spot set.

[0022] In some embodiments, the transceiver module includes a receiving module, and the receiving module includes a receiving chip and a receiving lens; the step of closely adjusting the position of the transceiver lens relative to the transceiver chip includes:

[0023] Configuring the receiving chip to be in grayscale mode;

[0024] The displacement of the receiving lens in the x-axis and y-axis directions and the position along the optical axis of the receiving lens are adjusted by the adjustment mechanism so that the edge position of the scene image is clearly displayed in the grayscale image. In some embodiments, the step of adjusting the pitch and yaw of the receiving lens includes:

[0025] Determining whether the rotation centers of the pitch and yaw of the adjustment mechanism and the rotation center of the receiving lens are completely aligned;

[0026] If it is not completely aligned, the pitch and yaw of the receiving lens are adjusted, and during the adjustment process, the displacements of the receiving lens in the x, y and z directions are adjusted to offset them.

[0027] In some embodiments, the step of remotely calibrating the transmitting module includes:

[0028] Configuring the receiving chip to be in point cloud mode;

[0029] Obtaining a point cloud image determined by the receiving chip;

[0030] At the second distance, the target plate is controlled to move in a direction away from the solid-state laser radar so that the point cloud intensity corresponding to the target plate in the point cloud image is reduced to a critical value; the receiving lens is adjusted along the optical axis of the receiving lens so that the point cloud intensity on the point cloud image is the maximum intensity, and the steps of controlling the target plate to move in a direction away from the solid-state laser radar and adjusting the receiving lens along the optical axis of the receiving lens are repeated until the target plate reaches a preset distance.

[0031] According to another aspect of the present application, a solid-state laser radar assembly and adjustment device is provided, wherein the solid-state laser radar includes a transceiver module, the transceiver module includes a transceiver chip and a transceiver lens, the transceiver module is mounted on a jig, the jig includes an adjustment mechanism, the position of the transceiver lens relative to the transceiver chip is adjusted by the adjustment mechanism in the jig, and a target plate is arranged in front of the jig; the device includes:

[0032] A first calibration unit, configured to perform close-range calibration of the position of the transceiver lens relative to the transceiver chip when the distance between the transceiver lens and the target plate is a first distance;

[0033] The second adjustment unit is used to perform long-distance adjustment on the position of the transceiver lens relative to the transceiver chip when the distance between the transceiver lens and the target plate is a second distance, and the second distance is greater than the first distance.

[0034] According to another aspect of the present application, a storage medium is provided, on which a computer program is stored, characterized in that the method described is implemented when the computer program is executed by a processor.

[0035] According to another aspect of the present application, a terminal is provided, comprising: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus;

[0036] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the method.

[0037] By means of the above technical solution, the present application provides a method and device for assembling and adjusting a solid-state laser radar, in which the transceiver module is adjusted when the solid-state laser radar and the target plate are close and far away, that is, the position relationship of the transceiver lens relative to the transceiver chip is adjusted so that the transceiver chip and the transceiver lens are in the best relative position relationship for imaging. During close-range adjustment, all the spot contours formed by the laser emitted by the solid-state laser radar can be adjusted to make the spot contours clear. In addition, since the application scenarios of solid-state laser radar are mostly long-distance detection, the method of the embodiment of the present application also performs long-distance adjustment, which can ensure that the solid-state laser radar can realize the functions of the actual application scenarios, and ultimately improve the ranging accuracy of the solid-state laser radar.

[0038] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0040] Figure 1 A schematic diagram of the structure of a tooling fixture and a semi-finished laser radar provided according to some embodiments is exemplified;

[0041] Figure 2 A flowchart of a solid-state laser radar assembly and adjustment method provided according to some embodiments is exemplarily shown;

[0042] Figure 3 A schematic diagram exemplarily shows the positional relationship between an infrared camera, a tooling fixture, and a target plate provided according to some embodiments;

[0043] Figure 4 A flowchart of another method for assembling and adjusting a solid-state laser radar according to some embodiments is exemplified;

[0044] Figure 5 A schematic diagram of a target plate provided with a first theoretical light spot set according to some embodiments is exemplarily shown;

[0045] Figure 6 A schematic diagram of a second light spot set provided according to some embodiments is exemplarily shown;

[0046] Figure 7 An example of a grayscale image of close-range calibration of a receiving module provided in accordance with some embodiments is exemplarily shown;

[0047] Figure 8 A schematic structural diagram of a solid-state laser radar assembly and adjustment device provided according to some embodiments is exemplarily shown;

[0048] Fig. 9 A schematic diagram of the device structure of a terminal provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0049] The present application will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0050] Solid-state laser radar has the characteristics of small size, large field of view, high reliability and fast scanning speed, and plays a key role in intelligent driving and unmanned driving technology. The solid-state laser radar includes a transceiver module, which includes a transmitting module (TX module) and a receiving module (RX module), wherein the transmitting module includes a transmitting chip and a transmitting lens, and the receiving module includes a receiving chip and a receiving lens. In order to ensure that the solid-state laser radar can perform well, it is necessary to assemble and adjust the solid-state laser radar so that the optical axis of the transceiver lens and the central axis of the transceiver chip overlap and align the assembly, thereby reducing the assembly error of the module package. However, the solid-state laser radar assembled by the assembly method in the related art is not accurate when detecting objects.

[0051] After analyzing the above problems, it is found that whether the outline of the light spot is clear affects the accuracy of the solid-state laser radar in detecting objects. A clear light spot outline has the advantage of improving the ranging accuracy. However, in the related art, the solid-state laser radar and the target plate are used to adjust the solid-state laser radar at a long distance. The adjustment process cannot guarantee that the outlines of all the light spots formed by the laser emitted by the solid-state laser radar are clearly displayed. This is because as the distance between the solid-state laser radar and the target plate increases, the light spot area spreads faster. When the solid-state laser radar and the target plate are far away, all the light spots formed by the laser emitted by the solid-state laser radar cannot be fully displayed on the target plate under the limited target plate area. Therefore, the adjustment process in the related art cannot guarantee the clear outlines of all the light spots, which ultimately leads to the solid-state laser radar using the adjustment process cannot guarantee the clear outlines of all the light spots in actual use, affecting the ranging accuracy of the solid-state laser radar.

[0052] Based on this, the embodiment of the present application provides a method for assembling and adjusting a solid-state laser radar, which adjusts the transceiver module when the solid-state laser radar and the target plate are close and far away, that is, adjusts the position relationship of the transceiver lens relative to the transceiver chip, so that the transceiver chip and the transceiver lens are in the best relative position relationship for imaging. During close-range adjustment, all the spot contours formed by the laser emitted by the solid-state laser radar can be adjusted to make the spot contour clear. In addition, since the application scenarios of solid-state laser radars are mostly long-distance detection, the method of the embodiment of the present application also performs long-distance adjustment, which can ensure that the solid-state laser radar can realize the functions of the actual application scenarios, and ultimately improve the ranging accuracy of the solid-state laser radar.

[0053] In order to better understand the method in the embodiment of the present application, the application environment of the solid-state laser radar assembly method is first introduced. In some embodiments, the application environment of the assembly method requires a Class 1000 dust-free workshop and customized tooling and fixtures. Figure 1 The following is a schematic diagram showing the structure of a tooling fixture and a semi-finished laser radar according to some embodiments. Figure 1As shown in the schematic diagram, in the tooling fixture, the lifting platform can slide along the vertical track to change the height. A mounting seat is installed on the lifting platform, on which an optical platform is set, and the semi-finished laser radar (that is, a radar without transmitting and receiving lenses installed, but including a transmitting chip and a receiving chip) is installed on the optical platform. Two adjustment mechanisms (a six-axis adjustment mechanism is used in the figure, with six degrees of adjustment freedom) are installed on both sides of the mounting seat, and are connected to the transmitting and receiving lenses through a clamp respectively. Through the two adjustment mechanisms, the transmitting / receiving lens can be driven to move with six degrees of freedom relative to the laser radar, and the position of the transmitting / receiving lens relative to the transmitting / receiving chip can be adjusted until the best state effect is achieved, so that the transmitting chip and the receiving chip are completely matched, that is, the transmitting chip is exactly located on the focal plane of the transmitting lens, and the receiving chip is exactly located on the focal plane of the receiving lens, and the light emitted by the transmitting chip is parallel light after passing through the transmitting lens, and is evenly irradiated on the target object. After being reflected by the target object, the reflected light is converged on the receiving chip through the receiving lens, and then the dispensing and curing are completed, and the assembly and adjustment are completed.

[0054] The six degrees of freedom include the x-axis, y-axis (vertical direction), z-axis ( Figure 1 The adjustment mechanism requires a displacement accuracy of 1 μm and a rotation accuracy of 0.003°. There are a large number of six-axis adjustment mechanisms on the market, and the specific structure of the six-axis adjustment mechanism will not be described in detail in this embodiment.

[0055] In this embodiment, it is necessary to ensure that the bottom surface of the solid-state laser radar is parallel to the ground. A bubble level can be installed on the solid-state laser radar, and the lifting platform and the optical platform are adjusted so that the bubble of the bubble level is located in the center, so that the bottom surface of the solid-state laser radar is parallel to the ground. In this embodiment, the environment in which the installation method is applied is also required to be equipped with a dispensing module and a curing module ( Figure 1 The dispensing module is used to accurately apply glue or other adhesives to the parts to be fixed. The curing module is used to cure the glue or other adhesives applied by the dispensing module.

[0056] exist Figure 3 In the process, a target plate is also arranged in front of the tooling fixture, and the transmitting / receiving lens faces the target plate, so that the light emitted by the transmitting chip can form a light spot on the target plate, and the infrared camera is used to capture the light spot image for analysis.

[0057] Figure 2 The flowchart of a solid-state laser radar installation method provided in accordance with some embodiments is exemplarily shown. The method in the embodiment of the present application includes S100-S200.

[0058] S100. When the distance between the transceiver lens and the target plate is the first distance, the position of the transceiver lens relative to the transceiver chip is adjusted at close range. In one example, the shortest distance from each point on the transceiver lens to the target plate is the first distance. In the embodiment of the present application, the first distance between the transceiver lens and the target plate can be achieved in the following manner: in a preset state, the tooling fixture is controlled to move along the optical axis (z-axis) of the transceiver lens so that the distance between the transceiver lens and the target plate is the first distance; wherein the preset state refers to pre-assembling the transceiver lens in the corresponding mounting groove on the fixture. In specific implementation, the entire tooling fixture can be placed on a workbench, which can be a table with rollers installed on the four legs of the table, so that the workbench drives the overall movement of the entire tooling fixture. The first distance between the transceiver lens and the target plate can also be achieved by controlling the target plate with rollers to move along the optical axis (z-axis) of the transceiver lens.

[0059] S200: When the distance between the transceiver lens and the target board is a second distance, remotely calibrate the position of the transceiver lens relative to the transceiver chip, wherein the second distance is greater than the first distance.

[0060] In the embodiment of the present application, the possible implementation method when the distance between the transceiver lens and the target plate is the second distance is the same as the possible implementation method when the distance between the transceiver lens and the target plate is the first distance, and will not be repeated here.

[0061] In the embodiment of the present application, the transceiver module is adjusted when the solid-state laser radar and the target plate are close and far away, that is, the position relationship of the transceiver lens relative to the transceiver chip is adjusted so that the transceiver chip and the transceiver lens are in the best relative position relationship for imaging. During the close-range adjustment, all the spot contours formed by the laser emitted by the solid-state laser radar can be adjusted to make the spot contour clear. In addition, since the application scenarios of solid-state laser radar are mostly long-distance detection, the method of the embodiment of the present application also performs long-distance adjustment, which can ensure that the solid-state laser radar can realize the functions of the actual application scenarios, and ultimately improve the ranging accuracy of the solid-state laser radar.

[0062] In some embodiments, the transceiver module includes a transmitting module, and the transmitting module includes a transmitting lens and a transmitting chip. Figure 4 The flowchart of another solid-state laser radar assembly and adjustment method provided according to some embodiments is exemplarily shown. The step of performing close-range adjustment of the position of the transceiver lens relative to the transceiver chip includes S101-S102.

[0063] S101, controlling the solid-state laser radar to emit laser so that the laser forms a first light spot set on the target plate.

[0064] In this embodiment, it is first necessary to adjust the transmitting chip in the transmitting module to be parallel to the target board. The specific solution may be: install the infrared rangefinder on an optical platform to ensure that the side of the infrared rangefinder that transmits infrared rays is in the same vertical plane as the transmitting chip. Measure the center distance Δd between the light-emitting point of the infrared rangefinder and the transmitting chip. Place a reflector on the target board at a distance Δd from the center of the target board. Adjust the optical platform so that the light spot emitted by the infrared rangefinder hits the center of the reflector, and the reflected light returned from the reflector falls exactly on the light-emitting point of the infrared rangefinder. Finally, it is determined that the transmitting chip in the transmitting module is parallel to the target board, and the center of the transmitting chip is aligned with the center of the target board.

[0065] It should be noted that the selection of the first distance needs to ensure that all the light spots formed by the laser emitted by the solid-state laser radar, that is, the first light spot set in the following text, can be displayed on the target plate set at the first distance from the transmitting lens. In this way, during close-range adjustment, the outlines of all the light spots formed by the laser emitted by the solid-state laser radar can be adjusted to make the light spot outlines clear. In an example, the first distance is 0.5m.

[0066] In this embodiment, the solid-state laser radar power supply can be turned on to light up the module, so that the solid-state laser radar emits laser light, and the laser light is emitted to the target plate through the emission lens to form a first light spot set. In one example, the target plate is a movable 10% standard reflectivity plate.

[0067] S102: Based on the first light spot set and a first theoretical light spot set pre-set on the target plate, a first strategic adjustment is performed on the position of the emitting lens relative to the emitting chip so that the contours of the first light spot set and the first theoretical light spot set overlap.

[0068] When the distance between the target plate and the transmitting lens is a first distance, a first theoretical light spot set is arranged on the target plate. The first theoretical light spot set may be all light spots generated by simulating the laser emitted by the solid-state laser radar system using optical simulation software.

[0069] For solid-state laser radars with large field of view, the light spot distortion is more serious, and the light spot distribution and contour cannot be accurately calculated by the field of view. Therefore, in the optical simulation software of the present application, the light spot distribution at a certain distance is simulated according to the light source and the optical system, as the theoretical light spot distribution, and marked on the target plate. It should be noted that the optical simulation software used in the present application is not limited, and any optical simulation software that can accurately determine the first theoretical light spot set can be used.

[0070] In the embodiment of the present application, when marking the first theoretical light spot set on the target plate, it is necessary to ensure that the coordinates are completely accurate, and the distribution of the first theoretical light spot set can be positioned using a plumb line and a level.

[0071] In some embodiments, based on the first light spot set and the first theoretical light spot set pre-set on the target board, a first strategic adjustment is made to the position of the transmitting lens relative to the transmitting chip. Specifically, an infrared camera can be used to photograph the target board to obtain an image of the target board, and the image of the target board includes an image of the first light spot set and an image of the first theoretical light spot set. Using the image of the first light spot set and the image of the first theoretical light spot set, a first strategic adjustment is made to the position of the transmitting lens relative to the transmitting chip, and finally the light spot contour of the first light spot set coincides with the contour of the first theoretical light spot set, and the close-range adjustment of the transmitting module is completed.

[0072] In the embodiment of the present application, before using the image of the first light spot set and the image of the first theoretical light spot set to make a first strategic adjustment to the position of the emitting lens relative to the emitting chip, at the first distance, the parameters of the infrared camera need to be adjusted first so that the image of the target plate can be clearly imaged. The standard of clarity can be based on the degree that the human eye can distinguish, and then the emitting chip is controlled to emit light to present the first light spot set on the target plate.

[0073] In some embodiments, the eight-point determination principle may be used to determine whether the contours of the first light spot set and the first theoretical light spot set overlap. Specifically, eight special points of the first theoretical light spot set are marked on the target plate. Figure 5 A schematic diagram of a target plate provided with a first theoretical light spot set according to some embodiments is exemplarily shown. The process of marking the first theoretical light spot set on the target plate using the eight-point judgment principle may be: first mark the edge points on the horizontal and vertical lines of the first theoretical light spot set, namely, the light spots at four points, namely, point 1, point 3, point 2 and point 4; then mark the light spots at the maximum edge field of view, namely, point 6, point 7, point 5 and point 8. The horizontal and vertical lines are generally taken as the center line of the light spot set. However, when the number of channels of the emitting chip involved and the number of light-emitting holes of each channel are both even numbers, there may not be a light spot at the intersection of the center line and the outline of the light spot set. In this case, the edge point closest to the center line is taken, such as Figure 5 Points 2 and 4 in the figure are the edge points closest to the vertical midline of the light spot set.

[0074] The step of performing a first strategic adjustment on the position of the transmitting lens relative to the transmitting chip comprises:

[0075] The emitting lens is moved along the optical axis of the emitting lens so that the light spot contour of the first light spot formed by the laser on the target plate is clear.

[0076] In this embodiment, the emitting lens is moved along the optical axis of the emitting lens, that is, the z-axis, so that the relative position of the emitting lens and the emitting chip can be changed, so that the light spot contour of the first light spot concentration formed on the target plate is clear.

[0077] Next, adjust the displacement of the emitting lens in the x-axis and y-axis directions so that the light spot located at the edge point on the horizontal line of the first light spot set overlaps with the light spot at the edge point on the horizontal line of the first theoretical light spot set, and the light spot located at the edge point on the vertical line of the first light spot set overlaps with the light spot at the edge point on the vertical line of the first theoretical light spot set.

[0078] See again Figure 5 After the spot outline of the first spot set formed on the target plate is clear, adjust the displacement of the emitting lens in the x-axis and y-axis directions, the spots located at points 1 and 3 in the first theoretical spot set coincide with the spots located on the horizontal line of the first spot set, and the spots located at points 2 and 4 in the first theoretical spot set coincide with the spots located on the vertical line of the first spot set.

[0079] Then, the pitch and yaw of the transmitting lens are adjusted so that the light spot located at the maximum edge field of view of the first light spot set and the light spot located at the maximum edge field of view of the first theoretical light spot set overlap. Figure 5 After this step, the spots located at points 6, 7, 5 and 8 in the first theoretical spot set coincide with the spots located at the maximum edge field of view in the first spot set, so that the contours of the first spot set and the first theoretical spot set coincide.

[0080] After completing the above steps, the step of adjusting all the light spot contours formed by the laser emitted by the solid-state laser radar so that the light spot contours are clear is completed.

[0081] In some embodiments, the above adjustment process further includes: determining whether the rotation centers of the pitch and yaw of the adjustment mechanism and the rotation center of the transmitting lens are completely aligned. If the rotation centers of the pitch and yaw of the adjustment mechanism and the rotation center of the transmitting lens are not completely aligned, unexpected displacements in the x, y and z directions may occur during the adjustment of the pitch and yaw of the transmitting lens, and the displacements in the x, y and z directions of the transmitting lens need to be adjusted simultaneously during the adjustment process to offset them.

[0082] In some embodiments, after the short-range calibration of the transmitting module is completed, the distance between the target board and the transmitting chip is controlled to reach a second distance, and the long-range calibration of the transmitting module is started.

[0083] Specifically, when the distance between the target plate and the transmitting lens is a second distance, a second theoretical spot set is pre-set on the target plate, and the step of performing long-distance adjustment on the transceiver module includes:

[0084] Controlling the solid-state laser radar to emit laser light so that the laser light forms a second light spot set on the target plate;

[0085] In one embodiment, the distance between the transmitting lens and the target plate is the second distance, and the jig and / or the target plate are also controlled to move along the optical axis (z-axis) of the transmitting lens. It should be noted that although the z-axis displacement adjustment of the transmitting lens is performed at both the first distance and the second distance, the purposes of the two are not the same: at the first distance, the adjustment along the z-axis direction makes the light spot clear, which is conducive to the alignment of the light spot contour. The alignment of the light spot contour ensures that the lens is completely aligned with the chip in the x, y directions and the pitch and yaw directions. In addition, it can be seen from the imaging theory that for objects at different distances, the lens is imaged at different positions on the image plane. Since the application scenario of solid-state laser radar is long-distance detection, it is necessary to adjust the position of the transmitting lens in the z-axis direction again at the second distance, and this adjustment does not affect the parameters in the x, y directions and the pitch and yaw that have been adjusted at the first distance.

[0086] In one example, the second distance may be 3m. In practical applications, if the focus is clear at the second distance of 3m, then the focus is clear at infinity. During the movement of the target plate, ensure that the optical platform has no horizontal displacement and no rotation.

[0087] In some embodiments, when the distance between the target plate and the transmitting lens is a second distance, a second theoretical light spot set is provided on the target plate, and the second theoretical light spot set can be at least part of the light spots generated by simulating the solid-state laser radar emitting lasers using optical simulation software, and the second distance is greater than the first distance. It should be noted that, since the distance between the target plate and the transmitting lens is far when the distance is the second distance, at this time, due to the size limitation of the target plate, all the light spots generated by the solid-state laser radar emitting lasers cannot be displayed on the target plate, and only part of the light spots can be displayed on the target plate.

[0088] The solid-state laser radar is controlled to emit laser so that the laser forms a second light spot set on the target plate. This step can be seen in the above content of forming the first light spot set on the target plate.

[0089] Based on the spot sizes of the second spot set and the second theoretical spot set, a second strategic adjustment is performed on the position of the transmitting lens so that the spot size of the second spot set is the same as the spot size of the second theoretical spot set. When the spot size in the image of the second spot set is the same as the spot size in the image of the second theoretical spot set, it indicates that the long-distance calibration is successful, which can ensure that the solid-state laser radar can realize the functions of the actual application scenario.

[0090] Before making a second strategic adjustment to the position of the emitting lens based on the spot size in the image of the second spot set and the image of the second theoretical spot set, at the second distance, the parameters of the infrared camera need to be adjusted first so that the image of the target plate can be clearly imaged. Subsequently, the emitting chip is controlled to emit light to present the second spot set on the target plate. The image of the target plate obtained by the infrared camera includes the image of the second spot set and the image of the second theoretical spot set. Using the spot size in the image of the first spot set and the spot size in the image of the first theoretical spot set, a second strategic adjustment is made to the position of the emitting lens relative to the emitting chip, and finally the spot size in the second spot set is made the same as the spot size in the second theoretical spot set.

[0091] In some embodiments, the step of performing a second strategic adjustment on the position of the emission lens based on the spot sizes of the second spot set and the second theoretical spot set includes:

[0092] The position of the emitting lens is displaced along the optical axis of the emitting lens until the outline of the spot in the second spot set is clearly displayed, and the spot of the second spot set located in the central field of view (with the center point of the spot set as the origin and extending in all directions within a certain range) is the same size as the spot of the second theoretical spot set located in the central field of view.

[0093] Figure 6 A schematic diagram of a second light spot set provided according to some embodiments is exemplarily shown. Figure 6 In the figure, the light spot outline in the second light spot set is clearly displayed.

[0094] Specifically, the position of the emitting lens is displaced along the optical axis of the emitting lens until the outline of the light spot in the second light spot set is clearly displayed, and the size of the light spot in the center field of view of the second light spot set is the same as the size of the light spot in the center field of view of the second theoretical light spot set, including: displacing the position of the emitting lens by a preset distance along the optical axis of the emitting lens so that the outline of the light spot in the second light spot set is clearly displayed, and the standard of clear display can be based on what the human eye can distinguish. Compare the sizes of the light spots in the center field of view of the second light spot set and the light spots in the center field of view of the second theoretical light spot set. If the sizes are different, repeat the step of displacing the position of the emitting lens by a preset distance along the optical axis of the emitting lens until the size of the light spots in the center field of view of the second light spot set and the light spots in the center field of view of the second theoretical light spot set are the same. In this embodiment, the preset distance can be set based on experience.

[0095] In some embodiments, the method further includes: after completing the short-range adjustment and long-range adjustment of the transmitting module, gluing the transmitting chip and the transmitting lens using a gluing module, and pre-curing using a curing model.

[0096] In some embodiments, the transceiver module further includes a receiving module, and the receiving module includes a receiving chip and a receiving lens; the step of adjusting the position of the transceiver lens relative to the transceiver chip at a close distance (that is, when the receiving lens is at a first distance from the target plate) includes:

[0097] Configuring the receiving chip to be in grayscale mode;

[0098] The displacement of the receiving lens in the x-axis and y-axis directions and the position along the optical axis of the receiving lens are adjusted by the adjustment mechanism, so that the edge position of the scene image is clearly displayed in the grayscale image.

[0099] In this embodiment, when the distance between the receiving lens and the target plate is a first distance, the receiving chip is configured to be in grayscale mode, and the first distance may be about 5m. In this embodiment, the receiving chip may be configured to be in grayscale mode using the host computer software. After being configured to be in grayscale mode, the image of the object detected by the solid-state laser radar is a grayscale image.

[0100] In the embodiment of the present application, the main content of the installation and adjustment of the receiving module includes the position of the receiving lens relative to the receiving chip; wherein, the receiving chip is located on the laser radar receiving chip circuit board, and the receiving lens is installed on the adjustment mechanism through a clamp so that the receiving lens can be displaced in the x-axis, y-axis and z-axis directions as well as pitch and yaw relative to the receiving lens.

[0101] “Adjusting the displacement of the receiving lens in the x-axis and y-axis directions and the position along the optical axis of the receiving lens by means of an adjustment mechanism so that the edge position of the scene image in the grayscale image is clearly displayed” specifically includes:

[0102] The position of the receiving lens is adjusted along the optical axis of the receiving lens so that the scene details in the grayscale image obtained by the receiving chip are clear.

[0103] The displacement of the receiving lens in the x-axis and y-axis directions is adjusted so that the scene objects at the edge points on the horizontal and vertical lines in the grayscale image are clearly displayed. The edge points on the horizontal and vertical lines in the grayscale image are determined in the same way as the edge points on the horizontal and vertical lines in the first theoretical spot concentration mentioned above.

[0104] The pitch and yaw of the receiving lens are adjusted so that the scene objects at the maximum edge field of view in the grayscale image are clearly displayed.

[0105] The purpose of close-range calibration is to make the scene at the edge of the image in grayscale mode discernible to the human eye. Figure 7 shown.

[0106] In some embodiments, it is determined whether the rotation centers of the pitch and yaw of the adjustment mechanism and the rotation center of the receiving lens are completely aligned. If the rotation centers of the pitch and yaw of the adjustment mechanism and the rotation center of the receiving lens are not completely aligned, unexpected displacements in the x, y and z directions may occur during the adjustment of the pitch and yaw of the receiving lens, and the displacements in the x, y and z directions of the receiving lens need to be adjusted simultaneously during the adjustment process to offset them. If the rotation centers of the pitch and yaw of the adjustment mechanism and the rotation center of the receiving lens are completely aligned, the pitch and yaw of the receiving lens are directly adjusted without adjusting the displacements in the x, y and z directions of the receiving lens during the adjustment process.

[0107] In this embodiment, the grayscale image mode is used to roughly adjust the position of the receiving lens relative to the receiving chip (close-range adjustment), and then it will switch to the point cloud mode for fine adjustment (long-range adjustment). Before long-range adjustment, the distance between the receiving lens and the target plate needs to be the second distance. Here, the second distance can be 30m. The long-range adjustment method includes:

[0108] The receiving chip is configured to be in a point cloud image mode; a laser is emitted, and a signal reflected from the environment is received, the signal is converged to the receiving chip through a receiving lens, and a point cloud image determined by the receiving chip is obtained;

[0109] At the second distance, the target plate is controlled to move in a direction away from the solid-state laser radar so that the point cloud intensity corresponding to the target plate in the point cloud image is reduced to a critical value; the receiving lens is adjusted along the optical axis of the receiving lens so that the point cloud intensity on the point cloud image is the maximum intensity, and the steps of controlling the target plate to move in a direction away from the solid-state laser radar and adjusting the receiving lens along the optical axis of the receiving lens are repeated until the distance between the receiving lens and the target plate reaches a preset distance.

[0110] In this embodiment, the target plate placed at a second distance from the receiving lens is a 10% reflectivity target plate. The target plate is located within the visible range of the receiving lens, and can be specifically placed facing the center of the field of view of the solid-state laser radar. At this time, the point cloud image can reflect the approximate shape of the target plate.

[0111] The target plate is controlled to move in a direction away from the solid-state laser radar, that is, it continues to move away on the basis of 30m, so that the point cloud intensity corresponding to the target plate in the point cloud image is reduced to a critical value. It can be understood that each point in the point cloud image has a corresponding intensity, and the critical value of the point cloud intensity corresponding to the target plate refers to the critical position where the point with the lowest intensity in the point cloud corresponding to the target plate is reduced to a point that can be displayed, but will no longer be displayed if the distance is increased. At the critical position, the receiving lens is adjusted along the optical axis of the receiving lens so that the point cloud intensity on the point cloud image is the maximum intensity reached at the current position; then, the step of controlling the target plate to move in a direction away from the solid-state laser radar to adjust the receiving lens along the optical axis of the receiving lens is repeated until the target plate reaches the preset distance. In theory, when the preset distance is consistent with the farthest detection distance of the radar, the adjustment effect is best. Of course, limited by the actual test site, the preset distance may not be reached. In this embodiment, it is required that the distance between the receiving lens and the target plate at the preset distance is more than 30m.

[0112] After the above adjustment process is completed, the receiving module is calibrated and then glue is dispensed using the glue dispensing module, and then pre-cured using the curing model.

[0113] In some embodiments, the method further includes performing UV curing (ultraviolet curing) manually or by multi-point lighting tooling to ensure the secure installation and sealing of the entire transmitting chip and transmitting lens, as well as the secure installation and sealing of the receiving chip and receiving lens.

[0114] After being installed, adjusted and fixed, the transmitting chip and the receiving chip are completely matched, that is, the transmitting chip is exactly on the focal plane of the transmitting lens, and the receiving chip is exactly on the focal plane of the receiving lens. The laser emitted by the transmitting chip is parallel light after passing through the transmitting lens, and is evenly irradiated on the target object. After being reflected by the target object, the reflected light is converged on the receiving chip through the receiving lens.

[0115] By means of the above technical solution, the present application provides a method and device for assembling and adjusting a solid-state laser radar, in which the transceiver module is adjusted when the solid-state laser radar and the target plate are close and far away, that is, the position relationship of the transceiver lens relative to the transceiver chip is adjusted so that the transceiver chip and the transceiver lens are in the best relative position relationship for imaging. During close-range adjustment, all the spot contours formed by the laser emitted by the solid-state laser radar can be adjusted to make the spot contours clear. In addition, since the application scenarios of solid-state laser radar are mostly long-distance detection, the method of the embodiment of the present application also performs long-distance adjustment, which can ensure that the solid-state laser radar can realize the functions of the actual application scenarios, and ultimately improve the ranging accuracy of the solid-state laser radar.

[0116] It should be noted that for the description of the structure in the system involved in the assembly and adjustment method of a solid-state laser radar provided in an embodiment of the present application, reference can be made to the corresponding description of the system above and will not be repeated here.

[0117] Furthermore, the present application provides a solid-state laser radar assembly and adjustment device. Figure 8 The schematic diagram of the structure of a solid-state laser radar assembly and adjustment device provided in accordance with some embodiments is exemplarily shown. The device comprises a first adjustment unit 701 and a second adjustment unit 702.

[0118] A first calibration unit 701 is used to perform close-range calibration on the position of the transceiver lens relative to the transceiver chip when the distance between the transceiver lens and the target plate is a first distance;

[0119] The second adjustment unit 702 is used to perform long-distance adjustment on the position of the transceiver lens relative to the transceiver chip when the distance between the transceiver lens and the target board is a second distance, and the second distance is greater than the first distance.

[0120] It should be noted that for other corresponding descriptions of the functional units involved in the assembly and adjustment device of a solid-state laser radar provided in an embodiment of the present application, reference can be made to the corresponding description of the system above and will not be repeated here.

[0121] The present application also provides a terminal, which may be a personal computer, a server, a network device, etc. Fig. 9 As shown, the terminal includes a bus, a processor, a memory and a communication interface, and may also include an input and output interface and a display device. Among them, the processor of the terminal is used to provide computing and control capabilities. The memory of the terminal includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the terminal is used to store location information. The network interface of the terminal is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the steps in each method embodiment are implemented.

[0122] Those skilled in the art will understand that Fig. 9 The structure shown in the figure is only a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the terminal to which the scheme of the present application is applied. The specific terminal may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0123] In one embodiment, a computer-readable storage medium is provided. The computer-readable storage medium may be non-volatile or volatile, and stores a computer program thereon. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0124] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0125] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0126] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0127] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for assembling a solid-state laser radar, characterized in that: The solid-state laser radar includes a transceiver module, the transceiver module includes a transceiver chip and a transceiver lens, the transceiver module is installed on a tooling fixture, the tooling fixture includes a mounting seat and an adjustment mechanism, the transceiver chip is installed on the mounting seat, the transceiver lens is installed on the adjustment mechanism, the adjustment mechanism is used to adjust the position of the transceiver lens relative to the transceiver chip, and a target plate is arranged in front of the tooling fixture; the method includes: When the distance between the transceiver lens and the target plate is a first distance, close-range adjustment is performed on the position of the transceiver lens relative to the transceiver chip; When the distance between the transceiver lens and the target plate is a second distance, the position of the transceiver lens relative to the transceiver chip is remotely adjusted, and the second distance is greater than the first distance.

2. The method according to claim 1, characterized in that The transceiver module includes a transmitting module, and the transmitting module includes a transmitting lens and a transmitting chip; the step of closely adjusting the position of the transceiver lens relative to the transceiver chip includes: Controlling the solid-state laser radar to emit laser light so that the laser light forms a first light spot set on the target plate; Based on the first light spot set and a first theoretical light spot set pre-set on the target plate, a first strategic adjustment is performed on the position of the emission lens relative to the emission chip so that the contours of the first light spot set and the first theoretical light spot set overlap.

3. The method according to claim 2, characterized in that The step of performing a first strategic adjustment on the position of the transmitting lens relative to the transmitting chip comprises: Moving the emitting lens along the optical axis of the emitting lens so that the light spot contour of the first light spot formed by the laser on the target plate is clear; Adjust the displacement of the emitting lens in the x-axis and y-axis directions by means of an adjustment mechanism, so that the light spot located at the edge point on the horizontal line of the first light spot set coincides with the light spot at the edge point on the horizontal line of the first theoretical light spot set, and the light spot located at the edge point on the vertical line of the first light spot set coincides with the light spot at the edge point on the vertical line of the first theoretical light spot set; The pitch and yaw of the emitting lens are adjusted by an adjustment mechanism so that the light spot located at the maximum edge field of view of the first light spot set coincides with the light spot located at the maximum edge field of view of the first theoretical light spot set.

4. The method according to claim 3, characterized in that The step of adjusting the pitch and yaw of the transmitting lens comprises: Determining whether the rotation centers of the pitch and yaw of the adjustment mechanism and the rotation center of the transmitting lens are completely aligned; If it is not perfectly aligned, the pitch and yaw of the transmitting lens are adjusted, and the displacement of the transmitting lens in the x, y and z directions is adjusted during the adjustment process to offset it.

5. The method according to claim 2, characterized in that: When the distance between the target plate and the transmitting lens is a second distance, a second theoretical light spot set is pre-set on the target plate, and the step of remotely calibrating the transceiver module includes: Controlling the solid-state laser radar to emit laser light so that the laser light forms a second light spot set on the target plate; Based on the spots of the second light spot set and the second theoretical light spot set, a second strategic adjustment is performed on the position of the emitting lens to make the spot size of the second light spot set the same as the spot size of the second theoretical light spot set.

6. The method according to claim 5, characterized in that The step of performing a second strategic adjustment on the position of the emitting lens based on the spot sizes of the second spot set and the second theoretical spot set comprises: The position of the emitting lens is displaced along the optical axis of the emitting lens until the light spot outline in the second light spot set is clearly displayed, and the light spot in the center field of view of the second light spot set is the same size as the light spot in the center field of view of the second theoretical light spot set.

7. The method according to claim 1, characterized in that The transceiver module includes a receiving module, and the receiving module includes a receiving chip and a receiving lens; the step of closely adjusting the position of the transceiver lens relative to the transceiver chip includes: Configuring the receiving chip to be in grayscale mode; The displacement of the receiving lens in the x-axis and y-axis directions and the position along the optical axis of the receiving lens are adjusted by the adjustment mechanism, so that the edge position of the scene image is clearly displayed in the grayscale image.

8. The method according to claim 7, characterized in that The step of adjusting the pitch and yaw of the receiving lens comprises: Determining whether the rotation centers of the pitch and yaw of the adjustment mechanism and the rotation center of the receiving lens are completely aligned; If it is not completely aligned, the pitch and yaw of the receiving lens are adjusted, and during the adjustment process, the displacements of the receiving lens in the x, y and z directions are adjusted to offset them.

9. The method according to claim 7, characterized in that: The step of remotely calibrating the receiving module comprises: Configuring the receiving chip to be in point cloud mode; At the second distance, the target plate is controlled to move in a direction away from the solid-state laser radar so that the point cloud intensity corresponding to the target plate in the point cloud image is reduced to a critical value; the receiving lens is adjusted along the optical axis of the receiving lens so that the point cloud intensity on the point cloud image is the maximum intensity, and the steps of controlling the target plate to move in a direction away from the solid-state laser radar and adjusting the receiving lens along the optical axis of the receiving lens are repeated until the distance between the receiving lens and the target plate reaches a preset distance.

10. A solid-state laser radar assembly and adjustment device, characterized in that: The solid-state laser radar includes a transceiver module, the transceiver module includes a transceiver chip and a transceiver lens, the transceiver module is installed on a fixture, the fixture includes an adjustment mechanism, the position of the transceiver lens relative to the transceiver chip is adjusted by the adjustment mechanism in the fixture, and a target plate is arranged in front of the fixture; the device includes: A first calibration unit, configured to perform close-range calibration of the position of the transceiver lens relative to the transceiver chip when the distance between the transceiver lens and the target plate is a first distance; The second adjustment unit is used to perform long-distance adjustment on the position of the transceiver lens relative to the transceiver chip when the distance between the transceiver lens and the target plate is a second distance, and the second distance is greater than the first distance.

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