Receiving and transmitting optical path alignment method, electronic equipment and readable storage medium

Abstract

The invention discloses a receiving and transmitting optical path alignment method, electronic equipment and a readable storage medium, the receiving and transmitting optical path alignment method is applied to a laser radar, the laser radar comprises a transmitting array, a receiving module and an optical assembly, and the method comprises the following steps: the receiving module obtains N frames of first grayscale images, the first gray level image is a gray level image of an emission light spot projected by the detection light on the target plate, the N frames of first gray level images are in one-to-one correspondence with N first candidate positions of a first element, the N first candidate positions are arranged at intervals along a first direction, the first element is an emission array or an optical assembly, and the first element is a second element. The first direction is perpendicular to a horizontal plane where an optical axis of the laser radar is located or a vertical plane where the optical axis is located; obtaining a first parameter value corresponding to the first grayscale image according to the position of the first grayscale image on the receiving surface; and determining a first target position in the N first candidate positions according to the N first parameter values. Through the above mode, the light modulation of the laser radar can be simply and rapidly completed, and the AA accuracy is high.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of laser radar, in particular to a method for aligning a transmitting and receiving light path, an electronic device and a readable storage medium. BACKGROUND

[0002] AA (Active Alignment) is a technology used in optical systems, especially in the assembly process of LiDAR (Laser Imaging Detection and Ranging) and sensors, to ensure the accurate alignment of optical components. This technology usually adjusts the position and angle of optical elements through precise mechanical adjustment and real-time feedback to achieve the best beam alignment or precise configuration of the optical system. In LiDAR systems, AA technology is usually used to align the laser transmitter and receiver to ensure accurate transmission and reception of the laser beam, thereby improving measurement accuracy and system performance. SUMMARY

[0003] Embodiments of the present application provide a method for aligning a transmitting and receiving light path, an electronic device and a readable storage medium, which can achieve light adjustment in a relatively simple way and has high accuracy.

[0004] In a first aspect, embodiments of the present application provide a method for aligning a transmitting and receiving light path, applied to a laser radar, the laser radar comprising a transmitting array, a receiving module and an optical component, wherein the transmitting array is configured to transmit probe light to a target board, the receiving module has a receiving surface, the target board is perpendicular to the optical axis of the laser radar, and the method comprises: obtaining, by the receiving module, N frames of first gray-scale images, wherein N is a positive integer, the first gray-scale image is a gray-scale image of a transmitted light spot projected on the target board by the probe light, the N frames of first gray-scale images correspond one-to-one to N first candidate positions of a first element, the N first candidate positions are arranged at intervals along a first direction, the first element is the transmitting array or the optical component, and the first direction is perpendicular to a horizontal plane in which the optical axis of the laser radar lies; for each first gray-scale image, obtaining a first parameter value corresponding to the first gray-scale image according to the position of the first gray-scale image on the receiving surface; and determining a first target position from the N first candidate positions according to the N first parameter values.

[0005] The above method realizes the determination of the degree of alignment according to the position of the gray-scale image, and directly uses the original data for calculation without going through a complex parameter conversion process, i.e., there is no intermediate step. On the one hand, the active alignment of the transmitting and receiving light path of the laser radar can be completed relatively quickly and simply, and automatic light adjustment of the laser radar is realized. On the other hand, errors that may occur can be reduced, and the accuracy is high.

[0006] In one or more embodiments, the first parameter value corresponding to the first grayscale image is obtained according to a position of the first grayscale image on the receiving surface, including: obtaining the first parameter value corresponding to the first grayscale image according to a first distance between a first center position of the first grayscale image and a target center position on the receiving surface in a first direction.

[0007] In one or more embodiments, the emitting array includes a plurality of emitting units, and the first center position is obtained according to positions of grayscale images of emitting spots corresponding to the plurality of emitting units on the receiving surface, and the target center position is a geometric center of the receiving surface.

[0008] In one or more embodiments, the first target position is determined from the N first candidate positions according to the N first parameter values, including: determining the first candidate position corresponding to the minimum value in the N first parameter values as the first target position.

[0009] In one or more embodiments, after the first target position is determined from the N first candidate positions according to the N first parameter values, the method further includes: configuring the first element to be located at the first target position; the receiving module obtains M frames of second grayscale images, where M is a positive integer, the second grayscale image is a grayscale image of an emitting spot projected by the probe light on the target target plate, the M frames of second grayscale images correspond to M second candidate positions of the first element one by one, the M second candidate positions are arranged at intervals along a second direction, and the second direction is perpendicular to the first direction; for each frame of second grayscale image, a second parameter value corresponding to the first grayscale image is obtained according to a position of the second grayscale image on the receiving surface; and a second target position is determined from the M second candidate positions according to the M second parameter values.

[0010] In one or more embodiments, after the second target position is determined from the M second candidate positions according to the M second parameter values, the method further includes: configuring the first element to be located at the second target position; the receiving module obtains a third grayscale image, where the third grayscale image is a grayscale image of an emitting spot projected by the probe light on the target target plate; a third parameter value corresponding to the third grayscale image is obtained according to a position of the third grayscale image on the receiving surface; and a position of the first element is adjusted according to the third parameter value.

[0011] In one or more embodiments, the third parameter value corresponding to the third grayscale image is obtained according to a position of the third grayscale image on the receiving surface, including: obtaining the third parameter value corresponding to the third grayscale image according to a third center position of the third grayscale image and a target center position on the receiving surface.

[0012] In one or more embodiments, the position of the first element is adjusted according to the third parameter value, including: When the third parameter value is in the preset parameter value range, the first element is kept in the current position; when the third parameter value is not in the preset parameter value range, the receiving module acquires N frames of first gray scale images again.

[0013] In a second aspect, an electronic device is provided, including at least one processor and a memory; the memory is coupled to the processor, and the memory is configured to store instructions or programs, when the instructions or programs are executed by the at least one processor, the at least one processor executes the transceiver optical path alignment method as described above.

[0014] In a third aspect, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program, when the computer program is executed, the transceiver optical path alignment method as described above is implemented. BRIEF DESCRIPTION OF DRAWINGS

[0015] One or more embodiments are exemplarily illustrated by pictures in the drawings corresponding to the embodiments, and the exemplarily illustrations do not configure limitations on the embodiments, and elements with the same reference numerals in the drawings represent similar elements.

[0016] Figure 1 is a flowchart of the transceiver optical path alignment method provided by the embodiments of the present application; Figure 2 is a schematic diagram of a transmitting array, a receiving module and a target target plate provided by the embodiments of the present application; Figure 3 is a schematic diagram of an embodiment of the transceiver optical path active alignment method provided by the embodiments of the present application; Figure 4 is a schematic diagram of a first gray scale image provided by the embodiments of the present application; Figure 5 is a schematic diagram of an embodiment of the transceiver optical path active alignment method provided by the embodiments of the present application; Figure 6 is a schematic diagram of an embodiment of the transceiver optical path active alignment method provided by the embodiments of the present application; Figure 7 is a flowchart of the transceiver optical path alignment method provided by the embodiments of the present application; Figure 8 is a structural schematic diagram of an electronic device provided by the embodiments of the present application.

[0017] REFERENCE NUMERALS: 210, transmitting array; 220, receiving module; 230, target target plate; 240, transmitting light spot; P1, first center position; PT, target center position; BL1, first point cloud block; 800, electronic device; 801, processor; 802, memory. DETAILED DESCRIPTION

[0018] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and specifically describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. It should be understood that the specific embodiments described herein are only used to explain and not limit the present application.

[0019] It should be noted that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or one or more intervening elements can exist between them.

[0020] In addition, the technical features involved in each of the embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0021] The automatic active alignment of the laser radar is generally divided into three steps: transmitting active alignment, receiving active alignment and transmitting-receiving active alignment. The purpose of transmitting-receiving active alignment is to align the transmitting-receiving mapping relationship, so as to realize one-to-one correspondence between the transmitting area and the receiving area. For example, by designing an evaluation function to quantitatively evaluate the size of the point cloud gap, the degree of transmitting-receiving alignment can be evaluated relatively quickly and simply, so as to realize the automatic light adjustment of the laser radar.

[0022] The existing light adjustment methods of the laser radar include signal light adjustment and image light adjustment. The signal light adjustment takes the high or low of the signal amplitude at a single pixel as the criterion for the degree of alignment. Because only one signal is collected at the same time, this method is not suitable for flash laser radar. The image light adjustment uses an external light source to illuminate the receiving area, and adjusts the relative relationship between the transmitting light spot and the receiving image in the range finder to complete the transmitting-receiving light adjustment. This light adjustment method needs to identify the feature points of the receiving image, and has a high requirement for the clarity of the receiving image, and also has limitations.

[0023] Based on this, the embodiments of the present application provide a transmitting-receiving light path active alignment method, which realizes judging the degree of transmitting-receiving alignment according to the position of the gray-scale image, can not only complete the transmitting-receiving light path active alignment of the laser radar relatively quickly and simply, realize the automatic light adjustment of the laser radar, but also has high accuracy.

[0024] Please refer to Figure 1 , Figure 1 The flow chart of the transmitting-receiving light path active alignment method provided by the embodiments of the present application. The transmitting-receiving light path active alignment method is applied to a laser radar, which can be a solid-state laser radar, a semi-solid-state laser radar, etc., and the present application is not limited to this. The laser radar can be applied to any device that needs to perform laser detection, such as mobile robots, ships or vehicles, etc. The laser radar includes a transmitting array, a receiving module and an optical assembly.

[0025] The transmitting array is used to emit probe light to a target plate, which is perpendicular to the optical axis of the lidar. The transmitting array includes at least one transmitting element. In some embodiments, the transmitting array is a VCSEL (Vertical-Cavity Surface-Emitting Laser) array, and the transmitting element is a VCSEL. In some embodiments, the transmitting array is an EEL (Edge-Emitting Laser) array, and the transmitting element is an EEL.

[0026] The receiving module has a receiving surface. The receiving module can be a receiving array, which can include multiple receiving units. Specifically, the receiving array can be a SPAD (Single-Photon Avalanche Diode) array or a SIPM (Silicon Photomultiplier).

[0027] Optical components can be mirrors in the optical path or lens groups in a lens, and one or more of these components can be adjusted. In practical applications, only one type of element is moved in a single light adjustment, such as moving only a mirror; however, for similar elements, such as lens groups in a lens, multiple lenses can be moved.

[0028] like Figure 1 As shown, the active alignment method for receiving and transmitting light paths includes the following steps S110 to S130: Step S110: The receiving module acquires N frames of first grayscale images, where N is a positive integer, the first grayscale image is the grayscale image of the emitted light spot projected by the probe light on the target plate, the N frames of first grayscale images correspond one-to-one with the N first candidate positions of the first element, the N first candidate positions are set at intervals along the first direction, the first element is an emission array or optical component, and the first direction is perpendicular to the horizontal plane or the vertical plane perpendicular to the optical axis of the lidar.

[0029] Specifically, such as Figure 2 As shown, the transmitting array 210 emits probe light to the target plate 230 to form an emitted light spot 240 on the target plate 230. At the same time, the target plate 230 generates reflected light, and the receiving module 220 receives the reflected light to obtain a first grayscale image. Specifically, by traversing the first element along the first direction, the receiving module obtains N frames of first grayscale images corresponding to N first candidate positions of the first element.

[0030] The optical axis of a lidar is the central axis through which it emits and receives laser light. With the optical axis as a reference, the horizontal plane is the plane along the horizontal direction of the optical axis, and the vertical plane is the plane along the vertical direction of the optical axis. In some embodiments, if the horizontal plane is defined by the optical axis and the horizontal direction, its normal direction (i.e., the first direction) is the vertical direction (e.g., the direction of gravity). In some embodiments, if the vertical plane is defined by the optical axis and the direction of gravity, its normal direction (i.e., the first direction) is the horizontal transverse direction (this direction is perpendicular to both the optical axis and the direction of gravity). In some embodiments, the first direction is the row or column direction of the emission array. In some embodiments, the first direction is either horizontal or vertical.

[0031] Step S120: For each frame of the first grayscale image, obtain the first parameter value corresponding to the first grayscale image based on the position of the first grayscale image on the receiving surface.

[0032] Since the receiving module has acquired N frames of the first grayscale image, it can directly determine the parameters related to the first grayscale image, such as the center position of the first grayscale image, and use it as the first parameter value. Subsequently, based on the first parameter value of each frame of the first grayscale image, the alignment of the receiving and transmitting optical paths corresponding to each frame of the first grayscale image can be determined, which helps to achieve precise adjustment and height alignment in the subsequent process.

[0033] In some embodiments, such as Figure 3 As shown, the specific implementation process of step S120 includes the following step S310: Step S310: Based on the first distance between the first center position of the first grayscale image and the target center position on the receiving surface in the first direction, obtain the first parameter value corresponding to the first grayscale image.

[0034] Wherein, the first center position is the center position of the first grayscale image. The target center position is the center position on the pre-set receiving surface, which can be set based on the actual application scenario, and this application embodiment does not impose specific limitations on it.

[0035] by Figure 4 For example, Figure 4 An exemplary diagram illustrates one frame of the first grayscale image in N frames of first grayscale images. For example... Figure 4 As shown, the first center position of the first grayscale image in this frame is P1, and the target center position on the receiving surface is PT. If the first direction is perpendicular to the horizontal plane where the optical axis of the lidar is located, then the first distance is D1, that is, the first parameter value corresponding to the first grayscale image at this time is D1; ​​if the first direction is perpendicular to the vertical plane where the optical axis of the lidar is located, then the first distance is D2, that is, the first parameter value corresponding to the first grayscale image at this time is D2.

[0036] In some embodiments, the transmitting array includes multiple transmitting units, and the process of determining the first center position and the target center position is as follows: the first center position is obtained based on the position of the grayscale image of the emitted light spot corresponding to the multiple transmitting units on the receiving surface, and the target center position is the geometric center of the receiving surface.

[0037] like Figure 4 As shown, the target center position PT is the geometric center of the receiving surface of the receiving module 220. In the first grayscale image, a single stripe region represents the light spot corresponding to one transmitting unit. Therefore, there are a total of two stripe regions, representing the light spots corresponding to two transmitting units. The center position of the light spots corresponding to the above two stripe regions on the receiving surface is the first center position P1. The first center position P1 can be calculated in two ways: one is to first calculate the coordinates of the center of the light spot corresponding to each stripe region, and then calculate the first center position P1 based on the coordinates of the center of the light spot corresponding to each stripe region; the other is to treat the two stripe regions as a whole and directly calculate the first center position P1. In general, for K transmitting units, K light spots can be obtained (K is a positive integer), and the first center position P1 can be obtained through one of the following two methods: the first is to first calculate the coordinates of the center of the light spot corresponding to each transmitting unit, and then calculate the first center position P1 based on the coordinates of the center of the light spot corresponding to each transmitting unit; the second is to treat the K light spots as a whole and directly calculate the first center position P1.

[0038] Understandably, in Figure 4 In the embodiment shown, the geometric center of the receiving surface is taken as the target center spot PT. However, in other embodiments, the settings can be made according to the actual application scenario. This application does not impose specific limitations on this.

[0039] Step S130: Determine the first target position from the N first candidate positions based on the N first parameter values.

[0040] according to Figure 4 Therefore, the first parameter value reflects the degree to which the center position of the corresponding frame's first grayscale image deviates from the target's center position, and also reflects the degree of alignment of the receiving and transmitting optical paths. Specifically, the smaller the first parameter value, the smaller the deviation of the center position of the first grayscale image from the target's center position, and the higher the degree of alignment of the receiving and transmitting optical paths; conversely, the larger the first parameter value, the greater the deviation of the center position of the first grayscale image from the target's center position, and the lower the degree of alignment of the receiving and transmitting optical paths. Based on this, for each frame's first grayscale image, the corresponding first parameter value can directly reflect the degree of alignment of the receiving and transmitting optical paths, thus enabling a quick and simple determination of the first target position among N first candidate positions, thereby achieving a fast and simple light-tuning process.

[0041] In some embodiments, the implementation of step S130 includes the following steps: determining the first candidate position corresponding to the minimum value in the N first parameter values as the first target position.

[0042] According to the above description, the smaller the first parameter value is, the smaller the center position of the first gray-scale image deviates from the target center position, and the higher the degree of alignment of the transmitting and receiving light paths is. Therefore, determining the first candidate position corresponding to the minimum value in the N first parameter values as the first target position means that the center position of the first gray-scale image deviates from the target center position to the smallest extent, and the degree of alignment of the transmitting and receiving light paths is the highest. In addition, the original data (i.e., the first parameter value) is directly used for calculation without going through a complex parameter conversion process, i.e., there is no intermediate step. On the one hand, the active alignment of the transmitting and receiving light paths of the laser radar can be completed relatively quickly and simply, and the automatic light adjustment of the laser radar is realized. On the other hand, errors that may occur can be reduced, and the accuracy is relatively high.

[0043] In some embodiments, after the light adjustment according to the steps shown in Figure 1 to determine the first target position in which the degree of alignment of the transmitting and receiving light paths in the first direction is the highest, the light adjustment is further performed according to the steps shown in Figure 5 to determine the second target position in which the degree of alignment of the transmitting and receiving light paths in the second direction is the highest. As shown in Figure 5 After step S130 is performed, the method for aligning the transmitting and receiving light paths further includes the following steps S510 to S540: Step S510: configuring the first element to be located at the first target position.

[0044] It can be understood that the location of the first element at (i.e., fixed to) the first target position is relative to the first direction, and the position of the first element is adjustable for the second direction. For example, the first direction is the direction in which the X axis is located, and the second direction is the direction in which the Y axis is located. The actual position of the first element is determined by the position of the X axis and the position of the Y axis, i.e., the coordinates of the first element are (X, Y). The first element being located at the first target position means that X is a constant value, but Y is still variable.

[0045] Step S520: acquiring M frames of second gray-scale images by the receiving module, where M is a positive integer, the second gray-scale image is a gray-scale image of the emitted light spot projected on the target target plate by the detected light, the M frames of second gray-scale images correspond to M second candidate positions of the first element one by one, and the M second candidate positions are arranged at intervals along the second direction.

[0046] Specifically, on the basis of fixing the first element at the first target position, the first element is translated to traverse along the second direction, and the receiving module obtains N frames of second gray-scale images corresponding to the M second candidate positions of the first element. Still as Figure 2As shown, the transmitting array 210 transmits probe light to the target plate 230 to form a transmitting light spot 240 on the target plate 230, while the target plate 230 generates reflected light, and the receiving module 220 receives the reflected light to obtain a second gray-scale image.

[0047] Step S530: For each frame of the second gray-scale image, a second parameter value corresponding to the first gray-scale image is obtained according to the position of the second gray-scale image on the receiving surface.

[0048] Since the receiving module has obtained M frames of the second gray-scale image, a parameter related to the second gray-scale image, such as the center position of the second gray-scale image, can be directly determined and taken as the second parameter value. Then, according to the second parameter values of the frames of the second gray-scale image, the alignment of the transmitting and receiving light paths corresponding to the frames of the second gray-scale image can be determined to facilitate subsequent precise adjustment and height alignment.

[0049] In some embodiments, the specific implementation process of step S530 includes the following steps: a second parameter value corresponding to the second gray-scale image is obtained according to a second distance between the second center position of the second gray-scale image and a target center position on the receiving surface in the second direction.

[0050] In some embodiments, the transmitting array includes a plurality of transmitting units, and the process of determining the second center position and the target center position is: the second center position is obtained according to the positions of the gray-scale images of the transmitting light spots corresponding to the plurality of transmitting units on the receiving surface, and the target center position is the geometric center of the receiving surface.

[0051] Step S540: A second target position is determined from the M second parameter values among the M second candidate positions.

[0052] Specifically, the second parameter value can reflect the degree of deviation of the center position of the corresponding frame of the second gray-scale image from the target center position, and also reflect the degree of alignment of the transmitting and receiving light paths, wherein the smaller the second parameter value is, the smaller the degree of deviation of the center position of the second gray-scale image from the target center position is, and the higher the degree of alignment of the transmitting and receiving light paths is; on the contrary, the larger the second parameter value is, the larger the degree of deviation of the center position of the second gray-scale image from the target center position is, and the lower the degree of alignment of the transmitting and receiving light paths is. Based on this, for each frame of the second gray-scale image, the corresponding second parameter value can directly reflect the degree of alignment of the transmitting and receiving light paths, so that the second target position can be quickly and simply determined from the N second candidate positions, thereby realizing a quick and simple light adjustment process.

[0053] In some embodiments, the specific implementation process of step S540 includes the following steps: the second candidate position corresponding to the minimum value of the M second parameter values is determined as the second target position.

[0054] According to the above description, the smaller the second parameter value is, the smaller the deviation of the center position of the second gray-scale image from the target center position is, and the higher the degree of alignment of the transmitting and receiving light paths is. Thus, the second candidate position corresponding to the minimum value of the N second parameter values is determined as the second target position, which means that the deviation of the center position of the second gray-scale image from the target center position is the smallest, and the degree of alignment of the transmitting and receiving light paths is the highest. In addition, the original data (i.e., the second parameter value) is directly used for calculation without a complex parameter conversion process, i.e., there is no intermediate step. On the one hand, the active alignment of the transmitting and receiving light paths of the laser radar can be completed relatively quickly and simply, and the automatic light adjustment of the laser radar is realized. On the other hand, errors that may occur can be reduced, and the accuracy is relatively high.

[0055] In summary, the first target position and the second target position with the highest degree of alignment of the transmitting and receiving light paths in the first direction and the second direction are determined. Then, the application embodiment further provides a process of calibrating the above light adjustment result. As shown in Figure 6 After step S540 is performed, the transmitting and receiving light path alignment method further includes the following steps S610 to S640: Step S610: The first element is configured to be located at the second target position.

[0056] Since the first element is configured to be located at the first target position when step S510 is performed, in combination with step S610, the first element is located at both the first target position and the second target position at this time.

[0057] Step S620: The receiving module obtains a third gray-scale image, wherein the third gray-scale image is a gray-scale image of the emitted light spot formed by the detected light on the target target plate.

[0058] Specifically, on the basis of fixing the first element at the first target position and the second target position, the transmitting array 210 can be controlled to emit the detected light to the target target plate 230 to form an emitted light spot 240 on the target target plate 230, while the target target plate 230 generates reflected light, and the receiving module 220 receives the reflected light to obtain a third gray-scale image, as shown in Figure 2

[0059] Step S630: A third parameter value corresponding to the third gray-scale image is obtained according to the position of the third gray-scale image on the receiving surface.

[0060] According to the third gray-scale image obtained by the receiving module, the parameters related to the third gray-scale image, such as the center position of the third gray-scale image, can be directly determined and taken as the third parameter value. Then, according to the third parameter value, the alignment of the transmitting and receiving light paths corresponding to the third gray-scale image can be determined to judge whether the transmitting and receiving light paths are aligned.

[0061] ​In some embodiments, the implementation of step S630 comprises the following steps: obtaining a third parameter value corresponding to the third gray image according to the third center position of the third gray image and the target center position on the receiving surface.

[0062] The third parameter value comprises a distance between the third center position of the third gray image and the target center position on the receiving surface in a first direction and a distance between the third center position of the third gray image and the target center position on the receiving surface in a second direction.

[0063] In some embodiments, the transmitting array comprises a plurality of transmitting units, and the third center position and the target center position are determined as follows: the third center position is obtained according to the positions of the gray images of the transmitting light spots corresponding to the plurality of transmitting units on the receiving surface, and the target center position is the geometric center of the receiving surface.

[0064] Step S640: adjusting the position of the first element according to the third parameter value.

[0065] Specifically, according to the third parameter value, it can be checked whether the transmitting and receiving light path has been aligned, and the position of the first element is adjusted accordingly.

[0066] In some embodiments, the implementation of step S640 comprises the following steps: keeping the first element at the current position unchanged when the third parameter value is in a preset parameter value range; and obtaining N frames of first gray images again by the receiving module when the third parameter value is not in the preset parameter value range.

[0067] Specifically, the preset parameter value range is a parameter value range set in advance, which can be set based on actual application scenarios, and the embodiments of the present application do not make specific limitations thereon. The preset parameter range comprises a first preset sub-parameter range and a second preset sub-parameter range. The third parameter value is in the preset parameter range includes that the third parameter value comprises a distance between the third center position of the third gray image and the target center position on the receiving surface in a first direction being in a first preset sub-parameter value range, and the third parameter value comprises a distance between the third center position of the third gray image and the target center position on the receiving surface in a second direction being in a second preset sub-parameter value range. In this way, it is determined that the transmitting and receiving light path has been aligned, and the first element keeps the current position unchanged.

[0068] The third parameter value is not in the preset parameter value range includes that the third parameter value comprises a distance between the third center position of the third gray image and the target center position on the receiving surface in a first direction being not in a first preset sub-parameter value range, and / or the third parameter value comprises a distance between the third center position of the third gray image and the target center position on the receiving surface in a second direction being not in a second preset sub-parameter value range. In this way, it is determined that the transmitting and receiving light path is not aligned, and the receiving module obtains N frames of first gray images again. Figure 1The illustrated steps start to be executed to readjust the light receiving and transmitting path.

[0069] Please refer to Figure 7 , Figure 7 The flow chart of the light receiving and transmitting path alignment method provided by another embodiment of the present application is shown. As shown in Figure 7 , first, the first target position in the first direction is determined according to the N first parameter values corresponding to the N first gray scale images, which can be realized by the steps shown in Figure 1 . Then, the first element is configured to be located at the first target position. The second target position in the second direction is determined according to the N second parameter values corresponding to the N second gray scale images, which can be realized by the steps shown in Figure 5 . Then, the first element is configured to be located at the second target position, at this time, the first element is located at both the first target position and the second target position. After that, the third parameter corresponding to the third gray scale image is determined, which can be realized by the steps shown in Figure 7 . Finally, it is judged whether the third parameter value is in the preset parameter value range. If the third parameter value is in the preset parameter value range, the first element is kept at the current position unchanged; if the third parameter value is not in the preset parameter value range, the first target position in the first direction is determined according to the N first parameter values corresponding to the N first gray scale images is re-executed.

[0070] Through the above process, the alignment degree of the light receiving and transmitting path is determined according to the position of the gray scale image, and the original data is directly used for calculation without going through a complex parameter conversion process, that is, there is no intermediate step. On the one hand, the active alignment of the light receiving and transmitting path of the laser radar can be completed relatively quickly and simply, and the automatic light adjustment of the laser radar is realized. On the other hand, the possible error can be reduced, and the accuracy is high. Secondly, after the first direction and the second direction are aligned, a verification process is further set to ensure the reliability of the light adjustment result.

[0071] Please refer to Figure 8 , Figure 8 The structural schematic diagram of the electronic device provided by the embodiment of the present application is shown. As shown in Figure 8 , the electronic device 800 includes at least one processor 801 and a memory 802, wherein the memory 802 can be built-in in the electronic device 800, or can be external to the electronic device 800, and the memory 802 can also be a remote memory connected to the electronic device 800 through a network.

[0072] The memory 802, as a non-volatile computer readable storage medium, can be used to store non-volatile software programs, non-volatile computer executable programs and modules. The memory 802 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and application programs required by at least one function; the data storage area can store data created according to the use of the terminal and the like. In addition, the memory 802 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state memory device. In some embodiments, the memory 802 can optionally include a memory disposed remotely with respect to the processor 801, which can be connected to the terminal through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0073] The processor 801 performs various functions of the terminal and processes data by running or executing software programs and / or modules stored in the memory 802 and calling data stored in the memory 802, thereby performing overall monitoring of the terminal, such as implementing the transceiver optical path alignment method described in any embodiment of the present application.

[0074] The processor 801 can be one or more, Figure 8 The processor 801 is taken as an example. The processor 801 and the memory 802 can be connected through a bus or other means. The processor 801 can include a central processing unit (CPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a controller, a field programmable gate array (FPGA) device, etc. The processor 801 can also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors in combination with a DSP core, or any other such configuration.

[0075] The embodiments of the present application also provide a non-volatile computer readable storage medium, which stores computer executable instructions, and the computer executable instructions are executed by one or more processors, for example, the method steps of any one of the above described embodiments.

[0076] The embodiments of the present application also provide a computer program product, which includes a computer program stored on a non-volatile computer readable storage medium, and the computer program includes program instructions, when the program instructions are executed by a computer, the computer executes the transceiver optical path alignment method in any method embodiment described above, for example, the method steps of any one of the above described embodiments.

[0077] The above merely describes the embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation, or direct or indirect application in other related technical fields, which is made by using the content of the present application specification and drawings, is also included in the patent protection scope of the present application.

[0078] The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; the technical features in the above embodiments or different embodiments can also be combined, and the steps can be implemented in any order. Those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for aligning light-receiving paths, characterized in that, An application is made in lidar, the lidar comprising a transmitting array, a receiving module, and optical components, wherein the transmitting array is used to emit probe light to a target plate, the receiving module has a receiving surface, and the target plate is perpendicular to the optical axis of the lidar, the method comprising: The receiving module acquires N frames of first grayscale images, where N is a positive integer. The first grayscale image is a grayscale image of the emitted light spot projected by the probe light onto the target plate. The N frames of the first grayscale images correspond one-to-one with N first candidate positions of the first element. The N first candidate positions are spaced apart along a first direction. The first element is the emitting array or the optical component. The first direction is perpendicular to the horizontal plane or the vertical plane perpendicular to the optical axis of the lidar. For each frame of the first grayscale image, the first parameter value corresponding to the first grayscale image is obtained based on the position of the first grayscale image on the receiving surface; Based on N values ​​of the first parameter, determine the first target position from among N first candidate positions.

2. The method according to claim 1, characterized in that, The step of obtaining the first parameter value corresponding to the first grayscale image based on the position of the first grayscale image on the receiving surface includes: The first parameter value corresponding to the first grayscale image is obtained based on the first distance between the first center position of the first grayscale image and the target center position on the receiving surface in the first direction.

3. The method according to claim 2, characterized in that, The transmitting array includes multiple transmitting units, and the first center position is obtained based on the position of the grayscale image of the emitted light spot corresponding to the multiple transmitting units on the receiving surface. The target center position is the geometric center of the receiving surface.

4. The method according to claim 3, characterized in that, The step of determining the first target position from N first candidate positions based on N first parameter values ​​includes: The first candidate position corresponding to the minimum value among the N first parameter values ​​is determined as the first target position.

5. The method according to claim 1, characterized in that, After determining the first target location from N first candidate locations based on N first parameter values, the method further includes: Configure the first element to be located at the first target position; The receiving module acquires M frames of second grayscale images, where M is a positive integer. The second grayscale image is a grayscale image of the emitted light spot projected by the probe light onto the target plate. The M frames of second grayscale images correspond one-to-one with the M second candidate positions of the first element. The M second candidate positions are spaced apart along a second direction, which is perpendicular to the first direction. For each frame of the second grayscale image, the second parameter value corresponding to the first grayscale image is obtained based on the position of the second grayscale image on the receiving surface; Based on the M values ​​of the second parameter, the second target position is determined from the M second candidate positions.

6. The method according to claim 5, characterized in that, After determining the second target location from the M second candidate locations based on the M second parameter values, the method further includes: Configure the first element to be located at the second target position; The receiving module acquires a third grayscale image, wherein the third grayscale image is a grayscale image of the emitted light spot projected by the probe light onto the target plate; Based on the position of the third grayscale image on the receiving surface, the third parameter value corresponding to the third grayscale image is obtained; The position of the first element is adjusted according to the value of the third parameter.

7. The method according to claim 6, characterized in that, The step of obtaining the third parameter value corresponding to the third grayscale image based on the position of the third grayscale image on the receiving surface includes: The third parameter value corresponding to the third grayscale image is obtained based on the third center position of the third grayscale image and the target center position on the receiving surface.

8. The method according to claim 6 or 7, characterized in that, Adjusting the position of the first element according to the third parameter value includes: If the third parameter value is within the preset parameter value range, the first element remains in its current position. If the third parameter value is not within the preset parameter value range, the receiving module acquires N frames of the first grayscale image again.

9. An electronic device, characterized in that, include: At least one processor and memory; The memory is coupled to the processor and is used to store instructions or programs that, when executed by the at least one processor, cause the at least one processor to perform the receiver-light path alignment method as described in any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the receiver-light path alignment method as described in any one of claims 1-8.

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