CN118033592A

CN118033592A - Laser radar, laser radar adjustment method and system

Info

Publication number: CN118033592A
Application number: CN202410239456.7A
Authority: CN
Inventors: 徐豪; 易森
Original assignee: Guangzhou Asensing Technology Co Ltd
Current assignee: Guangzhou Asensing Technology Co Ltd
Priority date: 2024-03-01
Filing date: 2024-03-01
Publication date: 2024-05-14

Abstract

The embodiment of the invention provides a laser radar, a laser radar adjusting method and a laser radar adjusting system, which relate to the technical field of radars. After laser emitted by the laser emitter passes through the collimator, a light spot is formed on a first end face of the optical fiber array, the optical fiber array receives the laser, the light spot is formed on the first end face, and the laser is reflected to the laser receiver on a second end face. The invention can simulate the laser flight time through the optical fiber array, so that a worker can more accurately adjust the receiving device of the laser radar, and the quality of the laser radar is improved.

Description

Laser radar, laser radar adjustment method and system

Technical Field

The invention relates to the technical field of radars, in particular to a laser radar, a laser radar tuning method and a laser radar tuning system.

Background

With the rapid development of technology, the laser radar plays an important role in various fields such as measurement, automatic driving, environmental monitoring and the like. Before being put into use, the laser radar needs to be adjusted to ensure the quality and accuracy when the laser radar is used.

However, the inventor researches and discovers that the existing lidar cannot generally simulate the laser flight time, so that the receiving device of the lidar cannot be accurately adjusted, and the adjustment accuracy of the lidar is not high enough.

Disclosure of Invention

The invention aims to provide a laser radar, a laser radar tuning method and a laser radar tuning system, which can at least partially solve the technical problems.

Embodiments of the invention may be implemented as follows:

In a first aspect, an embodiment of the present invention provides a laser radar, where the laser radar includes a laser emitter, a laser receiver, a collimator, and an optical fiber array, where the laser receiver is located at a position where the laser emitter is located, and is disposed adjacent to the laser emitter; the collimator and the optical fiber array are positioned on a first optical path where the laser emitted by the laser emitter is positioned; the collimator is arranged between the laser transmitter and the optical fiber array, and the first end face of the optical fiber array coincides with the focal plane of the collimator;

The laser emitter is used for emitting laser so that the laser passes through the collimator and forms a light spot on the first end face of the optical fiber array;

the collimator is used for converging the laser emitted by the laser emitter so as to form a light spot on a focal plane of the collimator;

The optical fiber array is used for receiving the laser, forming the light spot on the first end face and reflecting the laser on the second end face;

the laser receiver is used for receiving the laser reflected by the second end face of the optical fiber array.

Optionally, the laser radar further comprises a transmitting lens group and a receiving lens group;

the emission lens group is arranged between the laser emitter and the collimator corresponding to the first light path and is used for collimating laser emitted by the laser emitter;

The receiving lens group is arranged between the laser receiver and the collimator corresponding to a second light path where the laser reflected by the second end face is located and is used for collimating the laser reflected by the second end face.

Optionally, the emission lens group includes a fast axis collimator and a slow axis collimator;

The fast axis collimating mirror is used for collimating the fast axis of the laser, and the slow axis collimating mirror is used for collimating the slow axis of the laser.

Optionally, the diameter of the fiber array satisfies the following formula:

Wherein, X is the size of the first end face of the optical fiber array in the fast axis direction, Y is the size of the first end face of the optical fiber array in the slow axis direction, a is the size of the end face of the laser transmitter in the fast axis direction, b is the size of the end face of the laser transmitter in the slow axis direction, F _{parallel light pipe} is the focal length of the collimator, EFL _fac is the focal length of the fast axis collimator, EFL _sac is the focal length of the slow axis collimator, and D is the diameter of the optical fiber array.

Optionally, the length of the fiber array satisfies the following formula:

2nL＝T

wherein T is the length of time from the laser transmitter to the laser receiver, n is the refractive index of the fiber core of the fiber array, and L is the length of the fiber array.

Optionally, an antireflection film is plated on the first end face, and a high-reflection film is plated on the second end face.

Optionally, the laser radar further comprises a hole reflector and a beam splitting prism;

The hole reflector is arranged between the emission lens group and the collimator and is positioned on the first light path;

The beam splitting prism is arranged between the collimator and the optical fiber array and is positioned on the first optical path.

Optionally, the laser transmitter includes any one of a semiconductor laser, a fiber laser, and a solid state laser;

the laser receiver includes any one of a photodetector, a silicon photocell, and an imaging detector.

In a second aspect, an embodiment of the present invention provides a laser radar tuning method, which is applied to a controller, where the controller is respectively connected with a laser radar and an industrial camera in a communication manner; the laser radar comprises a laser emitter, a collimator and an optical fiber array, wherein the collimator and the optical fiber array are positioned on a first optical path where laser emitted by the laser emitter is positioned; the collimator is arranged between the laser transmitter and the optical fiber array, and the incident end face of the optical fiber array coincides with the focal plane of the collimator; the method comprises the following steps:

Controlling the laser emitter to emit laser and controlling the industrial camera to acquire a light spot formed by the laser on the incident end face;

Judging whether the light spot size of the light spot is smaller than or equal to a preset size or not, and judging whether the light spot position of the light spot on the incident end face is in a preset range or not;

And if the light spot size is larger than the preset size and/or the light spot position is not in the preset range, adjusting the laser radar according to the light spot size and the light spot position.

In a third aspect, an embodiment of the present invention provides a lidar adjustment device, which is applied to a controller, where the controller is respectively connected with a lidar and an industrial camera in a communication manner; the laser radar comprises a laser emitter, a collimator and an optical fiber array, wherein the collimator and the optical fiber array are positioned on a first optical path where laser emitted by the laser emitter is positioned; the collimator is arranged between the laser transmitter and the optical fiber array, and the incident end face of the optical fiber array coincides with the focal plane of the collimator; the laser radar adjusting device comprises:

the laser emission control unit is used for controlling the laser emitter to emit laser and controlling the industrial camera to acquire a light spot formed by the laser on the incident end face;

The judging unit is used for judging whether the light spot size of the light spot is smaller than or equal to a preset size and judging whether the light spot position of the light spot on the incident end face is in a preset range;

And the adjusting unit is used for adjusting the laser radar according to the light spot size and the light spot position when the light spot size is larger than the preset size and/or the light spot position is not in the preset range.

Optionally, the adjusting the laser radar according to the spot size and the spot position includes:

determining a divergence angle of the laser when the laser exits from the laser emitter according to the spot size;

adjusting the distance between the laser emitter and the collimator based on the difference value between the divergence angle and a preset divergence angle;

determining a pointing angle of the laser when the laser exits from the laser emitter according to the spot position;

and adjusting the outgoing angle of the laser emitted by the laser emitter based on the difference value between the pointing angle and the preset pointing angle.

In a fourth aspect, an embodiment of the present invention provides an electronic device, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of any one of the methods described above when the program is executed.

In a fifth aspect, an embodiment of the present invention provides a computer readable storage medium, where the computer readable storage medium includes a computer program, where the computer program controls a server where the computer readable storage medium is located to implement the steps of any one of the methods described above.

In a sixth aspect, an embodiment of the present invention provides a lidar tuning system, where the lidar tuning system includes a lidar, an industrial camera, and a controller, where the controller is respectively connected with the lidar and the industrial camera in a communication manner; the laser radar comprises a laser transmitter, a laser receiver, a collimator and an optical fiber array, wherein the laser receiver is positioned at the position of the laser transmitter and is arranged adjacent to the laser transmitter; the collimator and the optical fiber array are positioned on a first optical path where the laser emitted by the laser emitter is positioned; the collimator is arranged between the laser transmitter and the optical fiber array, and the first end face of the optical fiber array coincides with the focal plane of the collimator;

the laser transmitter is used for transmitting laser based on the control of the controller so that the laser passes through the collimator and forms a light spot on the first end face of the optical fiber array; the collimator is used for converging the laser emitted by the laser emitter so as to form a light spot on a focal plane of the collimator; the optical fiber array is used for receiving the laser, forming the light spot on the first end face and reflecting the laser on the second end face; the laser receiver is used for receiving laser reflected by the second end face of the optical fiber array;

The controller is used for controlling the laser emitter to emit laser and controlling the industrial camera to acquire a light spot formed by the laser on the first end face; judging whether the light spot size of the light spot is smaller than or equal to a preset size or not, and judging whether the light spot position of the light spot on the first end face is in a preset range or not; if the light spot size is larger than the preset size and/or the light spot position is not in the preset range, adjusting the laser radar according to the light spot size and the light spot position;

The industrial camera is used for acquiring a light spot formed by the laser on the first end face based on the control of the controller and feeding back the light spot to the controller.

The beneficial effects of the embodiment of the invention include, for example:

by providing an optical fiber array in a lidar, the time of flight is simulated as the laser propagates in the optical fiber bundles of the optical fiber array, and the length of the optical fiber array can be varied according to the time of flight. Therefore, a worker can more accurately assemble and adjust the receiving device of the laser radar, and the quality of the laser radar is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a lidar according to an embodiment of the present invention;

fig. 2 is a schematic diagram of a lidar tuning system according to an embodiment of the present invention;

FIG. 3 is a flowchart illustrating steps of a method for adjusting a lidar according to an embodiment of the present invention;

Fig. 4 is a block schematic diagram of an electronic device according to an embodiment of the present invention.

Icon: 10-laser radar; 30-a laser radar debugging system; 11-a laser emitter; 12-a laser receiver; 13-collimator; 14-an optical fiber array; 141-a first end face; 142-a second end face; 15-an emission lens group; 16-a receiving lens group; 17-hole mirror; 18-a beam-splitting prism; 19-an industrial camera; 02-a controller; 21-a first light path; 22-a second optical path; 100-an electronic device; 110-memory; a 120-processor; 130-a communication module.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

Furthermore, the terms "first," "second," and the like, if any, are used merely for distinguishing between descriptions and not for indicating or implying a relative importance.

It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.

The existing laser radar generally comprises a detection device for installing a dimming light source, a camera and the laser radar. The laser radar detection device comprises a laser detector and a laser emitter. The camera is positioned in the optical path of the laser transmitter and the beam emitted by the laser transmitter is capable of imaging at the camera to form a spot. And the laser detector is imaged on the camera to form another light spot under the condition that the laser detector is irradiated by the light source. Finally, the laser radar is assembled and adjusted by adjusting the position of the laser detector and the distance between the two light spots.

Generally, the shorter the flight time is, the higher the amplitude of the echo received by the laser radar receiving device is, and if the flight time simulation is incorrect, the accuracy of adjustment of the laser radar receiving device is greatly affected. In the existing scheme, when the laser radar receiving device is installed and adjusted, the corresponding flight time is not simulated, so that the laser light path of the emergent place of the laser radar transmitting device cannot be truly restored, and the laser radar is not installed and adjusted accurately.

Based on the above situation, the embodiment of the application provides a laser radar, a laser radar tuning method and a laser radar tuning system, which can effectively alleviate the technical problems.

Referring to fig. 1, a schematic diagram of a lidar 10 according to the present application is shown. The laser radar 10 includes a laser emitter 11, a laser receiver 12, a collimator 13, and an optical fiber array 14, the laser receiver 12 being located at a position where the laser emitter 11 is located, and being disposed adjacent to the laser emitter 11. The collimator 13 and the optical fiber array 14 are located on a first optical path 21 where the laser light emitted from the laser emitter 11 is located. The collimator 13 is disposed between the laser emitter 11 and the optical fiber array 14, and a first end surface of the optical fiber array 14 coincides with a focal plane of the collimator 13.

The laser emitter 11 is configured to emit laser light so that the laser light passes through the collimator 13 and forms a spot on the first end face 141 of the optical fiber array 14.

A collimator 13 for converging the laser light emitted from the laser emitter 11 so that the laser light forms a spot on a focal plane of the collimator 13.

The optical fiber array 14 is configured to receive the laser light, form the light spot on the first end face 141, and reflect the laser light on the second end face.

The laser receiver 12 is configured to receive laser light reflected by the second end surface 142 of the fiber array 14.

The first end face 141 may be the incident end face of the laser light as it enters the fiber array 14; the second end face 142 may be the end face where the laser light is reflected in the fiber array 14. The first optical path 21 may be an optical path during which the laser light reaches the second end face 142 after being emitted from the laser emitter 11; the second optical path 22 may be the optical path of the laser light during its travel from the second end face 142 to the laser receiver 12. As shown in fig. 1, the end face of the laser transmitter 11 and the end face of the laser receiver 12 may be in the same position to facilitate determination of the actual measured object distance. When the laser radar 10 is used, the laser emitter 11 of the laser radar 10 emits laser light forward, the laser light enters the collimator 13, and the collimator 13 condenses the laser light. After the laser light exits the collimator 13, a spot is formed at the focal plane of the collimator 13 (i.e., the first end 141 of the fiber array 14). At the same time, the laser light enters the optical fiber bundles of the optical fiber array 14 from the first end face 141 of the optical fiber array 14, reaches the second end face 142 of the optical fiber array 14, is reflected by the second end face 142, and is retroreflected to the laser receiver 12 along the second optical path 22 for data processing.

Due to the arrangement of the optical fiber array 14, the laser radar 10 of the invention can simulate the flight time, and when the flight time is different, the optical fiber arrays 14 with different lengths can be selected, so that the adjustment accuracy of the laser radar 10 is improved.

Optionally, the lidar 10 further comprises a transmitting lens group 15 and a receiving lens group 16. The emission lens group 15 is disposed between the laser emitter 11 and the collimator 13 corresponding to the first optical path 21, for collimating the laser light emitted from the laser emitter 11.

The receiving lens group 16 is disposed between the laser receiver 12 and the collimator 13, corresponding to the second optical path 22 where the laser light reflected by the second end surface 142 is located, and is used for collimating the laser light reflected by the second end surface 142.

As shown in fig. 1, the emission lens group 15 is disposed on the first optical path 21 between the collimator 13 and the laser emitter 11. When the laser light is emitted, it is collimated by the emission lens group 15 and then enters the collimator 13. The receiving lens group 16 is disposed on the second optical path 22 between the collimator 13 and the laser receiver 12. When the laser light is reflected by the second end face 142 of the fiber array 14 and passes through the collimator 13, it passes through the receiving lens set 16 before reaching the laser receiver 12.

Alternatively, the emission lens group 15 includes a fast axis collimator and a slow axis collimator. The fast axis collimating mirror is used for collimating the fast axis of the laser, and the slow axis collimating mirror is used for collimating the slow axis of the laser.

The fast axis and the slow axis are axes describing the laser output in different directions inside the laser crystal. When the laser works, the output characteristics of the fast axis and the slow axis are different, and the distinction and the control are needed. Therefore, in order to make the final-adjustment laser radar 10 more accurate, the emission lens group 15 may be divided into a fast axis collimator lens and a slow axis collimator lens (not shown in the figure), and when the laser reaches the emission lens group 15, the fast axis collimator lens performs shrink collimation on the divergence angle of the laser in the fast axis direction, and the slow axis collimator lens performs shrink collimation on the divergence angle of the laser in the slow axis direction.

Alternatively, the diameter of the fiber array 14 satisfies the following equation:

Wherein X is the size of the first end face of the optical fiber array 14 in the fast axis direction, Y is the size of the first end face of the optical fiber array 14 in the slow axis direction, a is the size of the end face of the laser transmitter 11 in the fast axis direction, b is the size of the end face of the laser transmitter 11 in the slow axis direction, F _{parallel light pipe} is the focal length of the collimator 13, EFL _fac is the focal length of the collimator, EFL _sac is the focal length of the collimator, and D is the diameter of the optical fiber array 14.

If the cross section of the fiber array 14 is too small, the laser light may not be completely incident on the fiber array 14; and if the cross section of the fiber array 14 is too large, material is wasted. Therefore, when the cross section of the optical fiber array 14 is circular, the diameters of the end faces of the optical fiber array 14 can be determined according to the above formula under the conditions of determining a, b and F _{parallel light pipe}、EFL_fac、EFL_sac, so that the purposes of not wasting materials and not affecting the adjustment of the laser radar 10 are achieved.

Optionally, the length of the fiber array 14 satisfies the following equation:

2nL＝T

Where T is the length of time from the laser transmitter 11 to the laser receiver 12, n is the core index of the fiber array 14, and L is the length of the fiber array 14.

The length of time T of the laser light from the laser transmitter 11 to the laser receiver 12 may be the length of flight of the simulated laser light. The longer the length L of the fiber array 14 is required, the longer the simulated length of flight.

Optionally, the first end surface 141 is coated with an anti-reflection film, and the second end surface 142 is coated with a high-reflection film.

Antireflection films, also called antireflection films, are mainly used for optical elements such as lenses and eyeglasses to reduce reflection of light and increase transmittance of light, thereby improving definition and brightness of images. The high reflection film is an important optical film, and can reflect the incident light entirely in ideal condition, so it can also be called total reflection film. Accordingly, to reduce losses during laser light conduction, an anti-reflection film may be coated on the first end face 141 of the fiber array 14 and on the second end face 142 of the fiber array 14.

Optionally, as shown in fig. 1, the laser radar 10 further comprises an aperture mirror 17 and a beam splitting prism 18. The aperture mirror 17 is disposed between the emission lens group 15 and the collimator 13 on the first optical path 21. The beam splitter prism 18 is disposed between the collimator 13 and the optical fiber array 14 and is located on the first optical path 21.

The aperture mirror 17 can perform various functions such as beam orientation, beam focusing, and interference reduction, so the aperture mirror 17 may be disposed on the first optical path 21 shown in fig. 1 such that the aperture mirror 17 is located between the collimator 13 and the emission lens group 15.

And a beam splitting prism 18 is provided between the optical fiber array 14 and the collimator 13, so that part of the laser light returned from the optical fiber array 14 can be split. In general, a general dichroic prism has a reflectivity and a transmissivity of 50% for unpolarized light, and for polarized light, it generally deflects a component having a vibration direction different from an angle of an incident surface, and reflects or transmits a component having a vibration direction parallel to the incident surface.

Alternatively, the laser emitter 11 includes any one of a semiconductor laser, a fiber laser, and a solid-state laser; the laser receiver 12 includes any of a photodetector, a silicon photocell, and an imaging detector.

In practical applications, any one of a semiconductor laser, a fiber laser, and a solid-state laser may be selected as the laser transmitter 11, and any one of a photodetector, a silicon photocell, and an imaging detector may be selected as the laser receiver 12, which is not particularly limited in the present invention.

Based on the same inventive concept, as shown in fig. 2, the present invention provides a lidar tuning system 30, which comprises a lidar 10, an industrial camera 19 and a controller 02, wherein the controller 02 is in communication connection with the lidar 10 and the industrial camera 19, respectively. The laser radar 10 includes a laser emitter 11, a laser receiver 12, a collimator 13, and an optical fiber array 14, the laser receiver 12 being located at a position where the laser emitter 11 is located, and being disposed adjacent to the laser emitter 11. The collimator 13 and the optical fiber array 14 are located on a first optical path 21 where the laser light emitted from the laser emitter 11 is located. The collimator 13 is disposed between the laser emitter 11 and the fiber array 14, and the first end face 141 of the fiber array 14 coincides with the focal plane of the collimator 13.

A laser emitter 11 for emitting laser light based on control of the controller 02 so that the laser light passes through the collimator 13 and forms a spot on the first end face 141 of the optical fiber array 14. A collimator 13 for converging the laser light emitted from the laser emitter 11 so that the laser light forms a spot on a focal plane of the collimator 13. The optical fiber array 14 is configured to receive the laser light, form the light spot on the first end surface 141, and reflect the laser light on the second end surface 142. The laser receiver 12 is configured to receive laser light reflected by the second end surface 142 of the fiber array 14.

A controller 02 for controlling the laser transmitter 11 to emit laser light and for controlling the industrial camera 19 to obtain a spot of said laser light at the first end face 141. Judging whether the spot size of the light spot is smaller than or equal to a preset size, and judging whether the position of the light spot on the first end face 141 is in a preset range. And if the light spot size is larger than the preset size and/or the light spot position is not in the preset range, adjusting the laser radar 10 according to the light spot size and the light spot position.

The industrial camera 19 is configured to acquire a light spot formed by the laser at the first end face 141 based on control of the controller 02, and feed back the light spot to the controller 02.

In the adjustment of the laser radar 10, the controller 02 controls the laser emitter 11 to emit laser light, and when the laser light reaches the first end face 141 of the optical fiber array 14 by converging through the collimator 13, a spot is formed on the first end face 141. The controller 02 judges whether the size of the light spot is equal to or smaller than a preset size and judges whether the position of the light spot on the first end face 141 is within a preset range by controlling the industrial camera 19 to acquire image data of the light spot. When either of the two conditions is not satisfied, the controller 02 calculates the parameters to be calibrated to calibrate the lidar 10.

Correspondingly, the embodiment of the invention provides a laser radar tuning method which is applied to a controller, wherein the controller is respectively in communication connection with a laser radar and an industrial camera. The laser radar comprises a laser emitter, a collimator and an optical fiber array, wherein the collimator and the optical fiber array are positioned on a first optical path where laser emitted by the laser emitter is positioned. The collimator is arranged between the laser transmitter and the optical fiber array, and the incident end face of the optical fiber array coincides with the focal plane of the collimator. The method comprises the following steps as shown in fig. 3:

step S110: and controlling the laser emitter to emit laser and controlling the industrial camera to acquire a light spot formed by the laser on the incident end face.

Step S120: judging whether the light spot size of the light spot is smaller than or equal to a preset size, and judging whether the light spot position of the light spot on the incident end face is in a preset range.

Step S130: and if the light spot size is larger than the preset size and/or the light spot position is not in the preset range, adjusting the laser radar according to the light spot size and the light spot position.

and determining the divergence angle of the laser when the laser exits from the laser emitter according to the size of the light spot.

And adjusting the distance between the laser emitter and the collimator based on the difference value between the divergence angle and the preset divergence angle.

And determining the pointing angle of the laser when the laser exits from the laser emitter according to the spot position.

In one possible implementation, the calibration of lidar 10 may be: the divergence angle of the laser emitted from the laser emitter 11 is determined according to the size of the light spot, and then the distance from the laser emitter 11 to the collimator 13 is adjusted according to the determined divergence angle and the difference value of the preset divergence angle preset by an operator, so that the difference value of the divergence angle and the preset divergence angle is within an error range.

Similarly, the pointing angle of the laser emitted from the laser emitter 11 can be determined according to the position of the light spot, and then the difference between the determined pointing angle and the preset pointing angle is used to adjust the emitting angle of the laser, so that the difference between the pointing angle and the preset pointing angle is finally within the error range, and the adjustment of the laser radar 10 is completed.

Referring to fig. 4, a block diagram of an electronic device 100 according to the present application is provided, and the electronic device 100 may be a device capable of performing data processing, which is not limited in this embodiment. The electronic device 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, the processor 120, and the communication module 130. The components are directly or indirectly electrically connected with each other to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.

Wherein the memory 110 is used for storing programs or data. The Memory 110 may be, but is not limited to, random access Memory (Random Access Memory, RAM), read Only Memory (ROM), programmable Read Only Memory (Programmable Read-Only Memory, PROM), erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.

The processor 120 is used to read/write data or programs stored in the memory and perform corresponding functions.

The communication module 130 is used for establishing communication connection between the server and other communication terminals through the network, and is used for receiving and transmitting data through the network.

It should be understood that the structure shown in fig. 4 is merely a schematic structural diagram of the electronic device 100, and that the electronic device 100 may further include more or fewer components than those shown in fig. 4, or have a different configuration than that shown in fig. 4. The components shown in fig. 4 may be implemented in hardware, software, or a combination thereof. The electronic device 100 may be provided as a separate device from other devices.

The invention at least comprises the following beneficial effects:

In the several embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present invention may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The laser radar is characterized by comprising a laser transmitter, a laser receiver, a collimator and an optical fiber array, wherein the laser receiver is positioned at the position of the laser transmitter and is arranged adjacent to the laser transmitter; the collimator and the optical fiber array are positioned on a first optical path where the laser emitted by the laser emitter is positioned; the collimator is arranged between the laser transmitter and the optical fiber array, and the first end face of the optical fiber array coincides with the focal plane of the collimator;

2. The lidar of claim 1, further comprising a transmit lens group and a receive lens group;

3. The lidar of claim 2, wherein the transmit lens group comprises a fast axis collimator and a slow axis collimator;

4. A lidar according to claim 3, wherein the diameter of the fibre array satisfies the following formula:

5. The lidar of claim 1, wherein the length of the fiber array satisfies the following equation:

2nL＝T

6. The lidar of claim 1, wherein the first end surface is coated with an anti-reflection film and the second end surface is coated with a highly reflective film.

7. The lidar of claim 2, further comprising a hole mirror and a beam splitting prism;

8. The lidar of claim 1, wherein the laser transmitter comprises any one of a semiconductor laser, a fiber laser, and a solid state laser;

9. The laser radar adjustment method is characterized by being applied to a controller, wherein the controller is respectively in communication connection with a laser radar and an industrial camera; the laser radar comprises a laser emitter, a collimator and an optical fiber array, wherein the collimator and the optical fiber array are positioned on a first optical path where laser emitted by the laser emitter is positioned; the collimator is arranged between the laser transmitter and the optical fiber array, and the incident end face of the optical fiber array coincides with the focal plane of the collimator; the method comprises the following steps:

10. The laser radar debugging system is characterized by comprising a laser radar, an industrial camera and a controller, wherein the controller is respectively in communication connection with the laser radar and the industrial camera; the laser radar comprises a laser transmitter, a laser receiver, a collimator and an optical fiber array, wherein the laser receiver is positioned at the position of the laser transmitter and is arranged adjacent to the laser transmitter; the collimator and the optical fiber array are positioned on a first optical path where the laser emitted by the laser emitter is positioned; the collimator is arranged between the laser transmitter and the optical fiber array, and the first end face of the optical fiber array coincides with the focal plane of the collimator;