CN107102316B - Method for measuring angular resolution - Google Patents
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- CN107102316B CN107102316B CN201710469702.8A CN201710469702A CN107102316B CN 107102316 B CN107102316 B CN 107102316B CN 201710469702 A CN201710469702 A CN 201710469702A CN 107102316 B CN107102316 B CN 107102316B
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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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
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Abstract
The invention relates to a method for measuring angular resolution, an object to be measured rotates by taking a rotating shaft as a center under the drive of a rotating platform, and the angle is measured once every d degrees of rotation; the distance between the background plate and the center of the rotating shaft of the rotating platform is R1(ii) a When the distance value measured by the detection unit i is R1When it becomes infinite or the measured intensity of light is K1When the current angle is 0, recording the current angle position p of the rotating platform; the object to be measured continues to rotate under the drive of the rotating platform, and when the rotating platform rotates n along the same direction1At an angle d, the distance measured by a detecting unit j adjacent to the detecting unit i in the horizontal direction is determined by R1When it becomes infinite or the measured intensity of light is K1When the current angle becomes 0, recording the current angle position q of the rotating platform; calculating the angle of the object to be measured rotating in the process from p to q as the angular resolution omega1. The angular resolution measurement of various optical devices including laser radars is realized by data capture and parameter modification of the object to be measured.
Description
Technical Field
The invention relates to the field of ranging radars, in particular to a method for measuring angular resolution.
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.
The general resolution test adopts an ISO12233 resolution card of international standard to perform the test, which is suitable for a digital camera or a video camera, but the laser radar does not belong to the equipment, and the laser radar can not obtain normal color or black and white images, and can only obtain the distance value between a measured object and the laser radar, so that the traditional resolution measurement can not meet the angular resolution measurement requirement of the laser radar, and no effective laser radar angular resolution measurement equipment exists at present. If manual measurement is carried out, tests are generally designed according to specific performance parameters of the radar, so that the application range is narrow, the automation degree is low, the efficiency is low, and the measurement result is interfered by certain human factors. This has all increased the degree of difficulty to optical ranging devices such as laser radar, especially multiline or array laser radar later stage debugging calibration.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a device and a method for measuring angular resolution, which aim to solve the problems that the device for measuring angular resolution in the prior art is complex in structure and is difficult to test devices such as laser radars.
In order to achieve the purpose of the invention, the invention adopts the following technical scheme:
an apparatus for measuring angular resolution, the apparatus comprising: the system comprises a rotary platform, an object to be detected fixed at the center of a rotary shaft of the rotary platform, a background plate structure and a computer, wherein the computer is respectively connected with the rotary platform and the object to be detected;
the rotary platform rotates clockwise or anticlockwise, the rotating angle of the rotary platform between two adjacent measurements of the object to be measured is d, and the rotating angle d is smaller than the angular resolution of the object to be measured.
As one of preferable schemes of the technical scheme, the object to be measured includes an LED light source or a laser light source, and the object to be measured has a distance measuring module or a photosensitive sensor.
As one preferable scheme of the technical scheme, the background plate structure comprises at least two adjacent background plates, and the two adjacent background plates have an interval in the rotating direction of the rotating platform;
or the two adjacent background plates have a set distance difference relative to the center of the rotating shaft of the rotating platform, and the two adjacent background plates have an overlapping part and a non-overlapping part in the rotating direction of the rotating platform; at least one non-overlapping portion is located in a rotational direction of the rotary platform;
or the two adjacent background plates have a set distance difference relative to the center of the rotating shaft of the rotating platform, and the two adjacent background plates are connected in a seamless mode in the testing direction of the object to be tested.
As one preferable scheme of the present technical solution, the two adjacent background plates are a first background plate and a second background plate, where a detection angle of the first background plate covering the object to be detected is α, a detection angle of the second background plate covering the object to be detected is β in a region where the second background plate is not overlapped with the first background plate, and the detection angle α covered by the first background plate is seamlessly adjacent to β.
As one of preferable solutions of the present invention, the mobile terminal further includes a third background plate, wherein the third background plate and the second background plate have an overlapping portion and a non-overlapping portion in a rotation direction of the rotary platform; at least one non-overlapping portion is located in a rotational direction of the rotary platform; or the third background plate and the second background plate are in seamless adjacency in the testing direction of the object to be tested; alternatively, the third background plate and the second background plate have a space in the rotation direction of the rotary platform.
As one preferable aspect of the present invention, a detection angle γ of the object to be detected covered by a non-overlapping area of the third background plate and the second background plate is provided, and β is seamlessly adjacent to γ.
As one of preferable solutions of the present invention, the background plate structure includes N background plates, where any two adjacent background plates have an interval in a rotation direction of the rotating platform; or, any two adjacent background plates have an overlapping part and a non-overlapping part in the rotation direction of the rotary platform, and at least one non-overlapping part of the latter background plate relative to the last adjacent background plate is positioned in the rotation direction of the rotary platform; or, any two adjacent background plates are in seamless adjacency in the test direction of the object to be tested, and N is a positive integer greater than 1.
As one preferable scheme of the technical scheme, a distance difference between any two adjacent background plates relative to the center of the rotating shaft of the rotating platform is larger than a measurement error of the object to be measured.
As one preferable embodiment of the present invention, each of the background plates of the background plate structure is a cylindrical surface which takes the rotation axis of the rotation platform as a center of circle and takes a distance between the rotation axis and the center of circle as a radius.
As one preferable scheme of the technical scheme, the photosensitive sensor is an area array photosensitive sensor.
The invention also provides a method for measuring angular resolution, comprising the steps of:
the method comprises the following steps that firstly, an object to be measured rotates by taking a rotating shaft as a center under the driving of a rotating platform, angle measurement is carried out once every time the object to be measured rotates by d degrees, a measured distance value or a measured light intensity value is transmitted to a computer in real time, and the rotating angle d is smaller than the angular resolution of the object to be measured;
step two, taking one detection unit i of the object to be measured as a measurement reference point, and enabling the distance between the background plate and the center of a rotating shaft of the rotating platform to be equal to that between the background plate and the center of the rotating shaftIs isolated as R1(ii) a When the distance value measured by the detection unit i is R1When it becomes infinite or the measured intensity of light is K1When 0 is reached, the current angular position p of the rotating platform is recorded, where K1And R1Are all constants;
step three, the object to be detected continues to rotate under the drive of the rotating platform, and when the rotating platform rotates n times along the same direction1At an angle d, the distance measured by a detecting unit j adjacent to the detecting unit i in the horizontal direction is determined by R1When it becomes infinite or the measured intensity of light is K1When the current angle becomes 0, recording the current angle position q of the rotating platform;
step four, calculating the angle of the object to be measured rotating in the process from p to q as the angular resolution omega1，ω1=n1X d; wherein n is1The total number of angles d included in the p to q procedure.
As one preferable mode of the present invention, in the second step, when the distance value measured by the detecting means i is changed from ∞ to R1Or the measured light intensity is changed from 0 to K1Then, the current angular position p of the rotating platform is recorded, where K1And R1Are all constants;
correspondingly, in step three, the distance measured by a detecting unit j adjacent to the detecting unit i in the horizontal direction is changed from infinity to R1When or the measured light intensity changes from 0 to K1And recording the current angular position q of the rotating platform.
A method of measuring angular resolution, the method comprising the steps of:
the method comprises the following steps that firstly, an object to be measured rotates by taking a rotating shaft as a center under the driving of a rotating platform, angle measurement is carried out once every time the object to be measured rotates by d degrees, a measured distance value or a measured light intensity value is transmitted to a computer in real time, and the rotating angle d is smaller than the angular resolution of the object to be measured;
step two, taking one detection unit i of the object to be detected as a measurement reference point, wherein the distances between a first background plate and a second background plate in any two adjacent background plates relative to the center of a rotating shaft of the rotating platform are R respectively1And R2(ii) a When the distance value measured by the detection unit i is R1Is changed into R2Time or measured light intensity from K1Is changed into K2Then, the current angular position p of the rotating platform is recorded, where K1、K2、R1And R2Are all constants;
step three, the object to be detected continues to rotate under the drive of the rotating platform, and when the rotating platform rotates n times along the same direction1At an angle d, the distance measured by a detecting unit j adjacent to the detecting unit i in the horizontal direction is determined by R1Is changed into R2Time or measured light intensity from K1Is changed into K2Recording the current angle position q of the rotating platform;
step four, calculating the angle of the object to be measured rotating in the process from p to q as the angular resolution omega1，ω1=n1X d; wherein n is1How many angles d are included in the p to q process;
wherein the first background plate and the second background plate have an overlapping portion and a non-overlapping portion in a rotation direction of the rotary platform, and at least one non-overlapping portion is located in the rotation direction of the rotary platform; or the first background plate and the second background plate are sequentially connected in a seamless mode in the rotating direction of the rotating platform, and the second background plate extends out relative to the first background plate in the rotating direction of the rotating platform.
As one of preferable schemes of the technical scheme, the method further comprises the following steps:
repeating the first step to the fourth step, and measuring to obtain a plurality of omega1A plurality of ω1And (6) taking an average value.
As one of preferable schemes of the technical scheme, the method further comprises the following steps:
step five, the object to be detected is driven by the rotating platform to continue to rotate to a third background plate adjacent to the second background plate, and when the distance measured by the detection unit i is from R2Is changed into R3Or the measured light intensity is K2Is changed into K3Recording the current angular position s of the rotating platform;
step six, the object to be measured continues to rotate under the drive of the rotating platform, and when the rotating platform rotates n2At an angle d, the distance measured by the detecting unit j is R2Is changed into R3Or the measured light intensity is measured by K2Is changed into K3Then, recording the current angle position t of the rotating platform;
step seven, calculating the rotating angle of the object to be measured in the process from s to t as the angular resolution omega2，ω2=n2X d; wherein n is2How many angles d are included in the process from s to t;
step eight, further calculating the average value omega of the angular resolution0，ω0=（ω1+ω2）/2；
Wherein the third background plate and the second background plate have an overlapping portion and a non-overlapping portion in the rotation direction of the rotary platform, and at least one non-overlapping portion is located in the rotation direction of the rotary platform; or the third background plate and the second background plate are connected in a seamless mode in the rotating direction of the rotating platform, and the third background plate extends out relative to the second background plate in the rotating direction of the rotating platform.
As one preferable mode of the present invention, if the background plate structure includes a first background plate and a second background plate … …, the mth background plate, and the detection angles of the adjacent background plates are seamlessly adjacent to each other, the angular resolution ω = (n)1+n2+……nm-1) X d/(m-1), wherein m is a positive integer greater than 2;
the two adjacent background plates are provided with an overlapping part and a non-overlapping part in the rotating direction of the rotating platform, and at least one non-overlapping part of the latter background plate relative to the former background plate is positioned in the rotating direction of the rotating platform; or, two adjacent background plates are connected seamlessly in the rotating direction of the rotating platform, and the background plates extend relative to the previous background plate in the rotating direction of the rotating platform.
As one of preferable schemes of the technical scheme, the method further comprises the following steps:
step five, the object to be detected is driven by the rotating platform to rotate in the opposite direction, and the distance measured by one detection unit j adjacent to the detection unit i is determined by R2Is changed into R1Or the measured light intensity is K2Is changed into K1While recording the current rotation planeA table angle position q;
step six, the object to be measured continues to rotate under the drive of the rotating platform, and when the rotating platform rotates n times along the same direction1At an angle d, the distance measured by the detecting unit i is R2Is changed into R1Or the measured light intensity is K2Is changed into K1Recording the current angle position p of the rotating platform;
step seven, calculating the rotating angle of the object to be measured in the process from q to p as the angular resolution omega1’， ω1’=n1'. times.d; wherein n is1' is how many angles d are included in the q to p process;
step eight, average value omega of the angular resolution0’=(n1’+n1) X d/2, wherein n1How many angles d, n are included in the process from p to q1' is how many angles d are included in the q to p process.
As one of the preferable solutions of the present technical solution, different detection units are sequentially used as measurement reference points to perform measurement, and the angular resolutions of all adjacent detection units in the horizontal direction of the object to be measured are calculated.
As one preferable scheme of the technical scheme, the object to be detected is turned over by 90 degrees, and the angular resolution of all the adjacent detection units in the vertical direction can be measured.
As one of preferable solutions of the present technical solution, the object to be measured is an infrared distance measuring device.
Compared with the closest prior art, the invention has the following beneficial effects:
according to the invention, through the structure that the rotary platform, the background plate and the computer are matched, the high-efficiency automatic measurement of the resolution ratio of optical ranging devices such as a laser radar or an infrared ranging device is realized, and the angular resolution measurement of various optical ranging devices can be realized through data capture and parameter modification of an object to be measured.
Drawings
Fig. 1 is a schematic structural diagram of an apparatus for measuring angular resolution provided in example 1.
Fig. 2 is a schematic structural diagram of the apparatus for measuring angular resolution provided in example 1.
Fig. 3 is a schematic structural diagram of the apparatus for measuring angular resolution provided in this embodiment 3.
Fig. 4 is a schematic structural diagram of the apparatus for measuring angular resolution provided in this embodiment 4.
Fig. 5 is a schematic structural diagram of a background board structure provided in this embodiment 4.
1. A computer; 2. rotating the platform; 3. an object to be measured; 4. a first background plate; 5. a second background plate; 6. a third background plate; 40. and (4) a background plate.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
In order to make the technical solutions better understood by those skilled in the art, 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, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," "third," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
The present embodiment provides an apparatus for measuring angular resolution, as shown in fig. 1, the apparatus comprising: the system comprises a rotary platform 2, an object to be detected 3 fixed at the center of a rotary shaft of the rotary platform 2, a background plate structure and a computer 1 respectively connected with the rotary platform 2 and the object to be detected 3, wherein the background plate structure comprises a background plate 40; in the process that the object to be measured 3 is driven by the rotating platform 2 to rotate and measure distance, no real object capable of measuring actual distance is arranged on the left side and the right side of the background plate 40, the distance measured outside the left side and the right side of the background plate 40 is regarded as infinity, and the measured light intensity is zero.
During measurement, the rotating platform 2 can rotate clockwise, can also rotate anticlockwise, and can also rotate clockwise and anticlockwise in an alternating reciprocating manner. The rotating platform 2 has a rotation angle d between two adjacent measurements of the object 3 to be measured, and the rotation angle d is smaller than the angular resolution of the object 3 to be measured. The smaller the minimum rotation angle d of the rotary platform 2, the higher the accuracy of the measurement result.
The object 3 to be measured comprises an LED light source or a laser light source, and the object 3 to be measured is provided with a distance measuring module and/or a photosensitive sensor. The LED light source or the laser light source of the object 3 to be measured emits light beams, and the distance measuring module or the photosensitive sensor receives the light beams reflected by the background plate and outputs the distance or the light intensity of the measured background plate 40 from the object 3 to be measured. The rotation of the rotating platform 2 is realized by controlling the driving structure of the rotating platform 2 through the computer 1, and the test object 3 is tested at least once every rotating angle d of the rotating platform 2.
Preferably, the background plate 40 is a cylindrical surface with a center at the rotation axis of the rotation platform 2 and a radius at the distance from the center. The cylindrical surface structure enables the distance value of the object 3 to be measured on the whole background plate 40 to be the same, reduces the time for screening and calculating the computer 1, and improves the measuring efficiency.
In order to improve the measurement accuracy of the object 3 to be measured on the distance change of the two sides of the background plate 40, the two side edges of the background plate 40 are vertical edges perpendicular to the light beam emitted by the LED light source or the laser light source. Preferably, the photosensitive sensor is an area array photosensitive sensor. The object 3 to be measured is a laser radar device with an area array photosensitive sensor, wherein the photosensitive sensor has an M × N array, M detection units are arranged in the horizontal direction, N detection units are arranged in the vertical direction, a detection light beam or a reflection light beam entering the area array photosensitive sensor enters each detection unit, an optical detection center line of each detection unit can be known according to an optical line of the light beams, and the angular resolution is the included angle value of the optical detection center lines between adjacent detection units in the same row or the same column.
When the laser radar serving as the object 3 to be detected rotates along with the rotating platform 2 by an angle d, the laser radar acquires M multiplied by N distance values, wherein when the laser radar detects the background plate 40, the distance values measured by each detection unit on the same row in an error range are consistent, and the distance value measured by the array with horizontal detection angles is the distance R1. The computer 1 obtains the distance value and the angle value of the object 3 to be measured in real time, receives the angle, the array position and the like corresponding to the distance value, and can measure the angular resolution of multiple points and arrays in the horizontal direction at the same time.
Correspondingly, the invention provides a method for measuring the angular resolution in the process of rotating the object 3 to be measured from the background plate 40 to the outside of the left side edge or the outside of the right side edge of the object, and the method comprises the following steps:
firstly, an object to be measured 3 rotates by taking a rotating shaft as a center under the drive of a rotating platform 2, the angle is measured once every time the object to be measured rotates by d degrees, the measured distance value or light intensity value is transmitted to a computer 1 in real time, and the rotating angle d is smaller than the angular resolution of the object to be measured;
step two, taking one detection unit i of the object 3 to be measured as a measurement reference point, and the distance between the background plate 40 and the center of the rotating shaft of the rotating platform 2 is R1(ii) a When the distance value measured by the detection unit i is R1When it becomes infinite or the measured intensity of light is K1When 0 is reached, the current angular position p of the rotating platform 2 is recorded, where d, K1And R1Are all constants;
step three, the object 3 to be measured continues to rotate under the drive of the rotating platform 2, and when the rotating platform 2 is along the same directionOne direction is rotated by n1At an angle d, the distance measured by a detecting unit j adjacent to the detecting unit i in the horizontal direction is determined by R1When it becomes infinite or the measured intensity of light is K1When the current angle becomes 0, recording the current angle position q of the rotating platform 2; when the object 3 to be measured rotates along with the rotating platform 2 and emits light beams, the light beams are reflected by the background plate 40 to the barrier-free reflection process, and the distance measurement of the object 3 to be measured is performed by the distance measurement R between the object 3 to be measured and the background plate1The direct transition is infinity ∞.
Step four, calculating the rotating angle of the object 3 to be measured in the process from p to q as the angular resolution omega1，ω1=n1X d; wherein n is1The total number of angles d included in the p to q procedure.
Correspondingly, the invention also provides a method for measuring the angular resolution in the process of rotating the measuring range of the object 3 to be measured from the outer side of the background plate 40 to the background plate, and the method comprises the following steps:
firstly, an object to be measured 3 rotates by taking a rotating shaft as a center under the drive of a rotating platform 2, the angle is measured once every time the object to be measured rotates by d degrees, the measured distance value or light intensity value is transmitted to a computer 1 in real time, and the rotating angle d is smaller than the angular resolution of the object to be measured;
step two, taking one detection unit i of the object 3 to be measured as a measurement reference point, and the distance between the background plate 40 and the center of the rotating shaft of the rotating platform 2 is R1(ii) a When the distance value measured by the detection unit i is changed from infinity to R1Or the measured light intensity is changed from 0 to K1Then, the current angular position p of the rotating platform 2 is recorded, where K1And R1Are all constants;
in the third step, the object 3 to be measured continues to rotate under the driving of the rotating platform 2, and when the rotating platform 2 rotates n along the same direction1At an angle d, the distance measured by a probe unit j adjacent to the probe unit i in the horizontal direction is changed from ∞ to R1When or the measured light intensity changes from 0 to K1And recording the current angular position q of the rotating platform 2. When the object 3 to be measured rotates along with the rotating platform 2 and emits light beams, the light beams are transmitted to the background plate 40 from the non-obstacle reflecting area outside the background plate 40The distance measurement of the object 3 to be measured is transited from infinity to R1。
Step four, calculating the rotating angle of the object 3 to be measured in the process from p to q as the angular resolution omega1，ω1=n1X d; wherein n is1The total number of angles d included in the p to q procedure.
In order to further improve the statistical correctness of the angular resolution, the two implementation methods further include the following steps:
repeating the first step to the fourth step, and measuring to obtain a plurality of omega1A plurality of ω1And (6) taking an average value.
Of course, in specific implementation, any one of the above-mentioned measuring methods may be implemented, or any two or three combinations of the above-mentioned three measuring methods may be implemented in combination, so as to obtain a more accurate angular resolution.
Further, in order to improve the continuity of the test, as shown in fig. 2, the background plate structure includes at least two adjacent background plates 40, and the adjacent two or more background plates 40 have a spacing in the rotation direction of the rotating platform 2; the distances of two or more adjacent background plates 40 from the rotation axis of the rotation platform 2 may be the same or different; the arrangement of two or more background plates 40 adjacent in structure with an interval in the rotation direction of the rotating platform 2 is equivalent to the sequential arrangement of a plurality of the devices, and the measurement method is equivalent to the above measurement method for multiple measurements, and is not described again.
Example 2
Unlike embodiment 1, the background plate structure includes two adjacent background plates, as shown in fig. 3, the two adjacent background plates have a set distance difference with respect to the center of the rotation axis of the rotation platform 2; in order to ensure that the distance difference is distinguishable, the distance difference between two adjacent background plates relative to the center of the rotating shaft of the rotating platform 2 is larger than the measurement error of the object 3 to be measured.
Wherein the first background plate and the second background plate have an overlapping portion and a non-overlapping portion in a rotation direction of the rotary platform, and at least one non-overlapping portion is located in the rotation direction of the rotary platform; or the first background plate and the second background plate are sequentially connected in a seamless mode in the rotating direction of the rotating platform, and the second background plate extends out relative to the first background plate in the rotating direction of the rotating platform. The two adjacent background plates are a first background plate 4 and a second background plate 5, wherein the first background plate 4 covers the object 3 to be detected with a detection angle α, the non-overlapping area of the second background plate 5 and the first background plate 4 covers the object 3 to be detected with a detection angle β, and the detection angle α covered by the first background plate 4 is seamlessly adjacent to the β, that is, one of the edges of α and β is overlapped. In a preferred embodiment, two adjacent background plates have overlapping and non-overlapping portions in the rotation direction of the rotating platform, for example, clockwise, and for example, the non-overlapping portion of the second background plate 5 is located in the rotation direction (clockwise) of the rotating platform of the first background plate 4. Or, two adjacent background plates are connected in a seamless manner in the rotating direction of the rotating platform and are sequentially arranged along the rotating direction of the rotating platform.
The two background plates are both cylindrical surfaces which take the rotating shaft of the rotating platform 2 as the center of a circle and take the distance between the rotating shaft and the center of the circle as the radius. When the object 3 to be measured is respectively measured on the first background plate 4 and the second background plate 5, the measured distance value is constant, the data calculation amount of the computer 1 is reduced, and the measurement accuracy and the measurement efficiency are improved.
During specific implementation, the larger the value of the distance difference between the first background plate and the second background plate is, the easier the detection object is to detect the boundary between the first background plate and the second background plate, but if the distance difference is too large, the distance measurement range of the object to be measured 3 is also considered to ensure the accuracy of the distance measurement.
Accordingly, there is also provided a method of measuring angular resolution, the method comprising the steps of:
firstly, an object to be measured 3 rotates by taking a rotating shaft as a center under the drive of a rotating platform 2, the angle is measured once every time the object to be measured rotates by d degrees, the measured distance value or light intensity value is transmitted to a computer 1 in real time, and the rotating angle d is smaller than the angular resolution of the object to be measured;
step two, taking one detection unit i of the object 3 to be measured as a measurement baseThe distances of the collimation point, the first background plate 4 and the second background plate 5 relative to the center of the rotation axis of the rotation platform 2 are respectively R1And R2(ii) a When the distance value measured by the detection unit i is R1Is changed into R2Time or measured light intensity from K1Is changed into K2Then, the current angular position p of the rotating platform 2 is recorded, where K1、K2、R1And R2Are all constants; and R is2Greater than R1。
Step three, the object 3 to be detected continues to rotate under the driving of the rotating platform 2, and when the rotating platform 2 rotates n along the same direction1At an angle d, the distance measured by a detecting unit j adjacent to the detecting unit i in the horizontal direction is determined by R1Is changed into R2Time or measured light intensity from K1Is changed into K2Then, recording the current angle position q of the rotating platform 2;
step four, calculating the rotating angle of the object 3 to be measured in the process from p to q as the angular resolution omega1，ω1=n1X d; wherein n is1The total number of angles d included in the p to q procedure.
In the process that the laser radar serving as the object 3 to be detected rotates along with the rotating platform 2 by an angle d, the laser radar acquires M multiplied by N distance values, when the laser radar detects the first background plate 4, the distance values measured by each detection unit on the same row in an error range are consistent, and the distance value measured by the array with the horizontal detection angle is the distance R1. When the laser radar detects the second background plate 5, the distance value measured by each detection unit in the same row within the error range is consistent, wherein the distance value measured by the array of the detection angle levels is the distance R2。
Preferably, in order to further improve the accuracy of the angular resolution, the above scheme further includes the following steps:
repeating the first step to the fourth step, and measuring to obtain a plurality of omega1A plurality of ω1And (6) taking an average value.
Example 3
On the basis of embodiment 2, unlike embodiment 2, the method further includes the steps of:
step five, the object 3 to be detected is driven by the rotating platform 2 to rotate in the opposite direction, and the distance measured by one detection unit j adjacent to the detection unit i is determined by R2Is changed into R1Or the measured light intensity is K2Is changed into K1Then, recording the current angle position q of the rotating platform 2;
step six, the object 3 to be detected continues to rotate under the drive of the rotating platform 2, and when the rotating platform 2 rotates n along the same direction1At an angle d, the distance measured by the detecting unit i is R2Is changed into R1Or the measured light intensity is K2Is changed into K1Then, recording the current angle position p of the rotating platform 2;
step seven, calculating the rotating angle of the object 3 to be measured in the process from q to p as the angular resolution omega1’， ω1’=n1'. times.d; wherein n is1' is how many angles d are included in the q to p process;
step eight, average value omega of the angular resolution0’=(n1’+n1) X d/2, wherein n1How many angles d, n are included in the process from p to q1' is how many angles d are included in the q to p process.
The combination of forward rotation and reverse rotation further neutralizes and corrects errors possibly caused by multiple factors during testing along the same direction, and ensures the accuracy of angular resolution testing. Further, the present embodiment further includes a measurement method combining a plurality of forward direction sequential measurements and a plurality of reverse direction sequential measurements.
Example 4
Unlike embodiment 2, the background plate structure further includes a third background plate 6, as shown in fig. 4, wherein the third background plate 6 and the second background plate 5 have an overlapping portion and a non-overlapping portion in the rotation direction of the rotating platform 2. The detection angle of the object 3 to be detected covered by the non-coincident area of the third background plate 6 and the second background plate 5 is gamma, and the beta is in seamless adjacency with the gamma. I.e. the other side of beta coincides with one side of gamma. In a preferred embodiment, two adjacent background plates have overlapping and non-overlapping portions in a rotation direction of the rotary platform, for example, a clockwise direction, taking the rotation direction of the rotary platform as an example, the non-overlapping portion of the second background plate 5 is located in the rotation direction (clockwise direction) of the first background plate 4, the non-overlapping portion of the third background plate 6 is located in the rotation direction (clockwise direction) of the second background plate 5, that is, the non-overlapping portions of two adjacent background plates are sequentially arranged in the rotation direction of the rotary platform, and the non-overlapping portions of any two adjacent background plates sequentially extend relative to any one of the two background plates; or, two adjacent background plates are connected in a seamless way in the rotating direction of the rotating platform and are sequentially arranged along the rotating direction of the rotating platform, wherein one background plate extends out relative to the other background plate.
The three background plates of the background plate structure are all cylindrical surfaces which take the rotating shaft of the rotating platform 2 as the circle center and take the distance between the rotating shaft and the circle center as the radius. When the object 3 to be measured is respectively measured on the first background plate 4, the second background plate 5 and the third background plate 6, the measured distance value is constant, the data calculation amount of the computer 1 is reduced, and the measurement accuracy and the measurement efficiency are improved.
Different from embodiment 2, the method provided by this embodiment further includes the following steps:
step five, the object to be detected 3 is driven by the rotating platform 2 to continue to rotate to a third background plate 6 adjacent to the second background plate 5, and when the distance measured by the detection unit i is from R2Is changed into R3Or the measured light intensity is measured by K2Is changed into K3Then, recording the current angle position s of the rotating platform 2; wherein R is3Greater than R2。
Step six, the object 3 to be measured continues to rotate under the drive of the rotating platform 2, and when the rotating platform 2 rotates n2At an angle d, the distance measured by the detecting unit j is R2Is changed into R3Or the measured light intensity is measured by K2Is changed into K3Then, recording the current angle position t of the rotating platform 2;
step seven, calculating the rotating angle of the object 3 to be measured in the process from s to t as the angular resolution omega2，ω2=n2X d; wherein n is2How many angles d are included in the process from s to t;
step eight, further calculating the average value omega of the angular resolution0，ω0=（ω1+ω2）/2。
In the process that the laser radar serving as the object 3 to be detected rotates along with the rotating platform 2 by an angle d, the laser radar acquires M multiplied by N distance values, when the laser radar detects the first background plate 4, the distance values measured by each detection unit on the same row in an error range are consistent, and the distance value measured by the array with the horizontal detection angle is the distance R1. When the laser radar detects the second background plate 5, the distance value measured by each detection unit in the same row in the error range is consistent, wherein the distance value measured by the array with horizontal detection angle is the distance R2. When the laser radar detects the third background plate 6, the distance value measured by each detection unit in the same row in the error range is consistent, wherein the distance value measured by the array with horizontal detection angle is the distance R3. Similarly, when m background plates are detected by the laser radar, the distance values measured by each detection unit in the same row in the error range are consistent, wherein the distance value measured by the array with the horizontal detection angle is the distance Rm。
In an embodiment, in order to further improve the measurement accuracy of the angular resolution and counteract the statistical error or data instability caused by individual statistics, the number of the background plates is increased on the basis of the embodiment, specifically, the background plate structure includes a first background plate 4, a second background plate 5 … … m background plate, and the detection angles of the adjacent background plates are seamlessly adjacent or have overlapping portions, so that the angular resolution ω = (n is n)1+n2+……nm-1) X d/(m-1), wherein m is a positive integer greater than 2. When m is 2, the technical solution of embodiment 2 is obtained, when m is 3, the technical solution of this embodiment is obtained, and when m is a positive integer greater than 3, the combination of the solutions of multiple embodiments 2 and 3 can be regarded as the combination of the solutions of multiple embodiments 2 and 3, which has the advantages ofThe content of the body is not described in detail. The two adjacent background plates are provided with an overlapping part and a non-overlapping part in the rotating direction of the rotating platform, and at least one non-overlapping part of the latter background plate relative to the former background plate is positioned in the rotating direction of the rotating platform; or, two adjacent background plates are connected seamlessly in the rotating direction of the rotating platform, and the background plates extend relative to the previous background plate in the rotating direction of the rotating platform.
Example 5
Different from the embodiments 1 to 4, the measurement is sequentially performed by using different detection units as the measurement reference points, and the angular resolutions of all the adjacent detection units in the horizontal direction of the object to be measured 3 are calculated.
Example 6
Different from the embodiments 1 to 5, the angular resolution of the laser radar as the object 3 to be measured in the vertical direction of the N detection units can also be measured, and it is only necessary to turn the object 3 to be measured by 90 degrees, so that the M × N array of area array photosensors included therein are changed into N × M array of area array photosensors, and the actual environment corresponds to N rows and M columns. In the same method, the angular resolution of the object 3 to be detected in the horizontal direction N rows of data and between every two adjacent detection units in each row can be measured, and the angular resolution of the object 3 to be detected in the vertical direction with the M × N array of area array photosensitive sensors can be obtained.
In any of the above embodiments, the object 3 to be measured is an infrared distance measuring device.
Finally, it should be noted that: although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can make modifications and equivalents to the embodiments of the present invention without departing from the spirit and scope of the present invention, which is set forth in the claims of the present application.
Claims (10)
1. A method of measuring angular resolution, the method comprising the steps of:
the method comprises the following steps that firstly, an object to be measured rotates by taking a rotating shaft as a center under the driving of a rotating platform, angle measurement is carried out once every time angle d is rotated, and the rotating angle d is smaller than the angular resolution of the object to be measured;
step two, taking one detection unit i of the object to be measured as a measurement reference point, and setting the distance between the background plate and the center of the rotating shaft of the rotating platform as R1(ii) a When the distance value measured by the detection unit i is R1When it becomes infinite or the measured intensity of light is K1When 0 is reached, the current angular position p of the rotating platform is recorded, where K1And R1Are all constants;
step three, the object to be detected continues to rotate under the drive of the rotating platform, and when the rotating platform rotates n times along the same direction1At an angle d, the distance measured by a detecting unit j adjacent to the detecting unit i in the horizontal direction is determined by R1When it becomes infinite or the measured intensity of light is K1When the current angle becomes 0, recording the current angle position q of the rotating platform;
step four, calculating the angle of the object to be measured rotating in the process from p to q as the angular resolution omega1，ω1=n1X d; wherein n is1The total number of angles d included in the p to q procedure.
2. A method of measuring angular resolution, the method comprising the steps of:
the method comprises the following steps that firstly, an object to be measured rotates by taking a rotating shaft as a center under the driving of a rotating platform, angle measurement is carried out once every time angle d is rotated, and the rotating angle d is smaller than the angular resolution of the object to be measured;
step two, taking one detection unit i of the object to be measured as a measurement reference point, and setting the distance between the background plate and the center of the rotating shaft of the rotating platform as R1(ii) a When the distance value measured by the detection unit i is changed from infinity to R1Or the measured light intensity is changed from 0 to K1Then, the current angular position p of the rotating platform is recorded, where K1And R1Are all constants;
step three, the object to be detected continues to rotate under the drive of the rotating platform, and when the rotating platform rotates n times along the same direction1CornerAt the time of d, the distance measured by one probe j adjacent to the probe i in the horizontal direction is changed from ∞ to R1When or the measured light intensity changes from 0 to K1Recording the current angle position q of the rotating platform;
step four, calculating the angle of the object to be measured rotating in the process from p to q as the angular resolution omega1，ω1=n1X d; wherein n is1The total number of angles d included in the p to q procedure.
3. A method of measuring angular resolution, the method comprising the steps of:
the method comprises the following steps that firstly, an object to be measured rotates by taking a rotating shaft as a center under the driving of a rotating platform, angle measurement is carried out once every time angle d is rotated, and the rotating angle d is smaller than the angular resolution of the object to be measured;
step two, taking one detection unit i of the object to be detected as a measurement reference point, wherein the distances between a first background plate and a second background plate in any two adjacent background plates relative to the center of a rotating shaft of the rotating platform are R respectively1And R2(ii) a When the distance value measured by the detection unit i is R1Is changed into R2Time or measured light intensity from K1Is changed into K2Then, the current angular position p of the rotating platform is recorded, where K1、K2、R1And R2Are all constants;
step three, the object to be detected continues to rotate under the drive of the rotating platform, and when the rotating platform rotates n times along the same direction1At an angle d, the distance measured by a detecting unit j adjacent to the detecting unit i in the horizontal direction is determined by R1Is changed into R2Time or measured light intensity from K1Is changed into K2Recording the current angle position q of the rotating platform;
step four, calculating the angle of the object to be measured rotating in the process from p to q as the angular resolution omega1，ω1=n1X d; wherein n is1How many angles d are included in the p to q process;
wherein the first background plate and the second background plate have an overlapping portion and a non-overlapping portion in a rotation direction of the rotary platform, and at least one non-overlapping portion is located in the rotation direction of the rotary platform; or the first background plate and the second background plate are sequentially connected in a seamless mode in the rotating direction of the rotating platform, and the second background plate extends out relative to the first background plate in the rotating direction of the rotating platform.
4. The method of any one of claims 1-3, further comprising the steps of:
repeating the first step to the fourth step, and measuring to obtain a plurality of omega1A plurality of ω1And (6) taking an average value.
5. The method of claim 3, further comprising the steps of:
step five, the object to be detected is driven by the rotating platform to continue to rotate to a third background plate adjacent to the second background plate, and when the distance measured by the detection unit i is from R2Is changed into R3Or the measured light intensity is measured by K2Is changed into K3Recording the current angular position s of the rotating platform;
step six, the object to be measured continues to rotate under the drive of the rotating platform, and when the rotating platform rotates n2At an angle d, the distance measured by the detecting unit j is R2Is changed into R3Or the measured light intensity is measured by K2Is changed into K3Then, recording the current angle position t of the rotating platform;
step seven, calculating the rotating angle of the object to be measured in the process from s to t as the angular resolution omega2，ω2=n2X d; wherein n is2How many angles d are included in the process from s to t;
step eight, calculating the average value omega of the angular resolution0，ω0=（ω1+ω2）/2；
Wherein the third background plate and the second background plate have an overlapping portion and a non-overlapping portion in the rotation direction of the rotary platform, and at least one non-overlapping portion is located in the rotation direction of the rotary platform; or the third background plate and the second background plate are connected in a seamless mode in the rotating direction of the rotating platform, and the third background plate extends out relative to the second background plate in the rotating direction of the rotating platform.
6. The method of claim 3, wherein the background plate structure comprises a first background plate, a second background plate … …, an mth background plate, and the angular resolution ω = (n)1+n2+……nm-1) X d/(m-1), wherein m is a positive integer greater than 2; the two adjacent background plates are provided with an overlapping part and a non-overlapping part in the rotating direction of the rotating platform, and at least one non-overlapping part of the latter background plate relative to the last adjacent background plate is positioned in the rotating direction of the rotating platform; or, two adjacent background plates are connected seamlessly in the rotating direction of the rotating platform, and the background plates extend relative to the previous background plate in the rotating direction of the rotating platform.
7. The method of claim 3, further comprising the steps of:
step five, the object to be detected is driven by the rotating platform to rotate in the opposite direction, and the distance measured by one detection unit j adjacent to the detection unit i is determined by R2Is changed into R1Or the measured light intensity is K2Is changed into K1Recording the current angle position q of the rotating platform;
step six, the object to be measured continues to rotate under the drive of the rotating platform, and when the rotating platform rotates n times along the same direction1At an angle d, the distance measured by the detecting unit i is R2Is changed into R1Or the measured light intensity is K2Is changed into K1Recording the current angle position p of the rotating platform;
step seven, calculating the rotating angle of the object to be measured in the process from q to p as the angular resolution omega1’， ω1’=n1'. times.d; wherein n is1' is how many angles d are included in the q to p process;
step eight, average value omega of the angular resolution0’=(n1’+n1) X d/2, wherein n1How many angles are included in the p to q processd，n1' is how many angles d are included in the q to p process.
8. The method according to any one of claims 1-3 and 5-7, wherein the measurement is performed sequentially with different detecting units as the measuring reference points, and the angular resolution of all adjacent detecting units in the horizontal direction of the object to be measured is calculated.
9. The method of any of claims 1-3 and 5-7, wherein the object is flipped 90 degrees and the angular resolution of all neighboring probe units in the vertical direction is measured.
10. The method of any of claims 3 and 5-7, wherein the object under test is an infrared ranging device.
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| CN109990734B (en) * | 2018-01-03 | 2021-07-13 | 浙江舜宇智能光学技术有限公司 | Automatic detection system and method for precision of depth information camera module |
| CN110568423B (en) * | 2019-09-10 | 2020-07-24 | 广州文远知行科技有限公司 | Laser radar angle calibration method and device, terminal equipment and storage medium |
| CN112285735B (en) * | 2020-09-18 | 2023-04-18 | 北京捷象灵越科技有限公司 | System for automatically calibrating angular resolution of single-line laser radar |
| CN112180334B (en) * | 2020-09-23 | 2024-05-24 | 南京楚航科技有限公司 | Millimeter wave radar angular resolution testing system and method |
| CN114578321A (en) * | 2020-11-30 | 2022-06-03 | 华为技术有限公司 | Multi-line laser radar performance test method and device |
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