CN109031253A - Laser radar calibration system and scaling method - Google Patents
Laser radar calibration system and scaling method Download PDFInfo
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- CN109031253A CN109031253A CN201810980814.4A CN201810980814A CN109031253A CN 109031253 A CN109031253 A CN 109031253A CN 201810980814 A CN201810980814 A CN 201810980814A CN 109031253 A CN109031253 A CN 109031253A
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- G—PHYSICS
- 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
- G01S7/497—Means for monitoring or calibrating
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Abstract
The present invention provides a kind of laser radar calibration system and scaling methods, belong to laser radar system technical field.Laser radar calibration system includes the control unit for receiving the simultaneously reflecting mechanism of reflection laser light beam and laser radar communication connection, has multiple reflection points, the distance between each reflection point and laser radar consecutive variations on reflecting mechanism；Laser radar presses default measurement angle direction transmitting laser beam in laser radar scaling method, laser beam is radiated at laser radar on the reflecting mechanism of consecutive variations, the error for obtaining measurement distance and actual range determines nominal data according to error and actual range.Laser radar calibration system and scaling method provided by the invention, pass through the setting of the reflecting mechanism with laser radar apart from consecutive variations, realize the automation of calibration process, and the position for not needing mobile reflecting mechanism can obtain the measurement data of consecutive variations, calibration efficiency is effectively raised, the precision of calibration is improved.
Description
Technical field
The invention belongs to laser radar system technical fields, are to be related to a kind of laser radar calibration system more specifically
And scaling method.
Background technique
Laser radar is to detect the radar system of the characteristic quantities such as the position of target, speed to emit laser beam.It utilizes
Laser radar can effectively obtain spatial peripheral information, accurately position to realize to target object, need to laser radar into
The accurate calibration of row, to improve the range accuracy of radar and ensure the reliability of laser radar in actual operation.
Laser radar needs to demarcate the laser of transmitting before use or factory, and the mode of transmission is in spaciousness
, the different distance in noiseless, few foreign space place standard reflecting plate, ranging of the detection laser radar in different distance
Precision, movement of the standard reflecting plate between different distance usually pass through manually or by AGV (Automated Guided
Vehicle) trolley is mobile to realize, since the mobile standard reflecting plate of artificial or AGV trolley is poor there are precision and measures
Time longer problem makes laser radar calibration low efficiency, stated accuracy low.
Summary of the invention
The present invention provides a kind of laser radar calibration system and using the scaling method of the system, it is intended to solve existing skill
The low technical problem of laser radar calibration low efficiency, stated accuracy in art.
To achieve the above object, the present invention provides a kind of laser radar calibration systems, comprising:
The laser beam for receiving the laser beam of laser radar transmitting, and is reflexed to laser thunder by reflecting mechanism
It reaches, so that laser radar measures laser beam to obtain measurement parameter, the reflecting mechanism is equipped with multiple reflection points,
The distance between each reflection point and laser radar consecutive variations；
Control unit, for receiving the measurement parameter of laser radar transmission, described control unit and laser radar communication connect
It connects.
Further, the reflecting mechanism is reflecting plate, and side wall of the reflecting plate towards laser radar is along perpendicular to institute
It states and is projected as involute curve in sidewall direction.
Further, the different echo area of multiple reflectivity is provided on the reflecting plate, the echo area is different
Material spraying is constituted on the reflecting plate.
Further, further includes:
Unit is adjusted, is irradiated to the different echo areas for adjusting laser radar, multiple echo areas are parallel up and down
Arrangement.
Further, the adjusting unit includes:
Motor, for driving laser radar to move back and forth along the vertical direction, the motor is electrically connected with the control unit.
Laser radar calibration system beneficial effect provided by the invention is, by the way that reflecting mechanism and control unit is arranged,
It realizes that the closed loop of the laser beam of laser radar transmitting receives, the measurement data of laser radar can be obtained, laser radar rotation is swept
Reflecting mechanism is retouched, can obtain multiple reflection points, each reflection point and laser radar can be in consecutive variations, practical application
Set the tranmitting frequency of the laser beam of laser radar so that each reflection point be located at default measurement angle or default measurement away from
From；This programme need to only carry out the positioning of reflecting mechanism before calibration starts, and in calibration process, the position of reflecting mechanism does not need to move
It is dynamic, it is only necessary to preset laser radar frequency acquisition, measurement data of the laser radar at each reflection point can be obtained, measure number
According to more, noise data can be filtered out, calibration process is participated in without personnel, substantially increases calibration efficiency, and in calibration process, is reflected
Mechanism position does not move, and reflecting mechanism deviations bring calibrated error is not present, effectively raises stated accuracy.
Laser radar calibration system provided by the invention is realized by the setting of the reflecting mechanism with laser radar apart from consecutive variations
The automation of calibration process, and the position for not needing mobile reflecting mechanism can obtain the measurement number of a large amount of consecutive variations
According to effectively raising calibration efficiency, improve stated accuracy.
The present invention also provides a kind of laser radar scaling methods, include the following steps:
By laser radar setting in target position, laser radar presses default measurement angle and emits laser beam, so that institute
It states laser beam to be radiated on reflecting mechanism, there are multiple reflection points on the reflecting mechanism, each reflection point corresponds to laser thunder
The default measurement angle reached, wherein the distance between each reflection point and laser radar consecutive variations；
Obtain actual range of the laser radar between each default measurement angle and corresponding reflection point；
Obtain measurement distance of the laser radar between each default measurement angle and corresponding reflection point；
The error for obtaining the measurement distance and the actual range, determines according to the error and the actual range and swashs
The nominal data of optical radar.
Further, the reflecting mechanism is reflecting plate, and side wall of the reflecting plate towards laser radar is along perpendicular to institute
It states and is projected as involute curve in sidewall direction, laser radar is set to the center location of the basic circle of the involute curve.
Further, the different echo area of multiple reflectivity is arranged in parallel on the reflecting plate up and down, motor driven
Laser radar moves back and forth along the vertical direction makes laser beam irradiate multiple echo areas, changes the received reflection of laser radar
The signal strength tl of laser beam.
Further, the distance between each reflection point and laser radar consecutive variations, variation relation are as follows:
D=r+r* ψ
Wherein, r is the radius of the basic circle of involute curve；ψ is default measurement angle；D is laser radar in default measurement
Actual range when angle and on the reflecting mechanism between measurement point.
Further, the error for obtaining the measurement distance and the actual range, according to the error and the reality
Distance determines that the nominal data of laser radar includes:
Actual measurement time t of the laser radar in the default measurement angle is obtained, actual measurement time t is laser thunder
Up to from transmitting laser beam to the time for receiving the reflection laser light beam；
It calculates and obtains theoretical time of measuring t'=d*2/v of the laser radar in the default measurement angle, wherein v is
The light velocity；
It calculates and obtains at the default measurement angle, between actual measurement time t and the theoretical time of measuring t' of institute
Error Wc=t-d*2/v；
The error W is fitted by least square methodCWith the reflection laser beam signal intensity tl's and actual range d
Relation equation WC=f (tl, d), wherein tl is the signal strength of the received reflection laser light beam of laser radar, signal strength tl
It follows the reflectivity changes of reflecting material and changes；
Obtain the actual range at the default measurement angle, on laser radar and the reflecting mechanism between measurement point
D, relation equation f (tl, d)=t-d*2/v of the intensity tl and actual measurement time t of reflection laser beam signal.
The beneficial effect of laser radar scaling method provided by the invention is, laser radar rotary scanning and with preset
Fixed frequency emits laser beam, the position of laser radar is arranged, so that laser beam is radiated at reflection machine according to predetermined angle
On structure, then multiple reflection points on reflecting mechanism being obtained, each reflection point corresponds to a default measurement angle of laser radar, and
The distance between each reflection point and laser radar consecutive variations, acquisition laser radar are preset on measurement angle direction at each
Measurement distance, obtain laser radar at each and preset the measurement distance between corresponding reflection point on measurement angle direction
With the error of actual range, due to default measurement angle it is known that and the continuous change of the distance between each reflection point and laser radar
Change, therefore can easily eliminate noise data, improves the precision of Fitting Analysis, determine the relationship between error and actual range, into
And determine the nominal data of laser radar.Laser radar scaling method provided by the invention, it is easy to operate, stated accuracy is high.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without creative efforts, can also be attached according to these
Figure obtains other attached drawings.
Fig. 1 is the structural schematic diagram of laser radar calibration system provided in an embodiment of the present invention；
Fig. 2 is the involute curve coordinate diagram of reflecting plate provided in an embodiment of the present invention.
Wherein, each appended drawing reference:
1, reflecting mechanism；101, reflecting plate；102, the firstth area；103, the secondth area；2, laser radar；3, unit is adjusted；
301, motor；302, pallet；4, control unit；5, the center of circle of basic circle；6, basic circle；7, involute curve.
Specific embodiment
In order to which technical problems, technical solutions and advantages to be solved are more clearly understood, tie below
Accompanying drawings and embodiments are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
Referring to Fig. 1, existing be illustrated laser radar calibration system provided by the invention.Laser radar calibration system,
For Calibration of Laser radar 2, including the laser beam for receiving the transmitting of laser radar 2, and laser beam is reflexed into laser
The reflecting mechanism 1 of radar 2, laser radar 2 measure laser beam to obtain measurement parameter, control unit 4 and laser radar 2
Communication connection is used to receive the measurement parameter of the transmission of laser radar 2, multiple reflection points on reflecting mechanism 1, each reflection point and swashs
The distance between optical radar is continuous
2 rotary scanning of laser radar emit laser beam, laser beam via reflecting mechanism 1 reflect after by laser radar 2
It receives, the time by laser radar 2 from transmitting laser beam to the laser beam for receiving reflection calculates from obtaining the position
Measurement distance between laser radar 2 and reflecting mechanism 1.In practical application, the transmitting frequency of 2 laser beam of laser radar can be preset
Rate so that laser radar is with even angular intervals scanning survey reflecting mechanism 1, therefore can obtain multiple reflection points, each reflection point
A corresponding default measurement angle, the distance between each reflection point and laser radar consecutive variations.
Optionally, control unit 4 is microprocessor (Microcontroller Unit), and laser radar 2 will be known pre-
If measurement angle, measures and surveyed on laser radar 2 and reflecting mechanism 1 at the measurement distance and known default measurement angle of acquisition
Actual range between amount point is sent to control unit 4.
Laser radar calibration system beneficial effect provided by the invention is, by the way that reflecting mechanism and control unit is arranged,
It realizes that the closed loop of the laser beam of laser radar transmitting receives, the measurement data of laser radar can be obtained, laser radar rotation is swept
Reflecting mechanism is retouched, can obtain multiple reflection points, each reflection point and laser radar can be in consecutive variations, practical application
Set the tranmitting frequency of the laser beam of laser radar so that each reflection point be located at default measurement angle or default measurement away from
From；This programme need to only carry out the positioning of reflecting mechanism before calibration starts, and in calibration process, the position of reflecting mechanism does not need to move
It is dynamic, it is only necessary to preset laser radar frequency acquisition, measurement data of the laser radar at each reflection point can be obtained, measure number
According to more, noise data can be filtered out, calibration process is participated in without personnel, substantially increases calibration efficiency, and in calibration process, is reflected
Mechanism position does not move, and reflecting mechanism deviations bring calibrated error is not present, effectively raises stated accuracy.
Laser radar calibration system provided by the invention is realized by the setting of the reflecting mechanism with laser radar apart from consecutive variations
The automation of calibration process, and the position for not needing mobile reflecting mechanism can obtain the measurement number of a large amount of consecutive variations
According to effectively raising calibration efficiency, improve stated accuracy.
As a kind of specific embodiment of laser radar calibration system provided by the invention, Fig. 1 and Fig. 2 are please referred to, instead
Penetrating mechanism 1 is reflecting plate 101, and reflecting plate 101 is projected as gradually opening towards the side wall edge of laser radar 2 perpendicular in sidewall direction
Line curve 7.
The curve to meet at right angle with all tangent lines of a curve, the referred to as involute of curve, general involute refer to
Round involute, involute curve 7 is the involute curve of basic circle 6 in this programme.Optionally, the cross section of reflecting plate 101 is
Involute curve 7, cross section are the center of circle 5 that measurement angle ψ and basic circle are each preset on the reflecting plate 101 of involute curve 7
Distance is that fixed and continuously linear changes, and laser radar 2 is set at the center of circle 5 of the basic circle 6 of involute curve 7, often at this time
The actual range of measurement point on reflecting plate 101 of laser radar 2 is fixed at one default measurement angle, and equal angular
In interval, laser radar 2 is that continuously linear changes at a distance from reflecting plate 101, convenient for eliminating accidental error and being fitted
Analysis improves operational precision.In practical application, the scanning of 2 sustained continuous of laser radar is touched in each equal angular interval location
Hair is primary, measures, and optional primary every 1 degree of measurement, the angular range of measurement is 270 degree, then can carry out 270 surveys
Amount, measurement data is more, and laser radar persistently scans, and can repeatedly obtain the measurement data of equal angular position, is convenient for point
Analysis fitting, eliminates accidental error, improves the precision of calibration.
As a kind of specific embodiment of laser radar calibration system provided by the invention, referring to Fig. 1, reflecting plate
The different echo area of multiple reflectivity is provided on 101, echo area is that different material sprayings is constituted on reflecting plate 101.
The reflecting surface of reflecting plate 101 is perpendicular to the projecting direction of laser beam, and echo area is located on the reflecting surface, along laser
The direction of the launch of light beam is arranged in parallel；Optionally, echo area includes the first area 102 and the second area 103, and the first area 102 is located at the
2nd areas, 103 top, the reflectivity in the first area 102 are greater than the reflectivity in the second area 103.Firstth area, 102 material is anti-through standard Kodak
Penetrating calibrated reflectivity can be between 80%-90%, and 103 material of the secondth area is through the calibrated reflectivity of standard Kodak reflecting plate
Can be between 10%-18%, after laser beam is reflected via different reflectivity material, laser radar is received to reflect the strong of signal
Degree variation.
In practical application, laser radar 2 can be emitted into laser beam according to preset frequency, laser beam is radiated at the
One area 102 obtains first group of nominal data, then adjusts the irradiation position of laser beam, so that it is radiated at the second area 103, obtain
Second group of nominal data is taken, the variation for analyzing lidar measurement data under different laser signal intensity can be facilitated, analysis is anti-
Penetrate the influence of laser signal intensity on laser Radar Calibration precision.It should be understood that reflection divides into the area Liang Ge and is in the present embodiment
Exemplary embodiment can be multiple echo areas, and it is also exemplary reality that the reflectivity in the firstth area, which is greater than the reflectivity in the secondth area,
Apply example.
As a kind of specific embodiment of laser radar calibration system provided by the invention, referring to Fig. 1, further including using
It is irradiated to the adjusting unit 3 of different echo areas in adjusting laser radar 2, multiple echo areas are arranged in parallel up and down.
Laser radar 2 is horizontally disposed, and reflecting plate 101 is arranged vertically, and echo area is side of the reflecting plate 101 towards laser radar
On face, multiple echo areas are arranged in parallel up and down, adjust unit 3 and laser radar 2 is driven to move up and down, therefore available multiple groups are in phase
At same default measurement angle, the measurement range data under unlike signal intensity can 2 practical application field of real simulation laser radar
Scape improves stated accuracy.
As a kind of specific embodiment of laser radar calibration system provided by the invention, referring to Fig. 1, adjusting unit
3 include the motor 301 for driving laser radar 2 to move back and forth up and down, and motor 301 is electrically connected with control unit 4.
Optionally, motor 301 is located at the lower section of laser radar 2, laser radar can be driven to move back and forth up and down, motor 301 with
It is equipped with the pallet 302 for installing laser radar 2 between laser radar 2, ensures the stability of laser radar 2.The drive of motor 301
Scanning speed of the speed well below laser radar 2 is moved, when motor 301 drives the realization of laser radar 2 one to pump,
Laser radar 2 has completed multiple scan round, and the laser beam tranmitting frequency of laser radar 2 is fixed, due on reflecting plate 101
Equipped with the different echo area of multiple reflectivity, so when the survey under equal angular different reflectivity of available laser radar 2
Measure data.Motor 201 is driven by microcontroller, and measurement data is sent in microcontroller transports in real time by laser radar 2
Point counting analysis.Program structure is simple, in calibration process without personnel participate in, it is only necessary to by microcontroller control motor move up and down and
2 rotary scanning of laser radar, and the actual range position of each angle is it is known that therefore demarcating high degree of automation, greatly shortening
Nominal time.
Now laser radar scaling method provided by the invention is illustrated.Include the following steps:
By the setting of laser radar 2 in target position, laser radar presses default measurement angle ψ and emits laser beam, so that
Laser beam is radiated on reflecting mechanism 1, and there are multiple reflection points on reflecting mechanism 1, each reflection point corresponds to laser radar
One default measurement angle ψ, wherein the distance between each reflection point and laser radar 1 consecutive variations；
Obtain actual range d of the laser radar 2 between each default measurement angle ψ and corresponding reflection point；
Obtain measurement distance of the laser radar 2 between each default measurement angle ψ and corresponding reflection point；
The error for obtaining measurement distance and actual range d determines the calibration of laser radar 2 according to error and actual range d
Data.
In practical application, the default measurement point of laser radar 2 and default measurement angle ψ by laser radar 2 rotary scanning
Speed and preset laser emission frequency determine that reflection point is default measurement point of the laser beam on reflecting plate 101.
The beneficial effect of laser radar scaling method provided by the invention is, laser radar rotary scanning and with preset
Fixed frequency emits laser beam, the position of laser radar is arranged, so that laser beam is radiated at reflection machine according to predetermined angle
On structure, then multiple reflection points on reflecting mechanism being obtained, each reflection point corresponds to a default measurement angle of laser radar, and
The distance between each reflection point and laser radar consecutive variations, acquisition laser radar are preset on measurement angle direction at each
Measurement distance, obtain laser radar at each and preset the measurement distance between corresponding reflection point on measurement angle direction
With the error of actual range, due to default measurement angle it is known that and the continuous change of the distance between each reflection point and laser radar
Change, therefore can easily eliminate noise data, improves the precision of Fitting Analysis, determine the relationship between error and actual range, into
And determine the nominal data of laser radar.Laser radar scaling method provided by the invention, it is easy to operate, stated accuracy is high.
As a kind of specific embodiment of laser radar scaling method provided by the invention, reflecting mechanism 1 is reflecting plate
101, side wall of the reflecting plate 101 towards laser radar 2 is along involute curve 7 is projected as perpendicular in sidewall direction, by laser
Radar 2 is set to 8 position of the center of circle of the basic circle 5 of involute curve 7.
In practical application, witness marker is drawn in the plane, and witness marker constitutes benchmark involute curve, benchmark involute
The base radius of curve is identical as the radius of basic circle 6 of involute curve 7 of reflecting plate 101, and reflecting plate 101 is vertically arranged,
And be overlapped with witness marker, complete the building of Calibration Field.The origin of Calibration Field is the base of the involute curve 7 of reflecting plate 101
Laser radar 2 is located at the origin position of Calibration Field by the center of circle 5 of circle 6, therefore measurement point is apart from origin at default measurement angle ψ
Actual range is actual range d of each measurement point apart from laser radar 2, the reflecting plate of involute curve 7 on reflecting plate 101
It is that fixed and continuously linear changes at a distance from the center of circle of basic circle 65 that measurement point at measurement angle ψ is each preset on 101, just
In carrying out analysis fitting, accidental error is eliminated, the precision of calibration is improved.
It is as a kind of specific embodiment of laser radar scaling method provided by the invention, multiple reflectivity are different
Echo area is arranged in parallel on reflecting plate 101 up and down, and motor 301, which drives laser radar 2 to move back and forth along the vertical direction, makes laser
Light beam irradiates multiple echo areas, changes the signal strength tl of the received reflection laser light beam of laser radar 2.
Laser radar 2 is horizontally disposed, and reflecting plate 101 is arranged vertically, and echo area is arranged in reflecting plate 101 towards laser radar
Side on, multiple echo areas are arranged in parallel up and down, and motor 301 drives laser radar 2 to move up and down, therefore available identical
The measurement data of default measurement angle ψ unlike signal intensity, can real simulation laser radar practical application scene, improve calibration essence
Degree.
As a kind of specific embodiment of laser radar scaling method provided by the invention, each reflection point and laser thunder
Actual range consecutive variations between reaching, consecutive variations relationship are as follows:
D=r+r* ψ
Wherein, r is the radius of the basic circle of involute curve；ψ is default measurement angle；D is laser radar in default measurement
Actual range when angle and on the reflecting mechanism between measurement point.
The characteristics of involute curve 7 is, corresponds to different distances at each angle, at each distance and centre dot
It is connected and meets on circle a bit, round tangent line is done with the point, actual range point and centre dot line are perpendicular to the tangent line.
It as described in Figure 2, is that origin establishes coordinate system with the center of circle of basic circle 5, A point is located on basic circle 6, is involute curve 7
Starting point, the line direction of origin 0 and A are X-axis, preset radian angle of the measurement angle ψ between measurement point and X-axis, 0C's
Length is that this presets the intersection point that actual range d, the B point at measurement angle ψ is 0C and basic circle 6, and BM is the tangent line of point of intersection.Base
The radius of circle 6 is r, can obtain the parametric equation of involute are as follows:
X=r (cos ψ+ψ sin ψ)
Y=r (sin ψ-ψ cos ψ)
The calculation formula that actual range d between measurement point and origin at predetermined angle ψ can be found out by this equation is as follows:
D=r+r* ψ
Change between ψ and d for continuously linear, the coordinate of measurement point is expressed as (ψ, d), between measurement point and origin actually away from
Minimum value from d is r, and maximum value is 2 π r, can obtain multiple measurement point coordinates by setting 2 laser emission frequency of laser radar.
Use cross section for the reflecting plate of involute curve in this programme, the angle of each measurement point and be linearly to become between coordinate
Change, and correspond, conveniently compare and analyze, and more measurement can be obtained by the measurement frequency of setting laser radar
Data, fitting precision are high.
As a kind of specific embodiment of laser radar scaling method provided by the invention, obtain the measurement distance with
The error of the actual range, the nominal data for determining laser radar according to the error and the actual range include:
Actual measurement time t of the laser radar 2 in default measurement angle ψ is obtained, actual measurement time t is laser radar
2 from transmitting laser beam to the time for receiving the reflection laser light beam；
Calculate the theoretical time of measuring t'=d*2/v for obtaining laser radar 2 in default measurement angle ψ, wherein v is light
Speed；
It calculates and obtains at default measurement angle ψ, the error Wc=between actual measurement time t and theoretical time of measuring t'
t-d*2/v；
Pass through least square method error of fitting WCWith the relation equation of reflection laser beam signal intensity tl and actual range d
WC=f (tl, d), wherein tl is the signal strength of the received reflection laser light beam of laser radar 2, and signal strength tl follows reflection
The reflectivity changes of material and change；
It obtains at default measurement angle ψ, actual range d, reflection on laser radar and reflecting mechanism between measurement point
Relation equation f (tl, d)=t-d*2/v of the intensity tl and actual measurement time t of laser beam signal.
The aerial speed of laser beam is given value, therefore can calculate laser radar 2 according to actual measurement time t and exist
Distance is measured with reflecting plate 101 at default measurement angle.Above-mentioned data are sent to control unit 4 in real time by laser radar 2, are carried out
Analytic operation processing, wherein measurement data is sent in the mode of (ψ, d).
Least square method (also known as least squares method) is a kind of mathematical optimization techniques.It passes through the quadratic sum for minimizing error
Find the optimal function matching of data；Unknown data can be easily acquired using least square method, and these are acquired
Data and real data between error quadratic sum be minimum；Least square method can also be used in curve matching.Specific real
It applies in example, passes through least square method error of fitting WCWith the relation equation W of reflection laser beam signal intensity tl and actual range dC
=f (tl, d)；And then the relationship obtained between measurement point actual range d and time of measuring t and signal strength t1 is resolved, complete mark
It is fixed.
In the particular embodiment, laser radar 2 is touched every one second triggering one-shot measurement in the default position measurement angle ψ
Send out one-shot measurement, actual measurement time t when then laser radar 2 is by multiple default measurement angle ψn(unit ns) is preset
Measurement angle ψn(unit is radian value), signal of the laser radar in multiple default received reflection laser light beam of measurement angle
Intensity tln(unit is ns) and laser radar 2 are in multiple default measurement angle ψnWhen and reflecting mechanism 1 on reality between measurement point
Border distance dn(unit is m) is sent in microcontroller；In 2 scanning process of laser radar, motor 301 is driven on laser radar 2
Lower reciprocating movement, scanning speed of the driving speed well below laser radar 2 of motor 301, the driving laser radar 2 of motor 301
When realization one pumps, laser radar 2 has completed multiple scan round, therefore can be in laser thunder in practical application
Primary reciprocal rear completion calibration is completed up to 2.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. laser radar calibration system characterized by comprising
The laser beam for receiving the laser beam of laser radar transmitting, and is reflexed to laser radar by reflecting mechanism, with
So that laser radar measures laser beam to obtain measurement parameter, the reflecting mechanism is equipped with multiple reflection points, each
The distance between reflection point and laser radar consecutive variations；
Control unit, for receiving the measurement parameter of laser radar transmission, described control unit and laser radar communication connection.
2. laser radar calibration system as described in claim 1, which is characterized in that the reflecting mechanism is reflecting plate, described
Reflecting plate is projected as involute curve perpendicular in the sidewall direction towards the side wall edge of laser radar.
3. laser radar calibration system as claimed in claim 2, which is characterized in that be provided with multiple reflections on the reflecting plate
The different echo area of rate, the echo area are that different material sprayings is constituted on the reflecting plate.
4. laser radar calibration system as claimed in claim 3, which is characterized in that further include:
Unit is adjusted, is irradiated to the different echo areas for adjusting laser radar, multiple echo areas are arranged in parallel up and down.
5. laser radar calibration system as claimed in claim 4, which is characterized in that the adjusting unit includes:
Motor, for driving laser radar to move back and forth along the vertical direction, the motor is electrically connected with the control unit.
6. a kind of laser radar scaling method, which comprises the steps of:
By laser radar setting in target position, laser radar presses default measurement angle and emits laser beam, so that described swash
Light light beam is radiated on reflecting mechanism, and there are multiple reflection points on the reflecting mechanism, each reflection point corresponds to laser radar
One default measurement angle, wherein the distance between each reflection point and laser radar consecutive variations；
Obtain actual range of the laser radar between each default measurement angle and corresponding reflection point；
Obtain measurement distance of the laser radar between each default measurement angle and corresponding reflection point；
The error for obtaining the measurement distance and the actual range, determines laser thunder according to the error and the actual range
The nominal data reached.
7. laser radar scaling method as claimed in claim 6, which is characterized in that the reflecting mechanism is reflecting plate, described
Side wall of the reflecting plate towards laser radar sets laser radar along involute curve is projected as perpendicular in the sidewall direction
In the center location of the basic circle of the involute curve.
8. laser radar scaling method as claimed in claim 7, which is characterized in that will be on the different echo area of multiple reflectivity
Under be arranged in parallel on the reflecting plate, motor driven laser radar move back and forth along the vertical direction make laser beam irradiation it is multiple
The echo area changes the signal strength tl of the received reflection laser light beam of laser radar.
9. laser radar scaling method as claimed in claim 8, which is characterized in that each reflection point and laser radar it
Between apart from consecutive variations, variation relation are as follows:
D=r+r* ψ
Wherein, r is the radius of the basic circle of involute curve；ψ is default measurement angle；D is laser radar in default measurement angle
When and the reflecting mechanism on actual range between measurement point.
10. laser radar scaling method as claimed in claim 9, which is characterized in that obtain the measurement distance and the reality
The error of border distance, the nominal data for determining laser radar according to the error and the actual range include:
Obtain actual measurement time t of the laser radar in the default measurement angle, actual measurement time t be laser radar from
Emit laser beam to the time for receiving the reflection laser light beam；
Calculate the theoretical time of measuring t'=d*2/v for obtaining laser radar in the default measurement angle, wherein v is the light velocity；
It calculates and obtains at the default measurement angle, the mistake between actual measurement time t and institute theory time of measuring t'
Poor Wc=t-d*2/v；
The error W is fitted by least square methodCWith the relationship of reflection laser beam signal intensity tl and the actual range d
Equation WC=f (tl, d), wherein tl is the signal strength of the received reflection laser light beam of laser radar, and signal strength tl is followed
The reflectivity changes of reflecting material and change；
It obtains at the default measurement angle, it is actual range d on laser radar and the reflecting mechanism between measurement point, anti-
Penetrate relation equation f (tl, d)=t-d*2/v of the intensity tl and actual measurement time t of laser beam signal.
Priority Applications (1)
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