Debugging equipment, debugging method and related device of laser radar module

Abstract

The embodiment of the invention discloses debugging equipment, a debugging method and a related device of a laser radar module, and an imaging structural member integrally integrates a reflecting plate required by a transmitting module and a target graph card required by a receiving module, so that the occupied space of the structure can be saved; the camera module integrated in the debugging equipment is compatibly applicable to the centering process of the transmitting module and the receiving module, so that the mechanical cost and the space occupancy rate of different modules for realizing each process are reduced; the transmitting module jig and the receiving module jig which are designed according to the preset standard are helpful to conveniently realize centering of the transmitting module and the receiving module from the angle of a mechanical structure. In general, the set of debugging equipment provided by the embodiment of the invention ingeniously fuses each module required by the transceiver module for realizing the centering process, can integrally realize the assembly and manufacturing of the transceiver module at low cost, and integrally improves the production efficiency and yield of laser radar products.

Description

Technical Field

[0001] This application relates to the field of optical technology, and in particular to debugging equipment, debugging methods and related devices for lidar modules. Background Technology

[0002] The transceiver module (i.e., transmitter module 017 and receiver module 018) is an important component of LiDAR products. The working principle of the LiDAR transceiver module is as follows: the laser transmitter of the transmitter module emits laser pulses, which are then diffused through a specific optical lens and projected onto the target object. The laser signal is reflected by the target object and enters the optical focusing system of the receiver module, where it is converged to a predetermined position on the receiver detector. The realization of this principle involves mechanical alignment (i.e., ensuring that the centers of the transceiver modules are on the same straight line, i.e., concentric) during module assembly.

[0003] However, in the existing solutions, these processes are implemented independently, each requiring a separate set of debugging equipment. For example, the transmitter module needs to be equipped with a separate assembly station and lens mounting fixture, and the receiver module needs to be equipped with a separate assembly station and lens mounting fixture. This increases labor costs, equipment costs, and site costs, and can easily increase the time and error rate of the debugging process.

[0004] Therefore, it is necessary to provide an effective solution. Summary of the Invention

[0005] This application provides debugging equipment, debugging methods and related devices for LiDAR modules, which are used to achieve the alignment and other processes of laser products in an integrated and low-cost manner.

[0006] The first aspect of this application provides a debugging device for a lidar module, comprising the following modules: an imaging structure, a flipping structure, a transmitting module fixture, a receiving module fixture, a module adjustment structure, and a camera module;

[0007] The imaging structure is horizontally mounted above other modules in the debugging equipment, and horizontally movable reflectors and charts are installed on the front and back sides facing the other modules, respectively.

[0008] The flipping structure is used to flip the front and back sides of the imaging structure connected to it.

[0009] The transmitting module fixture and the receiving module fixture are set at a front-to-back interval according to a preset reference; the preset reference is used to keep the centers of the transmitting module on the transmitting module fixture and the receiving module on the receiving module fixture on the same straight line;

[0010] The module adjustment structure is used to adjust the six-axis directions of the transmitting module fixture and the receiving module fixture connected thereto, respectively.

[0011] The camera module is used to capture the laser spot emitted by the transmitting module onto the reflector.

[0012] Optionally, the preset reference is that the centers of the transmitting module fixture and the receiving module fixture are on the same straight line;

[0013] The positioning holes of the transmitting module fixture are set according to the center line of the transmitting module and are used to fix the transmitting module. The positioning holes of the receiving module fixture are set according to the center line of the receiving module and are used to fix the receiving module.

[0014] Optionally, the positioning holes of the launching module fixture are located on the center line of the launching module, or are symmetrically distributed along the center line of the launching module;

[0015] The positioning holes of the receiving module fixture are located on the center line of the receiving module, or are symmetrically distributed along the center line of the receiving module.

[0016] Optionally, the debugging device further includes: a camera adjustment module; the camera adjustment module is used to adjust the position of the camera module connected thereto.

[0017] Optionally, the camera adjustment module includes a lens loading platform, a lens adjustment structure, and a camera adjustment structure; the camera module includes a camera, a transmitting module lens, and a receiving module lens.

[0018] The two sets of loading positions in the lens loading platform are respectively used to place the transmitting module lens and the receiving module lens;

[0019] The lens adjustment structure is used to adjust the position of the target module lens held by the lens gripper; the target module lens is the transmitting module lens or the receiving module lens;

[0020] The camera adjustment structure is used to adjust the position of the camera so that the camera can capture a complete bokeh image or a map image.

[0021] Optionally, the debugging device further includes an imaging adjustment structure; the imaging adjustment structure is used to adjust the height of the imaging structure connected thereto.

[0022] Optionally, the debugging equipment further includes: a relay mirror and a telescopic structure for the relay mirror;

[0023] The telescopic structure of the relay mirror is used to adjust the position of the relay mirror relative to the transmitting module fixture and the receiving module fixture below.

[0024] A second aspect of this application provides a debugging method for a lidar module, applied to the debugging device described in the first aspect or any specific implementation thereof, the debugging method comprising:

[0025] The transmitting module and the receiving module to be debugged are fixed on the transmitting module fixture and the receiving module fixture, respectively; the preset references satisfied by the positions of the transmitting module fixture and the receiving module fixture are used to keep the centers of the transmitting module and the receiving module on the same straight line.

[0026] The centering adjustment of the transmitting module and the reflector is performed using a module adjustment structure and a camera module, so that the centers of the transmitting module and the reflector are on the same straight line, and the center point position of the transmitting module is obtained.

[0027] The driving flip structure flips the reflector so that the pattern card faces the receiving module below, and the camera module captures the pattern image on the pattern card. The horizontal position of the pattern card is adjusted until the center of the captured pattern card image is aligned with the center point of the transmitting module, so as to achieve the limiting target between the modules. The limiting target between the modules is that the centers of the transmitting module, the receiving module, the reflector, and the pattern card are all on the same straight line.

[0028] Optionally, when the camera adjustment module in the debugging equipment includes a lens adjustment structure, and the camera module includes a camera, a transmitting module lens, and a receiving module lens, the method further includes:

[0029] The flip structure is driven to flip the card so that the reflector faces the downward-facing emission module;

[0030] The position of the transmitting module lens relative to the limited transmitting module is adjusted using the lens adjustment structure; the laser spot emitted by the limited transmitting module through the transmitting module lens onto the reflector is captured by the camera.

[0031] Using the reflector spot image captured by the camera, the focusing parameters of the camera module when capturing the light spot of the transmitting module are calculated; if the focusing parameters do not meet the preset conditions, the process returns to the step of adjusting the position of the transmitting module lens relative to the limited transmitting module using the lens adjustment structure until the obtained focusing parameters meet the preset conditions, thereby completing the focusing adjustment of the transmitting module.

[0032] And / or,

[0033] The drive flip structure flips the reflector so that the card faces the receiving module below;

[0034] The position of the receiving module lens relative to the limited receiving module is adjusted using the lens adjustment structure; the receiving module captures the pattern image provided by the image card through the adjusted receiving module lens.

[0035] The focus parameters of the receiving module when shooting the image of the card are calculated based on the image of the card after the adjustment. If the focus parameters do not meet the preset conditions, the process returns to the step of adjusting the position of the receiving module lens relative to the receiving module after the limit is set using the lens adjustment structure, until the obtained focus parameters meet the preset conditions, so as to complete the focus adjustment of the receiving module.

[0036] Optionally, the camera adjustment module further includes a lens loading platform and a camera adjustment structure. The process of adjusting the lens of the transmitting module using the lens adjustment structure includes the following focus adjustment steps:

[0037] The drive lens gripper picks up the transmitting module lens from the loading position of the lens loading platform, and uses the lens adjustment structure and the camera adjustment structure to adjust the positions of the lens gripper and the camera respectively;

[0038] After completing the focus adjustment of the transmitting module, the debugging method further includes:

[0039] Acquire the reflector spot image after focus adjustment; the reflector spot image after focus adjustment is captured by the camera, and the captured image is the laser spot emitted by the emission module onto the reflector after being positioned.

[0040] Obtain the camera distortion parameters of the camera;

[0041] The camera distortion parameters are used to perform anti-distortion correction on the reflector spot image after focus adjustment, and the image information after anti-distortion is calculated to obtain the spot quality evaluation parameters of the transmitting module.

[0042] Optionally, obtaining the camera distortion parameters of the camera includes:

[0043] Obtain the coordinates of the constituent points of at least two reference lines drawn on the reflector;

[0044] The camera is used to photograph each of the reference lines to obtain the coordinates of the points that make up the curve formed by the camera distortion.

[0045] The camera distortion parameters are calculated based on the coordinates of the constituent points of each of the reference lines and the coordinates of the constituent points of each curve.

[0046] Optionally, the alignment adjustment of the transmitting module and reflector using the module adjustment structure and camera module includes:

[0047] The transmitting module is fixedly placed on the transmitting module fixture, at least a portion of the area array region of the transmitting module is illuminated to form a characteristic beam, and the characteristic beam is projected onto the reflector to form a characteristic light spot;

[0048] The characteristic light spot is captured to obtain a reflector light spot image, and the coordinates of the characteristic light spot are determined by the reflector light spot image;

[0049] Rotate the transmitting module horizontally by 180° and return to the step of projecting the characteristic beam onto the reflector to form a characteristic spot, to obtain the coordinates of the rotated characteristic spot;

[0050] If the difference between the coordinates before and after rotation is greater than a threshold, the position of the transmitting module relative to the reflector is adjusted based on the coordinates before and after rotation until the target light spot coordinates are obtained with the coordinate difference less than or equal to the threshold; the target light spot coordinates are used to determine the center point position of the transmitting module.

[0051] In specific implementation, the method described in the second aspect of this application may be implemented using the content described in the first aspect of this application.

[0052] A third aspect of this application provides an electronic device, including: a processor and a memory;

[0053] The processor is configured to communicate with the memory and execute instructions in the memory to implement the method described in the second aspect of the embodiments of this application or any specific implementation thereof.

[0054] A fourth aspect of this application provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the method described in the second aspect or any specific implementation thereof.

[0055] A fifth aspect of this application provides a computer program product, the computer program product including computer instructions, which, when executed by a processor, implement the method described in the second aspect or any specific implementation thereof.

[0056] As can be seen from the above technical solutions, the embodiments of this application have at least the following advantages:

[0057] The imaging structure of this application integrates the reflector required for the transmitting module and the target pattern required for the receiving module, saving structural space. The camera module integrated into the debugging equipment is compatible with the alignment process of the transmitting and receiving modules, reducing the mechanical costs and space occupancy required for different modules to achieve each process. The transmitting and receiving module fixtures designed according to preset benchmarks facilitate convenient alignment of the transmitting and receiving modules from a mechanical structure perspective. In summary, the debugging equipment of this application embodiment cleverly integrates the various modules required for the alignment process of the transmitting and receiving modules, enabling integrated and low-cost alignment of the transmitting and receiving modules, facilitating subsequent assembly and manufacturing processes such as focusing, and improving the overall production efficiency and yield of LiDAR products. Attached Figure Description

[0058] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0059] It should be noted that although the steps in the flowcharts (if any) involved in the embodiments are drawn sequentially according to the arrows, unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts involved in the embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps.

[0060] Figure 1 This is a side view of the debugging device according to an embodiment of this application;

[0061] Figure 2 This is a schematic diagram of another side of the debugging device according to an embodiment of this application;

[0062] Figure 3 This is a schematic diagram of the structure of the transmitter / receiver module fixture and the transmitter / receiver module in the debugging equipment of this application embodiment;

[0063] Figure 4 This is a schematic diagram of the lens loading platform in the debugging equipment of this application embodiment;

[0064] Figure 5 This is a schematic flowchart of a debugging method according to an embodiment of this application;

[0065] Figure 6 This is a diagram image of the debugging method in an embodiment of this application;

[0066] Figure 7 This is a light spot image image formed on the reflector in the debugging method of this application embodiment;

[0067] Figure 8 This is another diagram image of the debugging method in the embodiments of this application;

[0068] Figure 9 This is a diagram illustrating the camera distortion effect of the debugging method in an embodiment of this application.

[0069] Figure 10 A linear diagram of the reflector in the debugging method of this application embodiment;

[0070] Figure 11 This is a schematic diagram of the structure of the electronic device according to an embodiment of this application;

[0071] Reference numerals: 001, Flipping structure; 002, Support structure; 003, Reflector (used in the transmitting module); 0041, Transmitting module fixture; 0042, Receiving module fixture ( Figure 1 (0042 and 0041 are combined into 004); 0043, positioning hole; 0044, module center; 005, module adjustment structure; 006, lens gripper; 007, lens loading platform; 0071, transmitting module lens; 0072, receiving module lens; 008, lens adjustment structure; 009, diagram card (used by the receiving module); 010, repeater lens; 011, infrared camera; 012, camera adjustment structure; 013, imaging adjustment structure; 014, repeater lens telescopic structure; 015, lens adjustment telescopic structure (adjustable 008); 016, lens loading slide (adjustable 007); 017, transmitting module; 018, receiving module. Detailed Implementation

[0072] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0073] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0074] In the following description, expressions such as "one specific implementation" or "one specific example" describe a subset of all possible embodiments. However, it is understood that "one specific implementation" or "one specific example" can be the same or different subsets of all possible embodiments and can be combined with each other without conflict. In the following description, the term "multiple" means at least two. When a certain value mentioned in this application reaches a threshold (if it exists), in some specific examples, it can include the former being greater than the latter. When "any" or "at least one" or similar expressions are mentioned, it specifically refers to any one of the listed examples or any combination of these examples.

[0075] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0076] This application will now be described in detail.

[0077] Please see Figure 1 , Figure 2 The first aspect of this application provides a debugging device for a lidar module, which includes the following modules: an imaging structure, a flipping structure 001, a transmitting module fixture 0041, a receiving module fixture 0042, a module adjustment structure 005, and a camera module (e.g., an infrared camera 011).

[0078] The imaging structure is horizontally mounted above other modules in the debugging equipment, with horizontally movable reflectors 003 and target cards 009 (or target cards 009) installed on its front and back sides facing the other modules, respectively; the flipping structure 001 is used to flip the front and back sides of the imaging structure connected to it; the transmitting module fixture 0041 and the receiving module fixture 0042 are set at a preset reference interval ( Figure 1(0042 and 0041 are combined as 004); the preset reference is used to keep the centers of the transmitting module on the transmitting module fixture 0041 and the receiving module on the receiving module fixture 0042 on the same straight line; the module adjustment structure 005 is used to adjust the six-axis directions of the transmitting module fixture 0041 and the receiving module fixture 0042 connected to it respectively; the camera module is used to capture the laser spot emitted by the transmitting module onto the reflector 003.

[0079] As explained above, integrating the reflector 003 and the target map 009 onto the front and back of a single structural component reduces the space occupied by multiple separate components, ensuring the overall simplicity of the equipment. The horizontal positions of the reflector 003 and the target map 009 on the imaging structural component surface can be adjusted independently; that is, their centers can move independently. This can be achieved, for example, through mechanisms such as sliding guides on the imaging structural component, or by adjusting the center position of the map, thus ensuring subsequent alignment requirements. Specifically, the reflector 003 is mainly used by the transmitting module, and the target map 009 is mainly used by the receiving module. For example, during the alignment process of the transmitting module, the reflector 003 is tilted vertically downwards by the flipping structure 001, and is supported by the support structure 002; during the alignment process of the receiving module, the target map 009 is tilted vertically downwards by the flipping structure 001, and is supported by the support structure 002. For details regarding the centering and focusing processes, please see the following text. They will not be elaborated here. Simply put, the centering process is the calibration of the mechanical equipment (its purpose is to ensure that the centers of the transmitting module, receiving module, reflector 003, and target map 009 are all on the same straight line). It is a prerequisite or preliminary preparation for the subsequent focusing process.

[0080] The aforementioned flipping structure 001 can drive the imaging structure to flip, switching the reflector 003 or the target image card 009 to face downwards, thereby adapting to the implementation requirements of the corresponding process. For example, the flipping structure 001 includes a rotating wheel and a rotating shaft connected to the rotating wheel. The flipping structure is mounted on a support structure 002. The rotating shaft is connected to one side of the imaging structure, and the other side of the imaging structure is connected to another rotating shaft and mounted on the support structure 002. Rotation of the rotating wheel can drive the rotating shaft to rotate, thereby causing the imaging structure to flip.

[0081] like Figure 3As shown, the transmitting module fixture 0041 and the receiving module fixture 0042 can be collectively referred to as "transmitting / receiving module fixture 004" or "transmitting (receiving) module fixture 004". The transmitting / receiving module fixtures 004 are paired; the transmitting module fixture 0041 (or clamp) is used to support (or hold) the transmitting module 017, and the receiving module fixture 0042 is used to support the receiving module 018. The transmitting / receiving module fixtures 004 are spaced apart according to a "preset reference" (e.g., the fixture centers are on the same straight line). This ensures that the centers of the modules are concentric after each fixture is fixed, further advancing the realization of the ultimate goal of centering the "transmitting / receiving modules".

[0082] The aforementioned module adjustment structure 005 can be used to adjust the alignment and levelness of the fixture. This module adjustment structure 005 can be a single, integrated, general-purpose structure or a separate structure with distinct functions. Specifically, its function can refer to adjusting the position of the transmitting / receiving module fixture 004 (equivalent to adjusting the position of the module it supports). For example, it can adjust the six-axis directions (such as the X, Y, and Z translational directions and the Rx, Ry, and Rz rotational directions) of the transmitting module fixture 0041 in the coordinate system, so that the transmitting module fixed on the transmitting module fixture 0041 is in an ideal position. Exemplarily, the module adjustment structure 005 can be a six-axis clamp or a robotic arm structure.

[0083] For example, when the module adjustment structure 005 is designed as a split structure, it can be further subdivided according to the functional objects (such as the transmitting module 017 and the receiving module 018): a transmitting module fixture 0041 adjustment structure for adjusting the six-axis direction of the transmitting module fixture 0041, and a receiving module fixture 0042 adjustment structure for adjusting the six-axis direction of the receiving module fixture 0042. Similarly, if other modules are designed as split structures, they can also be subdivided according to the corresponding functional objects, which will not be detailed here.

[0084] The aforementioned camera module may include a camera (such as an infrared camera 011) for capturing the laser spot emitted by the transmitting module onto the reflector 003.

[0085] Compared to the emitting module that can emit lasers, the receiving module does not emit lasers; the receiving module is used to receive lasers to identify images. Specifically, this image may refer to the laser spot image reflected by the reflector 003, or the image obtained after the pattern on the target card 009 itself is photographed (for example, the image of the card photographed by the receiving module after the pattern on the card is illuminated by an infrared light board).

[0086] In summary, the imaging structure of this application integrates the reflector 003 required for the transmitting module and the target pattern card 009 required for the receiving module, saving structural space. The camera module integrated into the debugging equipment is compatible with the alignment process of the transmitting and receiving modules, reducing the mechanical costs and space occupancy required for different modules to achieve each process. The transmitting module fixture 0041 and receiving module fixture 0042, designed according to a preset benchmark, facilitate the alignment of the transmitting and receiving modules from a mechanical structure perspective. In general, a set of debugging equipment in this application, through the integrated reflector 003 and target pattern card 009 and a unified fixture benchmark, can achieve "one set of equipment to complete multiple processes" without splitting workstations, significantly reducing equipment investment and space occupation. Furthermore, the six-axis adjustment capability of the module adjustment structure 005 can accurately calibrate the fixture position, providing a foundation for subsequent alignment, focusing, and other processes.

[0087] like Figure 3 As shown, in some specific examples, the aforementioned preset reference is that the centers of the transmitting module fixture 0041 and the receiving module fixture 0042 are on the same straight line; the positioning hole 0043 of the transmitting module fixture 0041 is set according to the center line of the transmitting module 017 and is used to fix the transmitting module 017, and the positioning hole 0043 of the receiving module fixture 0042 is set according to the center line of the receiving module 018 and is used to fix the receiving module 018.

[0088] In other words, in the structural design, the positioning hole 0043 of the transmitting module fixture 0041 is machined according to the center line of the transmitting module 017, and the positioning hole 0043 of the receiving module fixture 0042 is machined according to the center line of the receiving module 018. After the transmitting module 017 and the receiving module 018 are fixed in the positioning hole 0043 of the corresponding fixtures, the mechanical structure of the fixtures (i.e., the positioning hole 0043) can ensure that the centers of the two are on the same straight line.

[0089] As described above, the concentricity of the transceiver module center 0044 is directly ensured at the mechanical structure level, eliminating the need for additional visual alignment cameras or mechanical alignment fixtures, simplifying the alignment process, and reducing equipment costs; at the same time, it can avoid manual calibration errors and improve alignment accuracy.

[0090] Furthermore, in some specific examples, the positioning holes 0043 of the transmitting module fixture 0041 are located on the center line of the transmitting module 017, or are symmetrically distributed along the center line of the transmitting module 017; the positioning holes 0043 of the receiving module fixture 0042 are located on the center line of the receiving module 018, or are symmetrically distributed along the center line of the receiving module 018.

[0091] Please see Figure 3The upper left figure shows the transmitting module fixture 0041, and the upper right figure shows the receiving module fixture 0042. The positioning holes 0043 of these two fixtures are aligned. The lower right figure shows the transmitting module fixture 0041 that carries the transmitting module 017 (which can be simply understood as a circuit board), and the lower left figure shows the receiving module fixture 0042 that carries the receiving module 018. Generally, the shape of the fixture changes with the shape or size of the module, but it can be designed according to the following principles: the positioning holes 0043 (such as two cylindrical positioning holes 0043) of the transmitter module fixture 0041 are symmetrically distributed along the center line of the transmitter module 017 (the spacing matches the mounting holes / positioning parts of the transmitter module 017), and the positioning holes 0043 of the receiver module fixture 0042 are similar; the positioning holes 0043 of some small-sized modules (such as one circular positioning hole 0043) can be directly opened on the center line of the module to ensure that the center connection line (i.e. the straight line where the centers 0044 of the two modules are located) after the two modules are fixed to the fixture does not shift (i.e. does not bend).

[0092] The positioning hole 0043 designed above can further constrain the installation posture of the module, avoid center offset caused by module tilting or displacement, and provide a stable reference for subsequent centering and focusing.

[0093] In practical applications, the position of the infrared camera 011 can be dynamically adjusted according to the position of the reflector 003 or the target map 009, the size of the light spot, etc., to avoid problems such as incomplete image capture and image distortion caused by the fixed infrared camera 011. Therefore, in order to improve the shooting accuracy and clarity of the light spot, adapt to products with different focusing distances (such as transmitting / receiving modules), and increase the adaptability of the equipment, in some specific examples, the above-mentioned debugging equipment may also include: a camera adjustment module; the camera adjustment module is used to adjust the position of the camera module connected to it.

[0094] Furthermore, in some specific examples, the aforementioned camera adjustment module includes a lens loading platform 007, a lens adjustment structure 008, and a camera adjustment structure 012. The camera module includes a camera (such as an infrared camera 011), a transmitting module lens 0071, and a receiving module lens 0072. The two loading positions in the lens loading platform 007 are used to place the transmitting module lens 0071 and the receiving module lens 0072, respectively. The lens adjustment structure 008 is used to adjust the position of the target module lens held by the lens gripper 006. The target module lens is either the transmitting module lens 0071 or the receiving module lens 0072. The camera adjustment structure 012 is used to adjust the position of the camera so that the camera can capture a complete spot image or a map image.

[0095] like Figure 4As shown, the lens loading platform 007 is equipped with multiple loading positions (the aperture of the loading position can be specifically designed according to the size of the lens) to accommodate or place the transmitting module lens 0071 and the receiving module lens 0072 (the size, precision, and function of these two lenses can be the same or different). The position of the lens loading platform 007 can be adjusted by the lens loading slide 016, which can be driven by the lens adjustment structure 008. In other words, the lens adjustment structure 008 can also be used to adjust the position of the loading platform, and the position or direction of the lens adjustment structure 008 can be controlled by the lens adjustment telescopic structure 015.

[0096] The lens adjustment structure 008 can drive the lens gripper 006 to grasp the target lens and adjust the X, Y, Z axis positions and Rx, Ry, Rz rotation directions of the grasped target lens so as to perform subsequent launch focusing and reception focusing actions. In other words, the lens on the lens loading platform 007 will be used in the focusing process.

[0097] The aforementioned camera adjustment structure 012 is used to adjust the X, Y, and Z axis positions and the Rx, Ry, and Rz rotation directions of the infrared camera 011, which is equivalent to adjusting the shooting angle to achieve process objectives such as centering, transmitting / receiving focus, and testing the light spot quality of the transmitting module. For example, the use of the camera adjustment structure 012 can ensure that the infrared camera 011 can completely capture the light spot image of the laser from the transmitting module after reflection by the reflector 003, or in other words, it can ensure that the infrared camera 011 can completely capture the image of the target card, which specifically refers to the image obtained after capturing the pattern inherent in the target card 009 itself.

[0098] As explained above, a lens loading platform 007 is compatible with both transmitting and receiving lenses, eliminating the need for separate placement stations and adjustment equipment for different lenses, thus reducing equipment costs. The six-axis adjustment capability of the lens adjustment structure 008 allows for precise control of lens attitude, while the camera adjustment structure 012 ensures that the camera's shooting angle meets accuracy or sharpness requirements. Together, they help improve focusing efficiency and accuracy. The lens adjustment structure 008 and camera adjustment structure 012 are, for example, mechanical clamps.

[0099] In some specific examples, the above-mentioned debugging device may also include: an imaging adjustment structure 013; the imaging adjustment structure 013 is used to adjust the height of the imaging structure connected thereto.

[0100] The aforementioned imaging adjustment structure 013 can be used to adjust the height of the reflector 003 or the target map 009 through a structure with position adjustment function, such as a transmission screw or a cylinder, to meet the focusing distance requirements of different products (such as transmitting / receiving modules).

[0101] As explained above, the use of the imaging adjustment structure 013 allows for adaptation to the focusing distance requirements of different products without the need to replace imaging structural components, simplifying the equipment adjustment process; it ensures that the distance between the reflector 003 / target chart 009 and the module meets the focusing process requirements, avoiding focusing errors caused by distance deviations.

[0102] In some specific examples, the above-mentioned debugging equipment may also include: a relay mirror 010 and a relay mirror telescopic structure 014; the relay mirror telescopic structure 014 is used to adjust the position of the relay mirror 010 relative to the lower transmitting module fixture 0041 and receiving module fixture 0042.

[0103] The aforementioned addition of the repeater mirror 010 is due to its ability to control the laser divergence angle and adjust the optical path, ensuring that the beam emitted by the laser chip is projected onto the reflector 003 more effectively and completely. In other words, the repeater mirror 010 can be used to shorten the optical path in scenarios requiring long-distance ranging or focusing.

[0104] Controlling the laser divergence angle: Laser chips (such as edge-emitting laser chips VCSELs and vertical-cavity surface-emitting laser chips EELs) have a large beam divergence angle. When directly projected onto the reflector 003, the light spot will spread and the energy will be dispersed. The repeater 010 collimates the beam, reducing the divergence angle and ensuring that the beam remains focused during transmission. For example, the repeater 010 can transmit the laser beam in stages, thereby avoiding energy dissipation caused by long optical paths.

[0105] Optical path adjustment: The repeater mirror 010 can change the propagation path of the light beam to adapt to environments with limited space. For example, in imaging module testing, the repeater mirror 010 can image distant objects to a closer position, generating a magnified virtual image, thereby completing the test within a limited space.

[0106] The aforementioned repeater telescopic structure 014 may include components with position adjustment functions, such as cylinders or lead screws. For example, the repeater 010 can be moved horizontally by a cylinder or lead screw to achieve switching between "repeater 010 entering the optical path" (the repeater telescopic structure 014 extends the repeater 010, and the repeater 010 is located between the module and the reflector 003) or "repeater 010 exiting the optical path" (the repeater telescopic structure 014 retracts the repeater 010, and the laser from the transmitting module is directly projected onto the reflector 003). In other embodiments, the repeater telescopic structure 014 may also include posture adjustment components such as grippers, which can adjust the posture of the gripped repeater 010, thereby achieving alignment between the repeater 010 and the transmitting and receiving modules.

[0107] As explained above, the telescopic relay structure 014 can accommodate both scenarios requiring the use of the relay lens 010 for zoom focusing and scenarios where zoom focusing is not required, eliminating the need to build two independent optical paths and reducing equipment complexity and cost. The position adjustment of the relay lens 010 can be automated, reducing manual intervention and improving production efficiency.

[0108] In summary, the embodiments of this application can integrate the mechanical modules required for multiple processes such as transmission and reception centering, transmission focusing, reception focusing, and transmission focusing testing into a single device, reducing site occupation and equipment investment. Specifically, the debugging device of the embodiments of this application can be called an integrated transmission (reception) module focusing device, which can realize the centering and / or focusing of four components: transmission module 017, reception module 018, reflector 003, and target map 009 (see the debugging method below for details), ensuring the consistency and accuracy of product processing. The centering and focusing functions do not require any additional auxiliary tooling, accessories, or components, which can greatly save costs and centering and focusing time, and the centering accuracy is high.

[0109] Please see Figures 1 to 5 The second aspect of this application provides a specific embodiment of a debugging method for a lidar module. This debugging method is applied to the debugging equipment described in the first aspect or any specific embodiment of the first aspect, and will not be elaborated further here. Of course, the specific implementation process in the first aspect of this application can also be found in the relevant description of the second aspect. The specific embodiment of this debugging method includes the following operation steps (i.e., performing a centering process) to achieve the final goal of "making the four modules—the transmitting module 017, the receiving module 018, the reflector 003, and the target card 009—concentric":

[0110] Step S51: The controller fixes the transmitter module and receiver module to be debugged onto the transmitter module fixture and receiver module fixture respectively.

[0111] Specifically, the aforementioned controller can refer to a main device capable of controlling position adjustment equipment (such as robotic arms, grippers, and conveyor belts), computing devices, and shooting devices.

[0112] The pre-defined references satisfied by the positions of the transmitting module fixture 0041 and the receiving module fixture 0042 are used to keep the centers of the transmitting module 017 and the receiving module 018 on the same straight line. In simpler terms, the special design of the transmitting / receiving module fixture 004 according to the pre-defined references (such as center alignment) helps to mechanically ensure the alignment of the transmitting and receiving modules, enabling quick and accurate alignment in subsequent operations. Specifically, the transmitting module can be placed on the test fixture using a robotic arm or gripper.

[0113] Taking the launch module as an example, a launch module fixture 0041 with positioning holes 0043 can be designed (e.g., Figure 3 As shown, this positioning hole 0043, in conjunction with a positioning component, positions the transmitting module on the transmitting module fixture 0041, or in other words, facilitates a more stable placement of the transmitting module on the transmitting module fixture 0041. This positioning component may include at least one of a pin, bolt, or positioning pin. The positioning hole 0043 is designed to be located on or symmetrically distributed along the centerline of the transmitting module to ensure that the theoretical centerline of the transmitting module's beam remains unchanged after the transmitting module is rotated 180° by the transmitting module fixture 0041, thus ensuring minimal or no shift in the centerline of the transmitting module before and after rotation.

[0114] In some examples, the aforementioned positioning element can be deployed on the launch module or launch module fixture 0041. For example, at least one positioning element is designed on one side of the launch module, which can be inserted into the aforementioned positioning hole 0043 to fix the launch module and the launch module fixture 0041.

[0115] Step S52: The controller uses the module adjustment structure and camera module to center and adjust the transmitting module and reflector so that the centers of the transmitting module and the reflector are on the same straight line, and obtains the center point position of the transmitting module.

[0116] In simple terms, the purpose of step S52 is to align the launching module and the reflector 003, and to obtain the coordinates of the center point of the launching module after this alignment stage. These coordinates can then be used as reference coordinates for the target chart 009 to perform alignment adjustments. The alignment adjustment process in step S52 is detailed below and will not be repeated here.

[0117] Step S53: The controller drives the flip structure to flip the reflector so that the pattern card faces the receiving module below, and uses the camera module to capture the pattern image on the pattern card. The horizontal position of the pattern card is adjusted until the center of the captured pattern card image is aligned with the center point of the transmitting module to achieve the positioning target between the modules.

[0118] The image center of this picture card can specifically refer to the center of the pattern that comes with the picture card, and can be understood as the center of the picture card.

[0119] As explained above, the special design of the fixture in step S51 allows the transmitting module and the receiving module to be aligned, while step S52 allows the transmitting module and the reflector 003 to be aligned. Finally, only the transmitting module and the target card 009 need to be aligned to achieve the ultimate goal of "the four modules of transmitting module 017, receiving module 018, reflector 003, and target card 009 being concentric" (i.e., the limiting target between modules), thus completing the alignment process.

[0120] In summary, the aforementioned debugging equipment can achieve the alignment target of "concentricity of the four modules: transmitter module 017, receiver module 018, reflector 003, and target card 009" in an integrated manner, eliminating the need for separate transmitter and receiver alignment operations on separate equipment, thus simplifying the process. Furthermore, compared to equipping transmitter module 017 and receiver module 018 with separate debugging equipment and workstations, this embodiment cleverly integrates a single debugging device compatible with both transmitter and receiver modules. This reduces debugging errors and time consumption caused by various stages of the alignment process, facilitating faster and more accurate progress in subsequent focusing operations.

[0121] See Figures 1 to 4 Regarding the aforementioned first aspect and its related description, for example, the camera module may specifically include an infrared camera 011, and the centering process corresponding to the above steps S51-S53 may include the following operations:

[0122] A. As in step S52, assuming that after the centering (i.e., transmission centering) is completed in this stage, the center point coordinates of the transmission module are X=990, Y=2760 (this coordinate can be zeroed out by infrared camera 011). The process of determining this coordinate (990, 2760) can be found in the following text, and will not be repeated here.

[0123] B. By flipping structure 001, flipping reflector 003, and placing target card 009 downwards;

[0124] C. By adjusting the imaging adjustment structure 013, the height of the target chart 009 is adjusted. This height can be adjusted to the height position of the reflector 003 when aligning, thus ensuring consistent height and helping to reduce errors.

[0125] D. Using infrared camera 011, capture the pattern image provided on target image card 009 to obtain target image card 009 (e.g. Figure 6 (The image shows a pattern with 5 rectangular blocks).

[0126] E. Calculate the center of the captured target image card. The center of this target image card is as follows: Figure 6 The point where the red arrow leads indicates the center point of target card 009.

[0127] F. Adjust the horizontal position of the target image card 009 in the imaging structure until the center of the target image card is adjusted to the center point of the transmitting module (990, 2760) calculated above. In this way, the transmitting module 017, the receiving module 018, the reflector 003, and the target image card 009 are concentric, and the transmitting module and receiving module are finally aligned in an integrated manner.

[0128] Based on the above examples, the method of this application will be further described in detail below, and some specific possible implementation examples will be provided. In practical applications, the implementation content of these examples can be combined or implemented separately as needed according to the corresponding functional principles and application logic. If combined, the execution order between the combined examples can be determined according to their respective processing logic, which can be determined by the actual scenario.

[0129] In some specific examples, when the camera adjustment module in the debugging equipment includes a lens adjustment structure 008, and the camera module includes a camera (specifically, an infrared camera 011), a transmitting module lens 0071, and a receiving module lens 0072, the method may also include a transmitting focusing and / or a receiving focusing process (essentially adjusting the placement of the matching lenses), as detailed below. The transmitting focusing process and the receiving focusing process are performed after the above-mentioned centering process is completed, i.e., centering is performed before focusing; in practice, the specific product (such as the transmitting / receiving module) can be used to determine whether the transmitting focusing process or the receiving focusing process is performed first.

[0130] (1) Launching and focusing process

[0131] The drive flipping structure 001 flips the target image card 009 so that the reflector 003 faces the downward-facing emission module; the lens adjustment structure 008 adjusts the position of the emission module lens 0071 relative to the constrained emission module (such as an already glued emission module); the camera captures the laser spot emitted by the constrained emission module through the emission module lens 0071 onto the reflector 003; the camera captures the image of the laser spot on the reflector 003, and calculates the focusing parameters used by the camera module to capture the laser spot; if the focusing parameters do not meet the preset conditions, the process returns to the step of adjusting the position of the emission module lens 0071 relative to the constrained emission module using the lens adjustment structure until the obtained focusing parameters meet the preset conditions, and then glue is applied to the emission module lens 0071 to complete the focusing adjustment of the emission module.

[0132] In some examples, the camera adjustment module may also include a lens loading platform 007 and a camera adjustment structure 012. Accordingly, the process of "adjusting the transmitting module lens 0071 using the lens adjustment structure 008" may include the following focusing and positioning steps: driving the lens gripper 006 to grip the transmitting module lens 0071 from the loading position of the lens loading platform 007, and using the lens adjustment structure 008 and the camera adjustment structure 012 to adjust the positions of the lens gripper 006 and the infrared camera 011 respectively.

[0133] See Figures 1 to 4 As described in the first aspect above, exemplarily, the above-described firing and focusing process may include the following operations:

[0134] A. Flip the reflector 003 to the vertically downward position.

[0135] B. Install the pre-applied transmitter module 017 onto the transmitter module fixture 0041;

[0136] C. Place the lens that matches the transmitting module (i.e., the transmitting module lens 0071) in the designated position on the loading platform, i.e., the loading position for placing the transmitting module lens 0071;

[0137] D. The lens is pushed to a specific position by the lens loading slide 016. This position allows the lens gripper 006 to easily grip the lens. The specific range of this position can be determined by the working space of the gripper, etc., and is not limited here. The lens loading slide 016 can be driven by the lens adjustment structure 008.

[0138] E. Using the lens adjustment structure 008 (which can be adjusted by the lens adjustment telescopic structure 015), move the lens gripper 006 to a suitable position to grip the lens and grip the transmitting module lens 0071.

[0139] F. After the lens is removed, the loading platform is restored to its original position (i.e., reset) by using the lens loading slide 016.

[0140] G. Move the lens adjustment mechanism 008 to a suitable focusing position using the lens adjustment telescopic mechanism 015 (such as a position that ensures the captured image is relatively clear, i.e., the image is not too blurry), to ensure that the lens and the transmitting module are in the appropriate relative position.

[0141] H. Light up the emitting module (specifically, light up at least part of the array area of ​​the chip), emit a laser, and after the laser is diffused through the lens, it is imaged on the reflector 003 to form a laser spot;

[0142] I. Take an image of the light spot on the reflector 003 using infrared camera 011 (e.g., ... Figure 7 As shown), calculate focusing parameters such as the center position of the bokeh, sharpness, and lens tilt angle, for example, by using preset algorithms such as image recognition; the center position of the bokeh can specifically refer to the center coordinates formed by the rectangular bokeh in the center, such as... Figure 7 The center coordinates shown are (1105.29215, 72746.500000); this sharpness can be the sharpness score of the spot image, and the lens tilt angle can be converted into the tilt of the laser bead to judge whether the tilt angle of the emission module meets the standard.

[0143] J. If the calculated focusing parameters do not meet the preset conditions, which specifically refer to the fact that each focusing parameter has its own suitable range (this range can be set according to the accuracy requirements of the transmitting module), then the lens adjustment structure 008 can be used to adjust the X, Y, and Z translation directions and the Rx, Ry, and Rz rotation directions of the lens clamp 006 to ensure that the obtained focusing parameters meet the preset conditions, that is, meet the functional requirements of the transmitting module.

[0144] K. After the above operations are completed, UV pre-curing of the lens can be performed (i.e., using ultraviolet light to cure the colloid), fixing the position between the lens and the firing module. Then, the lens clamp 006 is released, and the lens adjustment structure 008 is returned to its original position through the lens adjustment telescopic structure 015, completing the firing and focusing steps.

[0145] (2) Receiving and focusing process

[0146] The drive flipping structure 001 flips the reflector 003 so that the target image card 009 faces the receiving module below (the target image card 009 has its own pattern illuminated by an infrared lamp); the lens adjustment structure adjusts the position of the receiving module lens 0072 relative to the limited receiving module (the receiving module with glue applied); the receiving module captures the pattern image on the target image card 009 through the adjusted receiving module lens 0072; the focusing parameters of the receiving module used to capture the target image card 009 are calculated based on the target image card 009 captured after adjustment (e.g., by calculating relevant parameters through MTF (Modulation Transfer Function)); if the focusing parameters do not meet the preset conditions, the process returns to the step of adjusting the position of the receiving module lens 0072 relative to the limited receiving module using the lens adjustment structure until the obtained focusing parameters meet the preset conditions, thus completing the focusing adjustment of the receiving module.

[0147] See Figures 1 to 4 As described in the first aspect above, for example, the above-mentioned receiving focusing process may include the following operation (similar to the above-mentioned transmitting focusing process), in which the transmitting module may not be powered on (i.e., it may not emit laser):

[0148] A. Flip the target image card 009 to the vertically downward position;

[0149] B. Install the pre-applied receiving module onto the receiving module fixture 0042;

[0150] C. Place the receiving module's matching lens (i.e., receiving module lens 0072) in the designated position on the loading platform, i.e., the loading position for placing the receiving module lens 0072;

[0151] D. The lens is pushed to a specific position by the lens loading slide 016. This position allows the lens gripper 006 to easily grip the lens. The specific range of this position can be determined by the working space of the gripper, etc., and is not limited here. The lens loading slide 016 can be driven by the lens adjustment structure 008.

[0152] E. Using the lens adjustment structure 008 (which can be adjusted by the lens adjustment telescopic structure 015), move the lens gripper 006 to a suitable position to grip the lens and grip the receiving module lens 0072.

[0153] F. After the lens is removed, the loading platform is restored to its original position (i.e., reset) by using the lens loading slide 016.

[0154] G. Move the lens adjustment mechanism 008 to a suitable focusing position using the lens adjustment telescopic mechanism 015 (such as a position that ensures the captured image is relatively clear, i.e., the image is not too blurry), so as to ensure that the lens and the receiving module are in the appropriate relative position.

[0155] H. The receiving module powers on and captures an image of the target map (e.g., it has 5 built-in rectangular patterns). It then calculates focusing parameters such as the center position, sharpness, and lens tilt angle of the target map using this map (009), for example, through image recognition or other preset algorithms. The center position of this map can specifically refer to… Figure 8 The coordinates of the red dot in the middle;

[0156] J. If the calculated focusing parameters do not meet the preset conditions, which specifically refer to the fact that each focusing parameter has its own suitable range (this range can be set according to the specific receiving module), then the lens adjustment structure 008 can be used to adjust the X, Y, Z translation directions and Rx, Ry, Rz rotation directions of the lens clamp 006 to ensure that the obtained focusing parameters meet the preset conditions, that is, meet the functional requirements of the receiving module.

[0157] K. After the above operations are completed, UV pre-curing of the receiving module lens can be performed (i.e., using ultraviolet light to cure the colloid), so that the position between the receiving module lens and the receiving module is relatively fixed. Then, the lens clamp 006 is released, and the lens adjustment structure 008 is returned to its original position through the lens adjustment telescopic structure 015 to complete the receiving focusing step.

[0158] As described above, the embodiments of this application can automatically complete the launch focusing and reception focusing, provide real-time feedback on focusing parameters and make dynamic adjustments, avoiding human experience errors; the focusing process is integrated into the same device, eliminating the need for transfer modules and improving production efficiency (e.g., shortening the focusing time of a single module).

[0159] In reality, the pattern captured by the camera may differ from the actual pattern. For example, straight lines may be distorted into curves, or the pattern of the original target image card 009 may be obtained after camera distortion. Figure 9 The actual imaging effect shown (i.e., the pattern is somewhat distorted) necessitates a spot quality testing process for the emission module during laser product manufacturing. This process may include calculating camera distortion parameters and performing anti-distortion correction on the spot image (the purpose of which is to restore the true spot image).

[0160] Therefore, after completing the focusing and positioning of the transmitting module, the debugging method may further include a beam quality testing procedure for the transmitting module: acquiring a beam image of the reflector 003 after focusing and positioning; capturing the beam image of the reflector 003 after focusing and positioning using a camera, wherein the captured image is the laser beam emitted by the limited transmitting module onto the reflector 003; acquiring the camera distortion parameters; performing anti-distortion correction on the beam image of the reflector 003 after focusing and positioning using the camera distortion parameters, and calculating the anti-distortion image information to obtain the beam quality evaluation parameters of the transmitting module.

[0161] See Figures 1 to 4 As described in the first aspect above, exemplarily, the above-mentioned emission module spot quality testing process may include the following operations:

[0162] A. After the transmitting module has finished focusing, the infrared camera 011 captures the laser spot image on the reflector 003 after the transmitting module has finished focusing (i.e., limiting), and obtains the spot image.

[0163] B. Obtain the camera distortion parameters of the camera, which may include the distortion center (Cx, Cy) and distortion coefficient Lam of the infrared camera 011; call the above camera distortion parameters to perform anti-distortion correction on the spot image captured by operation A in order to restore the real spot image.

[0164] C. Calculate spot quality evaluation parameters such as spot width, total spot length, and total spot width on the image after distortion correction.

[0165] The above-mentioned spot quality testing procedures are integrated into the aforementioned debugging equipment, which avoids the trouble of having to independently equip testing equipment and spot quality testing stations in traditional solutions, and reduces equipment and site costs.

[0166] In some specific examples, the process of obtaining the camera distortion parameters described above may include the following operations: obtaining the coordinates of the constituent points of at least two reference lines drawn on the reflector 003; taking pictures of each reference line with the camera to obtain the coordinates of the constituent points of the curve formed by the camera distortion; and calculating the camera distortion parameters based on the coordinates of the constituent points of each reference line and the coordinates of the constituent points of the curve.

[0167] For example, before formally testing the spot quality, it is necessary to obtain the camera distortion parameters of infrared camera 011 (using the double-line method), as follows:

[0168] A. Draw two straight lines on reflector 003 as reference lines (e.g.) Figure 10 As shown), and obtain the coordinates of the constituent points of these two reference lines, such as the coordinates of the two endpoints and the center point of the line; or, at this time, there may be no light spot on the reflector 003 (i.e., the emitting module may not generate laser), and the reflector 003 may be the reflector 003 before or after focusing.

[0169] B. Using infrared camera 011 to photograph reflector 003, obtain the coordinates of the constituent points of each curve formed by the camera distortion of each reference line; based on the coordinates of the constituent points of the reference lines and curves, derive the constraint relationship (or system of equations) satisfied by the distortion parameters of infrared camera 011, determine the distribution range of the distortion parameters of infrared camera 011 in the image, construct the objective function for enumeration optimization of the distortion parameters of infrared camera 011, and obtain the optimal distortion parameters of infrared camera 011 through enumeration search; simply put, this constraint relationship can characterize the relationship between the distortion parameters of infrared camera 011, the coordinates of the constituent points of the reference lines, and the coordinates of the constituent points of the curves. Therefore, the distortion parameters of infrared camera 011 can be derived from the coordinates of the constituent points of the reference lines and curves and this constraint relationship.

[0170] The infrared camera 011 distortion parameters obtained above (such as distortion center (Cx, Cy) and distortion coefficient Lam) can be stored in a computer for subsequent distortion correction.

[0171] In some embodiments, the process of step S52, "the controller uses the module adjustment structure and camera module to center and adjust the transmitting module and the reflector," may specifically include the following operations: fixing the transmitting module on the transmitting module fixture 0041, illuminating at least a portion of the area array region of the transmitting module to form a characteristic beam, and projecting the characteristic beam onto the reflector 003 to form a characteristic spot; capturing an image of the characteristic spot on the reflector 003, and determining the coordinates of the characteristic spot using the image of the reflector 003; rotating the transmitting module horizontally by 180° and returning to the step of projecting the characteristic beam onto the reflector 003 to form a characteristic spot, obtaining the coordinates of the rotated characteristic spot; if the difference between the coordinates before and after rotation is greater than a threshold, adjusting the position of the transmitting module relative to the reflector 003 based on the coordinates before and after rotation until the target spot coordinates with a coordinate difference less than or equal to the threshold are obtained; the target spot coordinates are used to determine the center point position of the transmitting module.

[0172] The coordinates of the feature spot can be determined by the coordinate information of multiple pixels (which can be understood as light-emitting points) in the light spot image of reflector 003. These coordinates can be the center coordinates formed by a group or more rectangular light spots, or the corner coordinates formed by the edges and corners of this or more groups of light spots. These coordinates can be used to characterize the overall position information of the feature spot, and can be used for coordinate comparison in the future to determine the center point position of the transmitting module.

[0173] To determine the center coordinates of a feature light spot, for example, an image recognition algorithm can be used to analyze the collected coordinates of multiple pixels, deriving the center of the entire set of multiple rectangular light spots from the center of a single rectangular light spot. The specific process is as follows:

[0174] 1. Center calculation of a single rectangular light spot (based on pixel clustering)

[0175] Image recognition algorithms first perform cluster analysis on the captured pixels:

[0176] Since each rectangular light spot's pixels (light-emitting points) form an independent "high-brightness pixel group" in the image, the algorithm uses a grayscale threshold to filter (distinguish between light spot pixels and background pixels), thus... Figure 4 The pixel groups corresponding to the five rectangular light spots shown were extracted respectively.

[0177] For each pixel group (i.e. a single rectangular spot), calculate its geometric center: by statistically analyzing the mean X coordinate X_avg=ΣXi / n and the mean Y coordinate Y_avg=ΣYi / n of all pixels in the group, obtain the center coordinates of a single rectangular spot, such as the center of the first rectangle (X1,Y1), the center of the second rectangle (X2,Y2)...the center of the fifth rectangle (X5,Y5), where n is the number of pixels in a single pixel group.

[0178] 2. Calculation of the center of the overall characteristic light spot (based on symmetrical light spot matching)

[0179] Based on a symmetrical layout of 5 rectangular light spots, such as "1 rectangular light spot at the center + 4 symmetrical rectangular light spots in the top, bottom, left, and right directions", the algorithm determines the overall center of these 5 rectangular light spots through the following logic:

[0180] We can first locate a rectangular light spot at the center position: its center coordinates (X0, Y0) can be used as an initial reference;

[0181] Next, verify the center-to-center line of the four symmetrical rectangular light spots: the line connecting the center of the upper rectangle (X_up, Y_up) and the center of the lower rectangle (X_down, Y_down) is perpendicular to the horizontal direction, and the coordinates of the midpoint of this symmetry are ((X_up + X_down) / 2, (Y_up + Y_down) / 2); the line connecting the center of the left rectangle (X_left, Y_left) and the center of the right rectangle (X_right, Y_right) is horizontal, and the coordinates of the midpoint of this symmetry are ((X_left + X_right) / 2, (Y_left + Y_right) / 2).

[0182] If the difference between the midpoint of the aforementioned symmetry and the center of the central rectangle (X0, Y0) is within the allowable range, then (X0, Y0) is determined as the center coordinate of the feature spot. Otherwise, the algorithm can take the average of all symmetry midpoints and the center of the central rectangle as the center to reduce the error of a single rectangular spot.

[0183] In other embodiments, the center coordinates of the feature spot can also be obtained by reasoning from the input image using a pre-trained artificial intelligence module.

[0184] The center coordinates of the characteristic light spot determined above can be used for subsequent verification and correction. The corrected center coordinates can be as described above (990, 2760). This verification and correction process can be carried out by comparing the difference between the center coordinates of the characteristic light spot before and after the horizontal rotation of the transmitting module by 180°. If the difference between the coordinates before and after the rotation is greater than a threshold, the controller can adjust the position of the transmitting module relative to the reflector 003 based on the coordinates before and after the rotation (i.e., correction) until the center coordinates of the target light spot with a coordinate difference less than or equal to the threshold are obtained.

[0185] In practical applications, the size of the above threshold depends mainly on the accuracy requirements of the product. Generally, the smaller the better. The specific value range of the above threshold can be set according to the actual situation, and there is no limit here.

[0186] For example, the target spot coordinates mentioned above can specifically refer to the center coordinates of the spot after the coordinate difference is small enough. Since the position information such as the center of the spot can directly reflect the center position of the transmitting module, the center point of the transmitting module can be found based on the target spot coordinates mentioned above.

[0187] As explained above, this application embodiment does not require additional centering fixtures. By cleverly utilizing the coordinate difference of the characteristic light spot emitted by the laser chip before and after rotation, the position of the transmitting module relative to the reflector 003 can be adjusted so that the center points of the transmitting module and the reflector 003 are aligned, thereby efficiently and cost-effectively fulfilling the requirement of finding the center point of the transmitting module.

[0188] In summary, this application proposes a solution that integrates centering, transmitting focus, and receiving focus processes. It achieves this by designing a flip structure 001 that is compatible with both the reflector 003 required for the transmitting module's focusing and the target pattern card 009 required for the receiving module's focusing. Furthermore, it includes a lens-carrying fixture (i.e., a lens loading platform 007) compatible with both the transmitting module lens 0071 and the receiving module lens 0072. Finally, it designs a universal fixture compatible with the mainboards of the transmitting module 017 and the receiving module 018. This solution simplifies the process flow and reduces equipment investment.

[0189] Furthermore, in this embodiment, the infrared camera 011 required for focusing the emission module and the dual-linear method can be used to integrate the emission module spot quality detection station into an integrated focusing device, thereby eliminating the detection station and reducing the station design cost.

[0190] In summary, the embodiments of this application integrate radar transmitting and receiving module focusing into one device through a new focusing device structure, and integrate the light spot quality testing function of the transmitting module, thereby reducing the cost of radar focusing equipment. It can be mainly applied to the assembly and manufacturing process of radar transceiver modules such as active alignment (AA), thereby reducing the overall input costs of manpower, equipment, site, and time.

[0191] Please see Figure 11 The electronic device in this application embodiment may include one or more processors (such as a central processing unit, CPU) and a memory, in which one or more applications or data are stored.

[0192] The memory can be volatile or persistent. The program stored in the memory can include one or more modules, each module including a series of instruction operations on the electronic device. Furthermore, the processor can be configured to communicate with the memory and execute the series of instruction operations stored in the memory on the electronic device.

[0193] Electronic devices may also include one or more power supplies, one or more wired or wireless network interfaces, one or more input / output interfaces, and / or one or more operating systems, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc.

[0194] The processor can perform the operations performed by the second aspect or any specific method embodiment of the second aspect, which will not be described in detail here.

[0195] This application provides a computer-readable storage medium including instructions that, when executed on a computer, cause the computer to perform the method described in the second aspect or any specific implementation thereof.

[0196] This application provides a computer program product containing instructions or computer programs, which, when run on a computer, causes the computer to perform the method described in the second aspect or any specific implementation thereof.

[0197] It is understood that in the various embodiments of this application, the sequence number of each step does not imply the order of execution. The execution order of each step should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The operations added or refined to the above-described methods, systems, or devices (if any) may not necessarily be executed in specific implementations. If more than two operations are added, these operations can be implemented in combination or individually, depending on the actual scenario.

[0198] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system (if it exists) and device described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0199] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system or apparatus, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0200] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0201] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0202] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product (or computer program product) is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a business server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A debugging device for a lidar module, characterized in that, It includes the following modules: imaging structure, flip structure, transmitting module fixture, receiving module fixture, module adjustment structure, and camera module; The imaging structure is horizontally mounted above other modules in the debugging equipment, and horizontally movable reflectors and charts are installed on the front and back sides facing the other modules, respectively. The flipping structure is used to flip the front and back sides of the imaging structure connected to it. The transmitting module fixture and the receiving module fixture are set at a front-to-back interval according to a preset reference; the preset reference is used to keep the centers of the transmitting module on the transmitting module fixture and the receiving module on the receiving module fixture on the same straight line; The module adjustment structure is used to adjust the six-axis directions of the transmitting module fixture and the receiving module fixture connected thereto, respectively. The camera module is used to capture the laser spot emitted by the transmitting module onto the reflector.

2. The debugging equipment according to claim 1, characterized in that, The preset benchmark is that the centers of the transmitting module fixture and the receiving module fixture are on the same straight line; The positioning holes of the transmitting module fixture are set according to the center line of the transmitting module and are used to fix the transmitting module. The positioning holes of the receiving module fixture are set according to the center line of the receiving module and are used to fix the receiving module.

3. The debugging equipment according to claim 2, characterized in that, The positioning holes of the launching module fixture are located on the center line of the launching module, or are symmetrically distributed along the center line of the launching module; The positioning holes of the receiving module fixture are located on the center line of the receiving module, or are symmetrically distributed along the center line of the receiving module.

4. The debugging equipment according to any one of claims 1-3, characterized in that, The debugging equipment further includes a camera adjustment module; the camera adjustment module is used to adjust the position of the camera module connected to it.

5. The debugging equipment according to claim 4, characterized in that, The camera adjustment module includes a lens loading platform, a lens adjustment structure, and a camera adjustment structure. The camera module includes a camera, a transmitting module lens, and a receiving module lens. The two sets of loading positions in the lens loading platform are respectively used to place the transmitting module lens and the receiving module lens; The lens adjustment structure is used to adjust the position of the target module lens held by the lens gripper; The target module lens is either the transmitting module lens or the receiving module lens; The camera adjustment structure is used to adjust the position of the camera so that the camera can capture a complete bokeh image or a map image.

6. The debugging equipment according to any one of claims 1-3, characterized in that, The debugging equipment further includes an imaging adjustment structure; the imaging adjustment structure is used to adjust the height of the imaging structure component connected thereto.

7. The debugging equipment according to any one of claims 1-3, characterized in that, The debugging equipment also includes: a relay mirror and a telescopic structure for the relay mirror; The telescopic structure of the relay mirror is used to adjust the position of the relay mirror relative to the transmitting module fixture and the receiving module fixture below.

8. A method for debugging a lidar module, characterized in that, Applied to the debugging equipment according to any one of claims 1 to 7, comprising: The transmitting module and the receiving module to be debugged are fixed on the transmitting module fixture and the receiving module fixture, respectively; the preset references satisfied by the positions of the transmitting module fixture and the receiving module fixture are used to keep the centers of the transmitting module and the receiving module on the same straight line. The centering adjustment of the transmitting module and the reflector is performed using a module adjustment structure and a camera module, so that the centers of the transmitting module and the reflector are on the same straight line, and the center point position of the transmitting module is obtained. The driving flip structure flips the reflector so that the pattern card faces the receiving module below, and the camera module captures the pattern image on the pattern card. The horizontal position of the pattern card is adjusted until the center of the captured pattern card image is aligned with the center point of the transmitting module, so as to achieve the limiting target between the modules. The limiting target between the modules is that the centers of the transmitting module, the receiving module, the reflector, and the pattern card are all on the same straight line.

9. The debugging method according to claim 8, characterized in that, The camera adjustment module in the debugging equipment includes a lens adjustment structure. When the camera module includes a camera, a transmitting module lens, and a receiving module lens, the method further includes: The flip structure is driven to flip the card so that the reflector faces the downward-facing emission module; The position of the transmitting module lens relative to the limited transmitting module is adjusted using the lens adjustment structure; the laser spot emitted by the limited transmitting module through the transmitting module lens onto the reflector is captured by the camera. Using the reflector spot image captured by the camera, the focusing parameters of the camera module when capturing the light spot of the transmitting module are calculated; if the focusing parameters do not meet the preset conditions, the process returns to the step of adjusting the position of the transmitting module lens relative to the limited transmitting module using the lens adjustment structure until the obtained focusing parameters meet the preset conditions, thereby completing the focusing adjustment of the transmitting module. And / or, The drive flip structure flips the reflector so that the card faces the receiving module below; The position of the receiving module lens relative to the limited receiving module is adjusted using the lens adjustment structure; the receiving module captures the pattern image provided by the image card through the adjusted receiving module lens. The focus parameters of the receiving module when shooting the image of the card are calculated based on the image of the card after the adjustment. If the focus parameters do not meet the preset conditions, the process returns to the step of adjusting the position of the receiving module lens relative to the receiving module after the limit is set using the lens adjustment structure, until the obtained focus parameters meet the preset conditions, so as to complete the focus adjustment of the receiving module.

10. The debugging method according to claim 9, characterized in that, The camera adjustment module also includes a lens loading platform and a camera adjustment structure. The process of adjusting the lens of the transmitting module using the lens adjustment structure includes the following focus adjustment steps: The drive lens gripper picks up the transmitting module lens from the loading position of the lens loading platform, and uses the lens adjustment structure and the camera adjustment structure to adjust the positions of the lens gripper and the camera respectively; After completing the focus adjustment of the transmitting module, the debugging method further includes: Acquire the reflector spot image after focus adjustment; the reflector spot image after focus adjustment is captured by the camera, and the captured image is the laser spot emitted by the emission module onto the reflector after being positioned. Obtain the camera distortion parameters of the camera; The camera distortion parameters are used to perform anti-distortion correction on the reflector spot image after focus adjustment, and the image information after anti-distortion is calculated to obtain the spot quality evaluation parameters of the transmitting module.

11. The debugging method according to claim 10, characterized in that, The process of obtaining the camera distortion parameters of the camera includes: Obtain the coordinates of the constituent points of at least two reference lines drawn on the reflector; The camera is used to photograph each of the reference lines to obtain the coordinates of the points that make up the curve formed by the camera distortion. The camera distortion parameters are calculated based on the coordinates of the constituent points of each of the reference lines and the coordinates of the constituent points of each curve.

12. The debugging method according to claim 8, characterized in that, The alignment adjustment of the transmitting module and reflector using the module adjustment structure and camera module includes: The transmitting module is fixedly placed on the transmitting module fixture, at least a portion of the area array region of the transmitting module is illuminated to form a characteristic beam, and the characteristic beam is projected onto the reflector to form a characteristic light spot; The characteristic light spot is captured to obtain a reflector light spot image, and the coordinates of the characteristic light spot are determined by the reflector light spot image; Rotate the transmitting module horizontally by 180° and return to the step of projecting the characteristic beam onto the reflector to form a characteristic spot, to obtain the coordinates of the rotated characteristic spot; If the difference between the coordinates before and after rotation is greater than a threshold, the position of the transmitting module relative to the reflector is adjusted based on the coordinates before and after rotation until the target light spot coordinates are obtained with the coordinate difference less than or equal to the threshold; the target light spot coordinates are used to determine the center point position of the transmitting module.

13. An electronic device, characterized in that, include: Processor and memory; The processor is configured to communicate with the memory and execute instructions in the memory to implement the method of any one of claims 8 to 12.

14. A readable storage medium, characterized in that, The readable storage medium stores computer instructions that, when executed by a processor, implement the method as described in any one of claims 8 to 12.

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