CN111208496B - Laser radar calibration device and calibration method - Google Patents
Laser radar calibration device and calibration method Download PDFInfo
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- CN111208496B CN111208496B CN202010161738.1A CN202010161738A CN111208496B CN 111208496 B CN111208496 B CN 111208496B CN 202010161738 A CN202010161738 A CN 202010161738A CN 111208496 B CN111208496 B CN 111208496B
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The embodiment of the invention provides a laser radar calibration device and a laser radar calibration method, wherein the laser radar calibration device comprises a collimator, a first detector, a reticle and a light source module; the first detector is used for detecting light spots on a receiving module of the laser radar; the laser radar is positioned on a first side of the collimator, the reticle and the light source module are positioned on a second side of the collimator, and the first side is opposite to the second side; the reticle is located on a light beam propagation path between the light source module and the collimator. The embodiment of the invention provides a laser radar calibration device and a laser radar calibration method, which are used for reducing the adjustment and measurement calibration difficulty of the laser radar and improving the adjustment and measurement calibration precision of the laser radar.
Description
Technical Field
The present invention relates to laser radar technology, and in particular, to a laser radar calibration device and a laser radar calibration method.
Background
The laser radar is a commonly used ranging sensor, has the characteristics of long detection distance, high resolution, small environmental interference and the like, and is widely applied to the fields of intelligent robots, unmanned aerial vehicles, automatic driving and the like. Lidar has been indispensable as a core sensor for distance sensing in the above-mentioned fields.
In the installation process and the use process of the laser radar, the laser radar needs to be measured and calibrated, however, in the existing design, light spots on a receiving module of the laser radar are not easy to monitor, and especially for the low-power laser radar, the laser radar can be measured and calibrated only at night or in a darkroom environment.
Disclosure of Invention
The embodiment of the invention provides a laser radar calibration device and a laser radar calibration method, which are used for reducing the adjustment and measurement calibration difficulty of the laser radar and improving the adjustment and measurement calibration precision of the laser radar.
In a first aspect, an embodiment of the present invention provides a calibration device for a laser radar, including a collimator, a first detector, a reticle, and a light source module;
the first detector is used for detecting light spots on a receiving module of the laser radar;
the laser radar is positioned on a first side of the collimator, the reticle and the light source module are positioned on a second side of the collimator, and the first side is opposite to the second side;
the reticle is located on a light beam propagation path between the light source module and the collimator.
Optionally, the first detector is located at a first side of the collimator.
Optionally, the method further comprises:
the second detector is positioned at the second side of the collimator and is used for detecting a first light spot formed on the reticle by a light beam emitted by the emitting module of the laser radar; the reticle is located on a beam propagation path between the second detector and the collimator.
Optionally, the device further comprises a first gluing prism and a second gluing prism;
the first gluing prism is positioned on a beam propagation path between the collimator and the laser radar, and the first gluing prism is positioned on a beam propagation path between the laser radar and the first detector;
the second gluing prism is positioned on a light beam propagation path between the collimator and the light source module, and the second gluing prism is positioned on a light beam propagation path between the collimator and the second detector.
Optionally, the area of the optical surface of the first gluing prism is larger than the area of the window of the laser radar, and the area of the optical surface of the first gluing prism is larger than the area of the detection surface of the first detector;
the area of the optical surface of the second gluing prism is larger than that of the light emitting surface of the light source module, and the area of the optical surface of the second gluing prism is larger than that of the detection surface of the second detector.
Optionally, the reticle is a full-scale cross reticle.
In a second aspect, an embodiment of the present invention provides a method for calibrating a lidar, including:
turning on the laser radar;
starting the light source module;
starting a first detector to detect light spots on a receiving module of the laser radar;
and adjusting a receiving module of the laser radar, and fixing the receiving module when the area of the light spot on the receiving module is smaller than the preset area and the center of the light spot on the receiving module is coincident with the center of the receiving module.
Optionally, before turning on the light source module, the method further includes:
starting a second detector to detect a first light spot formed on a reticle by a light beam emitted by an emitting module of the laser radar;
and adjusting a transmitting module of the laser radar, and fixing the transmitting module when the first light spot meets a preset condition.
Optionally, before turning on the first detector to detect the light spot on the receiving module of the lidar, the method further includes:
the light source module is regulated, and when the superposition degree of the first light spot and the second light spot is larger than the preset superposition degree, the light source module is fixed;
the second detector is further configured to detect the second light spot formed on the reticle by the light beam emitted by the light source module.
Optionally, the reticle is a full-scale cross reticle.
In the embodiment of the invention, the calibrating device of the laser radar is used for calibrating the laser radar, the calibrating device of the laser radar comprises a collimator, a reticle and a light source module, the collimator and the reticle are both positioned on an emergent light path of the light source module, light rays emergent from the light source module are projected to the reticle, light rays passing through the reticle are projected onto a receiving module of the laser radar, and the light rays reflected by the receiving module are detected by a first detector. In the embodiment of the invention, the light source module is provided, so that the light spot brightness on the receiving module is enhanced, and the light spot on the receiving module can be monitored, thereby facilitating the adjustment and calibration of the receiving module, reducing the adjustment and calibration difficulty of the laser radar and improving the adjustment and calibration precision of the laser radar.
Drawings
Fig. 1 is a schematic diagram of a calibration device of a lidar according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method for calibrating a laser radar according to an embodiment of the present invention;
FIG. 3 is a flowchart of another method for calibrating a lidar according to an embodiment of the present invention;
fig. 4 is a flowchart of another laser radar calibration method according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Fig. 1 is a schematic diagram of a calibration device for a laser radar according to an embodiment of the present invention, and referring to fig. 1, the calibration device for a laser radar 100 includes a collimator 10, a first detector 21, a reticle 30, and a light source module 40. The first detector 21 is configured to detect a light spot on the receiving module 120 of the lidar 100, where the light spot on the receiving module 120 refers to a light spot formed by a light beam irradiated onto the receiving module 120. The laser radar 100 is located at a first side of the collimator 10, and the reticle 30 and the light source module 40 are located at a second side of the collimator 10, the first side being opposite to the second side. That is, the reticle 30 and the light source module 40 are located on the same side of the collimator, and the reticle 30 and the laser radar 100 are located on opposite sides of the collimator 10. The sides (e.g., first side, second side) of the collimator 10 refer to the light-incident end or the light-emitting end of the collimator 10. The reticle 30 is positioned in the beam propagation path between the light source module 40 and the parallel light pipe 10.
After the laser beam emitted by the emitting module 110 of the laser radar 100 is projected to the target object and the laser echo reflected by the target object is received by the receiving module 120 of the laser radar 100, the laser radar 100 may detect the target object according to the received laser echo carrying the target object information, for example, to detect the distance of the target object.
In the embodiment of the present invention, the calibration device of the laser radar 100 is used for calibrating the laser radar 100, the calibration device of the laser radar 100 includes the collimator 10, the reticle 30 and the light source module 40, the collimator 10 and the reticle 30 are all located on the outgoing light path of the light source module 40, the light emitted from the light source module 40 is projected to the reticle 30, the light transmitted through the reticle 30 is projected onto the receiving module 120 of the laser radar 100, and the light reflected by the receiving module 120 is detected by the first detector 21. In the embodiment of the invention, the light source module 40 is provided, so that the light spot brightness on the receiving module 120 is enhanced, and the light spot on the receiving module 120 can be monitored, thereby facilitating the adjustment and calibration of the receiving module 120, reducing the adjustment and calibration difficulty of the laser radar 100, and improving the adjustment and calibration precision of the laser radar 100. It should be noted that, in the embodiment of the present invention, the light source module 40 is disposed on the side of the reticle 30 away from the collimator 10, the light beam emitted by the light source module 40 at least partially passes through the reticle 30 and is projected to the receiving module 120 of the laser radar 100, and the light source module 40 is not used for illuminating the reticle 30, but is used for enhancing the light spot brightness projected to the receiving module 120, i.e. the light spot enhancing technology is used in the embodiment of the present invention.
Alternatively, referring to fig. 1, the first detector 21 is located at a first side of the collimator 10. The first detector 21 and the laser radar 100 are located on the same side of the collimator 10, and the distance between the first detector 21 and the laser radar 100 is relatively short, so that the optical path between the first detector 21 and the receiving module 120 of the laser radar 100 is reduced, and the energy of the light spot on the receiving module 120 detected by the first detector 21 is improved.
Optionally, referring to fig. 1, the calibration device further includes a second detector 22, where the second detector 22 is located on a second side of the collimator 10, the second detector 22 and the lidar 100 are located on opposite sides of the collimator 10, and the second detector 22 is used to detect a first light spot formed on the reticle 30 by the light beam emitted by the emitting module 110 of the lidar 100. The reticle 30 is located in the beam propagation path between the second detector 22 and the collimator 10. In the embodiment of the present invention, on the basis of the adjustment and calibration of the receiving module 120 of the laser radar 100 by the first detector 21, the transmitting module 110 of the laser radar 100 can also be adjusted and calibrated by the second detector 22, so that the transmitting light path of the laser radar 100 is calibrated, and the receiving light path of the laser radar 100 is calibrated. In addition, after the light beam emitted by the light source module 40 is reflected by the reticle 30, the light beam can be detected by the second detector 22, so that the second detector 22 can observe two light spots on the reticle 30, and adjust and measure the light source module 40 according to the overlapping degree of the two light spots, so as to improve the precision of the light source module 40 irradiating the receiving module 120, and further improve the adjustment and calibration precision of the receiving module 120 of the laser radar.
Optionally, referring to fig. 1, the alignment device further comprises a first gluing prism 51 and a second gluing prism 52. The first glue prism 51 is located on the beam propagation path between the collimator 10 and the laser radar 100, and the first glue prism 51 is located on the beam propagation path between the laser radar 100 and the first detector 21. The second glue prism 52 is located on the beam propagation path between the collimator 10 and the light source module 40, and the second glue prism 52 is located on the beam propagation path between the collimator 10 and the second detector 22.
Illustratively, referring to fig. 1, the first and second glue prisms 51 and 52 may be beam-splitting prisms. The first glue prism 51 is located between the laser radar 100 and the collimator 10, and the second glue prism 52 is located between the light source module 40 and the collimator 10. The light source module 40, the second glue prism 52, the collimator 10, the first glue prism 51, and the laser radar 100 are sequentially disposed along the optical axis direction of the collimator 10.
Alternatively, referring to fig. 1, the area of the optical surface of the first prism 51 is larger than the window area of the laser radar 100, and the area of the optical surface of the first prism 51 is larger than the area of the detection surface of the first detector 21. The optical surface of the first prism 51 may be an incident surface or an emergent surface of the first prism 51. The window of lidar 100 is an optical window that emits or receives a laser beam. The area of the optical surface of the second prism 52 is larger than the area of the light emitting surface of the light source module 40, and the area of the optical surface of the second prism 52 is larger than the area of the detection surface of the second detector 22. The optical surface of the second prism 52 may be an incident surface or an emergent surface of the second prism 52. In the embodiment of the invention, the first glued prism 51 and the second glued prism 52 have larger sizes, so that pictures detected by the first detector 21 and the second detector 22 are not interfered by the frames of the first glued prism 51 and the second glued prism 52, thereby being beneficial to reducing the adjustment and calibration difficulty and enabling the adjustment and calibration operation to be simple and convenient.
Alternatively, referring to FIG. 1, reticle 30 is a full-scale cross reticle. The full-scale cross reticle is more convenient to quantitatively evaluate the size and the rotation angle of the light spots, so that the operator can conveniently adjust and measure the light spots. The scale surface of the full-scale cross reticle can be a diffuse reflection surface, so that the receiving module 120 of the laser radar 100 can more easily receive imaging light spots, the operation is more convenient, and a foundation is laid for automatic adjustment of the laser radar.
Illustratively, referring to fig. 1, the first detector 21 may be one of a Charge Coupled Device (CCD), a CMOS sensor, or a camera, and the second detector 22 may be one of a Charge Coupled Device (CCD), a CMOS sensor, or a camera. For example, the first detector 21 and the second detector 22 employ a black and white high-sensitivity short-wave infrared camera (photosensitive wavelength 900-1700 nm).
Illustratively, referring to fig. 1, the light source module 40 may emit a laser beam, for example, the light source module 40 may emit a laser beam having a wavelength of 905nm and/or 1550nm, and the light source module 40 may be a laser. In other embodiments, the light source module 40 may also emit white light, and the light source module 40 may be an LED light source.
The embodiment of the invention also briefly introduces the light path principle of the calibrating device.
(1) Transmission light path of the transmitting module 110 of the lidar 100: the collimated light beam is emitted by the emitting module 110 of the laser radar 100, and sequentially transmitted through the first cemented prism 51 and the collimator 10 and focused on the reticle 30 to generate a uniform minimum light spot.
(2) Scattered light path of reticle 30: since the division plate 30 has a function of scattering light, light projected to the division plate 30 is divided into two parts: scattered reflected light (back-scatter for short) and scattered transmitted light (forward-scatter).
(3) Forward scattered light path of reticle 30: the forward scattered part of light rays are emitted and reflected when passing through the bonding surface of the second bonding prism 52, the part of reflected light rays are received and imaged by the second detector 22, the clear image of the reticle 30 and the first light spot formed by the light beam emitted by the emitting module 110 on the reticle 30 can be observed through focusing of the second detector 22, and the purpose of monitoring the indexes such as the collimation degree, the pitch angle, the inclination degree and the like of the emitted light path in the laser radar 100 is achieved through real-time observation of the size of the first light spot.
(4) Backscattering light path of reticle 30: the reflected light scattered by the reticle 30 sequentially transmits through the collimator 10 and the first prism 51, and then enters the lidar 100 to be received by the receiving module 120 of the lidar 100, thereby completing the transceiving process of the lidar 100.
(5) Reflected light path of the receiving module 120: the reflected light of the receiving module 120 enters the first gluing prism 51, and is reflected at the gluing surface of the first gluing prism 51, part of the reflected light is received and imaged by the first detector 21, the condition of the spot size on the receiving module 120 can be observed through focusing of the first detector 21, and the purpose of monitoring the index such as the alignment degree of the receiving light path is achieved through real-time observation of the spot size on the receiving module 120.
(6) The transmission light path of the light source module 40 (along with the flare enhancement process): the light source module 40 emits laser light or white light with the same wavelength as the laser radar 100, irradiates onto the reticle 30 after passing through the second gluing prism 52, and also generates forward scattering and backward scattering on the reticle 30, and the forward scattered light passes through the collimator 10 and the first gluing prism 31, then is projected onto the receiving module 120 of the laser radar 100, reflected by the receiving module 120, then is projected onto the first gluing prism 51, and is reflected by the first gluing prism 51 to the first detector 21. The backscattered light is projected to the second glue prism 52 and reflected by the second glue prism 52 to the second detector 22. It should be noted that, for convenience of analysis, the above optical path process only analyzes the unidirectional emitted light, the transmitted light and the scattered light of the cemented prisms (for example, the first cemented prism 51 and the second cemented prism 52), and the cemented surface is a surface where the transmitted light and the reflected light exist at the same time, and some light generates multiple transmission, reflection, focusing and imaging processes even on the same surface. The embodiment of the invention can make the monitoring picture of the first detector 21 clear and concise everywhere by controlling the relative positions of the photoelectric devices, and does not need an additional backlight source. By adjusting the brightness of the light source module 40, the edges of the light spots on the receiving module 120 (including the avalanche photodiode array, also called APD array) are clearly visible, especially the APD array and the photosensitive area in the center thereof are graduated and clearly visible, and finally the purpose of accurate adjustment in the indoor, day and night is achieved.
In addition, the embodiment of the invention also introduces the principle of a collimator, wherein the collimator is one type of collimator, can acquire light beams from infinity through the collimator, is one of important tools for calibrating and detecting optical instruments, and is also an important component of the optical instruments (such as theodolites and the like). The collimator with the image surface subjected to strict calibration can be used for assembling and adjusting an optical instrument, and the collimator is matched with different target plates, so that the collimator can be widely used for measuring optical parameters such as geometric parameters (focal length, relative aperture and the like) of the optical instrument, imaging quality (star point inspection, visual resolution inspection, MTF inspection and the like) and the like. In addition, if the matched adjustable plane reflector is fixed on the workpiece with straight detected movement, the straightness test of the moving workpiece can be performed. The collimator may include an objective lens, a target plate, and a light source. In addition, the collimator tube can also be matched with a bracket. The objective lens can be a refractive system, a reflective system or a foldback system according to different calibers and focal lengths, is a core component of the collimator, and the imaging quality of the objective lens directly determines the advantages and disadvantages of the collimator. The target plate can be a cross wire, a Porro plate, a discrimination plate, a radial plate, a star plate, a stripe plate and the like according to different using tasks of the collimator. The light source is a uniform area light source and is used for illuminating the eyesight standard plate. In general use, the requirements can be met by combining the lighting bulb and ground glass; when used for imaging quality (e.g., MTF, etc.) measurements, it is generally necessary to use a specially designed illumination system or to use an integrating sphere. Depending on the application, the operating band range of the illumination source needs to be considered. The support is used for supporting the collimator, is generally in a three-point supporting mode, and has the modulation of degrees of freedom such as height, pitching, deflection and the like. The collimator is one of collimators, is reversely used by an infinite imaging system, and has the following working principle: the light emitted by the light source uniformly illuminates the target plate, and when the target plate is strictly positioned on the focal plane of the collimator objective lens, the image of the target plate is at infinity in the objective image space, i.e., the light emitted by the collimator is a parallel light beam. When in practical use, due to the restriction of the installation and calibration precision, a certain position error is necessarily present between the target plate position of the collimator and the ideal object space focal plane position of the collimator, which is a main reason for influencing the parallelism of the emergent light of the collimator. The collimator is used as an optical detection instrument, products with different technical parameters and precision requirements are required to be selected according to different purposes, meanwhile, factors such as weight, cost and the like are required to be weighed, long focal length, large view field, large caliber and high precision can not be obtained at one time, and the price of the collimator is basically increased in an exponential relation with the technical parameters and precision grade of the collimator. For example, when the effective caliber of the collimator tube with the focal length of 550mm is doubled from 50mm to 100mm, the price is increased by 4-5 times; and a collimator with a focal length of 550mm increases the price by 1-2 orders of magnitude when the focal length is increased by 5 times to 3 m.
An embodiment of the present invention provides a calibration method based on the above calibration device, and fig. 2 is a flowchart of a calibration method of a laser radar according to an embodiment of the present invention, and referring to fig. 2, the calibration method of the laser radar includes:
s101, turning on the laser radar 100.
In this step, the transmitting module 110 of the laser radar 100 transmits a laser beam, and the receiving module 120 of the laser radar 100 receives a laser echo.
S102, turning on the light source module 40.
In this step, the light source module 40 emits laser light of the same wavelength as the laser radar 100, or the light source module 40 emits white light.
S103, the first detector 21 is turned on to detect the light spot on the receiving module 120 of the lidar 100.
In this step, the first detector 21 can image the reflected light of the receiving module 120, and the condition of the spot size on the receiving module 120 can be observed through the first detector 21, and the purpose of monitoring the index such as the alignment degree of the receiving light path is achieved through real-time observation of the spot size on the receiving module 120.
S104, adjusting the receiving module 120 of the laser radar 100, and fixing the receiving module 120 when the area of the light spot on the receiving module 120 is smaller than the preset area and the center of the light spot on the receiving module 120 is coincident with the center of the receiving module 120.
In this step, since the spot size on the receiving module 120 can be observed by the first detector 21, the spot size on the receiving module 120 is also dynamically changed correspondingly when the receiving module 120 is adjusted, so that the receiving module 120 can be locked when the spot on the receiving module 120 is minimum and the center of the spot on the receiving module 120 coincides with the center of the receiving module 120.
In the embodiment of the present invention, the calibration method of the laser radar 100 is used for calibrating the laser radar 100, the light emitted from the light source module 40 is projected onto the reticle 30, the light transmitted through the reticle 30 is projected onto the receiving module 120 of the laser radar 100, and the light reflected by the receiving module 120 is detected by the first detector 21. In the embodiment of the invention, the light source module 40 is provided, so that the light spot brightness on the receiving module 120 is enhanced, and the light spot on the receiving module 120 can be monitored, thereby facilitating the adjustment and calibration of the receiving module 120, reducing the adjustment and calibration difficulty of the laser radar, and improving the adjustment and calibration precision of the laser radar.
Fig. 3 is a flowchart of a laser radar calibration method according to an embodiment of the present invention, which is further optimized based on the foregoing embodiment, specifically describing how to tune and calibrate a transmitting module 110 in a laser radar 100, and referring to fig. 3, the calibration method includes:
s201, the laser radar 100 is turned on.
S202, the second detector 22 is turned on to detect the first light spot formed on the reticle 30 by the light beam emitted by the emitting module 110 of the laser radar 100.
In this step, the light beam emitted from the emitting module 110 is projected to the reticle 30, and a first light spot is formed on the reticle 30. The second detector 22 can image the first light spot, the second detector 22 can observe the clear image of the reticle 30 and the first light spot, and the purpose of monitoring the indexes such as collimation degree, pitch angle, inclination degree and the like of the emission light path in the laser radar 100 is achieved by observing the size of the first light spot in real time.
S203, adjusting the transmitting module 110 of the laser radar 100, and fixing the transmitting module 110 when the first light spot meets the preset condition.
In this step, since the condition that the beam emitted by the emission module 110 forms the first spot size on the reticle 30 can be observed by the second detector 22, the first spot size also changes dynamically correspondingly when the emission module 110 is adjusted, so that the emission module 110 can be locked when the size of the first spot reaches the indexes such as the collimation degree, pitch angle, inclination degree, etc. of the monitoring emission light path.
S204, turning on the light source module 40.
S205, the first detector 21 is turned on to detect the light spot on the receiving module 120 of the lidar 100.
S206, adjusting the receiving module 120 of the laser radar 100, and fixing the receiving module 120 when the area of the light spot on the receiving module 120 is smaller than the preset area and the center of the light spot on the receiving module 120 is coincident with the center of the receiving module 120.
Fig. 4 is a flowchart of a laser radar calibration method according to an embodiment of the present invention, which is further optimized based on the foregoing embodiment, and specifically shows how to calibrate the calibration light source module 40, and referring to fig. 4, the calibration method includes:
s301, turning on the laser radar 100.
S302, the second detector 22 is turned on to detect a first light spot formed on the reticle 30 by the light beam emitted by the emitting module 110 of the laser radar 100.
S303, adjusting the transmitting module 110 of the laser radar 100, and fixing the transmitting module 110 when the first light spot meets the preset condition.
S304, turning on the light source module 40.
S305, adjusting the light source module 40, and fixing the light source module 40 when the superposition degree of the first light spot and the second light spot is greater than the preset superposition degree.
The second detector 22 is further configured to detect a second light spot formed on the reticle 30 by the light beam emitted by the light source module 40.
In this step, the light beam emitted from the light source module 40 is projected onto the reticle 30, and a second light spot is formed on the reticle 30. The light reflected by the reticle 30 can be detected by the second detector 22, so that the second detector 22 can observe two light spots (i.e. the first light spot and the second light spot) on the reticle 30, and perform adjustment measurement on the light source module 40 according to the overlapping degree of the two light spots, so as to improve the irradiation precision of the light source module 40 and the adjustment measurement calibration precision of the receiving module 120 of the laser radar.
The preset overlapping degree may be, for example, that the ratio of the overlapping area of the first light spot and the second light spot to the area of the first light spot is greater than 95%.
S306, the first detector 21 is turned on to detect the light spot on the receiving module 120 of the lidar 100.
S307, adjusting the receiving module 120 of the laser radar 100, and fixing the receiving module 120 when the area of the light spot on the receiving module 120 is smaller than the preset area and the center of the light spot on the receiving module 120 is coincident with the center of the receiving module 120.
Alternatively, reticle 30 is a full-scale cross reticle. The full-scale cross reticle is more convenient to quantitatively evaluate the size and the rotation angle of the light spots, so that the operator can conveniently adjust and measure the light spots. The scale surface of the full-scale cross reticle can be a diffuse reflection surface, so that the receiving module 120 of the laser radar 100 can more easily receive imaging light spots, the operation is more convenient, and a foundation is laid for automatic adjustment of the laser radar.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements, combinations, and substitutions can be made by those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (10)
1. The calibrating device of the laser radar is characterized by comprising a collimator, a first detector, a reticle, a first gluing prism and a light source module;
the first gluing prism is positioned on a beam propagation path between the collimator and the laser radar, and the first gluing prism is positioned on a beam propagation path between the laser radar and the first detector;
the first detector is used for detecting light spots on a receiving module of the laser radar, and the light spots are reflected by the receiving module and projected to the first detector through the first gluing prism;
the laser radar is positioned on a first side of the collimator, the reticle and the light source module are positioned on a second side of the collimator, and the first side is opposite to the second side;
the reticle is located on a light beam propagation path between the light source module and the collimator.
2. The alignment device of claim 1 wherein the first detector is located on a first side of the collimator.
3. The calibration device of claim 2, further comprising:
the second detector is positioned at the second side of the collimator and is used for detecting a first light spot formed on the reticle by a light beam emitted by the emitting module of the laser radar; the reticle is located on a beam propagation path between the second detector and the collimator.
4. A calibration device according to claim 3, further comprising a second glue prism;
the second gluing prism is positioned on a light beam propagation path between the collimator and the light source module, and the second gluing prism is positioned on a light beam propagation path between the collimator and the second detector.
5. The alignment device of claim 4, wherein an area of an optical surface of the first prism is greater than a window area of the lidar, the area of the optical surface of the first prism being greater than an area of a detection surface of the first detector;
the area of the optical surface of the second gluing prism is larger than that of the light emitting surface of the light source module, and the area of the optical surface of the second gluing prism is larger than that of the detection surface of the second detector.
6. The calibration device of claim 1, wherein the reticle is a full-scale cross reticle.
7. A method of calibrating a lidar for use in a calibration device according to any of claims 1-6, comprising:
turning on the laser radar;
starting the light source module;
starting a first detector to detect light spots on a receiving module of the laser radar; the light spots are reflected by the receiving module and projected to the first detector through a first gluing prism;
adjusting a receiving module of the laser radar, and fixing the receiving module when the area of a light spot on the receiving module is smaller than a preset area and the center of the light spot on the receiving module is coincident with the center of the receiving module;
the first gluing prism is positioned on a beam propagation path between the collimator and the laser radar, and the first gluing prism is positioned on a beam propagation path between the laser radar and the first detector;
and in the laser radar adjustment and measurement process, the light source module is adjusted.
8. The method of calibrating according to claim 7, further comprising, prior to turning on the light source module:
starting a second detector to detect a first light spot formed on a reticle by a light beam emitted by an emitting module of the laser radar;
and adjusting a transmitting module of the laser radar, and fixing the transmitting module when the first light spot meets a preset condition.
9. The method of calibrating according to claim 8, further comprising, before turning on a first detector to detect a spot on a receiving module of the lidar:
the light source module is regulated, and when the superposition degree of the first light spot and the second light spot is larger than the preset superposition degree, the light source module is fixed;
the second detector is further configured to detect the second light spot formed on the reticle by the light beam emitted by the light source module.
10. The method of calibrating according to claim 8, wherein the reticle is a full-scale cross reticle.
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| CN111880164B (en) * | 2020-07-22 | 2023-02-28 | 北京嘀嘀无限科技发展有限公司 | Laser radar calibration device and method |
| CN111896939B (en) * | 2020-07-28 | 2023-07-04 | 广东博智林机器人有限公司 | Laser radar light source detection device |
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| CN115248428B (en) * | 2021-04-28 | 2023-12-22 | 北京航迹科技有限公司 | Laser radar calibration and scanning method and device, electronic equipment and storage medium |
| CN114253003B (en) * | 2021-12-06 | 2023-09-29 | 北京遥测技术研究所 | Tube shell laser collimation debugging device and method |
| CN114217496A (en) * | 2022-02-18 | 2022-03-22 | 南京抒微智能科技有限公司 | Automatic adjusting device of laser ranging module |
| CN117192516A (en) * | 2023-07-28 | 2023-12-08 | 探维科技(苏州)有限公司 | Laser radar light path adjusting method and related equipment thereof |
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