Laser radar installation and adjustment method and laser radar

Abstract

According to the installation and adjustment method of the laser radar and the laser radar provided by the invention, by adjusting the transmitting module and / or the receiving module, the laser deviates from the first focusing plane of the transmitting lens assembly along the optical axis direction of the transmitting lens assembly so as to generate the first defocusing amount; and the detector deviates from a second focusing plane of the receiving lens assembly along the optical axis direction of the receiving lens assembly to generate a second defocusing amount, so that the homogenization of the light intensity distribution in the whole light spot is realized through the defocusing of the laser / or the detector, the number of sub-pixels capable of receiving echo signals is increased, and the detection efficiency is improved. Therefore, the signal-to-noise ratio of the laser radar detection signal is improved.

Description

Technical Field

[0001] This specification relates to the technical field of laser radar, and in particular to a laser radar assembly and adjustment method and a laser radar. Background Art

[0002] LiDAR is a sensor that emits a laser beam to the surrounding environment through a laser and receives the echo signal reflected from obstacles in the environment through a detector. The distance and position information of the obstacle can be obtained by the time difference between emitting the laser beam and receiving the echo signal. Lasers include VCSEL (Vertical-Cavity Surface-Emitting Laser) type lasers. Figure 1 FIG. 1 shows a schematic diagram of the light emitting area structure of a VCSEL laser according to some embodiments of this specification. Figure 1 As shown, the light-emitting area of ​​the VCSEL laser contains multiple optical cavities, each of which is a light-emitting unit that can emit a laser beam. The sub-pixels of the detector can sense the echo signal corresponding to the laser beam, forming a sensing area on the detector, which can contain multiple sub-sensing areas, each of which looks like a light spot visually.

[0003] There are gaps between the multiple optical cavities of the laser, so there are also gaps between the multiple sub-sensing areas of the detector, that is, multiple light spots can only cover part of the sub-pixels of the detector, while the ambient light can affect all the sub-pixels of the detector, resulting in a low signal-to-noise ratio of the detection signal at the lidar detector end. Therefore, a method to improve the signal-to-noise ratio of the lidar is needed.

[0004] The content of the background technology section is only the information known to the inventor personally, and does not mean that the above information has entered the public domain before the application date of this disclosure, nor does it mean that it can become the prior art of the present disclosure. Summary of the invention

[0005] This specification provides a laser radar installation method that can improve the signal-to-noise ratio of the laser radar.

[0006] On the one hand, the present specification provides a method for assembling and adjusting a laser radar, wherein the laser radar comprises a transmitting module and a receiving module, wherein the transmitting module comprises at least one laser and a transmitting lens assembly, wherein the transmitting lens assembly comprises a transmitting lens, wherein the receiving module comprises a receiving lens assembly and at least one detector, wherein the receiving lens assembly comprises a receiving lens, wherein a laser beam emitted by the laser passes through the transmitting lens assembly and is emitted toward a target object, and an echo signal is generated after being reflected by the target object, and the echo signal passes through the receiving lens assembly and is received by the detector, wherein the method comprises: controlling the laser to be located on a focal plane of the transmitting lens, and controlling the The detector is located on the focal plane of the receiving lens; and the transmitting module is adjusted so that the laser deviates from the first focal plane of the transmitting lens assembly along the optical axis direction of the transmitting lens assembly to produce a first defocus amount, and / or the receiving module is adjusted so that the detector deviates from the second focal plane of the receiving lens assembly along the optical axis direction of the receiving lens assembly to produce a second defocus amount, wherein the first focal plane is a plane passing through the focus of the transmitting lens assembly and perpendicular to the optical axis of the transmitting lens assembly, and the second focal plane is a plane passing through the focus of the receiving lens assembly and perpendicular to the optical axis of the receiving lens assembly.

[0007] The laser radar assembly and adjustment method provided in this specification adjusts the transmitting module and / or the receiving module so that the laser deviates from the first focal plane of the transmitting lens assembly along the optical axis direction of the transmitting lens assembly to produce a first defocus amount, and / or the detector deviates from the second focal plane of the receiving lens assembly along the optical axis direction of the receiving lens assembly to produce a second defocus amount. In this way, the light intensity distribution inside the overall light spot is uniformed by the defocusing of the laser / or the detector, the light intensity at the sub-pixel with high light intensity will be relatively weakened, and some sub-pixels that could not sense the echo signal can sense the echo signal, so more sub-pixels on the detector can sense the echo signal, that is, the number of sub-pixels that can receive the echo signal is increased, thereby improving the signal-to-noise ratio of the laser radar detection signal.

[0008] According to some embodiments of the present application, the laser includes a VCSEL laser, and the VCSEL laser includes a plurality of VCSEL light emitting units. Thus, when each VCSEL light emitting unit of the VCSEL laser emits a laser beam, the area of ​​the sub-sensing region corresponding to each VCSEL light emitting unit can be increased through the method.

[0009] According to some embodiments of the present application, the detector includes a SiPM detector, and the SiPM detector includes a plurality of SPAD sub-pixels. Thus, the SiPM detector can have more SPAD sub-pixels to sense the echo signal, thereby improving the utilization rate and signal-to-noise ratio of the SiPM detector.

[0010] According to some embodiments of the present application, the step of adjusting the transmitting module so that the laser deviates from the first focal plane of the transmitting lens assembly along the optical axis direction of the transmitting lens assembly to produce a first defocus amount includes: based on the first defocus amount, controlling the laser to move a certain distance along the optical axis direction of the transmitting lens to deviate from the first focal plane, wherein the first focal plane is the focal plane of the transmitting lens. Thus, the signal-to-noise ratio can be improved by moving the laser, and the operation is simple, easy to implement, and low in cost.

[0011] According to some embodiments of the present application, based on the first defocus amount, controlling the laser to move a certain distance along the optical axis direction of the emitting lens to deviate from the first focusing plane includes: controlling the laser to project at least one test spot through the emitting lens onto a test object at a preset distance, and controlling an imaging device to image the at least one test spot; determining a clarity evaluation threshold corresponding to the first defocus amount; and controlling the laser to move along the optical axis direction of the emitting lens until the clarity evaluation value of the at least one test spot reaches the clarity evaluation threshold, so that the laser has the first defocus amount between it and the first focusing plane. Thus, adjusting the laser based on the clarity of the test spot to determine whether the required defocus amount is reached makes the control of the defocus amount clearer, more intuitive and easier to implement, improves the accuracy of assembly and adjustment, and can effectively achieve large-scale automated assembly and adjustment for the same batch of products.

[0012] According to some embodiments of the present application, the movement includes moving in a direction close to or away from the emission lens. Thus, a suitable movement mode can be selected according to space requirements. When the laser moves in a direction close to the emission lens, space can be saved. When the laser moves in a direction away from the emission lens, it is beneficial to install other components between the two.

[0013] According to some embodiments of the present application, the transmitting lens assembly further includes a first light-transmitting member, and the adjusting the transmitting module so that the laser deviates from the first focal plane of the transmitting lens assembly along the optical axis direction of the transmitting lens assembly to produce a first defocus amount includes: controlling the first light-transmitting member to be located between the laser and the transmitting lens, so that the laser deviates from the first focal plane formed by the combination of the transmitting lens and the first light-transmitting member, and has the first defocus amount between the laser and the first focal plane. Thus, by setting the first light-transmitting member to achieve a fixed first defocus amount, the operation is simple and convenient; moreover, the first light-transmitting member can be mass-produced, so the assembly and adjustment can be completed quickly and in batches, thereby improving the efficiency of the laser radar assembly and adjustment.

[0014] According to some embodiments of the present application, the first light transmission parameter of the first light transmission member is determined based on the first defocus amount, wherein the first light transmission parameter includes at least one of the first installation position, refractive index, and thickness of the first light transmission member, wherein the direction of the laser beam passing through the first light transmission member vertically is the direction of the thickness. Thus, the first light transmission members can be designed in batches for multiple laser radars that require the first defocus amount, thereby improving the assembly efficiency of multiple laser radars.

[0015] According to some embodiments of the present application, controlling the first light-transmitting member to be located between the laser and the emitting lens includes: controlling the first light-transmitting member to be located at a first assembly part at the first installation position between the laser and the emitting lens. Thus, the installation of the first light-transmitting member is facilitated, and fixing the first light-transmitting member by the first assembly part can also avoid the failure to generate the first defocus amount due to the shaking of the first light-transmitting member.

[0016] According to some embodiments of the present application, the adjusting the receiving module so that the detector deviates from the second focal plane of the receiving lens assembly along the optical axis direction of the receiving lens assembly to produce a second defocus amount includes: based on the second defocus amount, installing the detector to deviate from the second focal plane, the installation position of the detector has the second defocus amount relative to the second focal plane in the optical axis direction of the receiving lens, wherein the second focal plane is the focal plane of the receiving lens. Thus, the signal-to-noise ratio can be improved by simply moving the detector, the operation is simple and easy to implement, and the cost is low.

[0017] According to some embodiments of the present application, the detector is installed to deviate from the second focal plane based on the second defocus amount, including: controlling the imaging device to be located in the second focal plane; controlling the laser to project at least one test spot through the emitting lens to a test object at a preset distance, and controlling the imaging device to image the at least one test spot; determining the clarity evaluation threshold corresponding to the second defocus amount; and controlling the imaging device to move along the optical axis direction of the receiving lens until the clarity evaluation value of the at least one test spot reaches the clarity evaluation threshold, so that the imaging device has the second defocus amount between the imaging device and the second focal plane; and replacing the imaging device with the second defocus amount between the imaging device and the second focal plane with the detector. Thus, the detector is adjusted based on the clarity of the test spot to determine whether the required defocus amount is reached, so that the control of the defocus amount is clearer, more intuitive and easier to implement, which improves the accuracy of the adjustment, and can effectively realize large-scale automated adjustment for the same batch of products.

[0018] According to some embodiments of the present application, the movement includes moving in a direction close to or away from the receiving lens. Thus, a suitable movement mode can be selected according to space requirements. When the detector moves in a direction close to the receiving lens, space can be saved. When the detector moves in a direction away from the receiving lens, it is convenient to install other components between the two.

[0019] According to some embodiments of the present application, the receiving lens assembly further includes a second light-transmitting member, and the adjusting the receiving module so that the detector deviates from the second focal plane of the receiving lens assembly along the optical axis direction of the receiving lens assembly to produce a second defocus amount includes: controlling the second light-transmitting member to be located between the detector and the receiving lens, so that the detector deviates from the second focal plane formed by the combination of the receiving lens and the second light-transmitting member, and has the second defocus amount between the detector and the second focal plane. Thus, by setting the second light-transmitting member to achieve a fixed second defocus amount, the operation is simple and convenient; moreover, the second light-transmitting member can be mass-produced, so the assembly and adjustment can be completed quickly and in batches, thereby improving the efficiency of the laser radar assembly and adjustment.

[0020] According to some embodiments of the present application, the second light transmission parameter of the second light transmission member is determined based on the second defocus amount, wherein the second light transmission parameter includes at least one of the second installation position, refractive index, and thickness of the second light transmission member, wherein the direction of the laser beam passing through the second light transmission member vertically is the direction of the thickness. Thus, the second light transmission members can be designed in batches for multiple laser radars that require the second defocus amount, thereby improving the assembly efficiency of multiple laser radars.

[0021] According to some embodiments of the present application, controlling the second light-transmitting member to be located between the detector and the receiving lens includes: controlling the second light-transmitting member to be located at a second assembly part at the second installation position between the detector and the receiving lens. Thus, the installation of the second light-transmitting member is facilitated, and by fixing the second assembly part, it is also possible to avoid the second defocus amount being unable to be generated due to the shaking of the second light-transmitting member.

[0022] According to some embodiments of the present application, the method further includes: filtering signals other than the echo signal through a light-transmitting area of ​​a controllable aperture, wherein the controllable aperture is located between the detector and the receiving lens assembly, and the size and position of the light-transmitting area are determined based on the size and position of a sensing area on the detector, and the sensing area is an area on the detector composed of multiple sub-pixels that sense the echo signal. Thus, the controllable aperture can filter out ambient light and stray light outside the sensing area of ​​the detector, further improving the signal-to-noise ratio of the entire device.

[0023] On the other hand, the present specification provides a laser radar, comprising: a transmitting module, comprising at least one laser and a transmitting lens assembly, the transmitting lens assembly comprising a transmitting lens; a receiving module, comprising a receiving lens assembly and at least one detector, the receiving lens assembly comprising a receiving lens, the laser beam emitted by the laser passes through the transmitting lens assembly and is emitted toward a target object, and generates an echo signal after being reflected by the target object, the echo signal passes through the receiving lens assembly and is received by the detector, wherein there is a first defocus amount between the laser and a first focusing plane of the transmitting lens assembly, and / or there is a second defocus amount between the detector and a second focusing plane of the receiving lens assembly, and the first defocus amount and / or the second defocus amount are obtained by the adjustment method described in any one of the above aspects.

[0024] The laser radar assembly method and other functions of the laser radar provided in this specification will be partially listed in the following description. Based on the description, the contents introduced by the following figures and examples will be obvious to those of ordinary skill in the art. The laser radar assembly method and the creative aspects of the laser radar provided in this specification can be fully explained by practicing or using the methods, devices and combinations described in the following detailed examples. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of this specification, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 A schematic diagram of the light emitting area structure of a VCSEL laser provided according to some embodiments of this specification is shown;

[0027] Figure 2 A schematic diagram of a laser radar structure provided according to some embodiments of this specification is shown;

[0028] Figure 3 A schematic diagram of an equivalent structure of a transmitting module and a receiving module provided according to some embodiments of this specification is shown;

[0029] Figure 4 A schematic diagram of the structure of a detector provided according to some embodiments of this specification is shown;

[0030] Figure 5 A flowchart of a laser radar installation method provided according to some embodiments of this specification is shown;

[0031] Figure 6A schematic diagram showing a laser located at a focal plane of a transmitting lens according to some embodiments of the present specification is shown;

[0032] Figure 7 A schematic diagram showing a detector provided according to some embodiments of this specification located at a focal plane of a receiving lens is shown;

[0033] Figure 8 A flowchart of a laser radar installation method provided according to some embodiments of this specification is shown;

[0034] Fig. 9 A schematic diagram showing a laser movement according to some embodiments of the present specification is shown;

[0035] Fig.10 An effect diagram of a mobile laser provided according to some embodiments of this specification is shown;

[0036] Fig.11 An effect diagram of adding a first light-transmitting member according to some embodiments of this specification is shown;

[0037] Fig.12 A flowchart of a laser radar installation method provided according to some embodiments of this specification is shown;

[0038] Fig.13 A schematic diagram showing movement of a detector 410 provided according to some embodiments of this specification is shown;

[0039] Fig.14 A rendering of a mobile detector provided according to some embodiments of this specification is shown;

[0040] Fig.15 An effect diagram of adding a second light-transmitting member 422 according to some embodiments of this specification is shown;

[0041] Fig.16 A schematic diagram of a controllable aperture provided according to some embodiments of the present specification is shown;

[0042] Fig.17 A schematic diagram of a sensing area before performing an adjustment method according to some embodiments of this specification is shown;

[0043] Fig.18 A schematic diagram of a sensing area after performing an adjustment method according to some embodiments of this specification is shown; and

[0044] Fig.19 A hardware structure diagram of a control module 600 provided according to some embodiments of this specification is shown. DETAILED DESCRIPTION

[0045] The following description provides specific application scenarios and requirements of this specification, with the purpose of enabling those skilled in the art to make and use the contents of this specification. Various local modifications to the disclosed embodiments will be apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of this specification. Therefore, this specification is not limited to the embodiments shown, but to the widest scope consistent with the claims.

[0046] The terms used herein are only used for the purpose of describing specific example embodiments and are not restrictive. For example, unless the context clearly indicates otherwise, as used herein, the singular forms "a", "an" and "the" may also include plural forms. When used in this specification, the terms "include", "comprise" and / or "contain" mean that the associated integers, steps, operations, elements and / or components exist, but do not exclude the existence of one or more other features, integers, steps, operations, elements, components and / or groups or that other features, integers, steps, operations, elements, components and / or groups may be added in the system / method.

[0047] In view of the following description, these and other features of the present specification, as well as the operation and function of the related elements of the structure, and the economy of the combination and manufacture of the parts can be significantly improved. Reference is made to the accompanying drawings, all of which form a part of this specification. However, it should be clearly understood that the drawings are for illustration and description purposes only and are not intended to limit the scope of this specification. It should also be understood that the drawings are not drawn to scale.

[0048] The flowcharts used in this specification illustrate the operations implemented by the system according to some embodiments in this specification. It should be clearly understood that the operations of the flowcharts may not be implemented in sequence. On the contrary, the operations may be implemented in reverse order or simultaneously. In addition, one or more other operations may be added to the flowchart. One or more operations may be removed from the flowchart.

[0049] Figure 2A schematic diagram of the structure of a laser radar provided according to some embodiments of the present specification is shown. The laser radar 001 is a radar system that emits a laser beam to detect characteristic quantities such as the position and speed of the target object 002. Its working principle is to emit a laser beam to the surrounding environment, receive the echo signal reflected from the target object 002, and perform photoelectric conversion on the echo signal to obtain an electrical signal. After appropriate processing of the electrical signal, the detection information of the target object 002 can be obtained, such as the distance, azimuth, height, shape, posture, speed and other parameters of the target object 002 relative to the laser radar 001. When working, the laser radar 001 can emit laser beams to different azimuths within the field of view angle, and receive the echo signal reflected by the object at the corresponding azimuth, so as to obtain the detection information of the object within the azimuth. According to the detection data of each azimuth within the field of view angle, a frame of point cloud data is generated. As Figure 2 As shown, the laser radar 001 may include a transmitting module 200, a receiving module 400 and a control module 600. When the transmitting module 200 is working, it can emit a laser beam outward at a preset timing. The receiving module 400 can receive the echo signal reflected from the target object 002, and output an electrical signal after photoelectric conversion to obtain detection data. The control module 600 can control the transmitting module 200 and the receiving module 400, and process the detection data to obtain the detection information of the target object 002.

[0050] Figure 3 FIG. 1 shows an equivalent structural diagram of a transmitting module and a receiving module provided according to some embodiments of this specification. Figure 3 As shown, the transmitting module 200 includes at least one laser 210 and a transmitting lens assembly 220, wherein the transmitting lens assembly 220 includes a transmitting lens. The receiving module 400 includes a receiving lens assembly 420 and at least one detector 410, wherein the receiving lens assembly 420 includes a receiving lens. The laser beam emitted by the laser 210 passes through the transmitting lens assembly 220 and is emitted toward the target object 002, and after being reflected by the target object 002, an echo signal is generated (the figure omits the turning caused by the reflection of the target object 002 outside the optical path), and the echo signal passes through the receiving lens assembly 420 and is received by the detector 410.

[0051] The laser 210 may include a VCSEL laser, which is a surface-emitting type semiconductor laser, and the VCSEL laser may include a plurality of VCSEL light-emitting units. The laser 210 may also include an EEL (Edge Emitting Lasers), which may emit a laser beam parallel to the substrate surface. The EEL laser may be, for example, an FP (Fabry-perot Fabry-Perot laser), a DFB (Distributed Feedback Laser), and a DBR (Distributed Bragg Reflector), and the like. The laser 210 may also include a fiber laser, a solid-state laser, and the like, which are not limited in the embodiments of this specification.

[0052] The detector 410 is a photoelectric sensor, and the echo signal is gathered on the photosensitive surface of the detector. The detector 410 can convert the received light signal into an electrical signal by photoelectric conversion. Figure 4 FIG. 2 shows a schematic diagram of the structure of a detector provided according to some embodiments of this specification. Figure 4 As shown, the detector 410 may include a plurality of sub-pixels, each of which may sense a light signal and output an electrical signal, and the light signal may be an echo signal or an ambient light signal. The detector 410 may include a SiPM (Silicon Photomultiplier) detector, and the SiPM detector includes a plurality of SPAD sub-pixels. The detector 410 may also include an APD (Avalanche Photodiode), a SPAD (Single Photon Avalanche Diode) detector, and the like.

[0053] In order to improve the signal-to-noise ratio of the laser radar 001, this instruction manual may include the following installation and adjustment methods.

[0054] Figure 5 FIG. 1 is a flowchart of a laser radar installation method P100 provided according to some embodiments of this specification. Figure 5 As shown, the method P100 may include S120 and S140:

[0055] S120: Control the laser 210 to be located on the focal plane of the transmitting lens, and control the detector 410 to be located on the focal plane of the receiving lens.

[0056] Figure 6FIG. 2 shows a schematic diagram of a laser 210 provided in accordance with some embodiments of the present specification and located at the focal plane of the transmitting lens. Figure 6 As shown, the laser 210 is located on a focal plane J1 of the emitting lens 221 , and the focal plane J1 is a plane passing through the focus of the emitting lens 221 and perpendicular to the optical axis of the emitting lens 221 . Figure 7 FIG. 4 is a schematic diagram showing a detector 410 provided in accordance with some embodiments of the present specification and located at a focal plane of a receiving lens. Figure 7 As shown, the detector 410 is located on a focal plane J2 of the receiving lens 421 , and the focal plane J2 is a plane passing through the focus of the receiving lens 421 and perpendicular to the optical axis of the receiving lens 421 .

[0057] In some embodiments, the laser 210 and the detector 410 may be manually controlled to be located on respective focal planes. In some embodiments, an adjustment control device, such as a manipulator, may be used to control the laser 210 and the detector 410 to be located on respective focal planes.

[0058] S140: Adjust the transmitting module 200 so that the laser 210 deviates from the first focal plane of the transmitting lens assembly 220 along the optical axis direction of the transmitting lens assembly 220 to produce a first defocus amount, and / or adjust the receiving module 400 so that the detector 410 deviates from the second focal plane of the receiving lens assembly 420 along the optical axis direction of the receiving lens assembly 420 to produce a second defocus amount.

[0059] The first focusing plane is a plane passing through the focus of the transmitting lens assembly and perpendicular to the optical axis of the transmitting lens assembly, and the second focusing plane is a plane passing through the focus of the receiving lens assembly and perpendicular to the optical axis of the receiving lens assembly.

[0060] In order to improve the signal-to-noise ratio, the transmitting module 200 may be adjusted, the receiving module 400 may be adjusted, or both the transmitting module 200 and the receiving module 400 may be adjusted. The adjustment may be performed manually or by the aforementioned adjustment control device.

[0061] When adjusting the transmitting module 200, as Figure 8 As shown, the method S140 may include S141 and / or S143. When adjusting the receiving module 400, as shown in Fig.12 As shown, the method S140 may include S145 and / or S147. When adjusting the transmitting module 200 and the receiving module 400, the method S140 may include S141 and / or S143, and S145 and / or S147.

[0062] Figure 8A flowchart of a laser radar installation method provided according to some embodiments of this specification is shown. Figure 8 As shown, the method may include the aforementioned S120, and the method may further include:

[0063] S141: Based on the first defocus amount, control the laser 210 to move a certain distance along the optical axis direction of the emitting lens 221 to deviate from the first focusing plane.

[0064] At this time, the emission lens assembly 220 may include one or more emission lenses 221. The first focal plane is a focal plane of the optical system formed by the one or more emission lenses 221, that is, the first focal plane is a plane passing through the focus of the optical system formed by the one or more emission lenses 221 and perpendicular to the optical axis of the optical system formed by the one or more emission lenses 221.

[0065] The first defocus amount may be a value preset according to an adjustment target. The adjustment target may be, for example, increasing the area of ​​the sub-sensing area / spot to a preset area, increasing the number of sub-pixels that can sense the echo signal to a preset number, or increasing the proportion of sub-pixels that can sense the echo signal to a preset proportion, etc. Furthermore, the required first defocus amount may be calculated according to the adjustment target, and the first defocus amount may be, for example, 0.5 microns, 1 micron, etc. Among them, the sensing area may be an area on the detector 410 composed of multiple sub-pixels that sense the echo signal.

[0066] In some embodiments, the laser 210 can be moved according to the clarity of the test spot. For example, the laser 210 can be controlled to project at least one test spot onto a test object at a preset distance through the emitting lens 221, and the imaging device can be controlled to image the at least one test spot. The imaging device can be an image sensor such as a CCD (Charged Coupled Device), a CMOS (Complementary Metal-Oxide-Semiconductor), and can image the test spot projected onto the test object. The clarity evaluation threshold corresponding to the first defocus amount can also be predetermined. Furthermore, the laser 210 can be controlled to move along the optical axis direction of the emitting lens 221 until the clarity evaluation value of the at least one test spot reaches the clarity evaluation threshold. At this time, it is considered that the first defocus amount is reached between the laser 210 and the first focusing plane.

[0067] The clarity evaluation value of the at least one test light spot can be determined by a clarity evaluation function of an image acquired by an imaging device. For example, the clarity evaluation function can be used to calculate the grayscale value change of the edge of the test light spot to obtain the clarity evaluation value. The clarity evaluation value indicates the clarity of the image. The greater the defocus amount, the lower the clarity of the image. The smaller the defocus amount, the higher the clarity of the image. Therefore, there can be an inverse correlation between the clarity evaluation value and the defocus amount.

[0068] The laser 210 is adjusted based on the clarity of the test spot to determine whether the required defocus amount is achieved, so that the control of the defocus amount is clearer, more intuitive and easier to implement, which improves the accuracy of the adjustment and can effectively realize large-scale automated adjustment for the same batch of products.

[0069] In some embodiments, the laser 210 may be moved according to other indicators of the test light spot, such as the size and position of the test light spot. In some embodiments, the laser 210 may also be moved directly according to the first defocus amount. This specification does not limit this.

[0070] The movement of the laser 210 may be a movement towards or away from the emission lens 221 . Fig. 9 FIG. 2 shows a schematic diagram of a laser 210 moving according to some embodiments of the present specification. Fig. 9 As shown, the solid line with an arrow represents the light emitted when the laser 210 is on the first focal plane J1 of the emission lens 221. The dashed line with an arrow represents the light emitted after the laser 210 moves from J1 along the optical axis to the direction close to the emission lens 221, and at this time the laser 210 is located between J1 and the emission lens 221. The dashed line with an arrow represents the light emitted after the laser 210 moves from J1 along the optical axis to the direction away from the emission lens 221, and at this time the laser 210 is located on the common side of J1 and the emission lens 221. Fig.10 FIG. 2 shows an effect diagram of a mobile laser 210 provided according to some embodiments of this specification. Fig.10 As shown, the laser 210 is moved toward the direction close to the emission lens 221, and the sub-pixel sensing the echo signal on the detector 410 is compared with Figure 3 increase.

[0071] S143: Control the first light-transmitting member to be located between the laser 210 and the emitting lens 221, so that the laser 210 deviates from the first focusing plane formed by the emitting lens 221 and the first light-transmitting member 222, and has the first defocus amount between the laser 210 and the first focusing plane.

[0072] At this time, the emission lens assembly 220 includes an emission lens 221 and a first light-transmitting member 222. The first focusing plane is a focal plane formed by the combination of the emission lens 221 and the first light-transmitting member 222.

[0073] As mentioned above, the first defocus amount may be a value pre-set according to the adjustment target. In the embodiment of the present specification, the first light transmission parameter of the first light-transmitting member 222 may be determined based on the pre-set first defocus amount, and the first light transmission parameter may include at least one of the first installation position, refractive index, and thickness of the first light-transmitting member 222, so as to ensure that when the first light-transmitting member 222 having the first light transmission parameter is set at the first installation position, the laser 210 can have a first defocus amount between the first focal plane formed by the combination of the emitting lens 221 and the first light-transmitting member 222. The direction of the laser beam passing through the first light-transmitting member 222 vertically is the direction of the thickness.

[0074] Furthermore, the first light-transmitting member 222 may be installed at a first assembly part at a first installation position between the laser 210 and the emitting lens 221 . Fig.11 FIG. 2 shows an effect diagram of adding a first light-transmitting member 222 according to some embodiments of this specification. Fig.11 As shown, the first light-transmitting member 222 is located between the laser 210 and the emission lens 221, and the sub-pixel sensing the echo signal on the detector 410 is compared with Figure 3 increase.

[0075] Among them, the first assembly part can be a device that can install the first light-transmitting member 222 at the first installation position. For example, the first assembly part can be a accommodating cavity, such as a slot, and a slot can be reserved at the first installation position. After the laser 210 and the detector 410 are focused respectively, the first light-transmitting member 222 can be inserted into the slot. For example, the first assembly part can be a clamping tool, such as a clip, and a clip can be set at the first installation position. After the laser 210 and the detector 410 are focused respectively, the first light-transmitting member 222 can be clamped with the clip. For another example, the first assembly part can be a viscous substance, such as a viscous glue, and the viscous glue can be applied at the first installation position. After the laser 210 and the detector 410 are focused respectively, the first light-transmitting member 222 can be pasted with the viscous glue.

[0076] The first light-transmitting member 222 may be an optically transparent medium sheet, such as a glass sheet, a plastic sheet, etc. In order to improve the utilization rate of light, the first light-transmitting member 222 may be subjected to an anti-reflection treatment in the embodiment of the present specification, for example, an anti-reflection film may be covered on the surface of the first light-transmitting member 222, thereby improving the transmittance of the first light-transmitting member 222 to the light of the emission band of the laser 210, for example, increasing the transmittance of the first light-transmitting member 222 from the original 95% to 99%, thereby improving the utilization rate of light.

[0077] By setting the first light-transmitting element 222, an optical path difference is introduced in the emission light path, that is, there is a difference between the optical path before the first light-transmitting element 222 is set and the optical path after the first light-transmitting element 222 is set, thereby achieving a fixed first defocus amount, and the operation is simple and convenient; moreover, the first light-transmitting element 222 can be mass-produced, so that installation and adjustment can be completed quickly in batches, thereby improving the efficiency of laser radar installation and adjustment.

[0078] It should be noted that the defocusing of the laser 210 in S141 and / or S143 can increase the visual spot area and the entire sensing area. However, the area of ​​the detector 410 is limited. When the spot area is too large, part of the echo signal may exceed the detector boundary and be projected outside the detector, resulting in a waste of the echo signal. Therefore, it is necessary to control the defocusing of the laser 210 so that the spot area does not exceed the detector boundary. Moreover, when the spot area is too large, the signal strength of the echo signal will be weakened, which may cause the spot to cover many sub-pixels, but in fact, some of the sub-pixels covered by the spot cannot sense the echo signal because the signal is too weak, resulting in the number of sub-pixels that can receive the echo signal is not enough or even reduced, which in turn causes the signal-to-noise ratio of the laser radar detection signal to not be improved much or even reduced. Therefore, when controlling the defocusing of the laser 210 to increase the spot area, it is necessary to ensure that the sub-pixels covered by the spot can sense the echo signal as much as possible.

[0079] As mentioned above, when adjusting the receiving module 400, Fig.12 As shown, the method S140 may include S145 and / or S147.

[0080] Fig.12 A flowchart of a laser radar installation method provided according to some embodiments of this specification is shown. The method may include the aforementioned S120, and the method may also include:

[0081] S145: Based on the second defocus amount, the detector 410 is installed to deviate from the second focusing plane, and the installation position of the detector has the second defocus amount relative to the second focusing plane in the optical axis direction of the receiving lens.

[0082] At this time, the receiving lens assembly 420 may include one or more receiving lenses 421. The second focal plane is a focal plane of the optical system formed by the one or more receiving lenses 421, that is, the second focal plane is a plane passing through the focus of the optical system formed by the one or more receiving lenses 421 and perpendicular to the optical axis of the optical system formed by the one or more receiving lenses 421.

[0083] The second defocus amount may be a value preset according to an adjustment target. The adjustment target may be, for example, increasing the area of ​​the sub-sensing area / spot to a preset area, increasing the number of sub-pixels that can sense the echo signal to a preset number, or increasing the proportion of sub-pixels that can sense the echo signal to a preset proportion, etc. Furthermore, the required second defocus amount may be calculated according to the adjustment target, and the second defocus amount may be, for example, 0.5 microns, 1 micron, etc. Among them, the sensing area may be an area on the detector 410 composed of multiple sub-pixels that sense the echo signal.

[0084] In some embodiments, the detector 410 can be moved according to the clarity of the test light spot. For example, the imaging device can be controlled to be located at the second focal plane, the laser 210 can be controlled to project at least one test light spot to the test object at a preset distance through the emitting lens 221, and the imaging device can be controlled to image the at least one test light spot. The imaging device can be an image sensor such as CCD, CMOS, etc., which can image the test light spot projected onto the test object. In addition, the clarity evaluation threshold corresponding to the second defocus amount can be predetermined. Furthermore, the imaging device can be controlled to move along the optical axis direction of the receiving lens 421 until the clarity evaluation value of the at least one test light spot reaches the clarity evaluation threshold, and the imaging device with the second defocus amount between the second focal plane and the second focal plane is replaced by the detector 410. At this time, it is considered that the second defocus amount is reached between the detector 410 and the second focal plane.

[0085] The clarity evaluation value of the at least one test light spot can be determined by a clarity evaluation function of an image acquired by an imaging device. For example, the clarity evaluation function can be used to calculate the grayscale value change of the edge of the test light spot to obtain the clarity evaluation value. The clarity evaluation value indicates the clarity of the image. The greater the defocus amount, the lower the clarity of the image. The smaller the defocus amount, the higher the clarity of the image. Therefore, there can be an inverse correlation between the clarity evaluation value and the defocus amount.

[0086] The detector 410 is adjusted based on the clarity of the test spot to determine whether the required defocus amount is achieved, so that the control of the defocus amount is clearer, more intuitive and easier to implement, which improves the accuracy of the adjustment and can effectively realize large-scale automated adjustment for the same batch of products.

[0087] In some embodiments, the detector 410 may be moved according to other indicators of the test light spot, such as the size and position of the test light spot. In some embodiments, the detector 410 may also be moved directly according to the second defocus amount. This specification does not limit this.

[0088] The movement of the detector 410 may be a movement towards or away from the receiving lens 421 . Fig.13 FIG. 4 is a schematic diagram showing the movement of a detector 410 according to some embodiments of the present specification. Fig.13 As shown, the focus of the echo signal is located on the second focusing plane J2. When the detector 410 is moved toward the receiving lens 421, the detector 410 is located between J2 and the receiving lens 421. The visual spot of the light that has not passed through the focus on the detector 410 increases, and the number of sub-pixels sensing the echo signal on the detector 410 increases. When the detector 410 is moved away from the receiving lens 421, the detector 410 is located on the common side of J2 and the receiving lens 421. The visual spot of the light that has passed through the focus on the detector 410 also increases, and the number of sub-pixels sensing the echo signal on the detector 410 increases. Fig.14 FIG. 4 shows an effect diagram of a mobile detector 410 provided according to some embodiments of this specification. Fig.14 As shown, the detector 410 is moved toward the receiving lens 421, and the sub-pixel sensing the echo signal on the detector 410 is compared with Figure 3 increase.

[0089] S147: Control the second light-transmitting member 422 to be located between the detector 410 and the receiving lens 421, so that the detector 410 deviates from the second focusing plane formed by the receiving lens 421 and the second light-transmitting member 422, and has the second defocus amount between the detector 410 and the second focusing plane.

[0090] At this time, the receiving lens assembly 420 includes a receiving lens 421 and a second light-transmitting member 422. The second focusing plane is a focal plane formed by the combination of the receiving lens 421 and the second light-transmitting member 422.

[0091] As mentioned above, the second defocus amount may be a value preset according to the adjustment target. In the embodiment of the present specification, the second light transmission parameter of the second light-transmitting member 422 may be determined based on the preset second defocus amount, and the second light transmission parameter may include at least one of the second installation position, refractive index, and thickness of the second light-transmitting member 422, so as to ensure that when the second light-transmitting member 422 having the second light transmission parameter is set at the second installation position, the detector 410 can have a second defocus amount between the second focal plane formed by the combination of the receiving lens 421 and the second light-transmitting member 422. The direction of the laser beam passing through the second light-transmitting member 422 vertically is the direction of the thickness.

[0092] Furthermore, the second light-transmitting member 422 may be installed at a second assembly member at a second installation position between the detector 410 and the receiving lens 421 . Fig.15FIG. 4 shows an effect diagram of adding a second light-transmitting member 422 according to some embodiments of this specification. Fig.15 As shown, the second light-transmitting member 422 is located between the detector 410 and the receiving lens 421. The sub-pixel on the detector 410 that senses the echo signal is Figure 3 increase.

[0093] Among them, the second assembly part can be a device that can fix the second light-transmitting member 422 at the second installation position. For example, the second assembly part can be a accommodating cavity, such as a slot, and a slot can be reserved at the second installation position. After the detector 410 and the detector 410 are focused respectively, the second light-transmitting member 422 can be inserted into the slot. For example, the second assembly part can be a clamping tool, such as a clip, and a clip can be set at the second installation position. After the detector 410 and the detector 410 are focused respectively, the second light-transmitting member 422 can be clamped with the clip. For another example, the second assembly part can be a viscous substance, such as a viscous glue, and the viscous glue can be applied at the second installation position. After the detector 410 and the detector 410 are focused respectively, the second light-transmitting member 422 can be pasted with the viscous glue.

[0094] The second light-transmitting member 422 may be an optically transparent medium sheet, such as a glass sheet, a plastic sheet, etc. In order to improve the utilization rate of light, the second light-transmitting member 422 may be subjected to an anti-reflection treatment in the embodiment of the present specification, for example, an anti-reflection film may be covered on the surface of the second light-transmitting member 422, thereby improving the transmittance of the second light-transmitting member 422 to the light of the emission band of the laser 210, for example, increasing the transmittance of the second light-transmitting member 422 from the original 95% to 99%, thus improving the utilization rate of light.

[0095] By setting the second light-transmitting element 422, an optical path difference is introduced in the receiving light path, that is, there is a difference between the optical path before the second light-transmitting element 422 is set and the optical path after the second light-transmitting element 422 is set, thereby achieving a fixed second defocus amount, and the operation is simple and convenient; moreover, the second light-transmitting element 422 can be mass-produced, so that the installation and adjustment can be completed quickly in batches, thereby improving the efficiency of the laser radar installation and adjustment.

[0096] It should be noted that the defocusing of the detector 410 in S145 and / or S147 can increase the visual spot area and the entire sensing area. However, the area of ​​the detector 410 is limited. When the spot area is too large, part of the echo signal may exceed the detector boundary and be projected outside the detector, resulting in a waste of the echo signal. Therefore, it is necessary to control the defocusing of the detector 410 so that the echo signal does not exceed the detector boundary. Moreover, when the spot area is too large, the signal strength of the echo signal will be weakened, which may cause the light spot to cover many sub-pixels, but in fact, some of the sub-pixels covered by the light spot cannot sense the echo signal because the signal is too weak, resulting in the number of sub-pixels that can receive the echo signal is not enough or even reduced, which in turn causes the signal-to-noise ratio of the laser radar detection signal to not be improved much or even reduced. Therefore, it is necessary to control the defocusing of the detector 410 to ensure that the sub-pixels covered by the light spot can sense the echo signal.

[0097] The laser radar 001 may also include a controllable aperture (such as an electronic aperture), and the light-passing area of ​​the controllable aperture may filter signals other than the echo signal. The controllable aperture may be located between the detector 410 and the receiving lens assembly 420, and the size and position of the light-passing area may be determined based on the size and position of the sensing area on the detector 410. The area outside the light-passing area of ​​the controllable aperture is the filtering area. Fig.16 A schematic diagram of a controllable aperture provided according to some embodiments of the present specification is shown, wherein the light-transmitting area allows echo signals to pass through, and the light-filtering area can filter out ambient light and stray light outside the sensing area of ​​the detector, thereby further improving the signal-to-noise ratio of the entire device.

[0098] Fig.17 A schematic diagram of a sensing area before executing an adjustment method P100 provided according to some embodiments of this specification is shown. Fig.18 A schematic diagram of a sensing area after executing the adjustment method P100 according to some embodiments of this specification is shown. Multiple independent dots represent multiple sub-sensing areas. Fig.17 and Fig.18 It can be seen that, through the adjustment method P100, the area of ​​the sensing area / spot can be effectively increased, and the number of sub-pixels that sense the echo signal on the detector 410 can be increased, thereby improving the signal-to-noise ratio of the laser radar.

[0099] The installation and adjustment method of the laser radar 001 provided in this specification adjusts the transmitting module 200 and / or the receiving module 400 so that the laser 210 deviates from the first focusing plane of the transmitting lens assembly 220 along the optical axis direction of the transmitting lens assembly 220 to produce a first defocus amount, and / or the detector 410 deviates from the second focusing plane of the receiving lens assembly 420 along the optical axis direction of the receiving lens assembly 420 to produce a second defocus amount. In this way, the light intensity distribution inside the overall light spot is uniformed by defocusing the laser 210 / or the detector 410, the light intensity at the sub-pixel with high light intensity will be relatively weakened, and some sub-pixels that could not sense the echo signal originally can sense the echo signal. Therefore, more sub-pixels on the detector 410 can sense the echo signal, that is, the number of sub-pixels that can receive the echo signal is increased, thereby improving the signal-to-noise ratio of the detection signal of the laser radar 001.

[0100] on the other hand, Fig.19 The hardware structure diagram of a control module 600 provided according to some embodiments of the present specification is shown. The control module 600 may be a data receiving system.

[0101] like Fig.19 As shown, the control module 600 may include at least one storage medium 630 and at least one processor 620. According to some embodiments of the present application, the control module 600 may also include a communication port 650 and an internal communication bus 610. At the same time, the control module 600 may also include an I / O component 660.

[0102] The internal communication bus 610 may connect various system components, including the storage medium 630 , the processor 620 , and the communication port 650 .

[0103] The I / O component 660 supports input / output between the control module 600 and other components.

[0104] The communication port 650 is used for data communication between the control module 600 and the outside world. For example, the communication port 650 can be used for data communication between the control module 600 and the network 400. The communication port 650 can be a wired communication port or a wireless communication port.

[0105] At least one processor 620 can be connected to at least one storage medium 630 and a communication port 650 through an internal communication bus 610. At least one processor 620 is used to execute the above-mentioned at least one instruction set. When the control module 600 is running, at least one processor 620 reads the at least one instruction set, and according to the instructions of the at least one instruction set, performs photoelectric conversion on the echo signal to obtain the detection information of the target object 002. The processor 620 can be in the form of one or more processors. According to some embodiments of the present application, the processor 620 can include one or more hardware processors, such as a microcontroller, a microprocessor, a reduced instruction set computer (RISC), an application-specific integrated circuit (ASIC), an application-specific instruction set processor (ASIP), a central processing unit (CPU), a graphics processing unit (GPU), a physical processing unit (PPU), a microcontroller unit, a digital signal processor (DSP), a field programmable gate array (FPGA), an advanced RISC machine (ARM), a programmable logic device (PLD), any circuit or processor capable of performing one or more functions, etc., or any combination thereof. For the purpose of illustration only, in this specification, only one processor 620 is described in the control module 600. However, it should be noted that in this specification, the control module 600 may also include multiple processors.

[0106] The storage medium 630 may include a data storage device. The data storage device may be a non-transitory storage medium. For example, the data storage device may include one or more of a disk 632, a read-only storage medium (ROM) 634, or a random access storage medium (RAM) 636.

[0107] On the other hand, the present specification provides a non-temporary computer-readable medium, which stores at least one set of instruction sets for data reception. When the at least one set of instruction sets is executed by the processor, it instructs the processor to execute the detection information of the target object 002. In some possible embodiments, various aspects of the present specification can also be implemented in the form of a program product, which includes program code. The program product can use a portable compact disk read-only memory (CD-ROM) to include program code and can be run on the control module 600. However, the program product of the present specification is not limited to this. In the present specification, the readable storage medium can be any tangible medium containing or storing a program, which can be used by the instruction execution system or used in combination with it. The program product can use any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of readable storage media include: an electrical connection with one or more conductors, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. The computer-readable storage medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the above. Program code for performing the operations of the present specification may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the control module 600, partially on the control module 600, as a separate software package, partially on the control module 600 and partially on a remote control module, or entirely on a remote control module.

[0108] The above is a description of a specific embodiment of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require a specific order or a continuous order to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0109] In summary, after reading this detailed disclosure, those skilled in the art will appreciate that the foregoing detailed disclosure may be presented only by way of example and may not be limiting. Although not explicitly stated herein, those skilled in the art will appreciate that this specification requires various reasonable changes, improvements and modifications to the embodiments. These changes, improvements and modifications are intended to be proposed by this specification and are within the spirit and scope of the exemplary embodiments of this specification.

[0110] In addition, certain terms in this specification have been used to describe embodiments of this specification. For example, "one embodiment", "an embodiment" and / or "some embodiments" mean that a particular feature, structure or characteristic described in conjunction with the embodiment may be included in at least one embodiment of this specification. Therefore, it can be emphasized and should be understood that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various parts of this specification do not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics may be appropriately combined in one or more embodiments of this specification.

[0111] It should be understood that in the foregoing description of the embodiments of this specification, in order to help understand a feature and for the purpose of simplifying this specification, this specification combines various features in a single embodiment, figure or its description. However, this does not mean that the combination of these features is necessary. When reading this specification, it is entirely possible for a person skilled in the art to mark out some of the devices as separate embodiments. In other words, the embodiments in this specification can also be understood as the integration of multiple secondary embodiments. This is also true when the content of each secondary embodiment is less than all the features of a single aforementioned disclosed embodiment.

[0112] Each patent, patent application, patent application publication, and other materials, such as articles, books, specifications, publications, documents, articles, etc., cited herein may be incorporated herein by reference in its entirety for all purposes, except for any prosecution document history related thereto, any equivalent that may be inconsistent or conflicting with this document, or any equivalent prosecution document history that may have a limiting effect on the broadest scope of the claims now or later associated with this document. For example, if there is any inconsistency or conflict between the description, definition, and / or use of a term associated with any of the incorporated materials and the term, description, definition, and / or use associated with this document, the term in this document shall control.

[0113] Finally, it should be understood that the embodiments of the application disclosed herein are explanations of the principles of the embodiments of this specification. Other modified embodiments are also within the scope of this specification. Therefore, the embodiments disclosed in this specification are only used as examples and not as limitations. Those skilled in the art can adopt alternative configurations according to the embodiments in this specification to implement the applications in this specification. Therefore, the embodiments of this specification are not limited to the embodiments accurately described in the application.

Claims

1. A laser radar installation and adjustment method, characterized in that: The laser radar comprises a transmitting module and a receiving module, wherein the transmitting module comprises at least one laser and a transmitting lens assembly, wherein the transmitting lens assembly comprises a transmitting lens, wherein the receiving module comprises a receiving lens assembly and at least one detector, wherein the receiving lens assembly comprises a receiving lens, wherein a laser beam emitted by the laser passes through the transmitting lens assembly and is emitted toward a target object, and an echo signal is generated after being reflected by the target object, and the echo signal passes through the receiving lens assembly and is received by the detector, wherein the method comprises: Controlling the laser to be located on the focal plane of the transmitting lens, and controlling the detector to be located on the focal plane of the receiving lens; and The transmitting module is adjusted so that the laser deviates from the first focal plane of the transmitting lens assembly along the optical axis direction of the transmitting lens assembly to produce a first defocus amount, and / or the receiving module is adjusted so that the detector deviates from the second focal plane of the receiving lens assembly along the optical axis direction of the receiving lens assembly to produce a second defocus amount, The first focusing plane is a plane passing through the focus of the transmitting lens assembly and perpendicular to the optical axis of the transmitting lens assembly, and the second focusing plane is a plane passing through the focus of the receiving lens assembly and perpendicular to the optical axis of the receiving lens assembly.

2. The method according to claim 1, characterized in that The laser comprises a VCSEL laser, and the VCSEL laser comprises a plurality of VCSEL light emitting units.

3. The method according to claim 1, characterized in that The detector comprises a SiPM detector including a plurality of SPAD sub-pixels.

4. The method according to claim 1, characterized in that The step of adjusting the transmitting module so that the laser deviates from a first focal plane of the transmitting lens assembly along an optical axis direction of the transmitting lens assembly to generate a first defocus amount includes: Based on the first defocus amount, controlling the laser to move a certain distance along the optical axis direction of the transmitting lens to deviate from the first focusing plane, Wherein, the first focusing plane is the focusing plane of the emitting lens.

5. The method according to claim 4, characterized in that The step of controlling the laser to move a certain distance along the optical axis direction of the transmitting lens to deviate from the first focusing plane based on the first defocus amount comprises: Controlling the laser to project at least one test light spot onto a test object at a preset distance through the emitting lens, and controlling the imaging device to image the at least one test light spot; determining a clarity evaluation threshold corresponding to the first defocus amount; and The laser is controlled to move along the optical axis direction of the emitting lens until the clarity evaluation value of the at least one test light spot reaches the clarity evaluation threshold, so that the first defocus amount exists between the laser and the first focusing plane.

6. The method according to claim 4, characterized in that The movement includes moving in a direction closer to or away from the transmitting lens.

7. The method according to claim 1, characterized in that The transmitting lens assembly further includes a first light-transmitting member, and the step of adjusting the transmitting module so that the laser deviates from a first focal plane of the transmitting lens assembly along an optical axis direction of the transmitting lens assembly to generate a first defocus amount includes: The first light-transmitting member is controlled to be located between the laser and the emitting lens, so that the laser deviates from the first focusing plane formed by the emitting lens and the first light-transmitting member, and has the first defocus amount between the laser and the first focusing plane.

8. The method according to claim 7, characterized in that The first light transmission parameter of the first light transmission element is determined based on the first defocus amount, The first light-transmitting parameter includes at least one of a first installation position, a refractive index, and a thickness of the first light-transmitting member, wherein a passing direction of a laser beam passing vertically through the first light-transmitting member is a direction of the thickness.

9. The method according to claim 7, characterized in that The controlling the first light-transmitting member to be located between the laser and the emitting lens comprises: The first light-transmitting member is controlled to be located at a first assembly member at the first mounting position between the laser and the emitting lens.

10. The method according to claim 1, characterized in that The step of adjusting the receiving module so that the detector deviates from a second focal plane of the receiving lens assembly along the optical axis direction of the receiving lens assembly to generate a second defocus amount includes: Based on the second defocus amount, the detector is installed to deviate from the second focal plane, and the installation position of the detector has the second defocus amount relative to the second focal plane in the optical axis direction of the receiving lens, The second focusing plane is the focusing plane of the receiving lens.

11. The method according to claim 10, characterized in that The step of installing the detector to deviate from the second focal plane based on the second defocus amount comprises: Controlling the imaging device to be located at the second focusing plane; Controlling the laser to project at least one test light spot onto a test object at a preset distance through the emitting lens, and controlling the imaging device to image the at least one test light spot; Determining a clarity evaluation threshold corresponding to the second defocus amount; Controlling the imaging device to move along the optical axis direction of the receiving lens until the clarity evaluation value of the at least one test light spot reaches the clarity evaluation threshold, so that the second defocus amount exists between the imaging device and the second focusing plane; and The imaging device having the second defocus amount from the second focal plane is replaced by the detector.

12. The method according to claim 10, characterized in that The movement includes moving in a direction close to or away from the receiving lens.

13. The method according to claim 1, characterized in that The receiving lens assembly further includes a second light-transmitting member, and the step of adjusting the receiving module so that the detector deviates from a second focal plane of the receiving lens assembly along an optical axis direction of the receiving lens assembly to generate a second defocus amount includes: The second light-transmitting member is controlled to be located between the detector and the receiving lens, so that the detector deviates from the second focusing plane formed by the receiving lens and the second light-transmitting member, and has the second defocus amount between the detector and the second focusing plane.

14. The method according to claim 13, characterized in that The second light transmission parameter of the second light transmission element is determined based on the second defocus amount, The second light-transmitting parameter includes at least one of a second installation position, a refractive index, and a thickness of the second light-transmitting member, wherein a passing direction of a laser beam passing vertically through the second light-transmitting member is a direction of the thickness.

15. The method according to claim 13, characterized in that The controlling the second light-transmitting member to be located between the detector and the receiving lens comprises: The second light-transmitting member is controlled to be located at a second assembly member at the second mounting position between the detector and the receiving lens.

16. The method according to claim 1, wherein: Also includes: The signals other than the echo signal are filtered through the light passing area of ​​the controllable aperture. The controllable aperture is located between the detector and the receiving lens assembly, and the size and position of the light-transmitting area are determined based on the size and position of the sensing area on the detector. The sensing area is an area on the detector composed of multiple sub-pixels that sense the echo signal.

17. A laser radar, characterized in that: include: A transmitting module, comprising at least one laser and a transmitting lens assembly, wherein the transmitting lens assembly comprises a transmitting lens; The receiving module includes a receiving lens assembly and at least one detector. The receiving lens assembly includes a receiving lens. The laser beam emitted by the laser passes through the transmitting lens assembly and is emitted to the target object. After being reflected by the target object, an echo signal is generated. The echo signal passes through the receiving lens assembly and is received by the detector. There is a first defocus amount between the laser and the first focusing plane of the transmitting lens assembly, and / or there is a second defocus amount between the detector and the second focusing plane of the receiving lens assembly, and the first defocus amount and / or the second defocus amount are obtained by the adjustment method described in any one of claims 1 to 16.

Images