CN113156410A - Automatic testing device and method for laser radar - Google Patents

Automatic testing device and method for laser radar Download PDF

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CN113156410A
CN113156410A CN202110472610.1A CN202110472610A CN113156410A CN 113156410 A CN113156410 A CN 113156410A CN 202110472610 A CN202110472610 A CN 202110472610A CN 113156410 A CN113156410 A CN 113156410A
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test
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standard test
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CN113156410B (en
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袁志林
张石
李亚锋
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Shenzhen Yuwei Optical Technology Co ltd
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Shenzhen Yuwei Optical Technology Co ltd
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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
    • 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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  • 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 automatic test device and a method, wherein the device comprises a laser range finder and a plurality of standard test boards which are arranged at different test distances from the laser range finder; the standard test board comprises a transmission area and at least two reflection areas, each standard test board is arranged on a corresponding rotating motor, and the rotating motors drive the standard test boards to rotate so as to enable different areas to be aligned to detection light signals emitted by the laser range finder; when the index test is carried out at each test distance, each standard test board positioned on the linear light path of the corresponding standard test board rotates to the transmission area to align with the detection light signal, and the corresponding standard test board rotates to different reflection areas to align with the detection light signal, so that the performance indexes corresponding to different reflectances at the test distance are obtained. According to the scheme, the test of the relevant indexes of the laser radar at different distances can be automatically completed, and the problems of low efficiency, high cost, large error and the like in manual test are solved.

Description

Automatic testing device and method for laser radar
Technical Field
The invention belongs to the technical field of laser radars, and particularly relates to an automatic laser radar testing device and method.
Background
The laser radar is a device for accurately detecting a target by emitting a pulse laser signal, can quickly acquire three-dimensional information of the surrounding environment and complete reconstruction, and has wide application in many fields. The laser radar belongs to complex precise photoelectric detection equipment, has strict requirements on environments such as photoelectric debugging, module calibration and the like in the production process, cannot generate fluctuation of production process parameters, and needs to ensure the stability of indexes. Particularly, parameters such as a test distance, a repetition precision, a test standard deviation, a measurement blind area, a scanning angle and the like are key indexes of the laser radar equipment, belong to parameter indexes which are necessary to be measured when a product leaves a factory, and need to be recorded in a delivery report of the laser radar equipment, so that each equipment needs to perform detailed index test. At present, the industry tests the relevant indexes mostly based on a manual test mode, that is, the test device is changed, the test parameters are changed, each test result is manually recorded, and finally, a test index record is output through complete manual intervention. The testing method is low in efficiency, large labor and time cost can be occupied in the laser radar batch production process, and due to manual intervention, the possibility of error testing or missing testing exists, and certain product quality risks exist.
Disclosure of Invention
Aiming at the defects or the improvement requirements of the prior art, the invention provides a laser radar automatic testing device and a laser radar automatic testing method, aiming at automatically completing the test of relevant indexes of a laser radar, outputting the result obtained by the test and completing the automatic test of the indexes of the laser radar product shipment, thereby solving the technical problems of low manual testing efficiency, high cost and large error.
To achieve the above object, according to one aspect of the present invention, there is provided an automatic lidar testing apparatus comprising a lidar, and a plurality of standard test boards arranged at different test distances from the lidar;
the standard test board comprises a transmission area and at least two reflection areas with different reflectivity, each standard test board is arranged on a corresponding rotating motor, and the rotating motors are used for driving the standard test boards to rotate so as to enable different areas to be aligned to the detection light signals emitted by the laser range finder;
when the index test is carried out at each test distance, each standard test board positioned on the linear light path of the corresponding standard test board rotates to the transmission area to align with the detection light signal, and the corresponding standard test board rotates to different reflection areas to align with the detection light signal, so that the performance indexes corresponding to different reflectances at the test distance are obtained.
Preferably, when the laser range finder is a single-point laser range finder, m standard test boards are arranged on the same side of the single-point laser range finder, the m standard test boards correspond to m test distances, and the m standard test boards and the single-point laser range finder are located on the same straight line.
Preferably, when the laser range finder is a two-dimensional laser scanner, m arcs with different radiuses are formed by taking the two-dimensional laser scanner as a circle center, and the m arcs correspond to m test distances;
a standard test board is arranged on the arc corresponding to each test distance, and corresponds to a test angle; the two-dimensional laser scanner can rotate in two dimensions so as to be adjusted to different test angles to perform index testing.
Preferably, when the laser range finder is a three-dimensional laser scanner, the three-dimensional laser scanner is disposed in a middle area of a test scene, and m cylinders with different radii are formed by taking the three-dimensional laser scanner as a body center, and correspond to m test distances;
b rows of standard test boards are transversely arranged on the side surface of each cylinder, c columns of standard test boards are longitudinally arranged on the side surface of each cylinder, a b x c standard test board array is formed, and c transverse angles and b longitudinal angles correspond to the c transverse angles and the b longitudinal angles; wherein, the three-dimensional laser scanner can rotate in three dimensions so as to adjust to different horizontal angles and longitudinal angles and carry out index test.
According to another aspect of the present invention, there is provided an automatic test method for lidar, which uses the automatic test apparatus for lidar of the first aspect, the method including:
sequentially carrying out index tests at different test distances according to the sequence of the test distances from small to large;
at each testing distance, respectively rotating the corresponding standard testing board to different reflection areas to align with the probe optical signals, testing to obtain performance indexes corresponding to different reflectances at the current testing distance, and completing the index test at the current testing distance;
when the index test is performed at each test distance, each standard test board on the linear light path corresponding to the standard test board rotates to the transmission area to align with the probe light signal.
Preferably, when the laser range finder is a single-point laser range finder, the corresponding standard test board is rotated to different reflection areas at each test distance to align with the probe light signal, and the performance indexes corresponding to different reflectances at the current test distance are obtained through testing, specifically:
at a test distance diRotating the corresponding standard test board to different reflection regions to align with the probe optical signal for index test to obtain a test distance diPerformance indexes corresponding to different reflectivities are processed;
distance d of completion of testiAfter the index is tested, the distance d is testediThe corresponding standard test board rotates to the transmission region to align with the probe optical signal and starts the next distance di+1And (4) testing indexes.
Preferably, when the laser range finder is a two-dimensional laser scanner, the corresponding standard test board is rotated to different reflection areas at each test distance to align with the probe light signal, and the performance indexes corresponding to different reflectances at the current test distance are obtained through testing, which specifically includes:
at a test distance riRotating the two-dimensional laser scanner to different testing angles in sequence, and rotating the corresponding standard testing board to different reflection areas to align to the probe light signals for index testing at each testing angle to obtain performance indexes corresponding to different reflectivities at each testing angle;
according to the test distance riObtaining performance indexes corresponding to different reflectivities at each test angle to obtain a test distance riPerformance indexes corresponding to different reflectivities are processed;
distance r for completion of testiAfter the index of (c) is tested, the distance r is testediEach corresponding standard test board rotates to the transmission area to align with the probe optical signal, and starts the next distance ri+1And (4) testing indexes.
Preferably, when the laser range finder is a three-dimensional laser scanner, the corresponding standard test board is rotated to different reflection areas at each test distance to align with the probe light signal, and the performance indexes corresponding to different reflectances at the current test distance are obtained through testing, specifically:
at a test distance RiRotating the three-dimensional laser scanner to different transverse angles and longitudinal angles in sequence, and rotating the corresponding standard test board to different reflection areas under each transverse angle and longitudinal angle to align with the detection light signals for index test to obtain performance indexes corresponding to different reflectances under each transverse angle and longitudinal angle;
according to the test distance RiThe performance indexes corresponding to different reflectivities under each transverse angle and each longitudinal angle are processed to obtain a testing distance RiPerformance indexes corresponding to different reflectivities are processed;
completion of the test distance RiAfter the index is tested, the distance R is testediEach corresponding standard test board rotates to the transmission area to align with the probe optical signal, and starts the next distance Ri+1And (4) testing indexes.
Preferably, when the standard test board is located at the test distance RiAnd the longitudinal angle is not 0, before performing the index test based on the standard test board, the method further comprises:
controlling the standard test board to rotate, detecting whether the echo intensity of the probe light signal changes in the rotating process, and further judging whether a detection light path of the standard test board is blocked;
if the detection light path of the standard test board is blocked, g standard test boards existing on the detection light path are determined according to the detection light path and the positions of the standard test boards;
and adjusting the alignment areas or the positions of the rotating motors of the g standard test boards in sequence according to the sequence of the test distances from small to large, so that the detection light path of the standard test board is not blocked any more.
Preferably, the alignment areas or the positions of the rotating motors of the g standard test boards are sequentially adjusted according to the sequence of the test distances from small to large, so that the detection light path of the standard test board is no longer blocked, specifically:
sequentially controlling a jth standard test board in the g standard test boards to rotate according to the sequence of the test distances from small to large, and detecting whether the echo intensity of the detection optical signal changes in the rotating process;
if the echo intensity is not changed, moving the rotating motor corresponding to the jth standard test board out of the detection light path; if the echo intensity changes, rotating the jth standard test board until the transmission area of the jth standard test board is aligned with the probe light signal;
and after the adjustment of the jth standard test board is completed, continuously controlling the jth +1 standard test board in the g standard test boards to rotate, and starting the adjustment of the jth +1 standard test board.
Generally, compared with the prior art, the technical scheme of the invention has the following beneficial effects: in the automatic laser radar testing device provided by the invention, standard testing boards are respectively arranged at different testing distances, each standard testing board is divided into a transmission area and different reflection areas, and each standard testing board is arranged on a rotating motor; when the index test is performed at each test distance, the corresponding standard test board can rotate to different reflection areas under the control of the corresponding rotating motor to perform the test, and rotate to the transmission area after the test is completed so as to continue the test at the next distance. According to the scheme, the test of the related indexes of the laser radar at different distances can be automatically completed, the manual intervention is not needed to change the test device and the test parameters, the problems of low efficiency, high cost, large error and the like in the manual test are solved, and the test stability is ensured.
Drawings
FIG. 1 is a schematic diagram of a laser radar automatic testing device structure and an index testing principle when a single-point laser range finder is adopted according to an embodiment of the present invention;
FIG. 2 is a schematic plane view of a standard test board according to an embodiment of the present invention;
fig. 3 is a flowchart of an automatic laser radar testing method when a single-point laser range finder is adopted according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a structure and an index testing principle of an automatic laser radar testing device using a two-dimensional laser scanner according to an embodiment of the present invention;
fig. 5 is a flowchart of an automatic laser radar testing method when a two-dimensional laser scanner is used according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating a structure and an index testing principle of an automatic testing apparatus for a laser radar using a three-dimensional laser scanner according to an embodiment of the present invention;
fig. 7 is a flowchart of an automatic laser radar testing method when a three-dimensional laser scanner is used according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of optical path blocking when a three-dimensional laser scanner is used according to an embodiment of the present invention;
fig. 9 is a flowchart of a method for processing optical path obstruction when a three-dimensional laser scanner is used according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
In the description of the present invention, the terms "inside", "outside", "longitudinal", "lateral", "upper", "lower", "top", "bottom", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention but do not require that the present invention must be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In order to solve the problems of low efficiency, high cost, large error and the like of manual testing, the invention provides an automatic laser radar testing device which mainly comprises a laser range finder (namely a laser radar) and a plurality of standard testing boards arranged at different testing distances from the laser range finder. Each standard test board comprises a transmission area and at least two reflection areas with different reflectivity, and each standard test board is arranged on a corresponding rotating motor; the rotating motor can drive the standard test board to rotate, so that different areas are aligned to the detection light signals emitted by the laser range finder. When the index test is performed at each test distance, each standard test board on the linear light path corresponding to the standard test board rotates to the transmission area to align with the probe light signal, and then the corresponding standard test board rotates to different reflection areas to align with the probe light signal, so that the performance indexes corresponding to different reflectances at the test distance are obtained.
When the laser radar automatic testing device is used for testing, the method roughly comprises the following steps: sequentially carrying out index tests at different test distances according to the sequence of the test distances from small to large; and at each testing distance, respectively rotating the corresponding standard testing board to different reflection areas to align to the probe optical signals, and testing to obtain performance indexes corresponding to different reflectivities at the current testing distance, thereby completing the index test at the current testing distance. When the index test is performed at each test distance, each standard test board located on the optical path of the corresponding standard test board needs to rotate to the transmission area to align with the probe optical signal.
In the automatic laser radar testing device, the laser range finder can be a single-point laser range finder, a two-dimensional laser scanner and a three-dimensional laser scanner, and when different types of laser range finders are adopted, the testing device has certain differences in structural settings, and the corresponding testing method also has certain differences. The following will specifically describe the testing device and the corresponding testing method when different laser range finders are used, respectively, by different embodiments.
Example 1
The embodiment of the invention provides an automatic laser radar testing device, and as shown in fig. 1, a single-point laser range finder (namely, a single-point laser radar) is adopted as the laser range finder.
With reference to fig. 1, when a single-point laser range finder is adopted, m standard test boards (m is greater than or equal to 1) are sequentially arranged on the same side of the single-point laser range finder, and correspond to m test distances, that is, one standard test board is arranged at each test distance, and the m standard test boards and the single-point laser range finder are located on the same straight line; the number of the test distances can be set according to actual test requirements, and is not particularly limited herein. The single-point laser range finder is used for sending a probe light signal to each standard test board so as to complete index tests at different test distances, and the performance indexes of the tests generally comprise absolute distance precision indexes, test repetition precision indexes and standard deviation indexes.
Taking fig. 1 as an example, suppose that index tests are required to be performed on three test distances (i.e., m is 3), which are respectively denoted as d1、d2、d3Then at the test distance d1、d2、d3A first standard test board, a second standard test board and a third standard test board are respectively arranged at the positions.
The standard test board is divided into at least three areas according to test requirements, wherein the three areas comprise a transmission area and at least two reflection areas with different reflectivities, and the transmission area and the reflection areas are generally divided averagely, namely the corresponding angles of each area are the same; the number of the reflective regions and the selection of the reflectivity may be set according to actual test requirements, and are not specifically limited herein.
Taking fig. 2 as an example, the standard test board is divided into three areas on average, each area being a sector area with a central angle of 120 °. One third of the reflection regions is a 10% reflection region (i.e., the reflectance of the region is 10%), one third of the reflection regions is a 90% reflection region (i.e., the reflectance of the region is 90%), and the remaining third of the reflection regions is a transmission region (i.e., the optical signal can be completely transmitted, which corresponds to a reflectance of 0). When index testing is performed based on the standard test board in fig. 2, performance indexes corresponding to 10% and 90% reflectivity can be obtained at each test distance.
With reference to fig. 1, if the testing distances between the single-point laser range finder and the standard testing boards are not large, the single-point laser range finder and the m standard testing boards can be mounted on the track uniformly. If the testing distance between the single-point laser range finder and each standard testing board is large, the cost of the mounting track is too high, and at the moment, the m standard testing boards can be mounted through visible light alignment auxiliary equipment, so long as the probing light signals emitted by the single-point laser range finder can pass through the designated area of each standard testing board.
Further, each standard test board is mounted on a corresponding rotating electrical machine, and each rotating electrical machine can be remotely controlled by a unified control system. Under the remote control of the control system, the rotating motor can drive the standard test board to rotate, so that different areas on the standard test board respectively enter detection areas of the detection light signals, namely, the different areas are respectively aligned with the detection light signals emitted by the single-point laser range finder.
In the automatic laser radar testing device provided by the embodiment of the invention, the single-point laser range finder is adopted for laser emission, the standard testing boards are respectively arranged at different testing distances, each standard testing board is divided into different reflection areas, and each standard testing board is arranged on the rotating motor, so that the standard testing board at each testing distance can rotate to different reflection areas for testing. The device can automatically complete the test of the related indexes of the laser radar at different distances in the one-dimensional direction, solves the problems of low efficiency, high cost, large error and the like in manual test, and ensures the stability of the test.
Example 2
On the basis of the foregoing embodiment 1, an embodiment of the present invention further provides an automatic laser radar testing method, which is performed by using the automatic laser radar testing apparatus in embodiment 1, where the laser range finder is a single-point laser range finder, and can achieve automatic testing in a one-dimensional direction, and performance indexes of the testing generally include an absolute distance precision index, a test repetition precision index, and a standard deviation index.
As shown in fig. 3, in an actual test, the test method provided by the embodiment of the present invention is as follows:
step 101, at a test distance diRotating the corresponding standard test board to different reflection regions to align with the probe optical signal for index test to obtain a test distance diAnd processing the performance indexes corresponding to different reflectivities.
Generally, the index test is performed at the m test distances in the example 1 in sequence in the order of the test distances from small to large. At a test distance diWhere (i ═ 1,2, 3.., m), the control system causes the test distance d to be measured by controlling the corresponding rotating electrical machineiAnd rotating the standard test board i, aligning different reflection areas of the standard test board i to the detection light signal of the single-point laser range finder in sequence, and carrying out index test once per rotation, thereby obtaining absolute distance precision indexes, test repetition precision indexes and standard deviation indexes corresponding to different reflection areas on the standard test board i.
Wherein for the test distance diWhen the standard test board i rotates to a certain reflection area, the performance index test method corresponding to the reflection area is as follows:
(1) the single-point laser range finder sends n detection light signals, and the control system automatically records corresponding n measured distance values | L1,L2,L3,...,Ln|；
(2) Let Delta Lj＝|Lj-diI, where j 1,2,3, n, is automatically calculated by the control system to yield | Δ L1,ΔL2,ΔL3,...,ΔLnTaking Δ LjMaximum value of (1) max | LjL as distance diAnd processing the absolute distance accuracy index corresponding to the reflection area.
(3) Let δ equal max | Lj|-min|LjL, the distance d is automatically calculated by the control systemiThe test repetition accuracy index corresponding to the reflection regionδ。
(4) The average value of the measured distance values is
Figure BDA0003045937170000091
By said control system according to formula
Figure BDA0003045937170000092
Figure BDA0003045937170000093
And automatically calculating to obtain the standard deviation index of n measurements.
Step 102, completing the testing of the distance diAfter the index is tested, the distance d is testediThe corresponding standard test board rotates to the transmission region to align with the probe optical signal and starts the next distance di+1And (4) testing indexes.
Distance d of completion of testiAfter the index test, the control system controls the corresponding rotating motor to continuously rotate the standard test board i to make the transmission area align with the detection light signal of the single-point laser range finder, so that the detection light signal can be continuously transmitted backwards through the transmission area to ensure that the next distance d is carried outi+1When testing the index, the standard test board i will not block the light path of the standard test board i + 1.
Further taking the testing apparatus shown in fig. 1 as an example, and the configuration of the standard testing board is shown in fig. 2, the steps of the testing method are as follows:
the control system controls the distance d1Rotating the standard test board to make 10% of reflection area align with the detection light signal of the single-point laser range finder, and testing according to the steps (1) - (4) to obtain the distance d1Absolute distance accuracy index, test repetition accuracy index and standard deviation index corresponding to the 10% reflection area.
After the test of the 10% reflection area is finished, the control system continuously controls the standard test board to rotate so that the 90% reflection area of the standard test board is aligned with the detection light signal of the single-point laser range finder, and the test is carried out according to the steps (1) to (4) to obtain the distance between the standard test board and the single-point laser range finderFrom d1Absolute distance accuracy index, test repetition accuracy index and standard deviation index corresponding to 90% reflection area.
Completion distance d1After the index test, the control system continuously controls the standard test board to rotate so that the transmission area of the standard test board is aligned with the detection light signal of the single-point laser range finder; while controlling the distance d2Rotating the standard test board II to make its 10% reflection region aligned with the detection light signal of the single-point laser range finder to obtain the distance d2Absolute distance accuracy index, test repetition accuracy index and standard deviation index corresponding to the 10% reflection area.
The control system continuously controls the standard test board II to rotate, so that 90% of reflection area of the standard test board II is aligned with the detection light signal of the single-point laser range finder to obtain the distance d2Absolute distance accuracy index, test repetition accuracy index and standard deviation index corresponding to 90% reflection area.
To this end, the distance d can be automatically tested1And d2Various performance indexes of (1). And so on, the control system continues to control the standard test board II to rotate to enable the transmission area to align with the detection light signal of the single-point laser range finder, at the moment, the standard test board I and the standard test board II both rotate to the transmission area, the detection light signal can reach the standard test board III through the two transmission areas, and the distance d is continuously completed3And (4) testing indexes.
According to the scheme, the test of the relevant indexes of the laser radar at different distances can be automatically completed in the one-dimensional direction, the whole operation process can be automatically completed by the control system, the test device and the test parameters are not required to be changed by manual intervention, the problems of low efficiency, high cost, large error and the like in manual test are solved, and the test stability is ensured.
Example 3
On the basis of the foregoing embodiment 1, another automatic lidar testing apparatus according to an embodiment of the present invention is further provided, as shown in fig. 4, where the laser range finder employs a two-dimensional laser scanner (i.e., a two-dimensional lidar).
With reference to fig. 4, when a two-dimensional laser scanner is used, m arcs with different radiuses are formed by taking the two-dimensional laser scanner as a circle center, and the m arcs correspond to m test distances, that is, each arc radius corresponds to one test distance. A standard test boards (a is more than or equal to 2) are arranged on the arc corresponding to each test distance in a circumferential array arrangement mode and correspond to a test angles. Therefore, m standard test boards coexist on each test angle and are respectively positioned on m arcs, the m standard test boards and the two-dimensional laser scanner are positioned on the same straight line, and the whole device is provided with m × a standard test boards in total.
The number of the test distances and the number of the test angles can be set according to actual test requirements, and are not limited herein. Due to the two-dimensional laser ranging, standard test boards are installed at different test angles of a two-dimensional plane so as to test the angle accuracy index of the two-dimensional laser scanner. Accordingly, the tested performance indexes include an absolute distance precision index, a test repetition precision index, a standard deviation index and an angle precision index.
The two-dimensional laser scanner is used for sending the detection light signals to each standard test board so as to complete index tests at different test angles at different test distances. The two-dimensional laser scanner can rotate in two dimensions, namely, on the two-dimensional plane shown in fig. 4, so that the two-dimensional laser scanner can be adjusted to different test angles at each test distance for index testing. It should be noted that, the two-dimensional laser scanner is internally provided with a two-dimensional beam rotation control device, and the two-dimensional beam rotation control device can realize two-dimensional rotation of the detection light signal emitted by the two-dimensional laser scanner, and does not need to rotate the two-dimensional laser scanner alone.
Taking fig. 4 as an example, suppose that index tests are required to be performed on three test distances (i.e., m is 3), which are respectively denoted as r1、r2、r3Then 3 arcs are correspondingly formed and are respectively marked as arc one, arc two and arc three. Assuming that the index test needs to be performed at three test angles (i.e., a is 3) at each test distance, the test angles are A, B, C respectively, then the index test is performed at the test distanceDistance r13 standard test boards are arranged on the corresponding arc I at equal intervals, and the test distance r is2And 3 standard test boards are arranged on the corresponding second arc at equal intervals, and 3 standard test boards are arranged on the corresponding first arc at equal intervals at the test distance r 1. Taking the test angle a as an example, the 3 standard test boards at the test angle are located on the same straight line with the two-dimensional laser scanner, and the straight line is exactly a radius of the circular arc three.
The configuration of the standard test board can refer to fig. 2 and the related descriptions in embodiment 1, and the control system controls the corresponding rotating motor to rotate, which is not described herein again.
With reference to fig. 4, if the testing distances between the two-dimensional laser scanner and the standard testing boards are not large, the m standard testing boards at the same testing angle can be uniformly installed on the track. If the test distance between the two-dimensional laser scanner and each standard test board is larger, the m standard test boards can be installed correspondingly by aligning the visible light to the auxiliary equipment at each test angle, as long as the detection light signals emitted by the two-dimensional laser scanner can pass through the designated area of each standard test board.
In the automatic laser radar testing device provided by the embodiment of the invention, the two-dimensional laser scanner is adopted for laser emission, the plurality of standard testing boards are respectively arranged at different testing distances according to testing angles, each standard testing board can rotate, light beams emitted by the two-dimensional laser scanner can also rotate in two dimensions, each testing distance can rotate to different testing angles for testing, and each standard testing board can rotate to different reflection areas for testing. The device can automatically complete the test of the related indexes of the laser radar at different distances in the two-dimensional direction, solves the problems of low efficiency, high cost, large error and the like in the manual test, and ensures the stability of the test.
Example 4
On the basis of the foregoing embodiment 3, an embodiment of the present invention further provides an automatic laser radar testing method, which is completed by using the automatic laser radar testing apparatus in embodiment 3, where the laser range finder is a two-dimensional laser scanner, and can implement automatic testing in a two-dimensional direction.
In the direction of each test angle, the test steps and the process are similar to those of the single-point laser range finder adopted in the embodiment 2, and the control system automatically adjusts and tests various performance indexes of different test distances. The performance indexes of the test generally include an absolute distance precision index, a test repetition precision index, a standard deviation index and an angle precision index.
As shown in fig. 5, in an actual test, the test method provided by the embodiment of the present invention is as follows:
step 201, at the test distance riAnd rotating the two-dimensional laser scanner to different test angles in sequence, and rotating the corresponding standard test board to different reflection areas under each test angle to align the probe light signals for index test to obtain performance indexes corresponding to different reflectivities under each test angle.
Generally, the index test is performed at the m test distances in the example 3 in sequence in the order of the test distances from small to large. At a test distance riWhere (i ═ 1,2, 3., m), the index test needs to be performed by rotating the detection light signals to a test angles respectively through a two-dimensional light beam rotation control device carried in the two-dimensional laser scanner; and under each test angle, the corresponding standard test board needs to be controlled to respectively rotate to different reflection areas to align to the detection light signals of the two-dimensional laser scanner, and index test is carried out once every rotation, so that the performance indexes corresponding to the different reflection areas under the test angle are obtained. After the two-dimensional laser scanner rotates for a times of tests, the test distance r can be obtainediAnd (4) processing performance indexes corresponding to different reflectivities at each test angle, namely a distance precision index, a test repetition precision index, a standard deviation index and an angle precision index. The steps (1) to (4) in embodiment 2 can be referred to in the method for testing the distance accuracy index, the test repetition accuracy index, and the standard deviation index, which are not described herein again.
Step 202, according to the test distance riAt each test angleObtaining performance indexes corresponding to different reflectivities under the temperature to obtain a test distance riAnd processing the performance indexes corresponding to different reflectivities.
According to the test of the steps, for any performance index y corresponding to any reflectivity x, the testing distance riA index data (based on the test distance r respectively) can be obtainediA standard test boards) are obtained, in this case, the worst value of the a index data is usually taken as the test distance riAnd index data of the performance index y corresponding to the reflectivity x. Of course, in alternative embodiments, the average value or other processed data may be selected, and is not limited in any way.
Step 203, completing the test distance riAfter the index of (c) is tested, the distance r is testediEach corresponding standard test board rotates to the transmission area to align with the probe optical signal, and starts the next distance ri+1And (4) testing indexes.
Distance r per completed testiAfter the index test under a certain test angle is carried out, the control system continuously controls the corresponding standard test board to rotate to enable the penetration area of the standard test board to align with the detection light signal of the two-dimensional laser scanner, so that the detection light signal can be continuously transmitted backwards through the penetration area of the detection light signal, and the next distance r is ensured to be carried outi+1When testing the index at the same testing angle, the standard testing board will not block the upper and lower distances r in the same linei+1The standard test plate of (1).
Further taking the testing apparatus shown in fig. 4 as an example, and the configuration of the standard testing board is shown in fig. 2, the steps of the testing method are as follows:
first at a distance r1The test was performed. And respectively controlling the detection light signals emitted by the two-dimensional laser scanner to rotate to a test angle A, B, C for index test. Under a test angle A, controlling a corresponding standard test board to respectively rotate to a 10% reflection area and a 90% reflection area to align with a detection light signal of the two-dimensional laser scanner, and obtaining each performance index corresponding to the 10% reflectivity and the 90% reflectivity under the test angle A; by analogy, the 10 percent reflectivity and 90 percent reflectivity under the test angle B are obtainedEach performance index corresponding to the reflectivity, and each performance index corresponding to the 10% reflectivity and the 90% reflectivity under the test angle C. Taking the worst value in the 3 performance indexes corresponding to the 10% reflectivity as the distance r1Performance indexes corresponding to 10% reflectivity; taking the worst value in the 3 performance indexes corresponding to the 90% reflectivity as the distance r1And the performance index corresponding to the reflectivity of 90 percent. Thus, the distance r can be obtained1Distance precision indexes, test repetition precision indexes, standard deviation indexes and angle precision indexes corresponding to the 10% reflectivity and the 90% reflectivity.
Completion distance r1After the index test, the distance r1Three standard test boards are rotated to the transmission area to align with the detection light signal of the two-dimensional laser scanner, and the distance r is started2Testing the index of the part, the specific steps and the distance r1Is treated the same to obtain the distance r2Distance precision indexes, test repetition precision indexes, standard deviation indexes and angle precision indexes corresponding to the 10% reflectivity and the 90% reflectivity.
Completion distance r1And r2After the index test, the distance r is finished by analogy3The distance r is obtained by index test of3Distance precision indexes, test repetition precision indexes, standard deviation indexes and angle precision indexes corresponding to the 10% reflectivity and the 90% reflectivity.
Similar to the test of a single-point laser range finder, all the operations are automatically completed under the control of a control system, and the operation is delayed and stabilized for a while after each operation, so that enough stable time is reserved for the next operation or test. According to the scheme, the test of the related indexes of different distances of the laser radar can be automatically completed in the two-dimensional direction, the whole operation process can be automatically completed by the control system, the manual intervention is not needed to change the test device and the test parameters, the problems of low efficiency, high cost, large error and the like in the manual test are solved, and the test stability is ensured.
Example 5
On the basis of the above embodiments 1 and 3, another automatic lidar testing device is further provided in the embodiments of the present invention, as shown in fig. 6, where the laser range finder employs a three-dimensional laser scanner (i.e., a three-dimensional lidar).
With reference to fig. 6, when the laser range finder is a three-dimensional laser scanner, the three-dimensional laser scanner is disposed in a middle area of a test scene, and the three-dimensional laser scanner forms m cylinders with different radiuses as a body center, and corresponds to m test distances, that is, each radius of the cylinder corresponds to one test distance. The side face of the cylinder corresponding to each testing distance is transversely provided with b rows of standard testing boards, and the side face of the cylinder corresponding to each testing distance is longitudinally provided with c columns of standard testing boards (b is more than or equal to 2, and c is more than or equal to 2), so that a b x c standard testing board array is formed, c transverse angles and b longitudinal angles are corresponding, namely, b x c standard testing boards are corresponding to each testing distance, and the whole device is provided with m x b x c standard testing boards in total. The number of the test distances, the number of the transverse angles and the number of the longitudinal angles can be set according to actual test requirements, and the method is not limited herein.
Wherein the transverse direction here corresponds to the horizontal direction in fig. 6, and the transverse angle is similar to the test angle in the two-dimensional ranging in embodiment 3; the longitudinal direction corresponds to the vertical direction in fig. 6. If viewed from above, similar to the two-dimensional ranging diagram of fig. 4, fig. 6 is equivalent to expanding the semi-circle of fig. 4 into a complete circle and extending in the longitudinal direction from one layer to b layers, each layer corresponding to a horizontal plane in fig. 6. On each layer, m standard test boards coexist on each transverse angle and are respectively positioned on m cylinders, and the m standard test boards and the three-dimensional laser scanner are positioned on the same straight line.
Due to the three-dimensional distance measurement, in addition to the angle precision in the horizontal direction, a standard test board is also installed in the longitudinal direction, so that the longitudinal angle precision of the three-dimensional laser scanner can be tested. Accordingly, the tested performance indexes include an absolute distance precision index, a test repetition precision index, a standard deviation index, a transverse angle precision index, and a longitudinal angle precision index.
The three-dimensional laser scanner is used for sending a probe light signal to each standard test board so as to complete index tests of different transverse angles and longitudinal angles at different test distances; wherein, the three-dimensional laser scanner can rotate in three dimensions so as to adjust to different horizontal angles and longitudinal angles and carry out index test. The three-dimensional laser scanner is internally provided with a three-dimensional light beam rotation control device, and the three-dimensional light beam rotation control device can realize the three-dimensional rotation of the detection light signal emitted by the three-dimensional laser scanner, so that the three-dimensional laser scanner does not need to be rotated independently.
The three-dimensional rotation comprises transverse rotation and longitudinal rotation, wherein the transverse rotation is that the three-dimensional laser scanner rotates on a horizontal plane in which the three-dimensional laser scanner is located in the figure 6, so that different transverse angles can be adjusted; the three-dimensional laser scanner is arranged on a vertical plane, and the three-dimensional laser scanner is arranged on the vertical plane.
Taking fig. 6 as an example, suppose that index tests are required to be performed on three test distances (i.e., m is 3), which are respectively denoted as R1、R2、R3Then 3 cylinders are correspondingly formed, which can be respectively marked as cylinder one, cylinder two, and cylinder three. Assuming that index testing needs to be performed at three longitudinal angles (i.e., b is 3) at each testing distance, 3 rows of standard testing boards are arranged on the side surface of each cylinder, and the number of columns c is determined according to the number of required transverse angles. On each layer, 3 standard test boards are arranged at the same transverse angle, and are positioned on the same straight line with the three-dimensional laser scanner, and the straight line is exactly a radius of the cylinder III.
The configuration of the standard test board can refer to fig. 2 and the related descriptions in embodiment 1, and the control system controls the corresponding rotating motor to rotate, which is not described herein again.
With reference to fig. 6, if the testing distances between the three-dimensional laser scanner and the standard testing boards are not large, the m standard testing boards at the same testing angle can be uniformly installed on the track on the same layer. If the testing distance between the three-dimensional laser scanner and each standard testing board is larger, the m corresponding standard testing boards can be installed by aligning the visible light to the auxiliary equipment at each testing angle, as long as the detection light signals emitted by the three-dimensional laser scanner can pass through the designated area of each standard testing board.
The automatic laser radar testing device provided by the embodiment of the invention adopts the three-dimensional laser scanner to emit laser, the plurality of standard testing boards are respectively arranged at different testing distances according to the transverse angle and the longitudinal angle, each standard testing board can rotate, the three-dimensional laser scanner can rotate in three dimensions, each testing distance can rotate to different transverse angles and longitudinal angles to perform testing, and each standard testing board can rotate to different reflection areas to perform testing. The device can automatically complete the test of the related indexes of the laser radar at different distances in the three-dimensional direction, solves the problems of low efficiency, high cost, large error and the like in the manual test, and ensures the stability of the test.
Example 6
On the basis of the foregoing embodiment 5, an embodiment of the present invention further provides an automatic laser radar testing method, which is completed by using the automatic laser radar testing apparatus in embodiment 5, where the laser range finder is a three-dimensional laser scanner, and can implement automatic testing in a three-dimensional direction. The performance indexes of the test generally include an absolute distance precision index, a test repetition precision index, a standard deviation index, a transverse angle precision index and a longitudinal angle precision index.
As shown in fig. 7, in an actual test, the test method provided by the embodiment of the present invention is as follows:
step 301, testing the distance RiAnd rotating the three-dimensional laser scanner to different transverse angles and longitudinal angles in sequence, and rotating the corresponding standard test board to different reflection areas under each transverse angle and longitudinal angle to align the detection light signals for index test to obtain performance indexes corresponding to different reflectances under each transverse angle and longitudinal angle.
The index test is generally performed at the m test distances in the example 5 in sequence in the order of the test distances from small to large. At a test distance RiWhere (i ═ 1,2, 3.., m), the longitudinal angle is fixed to 0 firstUnder the condition, the detection light signals are respectively transversely rotated to c transverse angles for index testing through a three-dimensional light beam rotation control device arranged in the three-dimensional laser scanner; under each transverse angle, the transverse angle needs to be fixed and is not changed, and the three-dimensional laser scanner is controlled to longitudinally rotate to b longitudinal angles respectively for index testing; and under each longitudinal angle, controlling the corresponding standard test board to respectively rotate to different reflection areas to align to the detection light signals of the three-dimensional laser scanner, and carrying out index test once per rotation so as to obtain the performance indexes corresponding to the different reflection areas under the current transverse angle and the current longitudinal angle.
After the detection light signal of the three-dimensional laser scanner is tested b times multiplied by c times in a rotating mode, the testing distance R can be obtainediAnd (4) processing performance indexes corresponding to different reflectivities under c transverse angles and b longitudinal angles, namely a distance precision index, a test repetition precision index, a standard deviation index, a transverse angle precision index and a longitudinal angle precision index. The steps (1) to (4) in embodiment 2 can be referred to in the method for testing the distance accuracy index, the test repetition accuracy index, and the standard deviation index, which are not described herein again.
Step 302, according to the testing distance RiThe performance indexes corresponding to different reflectivities under each transverse angle and each longitudinal angle are processed to obtain a testing distance RiAnd processing the performance indexes corresponding to different reflectivities.
According to the test of the steps, for any performance index y corresponding to any reflectivity x, the testing distance R is determinediB × c index data (based on the test distance R respectively) are obtainediB × c standard test boards) are obtained, in this case, the worst value of the b × c index data is usually taken as the test distance RiAnd index data of the performance index y corresponding to the reflectivity x. Of course, in alternative embodiments, the average value or other processed data may be selected, and is not limited in any way.
Step 303, completing the test for distance RiAfter the index is tested, the distance R is testediRotating each corresponding standard test board to the transmission region to align with the probe optical signal, and startingNext distance Ri+1And (4) testing indexes.
At the testing distance riDuring index testing, after the index testing at a certain longitudinal angle is finished at each transverse angle, the control system continuously controls the corresponding standard testing board to rotate, so that the transmission area of the standard testing board is aligned with the detection light signal of the two-dimensional laser scanner, and the detection light signal can be continuously transmitted backwards through the transmission area of the detection light signal.
Further taking the testing apparatus shown in fig. 6 as an example, and the configuration of the standard testing board is shown in fig. 2, the steps of the testing method are as follows:
first at a distance R1The test was performed. And respectively controlling the detection light signals emitted by the three-dimensional laser scanner to rotate to different transverse angles for testing. Under each transverse angle, respectively controlling the three-dimensional laser scanner to rotate to different longitudinal angles for testing; and controlling the corresponding standard test board to respectively rotate to a 10% reflection area and a 90% reflection area to align with the detection light signal of the three-dimensional laser scanner at each longitudinal angle, and obtaining each performance index corresponding to the 10% reflectivity and the 90% reflectivity at the longitudinal angle. By analogy, the performance indexes corresponding to the 10% reflectivity and the 90% reflectivity under 3 × c combinations of 3 longitudinal angles and c transverse angles can be obtained. The worst value in the 3 × c individual performance index corresponding to the 10% reflectivity is taken as the distance R1Performance indexes corresponding to 10% reflectivity; taking the worst value in the 3 × c individual performance index corresponding to the 90% reflectivity as the distance R1And the performance index corresponding to the reflectivity of 90 percent. Thus, the distance R can be obtained1Distance precision indexes, test repetition precision indexes, standard deviation indexes, transverse angle precision indexes and longitudinal angle precision indexes corresponding to the 10% reflectivity and the 90% reflectivity.
Completion distance R1After the index test, the distance R1The 3 × c standard test boards are rotated to the transmission area to align with the detection light signal of the three-dimensional laser scanner and start to be at a distance R2The index of the part (B) is tested, the specific steps and the distance R1Is the same, the distance R is obtained2The ratio is 10%A distance precision index, a test repetition precision index, a standard deviation index, a transverse angle precision index and a longitudinal angle precision index corresponding to the reflectivity and the 90% reflectivity.
Completion distance R1And R2After the index test, the distance R is finished by analogy3The index of the position is tested to obtain the distance R3Distance precision indexes, test repetition precision indexes, standard deviation indexes, transverse angle precision indexes and longitudinal angle precision indexes corresponding to the 10% reflectivity and the 90% reflectivity.
According to the scheme, the test of the relevant indexes of the laser radar at different distances can be automatically completed in the three-dimensional direction, and the test of the three-dimensional laser scanner is also remotely controlled through the control system, so that the automatic test and the result output of the relevant indexes are completed under the test scene which is set up in advance. The whole operation process does not need manual intervention to change the testing device and the testing parameters, the problems of low efficiency, high cost, large error and the like in manual testing are solved, and the stability and the reliability of the testing are ensured.
Example 7
When the index test was performed by the method in example 6, the distance R was measurediWhere (i ≧ 2), if the index test is performed based on a certain standard test board whose longitudinal angle is 0 (i.e., a standard test board on the same horizontal plane as the three-dimensional laser scanner), due to the test distance RiAll the previous standard test boards have been rotated to the transmission area, and the distance R is testediThe optical path of the standard test board is not blocked, and the standard test board can be used for testing smoothly. For example, when the index test is required based on the standard test board Q3 in fig. 6, the standard test boards Q1 and Q2 have rotated to the transparent area, so that the probing optical signal can directly pass through the transparent areas of the standard test boards Q1 and Q2 to reach the standard test board Q3, and the optical path of the standard test board Q3 is not blocked.
However, if the index test is performed based on a certain standard test board whose longitudinal angle is not 0 (i.e., a standard test board which is not on the same level as the three-dimensional laser scanner), although the distance R is testediAll the previous standard test boards have rotated to the transmission area, but the light path of the standard test board is still not blocked by the reflection area of the previous standard test board or the rotating motor, so that the detection light signal cannot smoothly reach the standard test board, and the index test cannot be performed. For example, when the index test is required based on the standard test board P3 in FIG. 8, the standard test board P1 may be just in the light path of the standard test board P3, and the light path of the standard test board P3 may be blocked by the reflective area of the standard test board P1 itself or the corresponding rotating electrical machine, so that the probing light signal cannot reach the standard test board P3.
Thus, for the test distance RiAny standard test board with a longitudinal angle different from 0, such as the standard test board P3 in fig. 8, needs to determine whether the optical path of the standard test board is blocked before performing the index test based on the standard test board, and if the optical path is blocked, the optical path is processed in time to remove the blockage, so as to ensure that the probe optical signal can be smoothly transmitted to the standard test board. Referring to fig. 9, the specific method includes the following steps:
step 401, controlling the standard test board to rotate, and detecting whether the echo intensity of the probe optical signal changes during the rotation process, so as to determine whether the detection optical path of the standard test board is blocked.
Based on the distance R measured in FIG. 83For example, before the standard test board P3 performs the index test, the probing light signal emitted by the three-dimensional laser scanner is controlled to rotate in three dimensions according to the corresponding transverse angle and longitudinal angle of the standard test board P3, so that the probing light signal emitted by the three-dimensional laser scanner rotates to the corresponding transverse angle and longitudinal angle, and emits the probing light signal to the standard test board P3, as shown by the straight line with an arrow in fig. 8. At this time, if the optical path of the standard test board P3 is not blocked, the probing optical signal can directly reach the standard test board P3.
In the process that the three-dimensional laser scanner continuously emits the detection light signal, the standard test board P3 is controlled to rotate by the control system, and the echo intensity of the detection light signal is continuously detected on one side of the three-dimensional laser scanner in the rotating process. If the probing optical signal can successfully reach the standard test board P3, the probing optical signal will illuminate different reflection areas of the standard test board P3 when the standard test board P3 rotates, and the detected echo intensity should be changed; on the contrary, if the probe light signal does not successfully reach the standardized test board P3, no influence is exerted on the echo intensity no matter how the standardized test board P3 rotates, and the detected echo intensity is unchanged.
Based on the above principle, if the echo intensity is detected to change during the rotation of the standard test board P3, it can be proved that the probing optical signal can successfully reach the standard test board P3, the optical path of the standard test board P3 is not blocked, and the index test can be directly performed; if the detected echo intensity is not changed, it can be proved that the detection light signal can not successfully reach the standard test board P3, the light path of the standard test board P3 is blocked, and the examination, adjustment and index test are required to be performed first.
Step 402, if the detection light path of the standard test board is blocked, g standard test boards existing on the detection light path are determined according to the detection light path and the positions of the standard test boards.
With reference to fig. 8, if the intensity of the echo detected during the rotation of the standard test board P3 is unchanged, which indicates that the light path of the standard test board P3 is blocked, it is necessary to perform a comprehensive analysis according to the light path direction with arrow in fig. 8 and the placement positions of the standard test boards on the cylinders to determine one or more standard test boards existing on the light path of the standard test board P3, and each of the standard test boards may block the light path of the standard test board P3.
Wherein, sheltering from the light path again has two kinds of condition: the first is blocked by a reflection region of the standard test board itself, and the first can be overcome by rotating the corresponding standard test board to the transmission region to align with the detection light signal; the second is that the rotating motor of the standard test board blocks the light, and the position of the rotating motor is adjusted to move the rotating motor out of the light path to overcome the problem. In particular which occlusion case and the corresponding adjustment procedure will be unfolded in the subsequent step 403.
Step 403, sequentially adjusting the alignment areas or the positions of the rotating motors of the g standard test boards according to the sequence of the test distances from small to large, so that the detection light path of the standard test board is no longer blocked.
If more than one standard test board (i.e. g > 1) exists on the optical path of the standard test board P3, the standard test boards on the optical path need to be sequentially judged and adjusted for shading according to the sequence of the test distances from small to large. The method comprises the following specific steps:
1) and sequentially controlling the jth standard test board in the g standard test boards to rotate according to the sequence of the test distances from small to large, and detecting whether the echo intensity of the detection optical signal changes in the rotating process.
For the jth standard test board of the g standard test boards, if the light path is blocked by a certain reflection region of the jth standard test board, which indicates that the probing optical signal can successfully reach the jth standard test board, when the jth standard test board rotates, the probing optical signal respectively irradiates different reflection regions of the jth standard test board, and the echo intensity should be changed. On the contrary, if the optical path is blocked by the rotating electrical machine corresponding to the jth standard test board, it indicates that the detecting optical signal is irradiated onto the rotating electrical machine and will not successfully reach the jth standard test board, and then the echo intensity will not change no matter how the jth standard test board rotates.
Based on the above principle, when detecting the echo intensity of the probe optical signal, if the echo intensity is not changed, it can be determined that the rotating electrical machine corresponding to the jth standard test board blocks the optical path, and the rotating electrical machine corresponding to the jth standard test board is moved to a position outside the detection optical path; if the echo intensity changes, it may be that a certain reflection region of the jth standard test board itself blocks the optical path, then the jth standard test board is rotated to align its transmission region with the probe optical signal.
If the detection optical signal can be irradiated onto the jth standard test board, the detection optical signal can be sequentially irradiated onto different reflection areas and transmission areas in the rotation process of the jth standard test board. When the probe light signal is irradiated to each reflection region, the time for returning the echo signal is the same because the transmission distance is the same; however, when the probe light signal is rotated to the transmission region, the probe light signal will continue to be transmitted backward through the transmission region, and the transmission distance is increased, so the time for returning the echo signal is longer than that of each reflection region. According to this principle, it can be determined whether the jth standard test board is rotated to its through-region by:
in the rotation process of the jth standard test board, if the change of the echo intensity is detected, synchronously recording the echo time corresponding to each echo intensity; if the echo time is not changed when the echo intensity is changed, the fact that the signal transmission distance is not changed when the echo time is rotated from one reflection area to another adjacent reflection area is proved, and therefore the echo time is not changed and the rotation is required to be continued; if the echo time suddenly increases in the rotation process, the signal transmission distance is increased when the reflection region is rotated to the transmission region, so that the echo time is increased. At this time, it can be determined that the jth standard testing board has rotated to the transmission region, and thus the rotation can be stopped; the next standard test board in the optical path is adjusted.
2) And after the adjustment of the jth standard test board is completed, continuously controlling the jth +1 standard test board in the g standard test boards to rotate, and starting the adjustment of the jth +1 standard test board.
The method for determining the shielding condition of the (j + 1) th standard test board and the method for adjusting the position can refer to the method for processing the (j) th standard test board in step 1), which is not described herein again.
For example, assume that the current need is based on distance R5The index test is performed on a standard test board S5 with a longitudinal angle different from 0, and the analysis shows that there are two standard test boards S1 and S3 on the light path of the standard test board S5, which correspond to the test distance R1And R3. The standard test board S1 is rotated first during the actual adjustment, if the echo intensity is not changed, the rotating motor of the standard test board S1 is moved out of the optical path, if the echo intensity is not changedThe echo intensity variation records the echo time during the rotation, and stops the rotation when the echo time becomes larger, at which time the standardized test board S1 rotates to the transmission area. Then, the rotation of the standardized test board S3 is continued, the rotating motor of the standardized test board S3 is moved out of the optical path if the echo intensity is not changed, the echo time is recorded during the rotation if the echo intensity is changed, and the rotation is stopped when the echo time becomes large, at which time the standardized test board S3 is rotated to the transparent area. At this point, the alignment of the standard test boards S1 and S3 is completed, and the light path of the standard test board S5 is no longer blocked.
Further, if there is only one standard test board (i.e., g ═ 1) on the light path of the standard test board P3, the one standard test board is directly adjusted so that it no longer blocks the light path of the standard test board P3. Taking fig. 8 as an example, after the analysis, it is found that only the standard test board P1 exists on the light path of the standard test board P3, so that it can be determined that the light path of the standard test board P3 is exactly blocked by the standard test board P1, and the standard test board P1 can be directly adjusted. During the adjustment, the standard test board P1 is still rotated to detect whether the echo intensity is changed, if the echo intensity is not changed, the rotating motor of the standard test board P1 is directly moved out of the light path; if the echo intensities vary, the standard test board P1 is rotated to align its transmission region with the probe light signal. To this end, the light path of the standard test board P3 is no longer blocked.
By the method provided by the embodiment of the invention, when each standard test board is subjected to index test, the blockage on the corresponding light path can be effectively removed, and the probe light signal can be ensured to smoothly reach the standard test board to be tested.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (10)

1. The automatic laser radar testing device is characterized by comprising a laser range finder and a plurality of standard testing boards arranged at different testing distances from the laser range finder;
the standard test board comprises a transmission area and at least two reflection areas with different reflectivity, each standard test board is arranged on a corresponding rotating motor, and the rotating motors are used for driving the standard test boards to rotate so as to enable different areas to be aligned to the detection light signals emitted by the laser range finder;
when the index test is carried out at each test distance, each standard test board positioned on the linear light path of the corresponding standard test board rotates to the transmission area to align with the detection light signal, and the corresponding standard test board rotates to different reflection areas to align with the detection light signal, so that the performance indexes corresponding to different reflectances at the test distance are obtained.
2. The lidar automatic test device of claim 1, wherein when the lidar is a single-point lidar, m standard test boards are disposed on the same side of the single-point lidar corresponding to m test distances, and the m standard test boards and the single-point lidar are located on the same straight line.
3. The automatic lidar testing apparatus of claim 1, wherein when the laser range finder is a two-dimensional laser scanner, m arcs with different radii are formed around the two-dimensional laser scanner, corresponding to m test distances;
a standard test board is arranged on the arc corresponding to each test distance, and corresponds to a test angle; the two-dimensional laser scanner can rotate in two dimensions so as to be adjusted to different test angles to perform index testing.
4. The lidar automatic test apparatus according to claim 1, wherein when the laser range finder is a three-dimensional laser scanner, the three-dimensional laser scanner is disposed in a middle area of a test scene, and m cylinders having different radii are formed with the three-dimensional laser scanner as a body center, corresponding to m test distances;
b rows of standard test boards are transversely arranged on the side surface of each cylinder, c columns of standard test boards are longitudinally arranged on the side surface of each cylinder, a b x c standard test board array is formed, and c transverse angles and b longitudinal angles correspond to the c transverse angles and the b longitudinal angles; wherein, the three-dimensional laser scanner can rotate in three dimensions so as to adjust to different horizontal angles and longitudinal angles and carry out index test.
5. An automatic laser radar testing method using the automatic laser radar testing apparatus according to any one of claims 1 to 4, the method comprising:
sequentially carrying out index tests at different test distances according to the sequence of the test distances from small to large;
at each testing distance, respectively rotating the corresponding standard testing board to different reflection areas to align with the probe optical signals, testing to obtain performance indexes corresponding to different reflectances at the current testing distance, and completing the index test at the current testing distance;
when the index test is performed at each test distance, each standard test board on the linear light path corresponding to the standard test board rotates to the transmission area to align with the probe light signal.
6. The automatic lidar testing method of claim 5, wherein when the lidar is a single-point lidar, the standard test board is rotated to different reflection areas at each testing distance to align with the probing light signal, and the performance indexes corresponding to different reflectances at the current testing distance are obtained through testing, specifically:
at a test distance diRotating the corresponding standard test board to different reflection regions to align with the probe optical signal for index test to obtain a test distance diPerformance indexes corresponding to different reflectivities are processed;
distance d of completion of testiAfter the index is tested, the distance d is testediThe corresponding standard test board rotates to the transmission region to align with the probe optical signal and starts the next distance di+1And (4) testing indexes.
7. The automatic lidar testing method of claim 5, wherein when the lidar is a two-dimensional laser scanner, the standard test board is rotated to different reflection areas at each test distance to align with the probe light signal, and the performance indexes corresponding to different reflectances at the current test distance are obtained through testing, specifically:
at a test distance riRotating the two-dimensional laser scanner to different testing angles in sequence, and rotating the corresponding standard testing board to different reflection areas to align to the probe light signals for index testing at each testing angle to obtain performance indexes corresponding to different reflectivities at each testing angle;
according to the test distance riObtaining performance indexes corresponding to different reflectivities at each test angle to obtain a test distance riPerformance indexes corresponding to different reflectivities are processed;
distance r for completion of testiAfter the index of (c) is tested, the distance r is testediEach corresponding standard test board rotates to the transmission area to align with the probe optical signal, and starts the next distance ri+1And (4) testing indexes.
8. The automatic lidar testing method of claim 5, wherein when the lidar is a three-dimensional laser scanner, the standard test board is rotated to different reflection areas at each test distance to align with the probe light signal, and the performance indexes corresponding to different reflectances at the current test distance are obtained through testing, specifically:
at a test distance RiRotating the three-dimensional laser scanner to different transverse angles and longitudinal angles in sequence, and rotating the corresponding standard test board to different reflection areas under each transverse angle and longitudinal angle to align with the detection light signals for index test to obtain performance indexes corresponding to different reflectances under each transverse angle and longitudinal angle;
according to the test distance RiAt each transverse angle and longitudinal angleObtaining the performance indexes corresponding to the lower different reflectivities to obtain the testing distance RiPerformance indexes corresponding to different reflectivities are processed;
completion of the test distance RiAfter the index is tested, the distance R is testediEach corresponding standard test board rotates to the transmission area to align with the probe optical signal, and starts the next distance Ri+1And (4) testing indexes.
9. The lidar automatic test method of claim 8, wherein the standard test board is located at a test distance RiAnd the longitudinal angle is not 0, before performing the index test based on the standard test board, the method further comprises:
controlling the standard test board to rotate, detecting whether the echo intensity of the probe light signal changes in the rotating process, and further judging whether a detection light path of the standard test board is blocked;
if the detection light path of the standard test board is blocked, g standard test boards existing on the detection light path are determined according to the detection light path and the positions of the standard test boards;
and adjusting the alignment areas or the positions of the rotating motors of the g standard test boards in sequence according to the sequence of the test distances from small to large, so that the detection light path of the standard test board is not blocked any more.
10. The lidar automatic test method according to claim 9, wherein the alignment areas or the positions of the rotating motors of the g standard test boards are sequentially adjusted in the order from small to large according to the test distance, so that the detection light path of the standard test board is no longer blocked, specifically:
sequentially controlling a jth standard test board in the g standard test boards to rotate according to the sequence of the test distances from small to large, and detecting whether the echo intensity of the detection optical signal changes in the rotating process;
if the echo intensity is not changed, moving the rotating motor corresponding to the jth standard test board out of the detection light path; if the echo intensity changes, rotating the jth standard test board until the transmission area of the jth standard test board is aligned with the probe light signal;
and after the adjustment of the jth standard test board is completed, continuously controlling the jth +1 standard test board in the g standard test boards to rotate, and starting the adjustment of the jth +1 standard test board.
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