CN113466835A - Angular resolution detection device and angular resolution detection method for laser radar - Google Patents
Angular resolution detection device and angular resolution detection method for laser radar Download PDFInfo
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- CN113466835A CN113466835A CN202010244731.6A CN202010244731A CN113466835A CN 113466835 A CN113466835 A CN 113466835A CN 202010244731 A CN202010244731 A CN 202010244731A CN 113466835 A CN113466835 A CN 113466835A
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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Abstract
The application provides an angular resolution detection device and an angular resolution detection method. The angular resolution detection device comprises a laser radar mounting part and a reflective grating array ring, wherein the reflective grating array surrounds the laser radar mounting part. The reflective grating array ring comprises a plurality of reflective grating bars and a plurality of gaps, the reflective grating bars and the gaps are alternately arranged, and the widths of the reflective grating bars are sequentially increased along the circumferential direction of the reflective grating array ring. The laser radar that awaits measuring can set up in the laser radar installation department for laser radar transmits the laser, and shine to the reflection bars that the width increases in proper order along the circumference of reflection grating array ring and detect the laser energy change that the reflection bars reflected back through laser radar, can swiftly confirm this laser radar's angular resolution, thereby can realize the high-efficient quick detection to laser radar's angular resolution.
Description
Technical Field
The application relates to the technical field of laser radars, in particular to an angular resolution detection device and an angular resolution detection method.
Background
The angular resolution is an important optical parameter of optical distance measuring devices such as laser radars, a quantitative index parameter of how large an object can be detected at the minimum by the optical distance measuring device, and the capability of an imaging system or system element to distinguish the minimum distance between two adjacent objects differently.
In the prior art, the resolution of the laser radar is calibrated by comparing the physical length of the actual light spot with the pixel of the picture obtained by scanning the chessboard by the laser radar, however, the method needs to calculate by a complex algorithm, and the detection difficulty is high.
Disclosure of Invention
The embodiment of the application provides an angular resolution detection device and an angular resolution detection method, so as to solve the technical problem.
The embodiments of the present application achieve the above object by the following means.
In a first aspect, an embodiment of the present application provides an angular resolution detection apparatus for a laser radar, where the angular resolution detection apparatus includes a laser radar installation portion and a reflective grating array ring, and the reflective grating array ring surrounds the laser radar installation portion. The reflective grating array ring comprises a plurality of reflective grating bars and a plurality of gaps, the reflective grating bars and the gaps are alternately arranged, and the widths of the reflective grating bars are sequentially increased along the circumferential direction of the reflective grating array ring.
In some embodiments, each of the plurality of reflective gratings comprises a diffusive reflective surface having a non-uniformity of less than 0.1%.
In some embodiments, the reflective grating array ring is a circular ring and the lidar mounting portion is located at the center of the reflective grating array ring.
In some embodiments, the plurality of reflective gratings and the plurality of gaps are alternately disposed around the reflective grating array ring, and the reflective grating with the smallest width among the plurality of reflective gratings is adjacent to the reflective grating with the largest width among the plurality of reflective gratings.
In some embodiments, the angular resolution detection apparatus further comprises a light absorption ring surrounding the reflective grating array ring.
In some embodiments, the angular resolution detection apparatus further comprises an identification ring coaxially coupled to the reflective grating array ring, the identification ring being provided with a plurality of position markers, the plurality of position markers being provided on a surface of the identification ring facing the lidar mounting portion.
In some embodiments, the angular resolution detection apparatus further comprises an image capture device positioned within the reflective grating array ring.
In some embodiments, the angular resolution detection apparatus further comprises a processor in signal communication with the lidar and processing the light information data fed back by the lidar.
In a second aspect, an embodiment of the present application further provides an angular resolution detection method, where the angular resolution detection method is suitable for measuring an angular resolution of a laser radar, and the angular resolution detection method includes: controlling a laser radar to emit laser, and enabling the laser to sequentially irradiate the reflective grating array ring along the direction of increasing the width of the plurality of reflective grating strips of the reflective grating array ring; acquiring reflected light information of laser received by a laser radar and reflected by a reflective grating array ring; the angular resolution of the lidar is determined based on the reflected light information.
In some embodiments, determining the angular resolution of the lidar based on the reflected light information comprises: determining a target reflecting grid bar according to the reflected light information; acquiring a position identifier corresponding to a target reflecting grid; and acquiring the angular resolution corresponding to the position identification as the angular resolution of the laser radar.
In the angular resolution detection device and the angular resolution detection method that this application embodiment provided, the lidar that awaits measuring can set up in the lidar installation department, make lidar transmission laser, and shine to the reflection bars that the width increases in proper order along the circumference of reflection grating array ring, detect the laser energy change that the reflection bars reflected back through lidar, can swiftly confirm the angular resolution that this reflection bars corresponds for this lidar's angular resolution, thereby can realize the high-efficient quick detection to lidar's angular resolution.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic diagram of an angular resolution detecting apparatus for detecting an angular resolution of a laser radar according to an embodiment of the present disclosure.
Fig. 2 is an enlarged schematic view at II of the angular resolution detecting apparatus of fig. 1.
Fig. 3 is a partial schematic view of an angular resolution detecting apparatus for detecting an angular resolution of a lidar according to an embodiment of the present disclosure.
Fig. 4 is a schematic block diagram of an angular resolution detection apparatus and a lidar according to an embodiment of the present disclosure.
Fig. 5 is a schematic flowchart of an angular resolution detection method according to an embodiment of the present application.
Fig. 6 is a flowchart illustrating an angular resolution detection method according to another embodiment of the present application.
Detailed Description
In order to make the technical solution better understood by those skilled in the art, the technical solution in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It should be apparent that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any inventive step based on the embodiments in the present application, are within the scope of protection of the present application.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
Referring to fig. 1 and 2, an angular resolution detecting apparatus 100 is provided in an embodiment of the present application, and the angular resolution detecting apparatus 100 can detect an angular resolution of an optical ranging apparatus such as a laser radar 200.
The angular resolution detection apparatus 100 includes a laser radar mounting portion 10 and a reflective grating array ring 20, the reflective grating array ring 20 surrounding the laser radar mounting portion 10.
Laser radar installation department 10 is used for cooperating with the laser radar 200 that awaits measuring for laser radar 200 places the accurate installation that can realize the position in laser radar installation department 10 through the installation, has reduced the condition because of the skew of laser radar 200 position arouses great error in the test procedure.
The reflective grating array ring 20 is used to reflect laser light emitted by the lidar 200. The reflective grating array ring 20 may be fixed relative to the lidar mounting portion 10, for example, the reflective grating array ring 20 and the lidar mounting portion 10 may be fixed by means of engagement, screwing, gluing, or the like. The material of the reflective grating array ring 20 may be metallic aluminum.
The reflective grating array ring 20 may be a circular ring, and the laser radar mounting portion 10 may be located at the center of the reflective grating array ring 20, which is beneficial for the laser radar 200 mounted on the laser radar mounting portion 10 to emit laser from the center of the reflective grating array ring 20 during detection, thereby being beneficial to improving the detection accuracy of the angular resolution detection apparatus 100 and reducing the detection error.
The reflective grating array ring 20 includes a plurality of reflective grating bars 21 and a plurality of gaps 22, and the reflective grating array ring 20 is configured to reflect laser light emitted from the laser radar 200.
The plurality of reflection bars 21 and the plurality of gaps 22 are alternately arranged, for example, the plurality of reflection bars 21 and the plurality of gaps 22 may be alternately arranged around the reflective grating array ring 20 (i.e., arranged around the lidar mounting portion 10 by 360 degrees), or the plurality of reflection bars 21 and the plurality of gaps 22 may be alternately arranged around the reflective grating array ring 20 (i.e., arranged around the lidar mounting portion 10 by 180 degrees), depending on the measurement range required by the angular resolution sensing apparatus 100. In the present embodiment, the plurality of reflection bars 21 and the plurality of gaps 22 may be alternately disposed around the reflection-type grating array ring 20, the widths d1 of the plurality of reflection bars 21 are sequentially increased along the circumferential direction of the reflection-type grating array ring 20, and the reflection bar 21 with the smallest width among the plurality of reflection bars 21 is adjacent to the reflection bar 21 with the largest width among the plurality of reflection bars 21, as shown in fig. 3.
The width direction D1 of the reflection grid 21 is the same as the circumferential direction of the reflection grid array ring 20, and the width D1 of each reflection grid 21 is different, so that the maximum reflection amount of the laser light emitted by the laser radar 200 that can be reflected by each reflection grid 21 is different, and the larger the width of the reflection grid 21 is, the larger the maximum reflection amount of the reflection grid 21 is. Therefore, each reflection grating 21 can represent different angular resolutions based on the difference of the maximum reflection amount of each reflection grating 21, for example, the angular resolutions represented by the reflection grating 21 from the minimum width to the maximum width among the reflection gratings 21 can be 0.01 degree, 0.02 degree and 0.03 degree … … 2 degree in sequence, and correspondingly, the width occupied by each gap 22 is equivalent to the width occupied by the reflection grating 21 with the angular resolution of 0.5 degree. The values of the angular resolution listed above are merely exemplary, and the width of the reflective grating 21 can be adaptively adjusted according to the measurement accuracy and the maximum measurement range required by the angular resolution detection apparatus 100.
In addition, the height D2 of each reflective grating 21 is uniform, wherein the height direction D2 of the reflective grating 21 is the direction of the central axis of the reflective grating array ring 20, which helps to avoid the reduction of the detection accuracy of the angular resolution detecting apparatus 100 due to the uneven height of the reflective grating 21.
Each of the plurality of reflection bars 21 includes a diffuse reflection surface 211, and the diffuse reflection surface 211 is located on a surface of the reflection bar 21 facing the laser radar mounting part 10. The widths and heights of the diffuse reflection surfaces 211 correspond to those of the reflection grating bars 21, that is, the widths of the diffuse reflection surfaces 211 are sequentially increased along the circumferential direction of the reflection grating array ring 20, and the heights of the diffuse reflection surfaces 211 are consistent.
The non-uniformity of the diffuse reflection surface 211 is less than 0.1%, for example, the diffuse reflection surface 211 may be made of a nanoparticle material, which is helpful for each diffuse reflection surface 211 to uniformly reflect the laser emitted by the laser radar 200, and is helpful for ensuring the accuracy of the detection of the angular resolution detection apparatus 100 and the stability of the detection result.
When angular resolution detection is performed on laser radar 200 to be detected using angular resolution detection apparatus 100, laser radar 200 to be detected may be provided on laser radar mounting portion 10, for example, laser radar mounting portion 10 fixes laser radar 200 by a clamping portion. The laser radar 200 installed in place can emit laser light along the direction in which the widths of the plurality of reflection grating bars 21 of the reflection grating array ring 20 are increased through the internal rotating mechanism, because the plurality of reflection grating bars 21 and the plurality of gaps 22 are alternately arranged, the widths of the reflection grating bars 21 are sequentially increased along the circumferential direction of the reflection grating array ring 20, the laser energy reflected back by the reflection grating bars 21 is also correspondingly increased, when the laser radar 200 detects that the laser energy reflected back by the reflection grating bars 21 is not increased any more, the angular resolution corresponding to the reflection grating bars 21 can be determined to be the angular resolution of the laser radar 200 at the moment, and the angular resolution detection device 100 of the application can also realize the angular detection of the resolution of the laser radar 200 without a complex algorithm in the detection process.
For example, assume that the angular resolution of the lidar 200 to be measured is 0.02 degrees.
When the laser radar 200 emits laser light toward the reflection grid 21 of 0.01 degree for the first time, because the energy of the laser light is greater than the maximum reflection amount of the reflection grid 21, a part of the laser light is emitted through the gap 22 around the reflection grid 21, and the other part of the laser light is reflected back through the reflection grid 21, so that the laser radar 200 can only receive the part of the reflected laser light.
When the laser radar 200 emits laser light toward the reflection grid 21 at 0.02 degree for the second time, since the energy of the laser light is equal to the maximum reflection amount of the reflection grid 21, almost no laser light is emitted through the gap 22 around the reflection grid 21, and almost all the laser light is reflected back through the reflection grid 21, the laser energy received by the laser radar 200 is greater than the laser energy received by the first time.
When the laser radar 200 emits the laser to the reflection grid 21 of 0.03 degree for the third time, since the energy of the laser is smaller than the maximum reflection amount of the reflection grid 21, almost no laser is emitted through the gap 22 around the reflection grid 21, and almost all the laser is reflected back through the reflection grid 21, the energy of the laser reflected by the laser radar 200 is almost equal to the energy of the laser reflected by the second time, which indicates that the energy received by the laser radar 200 is not increased any more, and at this time, the angular resolution 0.02 degree corresponding to the reflection grid 21 of the laser reflected by the second time can be used as the angular resolution of the laser radar 200.
Referring to fig. 4, the angular resolution detection apparatus 100 further includes a processor 50, and the processor 50 is in signal communication with the laser radar 200 and processes the light information data fed back by the laser radar 200. For example, the processor 50 may be a computer, during the test, the laser radar 200 may generate the light information data according to the received reflected laser energy and the position of the reflection bars 21 that reflect the laser energy, and the processor 50 may display the light information data of the laser radar 200 through a display screen, which is helpful for a user to find the corresponding reflection bars 21 according to the light information data and determine the angular resolution of the laser radar 200.
Referring to fig. 1 and fig. 2, the angular resolution detecting apparatus 100 may further include an identification ring 30, and the identification ring 30 is coaxially connected to the reflective grating array ring 20. The marker ring 30 is provided with a plurality of position marks 31, and the plurality of position marks 31 are provided on the surface of the marker ring 30 facing the laser radar attachment unit 10.
In some embodiments, when the number of the reflective grating bars 21 of the reflective grating array ring 20 is smaller, the number of the position markers 31 may be the same as the number of the reflective grating bars 21, each position marker 31 is located above a corresponding one of the reflective grating bars 21, and each position marker 31 may be the angular resolution represented by the corresponding reflective grating bar 21.
In other embodiments, when the number of the reflective grating strips 21 of the reflective grating array ring 20 is larger, the identification ring 30 may not have enough space for identifying the position mark 31, or the size of the position mark 31 identified by the identification ring 30 is smaller, which results in a difficulty in manufacturing the identification ring 30. At this time, the number of the position markers 31 may be less than the number of the reflective gratings 21, all the position markers 31 are distributed at a predetermined regular interval, and the angular resolution corresponding to the reflective gratings 21 around the position marker 31 can be confirmed by each position marker 31.
The angular resolution detection apparatus 100 may further include an image capture device 60, the image capture device 60 being located within the reflective grating array ring 20. For example, after laser radar 200 is mounted on laser radar mounting unit 10, image capture device 60 may be placed above laser radar 200. The image acquisition device 60 may be a 360-degree panoramic camera, the image acquisition device 60 may capture, in real time, an image of a light spot irradiated on the diffuse reflection surface 211 by the laser emitted by the laser radar 200 and the position mark 31 located near the light spot, and since the light spot represents a specific position on the reflective grating array ring 20 irradiated by the laser emitted by the laser radar 200, the angular resolution detection device 100 may automatically determine the angular resolution corresponding to the reflective grating 21 where the light spot is located according to the position mark 31 in the image and the relative positions of the position mark 31 and the light spot.
The angular resolution detection apparatus 100 may further include a light absorption ring 40, the light absorption ring 40 surrounding the reflective grating array ring 20. The light absorbing ring 40 may be an opaque black foam; the light absorption ring 40 may be a light blocking cloth having a high light absorption rate, for example, 99% or more. The light absorption ring 40 can not only absorb stray light propagating towards the reflective grating array ring 20 and reduce the influence of the stray light in the external environment on the angular resolution detection device 100, but also absorb laser light emitted to the light absorption ring 40 through the gap 22 in the reflective grating array ring 20, so that the laser light is prevented from being reflected back to the reflective grating array ring 20 through the light absorption ring 40, and the measurement accuracy of the angular resolution detection device 100 is improved.
The embodiment of the present application further provides an angular resolution detection method based on the angular resolution detection apparatus 100 of any of the above embodiments, and the angular resolution detection method is suitable for measuring the angular resolution of the laser radar 200.
Referring to fig. 5, the angular resolution detection method includes steps 020, 040 and 060:
step 020: and controlling the laser radar to emit laser, and enabling the laser to sequentially irradiate the reflective grating array ring along the direction of increasing the width of the plurality of reflective grating strips of the reflective grating array ring.
The laser radar 200 may emit laser light sequentially from the reflection grid 21 having the smallest width to the reflection grid 21 having the largest width among the plurality of reflection grids 21, and the energy of the laser light emitted each time is equal. For example, the angular resolution of the laser radar 200 to be measured is unknown, and at this time, the laser radar 200 is controlled to emit 200 laser beams with the same energy in total towards 200 reflecting bars 21 in total, such as the reflecting bars 21 with 0.01 degrees, the reflecting bars 21 with 0.02 degrees, the reflecting bars 21 with 0.03 degrees, and the reflecting bars 21 with 21 … … 2 degrees.
Step 040: and acquiring reflected light information of the laser received by the laser radar and reflected by the reflective grating array ring.
For example, after the laser radar 200 emits laser light according to step 020, the intensity K of the laser energy received by the laser radar 200 and reflected back is K1, K2, and K3 … … K200 in sequence, the orientation α 1 of the reflection grid 21 corresponding to the reflection intensity K1, the orientation α 2 of the reflection grid 21 corresponding to the reflection intensity K2, the orientation α 3 … … of the reflection grid 21 corresponding to the reflection intensity K3, and the orientation α 200 of the reflection grid 21 corresponding to the reflection intensity K200, the reflected light information may include the intensity K and the orientation α corresponding to the reflection intensity K, and of course, the emitted light information may also include other information, for example, a distance value between the reflection grid 21 corresponding to the reflection intensity K1 and the laser radar 200 may be included.
Step 060: the angular resolution of the lidar is determined based on the reflected light information.
For example, in the intensity K of the reflected light information, K1 is less than or substantially less than K2, K2 is less than or substantially less than K3, K3 is equal to or substantially equal to K4, and K4 is equal to or substantially equal to K5, K6, and K7 … … K200, it indicates that the laser energy reflected by the reflection bars 21 corresponding to the reflection intensity K3 and the reflection bars 21 corresponding to K4-K200 is not increased any more, at this time, the reflection bars 21 corresponding to the reflection intensity K3 can be determined as target reflection bars, and then the target reflection bars are found in the reflection-type grating array ring 20 through the orientation α 3 where the target reflection bars are located, at this time, the angular resolution corresponding to the target reflection bars is the angular resolution of the laser radar 200. The correspondence between the target reflective grating and the angular resolution may be directly marked on the reflective grating array ring 20, or may be recorded separately for easy searching. The angular resolution detection device 100 of the present application can also realize the detection of the angular resolution of the laser radar 200 without a complex algorithm in the detection process.
Furthermore, the resolution detection method can also reduce the detection error by optimizing the selection of the target reflection grating. For example, in the case where K1 is less than or significantly less than K2, K2 is less than or significantly less than K3, K3 is equal to or almost equal to K4, and K4 is equal to or almost equal to K5, K6, K7 … … K200 as described above, the difference between K3 and K4 may be calculated first.
If the difference is 0, it indicates that the laser energy emitted by the laser radar 200 is sufficient or just reflected, and the reflection grid 21 corresponding to K3 may be used as the target reflection grid.
If the difference is smaller than or equal to the preset difference, the preset difference may be adaptively changed according to the parameter of the laser radar 200 to be measured, for example, the preset difference is K0, which may be the case.
The first case is that K4 is greater than K3, which indicates that the reflection grating 21 corresponding to K3 does not reflect all the laser light, and the reflection grating 21 corresponding to K4 reflects all the laser light, the actual angular resolution of the laser radar 200 is between the angular resolutions of the reflection grating 21 corresponding to K3 and the reflection grating 21 corresponding to K4, at this time, the reflection grating 21 corresponding to K3 and the reflection grating 21 corresponding to K4 may be used together as the target reflection grating, and in the subsequent calculation process, the average value of the angular resolutions of the reflection grating 21 corresponding to K3 and the reflection grating 21 corresponding to K4 may be used as the angular resolution of the laser radar 200.
Secondly, in the case that K3 is greater than K4, since loss inevitably occurs during the laser propagation process, even if the width of the reflection bars 21 is wide enough, the same reflection bars 21 may not reflect the laser with the same energy every time, so that it can be shown that the reflection bars 21 corresponding to K3 and the reflection bars 21 corresponding to K4 are both sufficient to reflect the laser emitted by the laser radar 200, at this time, K3 and K2 can be compared, and the specific comparison method and the angular resolution calculation method can refer to the first case.
In some embodiments, the angular resolution detection method can also identify the corresponding angular resolution of the reflective grating 21 through the cooperation of the image capturing device 60, so as to improve the detection efficiency. For example, referring to fig. 6, step 060 may include step 062, step 064, and step 066:
step 062: and determining the target reflecting grid bars according to the reflected light information.
For example, the angular resolution detection method may utilize the processor 50 to calculate and compare the magnitude of each intensity K in the reflected light information, and select the target intensity K according to the result of calculation and comparison; for example, if K1 is less than or substantially less than K2, K2 is less than or substantially less than K3, K3 is equal to or substantially equal to K4, and K4 is equal to or substantially equal to K5, K6, and K7 … … K200 in the intensity K of the reflected light information, it indicates that the laser energy reflected back by the reflection bars 21 corresponding to the reflection intensity K3 and the reflection bars 21 corresponding to K4-K200 is not increased any more, and it may be determined that the reflection bars 21 corresponding to the reflection intensity K3 are target reflection bars corresponding to the angular resolution of the laser radar 200. Meanwhile, the image acquisition device 60 performs high-speed shooting during the process that the laser radar 200 emits laser to sequentially irradiate the reflective grating array ring 20 along the direction in which the width of the plurality of reflective gratings 21 of the reflective grating array ring 20 increases, and acquires a plurality of pieces of image information corresponding to the plurality of reflective gratings 21, wherein each piece of image information includes a spot image and a position identification image.
Furthermore, the resolution detection method can also reduce the detection error by optimizing the selection of the target reflection grating. For example, in the case where K1 is less than or significantly less than K2, K2 is less than or significantly less than K3, K3 is equal to or almost equal to K4, and K4 is equal to or almost equal to K5, K6, K7 … … K200 as described above, the difference between K3 and K4 may be calculated first.
If the difference is 0, it indicates that the laser energy emitted by the laser radar 200 is sufficient or just reflected, and the reflection grid 21 corresponding to K3 may be used as the target reflection grid.
If the difference is smaller than or equal to the preset difference, the preset difference may be adaptively changed according to the parameter of the laser radar 200 to be measured, for example, the preset difference is K0, which may be the case.
The first case is that K4 is greater than K3, which indicates that the reflection grating 21 corresponding to K3 does not reflect all the laser light, and the reflection grating 21 corresponding to K4 reflects all the laser light, the actual angular resolution of the laser radar 200 is between the angular resolutions of the reflection grating 21 corresponding to K3 and the reflection grating 21 corresponding to K4, at this time, the reflection grating 21 corresponding to K3 and the reflection grating 21 corresponding to K4 may be used together as the target reflection grating, and in the subsequent calculation process, the average value of the angular resolutions of the reflection grating 21 corresponding to K3 and the reflection grating 21 corresponding to K4 may be used as the angular resolution of the laser radar 200.
Secondly, in the case that K3 is greater than K4, since loss inevitably occurs during the laser propagation process, even if the width of the reflection bars 21 is wide enough, the same reflection bars 21 may not reflect the laser with the same energy every time, so that it can be shown that the reflection bars 21 corresponding to K3 and the reflection bars 21 corresponding to K4 are both sufficient to reflect the laser emitted by the laser radar 200, at this time, K3 and K2 can be compared, and the specific comparison method and the angular resolution calculation method can refer to the first case.
Step 064: and acquiring the position identification corresponding to the target reflecting grating.
In some embodiments, after the target reflection grid is determined through the step 062, the intensity of the reflected light of the target reflection grid received by the laser radar 200 is obtained, and the intensity of the reflected light is compared with the intensity of the light spots in the plurality of pieces of image information of the plurality of reflection grids 21, when the intensity of the light spots in a certain piece of image information is the same as the intensity of the reflected light of the target reflection grid, it is determined that the image information is the target image information, and the corresponding position identification information in the target image information is the position identification of the target reflection grid.
In some other embodiments, after the target reflection grating is determined through the step 062, an image captured by the image capturing device 60 when the laser radar 200 emits laser light toward the target reflection grating is obtained, since the image includes information of the target reflection grating, a light spot irradiated on the target reflection grating, and a position identifier 31 located near the light spot, the position identifier 31 in the image is identified again, for example, each pixel feature in the image is compared with a pixel feature of a position identifier in a preset database, and when the pixel feature is identified to be matched with a pixel feature of a position identifier in the preset database, the position identifier matched with the pixel feature is used as the position identifier corresponding to the target reflection grating.
Step 066: and acquiring the angular resolution corresponding to the position identification as the angular resolution of the laser radar.
After the position identifier 31 is obtained in step 064, the processor 50 may pair the position identifier 31 with a pre-stored corresponding relationship between the position identifier 31 and an angular resolution, find out an angular resolution represented by the reflection grating 21 corresponding to the position identifier 31, and then display the angular resolution in a display screen display mode or a voice broadcast mode.
The angular resolution detection method can also realize the detection of the angular resolution of the laser radar 200 without complex algorithms in the detection process.
In this application, the terms "mounted," "connected," "secured," and the like are to be construed broadly unless otherwise specifically stated or limited. For example, the connection can be fixed, detachable or integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate member, or they may be connected through the inside of two elements, or they may be connected only through surface contact or through surface contact of an intermediate member. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "first," "second," and the like are used merely for distinguishing between descriptions and not intended to imply or imply a particular structure. The description of the terms "some embodiments," "other embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiments or examples is included in at least one embodiment or example of the invention. In this application, the schematic representations of the terms used above are not necessarily intended to be the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the various embodiments or examples and features of the various embodiments or examples described in this application can be combined and combined by those skilled in the art without conflicting.
The above embodiments are only for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may be modified or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. An angular resolution detection apparatus for a lidar, characterized by comprising:
a laser radar mounting section; and
the laser radar installation part is arranged on the laser radar installation part, the laser radar installation part is arranged on the reflection type grating array ring, the reflection type grating array ring surrounds the laser radar installation part, the reflection type grating array ring comprises a plurality of reflection grating bars and a plurality of gaps, the reflection grating bars and the gaps are alternately arranged, and the widths of the reflection grating bars are sequentially increased along the circumferential direction of the reflection type grating array ring.
2. The angular resolution sensing apparatus of claim 1, wherein each of the reflective gratings of the plurality of reflective gratings comprises a diffusive reflective surface, the diffusive reflective surface having a non-uniformity of less than 0.1%.
3. The angular resolution sensing device of claim 2, wherein the reflective grating array ring is a circular ring, and the lidar mounting portion is located at a center of the reflective grating array ring.
4. The apparatus according to claim 1, wherein said plurality of reflective gratings and said plurality of gaps are alternately disposed around said reflective grating array ring, and wherein said reflective grating with the smallest width of said plurality of reflective gratings is adjacent to said reflective grating with the largest width of said plurality of reflective gratings.
5. The angular resolution detecting apparatus according to claim 1, further comprising a light absorbing ring surrounding the reflective grating array ring.
6. The apparatus according to claim 1, further comprising an identification ring coaxially coupled to the reflective grating array ring, wherein the identification ring is provided with a plurality of position markers, and the plurality of position markers are disposed on a surface of the identification ring facing the lidar mounting portion.
7. The angular resolution sensing device of claim 6, further comprising an image capture device positioned within the reflective grating array ring.
8. The angular resolution detection apparatus according to claim 1, further comprising a processor in signal communication with a lidar and processing light information data fed back by the lidar.
9. A method for angular resolution detection of an angular resolution detecting apparatus according to any one of claims 1 to 8, adapted to measure the angular resolution of a lidar, the method comprising:
controlling the laser radar to emit laser, and enabling the laser to sequentially irradiate the reflective grating array ring along the direction of increasing the width of the plurality of reflective grating strips of the reflective grating array ring;
acquiring reflected light information of the laser received by the laser radar and reflected by the reflective grating array ring;
determining an angular resolution of the lidar based on the reflected light information.
10. The angular resolution detection method of claim 9, the determining an angular resolution of the lidar based on the reflected light information comprising:
determining a target reflecting grid according to the reflected light information;
acquiring a position identifier corresponding to the target reflecting grating;
and acquiring the angular resolution corresponding to the position identification as the angular resolution of the laser radar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN102636478A (en) * | 2012-02-22 | 2012-08-15 | 江阴极光仪器科技有限公司 | Continuously adjustable laser attenuation device and continuousl adjustable method for confocal raman spectrometer |
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| CN109031253A (en) * | 2018-08-27 | 2018-12-18 | 森思泰克河北科技有限公司 | Laser radar calibration system and scaling method |
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| CN102636478A (en) * | 2012-02-22 | 2012-08-15 | 江阴极光仪器科技有限公司 | Continuously adjustable laser attenuation device and continuousl adjustable method for confocal raman spectrometer |
| CN105572683A (en) * | 2016-02-03 | 2016-05-11 | 深圳市镭神智能系统有限公司 | Laser radar acquisition and ranging apparatus and working method thereof |
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