Transceiver system, light modulation system, light modulation method, and laser radar

Abstract

The embodiment of the invention discloses a transmitting and receiving system, a light modulation system, a light modulation method and a laser radar, the transmitting and receiving system comprises a casing, a transmitting module and a receiving module, the transmitting module is arranged on the casing and is used for transmitting detection light; the receiving module is arranged on the machine shell and comprises a plurality of lenses and a light receiving element, the light receiving element is located on a combined focal plane of the light emitting sides of the lenses, the area of a light spot formed by echo light on a detection plane can be minimum, and when the laser radar detects a long-distance target object, the light spot area is small. A light spot formed by the echo light on the detection surface of the light receiving element can still be kept in the detection surface of the light receiving element, so that the detection precision of the laser radar on a long-distance target object is improved.

Description

Technical Field

[0001] The present application relates to the technical field of laser radar, and in particular, to a transceiver system, a light modulation system, a light modulation method and a laser radar. Background Art

[0002] In the relevant technical field, LiDAR is widely used in scenes such as unmanned driving, vehicle-road collaboration, and unmanned exploration because of its advantages of active detection, strong anti-interference, long range, and real-time feedback of the distance and speed of the detected object. There is still a need to develop more application scenarios and refine the scope of use. Among them, when LiDAR detects a target object at a long distance, the light spot formed by the echo light of the target object on the surface of the light receiving element is easy to deviate from the detection surface of the light receiving element, so that the detection ability of LiDAR for the target object at a long distance is poor. Summary of the invention

[0003] The embodiments of the present application provide a transceiver system, a light modulation system, a light modulation method and a laser radar, which are intended to minimize the area of ​​a light spot formed by the echo light on the detection surface. When the laser radar detects a target object at a long distance, the light spot formed by the echo light on the detection surface of the light receiving element can still be maintained within the detection surface of the light receiving element, so as to improve the detection accuracy of the laser radar for the target object at a long distance.

[0004] An embodiment of the present application provides a transceiver system, including a housing, a transmitting module and a receiving module. The transmitting module is arranged on the housing and is used to transmit detection light; the receiving module is arranged on the housing, and the receiving module includes multiple lenses and a light receiving element. The light receiving element is located on the combined focal plane of the light emitting sides of the multiple lenses, and is used to receive the echo light returned after the detection light is reflected by the target object.

[0005] In some of the embodiments, the receiving module further includes at least one lens sleeve, the lens sleeve is connected to the housing, the lens sleeve has a mounting hole extending therethrough, and a lens is disposed in the mounting hole.

[0006] In some embodiments, the multiple lenses include a first lens and a second lens, and the second lens is arranged on the light-emitting side of the first lens; the receiving module also includes a lens sleeve, the lens sleeve is connected to the housing, the lens sleeve has a mounting hole arranged therethrough, and the first lens is arranged in the mounting hole.

[0007] In some of the embodiments, the housing has two glue grooves spaced apart along the optical path direction of the receiving module, the two glue grooves are respectively arranged corresponding to the lens sleeve and the second lens, and the glue groove corresponding to the lens sleeve is filled with optical adjustment glue for connecting the lens sleeve and the housing.

[0008] In some of the embodiments, the housing further has a card slot, a glue slot corresponding to the lens sleeve is arranged on a slot wall of the card slot, and the lens sleeve is at least partially located in the card slot.

[0009] In some of the embodiments, the lens tube is made of the same material as the housing.

[0010] In some embodiments, the transceiver system further includes an optical path separation module, which is disposed on the light output side of the transmitting module and the light input side of the receiving module, and is used to separate the optical path of the detection light and the optical path of the echo light.

[0011] The embodiment of the present application also provides a light modulation system, including a mounting platform, a light source and an imaging device arranged on the mounting platform, and the mounting platform is also used to install a casing in a transceiver system; wherein the light source is used to emit detection light to a receiving module located on the mounting platform, the detection light enters a light receiving element via the receiving module, the detection light forms reflected light on the light receiving element, the reflected light enters the imaging device via the receiving module to generate a target image, the target image includes the light receiving element and a light spot formed by the light source on the detection surface of the light receiving element, so that the receiving module can be light-modulated according to the target image, so that the geometric center of the light spot coincides with the geometric center of the detection surface.

[0012] In some of the embodiments, the light modulation system further includes a fixing device, which is disposed on the mounting platform and is adjustable relative to the mounting platform, and is used to fix the housing to the mounting platform.

[0013] The embodiment of the present application also provides a light modulation method, which is applicable to a light modulation system;

[0014] Light tuning methods include:

[0015] Install the housing on the mounting platform, adjust the detection light emitted by the light source to be emitted toward the receiving module along the optical path of the echo light, and adjust the imaging device to be set on the optical path of the reflected light;

[0016] Add light adjustment glue to the glue slot and put the first lens into the slot;

[0017] Adjusting the relative positions of the first lens and the housing according to the target image presented by the imaging device so that the geometric center of the light spot coincides with the geometric center of the detection surface;

[0018] The light-adjusting adhesive is cured so that the position of the first lens after light adjustment is fixed relative to the housing.

[0019] In some embodiments, the light modulation method includes:

[0020] Install the housing on the mounting platform, adjust the detection light emitted by the light source to be emitted toward the receiving module along the optical path of the echo light, and adjust the imaging device to be set on the optical path of the reflected light;

[0021] Add light-adjusting glue to the glue slot, and place the assembly consisting of the first lens and the lens sleeve into the slot;

[0022] Adjusting the relative position of the lens sleeve and the housing according to the target image presented by the imaging device, so as to adjust the relative position of the first lens and the housing, so that the geometric center of the light spot coincides with the geometric center of the detection surface;

[0023] The light-adjusting adhesive is cured to fix the lens sleeve relative to the housing, so that the position of the first lens after light adjustment is fixed relative to the housing.

[0024] An embodiment of the present application also provides a laser radar, including a shell and a transceiver system, and the transceiver system is arranged in the shell.

[0025] Based on the transceiver system of the present application, the light receiving element is arranged on the combined focal plane of the light emitting sides of multiple lenses, so that the area of ​​the light spot formed by the echo light on the detection surface of the light receiving element can be minimized. Therefore, when the laser radar detects a target object at a long distance, the light spot formed by the echo light on the detection surface of the light receiving element can still be maintained within the detection surface of the light receiving element, so as to improve the detection accuracy of the laser radar for the target object at a long distance. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 This is a schematic diagram of the structure of a laser radar in one embodiment of the present application;

[0028] Figure 2 This is a schematic diagram of a partial structure of a laser radar in one embodiment of the present application;

[0029] Figure 3 This is a schematic diagram of the side view structure of a laser radar in one embodiment of the present application;

[0030] Figure 4 This is a schematic diagram of the detection surface and the light spot position in one embodiment of the present application;

[0031] Figure 5 This is a schematic diagram of the assembly structure of a laser radar and a light modulation system in one embodiment of the present application;

[0032] Figure 6 This is a schematic diagram of the assembly structure of a laser radar and a light modulation system in another embodiment of the present application;

[0033] Figure 7for Figure 2 A schematic diagram of the enlarged structure at A in the middle;

[0034] Figure 8 This is a flow chart of a light modulation method in one embodiment of the present application;

[0035] Fig. 9 This is a flow chart of a light modulation method in yet another embodiment of the present application.

[0036] Explanation of the reference numerals: 1. laser radar; 11. outer shell; 11A. light opening; 111. light-transmitting protective plate; 12. transceiver system; 121. housing; 121A. mounting slot; 121B. card slot; 121C. glue slot; 122. transmitting module; 123. receiving module; 1231. lens; 12311. first lens; 12312. second lens; 1232. light-receiving element; 1232A. detection surface; 1232B. light spot; 1233. lens sleeve; 1233A. mounting hole; 124. optical path separation module; 13. optical scanning device; 2. optical modulation system; 21. mounting platform; 22. light source; 23. imaging device; a. detection light; b. echo light; c. detection light; d. reflected light. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0038] Please refer to Figure 1-3 An embodiment of the present application provides a laser radar 1, which includes a housing 11, a transceiver system 12 and a light scanning device 13.

[0039] The housing 11 is disposed outside the transceiver system 12 and the optical scanning device 13 to protect the transceiver system 12 and the optical scanning device 13, so as to reduce the probability of damage to the transceiver system 12 and the optical scanning device 13, so that the transceiver system 12 and the optical scanning device 13 can have a longer service life, so that the laser radar 1 can have a longer service life. Exemplarily, the material of the housing 11 includes metal or plastic. In the embodiment of the present application, the material of the housing 11 is not specifically limited.

[0040] The transceiver system 12 is disposed in the housing 11, and is used to emit detection light a and receive echo light b returned by the detection light a after being reflected by the target object, so as to calculate the position information and posture information of the target object according to the information of the echo light b.

[0041] The optical scanning device 13 is used to deflect the detection light a from the transceiver system 12 to the field of view for scanning. The optical scanning device 13 is also used to receive and deflect the echo light b. When the laser radar 1 is installed on the vehicle, the optical scanning device 13 can be used to deflect the detection light a or the echo light b in at least one of the horizontal and vertical directions to form a scanning field of view of the laser radar 1. Exemplarily, the optical scanning device 13 includes a micro-electro mechanical system (MEMS) galvanometer. The housing 11 has a light-through opening 11A corresponding to the optical scanning device 13, and the light enters and exits the laser radar 1 through the light-through opening 11A. It can be understood that the housing 11 also includes a light-transmitting protective plate 111, which is encapsulated at the light-through opening 11A to protect the optical scanning device 13 and the devices installed in the internal space of the housing 11.

[0042] Please refer to Figure 1-4 In a specific embodiment, the transceiver system 12 includes a housing 121 , a transmitting module 122 , a receiving module 123 and an optical path separation module 124 .

[0043] The transmitting module 122 includes a light emitter and a transmitting mirror group, and the transmitting mirror group is arranged in the mounting groove 121A of the housing 121. The detection light a emitted by the light emitter passes through the transmitting mirror group to reach the light path separation module 124, and enters the light scanning device 13 after passing through the light path separation module 124. The transmitting mirror group is used to collimate the divergent detection light a emitted by the light emitter and project it to the light path separation module 124. The transmitting mirror group includes at least one collimating lens 1231.

[0044] The receiving module 123 is arranged in the installation groove 121A of the housing 121. The receiving module 123 includes multiple lenses 1231 and a light receiving element 1232. The light receiving element 1232 is used to receive the echo light b returned after the detection light a is reflected by the target object. Furthermore, the light receiving element 1232 is arranged on the combined focal plane of the light output side of the multiple lenses 1231. The area of ​​the light spot 1232B formed by the echo light b on the detection surface 1232A of the light receiving element 1232 can be minimized. Therefore, when the laser radar 1 detects a target object at a long distance, the light spot 1232B formed by the echo light b on the detection surface 1232A of the light receiving element 1232 can still be maintained within the detection surface 1232A of the light receiving element 1232, so as to improve the detection accuracy of the laser radar 1 for the long-distance target object.

[0045] The optical path separation module 124 is arranged on the light-emitting side of the transmitting module 122 and the light-entering side of the receiving module 123, and is used to separate the optical path of the detection light a and the optical path of the echo light b. In the embodiment of the present application, the optical path separation module 124 can be a polarization beam splitter prism, which is used to separate the transmitting optical path and the receiving optical path by polarization beam splitting, wherein the transmitting optical path passes by reflection or transmission, and the echo light b passes by transmission or reflection, so that the transmitting module 122 and the receiving module 123 can be separately arranged to improve the accuracy of the receiving module 123 receiving the echo light b, thereby improving the accuracy of the laser radar 1 in detecting the target object.

[0046] In other embodiments, the laser radar 1 may also include a quarter wave plate (not shown in the figure), and the linearly polarized detection light a is changed into the circularly polarized detection light a by using the quarter wave plate, and the circularly polarized echo light b can be changed into the linearly polarized echo light b. The polarization direction difference between the detection light a that has not passed through the quarter wave plate and the echo light b that has passed through the quarter wave plate is large, so the detection light a path and the echo light b path can be separated by a polarization splitter prism. Since the polarization direction of the echo light b reflected by the target object is mostly the same as the polarization direction of the detection light a before reflection, compared with not setting a quarter wave plate, this embodiment can receive more echo light b signals to a certain extent, that is, it can improve the reception efficiency of the echo signal.

[0047] Please refer to Figure 3-5 In order to further improve the detection accuracy of the laser radar 1 for long-distance target objects, the receiving module 123 can be optically modulated by the optical modulation system 2.

[0048] Specifically, the light modulation system 2 includes a mounting platform 21 , a light source 22 and an imaging device 23 disposed on the mounting platform 21 .

[0049] The mounting platform 21 is used to mount the housing 121 in the transceiver system 12 .

[0050] The light source 22 is used to emit detection light c to the receiving module 123 located on the mounting platform 21. The detection light c is used to simulate the echo light b returned by the detection light a after being reflected by the target object. The detection light c enters the light receiving element 1232 through the receiving module 123, and the detection light c can form reflected light d on the light receiving element 1232.

[0051] The imaging device 23 is used to receive the reflected light d emitted by the receiving module 123 to generate a target image, which includes the light receiving element 1232 and the light spot 1232B formed by the light source 22 on the detection surface 1232A of the light receiving element 1232, so that the receiving module 123 can be light-adjusted according to the target image, so that the geometric center of the light spot 1232B coincides with the geometric center of the detection surface 1232A, so that when the laser radar 1 detects the target object at the farthest distance, the light spot 1232B formed by the echo light b on the detection surface 1232A can still be within the range of the detection surface 1232A, thereby improving the detection accuracy of the laser radar 1 for the distant target object. Exemplarily, the imaging device 23 can be, but is not limited to, a visual camera.

[0052] Please refer to Figure 5 In a specific embodiment, the optical path of the detection light c can be: the detection light c can be transmitted through the optical path separation module 124, pass through the lens 1231 to illuminate the surface of the light receiving element 1232, and form a reflected light d on the surface of the light receiving element 1232. The reflected light d passes through the lens 1231, is reflected by the optical path separation module 124, and then enters the imaging device 23.

[0053] Please refer to Figure 6 In another specific embodiment, the optical path of the detection light c can also be: the detection light c is reflected by the optical path separation module 124, passes through the lens 1231 to illuminate the surface of the light receiving element 1232, and forms a reflected light d on the surface of the light receiving element 1232. The reflected light d passes through the lens 123, is transmitted through the optical path separation module 124, and then enters the imaging device 23.

[0054] Exemplarily, the means of light-adjusting the receiving module 123 may include adjusting the position of the light-receiving element 1232 on the combined focal plane and / or adjusting at least one of the multiple lenses 1231, so that the geometric center of the light spot 1232B coincides with the geometric center of the detection surface 1232A. In the embodiment of the present application, the means of light-adjusting the receiving module 123 is not specifically limited.

[0055] It is understandable that the light adjustment system 2 may also include a controller (not shown in the figure) and an adjustment device (not shown in the figure). The adjustment device may be a mechanical arm. The controller is connected to the imaging device 23 and the mechanical arm. The controller may obtain the target image via the imaging device 23, and according to the relative positional relationship between the light spot 1232B and the detection surface 1232A, control the mechanical arm to clamp and adjust at least one of the light receiving element 1232 and the lens 1231, so that the geometric center of the light spot 1232B coincides with the geometric center of the detection surface 1232A. Of course, in other embodiments, at least one of the light receiving element 1232 and the lens 1231 may also be manually adjusted by the staff visually, so that the geometric center of the light spot 1232B coincides with the geometric center of the detection surface 1232A. In the embodiment of the present application, there is no specific limitation on the adjustment method of the light receiving element 1232 and the lens 1231.

[0056] It can be understood that in a specific embodiment, the optical modulation system 2 also includes a fixing device (not shown in the figure), which is arranged on the mounting platform 21 and is adjustable relative to the mounting platform 21, and is used to fix the housing 121 to the mounting platform 21, so as to facilitate the fixation of the laser radar 1, thereby facilitating the optical modulation of the light receiving module 123, so as to improve the optical modulation accuracy of the light receiving module 123.

[0057] Please refer to Figure 2 , Figure 5 and Figure 7 In a specific embodiment, the receiving module 123 further includes at least one lens sleeve 1233 connected to the housing 121, the lens sleeve 1233 has a mounting hole 1233A extending therethrough, a lens 1231 is disposed in the mounting hole 1233A, and the lens sleeve 1233 is clamped by the optical modulation system 2 to move relative to the housing 121, so that the lens sleeve 1233 drives the corresponding lens 1231 to move relative to the housing 121, so as to achieve optical modulation of the lens 1231. Compared with directly clamping the lens 1231, clamping the lens sleeve 1233 can prevent the surface of the lens 1231 from being scratched, so that the optical performance of the lens 1231 is kept good.

[0058] Please refer to Figure 2 , Figure 4 , Figure 5 and Figure 7In a specific embodiment, the plurality of lenses 1231 include a first lens 12311 and a second lens 12312, the second lens 12312 is disposed on the light emitting side of the first lens 12311, the first lens 12311 and the second lens 12312 are both connected to the housing 121, and because the first lens 12311 is farther from the light receiving element 1232 than the second lens 12312, when the light modulation amplitude is the same, the light modulation of the first lens 12311 makes the light spot 1232B on the detection The distance moved on the detection surface 1232A is greater than the distance moved on the detection surface 1232A by light tuning the second lens 12312, so that the movement of the light spot 1232B on the detection surface 1232A is more obvious when light tuning the first lens 12311 compared to light tuning the second lens 12312. The light tuning system 2 is used to light tune the first lens 12311 so that the geometric center of the light spot 1232B coincides with the geometric center of the detection surface 1232A, thereby improving the efficiency of the light tuning.

[0059] Please refer to Figure 2 , Figure 4 , Figure 5 and Figure 7 In a specific embodiment, the lens sleeve 1233 is sleeved on the side of the first lens 12311. The lens sleeve 1233 is adjusted to make the lens sleeve 1233 move relative to the housing 121, so that the lens sleeve 1233 drives the first lens 12311 to move relative to the housing 121, so that the geometric center of the light spot 1232B coincides with the geometric center of the detection surface 1232A, thereby realizing the light adjustment of the first lens 12311 and preventing the surface damage of the first lens 12311, so that the optical performance of the first lens 12311 is maintained in good condition.

[0060] Please refer to Figure 2 , Figure 4 , Figure 5 and Figure 7 In a specific embodiment, the housing 121 has two glue grooves 121C spaced apart along the optical path direction of the receiving module 123. The two glue grooves 121C are respectively arranged corresponding to the lens sleeve 1233 and the second lens 12312. By filling glue in the glue grooves 121C, the lens sleeve 1233 and the housing 121 can be fixed, and the second lens 12312 and the housing 121 can be fixed.

[0061] Please refer to Figure 2 , Figure 4 , Figure 5 and Figure 7Furthermore, the glue groove 121C corresponding to the lens sleeve 1233 is filled with optical adjustment glue for connecting the lens sleeve 1233 and the housing 121. When the optical adjustment glue is in a flowing state, the lens sleeve 1233 can move relative to the housing 121, so that the first lens 12311 can be optically adjusted. After the geometric center of the light spot 1232B coincides with the geometric center of the detection surface 1232A, the optical adjustment glue is cured, so that the lens sleeve 1233 can be fixed relative to the housing 121, so that the first lens 12311 is fixed relative to the housing 121, and the optical adjustment of the receiving module 123 is completed.

[0062] Please refer to Figure 2 , Figure 4 , Figure 5 and Figure 7 In a specific embodiment, the housing 121 further has a slot 121B connected to the installation slot 121A, and a glue slot 121C corresponding to the lens sleeve 1233 is arranged on the slot wall of the slot 121B, and the lens sleeve 1233 is at least partially located in the slot 121B. When installing the lens sleeve 1233, the slot wall of the slot 121B can be used to guide the lens sleeve 1233, so that at least part of the lens sleeve 1233 can enter the slot 121B, thereby improving the installation efficiency of the lens sleeve 1233. When the first lens 12311 is optically adjusted, the slot 121B can be used to limit the lens sleeve 1233, so as to prevent the lens sleeve 1233 from moving too much and being separated from the optical adjustment glue, thereby ensuring that when the optical adjustment glue is cured, the lens sleeve 1233 can be fixedly connected relative to the housing 121.

[0063] Please refer to Figure 2 , Figure 4 , Figure 5 and Figure 7 In a specific embodiment, the lens sleeve 1233 is made of the same material as the housing 121. Exemplarily, the lens sleeve 1233 and the housing 121 are made of the same metal material so that the lens sleeve 1233 and the housing 121 have the same thermal expansion coefficient, so that after the lens sleeve 1233 and the housing 121 undergo a thermal fatigue process, the size changes of the lens sleeve 1233 and the housing 121 are consistent, and the lens 1231 can be in a relatively static state, so that the optical performance of the receiving module 123 remains unchanged.

[0064] Please refer to Figure 1 , Figure 2 , Figure 4 , Figure 5 , Figure 7 as well as Figure 8 The embodiment of the present application further provides a light modulation method, which is applicable to the light modulation system 2, and the light modulation method includes:

[0065] Step S10, mounting the housing 121 on the mounting platform 21, adjusting the detection light c emitted by the light source 22 to be emitted toward the receiving module 123 along the optical path direction of the echo light b, and adjusting the imaging device 23 to be disposed on the optical path of the reflected light d.

[0066] In the embodiment of the present application, the housing 121 is fixedly mounted on the mounting platform 21 by a fixing device, the detection light c emitted by the light source 22 is adjusted to be emitted toward the receiving module 123 along the optical path direction of the echo light b, and the imaging device 23 is adjusted to be set on the optical path of the reflected light d, so that the detection light c can be irradiated to the surface of the light receiving element 1232 and form reflected light d on the surface of the light receiving element 1232. The reflected light d passes through the lens 1231 and enters the imaging device 23, thereby obtaining the relative position relationship between the light spot 1232B and the detection surface 1232A.

[0067] Step S20, adding light-adjusting glue to the glue groove 121C, and placing the first lens 12311 into the card slot 121B.

[0068] In the embodiment of the present application, optically adjustable glue is added to the glue groove 121C, and the first lens 12311 is placed in the card slot 121B, so that the first lens 12311 is connected to the housing 121 through the optically adjustable glue.

[0069] Step S30: adjusting the relative positions of the first lens 12311 and the housing 121 according to the target image presented by the imaging device 23, so that the geometric center of the light spot 1232B coincides with the geometric center of the detection surface 1232A.

[0070] In the embodiment of the present application, according to the relative position relationship between the light spot 1232B and the detection surface 1232A in the target image, the relative position of the first lens 12311 and the housing 121 is adjusted so that the geometric center of the light spot 1232B coincides with the geometric center of the detection surface 1232A.

[0071] Step S40, curing the light-adjusting adhesive so that the position of the first lens 12311 after light adjustment is fixed relative to the housing 121.

[0072] In the embodiment of the present application, the light adjustment glue is cured so that the first lens 12311 can be fixed relative to the housing 121 to achieve light adjustment of the receiving module 123, so that when the laser radar 1 detects the target object at the farthest distance, the light spot 1232B formed by the echo light b on the detection surface 1232A can still be within the range of the detection surface 1232A, thereby improving the detection accuracy of the laser radar 1 for the long-distance target object.

[0073] Please refer to Figure 1 , Figure 2 , Figure 4 , Figure 5 , Figure 7 as well as Fig. 9 The embodiment of the present application further provides a light modulation method, which is applicable to the light modulation system 2, and the light modulation method includes:

[0074] Step S50 , mounting the housing 121 on the mounting platform 21 , adjusting the detection light c emitted by the light source 22 to be emitted toward the receiving module 123 along the optical path direction of the echo light b, and adjusting the imaging device 23 to be disposed on the optical path of the reflected light d.

[0075] In the embodiment of the present application, the housing 121 is fixedly mounted on the mounting platform 21 by a fixing device, the detection light c emitted by the light source 22 is adjusted to be emitted toward the receiving module 123 along the optical path direction of the echo light b, and the imaging device 23 is adjusted to be set on the optical path of the reflected light d, so that the detection light c can be irradiated to the surface of the light receiving element 1232 and form reflected light d on the surface of the light receiving element 1232. The reflected light d passes through the lens 1231 and enters the imaging device 23, thereby obtaining the relative position relationship between the light spot 1232B and the detection surface 1232A.

[0076] Step S60, adding light-adjusting glue to the glue groove 121C, and placing the assembly consisting of the first lens 12311 and the lens sleeve 1233 into the card slot 121B.

[0077] In the embodiment of the present application, optically adjustable glue is added to the glue groove 121C, and the first lens 12311 and the lens sleeve 1233 are placed in the card slot 121B, so that the lens sleeve 1233 is connected to the housing 121 through the optically adjustable glue, thereby connecting the first lens 12311 to the housing 121.

[0078] Step S70, adjusting the relative position of the lens sleeve 1233 and the housing 121 according to the target image presented by the imaging device 23, so as to adjust the relative position of the first lens 12311 and the housing 121, so that the geometric center of the light spot 1232B coincides with the geometric center of the detection surface 1232A.

[0079] In the embodiment of the present application, the relative position of the lens sleeve 1233 and the housing 121 is adjusted according to the relative position relationship between the light spot 1232B in the target image and the detection surface 1232A, so that the lens sleeve 1233 drives the first lens 12311 to move relative to the housing 121, so that the geometric center of the light spot 1232B coincides with the geometric center of the detection surface 1232A.

[0080] Step S80 , curing the optical adjustment glue to fix the lens sleeve 1233 relative to the housing 121 , and to fix the position of the first lens 12311 after optical adjustment relative to the housing 121 .

[0081] In the embodiment of the present application, the light adjustment glue is cured so that the lens sleeve 1233 can be fixed relative to the housing 121, so that the first lens 12311 is fixed relative to the housing 121, so as to realize the light adjustment of the receiving module 123, so that when the laser radar 1 detects the target object at the farthest distance, the light spot 1232B formed by the echo light b on the detection surface 1232A can still be within the range of the detection surface 1232A, thereby improving the detection accuracy of the laser radar 1 for the distant target object.

[0082] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of this application, it should be understood that if the terms "up", "down", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this application. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0083] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A transceiver system, characterized in that: include: chassis; A transmitting module, disposed on the housing, for transmitting detection light; A receiving module is arranged on the housing, and comprises a plurality of lenses and a light receiving element. The light receiving element is located on the combined focal plane of the light emitting sides of the plurality of lenses, and is used for receiving the echo light returned after the detection light is reflected by the target object.

2. The transceiver system according to claim 1, characterized in that: The receiving module also includes: At least one lens sleeve is connected to the housing, the lens sleeve has a mounting hole extending therethrough, and a lens is disposed in the mounting hole.

3. The transceiver system according to claim 1, characterized in that: The plurality of lenses include a first lens and a second lens, wherein the second lens is disposed on a light-emitting side of the first lens; The receiving module also includes: The lens sleeve is connected to the housing, and the lens sleeve has a mounting hole that penetrates through the housing, and the first lens is arranged in the mounting hole.

4. The transceiver system according to claim 3, characterized in that: The housing has two glue grooves spaced apart along the optical path direction of the receiving module, the two glue grooves are respectively arranged corresponding to the lens sleeve and the second lens, and the glue groove corresponding to the lens sleeve is filled with optical adjustment glue for connecting the lens sleeve and the housing.

5. The transceiver system according to claim 4, characterized in that: The housing also has a card slot, the glue slot corresponding to the lens sleeve is arranged on the slot wall of the card slot, and the lens sleeve is at least partially located in the card slot.

6. The transceiver system according to claim 2, characterized in that: The lens sleeve is made of the same material as the housing.

7. The transceiver system according to any one of claims 1 to 6, characterized in that: Also includes: The optical path separation module is arranged at the light output side of the transmitting module and the light input side of the receiving module, and is used to separate the optical path of the detection light and the optical path of the echo light.

8. A light modulation system, characterized in that: It comprises a mounting platform and a light source and an imaging device arranged on the mounting platform, wherein the mounting platform is also used to mount the housing in the transceiver system according to any one of claims 1 to 7; Among them, the light source is used to emit detection light to the receiving module located on the mounting platform, the detection light enters the light receiving element via the receiving module, the detection light forms reflected light on the light receiving element, and the reflected light enters the imaging device via the receiving module to generate a target image, and the target image includes the light receiving element and a light spot formed by the light source on the detection surface of the light receiving element, so that the receiving module can be optically adjusted according to the target image so that the geometric center of the light spot coincides with the geometric center of the detection surface.

9. The light modulation system according to claim 8, characterized in that: Also includes: The fixing device is arranged on the mounting platform and is adjustable relative to the mounting platform, and is used for fixing the housing on the mounting platform.

10. A light modulation method, characterized in that: Applicable to the light modulation system as claimed in any one of claims 8 to 9; The light modulation method comprises: Mounting the housing on the mounting platform, adjusting the detection light emitted by the light source to be emitted toward the receiving module along the optical path of the echo light, and adjusting the imaging device to be disposed on the optical path of the reflected light; Add light-adjusting glue to the glue slot, and place the first lens into the slot; adjusting the relative positions of the first lens and the housing according to the target image presented by the imaging device so that the geometric center of the light spot coincides with the geometric center of the detection surface; curing the light-adjusting glue so that the position of the first lens after light adjustment is fixed relative to the housing; or, The light modulation method comprises: Mounting the housing on the mounting platform, adjusting the detection light emitted by the light source to be emitted toward the receiving module along the optical path of the echo light, and adjusting the imaging device to be disposed on the optical path of the reflected light; Adding light-adjusting glue to the glue slot, and placing the assembly consisting of the first lens and the lens sleeve into the slot; Adjusting the relative position of the lens sleeve and the housing according to the target image presented by the imaging device, so as to adjust the relative position of the first lens and the housing, so that the geometric center of the light spot coincides with the geometric center of the detection surface; The optical adjustment glue is cured to fix the lens sleeve relative to the housing, so that the position of the first lens after optical adjustment is fixed relative to the housing.

11. A laser radar, characterized in that: include: shell; The transceiver system according to any one of claims 1 to 7, arranged in the housing.

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