Laser radar installation and adjustment device, installation and adjustment method, storage medium and product

Abstract

The invention provides a laser radar installation and adjustment device, an installation and adjustment method, a storage medium and a product. The device comprises an installation and adjustment module used for clamping a photoelectric detection array in the laser radar; and the control module is used for acquiring the first light spot image and driving the adjustment module to adjust the position and / or angle of the photoelectric detection array based on the first light spot image, so that the photoelectric detection array is located on the focal point of the receiving lens in the horizontal direction and the focal point of the receiving lens in the vertical direction. Through the adjustment device provided by the invention, the adjustment of the laser radar with the receiving lenses with different horizontal focal lengths and vertical focal lengths can be realized.

Description

Technical Field

[0001] This disclosure relates to the field of lidar technology, and in particular to a lidar assembly and adjustment device, assembly and adjustment method, computer storage medium, and product. Background Technology

[0002] Currently, the receiving lens in lidar is typically a circular lens with the same focal length in both the horizontal and vertical directions. However, in some cases, to improve the dynamic range of the lidar, the receiving lens can be set as a cylindrical lens with different focal lengths in the horizontal and vertical directions. Because circular and cylindrical lenses have different focal lengths, the assembly and adjustment devices and methods used for lidar with circular lenses are not suitable for assembling lidar with lenses having different horizontal and vertical focal lengths. Therefore, there is an urgent need to provide an assembly and adjustment device and method to achieve the assembly and adjustment of lidar with lenses having different horizontal and vertical focal lengths. Summary of the Invention

[0003] This disclosure provides a lidar assembly and adjustment device, assembly and adjustment method, computer storage medium, and product, which can realize the assembly and adjustment of lidar with lenses having different horizontal and vertical focal lengths.

[0004] The first aspect of this disclosure provides an assembly and adjustment device for a lidar, wherein the lens on the lidar has different focal lengths in the horizontal and vertical directions; the device includes: an assembly and adjustment module for holding a photoelectric detection array in the lidar; and a control module for acquiring a first light spot image and, based on the first light spot image, driving the assembly and adjustment module to adjust the position and / or angle of the photoelectric detection array, such that the photoelectric detection array is located at the focal points of the lens in the horizontal and vertical directions, wherein the first light spot image is formed based on a first echo beam reflected by a first retroreflective film received by the photoelectric detection array, the first retroreflective film covering a first region of a first reflective plate disposed in the optical path of the lidar, the size of the first retroreflective film being positively correlated with the focal length of the lens in the vertical and horizontal directions, and the size of the first retroreflective film being smaller than the size of the light spot formed by the emitted beam of the lidar on the first reflective plate.

[0005] In some embodiments, the control module is further configured to drive the assembly module to adjust the position and / or angle of the photoelectric detection array based on the size of the first spot image in the horizontal direction, the size in the vertical direction, and / or the sharpness of the first spot image.

[0006] In some embodiments, the control module is further configured to determine that the photodetector array is located at the focal point of the lens in the horizontal direction and the focal point in the vertical direction when the size of the first spot image in both the horizontal and vertical directions is minimized.

[0007] In some embodiments, the control module is further configured to drive the adjustment module to fix the position and angle of the photodetector array when it is determined that the photodetector array is located at the focal point of the lens in the horizontal direction and the focal point in the vertical direction.

[0008] In some embodiments, the control module is further configured to filter out a second echo beam received by the photodetector array before forming the first light spot image. The second echo beam is reflected by a second region on the first reflector that is not covered by the first retroreflective film.

[0009] In some embodiments, the control module is further configured to acquire a second spot image and, based on the second spot image, drive the assembly and adjustment module to adjust the position and / or angle of each detection unit on the photoelectric detection array, so that the emitted beam of the lidar is reflected by the second retroreflective film and incident on a preset area on the photoelectric detection array. The second spot image is formed based on the third echo beam reflected by the second retroreflective film received by the photoelectric detection array. The second retroreflective film covers a second reflective plate disposed on the optical path of the lidar, and the size of the second retroreflective film is greater than or equal to the size of the spot formed by the emitted beam of the lidar on the second reflective plate.

[0010] In some embodiments, the control module is further configured to drive the assembly module to adjust the position and / or angle of each detection unit on the photoelectric detection array based on the pixel coordinates of each pixel in the second spot image.

[0011] In some embodiments, the control module is further configured to drive the adjustment module to fix the position and angle of the detection unit when the emitted beam of the lidar is reflected by the second retroreflective film and incident on a preset area on the photoelectric detection array.

[0012] A second aspect of this disclosure provides an assembly and adjustment method for an assembly and adjustment device of a lidar according to any of the above claims. The method includes: driving an assembly and adjustment module to clamp a photoelectric detection array on the lidar; acquiring a first light spot image, wherein the first light spot image is formed based on a first echo beam reflected by a first retroreflective film received by the photoelectric detection array, the first retroreflective film covering a first region of a first reflective plate disposed on the optical path of the lidar, the size of the first retroreflective film being positively correlated with the focal length of the lens in the vertical and horizontal directions, and the size of the first retroreflective film being smaller than the size of the light spot formed by the emitted beam of the lidar on the first reflective plate; and based on the first light spot image, driving the assembly and adjustment module to adjust the position and / or angle of the photoelectric detection array, such that the photoelectric detection array is located at the focal point of the lens in the horizontal direction and the focal point in the vertical direction.

[0013] In some embodiments, driving the assembly and adjustment module to adjust the position and / or angle of the photodetector array based on the first spot image includes: driving the assembly and adjustment module to adjust the position and / or angle of the photodetector array based on the horizontal size, the vertical size and / or the sharpness of the first spot image.

[0014] In some embodiments, the method further includes: when the size of the first spot image in both the horizontal and vertical directions is minimized, determining that the photodetector array is located at the focal point of the lens in both the horizontal and vertical directions.

[0015] In some embodiments, the method further includes: when the photodetector array is located at the focal point of the lens in the horizontal direction and the focal point in the vertical direction, driving the adjustment module to fix the position and angle of the photodetector array.

[0016] In some embodiments, the method further includes: filtering out a second echo beam received by the photodetector array before forming a first spot image, the second echo beam being reflected by a second region on the first reflector that is not covered by the first retroreflective film.

[0017] In some embodiments, the method further includes: acquiring a second spot image, wherein the second spot image is formed based on a third echo beam reflected by a second retroreflective film received by the photodetector array, the second retroreflective film covering a second reflective plate disposed on the optical path of the lidar, and the size of the second retroreflective film being greater than or equal to the size of the spot formed by the emitted beam of the lidar on the second reflective plate; and based on the second spot image, driving the assembly module to adjust the position and / or angle of each detection unit on the photodetector array so that the emitted beam of the lidar is reflected by the second retroreflective film and incident on a preset area on the photodetector array.

[0018] In some embodiments, driving the assembly and adjustment module to adjust the position and / or angle of each detection unit on the photodetector array based on the second spot image includes: driving the assembly and adjustment module to adjust the position and / or angle of each detection unit on the photodetector array based on the pixel coordinates of each pixel in the second spot image.

[0019] In some embodiments, the method further includes: when the emitted beam of the lidar is reflected by the second retroreflective film and incident on a preset area on the photoelectric detection array, driving the assembly module to fix the position and angle of the detection unit.

[0020] A third aspect of this disclosure provides a lidar assembly and adjustment apparatus, comprising: a memory for storing executable instructions; and a processor for executing the executable instructions stored in the memory to implement the method provided in this disclosure.

[0021] A fourth aspect of this disclosure provides a computer-readable storage medium storing executable instructions for implementing the method provided herein when executed by a processor.

[0022] A second aspect of this disclosure provides a computer program product, including a computer program or instructions, which, when executed by a processor, implement the methods provided in this disclosure.

[0023] The technical solution provided in this disclosure may include the following beneficial effects:

[0024] In this disclosure, a first retroreflective film covering a first reflector plate can reflect the laser emitted by the lidar to the photodetector array. Since the horizontal dimension of the first retroreflective film is positively correlated with the horizontal focal length of the receiving lens, and the vertical dimension of the first retroreflective film is also positively correlated with the vertical focal length of the receiving lens, and the size of the first retroreflective film is smaller than the size of the light spot formed by the laser emitted by the laser emission module on the first reflector plate, the first light spot image obtained by the first echo beam reflected from the first retroreflective film to the photodetector array is the image of the first retroreflective film. Based on imaging principles, the quality of the first light spot image is related to the relative position and angle between the photodetector array and the receiving lens. Therefore, the control module can adjust the position and angle of the photodetector array based on the first light spot image, so that the photodetector array is located at the horizontal and vertical focal points of the receiving lens, thereby achieving the assembly and adjustment of the lidar with receiving lenses having different horizontal and vertical focal lengths. Attached Figure Description

[0025] Figure 1 The diagram shown is a schematic representation of the composition of a lidar system provided in an embodiment of this disclosure;

[0026] Figure 2a The illustration shows an example of the laser emission point distribution during field scanning by a lidar system provided in an embodiment of this disclosure;

[0027] Figure 2b The illustration shows an example of the receiving field of view of a lidar system provided by an embodiment of this disclosure;

[0028] Figure 2c The illustration shows a structural example of an optical receiver for a lidar system provided in an embodiment of this disclosure;

[0029] Figure 2d This illustration shows an example of the correspondence between the laser emission point and the receiving field of view of a lidar system provided in an embodiment of this disclosure;

[0030] Figure 3The diagram shown is a schematic representation of a first spot image provided by an embodiment of the present disclosure;

[0031] Figure 4 The diagram shown is a schematic representation of the assembly and adjustment process of a lidar according to an embodiment of the present disclosure;

[0032] Figure 5 The illustration shows a schematic of a first retroreflective film provided in an embodiment of this disclosure;

[0033] Figure 6 The diagram shown is a schematic representation of a second spot image provided by an embodiment of this disclosure;

[0034] Figure 7 The diagram shown illustrates the assembly and adjustment process of another lidar provided in an embodiment of this disclosure.

[0035] Figure 8 The diagram shown is a flowchart illustrating an assembly and adjustment method provided by an embodiment of this disclosure.

[0036] Figure 9 The diagram shown is a configuration block diagram of an assembly and adjustment device provided in an embodiment of the present disclosure. Detailed Implementation

[0037] The following detailed description is based on the accompanying drawings and provides various exemplary embodiments of the present disclosure to aid in a comprehensive understanding. Various details are included in the following description to aid understanding; however, these details are considered exemplary only and not intended to limit the present disclosure, which is defined by the appended claims and their equivalents. The words and phrases used in the following description are intended only to provide a clear and consistent understanding of the present disclosure. Additionally, descriptions of well-known structures, functions, and configurations may have been omitted for clarity and brevity. Those skilled in the art will recognize that various changes and modifications can be made to the examples described herein without departing from the scope of the present disclosure.

[0038] Figure 1An exemplary lidar system 100 is shown, which can be applied to the techniques disclosed herein. The lidar system 100 may include a light source 102, a scanner 104, a photodetector array 106, and a controller 108. The light source 102 emits an emission beam for scanning a target object 120. The light source 102 may be a laser, such as a solid-state laser (e.g., an edge-emitting laser (EEL), a vertical-cavity surface-emitting laser (VCSEL), or an external-cavity semiconductor laser (ECDL)), a laser diode, or a fiber laser. The light source 102 may also include an LED. The light source 102 may emit different forms of light beams, including pulsed light (TOF), continuous light (CW), and quasi-continuous light. The operating wavelength of the light source may be 650 nm to 1150 nm, 800 nm to 1000 nm, 850 nm to 950 nm, or 1300 nm to 1600 nm. In one or more embodiments, the light source 102 may further include optical components optically coupled to the light source 102 for collimating or focusing the light beam emitted by the light source 102. In one or more embodiments, the light source 102 includes at least one fiber laser. Each emitted light beam from the light source 102 may be continuous light lasting for a certain period of time, or it may be one or more light pulses.

[0039] Scanner 104 is used to deflect the direction of the emitted beam from light source 102 to scan target object 120, achieving a wider emission field of view or scanning field of view. Scanner 104 can be any number of optical mirrors driven by any number of drivers. For example, scanner 104 may include plane mirrors, prisms, mechanical galvanometers, polarization gratings, optical phased arrays (OPA), and microelectromechanical systems (MEMS) galvanometers. For MEMS galvanometers, the mirror surface rotates or translates in one or two dimensions under electrostatic / piezoelectric / electromagnetic actuation. Driven by the drivers, scanner 104 guides the beam from the light source to various positions within the field of view to scan target object 120 within the field of view.

[0040] After the light beam is reflected from the target object 120, a portion of the reflected light returns to the lidar system 100 and is received by the photodetector array 106. The photodetector array 106 receives and detects a portion of the reflected light from the target object 120 and generates a corresponding electrical signal. The photodetector array 106 may include detection units and associated receiving circuits. Each receiving circuit can be used to process the output electrical signal of the corresponding detection unit. The detection unit includes various forms of photodetectors or one-dimensional or two-dimensional arrays of photodetectors; correspondingly, the receiving circuit can be a single circuit or an array of multiple circuits. The photodetector measures the power, phase, or time characteristics of the reflected light and generates a corresponding current output. The photodetector can be an avalanche diode (APD), a single-photon avalanche diode (SPAD), a PN photodiode, or a PIN photodiode.

[0041] Controller 108 is communicatively coupled to one or more of the light source 102, scanner 104, and photodetector array 106. Controller 108 can control whether and when the light source 102 emits a beam. Controller 108 can control the scanner 104 to scan the beam to a specific location. Controller 108 can process and analyze the electrical signals output by the photodetector array to ultimately determine the position, velocity, and other characteristics of the target object 120. Controller 108 may include an integrated circuit (IC), application-specific integrated circuit (ASIC), microchip, microcontroller, central processing unit, graphics processing unit (GPU), digital signal processor (DSP), field-programmable gate array (FPGA), or other circuitry suitable for executing instructions or implementing logic operations. Instructions executed by controller 108 can be preloaded into an integrated or separate memory (not shown). The memory can store configuration data or commands for the light source 102, scanner 104, or photodetector array 106. The memory can also store electrical signals output from the photodetector array 106 or analysis results based on the output electrical signals. For example, the memory can store relevant information about stray light signals detected during the calibration period for use in subsequent working periods. The memory may include random access memory (RAM), read-only memory (ROM), hard disk, optical disk, magnetic disk, flash memory, or other volatile or non-volatile memory. The controller 108 may include one or more processing circuits. In the case of multiple processing circuits, each processing circuit may have the same or different constructions and interact or cooperate with each other through electrical, magnetic, optical, acoustic, mechanical, or other means.

[0042] In one or more embodiments, the lidar system 100 may further include an emitting lens 110. The emitting lens 110 may be used to expand a light beam emitted by the light source 102 and directed by the scanner 104. The emitting lens 110 may include diffractive optical elements (DOEs) for shaping, separating, or diffusing the light beam. The emitting lens 110 may be present independently or integrated into other components (e.g., the scanner 104 or the light source 102). The position of the emitting lens 110 in the emission optical path from the light source to the target object is not limited to... Figure 1 As shown in the diagram, the position can be changed to another location. For example, the emitting lens can be arranged between the light source 102 and the scanner 104, so that the beam emitted by the light source 102 is first expanded by the emitting lens and then redirected by the scanner.

[0043] In one or more embodiments, the lidar system 100 may further include a receiving lens 112. The receiving lens 112 is positioned in front of the photodetector array 106 along the receiving path of the emitted light from the target object 120 to the photodetector array 106. The receiving lens 112 may include an imaging system lens such that the focal point of the reflected beam is in front of or behind the detection surface of the photodetector or photodetector array, or exactly above the detection surface. In some cases, instead of existing as a separate component, the receiving lens 112 may also be integrated into the photodetector array 106.

[0044] In one or more embodiments, the lidar system 100 may further include a housing 114 for enclosing one or more of the aforementioned components therein for protection. In some embodiments, the housing 114 is made of an opaque material, and transparent areas or windows 116 may be provided on the housing 114 to allow the emitted or reflected beam to pass through. In other embodiments, the housing 114 itself is made of a transparent material, thereby allowing the emitted or reflected beam to pass through from any location.

[0045] In some embodiments, the lidar system 100 may include a coaxial optical transceiver system. A coaxial optical transceiver system refers to a transmission path from the light source 102 to the target object 120 that at least partially overlaps with the reception path from the target object 120 to the photodetector array 106. For example, with... Figure 1 Unlike the previous method, the reflected beam can travel in the opposite direction through the scanner 104 to reach the photodetector array 106. For a coaxial optical transceiver system, not only does the exit angle of the emitted beam change with the deflection of the scanner, but the receiving angle of the light that the photodetector array can receive also changes synchronously with the deflection of the scanner. That is, the receiving field of view always remains equivalent to the scanning range of the emitted beam.

[0046] In other embodiments, the lidar system 100 may include a non-coaxial optical transceiver system. A non-coaxial optical transceiver system refers to a system where the transmission path from the light source 102 to the target object 120 does not overlap with the receiving path from the target object 120 to the photoelectric detection array 106. For example, as... Figure 1 As shown, the reflected beam does not reach the photodetector array 106 via the scanner 104. For a non-coaxial optical transceiver system, although the exit angle of the emitted beam changes with the deflection of the scanner, the total receiving field of view of the photodetector array is fixed and does not change with the deflection of the scanner.

[0047] A lidar system can control a scanner to guide the emitted beam according to a predetermined scanning pattern. Typically, the scanner presents a closed scanning pattern in space and repeats the scan periodically. Common scanning patterns include row and column grating, Lissajous figures, and spiral patterns. Figure 2aThis diagram illustrates an example of a laser point cloud when a lidar system scans according to a row-and-column raster scanning pattern. Each pixel 204 in the point cloud represents the position where the scanner guides the emitted beam into the emission field of view (or scanning field of view). The collection of all pixels 204 constitutes the emission field of view 202 of the lidar system. Depending on the predetermined scanning pattern, the emission field of view 202 can have various shapes, and is not limited to these. Figure 2a The rectangular shape shown. Each pixel 204 can be associated with one or more emitted beams or one or more measurements.

[0048] Figure 2b An example of the receiving field of view distribution of a lidar system including a non-coaxial optical transceiver system is shown. In this example, the photoelectric detection array of the lidar system consists of multiple receiving submodules, each including one or more detection units and their corresponding receiving circuitry. Each receiving submodule is capable of receiving reflected light within a relatively small range. For example, Figure 2b Each rectangle 208 represents the range of reflected light that a corresponding receiving submodule of the lidar system can receive, also known as the receiving field of view of the corresponding receiving submodule. The collection of the receiving fields of view of all receiving submodules constitutes the total receiving field of view 206 of the photoelectric detection array.

[0049] Figure 2c It shows how to provide Figure 2b A schematic diagram of the photoelectric detection array of a receiving field-of-view lidar system. The photoelectric detection array includes one or more detection units 210 and corresponding one or more receiving circuits 214. The detection units 210 are connected to the corresponding receiving circuits 214 via electrical connectors 212. For example, Figure 2b The receiving field of view 208 in the middle corresponds to Figure 2c The receiving submodule consists of the detection sub-unit 216 and the corresponding receiving sub-circuit 218.

[0050] Figure 2d It shows having Figure 2a Scanning laser point cloud and Figure 2b This is an example of the correspondence between laser emission and the receiving field of view in a lidar system during normal operation. During normal operation, as the scanner deflects, the emitted beam is directed to different positions within the emission field of view. The controller instructs the receiving submodule in the photodetector array corresponding to that position to activate, thereby receiving the reflected beam and completing the measurement. For example, pixel 222 could correspond to... Figure 2a Pixel 204 in the middle, the receiving field of view 220 can correspond to Figure 2b The receiving field of view 208 is used. When the lidar system generates an emitted beam pointing towards pixel 222, the receiving submodule corresponding to the receiving field of view 220 needs to be turned on, i.e., it can be turned on. Figure 2c The receiver submodule includes a detector subunit 216 and a receiver subcircuit 218. In the photoelectric detector array, the receiver submodules other than those corresponding to the receiving field of view 220 can be turned off or put into sleep mode.

[0051] It should be recognized that, Figures 2a to 2d The illustrated transmit field of view, receive field of view, and corresponding receive submodule distribution are merely schematic. The lidar system according to this disclosure may have different scanning patterns, transmit field of view, receive field of view distributions, shapes, numbers, and distributions of receive submodules, as well as different correspondences between the transmit and receive fields of view.

[0052] The above Figure 1 The lidar in the lidar system shown can be a lidar after the photoelectric detection array on the lidar has been assembled and adjusted by the assembly and adjustment device and assembly and adjustment method provided in the embodiments of this disclosure.

[0053] In some embodiments, since the focal length of the circular lens is the same in both the horizontal and vertical directions, the clarity of the light spot formed on the photodetector array by the echo beam passing through the circular lens is the same in both the horizontal and vertical directions. Therefore, if the receiving lens in the lidar is a circular lens, during the lidar assembly and adjustment process, the photodetector array can be adjusted to the focal point of the receiving lens based on the clarity of the light spot formed by the echo beam receiving the light beam through the receiving lens and the light spot formed by the echo beam in one direction.

[0054] However, when the focal length of the receiving lens in a lidar differs between the horizontal and vertical directions—for example, when the receiving lens is a cylindrical lens—the clarity of the light spot formed by the echo beam passing through the receiving lens will differ between the horizontal and vertical directions. Therefore, the above method cannot be used to adjust lidars with receiving lenses having different horizontal and vertical focal lengths.

[0055] To address the aforementioned issues, this disclosure provides an assembly and adjustment device for a lidar, wherein the lens on the lidar has different focal lengths in the horizontal and vertical directions. The device includes: an assembly and adjustment module for holding a photoelectric detection array in the lidar; and a control module for acquiring a first light spot image and, based on the first light spot image, driving the assembly and adjustment module to adjust the position and / or angle of the photoelectric detection array, such that the photoelectric detection array is located at the focal points of the lens in the horizontal and vertical directions. The first light spot image is formed based on a first echo beam reflected by a first retroreflective film received by the photoelectric detection array. The first retroreflective film covers a first region of a first reflective plate disposed on the optical path of the lidar. The size of the first retroreflective film is positively correlated with the focal length of the lens in the vertical and horizontal directions, and the size of the first retroreflective film is smaller than the size of the light spot formed by the emitted beam of the lidar on the first reflective plate.

[0056] It is understood that the lidar assembly and adjustment device in this embodiment includes an assembly and adjustment module and a control module. The assembly and adjustment module is used to hold the photoelectric detection array of the lidar to be assembled and adjusted. The control module is used to drive the assembly and adjustment module to execute actions corresponding to the control commands based on the control commands of the control module. The lidar to be assembled and adjusted is a lidar whose lens has different focal lengths in the horizontal and vertical directions. When assembling and adjusting the lidar, the control module can drive the assembly and adjustment module to hold the photoelectric detection array of the lidar. In addition, a first reflector is also provided in the optical path of the lidar, wherein a first retroreflective film is covered on a first region of the first reflector. The size of the first retroreflective film is positively correlated with the focal length of the lens in the horizontal direction and the focal length of the lens in the vertical direction, and the size of the first retroreflective film is smaller than the size of the light spot formed by the emitted beam of the lidar on the first reflector.

[0057] Based on the above configuration, the emitted beam of the lidar can be incident on the first reflector plate and reflected by the first retroreflective film on the first reflector plate to form a first echo beam. The first echo beam can be incident on the lidar lens. The first echo beam incident on the lens can pass through the lens and be incident on the photoelectric detection array, where it undergoes photoelectric conversion. Based on this, the control module can acquire the electrical signal obtained after the photoelectric detection array performs photoelectric conversion on the first echo beam, and generate a first spot image based on the obtained electrical signal. Since the first spot image can be understood as the image of the first retroreflective film, the image quality of the first spot image is affected by the relative position and relative angle between the photoelectric detection array and the lens. Therefore, the control module can adjust the position and / or angle of the photoelectric detection array based on the first spot image to align the photoelectric detection array with the focal point of the lens in the horizontal and vertical directions.

[0058] In some embodiments, the lenses on the lidar with different focal lengths in the horizontal and vertical directions can be receiving lenses on the lidar.

[0059] In some embodiments, the receiving lens on the lidar can be one or more, and this disclosure does not limit this. When there are multiple receiving lenses on the lidar, each of the multiple receiving lenses may have a different focal length in the horizontal direction and a different focal length in the vertical direction, or the lens assembly composed of multiple receiving lenses may have a different focal length in the horizontal direction and a different focal length in the vertical direction.

[0060] For example, the receiving lens described above can be a cylindrical lens with different parameters in the horizontal direction and different parameters in the vertical direction. The parameters of the cylindrical lens in the horizontal and vertical directions include, but are not limited to, curvature, thickness, and material.

[0061] In some embodiments, the photodetector array can be an array of multiple photodetectors mounted on a base. Therefore, the aforementioned control module driving the assembly and adjustment module to adjust the position and / or angle of the photodetector array can be understood as the control module driving the assembly and adjustment module to adjust the position and / or angle of the base on which the photodetectors are mounted.

[0062] For example, photodetectors include, but are not limited to: avalanche photodiode (APD) arrays, single photon avalanche photodiode (SPAD) arrays, PN-type photodiode arrays, or PIN-type photodiode arrays.

[0063] For example, the base for mounting the photodetector can be a circuit board.

[0064] In some embodiments, the first reflector may be positioned at a preset distance from the lidar, wherein the size of the preset distance may be set as needed, and this disclosure does not limit it.

[0065] For example, the control module may store a preset mapping relationship between distance and spot size. Based on this, the control module may look up the distance corresponding to the size of the spot formed by the lidar on the first reflector from the preset mapping relationship based on the size of the spot formed by the lidar on the first reflector, and determine the distance as the preset distance between the lidar and the first reflector.

[0066] In some embodiments, the preset mapping relationship can be obtained based on optical simulation software or through other means, and this disclosure does not limit this.

[0067] In some embodiments, the distance between the first reflector and the lidar to be installed can be a preset distance of 12m.

[0068] In some embodiments, when a drive module is installed on the first reflector, the control module can also control the drive module to move the first reflector to a position with a preset distance from the lidar to be installed and adjusted.

[0069] In some embodiments, the light source on the lidar may include one or more light-emitting units. Based on this, the size of the first retroreflective film is smaller than the size of the light spot formed by the emitted beam of the lidar on the first reflective plate; this can be understood as the size of the first retroreflective film being smaller than the light spot formed by the emitted beam of one light-emitting unit on the light source on the first reflective plate.

[0070] In some embodiments, the width of the first retroreflective film can be set according to the width of the lateral divergence angle of the emitted beam of the lidar at 12m of 0.2°, and the length of the first retroreflective film can be set according to the length of the longitudinal divergence angle of the emitted beam of the lidar at 12m of 0.1°.

[0071] For example, the width of the first retroreflective film can be 41.9 mm and the length can be 20.9 mm.

[0072] In some embodiments, the assembly module can be any mechanical structure capable of clamping the photoelectric detection array in the lidar and adjusting the position and / or angle of the photoelectric detection array, and the embodiments disclosed herein are not limited thereto.

[0073] For example, the assembly module can be a robotic arm.

[0074] In some embodiments, the control module can process the electrical signals obtained from the photodetector array based on MATLAB software to generate a first spot image.

[0075] For example, refer to Figure 3 The image shown is a schematic diagram of a first light spot. Figure 3 The x and y coordinates in the graph are pixel coordinates. Figure 3 The image within the area enclosed by the white box is the first spot image.

[0076] In some embodiments, reference Figure 4 The diagram shows a schematic of the assembly and adjustment process for a lidar system. (Reference) Figure 4 The control module can drive the assembly module to adjust the position of the photodetector array in the X-axis, Y-axis and / or Z-axis directions, and adjust the angle of the photodetector array in the α-axis, β-axis and / or γ-axis directions, based on the first light spot image.

[0077] In some embodiments, the assembly module can also be used to hold the receiving lens on the lidar.

[0078] In some embodiments, the first region on the first reflector may be a portion of the region where the light spot formed by the emitted beam of the lidar on the first reflector is located.

[0079] In some embodiments, reference Figure 5 The diagram shows a schematic of a first retroreflective film. The position of the first retroreflective film on the first reflective plate and the size of the first retroreflective film can be as follows: Figure 5 As shown. Among them, Figure 5 51 in the image represents the light spot formed by the emitted beam of the lidar on the first reflector. Figure 5 52 in the diagram represents the first retroreflective film.

[0080] In this embodiment, a first retroreflective film covering a first reflector plate can reflect the emitted beam of the lidar to the photodetector array. Since the horizontal dimension of the first retroreflective film is positively correlated with the horizontal focal length of the receiving lens, and the vertical dimension of the first retroreflective film is also positively correlated with the vertical focal length of the receiving lens, and the size of the first retroreflective film is smaller than the size of the light spot formed by the emitted beam of the lidar on the first reflector plate, the first light spot image obtained by the first echo beam reflected from the first retroreflective film to the photodetector array is the image of the first retroreflective film. Based on imaging principles, the quality of the first light spot image is related to the relative position and angle between the photodetector array and the receiving lens. Therefore, the control module can adjust the position and angle of the photodetector array based on the first light spot image, so that the photodetector array is located at the horizontal and vertical focal points of the receiving lens, thereby achieving the assembly and adjustment of the lidar with receiving lenses having different horizontal and vertical focal lengths.

[0081] In some embodiments, the control module is further configured to drive the assembly module to adjust the position and / or angle of the photoelectric detection array based on the size of the first spot image in the horizontal direction, the size in the vertical direction, and / or the sharpness of the first spot image.

[0082] Understandably, the size and sharpness of the first light spot image are related to the relative position and angle between the photodetector array and the receiving lens. Therefore, the control module can drive the assembly module to adjust the position and / or angle of the photodetector array based on the size and / or sharpness of the first light spot image in the horizontal direction, so that the photodetector array can be located at the focal point of the receiving lens in the horizontal direction. Similarly, the control module can also drive the assembly module to adjust the position and / or angle of the photodetector array based on the size and / or sharpness of the first light spot image in the vertical direction, so that the photodetector array can be located at the focal point of the lens in the vertical direction.

[0083] In some embodiments, the control module can acquire the size of the first light spot image in the horizontal direction and / or the size in the vertical direction, and compare the size of the first light spot image in the horizontal direction with a first size threshold, and compare the size of the first light spot image in the vertical direction with a second size threshold. If the size of the first light spot image in the horizontal direction is greater than the first size threshold, the control module can drive the assembly and adjustment module to adjust the position and / or angle of the photodetector array so that the photodetector array is positioned at the focal point of the receiving lens in the horizontal direction. If the size of the first light spot image in the vertical direction is greater than the second size threshold, the control module can drive the assembly and adjustment module to adjust the position and / or angle of the photodetector array so that the photodetector array is located at the focal point of the receiving lens in the vertical direction.

[0084] In some embodiments, the sizes of the first size threshold and the second size threshold can be set as needed, and this disclosure does not limit this.

[0085] For example, the size threshold can be determined based on the theoretical size of the first spot image in the horizontal direction, and the size threshold can be determined based on the theoretical size of the first spot image in the vertical direction. For instance, the control module can determine the theoretical size of the first spot image in the horizontal direction as the first size threshold and the theoretical size of the first spot image in the vertical direction as the second size threshold.

[0086] In some embodiments, the control module is further configured to acquire the distance between the first reflector and the receiving lens and the horizontal dimension of the first retroreflective film, and determine the focal length of the receiving lens in the horizontal direction based on the parameters of the receiving lens. Subsequently, the control module is further configured to calculate the theoretical size of the image of the first retroreflective film in the horizontal direction, i.e., the theoretical size of the first spot image in the horizontal direction, based on the principle of similar triangles, according to the distance between the first reflector and the receiving lens, the horizontal dimension of the first retroreflective film, and the horizontal focal length of the receiving lens. Similarly, the control module is further configured to calculate the theoretical size of the image of the first retroreflective film in the vertical direction, i.e., the theoretical size of the first spot image in the vertical direction, based on the principle of similar triangles, according to the distance between the first reflector and the receiving lens, the vertical dimension of the first retroreflective film, and the vertical focal length of the receiving lens.

[0087] In other embodiments, the control module can acquire the vertical size and position of the first light spot image. When the control module determines, based on the position of the first light spot image, that the first echo beam used to form the first light spot image is incident on the edge region of the photodetector array, and the vertical size of the first light spot image is greater than the vertical size of nine photodetectors, it drives the assembly and adjustment module to adjust the position and / or angle of the photodetector array until the photodetector array is located at the vertical focal point of the receiving lens. When the control module determines, based on the position of the first light spot image, that the first echo beam used to form the first light spot image is incident on the non-edge region of the photodetector array, and the vertical size of the first light spot image is greater than the vertical size of seven photodetectors, it drives the assembly and adjustment module to adjust the position and / or angle of the photodetector array until the photodetector array is located at the vertical focal point of the receiving lens.

[0088] In other embodiments, the control module can acquire the horizontal and / or vertical sharpness of the first spot image, compare the horizontal sharpness of the first spot image with a first sharpness threshold, and compare the vertical sharpness of the first spot image with a second sharpness threshold. If the horizontal sharpness of the first spot image is less than the first sharpness threshold, the control module can drive the assembly and adjustment module to adjust the position and / or angle of the photodetector array until the photodetector array is located at the focal point of the receiving lens in the horizontal direction. If the vertical sharpness of the first spot image is less than the second sharpness threshold, the control module can drive the assembly and adjustment module to adjust the position and / or angle of the photodetector array until the photodetector array is located at the focal point of the receiving lens in the vertical direction.

[0089] In some embodiments, the magnitudes of the first sharpness threshold and the second sharpness threshold can be determined based on the theoretical sharpness of the first spot image, and this disclosure does not limit this.

[0090] In some embodiments, the control module is further configured to determine that the photodetector array is located at the focal point of the receiving lens in the horizontal direction and the focal point in the vertical direction when the size of the first spot image in both the horizontal and vertical directions is minimized.

[0091] Understandably, the first spot image is smallest in the horizontal direction when the photodetector array is located at the focal point of the receiving lens in the horizontal direction, and smallest in the vertical direction when the photodetector array is located at the focal point of the receiving lens in the vertical direction. When the photodetector array is located outside the focal point of the receiving lens in the horizontal direction and / or vertical direction, the size of the first spot image in the horizontal direction and / or vertical direction increases. Therefore, the control module can acquire the size of the first spot image in the horizontal and vertical directions after each acquisition. When the control module determines that the size of the first spot image in the horizontal and / or vertical directions is not the minimum size, it drives the assembly module to adjust the position and / or angle of the photodetector array, and after adjusting the position and / or angle of the photodetector array, acquires the first spot image again. Then, the control module can determine whether the size of the newly acquired first spot image in the horizontal and vertical directions is the minimum size. Repeat the above process until the control module determines that the size of the first light spot image obtained is the smallest in both the horizontal and vertical directions, and then determines that the photoelectric detection array is located at the focal point of the receiving lens in both the horizontal and vertical directions.

[0092] In some embodiments, the control module can drive the adjustment module to adjust the position of the photodetector array in the X, Y, and Z axes by preset steps. After each adjustment of the position of the photodetector array in the X, Y, or Z axis, a first spot image is generated based on the first echo beam received by the photodetector array. After obtaining multiple first spot images generated based on the first echo beam received by the photodetector array at different positions, the control module can compare the horizontal and vertical dimensions of the multiple first spot images obtained when the photodetector array is in different positions. Then, the control module can determine the position of the photodetector array when both the horizontal and vertical dimensions of the first spot image are minimized as the position of the focal point of the receiving lens in the horizontal and vertical directions. For ease of explanation, the position of the photodetector array when both the horizontal and vertical dimensions of the first spot image are minimized is referred to as the target position. The control module can then adjust the photodetector array to the target position.

[0093] Furthermore, after driving the assembly and adjustment module to adjust the photodetector array to the target position, the control module can also drive the assembly and adjustment module to adjust the angle of the photodetector array along the α-axis, β-axis, and γ-axis. After each adjustment of the angle of the photodetector array along the α-axis, β-axis, or γ-axis, a first spot image formed based on the first echo beam received by the photodetector array is acquired. Then, the control module can compare the sizes of multiple first spot images obtained when the photodetector array is at different angles. Subsequently, the control device can determine the angle of the photodetector array as the target angle when the dimensions of the first spot image in both the horizontal and vertical directions are minimized, and drive the assembly and adjustment module to adjust the photodetector array to the target angle. When the photodetector array is at the target position and / or the target angle, it is determined that the photodetector array is located at the focal point of the receiving lens in both the horizontal and vertical directions.

[0094] In some embodiments, the control module is further configured to determine that the photodetector array is located at the focal point of the receiving lens in the horizontal direction when it is determined that the size of the first spot image in the horizontal direction is less than or equal to the theoretical size of the first spot image in the horizontal direction. Similarly, the control module is further configured to determine that the photodetector array is located at the focal point of the receiving lens in the vertical direction when it is determined that the size of the first spot image in the vertical direction is less than or equal to the theoretical size of the first spot image in the vertical direction.

[0095] For example, the control module can acquire the vertical dimension and position of the first light spot image. When the control module determines, based on the position of the first light spot image, that the first echo beam used to form the first light spot image is incident on the edge region of the photodetector array, and the vertical dimension of the first light spot image is less than or equal to the vertical dimension of nine photodetectors, then the control module can determine that the photodetector array is located at the vertical focal point of the receiving lens. When the control module determines, based on the position of the first light spot image, that the first echo beam used to form the first light spot image is incident on the non-edge region of the photodetector array, and the vertical dimension of the first light spot image is less than or equal to the vertical dimension of seven photodetectors, then the control module can determine that the photodetector array is located at the vertical focal point of the receiving lens.

[0096] In other embodiments, the control module can acquire the sharpness of the first light spot image in the horizontal and / or vertical directions. If the sharpness of the first light spot image in the horizontal direction is greater than or equal to a first sharpness threshold, the control module can determine that the photodetector array is located at the focal point of the receiving lens in the horizontal direction. If the sharpness of the first light spot image in the vertical direction is greater than or equal to a second sharpness threshold, the control module can determine that the photodetector array is located at the focal point of the receiving lens in the vertical direction.

[0097] In some embodiments, the control module is further configured to drive the assembly module to fix the position and angle of the photodetector array when it is determined that the photodetector array is located at the focal point of the receiving lens in the horizontal direction and the focal point in the vertical direction.

[0098] Understandably, the control module is also used to drive the assembly module to fix the position and angle of the photodetector array when, based on the above method, it is determined that the photodetector array is located at the focal points of the receiving lens in the horizontal and vertical directions. That is, to fix the photodetector array at the focal points of the receiving lens in the horizontal and vertical directions.

[0099] In some embodiments, the control module is further configured to drive the assembly module to fix the position and angle of the photodetector array with adhesive when it is determined that the photodetector array is located at the focal point of the receiving lens in the horizontal direction and the focal point in the vertical direction.

[0100] In some embodiments, the control module drives the assembly and adjustment module to fix the position and angle of the photodetector array, which can be done by fixing the position and angle of the base on which the photodetector is mounted.

[0101] In other embodiments, the control module is further configured to output a first prompt message when it is determined that the photodetector array is located at the focal points of the receiving lens in the horizontal and vertical directions. The first prompt message is used to prompt the user to fix the current position and angle of the photodetector array using adhesive.

[0102] In some embodiments, the control module is further configured to filter out a second echo beam received by the photodetector array before forming a first spot image, wherein the second echo beam is reflected by a second region on the first reflector that is not covered by the first retroreflective film.

[0103] Understandably, since the coverage area of ​​the first retroreflective film on the first reflector is smaller than the size of the light spot formed by the laser radar's emitted beam on the first reflector, the laser radar's emitted beam may also be incident on a second area on the first reflector that is not covered by the first retroreflective film, and the incident beam will be reflected by the second area on the first reflector to form a second echo beam. Therefore, the echo beam incident on the photodetector array includes not only the first echo beam reflected by the first retroreflective film, but also the second echo beam reflected by the second area on the first reflector. If the second echo beam reflected by the second area of ​​the first reflector is not filtered out, the second echo beam will interfere with the shape of the first light spot image when the electrical signal corresponding to the first echo beam reflected by the first retroreflective film is used to generate the first light spot image. Therefore, the control module is also used to filter out the second echo beam before the first light spot image is formed based on the first echo beam received by the photodetector array.

[0104] In some embodiments, the control module is further configured to obtain the first spot image by adjusting the exposure value of the spot image before generating the first spot image after receiving the electrical signal transmitted by the photoelectric detection array.

[0105] In other embodiments, since the light intensity of the first echo beam is greater than that of the second echo beam, the control module can also filter out the second echo beam using optics located on the optical path and generate a second spot image based on the electrical signal of the first echo beam received by the photodetector array.

[0106] In this embodiment of the present disclosure, before the first light spot image is formed based on the first echo beam received by the photoelectric detection array, the second echo beam is filtered out to reduce the interference of the second echo beam on the formed first light spot image, thereby improving the installation accuracy of the photoelectric detection array.

[0107] In some embodiments, the control module is further configured to acquire a second spot image and, based on the second spot image, drive the assembly module to adjust the position and / or angle of each detection unit on the photoelectric detection array, so that the emitted beam of the lidar is reflected by the second retroreflective film and incident on a preset area on the photoelectric detection array. The second spot image is formed based on the third echo beam reflected by the second retroreflective film received by the photoelectric detection array. The second retroreflective film covers a second reflective plate disposed on the optical path of the lidar, and the size of the second retroreflective film is greater than or equal to the size of the spot formed by the emitted beam of the lidar on the second reflective plate.

[0108] Understandably, after fixing the position and angle of the photoelectric detection array, the first reflector on the optical path of the lidar can be replaced with a second reflector, wherein the size of the second retroreflective film covering the second reflector is greater than or equal to the size of the spot formed by the lidar's emitted beam on the second reflector. Based on this, the photoelectric detection array can also receive the third echo beam formed by the reflection of the incident laser by the second retroreflective film, and perform photoelectric conversion on the received third echo beam. Based on this, the control module can generate a second spot image based on the electrical signal obtained from the photoelectric detection array. Since the position of the second spot image is related to the relative position of each detection unit on the photoelectric detection array and the receiving lens, the control module can determine the current incident position of the third echo beam on the photoelectric detection array based on the position of the second spot image, and drive the assembly module to adjust the position and / or angle of each detection unit included in the photoelectric detection array based on the current incident position of the third echo beam, so that the third echo beam can be incident on a preset area on the photoelectric detection array.

[0109] In some embodiments, when the photodetector array includes multiple photodetectors arranged in a matrix, a detection unit in the photodetector array can be adjacent and has a preset number of photodetectors. The preset number can be an integer greater than 0 and less than the total number of photodetectors included in the photodetector array.

[0110] In some embodiments, the second retroreflective film may cover the entire surface of the second reflector facing the lidar.

[0111] In some embodiments, the control module can drive the assembly and adjustment module to adjust the position of each detection unit in the X and Y axis directions, that is, to determine the position of each detection unit relative to the base. Additionally, the control module can also drive the assembly and adjustment module to adjust the angle of each detection unit in the γ-axis direction.

[0112] In some embodiments, the light source of the lidar may include N light-emitting units, and the photodetector array has a preset area configured for each light-emitting unit. Based on this, the control module can generate N second light spot images based on the electrical signals of the third echo beams of the N light-emitting units. Then, the control module can determine the incident position of each third echo beam on the photodetector array based on each second light spot image. Subsequently, the control module can drive the assembly and adjustment module to adjust the position and / or angle of each detection unit based on the incident position of each third echo beam on the photodetector array, so that the third echo beam of each light-emitting unit can be incident on the corresponding preset area, thereby reducing interference between the emitted beams of each emitting unit. Here, N is an integer greater than 1.

[0113] For example, refer to Figure 6 The image shown is a schematic diagram of a second light spot. (Reference) Figure 6 When the light source of the lidar includes eight light-emitting units, the emitted beams from the eight light-emitting units, reflected by the second retroreflective film, form a third echo beam, as shown in the image. Figure 6 The image shows eight second light spots. Based on this, the control module can drive the assembly module to adjust the position and / or angle of each detection unit of the photoelectric detection array until each second light spot image satisfies at least one of the following conditions, then it is determined that the third echo beam of each light-emitting unit is incident on the corresponding preset area on the photoelectric detection array:

[0114] 1) The length direction of each second spot image is consistent with the length direction of the rectangle 61 in which each second spot image is located, and the center of each second spot image coincides with the center of the rectangle in which it is located;

[0115] 2) The upper edges of the second light spot images F0, F2, F4 and F6 are parallel to the first length side of the dashed frame 62, and the lower edges of the second light spot images F1, F3, F5 and F7 are parallel to the second length side of the dashed frame 62. The first length side is the length side of the dashed frame 62 that is closer to the second light spot images F0, F2, F4 and F6, and the second length side is the length side of the dashed frame 62 that is closer to the second light spot images F1, F3, F5 and F7.

[0116] 3) The second light spot images F0 to F7 are all located within the dashed frame 62.

[0117] It needs to be explained that, Figure 6 The horizontal axis represents the pixel coordinates in the horizontal direction, ranging from 1 to 576. Figure 6 The vertical coordinate in the graph represents the pixel coordinates in the vertical direction, ranging from 1 to 168. Figure 6 One pixel in the photodetector corresponds to one photodetector in the photodetector array.

[0118] In addition, photodetectors that are not used in the photodetector array can be shielded by an aperture during the assembly and adjustment of the photodetector array.

[0119] In some embodiments, the control module is further configured to drive the assembly module to adjust the position and / or angle of each detection unit on the photoelectric detection array based on the pixel coordinates of each pixel in the second spot image.

[0120] In some embodiments, the control model can acquire the pixel coordinates of each pixel in the second spot image, and based on the pixel coordinates of the second spot image, determine the detection unit corresponding to each pixel in the second spot image on the photodetector array. If the detection unit corresponding to each pixel in the second spot image on the photodetector array is not a detection unit within a preset area, the position and / or angle of each detection unit can be adjusted so that the third echo beam can be incident on the preset area of ​​the photodetector array.

[0121] In some embodiments, the control module is further configured to drive the adjustment module to fix the position and angle of the detection unit when the emitted beam of the lidar is reflected by the second retroreflective film and incident on a preset area on the photoelectric detection array.

[0122] Understandably, when the control module adjusts the position and / or angle of each detection unit in the photoelectric detection array by driving the assembly and adjustment module, so that the emitted beam of each light-emitting unit in the lidar can be incident on the corresponding preset area on the photoelectric detection array after being reflected by the second retroreflective film, the control module can drive the assembly and adjustment module to fix the current position and current angle of each detection unit.

[0123] In some embodiments, the control module is further configured to drive the assembly module to fix the position and angle of each detection unit on the photodetector array using adhesive when it is determined that the second spot image is located in a preset area of ​​the photodetector array. For example, the position and angle of the photodetector on the base are fixed by adhesive.

[0124] In other embodiments, the control module is further configured to output a second prompt message when it is determined that the emitted beam of the lidar, after being reflected by the second retroreflective film, can be incident on a preset area of ​​the photoelectric detection array. The second prompt message is used to instruct the user to fix the current position and angle of each detection unit included in the photoelectric detection array using adhesive.

[0125] refer to Figure 4 and Figure 7 , Figure 7 This diagram illustrates the assembly and adjustment process of another type of lidar. The following text will combine... Figure 4 and Figure 7 The present invention will describe, with a specific embodiment, the specific implementation process of assembling and adjusting the photoelectric detection array on the lidar based on the assembly and adjustment device provided in the embodiments of the present disclosure.

[0126] refer to Figure 4 During the assembly and adjustment of the lidar, the control module can control the laser source 1 on the lidar to emit a beam through the controller in the lidar. The beam emitted by the laser source 1 passes through the emitting lens 2 and then enters the beam splitter 3. The laser beam entering the beam splitter 3 is reflected by the beam splitter 3 and then enters the first reflector 4 at a distance of 12m from the lidar. Since the first region of the first reflector 4 is covered with a first retroreflective film, the laser beam entering the first reflector 4 is reflected by the first retroreflective film to form a first echo beam. The first echo beam can enter the filter 5, and after passing through the filter 5, it reaches the receiving lens 6. The first echo beam entering the receiving lens 6 passes through the receiving lens 6 and then enters the reflector 7. After being reflected by the reflector 7, it enters the receiving lens 8 and the receiving lens 9, and after being focused by the receiving lens 8 and the receiving lens 9, it enters the photoelectric detection array 11 held by the assembly and adjustment module 10. The photoelectric detection array 11 can perform photoelectric conversion on the incident first echo beam and then transmit the obtained electrical signal to the control module. Based on this, the control module can generate a first light spot image based on the received electrical signal. Then, based on the size and sharpness of the first light spot image in the horizontal direction and the size and sharpness of the first light spot image in the vertical direction, the control module can drive the assembly module to adjust the relative position and / or relative angle between the photodetector array and the receiving lens, so that the photodetector array is located at the focal points of the receiving lens 8 and the receiving lens 9 in the horizontal and vertical directions, respectively. Afterwards, the control module can drive the assembly module to fix the overall position and angle of the photodetector array using adhesive.

[0127] refer to Figure 7 After the driving module fixes the overall position and angle of the photoelectric detection array, the first reflector can be replaced with the second reflector 12. Since the size of the second retroreflective film covering the second reflector is larger than the size of the spot formed by the laser radar's emitted beam on the second reflector, the second retroreflective film on the second reflector can reflect the entire emitted beam incident on the second reflector back to the photoelectric detection array, allowing the photoelectric detection array to perform photoelectric conversion on the third echo beam reflected by the second retroreflective film. Based on this, the control module can generate a second spot image based on the received electrical signal transmitted by the photoelectric detection array, that is, obtain a complete spot image of the emitted beam. At this time, the control module can determine the incident area of ​​the third echo beam on the photoelectric detection array based on the pixel coordinates of the second spot image, and based on the incident area of ​​the third echo beam on the photoelectric detection array, drive the assembly module to adjust the position and / or angle of each photodetector included in the photoelectric detection array on the base, so that the third echo beam can be incident on the preset area of ​​the photoelectric detection array. Once it is determined that the emitted beams of each light-emitting unit in the lidar light source can be incident on the corresponding preset area after being reflected by the second retroreflective film, the control module can drive the assembly module to fix the position and angle of each photodetector on the base using adhesive.

[0128] This disclosure also provides an assembly and adjustment method, referring to... Figure 8 The diagram illustrates a flowchart of an assembly and adjustment method, which can be applied to the assembly and adjustment device for the lidar provided in the above embodiments. The assembly and adjustment method includes:

[0129] S801: Drive assembly module clamps the photoelectric detection array on the lidar;

[0130] S802: Acquire a first light spot image, wherein the first light spot image is formed based on the first echo beam reflected by the first retroreflective film received by the photoelectric detection array, the first retroreflective film covers the first area of ​​the first reflective plate set in the optical path of the lidar, the size of the first retroreflective film is positively correlated with the focal length of the lens in the vertical direction and the focal length in the horizontal direction, and the size of the first retroreflective film is smaller than the size of the light spot formed by the emitted beam of the lidar on the first reflective plate;

[0131] S803: Based on the first light spot image, drive the assembly module to adjust the position and / or angle of the photoelectric detection array so that the photoelectric detection array is located at the focal point of the receiving lens in the horizontal direction and the focal point in the vertical direction.

[0132] Understandably, when assembling and adjusting the photoelectric detection array on the lidar based on the assembly and adjustment transpose provided in the above embodiments, the control module can first drive the assembly and adjustment module to clamp the photoelectric detection array of the lidar to be assembled and adjusted. Then, the control module can control the light source on the lidar to emit a light beam through the controller on the lidar, and receive the electrical signal obtained after the photoelectric detection array converts the first echo beam reflected by the first retroreflective film. Then, the control module can generate a first light spot image based on the obtained electrical signal. Since the first light spot image is affected by the relative position and relative angle between the photoelectric detection array and the receiving lens, the control module can adjust the position and / or angle of the photoelectric detection array based on the first light spot image to align the photoelectric detection array with the focal point of the receiving lens in both the horizontal and vertical directions.

[0133] In some embodiments, the photodetector array can be an array of multiple photodetectors mounted on a base. Therefore, the control module driving the assembly and adjustment module to adjust the position and / or angle of the photodetector array can be understood as the control module driving the assembly and adjustment module to adjust the position and / or angle of the base on which the photodetectors are mounted.

[0134] For example, the base for mounting the photodetector can be a circuit board that converts optical signals into signals.

[0135] In some embodiments, the first reflector may be positioned at a preset distance from the lidar, wherein the size of the preset distance may be set as needed, and this disclosure does not limit it.

[0136] For example, the control module may store a preset mapping relationship between distance and spot size. Based on this, the control module may look up the distance corresponding to the size of the spot formed by the lidar on the first reflector from the preset mapping relationship based on the size of the spot formed by the lidar on the first reflector, and determine the distance as the preset distance between the lidar and the first reflector.

[0137] In some embodiments, the preset mapping relationship can be obtained based on optical simulation software or through other means, and this disclosure does not limit this.

[0138] In some embodiments, the distance between the first reflector and the lidar to be installed can be a preset distance of 12m.

[0139] In some embodiments, when a drive module is installed on the first reflector, the control module can also control the drive module to move the first reflector to a position with a preset distance from the lidar to be installed and adjusted.

[0140] For example, the control module can process the electrical signals obtained from the photodetector array based on MATLAB software to generate a first spot image.

[0141] For example, refer to Figure 3 The image shown is a schematic diagram of a first light spot. Figure 3 The x and y coordinates in the graph are pixel coordinates. Figure 3 The image within the area enclosed by the white box is the first spot image.

[0142] In other embodiments, the control module can determine the size of the first light spot image in the horizontal direction and the size in the vertical direction based on the number and position of the photodetectors on the photodetector array that receive the first echo beam.

[0143] In some embodiments, reference Figure 4 This diagram illustrates the assembly and adjustment process of a lidar according to an embodiment of the present disclosure. (See reference...) Figure 4 The control module can drive the assembly module to adjust the position of the photoelectric detection array in the X-axis, Y-axis and / or Z-axis directions, as well as adjust the angle of the photoelectric detection array in the α-axis, β-axis and / or γ-axis directions.

[0144] In some embodiments, step 803 includes: driving the assembly module to adjust the position and / or angle of the photodetector array based on the size of the first spot image in the horizontal direction, the size in the vertical direction, and / or the sharpness of the first spot image.

[0145] Understandably, the size and sharpness of the first light spot image are related to the relative position and angle between the photodetector array and the receiving lens. Therefore, the control module can drive the assembly module to adjust the position and / or angle of the photodetector array based on the size and / or sharpness of the first light spot image in the horizontal direction, so that the photodetector array can be located at the focal point of the receiving lens in the horizontal direction. Similarly, the control module can also drive the assembly module to adjust the position and / or angle of the photodetector array based on the size and / or sharpness of the first light spot image in the vertical direction, so that the photodetector array can be located at the focal point of the lens in the vertical direction.

[0146] In some embodiments, the control module can acquire the size of the first light spot image in the horizontal direction and / or the size in the vertical direction, and compare the size of the first light spot image in the horizontal direction with a first size threshold, and compare the size of the first light spot image in the vertical direction with a second size threshold. If the size of the first light spot image in the horizontal direction is greater than the first size threshold, the control module can drive the assembly and adjustment module to adjust the position and / or angle of the photodetector array so that the photodetector array is positioned at the focal point of the receiving lens in the horizontal direction. If the size of the first light spot image in the vertical direction is greater than the second size threshold, the control module can drive the assembly and adjustment module to adjust the position and / or angle of the photodetector array so that the photodetector array is located at the focal point of the receiving lens in the vertical direction.

[0147] In some embodiments, the sizes of the first size threshold and the second size threshold can be set as needed, and this disclosure does not limit this.

[0148] For example, the size threshold can be determined based on the theoretical size of the first spot image in the horizontal direction, and the size threshold can be determined based on the theoretical size of the first spot image in the vertical direction. For instance, the control module can determine the theoretical size of the first spot image in the horizontal direction as the first size threshold and the theoretical size of the first spot image in the vertical direction as the second size threshold.

[0149] In some embodiments, the control module can also acquire the distance between the first reflector and the receiving lens, as well as the horizontal dimension of the first retroreflective film, and determine the focal length of the receiving lens in the horizontal direction based on the parameters of the receiving lens. Then, the control module is further configured to calculate the theoretical size of the image of the first retroreflective film in the horizontal direction, i.e., the theoretical size of the first spot image in the horizontal direction, based on the principle of similar triangles, according to the distance between the first reflector and the receiving lens, the horizontal dimension of the first retroreflective film, and the horizontal focal length of the receiving lens. Similarly, the control module is also configured to calculate the theoretical size of the image of the first retroreflective film in the vertical direction, i.e., the theoretical size of the first spot image in the vertical direction, based on the principle of similar triangles, according to the distance between the first reflector and the receiving lens, the vertical dimension of the first retroreflective film, and the vertical focal length of the receiving lens.

[0150] In other embodiments, the control module can acquire the vertical size and position of the first light spot image. When the control module determines, based on the position of the first light spot image, that the first echo beam used to form the first light spot image is incident on the edge region of the photodetector array, and the vertical size of the first light spot image is greater than the vertical size of nine photodetectors, it drives the assembly and adjustment module to adjust the position and / or angle of the photodetector array until the photodetector array is located at the vertical focal point of the receiving lens. When the control module determines, based on the position of the first light spot image, that the first echo beam used to form the first light spot image is incident on the non-edge region of the photodetector array, and the vertical size of the first light spot image is greater than the vertical size of seven photodetectors, it drives the assembly and adjustment module to adjust the position and / or angle of the photodetector array until the photodetector array is located at the vertical focal point of the receiving lens.

[0151] In other embodiments, the control module can acquire the horizontal and / or vertical sharpness of the first spot image, compare the horizontal sharpness of the first spot image with a first sharpness threshold, and compare the vertical sharpness of the first spot image with a second sharpness threshold. If the horizontal sharpness of the first spot image is less than the first sharpness threshold, the control module can drive the assembly and adjustment module to adjust the position and / or angle of the photodetector array until the photodetector array is located at the focal point of the receiving lens in the horizontal direction. If the vertical sharpness of the first spot image is less than the second sharpness threshold, the control module can drive the assembly and adjustment module to adjust the position and / or angle of the photodetector array until the photodetector array is located at the focal point of the receiving lens in the vertical direction.

[0152] In some embodiments, the magnitudes of the first sharpness threshold and the second sharpness threshold can be determined based on the theoretical sharpness of the first spot image, and this disclosure does not limit this.

[0153] In some embodiments, S803 includes: when the size of the first spot image in both the horizontal and vertical directions is minimized, determining that the photodetector array is located at the focal point of the receiving lens in both the horizontal and vertical directions.

[0154] Understandably, the first spot image has its smallest horizontal size when the photodetector array is located at the horizontal and vertical focal points of the receiving lens, and its smallest vertical size when the photodetector array is located at the vertical focal point of the receiving lens. When the photodetector array is located outside the horizontal and / or vertical focal points of the receiving lens, the horizontal and / or vertical sizes of the first spot image increase. Therefore, the control module can determine the horizontal and vertical sizes of the first spot image after each acquisition. When the control module determines that the horizontal and / or vertical sizes of the first spot image are not at their minimum, it drives the assembly module to adjust the position and / or angle of the photodetector array, and after adjusting the position and / or angle, acquires the first spot image again. Then, the control module can determine whether the newly acquired first spot image has its horizontal and vertical sizes at their minimum. Repeat the above process until the control module determines that the size of the first light spot image obtained is the smallest in both the horizontal and vertical directions, and then determines that the photoelectric detection array is located at the focal point of the receiving lens in both the horizontal and vertical directions.

[0155] In some embodiments, the control module can drive the adjustment module to adjust the position of the photodetector array in the X, Y, and Z axes by preset steps, and after each adjustment of the position of the photodetector array in the X, Y, or Z axis, a first spot image is formed based on the first echo beam received by the photodetector array. After obtaining multiple first spot images generated based on the first echo beam received by the photodetector array at different positions, the control module can compare the horizontal and vertical dimensions of the multiple first spot images obtained when the photodetector array is in different positions. Then, the control module can determine the position of the photodetector array when both the horizontal and vertical dimensions of the first spot image are minimized as the position of the focal point of the receiving lens in the horizontal and vertical directions. For ease of explanation, the position of the photodetector array when both the horizontal and vertical dimensions of the first spot image are minimized is referred to as the target position. The control module can then adjust the photodetector array to the target position.

[0156] Furthermore, after driving the assembly and adjustment module to adjust the photodetector array to the target position, the control module can also drive the assembly and adjustment module to adjust the angles of the photodetector array along the α, β, and γ axes. After each adjustment of the angle along the α, β, or γ axis, a first spot image formed based on the first echo beam received by the photodetector array is acquired. Then, the control module can compare the horizontal and vertical dimensions of multiple first spot images obtained at different angles of the photodetector array. Subsequently, the control device can determine the angle of the photodetector array as the target angle when both the horizontal and vertical dimensions of the first spot image are minimized, and drive the assembly and adjustment module to adjust the photodetector array to the target angle. When the photodetector array is at the target position and / or target angle, it is determined that the photodetector array is located at the focal point of the receiving lens in both the horizontal and vertical directions.

[0157] In other embodiments, the control module can determine that the photodetector array is located at the focal point of the receiving lens in the horizontal direction when it is determined that the size of the first spot image in the horizontal direction is less than or equal to the theoretical size of the first spot image in the horizontal direction. Similarly, the control module is also configured to determine that the photodetector array is located at the focal point of the receiving lens in the vertical direction when it is determined that the size of the first spot image in the vertical direction is less than or equal to the theoretical size of the first spot image in the vertical direction.

[0158] For example, the control module can acquire the vertical dimension and position of the first light spot image. When the control module determines, based on the position of the first light spot image, that the first echo beam used to form the first light spot image is incident on the edge region of the photodetector array, and the vertical dimension of the first light spot image is less than or equal to the vertical dimension of nine photodetectors, then the control module can determine that the photodetector array is located at the vertical focal point of the receiving lens. When the control module determines, based on the position of the first light spot image, that the first echo beam used to form the first light spot image is incident on the non-edge region of the photodetector array, and the vertical dimension of the first light spot image is less than or equal to the vertical dimension of seven photodetectors, then the control module can determine that the photodetector array is located at the vertical focal point of the receiving lens.

[0159] In other embodiments, the control module can acquire the sharpness of the first light spot image in the horizontal and / or vertical directions. If the sharpness of the first light spot image in the horizontal direction is greater than or equal to a first sharpness threshold, the control module can determine that the photodetector array is located at the focal point of the receiving lens in the horizontal direction. If the sharpness of the first light spot image in the vertical direction is greater than or equal to a second sharpness threshold, the control module can determine that the photodetector array is located at the focal point of the receiving lens in the vertical direction.

[0160] In some embodiments, the method further includes fixing the position and angle of each detection unit included in the photodetector array when the photodetector array is located at the focal point of the receiving lens in the horizontal direction and the focal point in the vertical direction.

[0161] Understandably, when the control module determines that the photodetector array is located at the horizontal and vertical focal points of the receiving lens, the control module can drive the assembly module to fix the position and angle of the photodetector array. That is, to fix the photodetector array at the horizontal and vertical focal points of the receiving lens.

[0162] In some embodiments, the control module can drive the assembly module to fix the position and angle of the photodetector array with adhesive when it is determined that the photodetector array is located at the focal point of the receiving lens in the horizontal direction and the focal point in the vertical direction.

[0163] In some embodiments, the position and angle of the photodetector array fixed by the control module driving the assembly module can be the position and angle of the base on which the photodetector is mounted.

[0164] In other embodiments, the control module may also output a first prompt message when it determines that the photodetector array is located at the focal points of the receiving lens in the horizontal and vertical directions. The first prompt message is used to instruct the user to fix the current position and angle of the photodetector array using adhesive.

[0165] In some embodiments, the method further includes filtering out a second echo beam received by the photodetector array before forming the first spot image. The second echo beam is reflected from a second region on the first reflector that is not covered by the first retroreflective film.

[0166] Understandably, since the coverage area of ​​the first retroreflective film on the first reflector is smaller than the size of the light spot formed by the laser radar's emitted beam on the first reflector, the laser radar's emitted beam may also be incident on a second area on the first reflector that is not covered by the first retroreflective film. This second area on the first reflector then reflects the incident beam, forming a second echo beam. Therefore, the echo beam incident on the photodetector array includes not only the first echo beam reflected by the first retroreflective film but also the second echo beam reflected by the second area on the first reflector. If the second echo beam reflected by the second area of ​​the first reflector is not filtered out, the second echo beam will interfere with the shape of the first light spot image when the electrical signal corresponding to the first echo beam reflected by the first retroreflective film is used to generate the first light spot image. Therefore, the control module is also used to filter out the second echo beam before the first light spot image is formed based on the first echo beam received by the photodetector array.

[0167] In some embodiments, the control module is further configured to obtain the first spot image by adjusting the exposure value of the spot image before generating the first spot image after receiving the electrical signal transmitted by the photoelectric detection array.

[0168] In other embodiments, since the light intensity of the first echo beam is greater than that of the second echo beam, the control module can also filter out the second echo beam using optics located on the optical path and generate a second spot image based on the electrical signal of the first echo beam received by the photodetector array.

[0169] In this embodiment of the present disclosure, before the first light spot image is formed based on the first echo beam received by the photoelectric detection array, the second echo beam is filtered out to reduce the interference of the second echo beam on the formed first light spot image, thereby improving the installation accuracy of the photoelectric detection array.

[0170] In some embodiments, the method further includes: acquiring a second spot image, wherein the second spot image is formed based on a third echo beam reflected by a second retroreflective film received by a photodetector array, the second retroreflective film covering a second reflective plate disposed on the optical path of the lidar, and the size of the second retroreflective film being greater than or equal to the size of the spot formed by the lidar's emitted beam on the second reflective plate;

[0171] Based on the second light spot image, the drive assembly module adjusts the position and / or angle of each detection unit on the photoelectric detection array so that the emitted beam of the lidar is reflected by the second retroreflective film and then incident on the preset area of ​​the photoelectric detection array.

[0172] Understandably, after fixing the position and angle of the photoelectric detection array, the first reflector on the lidar optical path can be replaced with a second reflector, wherein the size of the second retroreflective film covering the second reflector is greater than or equal to the size of the spot formed by the lidar's emitted beam on the second reflector. Based on this, the photoelectric detection array can also receive the third echo beam formed by the reflection of the incident laser by the second retroreflective film, and perform photoelectric conversion on the received third echo beam. Based on this, the control module can generate a second spot image based on the electrical signal obtained from the photoelectric detection array. Since the position of the second spot image is related to the relative position of each detection unit and the receiving lens, the control module can determine the current incident position of the third echo beam on the photoelectric detection array based on the position of the second spot image, and drive the assembly module to adjust the position and / or angle of each detection unit included in the photoelectric detection array based on the current incident position of the third echo beam, so that the third echo beam can be incident on a preset area on the photoelectric detection array.

[0173] In some embodiments, the control module can drive the assembly and adjustment module to adjust the position of each detection unit in the X and Y axis directions, that is, to determine the position of each detection unit relative to the base. Additionally, the control module can also drive the assembly and adjustment module to adjust the angle of each detection unit in the γ-axis direction.

[0174] In some embodiments, the light source of the lidar may include N light-emitting units, and a preset area is configured for each light-emitting unit on the photodetector array. Based on this, the control module can generate N second light spot images based on the electrical signals of the third echo beams of the N light-emitting units. At this time, the control module can determine the incident position of each third echo beam on the photodetector array based on each second light spot image. Subsequently, the control module can drive the assembly and adjustment module to adjust the position and / or angle of each detection unit based on the incident position of each third echo beam on the photodetector array, so that the emitted beam of each light-emitting unit can be incident on the corresponding preset area after being reflected by the second retroreflective film, thereby reducing the interference between the emitted beams of each emitting unit.

[0175] For example, refer to Figure 6 , Figure 6 This diagram illustrates a second spot image provided in an embodiment of the present disclosure. (See reference) Figure 6 When the light source of the lidar includes eight light-emitting units, the emitted beams from the eight light-emitting units, reflected by the second retroreflective film, form a third echo beam, as shown in the image. Figure 6The eight second light spot images are shown. Based on this, the control module can drive the assembly module to adjust the position and / or angle of each detection unit of the photoelectric detection array until each second light spot image satisfies at least one of the following conditions, then it is determined that the emitted beam of each light-emitting unit is reflected by the second retroreflective film and incident on the corresponding preset area on the photoelectric detection array:

[0176] 1) The length direction of each second spot image is consistent with the length direction of the rectangle 61 in which each second spot image is located, and the center of each second spot image coincides with the center of the rectangle in which it is located;

[0177] 2) The upper edges of the second light spot images F0, F2, F4 and F6 are parallel to the first length side of the dashed frame 62, and the lower edges of the second light spot images F1, F3, F5 and F7 are parallel to the second length side of the dashed frame 62. The first length side is the length side of the dashed frame 62 that is closer to the second light spot images F0, F2, F4 and F6, and the second length side is the length side of the dashed frame 62 that is closer to the second light spot images F1, F3, F5 and F7.

[0178] 3) The second light spot images F0 to F7 are all located within the dashed frame 62.

[0179] It needs to be explained that, Figure 6 The horizontal axis represents the pixel coordinates in the horizontal direction, ranging from 1 to 576. Figure 6 The vertical coordinate in the graph represents the pixel coordinates in the vertical direction, ranging from 1 to 168. Figure 6 One pixel in the photodetector corresponds to one photodetector in the photodetector array.

[0180] In addition, photodetectors that are not used in the photodetector array can be shielded by an aperture during the assembly and adjustment of the photodetector array.

[0181] In some embodiments, driving the assembly and adjustment module to adjust the position and / or angle of each detection unit on the photodetector array based on the second spot image includes: driving the assembly and adjustment module to adjust the position and / or angle of each detection unit on the photodetector array based on the pixel coordinates of each pixel in the second spot image.

[0182] In some embodiments, the control model can acquire the pixel coordinates of each pixel in the second spot image, and based on the pixel coordinates of the second spot image, determine the detection unit corresponding to each pixel in the second spot image on the photodetector array. If the detection unit corresponding to each pixel in the second spot image on the photodetector array is not a detection unit within a preset area, the position and / or angle of each detection unit can be adjusted so that the third echo beam can be incident on the preset area of ​​the photodetector array.

[0183] In some embodiments, the method further includes: when the emitted beam of the lidar is reflected by the second retroreflective film and incident on a preset area on the photoelectric detection array, driving the assembly module to fix the position and angle of each detection unit.

[0184] Understandably, when the control module adjusts the position and / or angle of each detection unit in the photoelectric detection array by driving the assembly and adjustment module, so that the emitted beam of each light-emitting unit in the lidar can be incident on the corresponding preset area on the photoelectric detection array after being reflected by the second retroreflective film, the control module can drive the assembly and adjustment module to fix the position and angle of each detection unit.

[0185] In some embodiments, when the control module determines that the second light spot image is located in a preset area of ​​the photodetector array, it can drive the assembly module to fix the position and angle of each detection unit on the photodetector array with adhesive. For example, the position and angle of the photodetector on the base can be fixed by adhesive.

[0186] In other embodiments, the control module can output a second prompt message when it determines that the emitted beam of the lidar, after being reflected by the second retroreflective film, can be incident on a preset area of ​​the photoelectric detection array. The second prompt message is used to instruct the user to fix the current position and angle of each detection unit included in the photoelectric detection array using adhesive.

[0187] Figure 9 A configuration block diagram of an assembly and adjustment device 900 according to an embodiment of the present disclosure is shown. The assembly and adjustment device 900 can be any type of general-purpose or special-purpose computing device, such as a desktop computer, laptop computer, server, mainframe computer, cloud-based computer, tablet computer, wearable device, vehicle electronics, etc., connected to an assembly and adjustment module capable of holding a photodetector array. Figure 9 As shown, the assembly and adjustment device 900 includes an input / output (I / O) interface 901, a network interface 902, a memory 904, and a processor 903.

[0188] I / O interface 901 is a collection of components that can receive input from a user and / or provide output to a user. I / O interface 901 may include, but is not limited to, buttons, keyboards, keypads, LCD displays, LED displays or other similar display devices, including display devices with touch screen capabilities that enable interaction between the user and the assembly device.

[0189] Network interface 902 may include various adapters and circuitry implemented in software and / or hardware to enable communication with the LiDAR system using wired or wireless protocols. Wired protocols include, for example, any one or more of serial, parallel, Ethernet, USB, or other wired communication protocols. Wireless protocols include, for example, any IEEE 802.11 Wi-Fi protocol, cellular network communication protocols, etc.

[0190] Memory 904 includes a single memory or one or more memories or storage locations, including but not limited to random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), read-only memory (ROM), EPROM, EEPROM, flash memory, logic blocks of an FPGA, hard disk, or any other layer of a memory hierarchy. Memory 904 can be used to store any type of instructions, software, or algorithms, including instructions 905 for controlling the general functions and operations of the assembly device 900.

[0191] Processor 903 may be the control module mentioned above, and processor 903 controls the general operation of assembly and adjustment device 900. Processor 903 may include, but is not limited to, CPU, hardware microprocessor, hardware processor, multi-core processor, single-core processor, microcontroller, application-specific integrated circuit (ASIC), DSP, or other similar processing devices, capable of executing any type of instructions, algorithms, or software for controlling the operation and functions of assembly and adjustment device 900 according to the embodiments described in this disclosure. Processor 903 may be various implementations of digital circuit systems, analog circuit systems, or mixed-signal (analog and digital combination) circuit systems that perform functions in a computing system. Processor 903 may include, for example, portions or circuits of an integrated circuit (IC), a single processor core, an entire processor core, a single processor, a programmable hardware device such as a field-programmable gate array (FPGA), and / or a system including multiple processors.

[0192] The internal bus 906 can be used to establish communication between the components of the assembly and adjustment device 900.

[0193] The calibration device 900 is communicatively coupled to the lidar system to be calibrated in order to control the operation of the lidar system. For example, the calibration method according to this disclosure can be stored in the memory 904 of the calibration device 900 as computer-readable instructions. The processor 903 implements the calibration method by reading the stored computer-readable instructions.

[0194] Although specific components are used to describe the assembly and adjustment device 900, different components may be present in alternative embodiments. For example, the assembly and adjustment device 900 may include one or more additional processors, memory, network interfaces, and / or I / O interfaces. Additionally, one or more of these components may not be present in the assembly and adjustment device 900. Furthermore, although in Figure 9 Individual components are shown, but in some embodiments, some or all of a given component may be integrated into one or more other components in the assembly device 900.

[0195] This disclosure can be implemented as any combination of apparatus, system, integrated circuit, computer program or program product on a non-transitory computer-readable medium.

[0196] It should be understood that the computer-executable instructions in a computer-readable storage medium or program product according to embodiments of this disclosure can be configured to perform operations corresponding to the above-described device and method embodiments. When referring to the above-described device and method embodiments, embodiments of the computer-readable storage medium or program product will be clear to those skilled in the art, and therefore will not be described again. Computer-readable storage media and program products used to carry or include the above-described computer-executable instructions also fall within the scope of this disclosure. Such storage media may include, but are not limited to, floppy disks, optical disks, magneto-optical disks, memory cards, memory sticks, etc.

[0197] Furthermore, it should be understood that the aforementioned series of processes and devices can also be implemented via software and / or firmware. In the case of implementation via software and / or firmware, the corresponding program constituting the software is stored in the storage medium of the relevant device, and when said program is executed, it is capable of performing various functions.

[0198] For example, the multiple functions included in one unit in the above embodiments can be implemented by separate devices. Alternatively, the multiple functions implemented by multiple units in the above embodiments can be implemented by separate devices respectively. In addition, one of the above functions can be implemented by multiple units. Such configurations are included within the scope of this disclosure.

[0199] In this disclosure, the steps described in the flowcharts include not only processes executed sequentially in the stated order, but also processes executed in parallel or individually, rather than necessarily sequentially. Furthermore, even within steps involving sequential processing, the order can be appropriately altered.

[0200] The terms "comprising," "including," or any other variations thereof used in embodiments of this disclosure are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0201] The term "or" in this disclosure means inclusive "or," not exclusive "or." A reference to a "first" component does not necessarily require the provision of a "second" component. Furthermore, unless explicitly indicated, "first" or "second" component does not imply a restriction on the order in which the components are mentioned. The term "based on" means "at least partially based on."

Claims

1. A device for assembling and adjusting a lidar, characterized in that, The lens on the lidar has different focal lengths in the horizontal and vertical directions; the device includes: An assembly module is used to hold the photoelectric detection array in the lidar; A control module is used to acquire a first light spot image and, based on the first light spot image, drive the assembly and adjustment module to adjust the position and / or angle of the photoelectric detection array, such that the photoelectric detection array is located at the focal point of the lens in the horizontal direction and the focal point in the vertical direction. The first light spot image is formed based on the first echo beam reflected by the first retroreflective film received by the photoelectric detection array. The first retroreflective film covers a first area of ​​the first reflective plate disposed in the optical path of the lidar. The size of the first retroreflective film is positively correlated with the focal length of the lens in the vertical direction and the focal length in the horizontal direction, and the size of the first retroreflective film is smaller than the size of the light spot formed by the emitted beam of the lidar on the first reflective plate.

2. The assembly and adjustment device according to claim 1, characterized in that, The control module is further configured to drive the assembly module to adjust the position and / or angle of the photoelectric detection array based on the size of the first spot image in the horizontal direction, the size in the vertical direction, and / or the clarity of the first spot image.

3. The assembly and adjustment device according to claim 1, characterized in that, The control module is further configured to determine that the photoelectric detection array is located at the focal point of the lens in the horizontal direction and the focal point in the vertical direction when the size of the first spot image in both the horizontal and vertical directions is minimized.

4. The assembly and adjustment device according to claim 1, characterized in that, The control module is further configured to drive the assembly module to fix the position and angle of the photoelectric detection array when it is determined that the photoelectric detection array is located at the focal point of the lens in the horizontal direction and the focal point in the vertical direction.

5. The assembly and adjustment device according to claim 1, characterized in that, The control module is also configured to filter out the second echo beam received by the photodetector array before forming the first light spot image. The second echo beam is reflected by a second region on the first reflector that is not covered by the first retroreflective film.

6. The assembly and adjustment device according to claim 1, characterized in that, The control module is further configured to acquire a second spot image and, based on the second spot image, drive the assembly module to adjust the position and / or angle of each detection unit on the photoelectric detection array, so that the emitted beam of the lidar is reflected by the second retroreflective film and incident on a preset area on the photoelectric detection array. The second spot image is formed based on the third echo beam reflected by the second retroreflective film received by the photoelectric detection array. The second retroreflective film covers a second reflective plate disposed on the optical path of the lidar, and the size of the second retroreflective film is greater than or equal to the size of the spot formed by the emitted beam of the lidar on the second reflective plate.

7. The assembly and adjustment device according to claim 6, characterized in that, The control module is also used to drive the assembly module to adjust the position and / or angle of each detection unit on the photoelectric detection array based on the pixel coordinates of each pixel in the second spot image.

8. The assembly and adjustment device according to claim 6, characterized in that, The control module is also used to drive the assembly module to fix the position and angle of the detection unit when the emitted beam of the lidar is reflected by the second retroreflective film and incident on the preset area of ​​the photoelectric detection array.

9. A method for assembly and adjustment, characterized in that, An assembly and adjustment apparatus for a lidar according to any one of claims 1 to 8, the method comprising: The drive assembly module clamps the photoelectric detection array on the lidar; Acquire a first light spot image, wherein the first light spot image is formed based on the first echo beam reflected by the first retroreflective film received by the photoelectric detection array, the first retroreflective film covers the first area of ​​the first reflective plate disposed in the optical path of the lidar, the size of the first retroreflective film is positively correlated with the focal length of the lens in the vertical and horizontal directions, and the size of the first retroreflective film is smaller than the size of the light spot formed by the emitted beam of the lidar on the first reflective plate; Based on the first light spot image, the drive adjustment module adjusts the position and / or angle of the photoelectric detection array so that the photoelectric detection array is located at the focal point of the lens in the horizontal direction and the focal point in the vertical direction.

10. The method according to claim 9, characterized in that, The step of driving the assembly and adjustment module to adjust the position and / or angle of the photoelectric detection array based on the first light spot image includes: Based on the horizontal and vertical dimensions of the first spot image and / or the clarity of the first spot image, the assembly module is driven to adjust the position and / or angle of the photoelectric detection array.

11. The method according to claim 10, characterized in that, The method further includes: When the size of the first light spot image is minimized in both the horizontal and vertical directions, the photoelectric detection array is determined to be located at the focal point of the lens in both the horizontal and vertical directions.

12. The method according to claim 9, characterized in that, The method further includes: When the photoelectric detection array is located at the focal point of the lens in the horizontal direction and the focal point in the vertical direction, the mounting module is driven to fix the position and angle of the photoelectric detection array.

13. The method according to claim 9, characterized in that, The method further includes: Before forming the first spot image, the second echo beam received by the photodetector array is filtered out. The second echo beam is reflected by a second region on the first reflector that is not covered by the first retroreflective film.

14. The method according to claim 9, characterized in that, The method further includes: Acquire a second light spot image, wherein the second light spot image is formed based on the third echo beam reflected by the second retroreflective film received by the photoelectric detection array, the second retroreflective film covers the second reflective plate disposed on the optical path of the lidar, and the size of the second retroreflective film is greater than or equal to the size of the light spot formed by the emitted beam of the lidar on the second reflective plate; Based on the second light spot image, the assembly module is driven to adjust the position and / or angle of each detection unit on the photoelectric detection array so that the emitted beam of the lidar is reflected by the second retroreflective film and then incident on the preset area of ​​the photoelectric detection array.

15. The method according to claim 14, characterized in that, The step of driving the assembly and adjustment module to adjust the position and / or angle of each detection unit on the photoelectric detection array based on the second light spot image includes: Based on the pixel coordinates of each pixel in the second spot image, the assembly module is driven to adjust the position and / or angle of each detection unit on the photoelectric detection array.

16. The method according to claim 14, characterized in that, The method further includes: When the emitted beam of the lidar is reflected by the second retroreflective film and incident on the preset area of ​​the photoelectric detection array, the assembly module is driven to fix the position and angle of the detection unit.

17. A device for assembling and adjusting a lidar, characterized in that, include: Memory, which stores computer-executable instructions; A processor, connected to the memory, is configured to implement the method as described in any one of claims 9 to 16 by executing the computer-executable instructions.

18. A computer storage medium storing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a processor, can implement the method as described in any one of claims 9 to 16.

19. A computer program product, characterized in that, Includes a computer program or instructions, which, when executed by a processor, implement the method as described in any one of claims 9 to 16.

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