Adjustment device and adjustment method for optical device and transceiver device

Abstract

The invention discloses an optical device and an adjustment device and method of a transceiver device, light emitted by the optical device has a first light path and a second light path, and the adjustment device of the optical device comprises a first detector, a second detector and a processor; the first detector is arranged on the first light path and detects light of the first light path; the second detector is arranged on the second light path and detects light of the second light path; the processor is configured to determine a first parameter according to the detection amount of the second detector, determine a second parameter according to the first parameter and the detection amount of the first detector, and adjust the optical device based on the first parameter and the second parameter. By means of the adjustment device, near-field adjustment and far-field adjustment of the optical device can be achieved at the same time, repeated adjustment of the near field and the far field is not needed, and the adjustment efficiency, the adjustment precision and the adjustment consistency are improved.

Description

Technical Field

[0001] The present application relates to the field of optical technology, and in particular to an assembly and adjustment device and an assembly and adjustment method for an optical device and a transceiver device. Background Art

[0002] For transceiver devices, the adjustment of optical devices such as transmitting devices and receiving devices is a difficulty and bottleneck in the production process. According to the application requirements of optical devices, the far field and near field of optical devices need to be adjusted at the same time. However, there is a certain coupling relationship between the far field and near field of optical devices, and the far field and near field need to be adjusted repeatedly to ensure that the optical devices meet the requirements. This will make the adjustment process of optical devices more complicated, and the adjustment accuracy and consistency are poor. Summary of the invention

[0003] The embodiments of the present application provide an optical device and a transceiver device assembly and adjustment method that can at least partially solve at least one of the above-mentioned shortcomings or other shortcomings in the prior art.

[0004] A first aspect of the present application provides an adjustment device for an optical device, wherein the light emitted by the optical device has a first optical path and a second optical path, and the adjustment device includes a first detector, a second detector and a processor; the first detector is arranged in the first optical path, and detects the light in the first optical path; the second detector is arranged in the second optical path, and detects the light in the second optical path; the processor is configured to: determine a first parameter according to a detection amount of the second detector, determine a second parameter according to the first parameter and the detection amount of the first detector, and adjust the optical device based on the first parameter and the second parameter.

[0005] According to an exemplary embodiment of the present application, the adjustment device further includes: a focusing lens, which is arranged in the second optical path; wherein the second detector detects the light in the second optical path after being converged by the focusing lens.

[0006] According to an exemplary embodiment of the present application, the adjustment device further includes a beam splitter element, which is used to split the light emitted by the optical device into a first light path and a second light path.

[0007] According to an exemplary embodiment of the present application, the focusing lens is located on a side of the beam splitting element that is away from the optical device.

[0008] According to an exemplary embodiment of the present application, the first optical path coincides with the second optical path, and the distance between the first detector and the optical device is smaller than the distance between the focusing lens and the optical device.

[0009] According to an exemplary embodiment of the present application, the position of the first detector is adjustable in a direction perpendicular to the first optical path.

[0010] According to an exemplary embodiment of the present application, the detection amount of the first detector includes the position offset of the light of the first optical path on the first detector, the detection amount of the second detector includes the position offset of the light of the second optical path on the second detector, the first parameter includes the tilt angle of the optical device, and the second parameter includes the first eccentricity value of the optical device.

[0011] According to an exemplary embodiment of the present application, the effective aperture of the light splitting element satisfy: Where, L1 is the distance between the beam splitter and the optical device, θ max is the maximum tilt angle of the optical device, d max is the maximum eccentricity of the optical device, and D is the spot size of the optical device.

[0012] According to an exemplary embodiment of the present application, the distance L2 between the focusing lens and the optical device satisfies: L2>L1+(L1×tanθ max +d max +D) / 2, where L1 is the distance between the beam splitter and the optical device, θ max is the maximum tilt angle of the optical device, d max is the maximum eccentricity of the optical device, and D is the spot size of the optical device.

[0013] According to an exemplary embodiment of the present application, the effective aperture of the focusing lens satisfy: Where, L2 is the distance between the focusing lens and the optical device, θ max is the maximum tilt angle of the optical device, d max is the maximum eccentricity of the optical device, and D is the spot size of the optical device.

[0014] According to an exemplary embodiment of the present application, the effective aperture Φ1 of the first detector satisfies: 1≤Φ1 / (l1×tanθ max +d max +D)≤5, where l1 is the optical path of the first optical path, θ max is the maximum tilt angle of the optical device, d max is the maximum eccentricity of the optical device, and D is the spot size of the optical device.

[0015] According to an exemplary embodiment of the present application, the effective aperture Φ2 of the second detector satisfies: 1≤Φ2 / (F×tanθ max )≤5, where F is the focal length of the focusing lens, θ max is the maximum tilt angle of the optical device.

[0016] According to an exemplary embodiment of the present application, the first eccentricity value d1 of the optical device satisfies: d1=△h1-l1×tanθ, wherein θ is the inclination angle of the optical device, △h1 is the position offset of the light of the first optical path on the first detector, and l1 is the optical path of the first optical path.

[0017] According to an exemplary embodiment of the present application, the second eccentricity value d2 of the optical device satisfies: d2=L2×tanθ, where θ=arctan(△h2 / F), where θ is the inclination angle of the optical device, △h2 is the position offset of the light of the second optical path on the second detector, F is the focal length of the focusing lens, and L2 is the distance between the focusing lens and the optical device.

[0018] According to an exemplary embodiment of the present application, the optical device includes a transmitting device, and the focal length F of the focusing lens satisfies: F×tanθ Tx / A≥2, where θ Tx is the preset adjustment accuracy of the emitting device, and A is the preset resolution of the second detector.

[0019] According to an exemplary embodiment of the present application, the optical device includes an analog device, the analog device is configured as a device designed based on the receiving device and similar to the transmitting device, and the focal length F of the focusing lens satisfies: ((F / f)×F×tanθ Rx ) / A≥2, where f is the focal length of the receiving device, θ Rx is the preset adjustment accuracy of the receiving device, and A is the preset resolution of the second detector.

[0020] According to an exemplary embodiment of the present application, the optical device includes a transmitting device and an analog device, wherein the analog device is configured as a device designed based on the receiving device and similar to the transmitting device, and the focal length F of the focusing lens satisfies: F×tanθ Tx / A≥2, and ((F / f)×F×tanθ Rx ) / A≥2, where f is the focal length of the receiving device, θ Tx is the preset adjustment accuracy of the transmitting device, θ Rx is the preset adjustment accuracy of the receiving device, and A is the preset resolution of the second detector.

[0021] The second aspect of the present application provides a transceiver device assembly and adjustment system, the transceiver device includes a transmitting device and a receiving device, the assembly and adjustment system includes a first assembly and adjustment device and a second assembly and adjustment device, the first assembly and adjustment device is used to assemble and adjust the transmitting device, and the second assembly and adjustment device is used to assemble and adjust an analog device designed based on the receiving device and similar to the transmitting device, wherein the first assembly and adjustment device and the second assembly and adjustment device both include the assembly and adjustment device described in the first aspect.

[0022] The third aspect of the present application provides a method for assembling an optical device, which includes: dividing the light emitted by the optical device into a first optical path and a second optical path; setting a first detector on the first optical path and a second detector on the second optical path, wherein the first detector detects the light on the first optical path and the second detector detects the light on the second optical path; and determining a first parameter according to a detection amount of the second detector, determining a second parameter according to the first parameter and the detection amount of the first detector, and assembling the optical device based on the first parameter and the second parameter.

[0023] According to an exemplary embodiment of the present application, splitting the light emitted by the optical device into a first light path and a second light path includes: arranging a beam splitter on the light emitting path of the optical device, the beam splitter splitting the light emitted by the optical device into the first light path and the second light path.

[0024] According to an exemplary embodiment of the present application, setting a second detector in the second optical path includes: sequentially setting a focusing lens and a second detector on a side of the spectroscopic element away from the optical device, wherein the second detector detects light in the second optical path after being converged by the focusing lens.

[0025] According to an exemplary embodiment of the present application, dividing the light emitted by the optical device into a first light path and a second light path includes: making the light emitted by the optical device form the first light path and the second light path overlap.

[0026] According to an exemplary embodiment of the present application, setting a first detector in a first optical path and setting a second detector in a second optical path includes: sequentially setting a first detector, a focusing lens, and a second detector on a light emitting path of an optical device, wherein a distance between the first detector and the optical device is smaller than a distance between the focusing lens and the optical device, and a position of the first detector is adjustable in a direction perpendicular to the light emitting path of the optical device.

[0027] According to an exemplary embodiment of the present application, the light detection of the second optical path by the second detector further includes: moving the position of the first detector so that the position of the first detector deviates from the light emitting path of the optical device; and using the second detector to detect the light in the second optical path after being converged by the focusing lens.

[0028] According to an exemplary embodiment of the present application, the detection amount of the first detector includes the position offset of the light of the first optical path on the first detector, the detection amount of the second detector includes the position offset of the light of the second optical path on the second detector, the first parameter includes the tilt angle of the optical device, and the second parameter includes the first eccentricity value of the optical device.

[0029] According to an exemplary embodiment of the present application, the tilt angle θ of the optical device satisfies: θ=arctan(△h2 / F), and the first eccentricity value d1 of the optical device satisfies: d1=△h1-l1×tanθ, wherein △h2 represents the position offset of the light of the second optical path on the second detector, F represents the focal length of the focusing lens, △h1 represents the position offset of the light of the first optical path on the first detector, and l1 represents the optical path of the first optical path.

[0030] According to an exemplary embodiment of the present application, adjusting the optical device based on the first parameter and the second parameter also includes: adjusting the optical device based on the tilt angle of the optical device; adjusting the optical device based on the first eccentricity value of the optical device; and obtaining the second eccentricity value of the optical device after the secondary adjustment, and determining whether the second eccentricity value of the optical device after the secondary adjustment is within a preset range.

[0031] According to an exemplary embodiment of the present application, adjusting the optical device based on the first parameter also includes: dividing the detection target surface of the second detector into multiple areas according to the aberration of the focusing lens, and different areas have different angle compensation amounts; determining the angle compensation amount of the optical device according to the coordinates of the imaging point of the light of the second optical path on the second detector; and adjusting the optical device based on the angle compensation amount and the tilt angle of the optical device.

[0032] According to an exemplary embodiment of the present application, the optical device includes a transmitting device and an analog device, wherein the analog device is configured as a device designed based on the receiving device and similar to the transmitting device.

[0033] The adjustment method also includes: moving the emitting device to a predetermined position, obtaining the position offset of the light emitted by the emitting device on the first detector and the second detector, and adjusting the emitting device according to the position offset of the light emitted by the emitting device on the first detector and the second detector; and moving the analog device to a predetermined position, obtaining the position offset of the light emitted by the analog device on the second detector, and adjusting the analog device according to the position offset of the light emitted by the analog device on the second detector.

[0034] According to an exemplary embodiment of the present application, adjusting the emitting device according to the position offset of the light emitted by the emitting device on the first detector and the second detector includes: determining the inclination angle of the emitting device according to the position offset of the light emitted by the emitting device on the second detector, and adjusting the emitting device to the first target position based on the inclination angle of the emitting device; and determining the first eccentricity value of the emitting device according to the position offset of the light emitted by the emitting device on the first detector, and adjusting the emitting device to the second target position based on the first eccentricity value of the emitting device.

[0035] According to an exemplary embodiment of the present application, adjusting the emitting device according to the position offset of the light emitted by the emitting device on the first detector and the second detector includes: determining the inclination angle of the emitting device according to the position offset of the light emitted by the emitting device on the second detector, determining the first eccentricity value of the emitting device according to the position offset of the light emitted by the emitting device on the first detector; and adjusting the emitting device to the second target position based on the inclination angle and the first eccentricity value of the emitting device.

[0036] According to an exemplary embodiment of the present application, adjusting the analog device according to the position offset of the light emitted by the analog device on the second detector includes: determining the tilt angle of the analog device according to the position offset of the light emitted by the analog device on the second detector, and adjusting the analog device to a third target position based on the tilt angle of the analog device.

[0037] According to an exemplary embodiment of the present application, the effective aperture of the light splitting element satisfy: Where, L1 is the distance between the beam splitter and the optical device, θ max is the maximum tilt angle of the optical device, d max is the maximum eccentricity of the optical device, and D is the spot size of the optical device.

[0038] According to an exemplary embodiment of the present application, sequentially arranging a focusing lens and a second detector on a side of the light splitting element away from the optical device includes: adjusting the position of the focusing lens so that a distance L2 between the focusing lens and the optical device satisfies: L2>L1+(L1×tanθ max +d max +D) / 2, where L1 is the distance between the beam splitter and the optical device, θ max is the maximum tilt angle of the optical device, d max is the maximum eccentricity of the optical device, and D is the spot size of the optical device.

[0039] According to an exemplary embodiment of the present application, the effective aperture of the focusing lens satisfy: Where, L2 is the distance between the focusing lens and the optical device, θ max is the maximum tilt angle of the optical device, d max is the maximum eccentricity of the optical device, and D is the spot size of the optical device.

[0040] According to an exemplary embodiment of the present application, the effective aperture Φ1 of the first detector satisfies: 1≤Φ1 / (l1×tanθ max +d max+D)≤5, where l1 is the optical path of the first optical path, θ max is the maximum tilt angle of the optical device, d max is the maximum eccentricity of the optical device, and D is the spot size of the optical device.

[0041] According to an exemplary embodiment of the present application, the effective aperture Φ2 of the second detector satisfies: 1≤Φ2 / (F×tanθ max )≤5, where F is the focal length of the focusing lens, θ max is the maximum tilt angle of the optical device.

[0042] According to an exemplary embodiment of the present application, the optical device includes a transmitting device, and the focal length F of the focusing lens satisfies: F×tanθ Tx / A≥2, where θ Tx is the preset adjustment accuracy of the emitting device, and A is the preset resolution of the second detector.

[0043] According to an exemplary embodiment of the present application, the optical device includes an analog device, the analog device is configured as a device designed based on the receiving device and similar to the transmitting device, and the focal length F of the focusing lens satisfies: ((F / f)×F×tanθ Rx ) / A≥2, where f is the focal length of the receiving device, θ Rx is the preset adjustment accuracy of the receiving device, and A is the preset resolution of the second detector.

[0044] According to an exemplary embodiment of the present application, the optical device includes a transmitting device and an analog device, wherein the analog device is configured as a device designed based on the receiving device and similar to the transmitting device, and the focal length F of the focusing lens satisfies: F×tanθ Tx / A≥2, and ((F / f)×F×tanθ Rx ) / A≥2, where f is the focal length of the receiving device, θ Tx is the preset adjustment accuracy of the transmitting device, θ Rx is the preset adjustment accuracy of the receiving device, and A is the preset resolution of the second detector.

[0045] The fourth aspect of the present application provides a method for assembling and adjusting a transceiver device, which includes a transmitting device and a receiving device. The method includes: dividing the light emitted by the transmitting device into a first optical path and a second optical path, and dividing the light emitted by an analog device designed based on the receiving device and similar to the transmitting device into the second optical path; setting a first detector on the first optical path, and setting a second detector on the second optical path of the transmitting device and the analog device, respectively, wherein the first detector detects light on the first optical path, and the second detector detects light on the second optical path; and determining a first parameter based on a detection amount of the second detector, determining a second parameter based on the first parameter and the detection amount of the first detector, and assembling and adjusting the transmitting device based on the first parameter and the second parameter corresponding to the transmitting device, and assembling and adjusting the analog device based on the first parameter corresponding to the analog device.

[0046] According to an exemplary embodiment of the present application, setting a second detector in the second optical path of the emitting device and the analog device includes: setting a focusing lens and a second detector arranged in sequence in the second optical path of the emitting device and the analog device, wherein the second detector detects the light in the second optical path after being converged by the focusing lens.

[0047] According to an exemplary embodiment of the present application, the detection amount of the first detector includes the position offset of the light of the first optical path on the first detector, the detection amount of the second detector includes the position offset of the light of the second optical path on the second detector, the first parameter includes the tilt angle of the optical device, and the second parameter includes the first eccentricity value of the optical device.

[0048] The optical device adjustment device provided in the present application can realize near-field detection of the optical device by using the first detector, and can realize far-field detection of the optical device by using the second detector. In other words, the near-field adjustment and far-field adjustment of the optical device can be realized simultaneously by using the same adjustment device, without the need to repeatedly adjust the near-field and far-field, thereby improving the adjustment efficiency, adjustment accuracy and adjustment consistency. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Other features, purposes and advantages of the embodiments of the present application will become more apparent by reading the detailed description of the non-limiting embodiments made with reference to the following drawings, in which:

[0050] Figure 1 is a schematic structural diagram of an optical device assembly and adjustment device according to an embodiment of the present application;

[0051] Figure 2A is a schematic structural diagram of an optical device assembly and adjustment device according to an embodiment of the present application;

[0052] Figure 2B for Figure 2A The schematic diagram of the adjustment device shown is in near-field adjustment;

[0053] Figure 2C for Figure 2A The schematic diagram of the adjustment device shown is in remote field adjustment;

[0054] Figure 3 A schematic diagram of an optical path for near-field detection of an optical device according to an embodiment of the present application;

[0055] Figure 4 A schematic diagram of an optical path for far-field detection of an optical device according to an embodiment of the present application;

[0056] Figure 5 is a normalized optical path coordinate system according to an embodiment of the present application;

[0057] Figure 6 is a schematic diagram of imaging points of near-field light according to an embodiment of the present application;

[0058] Figure 7 is a schematic diagram of imaging points of light in the far field according to an embodiment of the present application;

[0059] Figure 8 is a schematic diagram of a detection target surface of a second detector according to an embodiment of the present application;

[0060] Fig. 9 is a schematic diagram of the structure of the first detector or the second detector according to an embodiment of the present application;

[0061] Fig.10 A schematic diagram of an optical path for adjusting an analog device using an adjustment device according to an embodiment of the present application;

[0062] Fig.11 is a corresponding schematic diagram of a light source element and a receiving end detector according to an embodiment of the present application;

[0063] Fig.12 is a corresponding schematic diagram of a light source element and a receiving end detector according to an embodiment of the present application;

[0064] Fig.13 is a corresponding schematic diagram of a light source element and a receiving end detector according to an embodiment of the present application;

[0065] Fig.14 is a schematic structural diagram of an optical device assembly and adjustment device according to an embodiment of the present application;

[0066] Fig.15 It is a structural schematic diagram of a transceiver device assembly and adjustment system according to an embodiment of the present application;

[0067] Fig.16 is a schematic flow chart of an optical device assembly method according to an embodiment of the present application;

[0068] Fig.17 is a schematic diagram of an installation and adjustment process of an optical device according to an embodiment of the present application;

[0069] Fig.18 is a schematic diagram of an assembly and adjustment process of an optical device according to an embodiment of the present application; and

[0070] Fig.19 It is a flowchart of a method for assembling and adjusting a transceiver device according to an embodiment of the present application. DETAILED DESCRIPTION

[0071] In order to better understand the present application, a more detailed description will be made of various aspects of the present application with reference to the accompanying drawings. It should be understood that these detailed descriptions are only descriptions of exemplary embodiments of the present application, and are not intended to limit the scope of the present application in any way. Throughout the specification, the same reference numerals refer to the same elements. The expression "and / or" includes any and all combinations of one or more of the associated listed items.

[0072] It should be noted that in this specification, the expressions of first, second, etc. are only used to distinguish one feature from another feature, and do not represent any limitation on the feature. Therefore, without departing from the teaching of the present application, the first optical path discussed below can be referred to as the second optical path.

[0073] In the drawings, the thickness, size and shape of each component may be slightly exaggerated for convenience of explanation. The drawings are only examples and are not drawn strictly to scale.

[0074] It should also be understood that the terms "comprising", "including", "having" and / or "configured with", when used in this specification, indicate the presence of stated features, elements and / or components, but do not exclude the presence of one or more other features, elements, components and / or combinations thereof. In addition, the term "exemplarily" is intended to refer to an example or illustration.

[0075] Unless otherwise defined, all terms (including technical terms and scientific terms) used in this application have the same meaning as commonly understood by ordinary technicians in the field to which this application belongs. It should also be understood that terms (such as those defined in commonly used dictionaries) should be understood to have the same meaning as their meaning in the context of the relevant technology, and should not be interpreted in an idealized or overly formal sense, unless explicitly defined in this application.

[0076] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0077] When aligning optical devices such as transmitters and receivers, the far field and near field of the optical devices need to be aligned due to the optical path design characteristics of the optical devices. Traditional alignment devices can only be used to align the far field or the near field separately. For example, after one alignment device is used to align the far field, another alignment device needs to be used to align the near field.

[0078] However, there is a coupling relationship between the far field and the near field of the optical device. For example, after the near field adjustment is completed, the far field adjustment needs to be confirmed. If it is confirmed that the far field adjustment effect does not meet the requirements, the far field that does not meet the requirements needs to be adjusted again, which will make the entire adjustment process of the optical device more complicated, and the far field or near field needs to be adjusted repeatedly, affecting the adjustment efficiency of the optical device. In addition, when the optical device is adjusted using the above adjustment device, the adjustment accuracy is also low and the adjustment consistency is poor.

[0079] In order to at least partially solve one or more of the above problems and other potential problems, the first aspect of the present application proposes an adjustment device for an optical device, specifically, an adjustment device for an optical device that simultaneously detects the near field and far field of the optical device.

[0080] Figure 1 and Figure 2A The schematic diagrams of the structure of the optical device adjustment device 100 according to the embodiment of the present application are respectively shown. The optical device 140 can be, for example, a transmitting device and / or an analog device similar to the transmitting device designed based on the receiving device. The transmitting device can be, for example, a transmitting end of a laser radar system, and the receiving device can be, for example, a receiving end of a laser radar system. It should be understood that the optical device 140 can also be other devices, and the present application does not specifically limit this.

[0081] refer to Figure 1 and Figure 2A , the optical device adjustment device 100 may include a first detector 120, a second detector 130 and a processor (not shown). The light emitted by the optical device 140 has a first optical path and a second optical path. The first detector 120 can be arranged in the first optical path, and detects the light of the first optical path. The second detector 130 can be arranged in the second optical path, and detects the light of the second optical path. The processor is configured to: determine a first parameter according to the detection amount of the second detector 130, determine a second parameter according to the first parameter and the detection amount of the first detector 120, and adjust the optical device 140 based on the first parameter and the second parameter. It should be understood that the above-mentioned processor is communicatively connected with the first detector 120, the second detector 130 and an adjustment module for controlling the posture of the optical device 140.

[0082] The first detector 120 is used to realize near-field detection of the optical device 140, and the second detector 130 is used to realize far-field detection of the optical device 140. Based on this, the adjustment device 100 provided in the present application can simultaneously realize near-field adjustment and far-field adjustment of the optical device 140, without the need for repeated adjustment of the near field and the far field, thereby improving the adjustment efficiency, adjustment accuracy and adjustment consistency.

[0083] refer to Figure 1 and Figure 2A The adjustment device 100 may further include a focusing lens 110, and the focusing lens 110 may be disposed in the second optical path. The second detector 130 detects the light in the second optical path after being converged by the focusing lens 110. By arranging the focusing lens 110 in the second optical path and making the second detector 130 detect the light in the second optical path after being converged by the focusing lens 110, it is possible to ensure that the second detector 130 can achieve far-field detection of the optical device 140.

[0084] refer to Figure 1 The adjustment device 100 may further include a spectroscopic element 150, which divides the light emitted by the optical device 140 into a first light path and a second light path. The spectroscopic element 150 may be a cubic spectroscope, a flat spectroscope or other forms of spectroscopic elements. For the light in the first light path, the propagation path of the light will change after passing through the spectroscopic element 150. For example, the propagation path of the light after passing through the spectroscopic element 150 may be perpendicular to the optical axis of the optical device 140. For the light in the second light path, the propagation path of the light will not change after passing through the spectroscopic element 150. In other words, the light in the second light path always propagates in a direction parallel to the optical axis, that is, the second light path is parallel to the optical axis. The focusing lens 110 may be located on the side of the spectroscopic element 150 away from the optical device 140.

[0085] The light emitted by the optical device 140 can be divided into a first light path for near-field detection and a second light path for far-field detection by the beam splitter 150 and the focusing lens 110, thereby realizing near-field adjustment and far-field adjustment of the optical device 140 at the same time, improving adjustment efficiency, adjustment accuracy and adjustment consistency. In addition, when the adjustment device 100 is used to adjust the far-field of the optical device 140, the first detector 120 will not affect the far-field adjustment process, that is, the far-field adjustment of the optical device 140 can be realized without moving the first detector 120.

[0086] It should be understood that Figure 1 The number of the light splitting element 150 being one is merely exemplary, and the number of the light splitting elements 150 may also be two or more, and the present application does not impose any specific limitation on the number of the light splitting elements 150.

[0087] refer to Figure 2A, the first optical path may coincide with the second optical path, and the distance between the first detector 120 and the optical device 140 is less than the distance between the focusing lens 110 and the optical device 140. In this case, the first optical path is part of the second optical path, that is, the first optical path and the second optical path share the same optical path, and the first detector 120, the focusing lens 110 and the second detector 130 are sequentially arranged on the light emitting path of the optical device 140. The position of the first detector 120 is adjustable in a direction perpendicular to the first optical path. By adjusting the position of the first detector 120, the first detector 120 can be located in the first optical path or the first detector 120 can deviate from the first optical path. When the first detector 120 is located in the first optical path, the light emitted by the optical device 140 can be directly transmitted to the first detector 120 ( Figure 2B ). When the first detector 120 deviates from the first optical path, the light emitted by the optical device 140 can propagate to the focusing lens 110 and the second detector 130 ( Figure 2C ).

[0088] By setting a movable first detector 120 between the optical device 140 and the focusing lens 110, it is ensured that the adjustment device 100 can simultaneously achieve near-field adjustment and far-field adjustment of the optical device 140, thereby improving adjustment efficiency, adjustment accuracy, and adjustment consistency. Specifically, when the optical device 140 is adjusted in the near field, the position of the first detector 120 is adjusted so that the first detector 120 is located in the first optical path. In this case, the light can be directly transmitted to the first detector 120, and under the shielding effect of the first detector 120, the light cannot be transmitted to the focusing lens 110 and the second detector 130; when the optical device 140 is adjusted in the far field, the position of the first detector 120 is adjusted so that the first detector 120 deviates from the first optical path. In this case, since the first detector 120 has deviated from the first optical path, the light can be directly transmitted to the focusing lens 110 and the second detector 130.

[0089] Figure 3 A schematic diagram of an optical path for near-field detection of an optical device 140 according to an embodiment of the present application is shown. Figure 4 A schematic diagram of an optical path for far-field detection of an optical device 140 according to an embodiment of the present application is shown.

[0090] refer to Figure 3 , the solid line area represents the ideal position of the optical device 140, the dotted line area represents the actual position of the optical device 140, d1 represents the first eccentricity value of the optical device 140, θ represents the tilt angle of the optical device 140, l1 represents the optical path of the first optical path, and △h1 represents the position offset of the light of the first optical path at the first detector 120. For the first optical path used for near-field detection, the calculation formula of the first eccentricity value d1 of the optical device 140 is:

[0091] d1 = △h1-l1×tanθ formula (1)

[0092] refer to Figure 4 , the solid line area represents the ideal position of the optical device 140, the dotted line area represents the actual position of the optical device 140, d2 represents the second eccentricity value of the optical device 140, θ represents the tilt angle of the optical device 140, L2 represents the distance between the focusing lens 110 and the optical device 140, F represents the focal length of the focusing lens 110, and △h2 represents the position offset of the light of the second optical path on the second detector 130. For the second optical path used for far-field detection, the calculation formula for the position offset △h2 of the light of the second optical path on the second detector 130 is:

[0093] △h2=F×tanθ Formula (2)

[0094] When Δh2 and F are known, θ can be calculated based on formula (2), where θ=arctan(Δh2 / F). For the second optical path used for far-field detection, the calculation formula for the second eccentricity value d2 of the optical device 140 is:

[0095] d2= L2×tanθ Formula (3)

[0096] After obtaining θ, d2 can be directly calculated based on formula (3), and when △h1 and l1 are known, d1 can also be directly calculated based on formula (1).

[0097] It should be understood that the tilt angle of the optical device 140 refers to any tilt angle of the optical device 140 in the X direction, the Y direction, and the Z direction, or various combinations thereof, and the eccentricity value (including the first eccentricity value or the second eccentricity value) of the optical device 140 refers to any eccentricity value of the optical device 140 in the X direction, the Y direction, and the Z direction, or various combinations thereof. When adjusting the tilt angle and eccentricity value of the optical device 140, they can be decoupled into three components in the X direction, the Y direction, and the Z direction and adjusted separately.

[0098] When calculating the eccentricity value and / or tilt angle of the optical device 140, the coordinate system where the first light path and the second light path are located is normalized to obtain Figure 5 The optical path coordinate system shown. Figure 6 , the reference coordinate of the near-field light on the first detector 120 is point O, and the coordinate of the imaging point of the near-field light on the first detector 120 is (X1, Z1). Figure 7 The reference coordinates of the far-field light on the second detector 130 are point O', and the coordinates of the imaging point of the far-field light on the second detector 130 are (X2, Z2).

[0099] For the light in the far field (i.e., the second optical path), the deviation of the imaging point coordinates is only related to the tilt angle of the optical device 140, and has nothing to do with the eccentricity of the optical device 140 (or the influence is very small and can be basically ignored in actual engineering calculations). Figure 5 , the tilt angle of the optical device 140 can be decomposed into three components, which are rotations around the X-axis, Y-axis, and Z-axis, respectively, and are recorded as Tilt_X, Tilt_Y, and Tilt_Z, wherein Tilt_X will cause a deviation of the imaging point coordinates in the Z direction, Tilt_Z will cause a deviation of the imaging point coordinates in the X direction, and Tilt_Y will not cause any deviation of the imaging point coordinates. Specifically, Tilt_X=arctan(Z2 / F), Tilt_Z=arctan(X2 / F). After Tilt_X rotates by an angle of -arctan(Z2 / F) and Tilt_Z rotates by an angle of -arctan(X2 / F), the imaging point coordinates of the light of the second optical path can be adjusted to the reference coordinate point O'. It should be noted that the quadrant position of the imaging point coordinates of the light determines the positive or negative angle, Tilt_X is + for pitch upward and - for pitch downward; Tilt_Z is + to the right and - to the left.

[0100] For the light in the near field (i.e., the first optical path), the deviation of the coordinates of the imaging point is not only related to the tilt angle of the optical device 140, but also to the eccentricity of the optical device 140. The eccentricity of the optical device 140 can be decomposed into three components, which are the movement of the X-axis, Y-axis, and Z-axis, respectively, recorded as △X, △Y, and △Z, where △X will cause the deviation of the coordinates of the imaging point in the X direction, △Z will cause the deviation of the coordinates of the imaging point in the Z direction, and △Y will cause a slight change in the optical path of the first optical path, but the magnitude is relatively small and will not have a significant impact on the coordinates of the imaging point, and generally no special consideration is given.

[0101] Assuming that the optical path of the first optical path is l1, then X1 = △X + l1 × X2 / F, Z1 = △Z + l1 × Z2 / F, △X and △Z are the first eccentricity values ​​of the optical device 140. By moving in the X direction by -(X1-l1 × X2 / F) and in the Z direction by -(Z1-l1 × Z2 / F), the coordinates of the imaging point of the light of the first optical path can be adjusted to the reference coordinate point O.

[0102] When adjusting the optical device 140, the above-mentioned method of adjusting the far field and the near field simultaneously can be adopted, or the method of adjusting the inclination angle of the far field first and then adjusting the eccentricity value of the near field can be adopted. By decoupling the far field and near field adjustment steps, and then combining the method of internally decoupling the far field and the near field, a unique adjustment can be obtained, thereby realizing fast and accurate adjustment of the optical device 140, and improving the adjustment accuracy and efficiency.

[0103] As an example, the detection amount of the first detector 120 may include the position offset of the light of the first optical path on the first detector 120, the detection amount of the second detector 130 may include the position offset of the light of the second optical path on the second detector 130, the first parameter may include the tilt angle of the optical device 140, and the second parameter may include the first eccentricity value of the optical device 140. First, the tilt angle of the optical device 140 can be obtained by the position offset of the light of the second optical path on the second detector 130, and the first eccentricity value of the optical device 140 can be obtained by the tilt angle of the optical device 140 and the position offset of the light of the first optical path on the first detector 120, and then, the far-field adjustment of the optical device 140 is realized according to the tilt angle of the optical device 140, and the near-field adjustment of the optical device 140 is realized according to the first eccentricity value of the optical device 140.

[0104] The focusing lens 110 usually has aberrations, for example, the central area has small aberrations and the edge area has large aberrations, which will cause the imaging conditions of the non-central area of ​​the focusing lens 110 to deviate from the results calculated according to the ideal lens model, that is, the inclination angle calculated according to the theory deviates from the inclination angle actually required to be adjusted, and multiple iterations are required to gradually narrow it down to within the standard range, and the adjustment efficiency is low.

[0105] The method for the above-mentioned aberration correction is usually to obtain the ideal value and actual value of the calibration point pixel by shooting the calibration plate image (usually a chessboard) at different viewing angles, and generate a coordinate mapping table at the same time, and then use the coordinate mapping table for the correction program of the image with aberration, and finally obtain an aberration-free image. However, since the focusing lens 110 is generally a single lens, its own imaging quality is limited, and the clarity of the captured standard plate image is low, resulting in low accuracy in capturing the standard plate corners, and the final correction effect is poor and cannot meet the requirements.

[0106] Assume that the angle adjustment accuracy requirement of the far field is θ adj , and the light emitted by the optical device 140 is vertically incident on the focusing lens 110. When adjusting the far field of the optical device 140, the Tilt_X and Tilt_Z directions are adjusted according to θ adj Perform step adjustment (i.e., make the imaging point position of the far-field light move in the Z coordinate direction and the X coordinate direction), and record the actual imaging point coordinates of the far-field light after each adjustment, until the imaging point of the far-field light exceeds the detection target surface of the second detector 130. Compare the actual imaging point coordinates of the far-field light with the theoretical imaging point coordinates, and divide the detection target surface into multiple areas according to the difference level, where the theoretical imaging point coordinates are obtained by the ideal lens. Each area corresponds to a difference level, and the difference between adjacent levels is a difference, and a difference can be, for example, θ adj / 5 or θ adj / 2, it should be understood that the specific value of a difference can be adjusted according to actual needs, but a difference must not exceed θ adj / 2. The number of regions of the detection target surface can be determined according to the specific value of the difference amount, and different regions have different angle compensation amounts △θ.

[0107] refer to Figure 8 , the detection target surface of the second detector 130 may include a first region I, a second region II and a third region III, and the first region I, the second region II and the third region III are arranged in sequence from the center to the edge of the detection target surface. The angle compensation amount of the first region I is △θ1, the angle compensation amount of the second region II is △θ2, the angle compensation amount of the third region III is △θ3, and △θ1<△θ2<△θ3. △θ1 can be 0. The angle compensation amount of the optical device 140 can be determined according to the coordinates of the imaging point of the light of the second optical path on the second detector 130. For example, when the imaging point of the light of the second optical path is located in the first region I, the angle compensation amount of the optical device 140 is △θ1; when the imaging point of the light of the second optical path is located in the second region II, the angle compensation amount of the optical device 140 is △θ2; when the imaging point of the light of the second optical path is located in the third region III, the angle compensation amount of the optical device 140 is △θ3. Finally, the optical device 140 is adjusted according to the angle compensation amount and the tilt angle of the optical device 140 , so that the far-field adjustment of the optical device 140 can be achieved.

[0108] The parameter settings of the focusing lens 110 , the first detector 120 , the second detector 130 and the light splitting element 150 are described in detail below.

[0109] As an example, Figure 1 As shown, the effective aperture of the light splitting element 150 Can satisfy: 1≤ Wherein, L1 is the distance between the light splitting element 150 and the optical device 140, θ max is the maximum tilt angle of the optical device 140, d max is the maximum eccentricity of the optical device 140, and D is the spot size of the optical device 140. In one example, By making the effective aperture of the spectroscopic element 150 satisfy the above-mentioned conditional expression, it can be ensured that the spectroscopic element 150 fully receives the light emitted by the optical device 140, thereby preventing the spectroscopic element 150 from receiving incomplete information or receiving no information, facilitating the subsequent determination of the adjustment direction, and also avoiding traversing various directions during subsequent adjustment until the light spot is within the detection range of the first detector 120 or the second detector 130, thereby improving the adjustment efficiency and reducing the risk of interference.

[0110] As an example, Figure 1 and Figure 2A As shown, the effective aperture of the focusing lens 110 Can satisfy: Wherein, L2 is the distance between the focusing lens 110 and the optical device 140, θ max is the maximum tilt angle of the optical device 140, d max is the maximum eccentricity of the optical device 140, and D is the spot size of the optical device 140. In one example, By making the effective aperture of the focusing lens 110 satisfy the above-mentioned conditional expression, it can be ensured that the focusing lens 110 fully receives the light emitted by the optical device 140, thereby avoiding the focusing lens 110 receiving incomplete information or receiving no information, facilitating the subsequent judgment of the adjustment direction, and also avoiding traversing various directions until the light spot is within the detection range of the second detector 130 during subsequent adjustment, thereby improving the adjustment efficiency and reducing the risk of interference.

[0111] As an example, Figure 1 and Figure 2A As shown, the effective aperture Φ1 of the first detector 120 can satisfy: 1≤Φ1 / (l1×tanθ max +d max +D)≤5, where l1 is the optical path of the first optical path, θ max is the maximum tilt angle of the optical device 140, d max is the maximum eccentricity of the optical device 140, and D is the spot size of the optical device 140. In one example, 1.2≤Φ1 / (l1×tanθ max +d max +D)≤2. By making the effective aperture of the first detector 120 satisfy the above conditional expression, it can be ensured that the first detector 120 fully receives the light corresponding to the first optical path, and avoids the first detector 120 receiving incomplete information or receiving no information, which is convenient for determining the adjustment direction, and can also avoid traversing various directions until the light spot is within the detection range of the first detector 120 during adjustment, thereby improving the adjustment efficiency and reducing the risk of interference.

[0112] As an example, Figure 1 and Figure 2A As shown, the effective aperture Φ2 of the second detector 130 can satisfy: 1≤Φ2 / (F×tanθ max )≤5, where F is the focal length of the focusing lens 110, θ max is the maximum tilt angle of the optical device 140. In one example, 1.2≤Φ2 / (F×tanθ max)≤2. By making the effective aperture of the second detector 130 satisfy the above conditional expression, it is possible to ensure that the second detector 130 fully receives the light of the second optical path, thereby preventing the second detector 130 from receiving incomplete information or receiving no information, facilitating the determination of the adjustment direction, and avoiding traversing various directions until the light spot is within the detection range of the second detector 130 during adjustment, thereby improving the adjustment efficiency and reducing the risk of interference.

[0113] As an example, Figure 1 As shown, the distance L1 between the spectrometer element 150 and the optical device 140 can satisfy: 0.2≤L1 / l1≤0.8, where l1 is the optical path length of the first optical path. In one example, 0.33≤L1 / l1≤0.67. The effective aperture required by the spectrometer element 150 is linearly positively correlated with the distance between the spectrometer element 150 and the optical device 140, that is, the farther the spectrometer element 150 is from the optical device 140, the larger the effective aperture required by the spectrometer element 150. By controlling the above conditional formula, the spectrometer element 150 can be placed in a suitable position, which is conducive to selecting a spectrometer element 150 with a suitable effective aperture to ensure that the spectrometer element 150 fully receives the light emitted by the optical device 140 while reducing costs.

[0114] As an example, Figure 1 As shown, the distance L2 between the focusing lens 110 and the optical device 140 can satisfy: L2>L1+(L1×tanθ max +d max +D) / 2, where L1 is the distance between the light splitting element 150 and the optical device 140, θ max is the maximum tilt angle of the optical device 140, d max is the maximum eccentricity value of the optical device 140, and D is the spot size of the optical device 140. The effective aperture required by the focusing lens 110 is linearly positively correlated with the distance between the focusing lens 110 and the optical device 140, that is, the farther the focusing lens 110 is from the optical device 140, the larger the effective aperture required by the focusing lens 110. By controlling the above conditional expression, the focusing lens 110 can be placed in a suitable position, which is conducive to selecting a focusing lens 110 with a suitable effective aperture, so as to ensure that the focusing lens 110 fully receives the light emitted by the optical device 140 while reducing the cost.

[0115] As an example, the optical device 140 may include a transmitting device. The focal length F of the focusing lens 110 may satisfy: F×tanθ Tx / A≥2, where θ Tx is the preset adjustment accuracy of the emitting device, and A is the preset resolution of the second detector 130. In one example, 5≤F×tanθ Tx / A≤10. The focusing lens 110 can be used to convert the preset adjustment accuracy of the transmitting device into displacement, and realize the amplification processing of the accuracy requirement, which is conducive to realizing the rapid adjustment of the transmitting device and improving the adjustment efficiency of the transmitting device.

[0116] As an example, the optical device 140 may include an analog device configured as a device designed based on a receiving device and similar to a transmitting device. The focal length F of the focusing lens 110 may satisfy: ((F / f)×F×tanθ Rx ) / A≥2, where f is the focal length of the receiving device, θ Rx is the preset adjustment accuracy of the receiving device, and A is the preset resolution of the second detector 130. In one example, 5≤((F / f)×F×tanθ Rx ) / A≤10. The analog device and the focusing lens 110 are combined to form a new optical system, which can convert the preset adjustment accuracy of the receiving device into displacement and realize the amplification processing of the accuracy requirement. The amplification ratio can be, for example, F / f, which is conducive to realizing the rapid adjustment of the receiving device and improving the adjustment efficiency of the receiving device.

[0117] As an example, the optical device 140 may include a transmitting device and an analog device, the analog device being configured as a device designed based on the receiving device and similar to the transmitting device. The focal length F of the focusing lens 110 may satisfy: F×tanθ Tx / A≥2, and ((F / f)×F×tanθ Rx ) / A≥2, where f is the focal length of the receiving device, θ Tx is the preset adjustment accuracy of the transmitting device, θ Rx is the preset adjustment accuracy of the receiving device, and A is the preset resolution of the second detector 130. In one example, 5≤F×tanθ Tx / A≤10,5≤((F / f)×F×tanθ Rx ) / A≤10. When the above-mentioned adjustment device 100 is used to adjust the transmitting device and the receiving device at the same time, the adjustment efficiency and adjustment accuracy of the transmitting device and the receiving device can be improved by controlling the above-mentioned conditional expression.

[0118] Fig. 9 Schematic diagram of the structure of the first detector 120 or the second detector 130 according to an embodiment of the present application.

[0119] The light emitted by the optical device 140 may be near-infrared light. The first detector 120 or the second detector 130 may include a near-infrared response element 1201, a diffuse film 1202, and a visible light camera element 1203. The near-infrared response element 1201 is located at the receiving side of the first detector 120 or the second detector 130, and converts the near-infrared light into visible light. The diffuse film 1202 is disposed on a side of the near-infrared response element 1201 away from the optical device 140, and diffusely reflects the visible light. The visible light camera element 1203 is disposed on a side of the diffuse film 1202 away from the near-infrared response element 1201, and detects the visible light after diffuse reflection. The visible light camera element 1203 may be composed of a visible light lens and a visible light camera.

[0120] The visible light emitted by the near-infrared response element 1201 has a certain directionality, and its directionality is related to the incident direction of the near-infrared light. This will cause part of the visible light to exceed the light receiving range of the visible light imaging element 1203, resulting in the visible light imaging element 1203 being unable to capture the part of the light that exceeds the light receiving range. The brightness of the edge light spot on the visible light imaging element 1203 is dim and cannot truly reflect the intensity of the light spot.

[0121] By setting a diffuse film 1202 on the light-emitting side of the near-infrared response element 1202, the diffuse film 1202 can be used to convert light with a certain directionality into diffusely reflected light, so that the visible light can be more easily received by the visible light imaging element 1203. At the same time, the spot position, size, and intensity of the visible light on the diffuse film 1202 are consistent with the spot position, size, and intensity of the visible light emitted by the near-infrared response element 1202, ensuring that the visible light imaging element 1203 can truly reflect the position, size, and intensity of the light spot, so as to facilitate the analysis of the parameters of the light spot in the far field or near field.

[0122] Compared with conventional near-infrared detectors, the detection target surface of the first detector 120 or the second detector 130 provided in the present application has a larger adjustment space. It is only necessary to cut or select near-infrared response elements 1201, diffuse films 1202 and visible light imaging elements 1203 of different sizes according to actual needs, and the cost remains basically unchanged. However, the cost of conventional near-infrared detectors increases geometrically with the size of the detection target surface. The cost of the first detector 120 or the second detector 130 provided in the present application is approximately 1% to 10% of the cost of conventional near-infrared detectors.

[0123] Furthermore, the diffuse film 1202 may be attached to the side of the near infrared response element 1202 away from the optical device 140. The thickness K of the diffuse film 1202 may satisfy: 10≤K / λ≤500, where λ is the wavelength of the light emitted by the optical device 140. As an example, 100≤K / λ≤200. By making the thickness of the diffuse film 1202 satisfy the above conditional formula, it is possible to avoid problems such as too low intensity of the spot after the visible light passes through the diffuse film 1202 or unsatisfactory diffuse reflection effect of the visible light after passing through the diffuse film 1202.

[0124] It should be understood that when the light emitted by the optical device 140 is visible light, the first detector 120 or the second detector 130 may be composed of the diffuse film 1202 and the visible light imaging element 1203 , or may be composed of the visible light imaging element 1203 .

[0125] The adjustment device 100 can be used to adjust the transmitter and receiver. First, the transmitter is moved to a predetermined position, and the adjustment device 100 is used to adjust the transmitter in the far field and near field. Then, the transmitter is moved out of the predetermined position, and an analog device similar to the transmitter designed based on the receiver is moved to a predetermined position, and the adjustment device 100 is used to adjust the analog device in the far field. It should be understood that the adjustment device 100 can also be used to adjust only the transmitter, or only the analog device similar to the transmitter designed based on the receiver.

[0126] When the above-mentioned adjustment device 100 is used to adjust the transmitting device, the optical device 140 is the transmitting device, and the transmitting device can be the transmitting end of the laser radar system. The optimal posture of the transmitting device can be determined according to the position offset of the light emitted by the transmitting device on the first detector 120 and the second detector 130, and the transmitting device can be adjusted to the above-mentioned optimal posture to achieve high-precision adjustment of the transmitting device.

[0127] When the above-mentioned adjustment device 100 is used to adjust the receiving device, the optical device 140 is configured as an analog device similar to the transmitting device designed based on the receiving device. After the above-mentioned analog device is adjusted, the position of the analog device is recorded, and finally the receiving end detector in the receiving device is adjusted to the position accordingly. The receiving device can be a receiving end of a laser radar system. The receiving device can include a receiving end lens and a receiving end detector.

[0128] Fig.10 A schematic diagram of an optical path for adjusting an analog device using the adjustment device 100 according to an embodiment of the present application is shown. When adjusting the analog device, only the second optical path for far-field detection is used.

[0129] refer to Fig.10, the optical device 140 is an analog device. The analog device may include a receiving end lens 1421 and a light source element 1422, wherein the light source element 1422 is used to simulate the receiving channel of the receiving end detector. The light source element 1422 may include at least one sub-light source. When the light source element 1422 includes multiple sub-light sources, the multiple sub-light sources are distributed linearly or in an array. The sub-light sources correspond one-to-one or partially to the receiving channels of the receiving end detector, and accordingly, the number of sub-light sources is the same as the number of receiving channels of the receiving end detector, or the number of sub-light sources is less than the number of receiving channels of the receiving end detector. As an example, the light source element 1422 includes three sub-light sources, which can simulate the three receiving channels of the receiving end detector. In this case, the light source element 1422 can simulate the entire image plane of the receiving end detector. The light source element 1422 may include, but is not limited to, a vertical cavity surface emitting laser (VCSEL) or a fiber array element.

[0130] Fig.11 , Fig.12 and Fig.13 14 and 14, respectively, show the corresponding schematic diagrams of the light source element 1422 and the receiving end detector 1423. Fig.11 As shown, the receiving end detector 1423 is a point-type receiving end detector, which only includes one receiving channel 1424. Correspondingly, the light source element 1422 includes one sub-light source. Fig.12 As shown, the receiving end detector 1423 is a linear receiving end detector, which includes a plurality of linearly arranged receiving channels 1424, and the plurality of light source elements 1422 may include a plurality of linearly distributed sub-light sources ( Fig.12 a, b or c). Fig.13 As shown, the receiving end detector 1423 is an array receiving end detector, which includes a plurality of receiving channels 1424 arranged in an array, and the light source element 1422 includes a plurality of sub-light sources ( Fig.13 a or b). The structure of the light source element 1422 can be predetermined according to the type of the receiving end detector 1423 of the receiving device.

[0131] When adjusting the above-mentioned analog device, the optimal position of the light source element 1422 can be determined according to the position offset of the light emitted by the analog device on the second detector 130, and the optimal position of the light source element 1422 is the position of the receiving end detector to be adjusted. Finally, the receiving end detector is adjusted to the optimal position of the light source element 1422 and replaced, and finally the high-precision adjustment of the receiving device is achieved.

[0132] A specific embodiment of the optical device adjustment device 100 applicable to the above-mentioned embodiment is further described below.

[0133] Example 1

[0134] Figure 1 A schematic structural diagram of an optical device assembling and adjusting device 100 according to Embodiment 1 is shown. Figure 3 A schematic diagram of the optical path for near-field detection of the optical device 140 according to Embodiment 1 is shown. Figure 4 A schematic diagram of the optical path for far-field detection of the optical device 140 according to Embodiment 1 is shown.

[0135] refer to Figure 1 The adjustment device 100 may include a spectroscopic element 150, a focusing lens 110, a first detector 120, and a second detector 130. The light emitted by the optical device 140 forms two light paths after passing through the spectroscopic element 150, specifically including a first light path and a second light path. The first detector 120 may be arranged in the first light path, and the second detector 130 may be arranged in the second light path. The focusing lens 110 may be arranged between the spectroscopic element 150 and the second detector 130.

[0136] The light emitted from the optical device 140 is divided into two parts after passing through the spectroscopic element 150. One part of the light is reflected by the spectroscopic element 150 and transmitted to the first detector 120. This part of the light forms a first optical path, and the optical path of the first optical path is l1; the other part of the light passes through the spectroscopic element 150 and is transmitted to the second detector 130 after passing through the focusing lens 110. This part of the light forms a second optical path, and the optical path of the second optical path is l2.

[0137] The basic parameters of the adjustment device 100 of this embodiment are as follows:

[0138] The distance between the light splitting element 150 and the optical device 140 is L1 = 100 mm;

[0139] The distance between the focusing lens 110 and the optical device 140 is L2=300 mm;

[0140] The optical path of the first optical path is l1 = 150 mm;

[0141] The maximum tilt angle θ of the optical device 140 max =4°;

[0142] The maximum eccentricity d of the optical device 140 max =2mm;

[0143] The spot size of the optical device 140 is D = 1.5 mm; and

[0144] The focal length of the focusing lens 110 is F=100 mm.

[0145] Accordingly, the effective aperture of the light splitting element 150 is Can satisfy: Preferably,

[0146] The effective aperture of the focusing lens 110 Can satisfy: Preferably,

[0147] The effective aperture Φ1 of the first detector 120 may satisfy: 14 mm≤Φ1≤70 mm, preferably, 16.8 mm≤Φ1≤28 mm.

[0148] The effective aperture Φ2 of the second detector 130 may satisfy: 7 mm ≤ Φ2 ≤ 35 mm, preferably, 8.4 mm ≤ Φ2 ≤ 14 mm.

[0149] The distance L1 between the light splitting element 150 and the optical device 140 and the optical length l1 of the first light path satisfy: L1 / l1=0.667.

[0150] Example 2

[0151] Figure 2A A schematic structural diagram of an optical device assembling and adjusting device 100 according to Embodiment 2 is shown. Figure 2B A schematic diagram showing the adjustment device 100 of Embodiment 2 in near-field adjustment is shown. Figure 2C A schematic diagram showing the adjustment device 100 of Embodiment 2 in remote field adjustment is shown. Figure 3 A schematic diagram of the optical path for near-field detection of the optical device 140 according to Embodiment 2 is shown. Figure 4 A schematic diagram of the optical path for far-field detection of the optical device 140 according to Embodiment 2 is shown.

[0152] refer to Figure 2A The adjustment device 100 may include a focusing lens 110, a first detector 120, and a second detector 130. The first detector 120, the focusing lens 110, and the second detector 130 may be sequentially arranged on the light emitting path of the optical device 140, that is, the distance between the first detector 120 and the optical device 140 is smaller than the distance between the focusing lens 110 and the optical device 140. The position of the first detector 120 is adjustable in a direction perpendicular to the light emitting path of the optical device 140. By adjusting the position of the first detector 120, the first detector 120 may be located on the light emitting path of the optical device 140 or the first detector 120 may deviate from the light emitting path of the optical device 140.

[0153] The light emitted by the optical device 140 can form a light path, that is, the first light path and the second light path share the same light path. By adjusting the position of the first detector 120, the first detector 120 can be located in the first light path or the first detector 120 deviates from the first light path. Figure 2BAs shown, when the first detector 120 is located in the first optical path, the light emitted by the optical device 140 can be directly transmitted to the first detector 120. In this case, the optical path of the first optical path is l1. Figure 2C As shown, when the first detector 120 deviates from the first optical path, the light emitted by the optical device 140 can propagate to the focusing lens 110 and the second detector 130. In this case, the optical path of the second optical path is l2.

[0154] The basic parameters of the adjustment device 100 of this embodiment are as follows:

[0155] The distance between the focusing lens 110 and the optical device 140 is L2=400 mm;

[0156] The optical path of the first optical path l1 = 300 mm;

[0157] The maximum tilt angle θ of the optical device 140 max =4°;

[0158] The maximum eccentricity d of the optical device 140 max =2mm;

[0159] The spot size of the optical device 140 is D = 1.5 mm; and

[0160] The focal length of the focusing lens 110 is F=100 mm.

[0161] Accordingly, the effective aperture of the focusing lens 110 is Can satisfy: Preferably,

[0162] The effective aperture Φ1 of the first detector 120 can satisfy: Preferably, 29.4 mm ≤ Φ1 ≤ 49 mm.

[0163] The effective aperture Φ2 of the second detector 130 may satisfy: 7 mm ≤ Φ2 ≤ 35 mm, preferably, 8.4 mm ≤ Φ2 ≤ 14 mm.

[0164] Example 3

[0165] Fig.14 The schematic diagram of the structure of the optical device adjustment device 100 of Example 3 is shown. The difference between Example 3 and Example 1 or Example 2 is that the optical device includes a transmitting device 141 and an analog device 142 similar to the transmitting device designed based on the receiving device, and the transmitting device 141 and the analog device 142 can be moved to a predetermined position A respectively, so that the adjustment device can adjust the transmitting device 141 and the receiving device 142. The same features are not described one by one in this application.

[0166] refer to Fig.14 , the optical device may include a transmitting device 141 and an analog device 142, and the analog device 142 may be a device similar to the transmitting device designed based on the receiving device. The transmitting device 141 may be arranged on a first adjustment module (not shown), and the analog device 142 may be arranged on a second adjustment module (not shown). The transmitting device 141 and the analog device 142 may be moved to a predetermined position A by the first adjustment module and the second adjustment module, respectively. After determining the optimal postures of the transmitting device 141 and the analog device 142, the transmitting device 141 and the analog device 142 may be adjusted to the optimal postures by the first adjustment module and the second adjustment module, respectively, so as to realize the installation and adjustment of the transmitting device 141 and the receiving device.

[0167] The second aspect of the present application provides a transceiver device assembly and adjustment system 200. The transceiver device may include a transmitting device 141 and a receiving device. Fig.15 A schematic structural diagram of a transceiver device assembly and adjustment system 200 according to an embodiment of the present application is shown.

[0168] refer to Fig.15 The transceiver device adjustment system 200 may include a first adjustment device 210 and a second adjustment device 220. The first adjustment device 210 is used to adjust the transmitter device 141. The second adjustment device 220 is used to adjust the analog device 142 designed based on the receiver device and similar to the transmitter device, wherein the first adjustment device and the second adjustment device may be the adjustment device 100 described in the first aspect of the present application. The above adjustment system 200 can be used to simultaneously adjust the transmitter device 141 and the receiver device, and the adjustment processes of the transmitter device 141 and the receiver device do not affect each other.

[0169] Among them, the transmitting device 141 can be set on a first adjustment module (not shown), and the simulation device 142 can be set on a second adjustment module (not shown). The transmitting device 141 can be moved to a predetermined position A through the first adjustment module, and the simulation device 142 can be moved to a predetermined position B through the second adjustment module. After determining the optimal postures of the transmitting device 141 and the simulation device 142, the transmitting device 141 and the simulation device 142 can be adjusted to the optimal postures through the first adjustment module and the second adjustment module, so as to realize the installation and adjustment of the transmitting device 141 and the receiving device.

[0170] The third aspect of the present application provides an optical device adjustment method 1000, which uses the adjustment device 100 provided in the first aspect to adjust the optical device. The optical device can be, for example, a transmitting device and / or an analog device similar to the transmitting device designed based on the receiving device. The transmitting device can be, for example, a transmitting end of a laser radar system, and the receiving device can be, for example, a receiving end of a laser radar system. It should be understood that the optical device can also be other devices, and the present application does not specifically limit this.

[0171] Fig.16 A schematic flow chart of an optical device assembly method 1000 according to an exemplary embodiment of the present application is shown. The assembly method 1000 may include the following steps:

[0172] S110, dividing the light emitted by the optical device into a first light path and a second light path.

[0173] S120, setting a first detector on the first optical path, and setting a second detector on the second optical path, wherein the first detector detects light on the first optical path, and the second detector detects light on the second optical path.

[0174] S130, determining a first parameter according to the detection amount of the second detector, determining a second parameter according to the first parameter and the detection amount of the first detector, and adjusting the optical device based on the first parameter and the second parameter.

[0175] The first detector is used to realize near-field detection of the optical device, and the second detector is used to realize far-field detection of the optical device. Based on this, the adjustment method provided in the present application can simultaneously realize near-field adjustment and far-field adjustment of the optical device, without the need for repeated adjustment of the near field and far field, thereby improving the adjustment efficiency, adjustment accuracy and adjustment consistency.

[0176] The following is an exemplary description of steps S110 to S130 of an exemplary embodiment of the present application.

[0177] In step S110 , the light emitted by the optical device is divided into a first light path and a second light path.

[0178] As an example, a spectroscopic element is provided on the light emitting path of the optical device, and the spectroscopic element can separate the light emitted by the optical device into a first light path and a second light path. The spectroscopic element can be a cubic spectroscope, a flat spectroscope or other forms of spectroscopic elements. For the light in the first light path, the propagation path of the light will be changed after the light passes through the spectroscopic element. For example, the propagation path of the light after passing through the spectroscopic element can be perpendicular to the optical axis of the optical device. For the light in the second light path, the propagation path of the light will not be changed after the light passes through the spectroscopic element. That is, the light in the second light path always propagates in a direction parallel to the optical axis, that is, the second light path is parallel to the optical axis.

[0179] Adjust the position of the spectrometer element, and make the distance L1 between the spectrometer element and the optical device satisfy: 0.2≤L1 / l1≤0.8, where l1 is the optical path of the first optical path. In one example, 0.33≤L1 / l1≤0.67. The effective aperture required by the spectrometer element is linearly positively correlated with the distance between the spectrometer element and the optical device, that is, the farther the spectrometer element is from the optical device, the larger the effective aperture required by the spectrometer element. By controlling the above conditional formula, the spectrometer element can be placed in a suitable position, which is conducive to selecting a spectrometer element with a suitable effective aperture to ensure that the spectrometer element fully receives the light emitted by the optical device while reducing costs.

[0180] As an example, the light emitted by the optical device forms a first light path and a second light path that overlap. In this case, the first light path is part of the second light path, that is, the first light path and the second light path share a common light path.

[0181] After the first optical path and the second optical path are formed, in step S120, a first detector is set on the first optical path and a second detector is set on the second optical path, wherein the first detector detects light on the first optical path and the second detector detects light on the second optical path.

[0182] As an example, a focusing lens and a second detector are sequentially arranged on a side of the light splitting element away from the optical device, wherein the second detector detects the light in the second light path after being converged by the focusing lens. Preferably, the position of the focusing lens is adjusted so that the distance L2 between the focusing lens and the optical device satisfies: L2>L1+(L1×tanθ max +d max +D) / 2, where L1 is the distance between the beam splitter and the optical device, θ max is the maximum tilt angle of the optical device, d max is the maximum eccentricity of the optical device, and D is the spot size of the optical device. The effective aperture required by the focusing lens is linearly positively correlated with the distance between the focusing lens and the optical device, that is, the farther the focusing lens is from the optical device, the larger the effective aperture required by the focusing lens. By controlling the above conditional formula, the focusing lens can be placed in a suitable position, which is conducive to selecting a focusing lens with a suitable effective aperture, so as to ensure that the focusing lens fully receives the light emitted by the optical device while reducing the cost.

[0183] As an example, a first detector, a focusing lens, and a second detector are sequentially arranged on the light emitting path of the optical device, wherein the position of the first detector is adjustable in a direction perpendicular to the light emitting path of the optical device, and the distance between the first detector and the optical device is less than the distance between the focusing lens and the optical device. By adjusting the position of the first detector, the first detector can be located on the light emitting path of the optical device or the first detector can be deviated from the light emitting path of the optical device. When the first detector is located on the light emitting path of the optical device, the light emitted by the optical device can be directly transmitted to the first detector. When the first detector deviates from the light emitting path of the optical device, the light emitted by the optical device can be transmitted to the focusing lens and the second detector.

[0184] As an example, the light detection of the second optical path by the second detector may also include: moving the position of the first detector and making the position of the first detector deviate from the light emitting path of the optical device; and using the second detector to detect the light in the second optical path after being converged by the focusing lens. When the first optical path and the second optical path coincide with each other, the first detector located on the light emitting path of the optical device will affect the propagation of the light to the focusing lens and the second detector. Therefore, by making the first detector deviate from the light emitting path of the optical device, it can be ensured that the light can propagate to the focusing lens and the second detector, so as to ensure the subsequent far-field adjustment of the optical device.

[0185] As an example, the light is near-infrared light, and the first detector or the second detector may include a near-infrared response element, a diffuse film and a visible light camera element, wherein the near-infrared response element is located on the receiving side of the first detector or the second detector, and converts the near-infrared light into visible light; the diffuse film is arranged on the side of the near-infrared response element away from the optical device, and diffusely reflects the visible light; the visible light camera element is arranged on the side of the diffuse film away from the near-infrared response element, and detects the visible light after diffuse reflection. The visible light camera element may be composed of a visible light lens and a visible light camera. The diffuse film may be attached to the side of the near-infrared response element away from the optical device. The thickness K of the diffuse film may satisfy: 10≤K / λ≤500, where λ is the wavelength of the light emitted by the optical device. As an example, 100≤K / λ≤200. By making the thickness of the diffuse film satisfy the above conditional formula, it is possible to avoid problems such as too low spot intensity after the visible light passes through the diffuse film or unsatisfactory diffuse reflection effect of the visible light after passing through the diffuse film.

[0186] After the first detector, the focusing lens and the second detector are set, in step S130, the first parameter is determined according to the detection amount of the second detector, the second parameter is determined according to the first parameter and the detection amount of the first detector, and the optical device is adjusted based on the first parameter and the second parameter.

[0187] As an example, the detection amount of the first detector may include the position offset of the light of the first optical path on the first detector, the detection amount of the second detector may include the position offset of the light of the second optical path on the second detector, the first parameter may include the tilt angle of the optical device, and the second parameter may include the first eccentricity value of the optical device. In other words, the tilt angle of the optical device is determined according to the position offset of the light of the second optical path on the second detector, and the tilt angle θ of the optical device may satisfy: θ = arctan (△h2 / F), where △h2 represents the position offset of the light of the second optical path on the second detector, and F represents the focal length of the focusing lens; the first eccentricity value of the optical device is determined according to the tilt angle of the optical device and the position offset of the light of the first optical path on the first detector, and the first eccentricity value d1 of the optical device may satisfy: d1 = △h1-l1×tanθ, where △h1 represents the position offset of the light of the first optical path on the first detector, and l1 represents the optical path of the first optical path; finally, the optical device is adjusted based on the tilt angle of the optical device and the first eccentricity value.

[0188] It should be noted that when the optical device is a transmitting device, the optical device is adjusted using the tilt angle of the optical device and the first eccentricity value; when the optical device is an analog device designed based on a receiving device and similar to a transmitting device, the optical device is adjusted using the tilt angle of the optical device.

[0189] In addition, when adjusting the optical device based on the tilt angle of the optical device and the first eccentricity value, a method can be adopted in which the far field of the optical device is first adjusted according to the tilt angle of the optical device and then the near field of the optical device is adjusted according to the first eccentricity value of the optical device. A method can also be adopted in which the far field and near field of the optical device are synchronously adjusted according to the tilt angle of the optical device and the first eccentricity value.

[0190] As an example, adjusting the optical device based on the first parameter and the second parameter also includes: adjusting the optical device based on the tilt angle of the optical device; adjusting the optical device based on the first eccentricity value of the optical device; and obtaining the second eccentricity value of the optical device after the second adjustment, and determining whether the second eccentricity value of the optical device after the second adjustment is within a preset range. The second eccentricity value of the optical device after the second adjustment is d2'=L2×tanθ', wherein θ'=arctan(△h2' / F), θ' is the tilt angle of the optical device after the second adjustment, △h2' is the position offset of the light of the second optical path in the optical device after the second adjustment on the second detector, F is the focal length of the focusing lens, and L2 is the distance between the focusing lens and the optical device. When the second eccentricity value of the optical device after the second adjustment meets the requirements, that is, the second eccentricity value of the optical device after the second adjustment is between 0mm and 1mm, it means that the adjustment of the optical device is successful.

[0191] Since the aberration of the focusing lens will have a certain influence on the imaging position of the light on the second detector, when adjusting the far field of the optical device, it is necessary to consider not only the influence of the tilt angle of the optical device, but also the influence of the aberration of the focusing lens. It should be understood that the optical device can be at least one of a transmitting device and an analog device designed based on a receiving device and similar to the transmitting device. The above-mentioned adjustment of the optical device based on the first parameter can also include the following steps:

[0192] S131, dividing the detection target surface of the second detector into a plurality of areas according to the aberration of the focusing lens, and different areas have different angle compensation amounts.

[0193] Assume that the angle adjustment accuracy requirement of the far field is θ adj , and the light emitted by the optical device is incident vertically on the focusing lens. When adjusting the far field of the optical device, adjust the Tilt_X and Tilt_Z directions according to θ adj Perform step adjustment (i.e., make the imaging point of the far-field light move in the Z coordinate direction and the X coordinate direction), and record the actual imaging point coordinates of the far-field light after each adjustment, until the imaging point of the far-field light exceeds the detection target surface of the second detector. Compare the actual imaging point coordinates of the far-field light with the theoretical imaging point coordinates, and divide the detection target surface into multiple areas according to the difference level, where the theoretical imaging point coordinates are obtained by the ideal lens. Each area corresponds to a difference level, and the difference between adjacent levels is a difference, and a difference can be, for example, θ adj / 5 or θ adj / 2, it should be understood that the specific value of a difference can be adjusted according to actual needs, but a difference must not exceed θ adj / 2. The number of regions of the detection target surface can be determined according to the specific value of the difference amount, and different regions have different angle compensation amounts △θ.

[0194] The detection target surface of the second detector may include a first region I, a second region II, and a third region III, and the first region I, the second region II, and the third region III are arranged in sequence from the center to the edge of the detection target surface. The angle compensation amount of the first region I is △θ1, the angle compensation amount of the second region II is △θ2, and the angle compensation amount of the third region III is △θ3, and △θ1<△θ2<△θ3. △θ1 can be 0.

[0195] S132: Determine an angle compensation amount of the optical device according to the coordinates of the imaging point of the light of the second optical path on the second detector.

[0196] The angle compensation amount of the optical device can be determined according to the coordinates of the imaging point of the light of the second optical path on the second detector. For example, when the imaging point of the light of the second optical path is located in the first area I, the angle compensation amount of the optical device is △θ1; when the imaging point of the light of the second optical path is located in the second area II, the angle compensation amount of the optical device is △θ2; when the imaging point of the light of the second optical path is located in the third area III, the angle compensation amount of the optical device 140 is △θ3.

[0197] S133, adjusting the optical device based on the angle compensation amount and the tilt angle of the optical device, thereby achieving far-field adjustment of the optical device.

[0198] Fig.17 A schematic diagram of the adjustment process of an optical device according to an embodiment of the present application is shown, specifically a schematic diagram of first adjusting the far field of the optical device according to the tilt angle of the optical device and then adjusting the near field of the optical device according to the first eccentricity value of the optical device.

[0199] refer to Fig.17 First, the coordinates of the imaging point of the light of the second optical path on the second detector are obtained, and the position offset of the light of the second optical path on the second detector and the area where the imaging point of the light of the second optical path is located on the second detector are determined. Then, the inclination angle of the optical device is determined according to the position offset of the light of the second optical path on the second detector, and the angle compensation amount of the optical device is determined according to the area where the imaging point of the light of the second optical path is located on the second detector. Finally, the far field of the optical device is adjusted according to the angle compensation amount and the inclination angle of the optical device.

[0200] Determine whether the far-field adjustment of the optical device meets the requirements. If it is determined that the far-field adjustment of the optical device does not meet the requirements, determine whether the number of far-field adjustment of the optical device has reached the upper limit. After it is determined that the number of far-field adjustment of the optical device has not reached the upper limit, the number of far-field adjustment is increased by 1, and the above steps for far-field adjustment of the optical device are continued; after it is determined that the number of far-field adjustment of the optical device has reached the upper limit, it means that the adjustment of the optical device has failed.

[0201] After determining that the far-field adjustment of the optical device meets the requirements, first, the coordinates of the imaging point of the light of the first optical path on the first detector are obtained, and the position offset of the light of the first optical path on the first detector is determined. Then, the first eccentricity value of the optical device is determined according to the position offset of the light of the first optical path on the first detector. Finally, the near-field adjustment of the optical device is performed according to the first eccentricity value of the optical device.

[0202] Determine whether the near-field adjustment of the optical device meets the requirements. If it is determined that the near-field adjustment of the optical device does not meet the requirements, determine whether the number of near-field adjustment of the optical device has reached the upper limit. After it is determined that the number of near-field adjustment of the optical device has not reached the upper limit, the number of near-field adjustment is increased by 1, and the steps for the near-field adjustment of the optical device are continued; after it is determined that the number of near-field adjustment of the optical device has reached the upper limit, it means that the adjustment of the optical device has failed.

[0203] After determining that the near-field adjustment of the optical device meets the requirements, it is determined again whether the second eccentricity value of the optical device after the far-field and near-field adjustment is within the preset range. If the second eccentricity value of the optical device after the far-field and near-field adjustment is within the preset range, it means that the adjustment of the optical device is successful; if the second eccentricity value of the optical device after the far-field and near-field adjustment is not within the preset range, it means that the adjustment of the optical device has failed.

[0204] Fig.18 A schematic diagram of an adjustment process of an optical device according to an embodiment of the present application is shown, specifically a schematic diagram of synchronously adjusting the far-field and near-field of the optical device according to the tilt angle of the optical device and the first eccentricity value.

[0205] refer to Fig.18 , synchronously obtain the coordinates of the imaging point of the light of the first optical path on the first detector and the coordinates of the imaging point of the light of the second optical path on the second detector. According to the coordinates of the imaging point of the light of the second optical path on the second detector, determine the position offset of the light of the second optical path on the second detector and the area where the imaging point of the light of the second optical path is located in the second detector, and determine the inclination angle of the optical device based on the position offset of the light of the second optical path on the second detector, and determine the angle compensation of the optical device based on the area where the imaging point of the light of the second optical path is located in the second detector. According to the coordinates of the imaging point of the light of the first optical path on the first detector, determine the position offset of the light of the first optical path on the first detector, and determine the first eccentricity value of the optical device based on the position offset of the light of the first optical path on the first detector. Finally, the far field and near field of the optical device are synchronously adjusted according to the angle compensation, inclination angle and first eccentricity value of the optical device.

[0206] Determine whether the far-field and near-field adjustment of the optical device meet the requirements. If both the far-field and near-field adjustment of the optical device meet the requirements, it means that the adjustment of the optical device is successful. If the far-field and near-field adjustment of the optical device do not meet the requirements, determine whether the current adjustment times of the optical device have reached the upper limit. After determining that the current adjustment times of the optical device have not reached the upper limit, continue to follow the above steps for the far-field and near-field adjustment of the optical device; after determining that the current adjustment times of the optical device have reached the upper limit, it means that the adjustment of the optical device has failed.

[0207] The optical device includes a transmitting device and an analog device, wherein the analog device is configured as a device designed based on the receiving device and similar to the transmitting device. The assembly method 1000 may further include the following steps:

[0208] S140, moving the emitting device to a predetermined position A, obtaining the position offset of the light emitted by the emitting device between the first detector and the second detector, and adjusting the emitting device according to the position offset of the light emitted by the emitting device between the first detector and the second detector.

[0209] Specifically, after the emitting device is moved to the predetermined position A, the light emitted by the emitting device is detected by the first detector and the second detector respectively, and the position offset of the light emitted by the emitting device between the first detector and the second detector is obtained. Then, the emitting device is adjusted according to the position offset of the light emitted by the emitting device between the first detector and the second detector.

[0210] As an example, adjusting the emitting device according to the positional offset of the light emitted by the emitting device on the first detector and the second detector may further include the following steps:

[0211] S141, determining the inclination angle of the emitting device according to the position offset of the light emitted by the emitting device on the second detector, and adjusting the emitting device to the first target position based on the inclination angle of the emitting device. The inclination angle θ of the emitting device satisfies: θ=arctan(△h2 / F), where △h2 represents the position offset of the light of the second optical path on the second detector, and F represents the focal length of the focusing lens.

[0212] When taking into account the influence of the aberration of the focusing lens, it is also necessary to determine the angle compensation amount of the emitting device based on the coordinates of the imaging point of the light emitted by the emitting device on the second detector, and then adjust the emitting device to the first target position based on the angle compensation amount and the tilt angle of the emitting device.

[0213] S142, determining a first eccentricity value of the emitting device according to the position offset of the light emitted by the emitting device on the first detector, and adjusting the emitting device to the second target position based on the first eccentricity value of the emitting device. The first eccentricity value d1 of the emitting device satisfies: d1 = △h1-l1×tanθ, where △h1 represents the position offset of the light of the first optical path on the first detector, and l1 represents the optical path of the first optical path.

[0214] It should be noted that the adjustment method corresponding to this example is to first adjust the far field of the transmitting device according to the inclination angle of the transmitting device, and then adjust the near field of the transmitting device according to the first eccentricity value of the transmitting device. In this case, it is necessary to determine whether the second eccentricity value of the transmitting device after the far field and near field adjustment is within the preset range. If the second eccentricity value of the transmitting device after the far field and near field adjustment is within the preset range, it means that the adjustment of the transmitting device is successful.

[0215] As an example, adjusting the emitting device according to the positional offset of the light emitted by the emitting device on the first detector and the second detector may further include the following steps:

[0216] S143. Determine the inclination angle of the emitting device according to the position offset of the light emitted by the emitting device on the second detector, and determine the first eccentricity value of the emitting device according to the position offset of the light emitted by the emitting device on the first detector. When taking into account the influence of the aberration of the focusing lens, it is also necessary to determine the angle compensation amount of the emitting device according to the coordinates of the imaging point of the light emitted by the emitting device on the second detector. The inclination angle θ of the emitting device satisfies: θ = arctan (△h2 / F), where △h2 represents the position offset of the light of the second optical path on the second detector, and F represents the focal length of the focusing lens. The first eccentricity value d1 of the emitting device satisfies: d1 = △h1-l1×tanθ, where △h1 represents the position offset of the light of the first optical path on the first detector, and l1 represents the optical path of the first optical path.

[0217] S144, adjusting the emitting device to a second target position based on the tilt angle of the emitting device and the first eccentricity value. When the influence of the aberration of the focusing lens is taken into consideration, the emitting device is adjusted to the second target position based on the angle compensation amount of the emitting device, the tilt angle and the first eccentricity value.

[0218] It should be noted that the adjustment method corresponding to this example is a method for synchronously adjusting the far field and near field of the transmitting device according to the tilt angle of the transmitting device and the first eccentricity value.

[0219] S150, moving the analog device to a predetermined position A, obtaining a position offset of the light emitted by the analog device on the second detector, and adjusting the analog device according to the position offset of the light emitted by the analog device on the second detector.

[0220] Specifically, after the analog device is moved to the predetermined position A, the light emitted by the analog device is detected by the second detector, and the position offset of the light emitted by the analog device on the second detector is obtained. Then, the analog device is adjusted according to the position offset of the light emitted by the analog device on the second detector. Among them, adjusting the analog device according to the position offset of the light emitted by the analog device on the second detector can also include: determining the tilt angle of the analog device according to the position offset of the light emitted by the analog device on the second detector, and adjusting the analog device to the third target position based on the tilt angle of the analog device. The tilt angle θ of the analog device can satisfy: θ=arctan(△h2 / F), wherein △h2 represents the position offset of the light of the second optical path on the second detector, and F represents the focal length of the focusing lens. When considering the influence of the aberration of the focusing lens, it is also necessary to determine the angle compensation of the analog device according to the coordinates of the imaging point of the light emitted by the analog device on the second detector, and then adjust the analog device to the third target position based on the angle compensation and tilt angle of the analog device.

[0221] The parameter settings of the focusing lens, the first detector, the second detector and the spectroscopic element are introduced in detail below.

[0222] As an example, the effective aperture of the beam splitter Can meet: Where, L1 is the distance between the beam splitter and the optical device, θ max is the maximum tilt angle of the optical device, d max is the maximum eccentricity of the optical device, and D is the spot size of the optical device. In one example, ≤2. By making the effective aperture of the beam splitter satisfy the above conditional formula, it can be ensured that the beam splitter fully receives the light emitted by the optical device, avoiding the beam splitter receiving incomplete information or receiving no information, facilitating the subsequent judgment of the adjustment direction, and avoiding traversing various directions until the light spot is within the detection range of the first detector or the second detector during subsequent adjustment, thereby improving the adjustment efficiency and reducing the risk of interference.

[0223] As an example, the effective aperture of the focusing lens Can meet: Where, L2 is the distance between the focusing lens and the optical device, θ max is the maximum tilt angle of the optical device, d max is the maximum eccentricity of the optical device, and D is the spot size of the optical device. In one example, ≤2. By making the effective aperture of the focusing lens satisfy the above conditional formula, it can be ensured that the focusing lens fully receives the light emitted by the optical device, avoiding the focusing lens receiving incomplete information or receiving no information, facilitating the subsequent judgment of the adjustment direction, and avoiding traversing various directions until the light spot is within the detection range of the second detector during subsequent adjustment, thereby improving the adjustment efficiency and reducing the risk of interference.

[0224] As an example, the effective aperture Φ1 of the first detector satisfies: 1≤Φ1 / (l1×tanθ max +d max +D)≤5, where l1 is the optical path of the first optical path, θ max is the maximum tilt angle of the optical device, d max is the maximum eccentricity of the optical device, and D is the spot size of the optical device. In one example, 1.2≤Φ1 / (l1×tanθ max +d max +D)≤2. By making the effective aperture of the first detector satisfy the above conditional formula, it can be ensured that the first detector fully receives the light corresponding to the first optical path, avoiding incomplete information or no information received by the first detector, facilitating the determination of the adjustment direction, and avoiding traversing various directions until the light spot is within the detection range of the first detector during adjustment, thereby improving the adjustment efficiency and reducing the risk of interference.

[0225] As an example, the effective aperture Φ2 of the second detector may satisfy: 1≤Φ2 / (F×tanθ max )≤5, where F is the focal length of the focusing lens, θ max is the maximum tilt angle of the optical device. In one example, 1.2≤Φ2 / (F×tanθ max )≤2. By making the effective aperture of the second detector satisfy the above conditional formula, it can be ensured that the second detector fully receives the light of the second optical path, avoiding the second detector receiving incomplete information or receiving no information, facilitating the determination of the adjustment direction, and avoiding traversing various directions until the light spot is within the detection range of the second detector during adjustment, thereby improving the adjustment efficiency and reducing the risk of interference.

[0226] As an example, the optical device may include a transmitting device. The focal length F of the focusing lens may satisfy: F×tanθ Tx / A≥2, where θ Tx is the preset adjustment accuracy of the emitting device, and A is the preset resolution of the second detector. In one example, 5≤F×tanθ Tx / A≤10. The focusing lens can be used to convert the preset adjustment accuracy of the transmitting device into displacement, and realize the amplification processing of the accuracy requirement, which is conducive to realizing the rapid adjustment of the transmitting device and improving the adjustment efficiency of the transmitting device.

[0227] As an example, the optical device may include an analog device, which is configured as a device designed based on the receiving device and similar to the transmitting device. The focal length F of the focusing lens may satisfy: ((F / f)×F×tanθ Rx ) / A≥2, where f is the focal length of the receiving device, θ Rx is the preset adjustment accuracy of the receiving device, and A is the preset resolution of the second detector. In one example, 5≤((F / f)×F×tanθ Rx ) / A≤10. The analog device and the focusing lens are combined to form a new optical system, which can convert the preset adjustment accuracy of the receiving device into displacement and realize the amplification processing of the accuracy requirement. The amplification ratio can be, for example, F / f, which is conducive to realizing the rapid adjustment of the receiving device and improving the adjustment efficiency of the receiving device.

[0228] As an example, the optical device may include a transmitting device and an analog device, wherein the analog device is configured as a device designed based on the receiving device and similar to the transmitting device. The focal length F of the focusing lens may satisfy: F×tanθ Tx / A≥2, and ((F / f)×F×tanθ Rx ) / A≥2, where f is the focal length of the receiving device, θ Tx is the preset adjustment accuracy of the transmitting device, θ Rx is the preset adjustment accuracy of the receiving device, and A is the preset resolution of the second detector. In one example, 5≤F×tanθ Tx / A≤10,5≤((F / f)×F×tanθ Rx ) / A≤10. When the transmitting device and the receiving device are assembled and adjusted at the same time, the assembly and adjustment efficiency and the assembly and adjustment accuracy of the transmitting device and the receiving device can be improved by controlling the above conditional expression.

[0229] The fourth aspect of the present application provides a method 2000 for adjusting a light receiving device, wherein the method 2000 uses the adjustment system 200 provided in the second aspect to adjust the light receiving device. The light receiving device may include a transmitting device and a receiving device. The transmitting device may be, for example, a transmitting end of a laser radar system, and the receiving device may be, for example, a receiving end of a laser radar system.

[0230] Fig.19 A schematic flow chart of a method 2000 for assembling and adjusting a light receiving device according to an exemplary embodiment of the present application is shown. The method 2000 may include the following steps:

[0231] S210, dividing the light emitted by the transmitting device into a first optical path and a second optical path, and dividing the light emitted by an analog device designed based on the receiving device and similar to the transmitting device into the second optical path.

[0232] S220, setting a first detector on the first optical path, and setting a second detector on the second optical paths of the emitting device and the analog device, respectively, wherein the first detector detects light on the first optical path, and the second detector detects light on the second optical path.

[0233] S230, determine a first parameter according to the detection amount of the second detector, determine a second parameter according to the first parameter and the detection amount of the first detector, and adjust the transmitting device based on the first parameter and the second parameter corresponding to the transmitting device, and adjust the analog device based on the first parameter corresponding to the analog device.

[0234] As an example, the detection amount of the first detector may include the position offset of light in the first optical path on the first detector, the detection amount of the second detector may include the position offset of light in the second optical path on the second detector, the first parameter may include the tilt angle of the optical device, and the second parameter may include the first eccentricity value of the optical device.

[0235] As an example, a focusing lens and a second detector arranged in sequence are provided in the second optical path of the emitting device and the analog device, wherein the second detector detects the light in the second optical path that is converged by the focusing lens.

[0236] By using the adjustment method 2000 provided in the present application, the near-field adjustment and far-field adjustment of the transmitting device and the analog device can be realized simultaneously without moving the transmitting device and the analog device, and there is no need to repeatedly adjust the near field and the far field, thereby improving the adjustment efficiency, adjustment accuracy and adjustment consistency. It should be noted that the method for adjusting the transmitting device in the adjustment method 2000 provided in the fourth aspect of the present application is the same as the method for adjusting the transmitting device in the third aspect of the present application, and the method for adjusting the analog device in the adjustment method 2000 provided in the fourth aspect of the present application is the same as the method for adjusting the analog device in the third aspect of the present application, and the present application will not repeat them one by one.

[0237] The above is only an exemplary embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present application. These improvements and substitutions should also be regarded as the scope of protection of the present application.

Claims

1. An optical device adjustment device, characterized in that: The light emitted by the optical device has a first light path and a second light path, and the adjustment device comprises: A first detector is disposed in the first optical path and detects light in the first optical path; A second detector is disposed in the second optical path and detects light in the second optical path; and The processor is configured to: determine a first parameter according to the detection amount of the second detector, determine a second parameter according to the first parameter and the detection amount of the first detector, and adjust the optical device based on the first parameter and the second parameter.

2. The adjustment device according to claim 1, characterized in that: Also includes: A focusing lens, arranged on the second optical path; Wherein, the second detector detects the light in the second light path after being converged by the focusing lens.

3. The adjustment device according to claim 2, characterized in that: Also includes: The light splitting element is used to split the light emitted by the optical device into the first light path and the second light path.

4. The adjustment device according to claim 3, characterized in that: The focusing lens is located on a side of the beam splitting element away from the optical device.

5. The adjustment device according to claim 2, characterized in that: The first optical path coincides with the second optical path, and a distance between the first detector and the optical device is smaller than a distance between the focusing lens and the optical device.

6. The adjustment device according to claim 5, characterized in that: The position of the first detector is adjustable in a direction perpendicular to the first optical path.

7. The adjustment device according to claim 1, characterized in that: The detection amount of the first detector includes the position offset of the light of the first optical path on the first detector, the detection amount of the second detector includes the position offset of the light of the second optical path on the second detector, the first parameter includes the tilt angle of the optical device, and the second parameter includes the first eccentricity value of the optical device.

8. A transceiver device assembly and adjustment system, wherein the transceiver device comprises a transmitting device and a receiving device, characterized in that: include: A first adjustment device, used for adjusting the transmitting device; as well as The second adjustment device is used to adjust the analog device designed based on the receiving device and similar to the transmitting device. Wherein, the first adjustment device and the second adjustment device both include the adjustment device as described in any one of claims 1-7.

9. A method for assembling an optical device, characterized in that: include: Splitting the light emitted by the optical device into a first light path and a second light path; A first detector is arranged on the first optical path, and a second detector is arranged on the second optical path, wherein the first detector detects light on the first optical path, and the second detector detects light on the second optical path; as well as A first parameter is determined according to the detection amount of the second detector, a second parameter is determined according to the first parameter and the detection amount of the first detector, and the optical device is adjusted based on the first parameter and the second parameter.

10. A method for assembling and adjusting a transceiver device, wherein the transceiver device comprises a transmitting device and a receiving device, characterized in that: The method comprises: Splitting the light emitted by the transmitting device into a first light path and a second light path, and splitting the light emitted by an analog device designed based on the receiving device and similar to the transmitting device into a second light path; Disposing a first detector on the first optical path, and disposing a second detector on the second optical path of the emitting device and the analog device, respectively, wherein the first detector detects light on the first optical path, and the second detector detects light on the second optical path; and A first parameter is determined according to the detection amount of the second detector, a second parameter is determined according to the first parameter and the detection amount of the first detector, and the emitting device is adjusted based on the first parameter and the second parameter corresponding to the emitting device, and the analog device is adjusted based on the first parameter corresponding to the analog device.

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