CN111505607A - Laser radar installation angle correction system and installation angle correction method thereof - Google Patents
Laser radar installation angle correction system and installation angle correction method thereof Download PDFInfo
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- CN111505607A CN111505607A CN202010353266.XA CN202010353266A CN111505607A CN 111505607 A CN111505607 A CN 111505607A CN 202010353266 A CN202010353266 A CN 202010353266A CN 111505607 A CN111505607 A CN 111505607A
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- vehicle body
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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
- G01S7/4972—Alignment of sensor
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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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a laser radar installation angle correction system and an installation angle correction method thereof. The laser radar installation angle correction system comprises a vehicle body, a laser radar installation angle correction device and a laser radar installation angle correction device, wherein the vehicle body is provided with a central symmetry plane parallel to the advancing direction of the vehicle body; the light viewing plate is positioned in front of the advancing direction of the vehicle body and is provided with a light reflecting area facing the vehicle body; the alignment mechanism is arranged on the vehicle body and is positioned on the central symmetrical surface of the vehicle body, the alignment mechanism is used for transmitting an alignment signal to the light reflecting area, and the vehicle body enables the central symmetrical surface of the vehicle body to be aligned with the light reflecting area according to the relative position of the alignment signal and the light reflecting area; the laser radar device is arranged on the vehicle body and used for transmitting laser signals to the light-viewing plate and receiving the reflected laser signals, and the laser radar device reads the installation angle offset of the laser radar device relative to the vehicle body according to the fed-back laser signals and corrects the installation angle of the laser radar device and the vehicle body according to the installation angle offset. The invention aims to improve the correction efficiency of the installation angle of the laser radar device.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a laser radar installation angle correction system and an installation angle correction method thereof.
Background
An Automated Guided Vehicle (AGV) is widely applied to intelligent logistics storage, automatic production lines and the like, and the AGV needs to be in high-precision positioning butt joint with a back-carrying mechanical arm or a material Vehicle. AGVs are typically positioned using a laser radar, and therefore, the accuracy of the laser radar mounting location on the AGV needs to be ensured. However, when the AGVs mount the laser radar, there is an angular deviation in the same row, and therefore, the mounting angle of the laser radar needs to be corrected. In the related art, the correction of the installation angle of the laser radar needs to utilize a plurality of groups of laser radars, calculate the point motion relationship between the front frame and the rear frame of the laser radar by utilizing the context information of the plurality of groups of laser radars in the preset time, remove the accumulated radar motion distortion by using the pose provided by an Inertial Measurement Unit (IMU), construct a scene map in an area, and complete the external reference calibration of the plurality of groups of laser radars. The whole angle correction process is complex, the calculated amount is large, and the correction efficiency is not high.
The above is only for the purpose of assisting understanding of the technical solutions of the present application, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a laser radar installation angle correction system, aiming at improving the correction efficiency of the installation angle of a laser radar device.
In order to achieve the above object, the present invention provides a laser radar installation angle correction system, including:
a vehicle body having a central symmetry plane that is parallel to a direction of travel of the vehicle body;
the light viewing plate is positioned in front of the advancing direction of the vehicle body and is provided with a light reflecting area facing the vehicle body;
the alignment mechanism is arranged on the vehicle body and is positioned on the central symmetrical plane of the vehicle body, the alignment mechanism is used for transmitting an alignment signal to the light reflecting area, and the vehicle body aligns the central symmetrical plane of the vehicle body with the light reflecting area according to the relative position of the alignment signal and the light reflecting area; and
the laser radar device is arranged on the vehicle body and located on the central symmetry plane, the laser radar device is used for transmitting laser signals to the light observation plate and receiving the reflected laser signals, the laser radar device reads the installation angle offset of the laser radar device relative to the vehicle body according to the fed-back laser signals, and the installation angle of the laser radar device and the vehicle body is corrected according to the installation angle offset.
In an embodiment of the present invention, the alignment mechanism includes:
the plurality of light filtering pieces are arranged on the surface of the vehicle body and are arranged at intervals along the advancing direction of the vehicle body, each light filtering piece is provided with a light filtering hole, and the center of each light filtering hole is positioned on the central symmetry plane; and
the alignment light source is arranged on the surface of the vehicle body and is positioned on the central symmetry plane, and the alignment light source is positioned on one side of the light filtering piece, which is far away from the light observation plate, so that light signals emitted by the alignment light source sequentially penetrate through the plurality of light filtering holes and irradiate to the light reflecting area.
In an embodiment of the invention, the surface of the vehicle body is provided with a mounting hole, the light filtering piece is provided with a connecting hole, and the light filtering piece is detachably connected to the vehicle body through the matching of a connecting piece and the mounting hole and the connecting hole.
In an embodiment of the present invention, the optical filter includes:
the two supporting legs are provided with the connecting holes and are respectively positioned on two sides of the central symmetry plane; and
the light filter plate is connected to one end, deviating from the vehicle body, of the two supporting legs, and the light filter plate is provided with the light filtering holes.
In an embodiment of the invention, the laser radar device is disposed between the two supporting legs and below the filter plate.
In an embodiment of the present invention, the alignment light source includes:
the mounting rack is detachably connected to the surface of the vehicle body; and
the laser emitter is fixed in the mounting rack, and the laser emitter is used for emitting alignment laser to the reflecting layer.
In an embodiment of the invention, the laser radar installation angle correction system further includes a driving element, the light observation plate is connected with the driving element, and the driving element is used for driving the light observation plate to move, so that the light source signal emitted by the alignment mechanism is vertically projected to the light reflection area.
In an embodiment of the invention, the alignment mechanism and the laser radar device are located on a top surface or a bottom surface of the vehicle body.
The invention also provides a laser radar installation angle correction method, which is applied to the laser radar installation angle correction system and comprises the following steps:
aligning a central plane of symmetry of the vehicle body with the retroreflective regions;
starting the laser radar device, transmitting a laser signal to the light watching plate, and receiving the laser signal reflected by the light watching plate;
extracting laser points of the light observation plate according to the fed back laser reflection signals, and screening laser points with the maximum light source intensity value;
and reading the corresponding angle value of the laser spot with the maximum light source intensity value, determining the installation angle offset of the laser radar device relative to the vehicle body according to the angle value, and correcting the installation angle of the laser radar device and the vehicle body according to the installation angle offset.
In an embodiment of the present invention, in the step of aligning the central symmetry plane of the vehicle body and the light reflecting area, the method further includes the steps of:
the alignment mechanism emits light source signals to the light observation plate;
and moving the light observation plate to enable the light source signal to be vertically projected to the light reflecting area.
The emitted light signal passes through the plurality of light filtering holes and is emitted to the light reflecting area.
According to the laser radar installation angle correction system provided by the technical scheme of the invention, the alignment mechanism is arranged on the vehicle body, the light viewing plate is arranged in front of the vehicle body in the advancing direction, and the light viewing plate is provided with the light reflecting area arranged towards the vehicle body. Before correcting laser radar device installation angle, counterpoint mechanism is to seeing the worn-out fur transmitting light signal to remove and see the worn-out fur, utilize the characteristic of light edge rectilinear propagation, make automobile body and reflection of light district align, accomplish the setting of environment before correcting. Starting the laser radar device, making the laser radar device to looking the worn-out fur transmission laser signal, simultaneously, the laser radar device receives the laser signal of looking the worn-out fur and returning different intensity to draw the laser spot of looking the worn-out fur according to the laser reflection signal of feedback, select the biggest laser spot of light source intensity value, through reading the angle value of the biggest laser spot of this light source intensity value correspondence, confirm the current installation angle offset of laser radar device relative automobile body, then rectify the installation angle of laser radar device relative automobile body according to this angle offset. Compared with the angle correction mode of the existing laser radar device, the technical scheme of the invention only needs to align the central symmetry plane of the vehicle body with the light viewing plate in advance through the alignment mechanism, then the laser radar device is started, the laser radar device quickly determines the current angle offset of the laser radar device relative to the vehicle body according to the feedback laser signal and an internal system thereof, and corrects the installation angle of the laser radar device relative to the vehicle body according to the angle offset. In the whole correction process, complex external reference calibration is not required to be constructed, complex calculation is not required, and the correction efficiency of the angle of the laser radar device can be effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment of a laser radar installation angle calibration system according to the present invention;
FIG. 2 is a front view of the lidar mounting angle correction system of FIG. 1;
FIG. 3 is a schematic diagram of a laser radar installation angle correction system of the present invention;
FIG. 4 is a schematic structural diagram of a laser radar installation angle correction system according to the present invention;
FIG. 5 is a schematic diagram of a laser radar installation angle calibration method according to the present invention;
fig. 6 is a schematic view of the method of fig. 5 for aligning the central symmetry plane of the vehicle body with the retroreflective regions.
The reference numbers illustrate:
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B," including either the A or B arrangement, or both A and B satisfied arrangement. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a laser radar installation angle correction system 100.
Referring to fig. 1 to 4, in an embodiment of the present invention, the lidar mounting angle correction system 100 includes:
a vehicle body 10, the vehicle body 10 having a central symmetry plane that is parallel to a direction of travel of the vehicle body 10;
a light-viewing plate 20, the light-viewing plate 20 being located forward of the vehicle body 10 in the traveling direction, the light-viewing plate 20 being provided with a light-reflecting region 21 facing the vehicle body 10;
the alignment mechanism 30 is disposed on the vehicle body 10 and located on a central symmetrical plane of the vehicle body 10, the alignment mechanism 30 is configured to transmit an alignment signal to the reflective area 21, and the vehicle body 10 aligns the central symmetrical plane of the vehicle body 10 with the reflective area 21 according to a relative position between the alignment signal and the reflective area 21; and
the laser radar device 50 is arranged on the vehicle body 10 and located on the central symmetry plane, the laser radar device 50 is used for transmitting laser signals to the light observation plate 20 and receiving the reflected laser signals, the laser radar device 50 reads the offset of the installation angle of the laser radar device 50 relative to the vehicle body 10 according to the fed-back laser signals, and the installation angle of the laser radar device 50 and the vehicle body 10 is corrected according to the offset of the installation angle.
According to the laser radar installation angle correction system provided by the technical scheme of the invention, the alignment mechanism 30 is arranged on the vehicle body 10, the light observation plate 20 is arranged in front of the vehicle body 10 in the advancing direction, and the light observation plate 20 is provided with the light reflecting area 21 arranged towards the vehicle body 10. Before the installation angle of the laser radar device 50 is corrected, the aligning mechanism 30 transmits a light signal to the light observation plate 20, the light observation plate 20 is moved, the characteristic that light propagates along a straight line is utilized, the vehicle body 10 is aligned with the light reflecting area 21, and the setting of the environment before correction is completed. Starting the laser radar device 50, enabling the laser radar device 50 to emit laser signals to the light observation plate 20, meanwhile, the laser radar device 50 receives the laser signals with different intensities reflected by the light observation plate 20, extracts laser points of the light observation plate 20 according to the laser reflection signals fed back, screens out laser points with the maximum light source intensity value, determines the offset of the laser radar device 50 relative to the current installation angle of the vehicle body 10 by reading the corresponding angle value of the laser points with the maximum light source intensity value, and then corrects the installation angle of the laser radar device 50 relative to the vehicle body 10 according to the angle offset. Compared with the angle correction mode of the existing laser radar device 50, the technical scheme of the invention only needs to align the central symmetry plane of the vehicle body 10 with the light viewing plate 20 in advance through the alignment mechanism 30, then the laser radar device 50 is started, the laser radar device 50 rapidly determines the current angle offset of the laser radar device 50 relative to the vehicle body 10 according to the feedback laser signal and an internal system thereof, and corrects the installation angle of the laser radar device 50 relative to the vehicle body 10 according to the angle offset. In the whole correction process, complex external reference calibration is not required to be constructed, complex calculation is not required, and the correction efficiency of the laser radar device 50 angle can be effectively improved.
The AGV vehicle body 10 of the present invention is a body of the AGV vehicle, the AGV vehicle body 10 has a substantially rectangular structure having a longitudinal direction and a width direction, the AGV vehicle body 10 has a top surface and a bottom surface which are disposed opposite to each other, and the laser radar device 50 and the alignment mechanism 30 may be mounted on the top surface of the AGV vehicle body 10 or may be mounted on the bottom of the AGV vehicle body 10. It will be appreciated that the top of the AGV car requires a piggyback car or robotic arm and therefore the lidar means 50 is provided at the bottom of the car body 10 and in particular may be provided at the surface of the chassis of the car body 10. A correction device (not shown) is provided inside the AGV body 10, and the correction device drives the laser radar device 20 to move according to the obtained offset of the installation angle of the laser radar device 20, so as to correct the installation angle of the laser radar device 20 with respect to the AGV body 10.
Look the worn-out fur 20 and be vertical setting, look worn-out fur 20 has width direction and direction of height, and the width direction who looks worn-out fur 20 is parallel with the width direction of automobile body 10, and the direction of height who looks worn-out fur 20 is vertical setting, and the setting is extended along looking worn-out fur 20 direction of height to glisten district 21, and the centre of looking worn-out fur 20 width direction that glisten district 21 located, glisten district 21 is with the axis line symmetry setting of looking worn-out fur 20 width direction, and the width size of extension is unlimited. The light reflecting area 21 is provided with light reflecting paper, and the light reflecting rate of the light reflecting paper is greater than that of the light viewing plate 20, so that the intensity of the laser signal reflected by the light reflecting area 21 to the laser radar device 50 is greater than that of the laser signal reflected outside the light reflecting area 21.
Referring to fig. 1 to 3, in an embodiment of the present invention, the alignment mechanism 30 includes:
the plurality of light filtering members 33 are arranged on the surface of the vehicle body 10 and are arranged at intervals along the traveling direction of the vehicle body 10, each light filtering member 33 is provided with a light filtering hole 331, and each light filtering hole 331 is located on the central symmetry plane; and
the alignment light source 31 is arranged on the surface of the vehicle body 10 and is located on the central symmetry plane, and the alignment light source 31 is located on one side of the light filter 33 away from the light viewing plate 20, so that light signals emitted by the alignment light source 31 pass through the plurality of light filter holes 331 and are emitted to the light reflecting area 21.
In one embodiment of the present invention, the filter 33 has a thickness direction, and the thickness direction extends in the longitudinal direction of the vehicle body 10. In general, since the optical signal emitted from the light source can pass through the filter hole 331, it is not necessary to set the aperture of the filter hole 331 to be too large, the inner diameter of the filter hole 331 is 1mm to 2mm, and the optical signal emitted from the light source can pass through the filter hole 331. In general, the number of the filters 33 may be two, two filters 33 are respectively provided at both ends of the vehicle body 10 in the longitudinal direction, or three filters 33 are respectively provided at intervals in the longitudinal direction of the vehicle body 10. Thus, when the light signal from the alignment light source 31 passes through all the filter holes 331 and is projected onto the reflective area 21, it is ensured that the central symmetry plane of the vehicle body 10 is aligned with the reflective area 21. Preferably, when the projection of the central symmetry plane on the reflective area 21 is a straight line and the straight line coincides with the central axis of the reflective area 21, the alignment of the vehicle body 10 with the light emitting area is the best.
Referring to fig. 1, in an embodiment of the present invention, a mounting hole (not labeled) is formed on a surface of the vehicle body 10, the filter member 33 is provided with a coupling hole 333, and the filter member 33 is detachably coupled to the vehicle body 10 by a coupling member engaged with the mounting hole and the coupling hole 333.
In the technical scheme of the embodiment of the invention, the optical filter 33 is detachably connected with the vehicle body 10, so that the optical filter 33 can be detached from the vehicle body 10 after the correction is completed, and the operation is convenient. Specifically, the optical filter 33 may be detachably connected to the chassis of the vehicle body 10 by a connecting member such as a positioning pin or a positioning screw. In general, the filter 33 can be detachably attached to the vehicle body 10 using a positioning pin, and the efficiency of attaching and detaching the filter 33 can be improved. It can be understood that the light filter 33 is provided with two support legs (not labeled) and a light filter plate (not labeled), wherein both support legs are provided with the connection hole 333, and the two support legs are respectively located at two sides of the central symmetry plane; the filter plate is connected in two the supporting legs deviates from the one end of automobile body, the filter plate is equipped with filter hole 331, and two supporting legs can improve the stability that support piece and automobile body 10 are connected. Moreover, the laser radar device 50 may be disposed between the two support legs and below the filter plate, so as to facilitate installation of the laser lightning device 50.
Referring to fig. 1, in an embodiment of the present invention, the alignment light source 31 includes:
a mounting bracket 311, wherein the mounting bracket 311 is detachably connected to the surface of the vehicle body 10; and
and the laser emitter 313 is fixed on the mounting frame 311, and the laser emitter 313 is used for emitting alignment laser to the reflective layer.
In the technical scheme of the embodiment of the invention, the alignment light source 31 and the vehicle body 10 are in a detachable connection mode, so that the light source is conveniently detached after the correction is finished, and the flexibility of the alignment light source is improved. It is understood that the way of detaching the mounting bracket 311 from the vehicle body 10 is the same as that of the optical filter 33, and the structure of the mounting bracket 311 will not be described herein. The laser emitted by the laser emitter 313 has the characteristics of high concentration, high brightness and less diffusion, and the alignment accuracy can be improved by adopting the alignment optical signal emitted by the laser emitter 313.
Referring to fig. 1, in an embodiment of the present invention, the lidar mounting angle calibration system 100 further includes a driving element, and the light-viewing plate 20 is connected to the driving element, and the driving element is configured to drive the light-viewing plate 20 to move left and right, so that the light source signal emitted by the alignment mechanism 30 is vertically projected to the light-reflecting area 21.
In one embodiment of the present invention, after the alignment mechanism 30 is installed, the light viewing plate 20 is installed in front of the vehicle body 10, and the light viewing plate 20 is finely adjusted to the left or right side to ensure that the alignment light signal falls into the reflective region 21, and then the position of the light viewing plate 20 is fixed. The fine adjustment light-viewing plate 20 may be manually adjusted or automatically adjusted. When adopting automatically regulated's mode, need set up the driving piece, this driving piece can be the sharp module, for example be linear electric motor, or cylinder etc. and the motion of the length direction of seeing the worn-out fur 20 is followed to the sharp module, sees worn-out fur 20 to fix on the sharp module, and the sharp module is automatic to be driven and is seen worn-out fur 20 and remove for counterpoint light signal throws in reflecting region 21. The light viewing plate 20 is automatically adjusted by arranging the driving piece, and the alignment efficiency can be improved.
Referring to fig. 2, the present invention further provides a laser radar installation angle correction method, which is used for the laser radar installation angle correction system 100, and the laser radar installation angle correction method includes the following steps:
step S10: aligning the central symmetry plane of the vehicle body 10 with the retroreflective regions 21;
step S20: starting the laser radar device 50, transmitting a laser signal to the light watching plate 20, and receiving the laser signal reflected by the light watching plate 20;
step S30: extracting the laser point of the light observation plate 20 according to the fed back laser reflection signal, and screening the laser point with the maximum light source intensity value;
step S40: and reading the corresponding angle value of the laser point with the maximum light source intensity value, determining the installation angle offset of the laser radar device 50 relative to the vehicle body 10 according to the angle value, and correcting the installation angle of the laser radar device 50 and the vehicle body 10 according to the installation angle offset.
In an embodiment of the present invention, after the central symmetric plane of the vehicle body 10 is aligned to the reflective area 21, and a standard environment for calibration is established, only the laser radar device 50 needs to be started, and the characteristics of the laser radar device 50 are utilized to transmit laser signals to the light viewing plate 20, and receive laser signals with different intensities reflected by the light viewing plate 20, and provide a laser point with a maximum light source intensity value on the light viewing plate 20 according to the received laser signals, and the laser radar device 50 reads an angle offset of the maximum laser point angle of the light source intensity value, where the angle offset is an offset of an installation angle of the laser radar device 50, and then corrects the angle of the laser radar device 50 according to the angle offset. In the whole correction process, complex external reference calibration and complex calculation are not required, and only the vehicle body 10 needs to be aligned with the light reflecting area 21 in advance, so that the correction efficiency of the angle of the laser radar device 50 is effectively improved.
Referring to fig. 4, the principle of determining the offset amount of the installation angle of the laser radar device 50 is: defining the distance d between the laser point on the light-viewing plate 20 and the lidar device 50, the line connecting the laser point and the lidar device 50 and the position where the lidar device 50 is locatedThe angle of the surface is theta, the intensity of the laser signal returned by the laser spot is I, and the data returned by each laser spot in the light observation plate 20 to the laser radar device 50 has di、θi、IiDue to di、θi、IiThe isoparametric can be directly read by the laser radar device 50, and at this time, the angular offset of the installation of the laser radar device 50 can be determined only by finding out the laser point with the largest I value and determining the theta value corresponding to the I value, and then the laser radar device 50 is corrected according to the angular value. It should be noted that how the laser radar apparatus 50 reads the parameters is the prior art, and is not described herein again.
Referring to fig. 2, the present invention further provides a lidar mounting angle calibration method, wherein in the step of aligning the central symmetry plane of the vehicle body 10 with the reflective area 21, the method further includes the following steps:
step S11: the alignment mechanism 30 emits a light source signal to the light observation plate 20;
step S12: the light viewing plate 20 is moved to project the light source signal to the light reflecting area 21.
In one embodiment of the present invention, the alignment mechanism 30 is used to emit a light source signal to the light-viewing plate 20, the light-viewing plate 20 is moved to project the light source signal to the reflective area 21, and the characteristic of light traveling along a straight line ensures that the vehicle body 10 is quickly aligned with the reflective area 21, thereby ensuring the accuracy of the calibration.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A laser radar installation angle correction system, comprising:
a vehicle body having a central symmetry plane that is parallel to a direction of travel of the vehicle body;
the light viewing plate is positioned in front of the advancing direction of the vehicle body and is provided with a light reflecting area facing the vehicle body;
the alignment mechanism is arranged on the vehicle body and is positioned on the central symmetrical plane of the vehicle body, the alignment mechanism is used for transmitting an alignment signal to the light reflecting area, and the vehicle body aligns the central symmetrical plane of the vehicle body with the light reflecting area according to the relative position of the alignment signal and the light reflecting area; and
the laser radar device is arranged on the vehicle body and located on the central symmetry plane, the laser radar device is used for transmitting laser signals to the light observation plate and receiving the reflected laser signals, the laser radar device reads the installation angle offset of the laser radar device relative to the vehicle body according to the fed-back laser signals, and the installation angle of the laser radar device and the vehicle body is corrected according to the installation angle offset.
2. The lidar mount angle calibration system of claim 1, wherein the alignment mechanism comprises:
the plurality of light filtering pieces are arranged on the surface of the vehicle body and are arranged at intervals along the advancing direction of the vehicle body, each light filtering piece is provided with a light filtering hole, and the center of each light filtering hole is positioned on the central symmetry plane; and
the alignment light source is arranged on the surface of the vehicle body and is positioned on the central symmetry plane, and the alignment light source is positioned on one side of the light filtering piece, which is far away from the light observation plate, so that light signals emitted by the alignment light source sequentially penetrate through the plurality of light filtering holes and irradiate to the light reflecting area.
3. The lidar mounting angle correction system of claim 2, wherein the vehicle body surface is provided with a mounting hole, the filter member is provided with a coupling hole, and the filter member is detachably coupled to the vehicle body by engagement of a coupling member with the mounting hole and the coupling hole.
4. The lidar mount angle correction system of claim 3, wherein the optical filter comprises:
the two supporting legs are provided with the connecting holes and are respectively positioned on two sides of the central symmetry plane; and
the light filter plate is connected to one end, deviating from the vehicle body, of the two supporting legs, and the light filter plate is provided with the light filtering holes.
5. The lidar mounting angle calibration system of claim 4, wherein the lidar means is disposed between the support legs and below the filter plate.
6. The lidar mount angle correction system of claim 2, wherein the alignment light source comprises:
the mounting rack is detachably connected to the surface of the vehicle body; and
the laser emitter is fixed in the mounting rack, and the laser emitter is used for emitting alignment laser to the reflecting layer.
7. The lidar mounting angle calibration system of claim 1, further comprising a driving member, wherein the light viewing plate is connected to the driving member, and the driving member is configured to drive the light viewing plate to move, so that the light source signal emitted by the alignment mechanism is projected perpendicularly to the light reflecting area.
8. The lidar mounting angle correction system according to any one of claims 1 to 7, wherein the alignment mechanism, the lidar device, is located on a top surface or a bottom surface of the vehicle body.
9. A lidar mounting angle correction method applied to the lidar mounting angle correction system according to any one of claims 1 to 8, characterized by comprising the steps of:
aligning a central plane of symmetry of the vehicle body with the retroreflective regions;
starting the laser radar device, transmitting a laser signal to the light watching plate, and receiving the laser signal reflected by the light watching plate;
extracting laser points of the light observation plate according to the fed back laser reflection signals, and screening laser points with the maximum light source intensity value;
and reading the corresponding angle value of the laser spot with the maximum light source intensity value, determining the installation angle offset of the laser radar device relative to the vehicle body according to the angle value, and correcting the installation angle of the laser radar device and the vehicle body according to the installation angle offset.
10. The lidar mounting angle correction method of claim 9, wherein in the step of aligning the central symmetrical plane of the vehicle body and the light-reflecting area, further comprising the steps of:
the alignment mechanism emits light source signals to the light observation plate;
and moving the light observation plate to enable the light source signal to be vertically projected to the light reflecting area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010353266.XA CN111505607B (en) | 2020-04-28 | 2020-04-28 | Laser radar installation angle correction system and installation angle correction method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010353266.XA CN111505607B (en) | 2020-04-28 | 2020-04-28 | Laser radar installation angle correction system and installation angle correction method thereof |
Publications (2)
| Publication Number | Publication Date |
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| CN111505607A true CN111505607A (en) | 2020-08-07 |
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| CN112731355A (en) * | 2020-12-25 | 2021-04-30 | 深圳优地科技有限公司 | Method, device, terminal and medium for calculating laser radar installation angle deviation |
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