CN114236512A

CN114236512A - Automatic acquisition system and method for laser radar

Info

Publication number: CN114236512A
Application number: CN202111546135.4A
Authority: CN
Inventors: 王剑波; 李勇基; 杨小亮; 杜晨光
Original assignee: Lorenz Ningbo Technology Co ltd
Current assignee: Lorenz Ningbo Technology Co ltd
Priority date: 2021-12-16
Filing date: 2021-12-16
Publication date: 2022-03-25

Abstract

The present application relates to an automatic acquisition system and method for a lidar, the system comprising: the fixed station is used for installing a laser radar to be measured and a ranging calibration device; the automatic navigation vehicle is used for moving along the test direction, and a test board is loaded on the automatic navigation vehicle; the navigation device is used for assisting the automatic navigation vehicle to move along a straight line; and the control device is used for acquiring detection signals of the laser radar to be detected and the ranging calibration device, and can also wirelessly communicate with the automatic navigation vehicle to control the automatic navigation vehicle to start and stop. According to the scheme, the distance and the strength of the laser radar to be tested are tested under the conditions of small occupied space and low manufacturing cost; the collection efficiency and the collection number are improved, the equipment complexity is reduced, the cost is reduced, and the production calibration efficiency is improved.

Description

Automatic acquisition system and method for laser radar

Technical Field

The application relates to the technical field of laser ranging sensors, in particular to an automatic acquisition system and method for a laser radar.

Background

At present along with artificial intelligence development, laser radar's application area is more and more extensive, and laser radar's realization is that the transmission module is luminous, and receiving module receives, realizes the range finding function through TOF time measurement method. In the laser radar production process, the laser radar needs to be calibrated to ensure the test precision and the strength accuracy of the laser radar, the calibration needs to be carried out at different distances for testing values, and the laser radar needs to be moved or the light screen needs to be moved.

The first technical scheme is as follows: the rail-guided trolley is matched with a photoelectric switch to carry out distance acquisition calibration and strength acquisition; the rail-bound trolley is laid to ensure that the trolley runs linearly, the position of the photoelectric switch determines the accurate position of the trolley for stopping, and then data acquisition is carried out. The scheme uses a mode of fixing a light screen on a rail trolley to carry out calibration collection, the movement displacement is very long in the moving process, and the guide rail even needs to exceed one hundred meters; therefore, the cost for laying the guide rail is high, the time and the labor are consumed, the space occupied by laying the guide rail is too large, and the cost is too high; in addition, the fixed-point switch is used for distance calibration, the switch position needs to be increased, and the equipment cost is increased.

The second prior art scheme is: a plurality of reflecting surfaces with different heights or different angles are arranged in front of the laser radar for distance acquisition and calibration, and data acquisition is carried out by utilizing a mode that the plurality of reflecting surfaces are different and are not shielded. The fixed light screen mode is used for collecting the distance and the strength of a fixed point, the distance measurement selection points are few, and the test collection data volume is too small; moreover, the fixed light screen and the paved guide rail occupy too large space and can not flexibly control a calibration site, so that the calibration of the laser ranging device is particularly urgent to solve or improve the problems.

Disclosure of Invention

To overcome, at least to some extent, the problems in the related art, the present application provides an automatic acquisition system and method for lidar.

According to a first aspect of embodiments of the present application, there is provided an automatic acquisition system for a lidar, comprising:

the fixed station is used for installing a laser radar to be measured and a ranging calibration device;

the automatic navigation vehicle is used for moving along the test direction, and a test board is loaded on the automatic navigation vehicle;

the navigation device is used for assisting the automatic navigation vehicle to move along a straight line;

and the control device is used for acquiring detection signals of the laser radar to be detected and the ranging calibration device, and can also wirelessly communicate with the automatic navigation vehicle to control the automatic navigation vehicle to start and stop.

Further, the automatic navigation vehicle is an AGV; the navigation device is a magnetic strip; the magnetic stripe sets up along test direction one side of fixed station, the AGV dolly can be followed magnetic stripe rectilinear motion.

Further, the distance measuring calibration device is a laser distance measuring instrument; the laser radar to be measured and the laser range finder are arranged at the same zero position on the fixed table, and the laser radar to be measured and the laser range finder are used for simultaneously measuring the range of the test plate carried on the automatic navigation vehicle.

Further, the laser range finder is used for detecting a real distance, and the laser radar to be tested is used for collecting a test distance and test intensity;

and the control device automatically acquires the real distance, the test distance and the test intensity, and performs intensity and distance compensation calibration on the laser radar to be tested according to the acquired signals.

Further, the control device includes:

the acquisition module is used for acquiring the real distance detected by the ranging calibration device, the test distance detected by the laser radar to be tested and the test intensity;

and the setting module is used for setting the type of the reflecting surface of the test board and setting the moving distance of each step of the automatic navigation vehicle.

Further, the control device further includes:

the functional module is used for controlling the starting and stopping of the automatic navigation vehicle and analyzing the real distance, the test distance and the test intensity so as to carry out intensity and distance compensation calibration on the laser radar to be tested;

further, the control device further includes:

and the display module is used for displaying the related information of the setting module, the acquisition module and the functional module.

According to a second aspect of the embodiments of the present application, there is provided an automatic acquisition method for a laser radar, the method being applied to the automatic acquisition system according to any one of the above embodiments; the method comprises the following steps:

connecting the laser radar to be detected with a control device;

connecting the ranging calibration device with a control device;

the control device starts a test, and automatically acquires the real distance detected by the ranging calibration device, the test distance detected by the laser radar to be tested and the test intensity;

determining a preset moving distance of each step, controlling the automatic navigation vehicle to repeatedly start and stop according to the moving distance of each step, and recording a real distance, a test distance and test intensity when the automatic navigation vehicle stops;

and carrying out statistical analysis on the recorded data so as to carry out intensity and distance compensation calibration on the laser radar to be detected.

Further, the method further comprises:

after detecting that the laser radar to be detected is successfully connected, displaying connection success information in a display area of the control device, and displaying data detected by the laser radar to be detected;

and after detecting that the ranging calibration device is successfully connected, displaying connection success information in a display area of the control device and displaying data detected by the ranging calibration device.

Further, the method further comprises:

when the moving distance of the automatic navigation vehicle reaches the preset maximum distance, the type of the reflecting surface of the test board is changed, and the moving direction of the automatic navigation vehicle is adjusted to be opposite.

The technical scheme provided by the embodiment of the application has the following beneficial effects:

according to the scheme, the distance and the strength of the laser radar to be tested are tested under the conditions of small occupied space and low manufacturing cost; the collection efficiency and the collection number are improved, the equipment complexity is reduced, the cost is reduced, and the production calibration efficiency is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

Fig. 1 is a system block diagram of an automatic acquisition system for a lidar according to an embodiment of the present invention.

Fig. 2 is a structural diagram of an automatic acquisition system for lidar according to an embodiment of the present invention.

Fig. 3 is a partition diagram of a control device of an automatic acquisition system for a lidar according to an embodiment of the present invention.

Fig. 4 is a flowchart of an automatic acquisition method for a lidar according to an embodiment of the present invention.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of systems and methods consistent with certain aspects of the present application, as detailed in the appended claims.

Fig. 1 is a system block diagram illustrating an automatic acquisition system for lidar in accordance with an exemplary embodiment. The system comprises:

To further detail the technical solution of the present application, the technical principle of the present solution is specifically explained first.

As shown in fig. 2, the invention discloses an automatic acquisition tool for a laser radar, which comprises: mecanum wheel AGV dolly, magnetic stripe, survey test panel, laser range finder module, controlling means, laser radar, power supply line, data line, wireless communication module, fixed station etc. await measuring. Wherein laser range finder and the laser radar that awaits measuring install motionless on the fixed station, lay the magnetic stripe in fixed station dead ahead, place mecanum AGV dolly above the magnetic stripe, survey the board and install on the dolly.

The device places laser range finder and the laser radar that awaits measuring at the same test panel on the position test Mecanum AGV dolly at zero point, through the travel and the pause of controlling means and wireless remote control device control Mecanum AGV dolly, controlling means automatic acquisition laser range finder module test true distance and the laser radar that awaits measuring obtain test distance and intensity, accomplish the automatic acquisition work of laser radar test data to carry out intensity and distance compensation calibration function.

The magnetic stripe guarantees that the AGV dolly orbit of traveling is parallel with the direction of test all the time, and laser range finder module distance precision reaches the mm rank, guarantees to gather the validity of true data. The AGV trolley is provided with a battery, the wireless communication module is used for controlling the AGV trolley to move forwards and stop, and cables do not need to be laid to avoid the complexity of engineering.

The following describes the scheme of the present application in an expanded manner with reference to a specific application scenario.

As shown in FIG. 2, laser range finder and the laser radar that awaits measuring are installed motionless on the fixed station, and the subaerial magnetic stripe of laying in the test dead ahead is parallel with the direction of testing, and the AGV dolly is placed on the magnetic stripe, surveys the board fixed above the AGV dolly. The laser radar and the laser range finder to be tested use power supply lines to supply power respectively, the data lines are used for connecting the control device and the laser radar to be tested respectively, the control device and the laser range finder module are in data communication, and the control device conducts collection of distance intensity of laser radar test data to be tested and real data of the laser range finder module through the data lines. Meanwhile, the running and the suspension of the AGV trolley can be controlled through the wireless communication module.

The control device collects the laser radar test data to be tested and the real data of the laser ranging module through the data line; meanwhile, the running and the suspension of the AGV trolley can be controlled through the wireless communication module.

The use method of the system is as follows:

(1) paving the magnetic strips along the testing direction without bending and folding;

(2) placing the AGV trolley on a magnetic strip, aligning the center of the AGV trolley with the magnetic strip, and enabling the travelling direction of the AGV trolley, the magnetic strip and the testing scanning direction to be parallel, wherein the first testing needs to ensure that the AGV trolley travels in the direction away from the sensor;

(3) the power supply of the AGV trolley is turned on, the wireless communication module is turned on, the trolley is controlled to run through the control device, and if the AGV trolley is inclined, the direction of the AGV trolley can be automatically adjusted according to the laying direction of the magnetic stripes in the two steps of running processes before running, so that the running direction of the AGV trolley is parallel to the magnetic stripes;

(4) electrifying the laser range finder, and inserting the data line into the control device; at the moment, the laser range finder (note that the laser radar to be tested is not used) transmits data to the control device to display the real testing distance, and the zero point of the laser range finder is aligned with the center zero point of the laser sensor to be tested; the red point of the laser range finder is ensured to be parallel to the testing direction, and the difference between the irradiation position of the near point irradiated on the surface to be tested and the irradiation position of the far point (the distance measuring range is over 10 meters) is ensured not to exceed 5 cm.

As shown in fig. 3, the control device is divided into a setting module, an acquisition module, a function module, and a display module. The acquisition module can acquire the temperature, distance and strength of the sensor; the setting module can set the type of the test board surface: setting the moving distance of the AGV trolley at each step by using a 10% reflecting surface, a 30% reflecting surface, a 100% reflecting surface and a diamond-grade reflecting surface; the functional modules comprise a starting test module, a moving trolley module, an automatic recording module, a stopping test module and a data statistical analysis module; the display module can display the related information of the setting module, the acquisition module and the functional module.

The application also provides an automatic acquisition method for the laser radar, which is applied to the automatic acquisition system in any one of the above embodiments; the method may comprise the steps of:

connecting the laser radar to be detected with a control device;

connecting the ranging calibration device with a control device;

In some embodiments, the method further comprises:

The following describes the scheme of the present application in an expanded manner with reference to a specific application scenario. As shown in fig. 4, the working process of the present invention is as follows:

the first step is as follows: the laser radar to be tested is connected, the successful connection of the laser radar to be tested can be seen in the display area of the control device, and the test data of the laser radar to be tested is displayed.

The second step is that: the laser range finder is connected, so that the successful connection of the laser range finder can be seen in the display area of the control device, and the real distance data tested by the laser range finder is displayed.

The third step: starting the starting test module, automatically collecting distance data and temperature data of the laser radar and the laser range finder, and collecting reflecting surface information according to the type of the set test reflecting surface.

The fourth step: starting a 'moving trolley' module, and moving the trolley by one step according to the set moving distance of the AGV trolley at the moment to ensure that the reflecting surface of the trolley is vertical to the test surface;

the fifth step: starting the automatic recording module, starting and stopping the AGV according to the set distance, and automatically acquiring and recording the real distance of the laser range finder and the test distance and the strength value of the laser radar to be tested in the moment when the AGV stops.

And a sixth step: the dolly traveles magnetic stripe end can automatic tune the locomotive, changes the plane of reflection, continues to carry out data acquisition and tests, and when the dolly traveled the laser radar near-end, the start "stop test" module, the dolly stopped, and data acquisition accomplishes.

The seventh step: and starting a data statistical analysis module to analyze and count the data.

It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.

It should be noted that, in the description of the present application, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Further, in the description of the present application, the meaning of "a plurality" means at least two unless otherwise specified.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims

1. An automatic acquisition system for a lidar comprising:

2. The system of claim 1, wherein the automated navigation vehicle is an AGV cart; the navigation device is a magnetic strip; the magnetic stripe sets up along test direction one side of fixed station, the AGV dolly can be followed magnetic stripe rectilinear motion.

3. The system of claim 1, wherein the ranging calibration device is a laser rangefinder; the laser radar to be measured and the laser range finder are arranged at the same zero position on the fixed table, and the laser radar to be measured and the laser range finder are used for simultaneously measuring the range of the test plate carried on the automatic navigation vehicle.

4. The system of claim 3, wherein the laser range finder is used for detecting real distance, and the laser radar under test is used for collecting test distance and test intensity;

5. The system according to any one of claims 1 to 4, wherein the control means comprises:

6. The system of claim 5, wherein the control device further comprises:

and the functional module is used for controlling the starting and stopping of the automatic navigation vehicle and analyzing the real distance, the test distance and the test intensity so as to carry out intensity and distance compensation calibration on the laser radar to be tested.

7. The system of claim 6, wherein the control device further comprises:

8. An automatic acquisition method for lidar characterized in that the method is applied to the automatic acquisition system of any one of claims 1 to 7; the method comprises the following steps:

connecting the laser radar to be detected with a control device;

connecting the ranging calibration device with a control device;

9. The method of claim 8, further comprising:

10. The method of claim 9, further comprising: