CN115267748A - Visual debugging device and method for optical-mechanical module and laser radar - Google Patents
Visual debugging device and method for optical-mechanical module and laser radar Download PDFInfo
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- CN115267748A CN115267748A CN202210848001.6A CN202210848001A CN115267748A CN 115267748 A CN115267748 A CN 115267748A CN 202210848001 A CN202210848001 A CN 202210848001A CN 115267748 A CN115267748 A CN 115267748A
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The application discloses visual debugging device of ray apparatus module, method and laser radar, the visual debugging device of ray apparatus module includes ray apparatus module, light source module, perspective mirror and imaging device and display, wherein: the light source module is used for emitting laser beams towards the optical machine module; the lens module is positioned between the light source module and the optical-mechanical module and used for transmitting the laser beam to the optical-mechanical module and reflecting an emergent beam reflected by the optical-mechanical module to the imaging equipment; the imaging device is in communication connection with the display and is used for receiving the emergent light beam, performing imaging processing on the emergent light beam to obtain an imaging image of the element to be debugged and the receiving light spot in the optical-mechanical module and sending the imaging image to the display; a display for receiving and displaying the imaged image. The technical problem that the shared place space of ray apparatus module debugging inefficiency and debugging is great has been solved to this application.
Description
Technical Field
The application relates to the technical field of optical debugging, in particular to a visual debugging device and method for an optical machine module and a laser radar.
Background
The optical-mechanical module is used as a core component of the laser radar or the optical sensor, and the performance of the laser radar or the optical sensor can be directly influenced by the optical debugging result.
The debugging to the ray apparatus module is mainly that the effect of judging the optics debugging according to the state of the light signal of receiving terminal, however, because do not know the initial position of receiving the facula at the initial debugging stage, initial debugging direction can't be confirmed, consequently enumerate the search debugging through acquiescence direction usually, enumerate the search time consuming overlength, lead to ray apparatus module debugging efficiency lower, and need go on real range finding range among the debugging process, often need ten meters even tens of meters' distance, the place space that the debugging took is great.
Disclosure of Invention
The main purpose of the present application is to provide a visual debugging method, system, device and storage medium for an optical module, which aims to solve the technical problems that the debugging efficiency of the optical module in the prior art is low and the field space occupied by the debugging needs to be large.
For realizing above-mentioned purpose, this application provides a visual debugging device of ray apparatus module, the visual debugging device of ray apparatus module includes ray apparatus module, light source module, perspective mirror and imaging device and display, wherein:
the light source module is used for emitting laser beams towards the optical mechanical module;
the lens is positioned between the light source module and the optical-mechanical module, and is used for transmitting the laser beam to the optical-mechanical module and reflecting an emergent beam reflected by the optical-mechanical module to the imaging equipment;
the imaging device is in communication connection with the display and is used for receiving the emergent light beam, performing imaging processing on the emergent light beam to obtain an imaging image of an element to be debugged and a receiving light spot in the optical-mechanical module and sending the imaging image to the display;
the display is used for receiving and displaying the imaging image.
Optionally, the visual debugging device of ray apparatus module still includes the filter, the filter is located the transflective mirror with between the imaging device, the filter is used for right the outgoing beam that the transflective mirror was reflected carries out filtration to transmit the outgoing beam after will filtering to among the imaging device.
Optionally, the spectral band set by the filter is matched with the spectral band of the laser beam emitted by the light source module.
Optionally, the visual debugging device of ray apparatus module is still including the debugging board, the ray apparatus module sets up on the debugging board, the debugging board is used for right the ray apparatus module carries out focus control and position control.
Optionally, the laser beam emitted by the light source module is a parallel beam, and the spectral band corresponding to the laser beam is switched for the user-defined configuration.
Optionally, the transflective mirror is provided with an optical film layer, and the optical film layer reflects and transmits the laser beam and/or the outgoing beam according to a preset transflective ratio.
Optionally, the light source module comprises a planar light source and a dodging plate, or comprises a point light source and a collimating lens.
The application also provides a visual debugging method of the optical-mechanical module, which comprises the following steps:
emitting a laser beam through the light source module, wherein the laser beam is transmitted into the optical-mechanical module through the transflective lens;
reflecting the emergent light beam reflected by the laser beam through the optical-mechanical module into the imaging equipment through the reflecting mirror;
imaging the emergent light beam through the imaging equipment to obtain an imaging image of an element to be debugged and a receiving light spot in the optical-mechanical module, and sending and displaying the imaging image to the display;
and debugging the optical machine module based on the relative position between the element to be debugged and the receiving light spot on the display.
Optionally, the step of debugging the optical module based on the relative position between the element to be debugged of the imaging image on the display and the receiving light spot includes:
and adjusting the element to be debugged to the position of the receiving light spot based on the relative position between the element to be debugged and the receiving light spot on the display.
The application further provides a laser radar, laser radar includes the ray apparatus module, the ray apparatus module is based on visual debugging device of ray apparatus module or/and the visual debugging method debugging of ray apparatus module obtain.
The application provides visual debugging device of ray apparatus module, method and storage medium laser radar, the visual debugging device of ray apparatus module in this application includes ray apparatus module, light source module, perspective mirror and imaging device and display, wherein: the light source module is used for emitting laser beams towards the optical mechanical module; the lens is positioned between the light source module and the optical-mechanical module, and is used for transmitting the laser beam to the optical-mechanical module and reflecting an emergent beam reflected by the optical-mechanical module to the imaging equipment; the imaging device is in communication connection with the display and is used for receiving the emergent light beam, performing imaging processing on the emergent light beam to obtain an imaging image of an element to be debugged and a receiving light spot in the optical-mechanical module, and sending the imaging image to the display; the display is used for receiving and displaying the imaging image, the imaging image based on display is realized, the relative position between the element to be debugged and the receiving light spot can be clearly seen, and then the position of the element to be debugged relative receiving light spot is treated through real-time monitoring in the debugging process, the element to be debugged can be quickly and accurately adjusted to the position of the receiving light spot, so that the debugging efficiency of the optical machine module is improved, the reliability of the debugging result is improved, the optical machine module can be debugged through the visual debugging device, the debugging is not required to be carried out on a real ranging space range, and the debugging convenience is improved.
Drawings
The accompanying drawings incorporated in and forming a part of the specification, embodiments consistent with the present application are shown and used together with the description to explain the principles of the present application.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious to those skilled in the art that other figures can be derived from these figures without inventive exercise.
Fig. 1 is a schematic structural diagram of a visual debugging device of an optical mechanical module according to the present application;
fig. 2 is a schematic diagram of a light engine module visual debugging device generating parallel light beams through a plane light source according to the present application;
fig. 3 is a schematic diagram of a light engine module visual debugging device according to the present application, in which parallel light beams are generated by a point light source and a collimating lens;
fig. 4 is a schematic flowchart of a visual debugging method of an optical mechanical module according to a first embodiment of the present application.
The reference numbers indicate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 01 | |
05 | |
| 02 | |
06 | Image forming apparatus with a plurality of |
| 03 | Optical |
07 | |
| 04 | Debugging machine |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In the prior art scheme: because the initial position of receiving the facula is unknown at the optical engine module initial debugging stage, can't confirm the initial debugging direction, consequently enumerate the search debugging through acquiescence direction usually, enumerate the search consuming time overlength, lead to optical engine module debugging inefficiency to need go on the range of true range finding in the debugging process, often need ten meters even tens of meters's distance, the field space that the debugging took is great.
The technical scheme solved by the embodiment of the application is mainly as follows: visual debugging device of ray apparatus module includes ray apparatus module, light source module, perspective mirror and imaging device and display, wherein: the light source module is used for emitting laser beams towards the optical machine module; the lens is positioned between the light source module and the optical-mechanical module, and is used for transmitting the laser beam to the optical-mechanical module and reflecting an emergent beam reflected by the optical-mechanical module to the imaging equipment; the imaging device is in communication connection with the display and is used for receiving the emergent light beam, performing imaging processing on the emergent light beam to obtain an imaging image of an element to be debugged and a receiving light spot in the optical-mechanical module, and sending the imaging image to the display; the display is used for receiving and displaying the imaging image. Thereby realized the formation of image based on the display shows, can see clearly the relative position between waiting to debug the component and the receiving facula, and then make and wait to debug the relative receiving facula's of component position through real-time supervision in the debugging process, can be fast accurately will wait to debug the component and adjust to the position of receiving the facula, thereby the efficiency of the debugging of ray apparatus module has been improved, and promote the reliability of debugging result, and debug through the visual debugging device of ray apparatus module, need not to go on real range finding spatial range, the convenience of debugging is improved.
Specifically, this application embodiment provides a visual debugging device of ray apparatus module, refer to fig. 1, and fig. 1 is the visual debugging device's of ray apparatus module structure schematic diagram of this application, and the visual debugging device of ray apparatus module is including treating light source module 01, perspective mirror 02, ray apparatus module 03 and imaging device 06 and display 07, wherein, light source module 01's luminous end orientation ray apparatus module 03, perspective mirror 02 is located light source module 01 with between the ray apparatus module 03, imaging device 06 with display 07 communication connection, wherein, display 07 is including can be for PC (Personal Computer), panel Computer, portable Computer etc. display device.
Further, the visual debugging device of ray apparatus module 03 still includes debugging board 04, ray apparatus module 03 sets up on debugging board 04, it is right to be used for ray apparatus module 03 carries out focus adjustment and position control.
Further, in order to make the light beam that imaging device 06 received with the spectral band phase-match that the light beam that light source module 01 launched corresponds, the visual debugging device of ray apparatus module 03 still includes filter 05, filter 05 set up in transflective mirror 02 with between the imaging device 06, thereby pass through filter 05 filters the light beam that is not conform to the spectral band that sets up in advance for the light beam that imaging device 06 received all sends laser beam with light source module 01's spectral band phase-match.
Further, to more clearly illustrate the operation of the control system, the details will be described below.
The light source module is used for emitting laser beams towards the optical mechanical module;
in this embodiment, it should be noted that the spectral band corresponding to the laser beam may be configured and switched by a user-defined manner according to an actual situation, and the light source module 01 is disposed on the debugging machine 04, where the debugging machine 04 is configured to adjust the focal length and the position of the optical-mechanical module 03, so that the optical-mechanical module 03 is in an optimal optical state, for example, the direction of the beam emitted by the light source module is set to be the Y-axis direction, the adjustment of the debugging machine in the Y-axis direction is performed by adjusting the focal length, and the other two directions of the X, Z axis are performed by adjusting the position, further, the laser beam is a parallel laser, the spectral band corresponding to the laser beam may be configured and switched by a user-defined manner, the parallel beam is used to supplement the light source for the optical-mechanical module 03, and is preferably perpendicular to the optical-mechanical module 03, so that the imaging device 06 can capture a light emitting chip or a photosensitive element in the optical-mechanical module 03, where the light emitting chip emits light by radiation composition that releases energy by photon radiation, and the photosensitive element is an electronic element that converts light entering a lens of the optical-mechanical module into an analog electrical signal.
As an implementation manner, optionally, the parallel light beams generated by the light source module 01 may be implemented by configuring a planar light source, specifically, referring to fig. 2, fig. 2 is a schematic diagram of a visual debugging device of an optical-mechanical module 03 according to the present application, where the planar light source generates the parallel light beams by using the planar light source, the planar light source may be composed of a plurality of light emitting chips, and the light is homogenized by using a light homogenizing plate to make the intensity of the emitted light beams uniform, and then the light beams are expanded by using a diffusion plate to make the light beams exhibit the characteristics of the parallel light beams.
As another possible implementation manner, optionally, the parallel light beams generated by the light source module 01 may be implemented by configuring a point light source and a collimating lens, specifically, referring to fig. 3, fig. 3 is a schematic view of a light engine module 03 visual debugging device of the present application generating parallel light beams by a point light source and a collimating lens, the point light source emits light beams with a certain divergence angle, and then parallel light beams are formed through the collimating lens, and the point light source is arranged on the focal plane position of the collimating lens.
The transflective mirror is used for transmitting the laser beam to the optical-mechanical module and reflecting an emergent beam reflected by the optical-mechanical module to the imaging equipment;
in this embodiment, it should be noted that the transflective mirror 02 is provided with an optical film, and the optical film reflects and transmits the light beam according to a preset transflective ratio, where the transflective ratio is a ratio of the transmitted light beam to the reflected light beam, and can be set according to actual situations, and preferably, the ratio of the transmitted light beam to the reflected light beam is set to 5:5.
Specifically, after the light source module 01 emits a laser beam, a part of the laser beam is reflected by the mirror 02, and a part of the laser beam passes through a lens of the optical module 03 and is focused on an element to be debugged in the optical module 03, wherein the element to be debugged includes a light emitting chip and a photosensitive element, and is further reflected by the light emitting chip or the photosensitive element, so as to transmit an outgoing beam onto the other surface of the mirror 02, further, the outgoing beam reflected by the element to be debugged in the optical module 03 is projected along the direction of the imaging device 06 by the mirror 02, further, in another possible embodiment, in order to match a spectral band of the beam received by the imaging device 06 with a spectral band corresponding to the beam emitted by the light source module 01, with filter 05 set up in transflective mirror 02 with between the imaging device 06, through the emergent light beam that reflects of transflective mirror 02 can pass through filter 05, wherein, filter 02 set up the spectral band of transmission with light source module 01 emission laser beam's spectral band phase-match, thereby pass through filter 05 filter with laser beam's spectral band non-assorted interference light beam, and will accord with the reverberation transmission of laser beam's spectral band extremely on the imaging device 06, need explain be, the spectral band-pass of filter 05 sets up according to light source module 01's spectral feature, works as light source module 01's spectrum transform back, the band-pass of filter also can switch, preferably, and the band-pass width can set up to 10nm.
It should be further noted that a reflection light path of the outgoing light beam reflected by the optical module 03 is the same as an incident light path of the laser light beam transmitted to the optical module 03, a reflection direction of the laser light beam reflected by the mirror 02 is different from a reflection direction of the outgoing light beam reflected by the mirror 02, referring to fig. 1, the reflection direction of the laser light beam reflected by the mirror 02 is a direction away from the imaging device 06, that is, a downward reflected light beam, and the reflection direction of the outgoing light beam reflected by the mirror 02 faces the imaging device 06, that is, an upward reflected light beam.
The imaging device is used for receiving the emergent light beam, performing imaging processing on the emergent light beam to obtain an imaging image of an element to be debugged and a receiving light spot in the optical-mechanical module, and sending the imaging image to the display;
the display is used for receiving and displaying the imaging image.
In this embodiment, specifically, the imaging device 06 receives the outgoing light beam, and then images the outgoing light beam, so as to obtain an imaging image corresponding to the to-be-debugged element and the receiving light spot, wherein a focal length and an aperture of the imaging device 06 can be adjusted to achieve an optimal imaging effect, so that a light emitting chip or a photosensitive element of the optical-mechanical module 03 is perceived through the imaging device 06, and then the imaging image is sent to the display 07, so that a user can directly see the imaging image on the display 07, and determine a relative position between the to-be-debugged element and the receiving light spot in the optical-mechanical module 03 based on the imaging image, and then perform position adjustment on the to-be-debugged element in the optical-mechanical module 03 based on the relative position, so as to adjust the to-be-debugged element to the receiving light spot based on the relative position between the to-be-debugged element and the receiving light spot in the imaging image, thereby achieving visual adjustment of the position of the to-be-debugged element based on the relative position of the imaging image and the receiving light spot.
The visual debugging device of ray apparatus module in this application embodiment includes ray apparatus module, light source module, perspective mirror and imaging device and display, wherein: the light source module is used for emitting laser beams towards the optical machine module; the lens is positioned between the light source module and the optical-mechanical module, and is used for transmitting the laser beam to the optical-mechanical module and reflecting an emergent beam reflected by the optical-mechanical module to the imaging equipment; the imaging device is in communication connection with the display and is used for receiving the emergent light beam, performing imaging processing on the emergent light beam to obtain an imaging image of an element to be debugged and a receiving light spot in the optical-mechanical module, and sending the imaging image to the display; the display is used for receiving and displaying the imaging image, so that the relative position between the element to be debugged and the receiving light spot can be clearly seen based on the imaging image displayed by the display, further the position of the element to be debugged relative to the receiving light spot is monitored in real time in the debugging process, the optical machine module debugging device has the advantages that the optical machine module debugging device can quickly and accurately adjust the element to be debugged to the position of the receiving light spot, so that the debugging efficiency of the optical machine module is improved, the debugging reliability is improved, the optical machine module debugging device is debugged through the visual debugging device of the optical machine module, the debugging is not required to be carried out on the real ranging space range, and the debugging convenience is improved.
Further, referring to fig. 4, in a first embodiment of the present application, the present application provides a visual debugging method for an optical mechanical module, where the method is applied to a visual debugging device for an optical mechanical module, and the visual debugging method for an optical mechanical module includes:
step S10, emitting a laser beam through the light source module, wherein the laser beam is transmitted into the optical-mechanical module through the transflective lens;
step S20, reflecting the emergent light beam of the laser beam reflected by the optical mechanical module into the imaging equipment through the reflecting mirror;
a step S30 of performing an imaging process on the outgoing beam by the imaging device, obtaining imaging images of an element to be debugged and a receiving light spot in the optical-mechanical module, and sending and displaying the imaging images to the display;
and S40, debugging the optical machine module based on the relative position between the element to be debugged and the receiving light spot on the display.
The step of debugging the optical machine module based on the relative position between the element to be debugged of the imaging image on the display and the receiving light spot comprises the following steps:
and S41, adjusting the element to be debugged to the position of the receiving light spot based on the relative position between the element to be debugged and the receiving light spot on the display.
In this embodiment, specifically, at first, the light source module is disposed on a debugging platform, wherein the debugging platform is configured to adjust a focal length and a position of the optical module, so that the optical module is in an optimal optical state, and then the light source module emits a laser beam, and further the mirror transmits the laser beam to the optical module, further, the laser beam is focused on a light emitting chip or an element to be debugged in the optical module through a lens of the optical module, and then the light beam is reflected through the light emitting chip or the element to be debugged, so that an outgoing beam is transmitted to another surface of the mirror, further, the outgoing beam reflected by the optical module is projected along a direction of the imaging device through the mirror, it is required to say that, in order to match a light beam received by the imaging device with a spectral band corresponding to a light beam emitted by the light source module, a filter is disposed between the mirror and the imaging device, and the filter is disposed between the mirror and the filter, wherein the spectral band of the filter is set according with spectral characteristics of the light beam received by the light source module, and the spectral band of the reflected light beam transmitted by the filter matches the outgoing beam with the spectral band of the reflected light beam transmitted by the filter. And then through the imaging device to the outgoing beam carries out imaging processing, obtains the imaging image, wherein, the accessible is adjusted the focus and the light ring of imaging device in order to reach best imaging effect to realize through the light emitting chip or the photosensitive element of imaging device perception ray apparatus module, further, will the imaging image send to in the display, thereby make the user can directly see the imaging image on the display, for the user is based on the imaging image, confirms the relative position between ray apparatus module treat debugging component and the receipt facula, and based on the relative position, through the debugging platform is right the ray apparatus module carries out focus and position's regulation, thereby adjusts the photosensitive element of ray apparatus module to the position of receiving the facula.
The embodiment of the application provides a visual debugging method of an optical machine module, namely, a laser beam is emitted through a light source module, wherein the laser beam is transmitted into the optical machine module through a lens; reflecting the emergent light beam reflected by the laser beam through the optical-mechanical module into the imaging equipment through the reflecting mirror; imaging the emergent light beam through the imaging equipment to obtain an imaging image of an element to be debugged and a receiving light spot in the optical-mechanical module, and sending and displaying the imaging image to the display; and debugging the optical machine module based on the relative position between the element to be debugged and the receiving light spot on the display. Thereby realized the formation of image based on the display shows, can see clearly the relative position between waiting to debug the component and the receiving facula, and then make and wait to debug the relative receiving facula's of component position through real-time supervision in the debugging process, can be fast accurately will wait to debug the component and adjust to the position of receiving the facula, thereby the efficiency of the debugging of ray apparatus module has been improved, and promote the reliability of debugging result, and debug through the visual debugging device of ray apparatus module, need not to go on real range finding spatial range, the convenience of debugging is improved.
The embodiment of the application provides a laser radar, laser radar includes the ray apparatus module, the ray apparatus module is based on the visual debugging device of ray apparatus module or/and the visual debugging method debugging of ray apparatus module obtains, no longer gives unnecessary details one by one here.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.
Claims (10)
1. The utility model provides a visual debugging device of ray apparatus module, a serial communication port, the visual debugging device of ray apparatus module includes ray apparatus module, light source module, perspective mirror and imaging device and display, wherein:
the light source module is used for emitting laser beams towards the optical machine module;
the lens is positioned between the light source module and the optical-mechanical module, and is used for transmitting the laser beam to the optical-mechanical module and reflecting an emergent beam reflected by the optical-mechanical module to the imaging equipment;
the imaging device is in communication connection with the display and is used for receiving the emergent light beam, performing imaging processing on the emergent light beam to obtain an imaging image of an element to be debugged and a receiving light spot in the optical-mechanical module, and sending the imaging image to the display;
the display is used for receiving and displaying the imaging image.
2. The visual debugging device of optical mechanical module set of claim 1 further comprising a filter disposed between the half mirror and the imaging device, wherein the filter is configured to filter the outgoing beam reflected by the half mirror and transmit the filtered outgoing beam to the imaging device.
3. The visual debugging device of an optical mechanical module of claim 2, wherein the spectral band set by the filter is matched with the spectral band of the laser beam emitted by the light source module.
4. The visual debugging device of claim 1, further comprising a debugging platform, wherein the optical module is disposed on the debugging platform, and the debugging platform is configured to perform focus adjustment and position adjustment on the optical module.
5. The visual debugging device of an opto-mechanical module according to any one of claims 1-4, wherein the laser beam emitted by the light source module is a parallel beam, and the spectral band corresponding to the laser beam is switched for custom configuration.
6. The visual debugging device of an opto-mechanical module of claim 1 wherein the transflective lens is provided with an optical film that reflects and transmits the laser beam and/or the outgoing beam according to a preset transflective ratio.
7. The visual debugging device of an optical mechanical module of claim 1, wherein the light source module comprises a planar light source and a dodging plate, or comprises a point light source and a collimating lens.
8. A visual debugging method for an optical mechanical module, the method being applied to the visual debugging device for the optical mechanical module according to any one of claims 1 to 7, the visual debugging method for the optical mechanical module comprising:
emitting a laser beam through the light source module, wherein the laser beam is transmitted into the optical-mechanical module through the transflective lens;
reflecting the emergent light beam reflected by the laser beam through the optical-mechanical module into the imaging equipment through the reflecting mirror;
imaging the emergent light beam through the imaging equipment to obtain an imaging image of an element to be debugged and a receiving light spot in the optical-mechanical module, and sending and displaying the imaging image to the display;
and debugging the optical machine module based on the relative position between the element to be debugged and the receiving light spot on the display.
9. The visual debugging method of the optical-mechanical module according to claim 8, wherein the step of debugging the optical-mechanical module based on the relative position between the element to be debugged on the display and the receiving light spot comprises:
and adjusting the element to be debugged to the position of the receiving light spot based on the relative position between the element to be debugged and the receiving light spot on the display.
10. A lidar characterized in that the lidar comprises an opto-mechanical module according to any one of claims 1 to 7, wherein the opto-mechanical module is obtained by debugging based on the opto-mechanical module visualization debugging device according to any one of claims 1 to 7 or/and the opto-mechanical module visualization debugging method according to any one of claims 8 to 9.
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| CN202210848001.6A CN115267748A (en) | 2022-07-19 | 2022-07-19 | Visual debugging device and method for optical-mechanical module and laser radar |
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| CN202210848001.6A CN115267748A (en) | 2022-07-19 | 2022-07-19 | Visual debugging device and method for optical-mechanical module and laser radar |
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