Installation and adjustment method and installation and adjustment device for laser radar

Abstract

The invention provides an installation and adjustment method and device of a laser radar, and the laser radar comprises a plurality of laser chips, and each laser chip comprises a plurality of laser emission units; the emission optical module is suitable for transmitting laser emitted by each laser chip, and the emission optical module comprises a collimation unit; the adjustment method comprises the following steps: adjusting the position of each laser chip, so that each laser chip is located on the focal plane of the collimation unit; the position of each laser chip on the focal plane is adjusted, so that the laser emitted by each laser emitting unit is aligned with a preset angle; and fixing the laser chips. By adopting the above scheme, a plurality of laser chips can be accurately positioned, so that the measurement precision and the distance measurement capability of the laser radar can be guaranteed.

Description

Technical Field

[0001] The present application relates to the field of laser radar, and in particular to a laser radar installation and adjustment method and an installation and adjustment device. Background Art

[0002] At present, in the field of LiDAR, more and more components are integrated on chips, which can reduce the manufacturing cost of LiDAR and reduce the size of LiDAR. For example, the internal structure of LiDAR using fiber optic transmitter is complex, and only by designing most of the components on chips can the requirements of low cost and small size be met.

[0003] However, integrating all laser channels on one chip is very difficult. Therefore, existing solutions usually integrate multiple laser channels on multiple chips to reduce the difficulty of chip manufacturing process, thereby facilitating mass production of chips.

[0004] Since the positioning accuracy of the LiDAR transmitter determines the measurement accuracy and ranging capability of the LiDAR, precise positioning of multiple laser chips is crucial in the production process of the LiDAR.

[0005] The contents of the background technology section are merely the technologies known to the public and do not necessarily represent the existing technologies in the field. Summary of the invention

[0006] In order to solve the above technical problems, the present invention provides a laser radar assembly and adjustment method and an assembly and adjustment device, which can accurately position multiple laser chips, thereby ensuring the measurement accuracy and distance measurement capability of the laser radar.

[0007] First, the present invention provides a method for assembling a laser radar, wherein the laser radar comprises: a plurality of laser chips, wherein the laser chips comprise: a plurality of laser emitting units; an emitting optical module, adapted to transmit lasers emitted by each laser chip, wherein the emitting optical module comprises: a collimating unit; and the assembling method comprises:

[0008] Adjusting the position of each of the laser chips so that each of the laser chips is located on the focal plane of the collimating unit;

[0009] Adjusting the position of each of the laser chips on the focal plane so that the laser emitted by each of the laser emitting units is aligned with a preset angle;

[0010] Each of the laser chips is fixed.

[0011] Optionally, the adjusting the position of each of the laser chips so that each of the laser chips is located on a focal plane of the collimating unit comprises:

[0012] Respectively acquiring light spots formed by lasers emitted by at least two laser emitting units on each laser chip;

[0013] Based on the light spots, the position of the laser chip is adjusted until all the light spots meet preset conditions.

[0014] Optionally, the preset condition includes that the size of the light spot is within a preset size range.

[0015] Optionally, the step of respectively acquiring light spots formed by lasers emitted by at least two laser emitting units on each of the laser chips comprises:

[0016] Select two laser emitting units on each laser chip whose distance is greater than or equal to a preset threshold value respectively;

[0017] A light spot formed by the laser emitted by the selected laser emitting unit is obtained.

[0018] Optionally, adjusting the position of each of the laser chips on the focal plane so that the laser emitted by each of the laser emitting units is aligned with a preset angle includes:

[0019] The positions of any two adjacent laser chips on the focal plane are adjusted respectively, so that the lasers emitted by the laser emitting units on the adjacent laser chips are respectively aligned with respective preset angles.

[0020] Optionally, the respectively adjusting the positions of any two adjacent laser chips on the focal plane so that the lasers emitted by the laser emitting units on the adjacent laser chips are respectively aligned with respective preset angles comprises:

[0021] Respectively acquiring light spots formed by lasers emitted by at least one of the laser emitting units on each of the adjacent laser chips;

[0022] Based on the light spot, the position of each adjacent laser chip on the focal plane is adjusted so that the laser emitted by each laser emitting unit is aligned with a preset angle.

[0023] Optionally, adjusting the position of each adjacent laser chip on the focal plane based on the light spot includes:

[0024] The relative positions of the adjacent laser chips on the focal plane are adjusted so that the relative positions between the light spots meet preset requirements.

[0025] Optionally, the preset requirements include:

[0026] The distance between the light spots formed by the lasers emitted by the laser emitting units on the adjacent laser chips in a preset direction is within a preset distance range.

[0027] Optionally, the light spot formed by the laser emitted by the laser emitting unit includes:

[0028] The laser light emitted by the laser emitting unit is amplified to form a light spot.

[0029] Optionally, fixing each of the laser chips comprises:

[0030] Each of the laser chips is fixedly connected to the emission optical module by adhesive.

[0031] The present invention also provides a laser radar assembly and adjustment device, the laser radar comprises: a plurality of laser chips, the laser chips comprise a plurality of laser emitting units; an emitting optical module, suitable for transmitting lasers emitted by each laser chip, the emitting optical module comprises a collimating unit; the assembly and adjustment device comprises:

[0032] An imaging module, adapted to acquire a light spot formed by the laser emitted by the laser emitting unit selected on each of the laser chips;

[0033] The position adjustment module is adapted to adjust the position of the laser chips so that each of the laser chips is located on the focal plane of the collimating unit and the laser emitted by each of the laser emitting units is aligned with a preset angle.

[0034] Optionally, the imaging module includes:

[0035] One or more imaging units, wherein the imaging units are adapted to acquire the light spots;

[0036] The measuring unit is adapted to obtain the size of the light spots and the distance between the light spots in a preset direction.

[0037] Optionally, the adjustment device further comprises:

[0038] The optical amplification module is arranged between the laser radar and the imaging module, and is suitable for amplifying the laser emitted by the laser emitting unit to form the light spot.

[0039] Optionally, the optical amplification module includes: one or more optical amplification units, the optical amplification units are suitable for amplifying the laser emitted by the laser emitting unit to form the light spot, and the optical amplification units are arranged corresponding to the imaging unit.

[0040] Optionally, the photosensitive surface of the imaging unit is perpendicular to the optical axis of the optical amplification module.

[0041] Optionally, the adjustment device further comprises:

[0042] The reflection module is arranged between the laser radar and the imaging module.

[0043] The laser radar assembly and adjustment method provided by the present invention is adopted, wherein the laser radar includes multiple laser chips and an emission optical module, the laser chip includes multiple laser emission units, and the emission optical module includes a collimation unit. By adjusting the position of each laser chip, each laser chip is located on the focal plane of the collimation unit, and then the position of each laser chip on the focal plane is adjusted so that the laser emitted by each laser emission unit on each laser chip is aligned with a preset angle, each laser chip can be accurately positioned, thereby ensuring the measurement accuracy and distance measurement capability of the laser radar.

[0044] Furthermore, the positions of the laser emitting units are different, and the light spots formed by the lasers emitted by them after being collimated by the collimation unit and emitted to the external space are also different. Since the laser emitting units on the same laser chip are arranged on the same plane, the light spots formed by the lasers emitted by at least two laser emitting units on each laser chip are obtained respectively, and then based on the light spots, the positions of the laser chips are adjusted until all the light spots meet the preset conditions. Each laser chip can be accurately positioned on the focal plane of the collimation unit, so that all the laser emitting units on each laser chip are located on the focal plane of the collimation unit, thereby effectively ensuring the measurement accuracy and ranging capability of the laser radar.

[0045] Furthermore, since the size of the light spot can be quantitatively calculated, by comparing whether the size of the light spot formed by the lasers emitted by at least two of the laser emitting units on each of the laser chips is within a preset size range, not only can each laser chip be accurately positioned on the focal plane of the collimation unit, but it is also easy to implement.

[0046] Further, when the laser chip deviates from the focal plane of the collimating unit, the farther the laser emitting unit deviates from the focal plane of the collimating unit, the greater the size change of the spot formed by the laser emitted by it. In other words, when the laser emitting unit deviates from the focal plane of the collimating unit, the size change of the spot formed by the laser emitted by it is smaller. Therefore, if the distance between at least two of the laser emitting units on the acquired laser chip is closer, it may cause the two selected laser emitting units to deviate from the focal plane of the collimating unit by a closer distance, but there are other laser emitting units that deviate from the focal plane of the collimating unit by a longer distance. Since the size change of the spot formed by the laser emitted by them is smaller, it is easy to cause a larger laser chip positioning error within the preset size range. Therefore, by selecting two laser emitting units on each laser chip whose distance is greater than or equal to the preset threshold, and then obtaining the spot formed by the laser emitted by the selected laser emitting unit, the accuracy of positioning each laser chip can be further improved, thereby further ensuring the measurement accuracy and distance measurement capability of the laser radar.

[0047] Furthermore, by adjusting the positions of any two adjacent laser chips on the focal plane respectively, so that the lasers emitted by the laser emitting units on the adjacent laser chips are respectively aimed at their respective preset angles, it can be ensured that the lasers emitted by all laser emitting units on multiple laser chips are aimed at their respective preset angles, thereby effectively ensuring the measurement accuracy and ranging capability of the laser radar.

[0048] Furthermore, by respectively acquiring the light spots formed by the lasers emitted by at least one of the laser emitting units on each of the adjacent laser chips, and then adjusting the positions of the adjacent laser chips on the focal plane based on the light spots, the lasers emitted by each of the laser emitting units are aligned with a preset angle, and the positional relationship of the two laser chips is reflected by the positional relationship of the light spots of the laser emitting units of the two laser chips, and the positions of the laser chips on the focal plane are adjusted based on the positional relationship between the light spots, so that all the lasers emitted by the multiple laser chips are aligned with the preset angle, which not only can accurately position each laser chip but also is easy to implement.

[0049] Furthermore, when the adjacent laser chips are positioned to the correct position, the relative position of the light spot formed by the laser emitted by each laser emitting unit on the same laser chip is fixed. Therefore, by adjusting the relative position of each adjacent laser chip on the focal plane so that the relative position between the light spots of two laser chips meets the preset requirements, the laser emitted by each laser emitting unit can be aligned with the preset angle, so each adjacent laser chip can be accurately positioned, thereby effectively ensuring the measurement accuracy and ranging capability of the laser radar.

[0050] Furthermore, by judging whether the distance of the light spot formed by the laser emitted by the laser emitting unit on the adjacent laser chip in the preset direction is within the preset distance range, not only each adjacent laser chip can be accurately positioned, but also the positioning efficiency can be improved.

[0051] Furthermore, based on the light spot formed after the laser emitted by the laser emitting unit is amplified, the position of each laser chip and the position of each laser chip on the focal plane are adjusted, so that the size change of the light spot can be more clearly distinguished, thereby further improving the positioning accuracy and positioning efficiency of each laser chip.

[0052] Furthermore, each of the laser chips is fixedly connected to the emission optical module by using an adhesive, which not only can fix each of the laser chips to the emission optical module, but also can avoid wear on each of the laser chips.

[0053] The present invention also provides an assembly and adjustment device for a laser radar, wherein the laser radar includes multiple laser chips and an emitting optical module, the laser chip includes multiple laser emitting units, and the emitting optical module includes a collimating unit. The imaging module is used to obtain a light spot formed by the laser emitted by the laser emitting unit selected on each of the laser chips, and then the position of the laser chip is adjusted by the position adjustment module, so that each of the laser chips is located on the focal plane of the collimating unit, and the laser emitted by each of the laser emitting units is aligned with a preset angle, so that each laser chip can be accurately positioned, thereby ensuring the measurement accuracy and distance measurement capability of the laser radar.

[0054] Furthermore, the imaging module may include an imaging unit and a measuring unit. The light spot is obtained by an imaging unit, and then the size of the light spot and the distance between the light spots in a preset direction are obtained by the measuring unit. Each laser chip can be accurately positioned on the focal plane of the collimating unit and each adjacent laser chip can be accurately positioned, thereby effectively ensuring the measurement accuracy and distance measurement capability of the laser radar. In addition, since the light spot formed by the laser emitted by any laser emitting unit selected on each of the laser chips can be obtained by an imaging unit, the structure is simple, which is not only easy to implement, but also conducive to the inspection and maintenance of the device. The imaging module may also include multiple imaging units and measuring units. By setting up multiple imaging units to respectively obtain the light spot formed by the laser emitted by the laser emitting unit selected on each of the laser chips, the manufacturing cost of the imaging module can be reduced, which is conducive to the mass production and promotion and application of the entire assembly and adjustment device.

[0055] Furthermore, the adjustment device may also include an optical amplification module arranged between the laser radar and the imaging module. The optical amplification module amplifies the laser emitted by the laser emitting unit to form the light spot, and the size change of the light spot can be more clearly distinguished, thereby further improving the positioning accuracy and positioning efficiency of each laser chip.

[0056] Furthermore, the optical amplification module may include an optical amplification unit corresponding to the imaging unit, and the laser emitted by the laser emitting unit selected on each laser chip is amplified by the optical amplification unit to form the light spot. The structure is simple, not only easy to implement, but also conducive to the inspection and maintenance of the device. The optical amplification module may also include multiple optical amplification units corresponding to the imaging unit, and the laser emitted by the laser emitting unit selected on each laser chip is amplified by multiple optical amplification units to form the light spot, which can reduce the manufacturing cost of the optical amplification module, thereby further reducing the manufacturing cost of the entire assembly and adjustment device.

[0057] Furthermore, by arranging the photosensitive surface of the imaging unit perpendicular to the optical axis of the optical amplification module, it is helpful to determine the size of the light spot formed by the laser emitted by each laser emitting unit when each laser chip is correctly positioned, thereby facilitating the determination of the size change of the light spot, and can further improve the accuracy of positioning each laser chip, thereby further ensuring the measurement accuracy and distance measurement capability of the laser radar.

[0058] Furthermore, the adjustment device may also include a reflection module arranged between the laser radar and the imaging module. By adjusting the optical path of the laser emitted by each laser emitting unit through the reflection module, the occupied space of the entire adjustment device can be reduced, making it easier to implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0060] Figure 1 A flow chart of a laser radar installation method in an embodiment of this specification is shown;

[0061] Figure 2 A schematic diagram showing the collimation effect of a collimation unit in an embodiment of this specification is shown;

[0062] Figure 3 A schematic diagram of the steps of adjusting the position of a laser chip in an embodiment of this specification is shown;

[0063] Figure 4 A schematic diagram of the steps of obtaining a light spot formed by the laser emitted by the laser emitting unit in an embodiment of this specification is shown;

[0064] Figure 5 A schematic diagram showing a step of adjusting the positions of adjacent laser chips on a focal plane in an embodiment of this specification is shown;

[0065] Figure 6 A schematic diagram of the structure of a laser radar assembly and adjustment device in an embodiment of this specification is shown;

[0066] Figure 7 A schematic diagram showing the specific structure of a laser radar assembly and adjustment device in an embodiment of this specification is shown;

[0067] Figure 8 A schematic diagram showing the relative positions of a laser chip and a focal plane of a collimation unit in an embodiment of this specification is shown;

[0068] Fig. 9 A schematic diagram showing the relative positions of another laser chip and the focal plane of the collimation unit in an embodiment of this specification is shown;

[0069] Fig.10 A schematic diagram showing the relative positions of adjacent laser chips in an embodiment of this specification is shown;

[0070] Fig.11 A schematic diagram of the specific structure of another laser radar assembly and adjustment device in an embodiment of this specification is shown. DETAILED DESCRIPTION

[0071] As described in the background technology, existing solutions usually integrate multiple laser channels on multiple chips to reduce the difficulty of the chip manufacturing process. Since the positioning accuracy of the laser radar transmitter determines the measurement accuracy and ranging capability of the laser radar, the precise positioning of multiple laser chips is crucial in the production process of the laser radar.

[0072] In view of the above problems, the embodiments of this specification provide a method for assembling and adjusting a laser radar, wherein the laser radar includes a plurality of laser chips and an emission optical module, the laser chip includes a plurality of laser emission units, and the emission optical module includes a collimation unit. For the laser radar, the collimation unit can be directly used for assembly and adjustment. Specifically, by adjusting the position of each laser chip so that each laser chip is located on the focal plane of the collimation unit, and then adjusting the position of each laser chip on the focal plane so that the laser emitted by each laser emission unit on each laser chip is aligned with a preset angle, each laser chip can be accurately positioned, thereby ensuring the measurement accuracy and distance measurement capability of the laser radar.

[0073] In order to enable those skilled in the art to better understand and implement the embodiments of this specification, the concepts, schemes, principles and advantages of the embodiments of this specification are described in detail below with reference to the drawings and through specific application examples.

[0074] First, the embodiment of this specification provides a method for assembling a laser radar, wherein the laser radar comprises: a plurality of laser chips, wherein the laser chips comprise: a plurality of laser emitting units; an emitting optical module, adapted to transmit the lasers emitted by each laser chip, wherein the emitting optical module comprises: a collimating unit. Figure 1 The flowchart of a laser radar installation method shown in FIG. 1 is a flowchart of a laser radar installation method shown in FIG. 1 . In the embodiment of this specification, the laser radar can be installed and adjusted using the following steps:

[0075] Step A: adjusting the position of each of the laser chips so that each of the laser chips is located on the focal plane of the collimating unit.

[0076] Specifically, refer to Figure 2 A schematic diagram of the collimation effect of a collimation unit is shown, wherein it is assumed that the laser emitting unit L1 and the laser emitting unit L3 are located outside the focal plane J of the collimation unit M, and the laser emitting unit L2 is located on the focal plane J of the collimation unit M, as shown in FIG. Figure 2As shown, the divergence angle of the laser emitted by the laser emitting unit L1 and the laser emitting unit L3 after being collimated by the collimating unit M and emitted to the external space is significantly greater than the divergence angle of the laser emitting unit L2 after being collimated by the collimating unit M and emitted to the external space. When the divergence angle of the laser emitted to the external space is large, it will seriously affect the measurement accuracy and ranging capability of the laser radar.

[0077] Therefore, in a specific implementation, in order to ensure the collimation effect of the laser emitted by each laser emitting unit on each laser chip, the position of each laser chip can be adjusted so that each laser chip is located on the focal plane of the collimating unit.

[0078] Step B: adjusting the position of each of the laser chips on the focal plane so that the laser emitted by each of the laser emitting units is aligned with a preset angle.

[0079] In a specific implementation, the field of view of the laser radar is jointly determined by the laser emitting units on each of the laser chips. Therefore, by adjusting the position of each of the laser chips on the focal plane so that the laser emitted by each of the laser emitting units is aligned with a preset angle, each laser chip can be accurately positioned.

[0080] Step C, fixing each of the laser chips.

[0081] By adopting the above embodiment, the position of each laser chip is adjusted so that each laser chip is located on the focal plane of the collimation unit, and then the position of each laser chip on the focal plane is adjusted so that the laser emitted by each laser emitting unit on each laser chip is aligned with a preset angle, so that each laser chip can be accurately positioned, thereby ensuring the measurement accuracy and distance measurement capability of the laser radar.

[0082] In order to enable those skilled in the art to better understand and implement, the present invention is described in detail below through specific examples and in combination with specific application scenarios.

[0083] In some embodiments of this specification, for step A, refer to Figure 3 The schematic diagram of a step of adjusting the position of a laser chip is shown, and the specific steps may be as follows:

[0084] Step A1, respectively acquiring light spots formed by lasers emitted by at least two laser emitting units on each laser chip.

[0085] In a specific implementation, since the laser emitting units on the same laser chip are arranged on the same plane, all the laser emitting units on the same laser chip can be accurately positioned by respectively acquiring the light spots formed by the lasers emitted by at least two of the laser emitting units on each of the laser chips and accurately positioning the at least two laser emitting units.

[0086] Step A2: based on the light spots, adjusting the position of the laser chip until all the light spots meet preset conditions.

[0087] In a specific implementation, due to the different positions of the laser emitting units, the light spots formed by the lasers emitted by them after being collimated by the collimation unit and emitted to the external space are also different. Therefore, the position of the laser chip can be adjusted based on the light spots formed by the lasers emitted by at least two of the laser emitting units until all of the light spots meet the preset conditions.

[0088] By adopting the above embodiment, by respectively acquiring the light spots formed by the lasers emitted by at least two of the laser emitting units on each of the laser chips, and then adjusting the position of the laser chip based on the light spots until all of the light spots meet the preset conditions, each laser chip can be accurately positioned on the focal plane of the collimation unit, so that all the laser emitting units on each laser chip are located on the focal plane of the collimation unit, thereby effectively ensuring that the laser emitted by each laser emitting unit can be better shaped by the collimation unit into parallel light or a light beam with a smaller divergence angle, thereby ensuring the measurement accuracy and ranging capability of the laser radar.

[0089] As a specific example, the preset condition may specifically be that the size of the light spot is within a preset size range.

[0090] According to the above embodiment, since the size of the light spot can be quantitatively calculated, by comparing whether the size of the light spot formed by the lasers emitted by at least two laser emitting units on each laser chip is within a preset size range, not only can each laser chip be accurately positioned on the focal plane of the collimation unit, but it is also easy to implement.

[0091] It should be noted that the embodiments of this specification do not impose any specific restrictions on the preset condition. For example, the preset condition may also be whether the shape of the light spot is the same as the shape of a preset light spot.

[0092] In the specific implementation, for step A1, refer to Figure 4 The schematic diagram of the steps for obtaining a light spot formed by the laser emitted by the laser emitting unit is shown, and the steps can be specifically as follows:

[0093] Step A11, respectively selecting two laser emitting units on each laser chip whose distance is greater than or equal to a preset threshold.

[0094] In a specific implementation, when the laser chip deviates from the focal plane of the collimator unit, the farther the laser emitting unit deviates from the focal plane of the collimator unit, the greater the size change of the spot formed by the laser emitted by the laser emitting unit. In other words, when the laser emitting unit deviates from the focal plane of the collimator unit, the size change of the spot formed by the laser emitted by the laser emitting unit is smaller. Therefore, if the distance between at least two laser emitting units on the acquired laser chip is closer, it may appear that the two selected laser emitting units are closer to the focal plane of the collimator unit, but there are other laser emitting units that are farther away from the focal plane of the collimator unit. At this time, when the position of the laser chip is adjusted according to the spots of the two selected laser emitting units with closer distances, the size change of the spots formed by the lasers emitted by them is smaller and within the preset size range, but the other laser emitting units that are not selected deviate from the focal plane farther, and the size change of the spots is not within the preset range, which easily leads to a larger laser chip positioning error; therefore, two laser emitting units on each laser chip whose distance is greater than or equal to the preset threshold can be selected respectively to reduce the laser chip positioning error.

[0095] Step A12, obtaining a light spot formed by the laser emitted by the selected laser emitting unit.

[0096] By adopting the above embodiment, by respectively selecting two laser emitting units on each laser chip whose distance is greater than or equal to a preset threshold, and then obtaining the light spot formed by the laser emitted by the selected laser emitting unit, the accuracy of positioning each laser chip can be further improved, thereby further ensuring the measurement accuracy and distance measurement capability of the laser radar.

[0097] It is understandable that the embodiments of this specification do not impose any specific restrictions on the number of laser emitting units selected on each laser chip, and the above embodiments are only preferred examples.

[0098] In some implementations of this specification, step B may specifically include:

[0099] Step B1, respectively adjusting the positions of any two adjacent laser chips on the focal plane, so that the lasers emitted by the laser emitting units on the adjacent laser chips are respectively aligned with respective preset angles.

[0100] In a specific implementation, since the field of view of the laser radar is composed of the lasers emitted by each laser emitting unit on each laser chip, after each laser chip is accurately positioned on the focal plane of the collimation unit, it is also necessary to accurately position the position of each laser chip on the focal plane of the collimation unit to ensure that the lasers emitted by each laser emitting unit on each laser chip are respectively aligned with their respective preset angles.

[0101] By adopting the above embodiment, by respectively adjusting the positions of any two adjacent laser chips on the focal plane, the lasers emitted by the laser emitting units on the adjacent laser chips are respectively aimed at their respective preset angles, thereby ensuring that the lasers emitted by all laser emitting units on multiple laser chips are aimed at their respective preset angles, thereby effectively ensuring the measurement accuracy and ranging capability of the laser radar.

[0102] In other embodiments of this specification, for step B1, refer to Figure 5 The schematic diagram of a step of adjusting the position of adjacent laser chips on the focal plane is shown, and the specific steps may be as follows:

[0103] Step B11, respectively acquiring light spots formed by lasers emitted by at least one of the laser emitting units on each of the adjacent laser chips.

[0104] Step B12: Based on the light spot, adjust the position of each adjacent laser chip on the focal plane so that the laser emitted by each laser emitting unit is aligned with a preset angle.

[0105] By adopting the above embodiment, by respectively acquiring the light spots formed by the lasers emitted by at least one of the laser emitting units on each of the adjacent laser chips, and then adjusting the positions of the adjacent laser chips on the focal plane based on the light spots, the lasers emitted by each of the laser emitting units are aligned with a preset angle, and the positional relationship of the two laser chips is reflected by the positional relationship of the light spots of the laser emitting units of the two laser chips, and the positions of the laser chips on the focal plane are adjusted based on the positional relationship between the light spots, so that all the lasers emitted by the multiple laser chips are aligned with the preset angle, which not only can accurately position each laser chip but also is easy to implement.

[0106] In a specific implementation, the relative positions of the adjacent laser chips on the focal plane can be adjusted so that the relative positions of the light spots meet preset requirements, thereby allowing the lasers emitted by the laser emitting units to be aligned with a preset angle.

[0107] Specifically, when the adjacent laser chips are positioned to the correct position, the relative position of the light spot formed by the laser emitted by each laser emitting unit on the same laser chip is fixed. Therefore, by adjusting the relative position of each adjacent laser chip on the focal plane so that the relative position between the light spots of two laser chips meets the preset requirements, the laser emitted by each laser emitting unit can be aligned with the preset angle, so each adjacent laser chip can be accurately positioned, thereby effectively ensuring the measurement accuracy and ranging capability of the laser radar.

[0108] As a specific example, the preset requirement may specifically be that the distance between the light spots formed by the lasers emitted by the laser emitting units on the adjacent laser chips in a preset direction is within a preset distance range.

[0109] By adopting the above embodiment, by judging whether the distance of the light spot formed by the laser emitted by the laser emitting unit on the adjacent laser chip in the preset direction is within the preset distance range, not only each adjacent laser chip can be accurately positioned, but also the positioning efficiency can be improved.

[0110] In a specific implementation, the position of each of the laser chips and the position of each of the laser chips on the focal plane may be adjusted based on a light spot formed after the laser emitted by the laser emitting unit is amplified.

[0111] By adopting the above embodiment, the size change of the light spot can be more clearly distinguished, thereby further improving the positioning accuracy and positioning efficiency of each laser chip.

[0112] In some embodiments of this specification, step C may specifically include:

[0113] Each of the laser chips is fixedly connected to the emission optical module by adhesive.

[0114] By adopting the above embodiment, each laser chip is fixedly connected to the emission optical module by means of an adhesive, which not only can fix each laser chip to the emission optical module, but also can avoid wear on each laser chip.

[0115] It is understandable that the embodiments of this specification do not impose any specific restrictions on the manner in which each of the laser chips is fixedly connected to the emission optical module, as long as each of the laser chips can be fixedly connected to the emission optical module.

[0116] For ease of implementation, the present specification also provides a laser radar assembly and adjustment device, the laser radar comprising: a plurality of laser chips, the laser chip comprising a plurality of laser emitting units; an emitting optical module, suitable for transmitting the laser emitted by each laser chip, the emitting optical module comprising a collimating unit; Figure 6 The schematic diagram of the structure of a laser radar adjustment device is shown, and the adjustment device T may include:

[0117] The imaging module T1 is adapted to acquire a light spot formed by the laser emitted by the laser emitting unit selected on each of the laser chips.

[0118] The position adjustment module T2 is adapted to adjust the position of the laser chips so that each of the laser chips is located on the focal plane of the collimating unit and the laser emitted by each of the laser emitting units is aligned with a preset angle.

[0119] In some embodiments of the present specification, the position adjustment module T2 may be an automatic or semi-automatic execution device. As an optional example, the position adjustment module T2 may be a fully automatic manipulator, which may be controlled by a preset program to adjust the position of the laser chip.

[0120] As another optional example, the position adjustment module T2 may also be a semi-automatic robot. In a specific implementation, the position of the laser chip may be adjusted by manually controlling the semi-automatic robot.

[0121] It is understandable that the embodiments of this specification do not impose any specific restrictions on the structure of the position adjustment module, as long as the position of the laser chip can be adjusted.

[0122] By adopting the above embodiment, the light spot formed by the laser emitted by the laser emitting unit selected on each laser chip is obtained through the imaging module T1, and then the position of the laser chip is adjusted through the position adjustment module T2, so that each laser chip is located on the focal plane of the collimation unit, and the laser emitted by each laser emitting unit is aligned with a preset angle, so that each laser chip can be accurately positioned, thereby ensuring the measurement accuracy and distance measurement capability of the laser radar.

[0123] In some embodiments of this specification, continue to refer to Figure 6 , the imaging module T1 may include:

[0124] An imaging unit T11, wherein the imaging unit T11 is adapted to acquire the light spot;

[0125] The measuring unit T1X is adapted to obtain the size of the light spots and the distance between the light spots in a preset direction.

[0126] By adopting the above embodiment, the light spot is obtained through the imaging unit T11, and then the size of the light spot and the distance between the light spots in the preset direction are obtained through the measuring unit T1X, so that each laser chip can be accurately positioned on the focal plane of the collimating unit and each adjacent laser chip can be accurately positioned, thereby effectively ensuring the measurement accuracy and distance measurement capability of the laser radar. In addition, since the light spot formed by the laser emitted by any laser emitting unit selected on each laser chip can be obtained through one imaging unit T11, the structure is simple, not only easy to implement, but also conducive to the inspection and maintenance of the device.

[0127] In other embodiments of this specification, continue to refer to Figure 6 , the imaging module T1 may include:

[0128] Imaging units T11-T1n, wherein the imaging units T11-T1n are suitable for acquiring the light spots;

[0129] The measuring unit T1X is adapted to obtain the size of the light spots and the distance between the light spots in a preset direction.

[0130] By adopting the above embodiment, multiple imaging units T11~T1n are provided to respectively obtain the light spots formed by the lasers emitted by the laser emitting units selected on each laser chip, so as to reduce the manufacturing cost of the imaging module, thereby facilitating the mass production and promotion and application of the entire assembly and adjustment device.

[0131] As a specific example, the imaging unit may be a camera.

[0132] In the specific implementation, continue to refer to Figure 6 The adjustment device T may further include:

[0133] The optical amplification module T3 is disposed between the laser radar and the imaging module T1, and is suitable for amplifying the laser emitted by the laser emitting unit to form the light spot.

[0134] By adopting the above embodiment, the optical amplification module T3 amplifies the laser emitted by the laser emitting unit to form the light spot, and the size change of the light spot can be more clearly distinguished, thereby further improving the positioning accuracy and positioning efficiency of each laser chip.

[0135] In some embodiments of this specification, continue to refer to Figure 6 , the optical amplification module T3 may include:

[0136] The optical amplifying unit T31 is adapted to amplify the laser emitted by the laser emitting unit to form the light spot, and the optical amplifying unit T31 is arranged corresponding to the imaging unit.

[0137] According to the above embodiment, the laser emitted by the laser emitting unit selected on each laser chip is amplified by an optical amplifying unit T31 to form the light spot. The structure is simple, not only easy to implement, but also conducive to the inspection and maintenance of the device.

[0138] In other embodiments of this specification, continue to refer to Figure 6 , the optical amplification module T3 may include:

[0139] Optical amplifying units T31-T3n, the optical amplifying units T31-T3n are adapted to amplify the laser emitted by the laser emitting unit to form the light spot, and the optical amplifying units T31-T3n are arranged corresponding to the imaging unit.

[0140] By adopting the above embodiment, the laser emitted by the laser emitting unit selected on each laser chip is amplified by a plurality of optical amplifying units T31 to T3n to form the light spot, which can reduce the manufacturing cost of the optical amplifying module, thereby further reducing the manufacturing cost of the entire assembly and adjustment device.

[0141] As a specific example, the optical amplification unit may be an imaging lens.

[0142] In a specific implementation, the photosensitive surface of the imaging unit can be arranged perpendicularly to the optical axis of the optical amplification module. By arranging the photosensitive surface of the imaging unit perpendicularly to the optical axis of the optical amplification module, it is helpful to determine the size of the light spot formed by the laser emitted by each laser emitting unit when each laser chip is correctly positioned, thereby facilitating determination of the size change of the light spot, and can further improve the accuracy of positioning each laser chip, thereby further ensuring the measurement accuracy and distance measurement capability of the laser radar.

[0143] In some embodiments of this specification, continue to refer to Figure 6 The adjustment device T may further include:

[0144] The reflection module T4 is arranged between the laser radar and the imaging module T1.

[0145] By adopting the above embodiment, the optical path of the laser emitted by each laser emitting unit is adjusted by the reflection module T4, so that the occupied space of the entire adjustment device can be reduced and the implementation is easier.

[0146] As a specific example, the reflection module may be a reflection mirror.

[0147] The following is a detailed description of the process of adjusting the laser radar using the adjustment method and adjustment device described in the embodiments of this specification through a specific example.

[0148] This example takes the assembly of a laser radar including two laser chips as an example.

[0149] Reference Figure 7 A specific structural schematic diagram of an adjustment device for a laser radar is shown, wherein the laser radar includes a laser chip C1, a laser chip C2 and an emitting optical module (not shown), wherein the emitting optical module includes a collimation unit, and the adjustment device T includes a camera T11 and imaging lenses T31~T35. The following describes in detail the process of adjusting the laser chip C1 and the laser chip C2 using the adjustment device T.

[0150] In a specific implementation, the camera T11 is used to respectively obtain the light spots formed by the lasers emitted by the two laser emitting units on the laser chip C1 and the laser chip C2, specifically, the light spots formed by the lasers emitted by the laser emitting units CIH1 and CIH8 on the laser chip C1 are obtained, and the light spots formed by the lasers emitted by the laser emitting units C2H1 and C2H8 on the laser chip C2 are obtained.

[0151] In a specific implementation, the laser emitted by the laser emitting unit CIH1 and the laser emitting unit CIH8 on the laser chip C1 is amplified through the imaging lenses T31~T32 to form the light spot, and the laser emitted by the laser emitting unit C2H1 and the laser emitting unit C2H8 on the laser chip C2 is amplified through the imaging lenses T34~T35 to form the light spot.

[0152] Furthermore, based on the light spot formed by the laser emitted by the laser emitting unit CIH1 and the laser emitting unit CIH8, the position of the laser chip C1 is adjusted until the size of the light spot formed by the laser emitted by the laser emitting unit CIH1 and the laser emitting unit CIH8 is within a preset size range. Similarly, based on the light spot formed by the laser emitted by the laser emitting unit C2H1 and the laser emitting unit C2H8, the position of the laser chip C2 is adjusted until the size of the light spot formed by the laser emitted by the laser emitting unit C2H1 and the laser emitting unit C2H8 is within a preset size range.

[0153] Reference Figure 8A schematic diagram of the relative position of a laser chip and a focal plane of a collimation unit is shown. When the laser chip C1 deviates from the focal plane J of the collimation unit, the farther the laser emitting unit deviates from the focal plane J of the collimation unit, the greater the size change of the light spot formed by the laser emitted by it. In other words, when the laser emitting unit deviates from the focal plane of the collimation unit closer, the size change of the light spot formed by the laser emitted by it is smaller, such as Figure 8 As shown, the distance d2 that the laser emitting unit CIH1 deviates from the focal plane J of the collimating unit is small, and the size variation of the light spot formed by the laser it emits is small. The distance d1 that the laser emitting unit CIH8 deviates from the focal plane J of the collimating unit is large, and the size variation of the light spot formed by the laser it emits is large.

[0154] Therefore, if the distance between at least two laser emitting units on the acquired laser chip is close and both are close to the focal plane of the collimating unit, the size change of the light spot formed by the lasers emitted by them is small, which is easy to cause a large laser chip positioning error within the preset size range. Fig. 9 Another schematic diagram of the relative position of the laser chip and the focal plane of the collimation unit is shown, referring to Fig. 9 In sub-figure (a), if the light spots formed by the laser emitting units CIH1 and CIH2 on the laser chip C1 are obtained, since the distance d3 they deviate from the focal plane J of the collimating unit is small, the change of the light spots formed by the lasers emitted by the two laser emitting units is also small, and both are within the preset size range. When only these two laser emitting units are selected, it can be judged that the laser chip C1 has been accurately positioned on the focal plane J of the collimating unit, but it is obvious that the distance d4 of the laser emitting unit CIH8 from the focal plane J of the collimating unit is large. Fig. 9 In sub-figure (b), if the light spot formed by the laser emitted by the laser emitting unit CIH1 and the laser emitting unit CIH8 on the laser chip C1 is obtained, then when the size of the light spot formed by the laser emitted by the laser emitting unit CIH1 and the laser emitting unit CIH8 is within a preset size range, the distance of other laser emitting units from the focal plane J of the collimating unit is significantly reduced, and they are all positioned on the focal plane J of the collimating unit.

[0155] By adopting the above embodiment, the light spot formed by the laser emitted by the laser emitting unit CIH1 and the laser emitting unit CIH8 on the laser chip C1 is obtained through the camera T11, and the light spot formed by the laser emitted by the laser emitting unit C2H1 and the laser emitting unit C2H8 on the laser chip C2 is obtained, and then the positions of the laser chip C1 and the laser chip C2 are adjusted based on the light spot until the size of the light spot is within a preset size range. The laser chip C1 and the laser chip C2 can be accurately positioned on the focal plane of the collimation unit, thereby effectively ensuring the measurement accuracy and ranging capability of the laser radar.

[0156] In a specific implementation, the laser light emitted by the laser emitting unit CIH7 on the laser chip C1 and the laser emitting unit C2H3 on the laser chip C2 is amplified by the imaging lens T33 to form the light spot.

[0157] Furthermore, the light spot formed by the laser emitted by the laser emitting unit CIH7 on the laser chip C1 and the light spot formed by the laser emitted by the laser emitting unit CIH3 on the laser chip C2 are obtained, and the relative positions of the laser chip C1 and the laser chip C2 on the focal plane are adjusted so that the distance of the light spot in the preset direction is within a preset distance range, so that the lasers emitted by all the laser emitting units on the laser chip C1 and the laser chip C2 are aligned with the preset angle.

[0158] Among them, refer to Fig.10 A schematic diagram of the relative positions of adjacent laser chips is shown. When the laser chip C1 and the laser chip C2 are precisely positioned on the focal plane J of the collimation unit, the positions of the laser chip C1 and the laser chip C2 are adjusted within the focal plane J of the collimation unit, and the influence on the size of the light spot formed by the laser emitted by each laser emitting unit on the laser chip C1 and the laser chip C2 can be ignored. Therefore, by adjusting the positional relationship between the laser chip C1 and the laser chip C2 within the focal plane J, the lasers emitted by all the laser emitting units on the laser chip C1 and the laser chip C2 can be aligned with a preset angle.

[0159] For example, as a specific example, continue to refer to Fig.10 By adjusting the distance d5 in the vertical direction between the light spots formed by the laser emitting unit CIH7 on the laser chip C1 and the laser emitting unit CIH3 on the laser chip C2, so that d5 is within the preset distance range, all the laser emitting units on the laser chip C1 and the laser chip C2 can have a preset angular interval in the vertical direction.

[0160] As another specific example, continue to refer to Fig.10By adjusting the horizontal distance d6 of the light spots formed by the laser emitting unit CIH7 on the laser chip C1 and the laser emitting unit CIH3 on the laser chip C2 so that d6 is within a preset distance range, all the laser emitting units on the laser chip C1 and the laser chip C2 can have a preset angular interval in the horizontal direction.

[0161] It is understandable that the embodiments of this specification do not impose any specific restrictions on the laser emitting units selected on each laser chip, and the above embodiments are only exemplary descriptions.

[0162] In the specific implementation, refer to Fig.11 The specific structural schematic diagram of another laser radar adjustment device is shown, the adjustment device T may also include a reflector T4. Since the size of the laser chip is generally small and the size of the imaging lens is large, there may be insufficient space for placing the imaging lens. When there is insufficient space for placing the imaging lens, the optical path of the laser emitted by each laser emitting unit is adjusted by the reflector T4, which can reduce the space occupied by the entire adjustment device T and make it easier to implement.

[0163] Although the embodiments of this specification are disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, so the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A method for assembling and adjusting a laser radar. It is characterized in that The laser radar comprises: a plurality of laser chips, the laser chips comprise: a plurality of laser emitting units; an emitting optical module, adapted to transmit the lasers emitted by each laser chip, the emitting optical module comprises: a collimating unit; the assembly method comprises: Adjusting the position of each of the laser chips so that each of the laser chips is located on the focal plane of the collimating unit; Adjusting the position of each of the laser chips on the focal plane so that the laser emitted by each of the laser emitting units is aligned with a preset angle; Each of the laser chips is fixed.

2. The adjustment method according to claim 1, It is characterized in that The step of adjusting the position of each of the laser chips so that each of the laser chips is located on the focal plane of the collimating unit comprises: Respectively acquiring light spots formed by lasers emitted by at least two laser emitting units on each laser chip; Based on the light spots, the position of the laser chip is adjusted until all the light spots meet preset conditions.

3. The adjustment method according to claim 2, It is characterized in that The preset condition includes that the size of the light spot is within a preset size range.

4. The adjustment method according to claim 2, It is characterized in that The step of respectively acquiring light spots formed by lasers emitted by at least two laser emitting units on each laser chip comprises: Select two laser emitting units on each laser chip whose distance is greater than or equal to a preset threshold value respectively; A light spot formed by the laser emitted by the selected laser emitting unit is obtained.

5. The adjustment method according to claim 1, It is characterized in that The step of adjusting the position of each of the laser chips on the focal plane so that the laser emitted by each of the laser emitting units is aligned with a preset angle comprises: The positions of any two adjacent laser chips on the focal plane are adjusted respectively, so that the lasers emitted by the laser emitting units on the adjacent laser chips are respectively aligned with respective preset angles.

6. The adjustment method according to claim 5, It is characterized in that The steps of respectively adjusting the positions of any two adjacent laser chips on the focal plane so that the lasers emitted by the laser emitting units on the adjacent laser chips are respectively aligned with respective preset angles include: Respectively acquiring light spots formed by lasers emitted by at least one of the laser emitting units on each of the adjacent laser chips; Based on the light spot, the position of each adjacent laser chip on the focal plane is adjusted so that the laser emitted by each laser emitting unit is aligned with a preset angle.

7. The adjustment method according to claim 6, It is characterized in that The adjusting the position of each adjacent laser chip on the focal plane based on the light spot comprises: The relative positions of the adjacent laser chips on the focal plane are adjusted so that the relative positions between the light spots meet preset requirements.

8. The adjustment method according to claim 7, It is characterized in that The preset requirements include: The distance between the light spots formed by the lasers emitted by the laser emitting units on the adjacent laser chips in a preset direction is within a preset distance range.

9. The adjustment method according to any one of claims 2 to 4 and claims 6 to 8, It is characterized in that The light spot formed by the laser emitted by the laser emitting unit includes: The laser light emitted by the laser emitting unit is amplified to form a light spot.

10. The adjustment method according to claim 1, It is characterized in that The fixing of each of the laser chips comprises: Each of the laser chips is fixedly connected to the emission optical module by adhesive.

11. A laser radar installation and adjustment device, It is characterized in that The laser radar comprises: A plurality of laser chips, each of which comprises a plurality of laser emitting units; An emission optical module, adapted to transmit the laser light emitted by each laser chip, the emission optical module comprising a collimation unit; The adjustment device comprises: An imaging module, adapted to acquire a light spot formed by the laser emitted by the laser emitting unit selected on each of the laser chips; The position adjustment module is adapted to adjust the position of the laser chips so that each of the laser chips is located on the focal plane of the collimating unit and the laser emitted by each of the laser emitting units is aligned with a preset angle.

12. The adjustment device according to claim 11, It is characterized in that The imaging module comprises: One or more imaging units, wherein the imaging units are adapted to acquire the light spots; The measuring unit is adapted to obtain the size of the light spots and the distance between the light spots in a preset direction.

13. The adjustment device according to claim 12, It is characterized in that Also includes: The optical amplification module is arranged between the laser radar and the imaging module, and is suitable for amplifying the laser emitted by the laser emitting unit to form the light spot.

14. The adjustment device according to claim 13, It is characterized in that The optical amplification module includes: one or more optical amplification units, wherein the optical amplification units are adapted to amplify the laser emitted by the laser emitting unit to form the light spot, and the optical amplification units are arranged corresponding to the imaging unit.

15. The adjustment device according to claim 13, It is characterized in that The photosensitive surface of the imaging unit is perpendicular to the optical axis of the optical amplification module.

16. The adjustment device according to claim 11, It is characterized in that Also includes: The reflection module is arranged between the laser radar and the imaging module.

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