CN114578327A - Detection device and detection method for laser radar reflecting mirror - Google Patents
Detection device and detection method for laser radar reflecting mirror Download PDFInfo
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- CN114578327A CN114578327A CN202210170873.1A CN202210170873A CN114578327A CN 114578327 A CN114578327 A CN 114578327A CN 202210170873 A CN202210170873 A CN 202210170873A CN 114578327 A CN114578327 A CN 114578327A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
- G01M11/02—Testing optical properties
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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
- G01S7/4804—Auxiliary means for detecting or identifying lidar signals or the like, e.g. laser illuminators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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Abstract
The invention provides a detection device and a detection method of a laser radar reflector, wherein the detection device is used for detecting the relative deflection angle of a double-sided reflector and comprises the following steps: the first positioning adjusting device comprises a rotating table, wherein a positioning part is arranged on the rotating table, and the axis of the positioning part is coaxial with the rotating shaft of the rotating table; the light source emission system comprises at least one pair of point-shaped light source modules, the point-shaped light source modules are symmetrically arranged on two sides of the first positioning and adjusting device by taking a rotating shaft of the rotating table as a center, and light beams of the point-shaped light source modules are on a first plane parallel to the rotating shaft; at least one pair of second positioning and adjusting devices respectively supporting the point-shaped light source modules and used for adjusting the pitch angles of the point-shaped light source modules in the first plane; and the at least one pair of light screens are symmetrically arranged on the outer side of the second positioning and adjusting device and used for receiving the reflection light spots on the corresponding side of the double-sided reflector to be detected or the emission light spots of the point-shaped light source modules on the opposite side. The detection device is simple to operate and high in detection precision.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a detection device and a detection method for a laser radar reflector.
Background
The laser radar is a common radar system with high-precision distance measurement, and has the functions of obstacle detection, identification and real-time positioning in automatic driving. The working principle of the laser radar is that laser is emitted to a target object, then an echo returned from the target object is received, and the information of the target object is obtained through the comparison processing of an echo signal and an emitted signal.
The reflector is an important optical device in the laser radar, and laser emitted by the laser radar can be measured at multiple angles after passing through the reflector, so that the horizontal view field and the repetition frequency are increased. In addition, the laser radar can also be subjected to light splitting through the design of the inclination angle of the reflector in the vertical direction, so that the multi-line laser radar is obtained.
However, the reflector is affected by processing errors or stress deformation in the processing process, so that the working requirement of the laser radar cannot be met, and the normal use of the laser radar is affected. The reflector of a general semi-solid laser radar is a double-faced reflector, and the double-faced reflector is driven to rotate by a motor. However, if the relative deflection angle of the double-sided reflector in the horizontal direction and the vertical direction exceeds the resolution of the radar, the light spots reflected by the double-sided reflector are misaligned, and the problems of point cloud jitter, point cloud abnormality, inaccurate distance measurement and the like are caused. However, there is no apparatus and method for detecting the relative deflection angle of the double-sided mirror, so there is a need for an apparatus and a method for detecting the relative deflection angle of the double-sided mirror, which is convenient for testing the relative deflection angle of the double-sided mirror.
Disclosure of Invention
The embodiment of the invention provides a detection device and a detection method of a laser radar reflector, which aim to solve the problem that the relative deflection angle of a double-faced reflector cannot be detected at present.
In a first aspect, an embodiment of the present invention provides a detection apparatus for a laser radar reflecting mirror, configured to detect a relative drift angle of a double-sided reflecting mirror, where the detection apparatus includes:
the first positioning adjusting device comprises a rotating table, a positioning part is arranged on the rotating table, the axis of the positioning part is coaxial with the rotating shaft of the rotating table, and the positioning part is used for positioning the double-sided reflector to be measured;
the light source emission system comprises at least one pair of point-shaped light source modules, the point-shaped light source modules are symmetrically arranged on two sides of the first positioning and adjusting device by taking a rotating shaft of the rotating table as a center, and light beams of the point-shaped light source modules are on a first plane parallel to the rotating shaft;
at least one pair of second positioning and adjusting devices respectively supporting the point-shaped light source modules and used for adjusting the pitch angles of the point-shaped light source modules in the first plane;
and the at least one pair of light screens are symmetrically arranged on the outer side of the second positioning and adjusting device in the center of the axis of rotation and are used for receiving the reflected light of the side reflecting surface corresponding to the double-sided reflector to be detected or the emitted light of the opposite side point-shaped light source module.
In a possible implementation mode, a support rod is further arranged on the positioning part and used for supporting the double-sided reflector to be detected, and the axis of the support rod is coaxial with the rotating shaft of the rotating table;
the supporting rod is superposed with the central shaft of the double-sided reflector to be detected, and the double-sided reflector to be detected and the rotating table rotate coaxially and synchronously.
In a possible implementation manner, the first positioning adjustment device further includes a first displacement table, and the rotating table is located on the first displacement table; the first displacement table is used for adjusting the double-sided reflector to be measured to move in a second plane vertical to the first plane;
the second positioning adjusting device comprises a pitching adjusting platform and a second displacement table, and the pitching adjusting platform is positioned on the second displacement table; the pitching adjusting platform is used for adjusting the pitching angle of the point-like light source module in a first plane; the second displacement table is used for adjusting the point-shaped light source module to move in the first plane.
In some embodiments, the distance between the point-like light source module and the light screen on the corresponding side is greater than or equal to 7 meters.
In some embodiments, the first positioning adjustment device and the second positioning adjustment device are both located on the optical platform;
the height from the point-like light source module to the optical platform is less than the height from the top end of the second positioning and adjusting device to the optical platform.
Exemplarily, the pitch angle σ of the point-like light source module satisfies:
σ＞arctan((H2-H1)/L1)；
wherein H2For the height of the top end of the second positioning adjustment device from the optical bench, H1Is the height L of the point-like light source module from the optical platform1The horizontal distance between the point-shaped light source module and the reflecting surface close to the point-shaped light source module is set.
For example, the point light source is visible light or invisible light emitted by a laser tube.
According to the detection device for the laser radar reflector provided by the embodiment of the invention, the rotating shaft of the rotating table is used as the positioning part of the double-sided reflector to be detected, and at least one group of point-shaped light source modules, a pair of second positioning adjusting devices and a pair of light screens are symmetrically arranged on two sides of the rotating shaft of the rotating table respectively. And adjusting the position and the pitch angle of the second positioning adjusting device and the positioning point-like light source module, adjusting the first positioning adjusting device, enabling the reflection light spots on any side of the double-sided reflector to be detected to reach the calibration position, and determining the relative deflection angle through the reflection light spots on the other side and the calibration position. Therefore, the relative deflection angle of the double-sided reflector to be detected can be amplified by adopting an optical method of the double-point light source module.
In addition, the detection device provided by the embodiment of the invention is simple to operate, the measurement complexity can be reduced, and the test precision of the relative deflection angle reaches 0.001 degree.
In a second aspect, an embodiment of the present invention provides a method for detecting a laser radar reflecting mirror, where the detection apparatus based on the laser radar reflecting mirror includes the following steps:
adjusting the point-like light source module to an initial position, so that a laser point emitted by the point-like light source module is reflected to a complete reflection light spot on the light screen on the corresponding side through the double-sided reflector to be detected;
taking down the double-sided reflector to be measured, adjusting the pitch angle of the point-like light source modules until the emission light spots emitted by the pair of point-like light source modules onto the light screen on the opposite side are complete and the two emission light spots are symmetrical, and respectively calibrating the two emission light spots as standard points;
mounting a double-sided reflector to be detected on a first positioning adjusting device, and rotating a rotating table until a connecting line of a reflection light spot on one side of the double-sided reflector to be detected and a standard point on the optical screen coincides with the projection of a first plane on the optical screen or coincides with the standard point on the optical screen;
and determining the relative deflection angle of the double-sided reflector to be detected according to the position deviation between the reflected light spot on the other side of the double-sided reflector to be detected and another standard point.
In a possible implementation, the two-sided reflector to be measured is taken down, the pitch angle of the point-like light source modules is adjusted, until a pair of point-like light source modules transmits the emission light spots on the light screen at the opposite side completely and the two emission light spots are symmetrical, before calibrating the two emission light spots as standard points respectively, the method further comprises:
installing a double-sided reflector to be detected, and detecting whether a laser point emitted by the point-like light source module is complete or not through a reflected light spot reflected to the light screen on the corresponding side by the double-sided reflector to be detected;
if the reflected light spots are complete, stopping adjusting the two point-shaped light source modules, otherwise, readjusting the positions and the pitch angles of the point-shaped light source modules.
In a possible implementation manner, the method further comprises the step of testing the relative deflection angles of other parts on the double-sided reflecting mirror to be tested, and the specific steps are as follows:
adjusting a first positioning adjusting device in a second plane perpendicular to the first plane to enable light beams of the point-like light source module to be emitted to a to-be-measured part of the double-sided reflector to be measured;
rotating the rotating platform to enable a reflection light spot on one side of the double-sided reflector to be detected to coincide with a standard point connecting line on the side light screen and the projection of the first plane on the light screen or coincide with the standard point on the light screen;
and determining the relative deflection angle of the double-sided reflector to be detected according to the position deviation between the reflected light spot on the other side of the double-sided reflector to be detected and another standard point.
In one possible implementation, the relative declination angle includes a declination angle θ in the horizontal directionyOff angle theta from verticalz，
θy＝1/2*artan((Cy-By)/(L2+2*L1))；
θz＝1/2*artan((Cz-Bz)/(L2+2*L1))；
Wherein, ByIs the coordinate of the reflected light spot on one side of the double-sided reflector to be measured in the horizontal direction on the light screen, BzThe vertical distance between the reflected light spot on one side of the double-sided reflector to be measured and a standard point on the light screen is CyThe horizontal distance from the reflected light spot on the other side of the double-sided reflector to be measured to another standard point, CzThe vertical distance L from the reflected light spot on the other side of the double-sided reflector to be measured to another standard point1Is the horizontal distance L between the point-like light source module and the reflector close to the point-like light source module2The distance between the point-shaped light source module and the corresponding side light screen.
According to the detection method of the laser radar reflector provided by the embodiment of the invention, firstly, the reflection light spots of the point-shaped light source module on the light screen on the corresponding side are adjusted to be complete, after the double-sided reflector to be detected is taken down, the pitch angle of the point-shaped light source module is adjusted, so that the emission light spots emitted by a pair of point-shaped light sources to the light screen on the opposite side are also displayed completely, the two emission light spots are symmetrical, and the two light spots are respectively calibrated to be standard points. And then, rotating the rotating platform until the emission light spot on one side of the double-sided reflector to be detected coincides with the projection of the first plane on the optical screen or coincides with the standard point on the optical screen. And finally, determining the relative deflection angle of the double-sided reflector to be detected according to the distance deviation between the reflected light spot on the other side of the double-sided reflector to be detected and another standard point. Therefore, the relative deflection angle of the double-sided reflector can be tested by adopting an optical method of the double-point-shaped light source module to amplify the angle difference of the double-sided reflector to be tested, the testing method is simple, and the testing precision is as high as 0.001 degree.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic side view of a detection apparatus for a lidar reflector according to an embodiment of the present invention;
fig. 2 is a schematic top view of a detection apparatus for a lidar reflector according to an embodiment of the present invention;
FIG. 3 is an optical diagram of FIG. 1;
FIG. 4 is an optical diagram of FIG. 2;
fig. 5 is a flowchart of a method for detecting a lidar reflector according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following description is made by way of specific embodiments with reference to the accompanying drawings.
As described in the background art, the reflectors may be affected by processing errors or stress deformation during the processing, and when the two reflectors form a double-sided reflector applied to the laser radar, if the relative deflection angle of the double-sided reflector exceeds the radar resolution, the light spots reflected by the double-sided reflector will be misaligned, which may cause the problems of point cloud jitter, point cloud abnormality, inaccurate distance measurement, and the like. However, there is no method for detecting the relative declination angle of the double-sided mirror.
In order to solve the problem of the prior art, the embodiment of the invention provides a detection device and a detection method for a laser radar reflecting mirror. First, a detection apparatus for a lidar reflector according to an embodiment of the present invention will be described.
As shown in fig. 1 to 4, a schematic structural diagram of a detection apparatus for a lidar reflector is provided, which is used for detecting a relative declination angle of a double-sided reflector, and the detection apparatus includes a first positioning adjustment apparatus 1, a light source emission system, at least one pair of second positioning adjustment apparatuses 3, and at least one pair of light screens 4.
The first positioning adjustment device 1 includes a rotary table, a positioning portion is disposed on the rotary table, an axis of the positioning portion is coaxial with a rotation axis of the rotary table, and the positioning portion is used for positioning the double-sided reflecting mirror 5 to be measured. It should be noted that the double-sided mirror 5 to be measured includes two symmetrically designed reflecting surfaces 510 and 520. The positioning portion may be a groove or a clamping portion for fixing the double-sided reflecting mirror 5 to be measured. The rotation axis here is a virtual axis along which the turntable rotates. After the double-sided mirror 5 to be measured is positioned on the turntable, the two reflecting surfaces 510 and 520 are symmetrically distributed on both sides of the rotation axis of the turntable with the rotation axis as the center.
The light source emitting system includes at least a pair of point light source modules 201, 202, the point light source modules 201, 202 are symmetrically disposed on both sides of the first positioning adjustment device 1 with the rotation axis of the rotation platform as the center, and the light beams of the pair of point light source modules 201, 202 are all on the first plane 7 parallel to the rotation axis, thereby ensuring that the pair of point light source modules are on the same axis and ensuring the accuracy of the test. Referring to fig. 2, 3 and 4, in the coordinate system, the rotation axis is parallel to the Z axis, the first plane 7 is a plane composed of the Y axis direction and the Z axis direction, and the first plane 7 is parallel to the rotation axis.
At least one pair of second positioning adjustment devices 3 respectively support the point-like light source modules 201 and 202 and are used for respectively adjusting the pitch angles of the point-like light source modules 201 and 202 in the first plane 7. And at least one pair of light screens 4, which are symmetrically arranged outside the second positioning and adjusting device 3 by taking the rotating shaft of the rotating platform as the center and are used for receiving the reflected light from the side reflecting surface corresponding to the double-sided reflecting mirror 5 to be detected or the emitted light of the opposite side point-shaped light source module. The light screen 4 receives light spots formed by reflected light from a reflecting surface on the corresponding side of the double-sided reflector 5 to be detected and records as reflected light spots, the light screen 4 receives light spots formed by the emitted light emitted by the point-shaped light source module on the opposite side and records as emitted light spots, wherein the corresponding side and the opposite side both use a rotating shaft of the rotating table as reference relative positions, the reflecting surface on the corresponding side of the light screen 4 refers to a reflecting surface which is positioned on the same side of the rotating shaft with the light screen 4, and the point-shaped light source module on the opposite side of the light screen 4 refers to a point-shaped light source module which is positioned on the different side of the rotating shaft with the light screen 4.
The detection device of the laser radar reflector in the embodiment of the application can adjust the position and the pitch angle of the corresponding point-like light source module by adjusting the second positioning and adjusting device 3, and can adjust the first positioning and adjusting device 1 to enable the reflecting light spots formed by the reflecting light of any side reflecting surface of the double-sided reflector 5 to be detected to reach the calibration position and determine the relative deflection angle between the reflecting light spots and the calibration position through the other side. The calibration position is the calibration position of the emitted light spot which meets the preset requirement and is projected on the light screen after the second positioning adjusting device 3 is adjusted.
Specifically, the positioning portion is further provided with a support rod 530, and the support rod 530 is used for supporting the double-sided reflecting mirror 5 to be measured. The double-sided reflecting mirror 5 to be measured comprises a reflecting surface 510 and a reflecting surface 520 which are symmetrically arranged, and the central axis of the double-sided reflecting mirror 5 to be measured is superposed with the central axis of the supporting rod 530, so that after the double-sided reflecting mirror 5 to be measured is positioned on the rotating platform, the two reflecting surfaces 510 and 520 can be symmetrically distributed on two sides of the rotating shaft by taking the rotating shaft of the rotating platform as the center. Further, the axis of the support rod 530 is coaxially disposed with the rotation shaft of the rotation table. When the relative deflection angle of the double-sided reflector to be tested is tested, the rotary table can drive the double-sided reflector 5 to be tested to coaxially and synchronously rotate. It should be noted here that the supporting rod 530 is provided with a groove for fixing the double-sided reflecting mirror 5 to be tested, or a clamping portion for fixing the double-sided reflecting mirror 5 to be tested.
In some embodiments, the first positioning adjustment device 1 further comprises a first displacement table on which the rotary table is located. Wherein, the first displacement table can be used for adjusting the movement of the double-sided reflecting mirror 5 to be measured in a second plane which is vertical to the first plane 7. Here, the second plane refers to a plane parallel to the rotation axis and perpendicular to the first plane. Referring to fig. 2, 3 and 4, in the coordinate system, the rotation axis is parallel to the Z axis, the first plane 7 is a plane composed of the Y axis direction and the Z axis direction, and the second plane is a plane composed of the X axis direction and the Z axis direction. That is, the first displacement table is adjusted to move the double-sided reflecting mirror 5 to be measured in any one direction or two directions in the second plane, so that the height of the double-sided reflecting mirror 5 to be measured relative to the first positioning adjustment device 1 can be adjusted, and the light beams of the point-like light source module are emitted to different parts of the double-sided reflecting mirror 5 to be measured, so that the relative deflection angles of the double-sided reflecting mirror 5 to be measured at different positions can be measured.
Furthermore, the second positioning adjustment device 3 may comprise a pitch regulated platform and a second displacement table, with the pitch regulated platform located on the second displacement table. The pitching adjusting platform is used for adjusting the pitching angle of the point-like light source module in the first plane. The second displacement table is used for adjusting the point-shaped light source module to move in the first plane. The position of the point-shaped light source module relative to the double-sided reflector 5 to be measured can be adjusted by adjusting the point-shaped light source module to move in any one direction or two directions in the first plane. Wherein, first displacement platform and second displacement platform all can adopt three-dimensional displacement platform, and the customer can select for use according to the test demand.
Specifically, the distance between the point-like light source module and the corresponding side of the light screen 4 is greater than or equal to 7 meters, so that the relative deflection angle can be conveniently tested by adopting an optical testing method. Specifically, the pair of light screens 4 may have the same size, and the pair of light screens 4 are symmetrically arranged with the rotation axis of the turntable in the first positioning adjustment device 1 as the center axis.
In order to ensure the accuracy of the test, the first positioning adjustment device 1 and the second positioning adjustment device 3 may be disposed on the optical platform 6, and the pair of optical screens 4 is symmetrically disposed outside the second positioning adjustment device 3 with respect to the rotation axis of the rotation stage of the first positioning adjustment device 1. The distance between the point-like light source module and the optical platform 6 is less than the distance between the top end of the second positioning and adjusting device 2 and the optical platform 6.
Specifically, the pitch angle of the point-shaped light source module in the first plane can be adjusted, so that the reflection light spots emitted by the point-shaped light source module to the light screen 4 through the double-sided reflector 5 to be detected and the emission light spots emitted to the light screen 4 can be completely displayed on the light screen 4.
The pitching angle sigma of the point-like light source module should satisfy:
σ＞arctan((H2-H1)/L1)；
therefore, the emitted light spots and the reflected light spots of the point-shaped light source module can not be blocked and can be completely displayed on the light screen 4. Wherein H2For adjusting the height H of the top end of the device 3 from the optical bench 61Is the height L of the point-shaped light source module from the optical platform 61The horizontal distance between the point-shaped light source module and the reflecting surface close to the point-shaped light source module is set.
In addition, the point light source module may adopt a point light source emitted by a laser tube, including the point light source module 201 and the point light source module 202. The point light source can be visible light or invisible light, and can be used for testing the relative deflection angle of the double-sided reflector 5 to be tested.
In order to better understand the detection device of the lidar reflecting mirror provided by the invention, the detection device of the lidar reflecting mirror is explained in detail below with reference to fig. 1 to 4.
For convenience of description, only a pair of point-like light source modules 201 and 202, a pair of second positioning adjustment devices 3, and a pair of light screens 4 will be described herein.
A first positioning and adjusting device 1 is arranged on the optical platform 6, and the first positioning and adjusting device 1 comprises a first three-dimensional displacement table and a rotating table, wherein the rotating table is positioned on the first three-dimensional displacement table. The positioning portion of the turntable is provided with a supporting rod 530 for positioning the double-sided reflector 5 to be tested, and when the turntable rotates, the supporting rod 530 can drive the double-sided reflector 5 to be tested to rotate. The double-sided reflecting mirror 5 to be measured includes a reflecting surface 510 and a reflecting surface 520, which are symmetrically disposed. It should be noted that, for convenience of operation, the rotating table, the first three-dimensional displacement table, the support rod 530, the positioning portion, and the central axis of the double-sided reflecting mirror 5 to be measured may be coaxially disposed.
Two second positioning and adjusting devices 3 are symmetrically arranged on two sides of the rotary table on the optical platform 6. The two second positioning adjustment devices 3 respectively support the point-shaped light source modules and are used for adjusting the pitch angles of the point-shaped light source modules in the first plane 7. The pair of point-like light source modules are also symmetrical about the rotation axis of the rotation platform. Here, the first plane 7 is a plane composed of the Y-axis direction and the Z-axis direction, and the first plane 7 is parallel to the rotation axis.
Wherein, a pair of punctiform light source module can adopt two laser pipes as a pair of punctiform light source module respectively, includes first laser pipe 201 and second laser pipe 202. Specifically, the first laser tube 201 and the second laser tube 202 are disposed in the X direction with the rotation axis of the rotary table as an axis symmetry. The positions of the two second positioning adjusting devices 3 are adjusted, so that the first laser tube 201 and the second laser tube 202 are on the same axis in the Y direction. Further, the first laser tube 201 and the second laser tube 202 are inclined upward in the Z direction.
Specifically, the second positioning adjustment device 3 may include a pitch adjustment platform and a second three-dimensional displacement table, and the pitch adjustment platform is located on the second three-dimensional displacement table. The pitching adjusting platform is used for adjusting the pitching angle of the point-like light source module in the Z direction. The second three-dimensional displacement table is used for adjusting the point-shaped light source module to move in any one direction of the Y direction or the Z direction or simultaneously move in the two directions.
In order to ensure that light emitted by the point-like light source module is not shielded by the second positioning and adjusting device 3 after being reflected by the double-sided reflector to be detected, the pitch angle of the point-like light source module in the Z direction can be adjusted.
Specifically, the pitch angle σ of the point-like light source module satisfies:
σ＞arctan((H2-H1)/L1)；
wherein H2For adjusting the height H of the top end of the device 3 from the optical bench 61Is the height L of the point-shaped light source module from the optical platform 61The horizontal distance between the point-shaped light source module and the reflecting surface close to the point-shaped light source module is set.
Of course, a through hole may also be disposed below the second positioning adjustment device 3, so that light emitted by the point-like light source module is reflected by the double-sided mirror to be measured and then displayed on the light screen 4 through the through hole.
In addition, the first three-dimensional displacement table in the first positioning adjustment device 1 is used for adjusting the movement of the double-sided reflector 5 to be tested in the X direction or the Z direction, so that the relative deflection angles of different positions of the double-sided reflector to be tested can be conveniently tested.
In addition, a pair of light screens 4 is further disposed outside the second positioning adjustment device 3, and the pair of light screens 4 are respectively symmetrically disposed on two sides of the rotary table and used for receiving the reflected light of the reflection surface on the corresponding side of the double-sided reflector to be measured or the emitted light of the point-like light source module on the opposite side. It should be noted that, for the accuracy of the test, the pair of light screens 4 may be set to have the same size, and the distance between the point-like light source module and the light screen 4 on the corresponding side needs to be greater than or equal to 7 meters. The farther the distance between the light screen 4 and the point-shaped light source module is, the more obvious the light spot deviation caused by the deviation of the reflecting surface of the optical system is, and the more accurate the test of the relative deflection angle is.
The connection line of the reflection light spot on any side of the double-sided reflector 5 to be detected and the first preset standard point is the projection of the first plane on the light screen 4 by adjusting the first positioning adjusting device 1 and the second positioning adjusting device 3, and the relative deflection angle of the double-sided reflector 5 to be detected is measured by detecting the reflection light spot on the other side of the double-sided reflector 5 to be detected and the deviation value of the second preset standard point.
According to the detection device for the laser radar reflecting mirror, provided by the embodiment of the invention, the positioning part for fixing the double-sided reflecting mirror to be detected is arranged on the rotating table, and the axis of the positioning part is coaxial with the rotating shaft of the rotating table. At least one group of point-shaped light source modules, a pair of second positioning adjusting devices and a pair of light screens are symmetrically arranged on two sides of a rotating shaft of the rotating platform respectively. And adjusting the position and the pitch angle of the second positioning adjusting device and the positioning point-like light source module, adjusting the first positioning adjusting device, enabling the reflection light spots on any side of the double-sided reflector to be detected to reach the calibration position, and determining the relative deflection angle through the reflection light spots on the other side and the calibration position. Therefore, the relative deflection angle of the double-sided reflector to be detected can be amplified by adopting an optical method of the double-point light source module.
In addition, the detection device provided by the embodiment of the invention is simple to operate, the measurement complexity can be reduced, and the test precision of the relative deflection angle reaches 0.001 degree.
The above is a detection apparatus for a laser radar reflecting mirror provided by the present invention, and a detection method thereof is described below.
Referring to fig. 3 to 5, a method for detecting a laser radar reflecting mirror according to an embodiment of the present invention includes the following steps:
step S510, adjusting the point-like light source module to an initial position, so that a laser point emitted by the point-like light source module is reflected to the light screen on the corresponding side through the double-sided reflector to be measured to form a complete reflected light spot.
Through adjusting the position of second positioning adjustment device 3, adjust the relative distance between the two-sided speculum 5 level of punctiform light source module distance awaiting measuring promptly to the laser point of realizing that punctiform light source module transmission reflects the reflection facula on the light screen 4 of corresponding side through two-sided speculum 5 that awaits measuring and can hit the light screen of corresponding side completely.
And S520, taking down the double-sided reflector to be detected, adjusting the pitch angle of the point-like light source modules until the two emission light spots emitted by the pair of point-like light source modules to the light screen on the opposite side are complete and symmetrical, and calibrating the two emission light spots as standard points respectively.
After the double-sided reflecting mirror to be measured is taken down, the pitch angle of the point-like light source modules is changed by adjusting the second positioning adjusting device 3, so that the transmitting light spots transmitted to the light screen 4 on the opposite side by the pair of point-like light source modules are complete, and the symmetrical distribution of the two transmitting light spots is confirmed by auxiliary instruments such as a level meter.
Then, the double-sided reflecting mirror 5 to be detected is installed again, and whether the laser points emitted by the point-like light source modules are reflected to the reflecting light spots on the light screen 4 on the corresponding side through the double-sided reflecting mirror 5 to be detected are complete or not is detected. And if the two reflected light spots are complete, calibrating the two emitted light spots as standard points respectively. If the two reflection light spots are incomplete, the relative distance between the punctiform light source module and the level of the double-sided reflector 5 to be detected and the pitch angle of the punctiform light source module need to be readjusted, when the two reflection light spots after the double-sided reflector 5 to be detected is installed are complete and symmetrical, and the two emission light spots after the double-sided reflector 5 to be detected is taken down are complete, the adjustment of the position and the pitch angle of the punctiform light source module is stopped, and the two emission light spots are respectively calibrated to be standard points.
It should be noted that after the position and the pitch angle of the point-like light source module are determined, the adjustment is not performed in the subsequent testing process.
Step S530, mounting the double-sided reflector to be measured on the first positioning adjusting device, and rotating the rotating table until the connection line of the reflection light spot on one side of the double-sided reflector to be measured and the standard point on the light screen coincides with the projection of the first plane on the light screen or coincides with the standard point on the light screen.
Through rotating the rotating table, the reflection light spot B on one side of the double-sided reflecting mirror 5 to be detected coincides with a standard point on the optical screen 4 in the Y-axis direction, partial deviation exists on the Z-axis, and only the reflection light spot on one side of the double-sided reflecting mirror 5 to be detected coincides with the first emission light spot on the optical screen in the Y-axis direction.
And S540, determining the relative deflection angle of the double-sided reflector to be detected according to the position deviation between the reflected light spot on the other side of the double-sided reflector to be detected and another standard point.
And obtaining a relative deflection angle according to the position deviation between the reflected light spot C on the other side of the double-sided reflector 5 to be detected and another standard point. And obtaining a relative deflection angle through the position deviation between the reflected light spot B, the reflected light spot C and the two standard points.
Specifically, the horizontal distance between the point-like light source module and the reflection surface near the point-like light source module is L1The distance between the point-like light source module and the corresponding side light screen is L2Wherein the coordinate of the reflected light spot B in the Y direction is ByThe distance deviation of the reflected light spot B from the standard point on the light screen in the Z direction is BzThe distance deviation of the reflected light spot C from the other standard point in the Y direction is CyThe distance deviation of the reflected light spot C from another standard point in the Z direction is Cz. According to the imaging characteristics of the plane mirror and the reflection principle of light, the plane mirror rotates by theta degrees, and the light spot reflected by the plane mirror rotates by 2 theta.
Therefore, the relative off-angle of the double-sided mirror 5 to be measured includes the off-angle θ in the horizontal directionyOff angle theta from verticalzThe specific calculation formula is as follows:
θy＝1/2*artan((Cy-By)/(L2+2*L1))；
θz＝1/2*artan((Cz-Bz)/(L2+2*L1))。
the relative declination of the double-sided mirror can be calculated.
In order to verify the accuracy of the test and whether the relative deflection angles of the two-sided reflecting mirror at different positions are different, the first positioning adjusting device can be adjusted, so that the light beam of the point-like light source module is emitted to the to-be-tested part of the two-sided reflecting mirror to be tested.
Firstly, the first positioning adjustment device 1 is adjusted, and the first positioning adjustment device 1 is adjusted in a second plane perpendicular to the first plane 7, so that the light beam of the point-like light source module is emitted to the to-be-measured part of the double-sided reflector 5 to be measured.
After the double-sided reflector 5 to be tested is fixed, the relative deflection angle of the double-sided reflector 5 to be tested can be tested according to the above steps. And rotating the rotating platform to enable the reflected light spot on one side of the double-sided reflecting mirror 5 to be detected to coincide with the standard point on the side light screen, and enabling the connection line of the standard point on the side light screen to coincide with the projection of the first plane 7 on the light screen 4 or coincide with the standard point. And then, determining the relative deflection angle of the double-sided reflector to be detected according to the position deviation between the reflected light spot on the other side of the double-sided reflector to be detected and another standard point.
According to the detection method of the laser radar reflector provided by the embodiment of the invention, firstly, the reflection light spots of the point-shaped light source module on the light screen on the corresponding side are adjusted to be complete, after the double-sided reflector to be detected is taken down, the pitch angle of the point-shaped light source module is adjusted, so that the emission light spots emitted by a pair of point-shaped light sources to the light screen on the opposite side are also displayed completely, the two emission light spots are symmetrical, and the two light spots are respectively calibrated to be standard points. And then, rotating the rotating platform until the emission light spot on one side of the double-sided reflector to be detected coincides with the projection of the first plane on the light screen or coincides with the standard point. And finally, determining the relative deflection angle of the double-sided reflector to be detected according to the distance deviation between the reflected light spot on the other side of the double-sided reflector to be detected and another standard point. Therefore, the relative deflection angle of the double-sided reflector can be tested by adopting the optical method of the double-point light source module to amplify the angle difference of the double-sided reflector to be tested, the testing method is simple, and the testing precision is as high as 0.001 degree.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A lidar mirror detection apparatus for detecting relative declination of a double-sided mirror, the apparatus comprising:
the first positioning adjusting device comprises a rotating table, a positioning part is arranged on the rotating table, the axis of the positioning part is coaxial with the rotating shaft of the rotating table, and the positioning part is used for positioning the double-sided reflecting mirror to be measured;
the light source emission system comprises at least one pair of point-shaped light source modules, the point-shaped light source modules are symmetrically arranged on two sides of the first positioning and adjusting device by taking the rotating shaft as the center, and light beams of the point-shaped light source modules are on a first plane parallel to the rotating shaft;
at least one pair of second positioning adjustment devices respectively supporting the point-shaped light source modules and used for adjusting the pitch angles of the point-shaped light source modules in the first plane;
and the at least one pair of light screens are symmetrically arranged on the outer side of the second positioning and adjusting device by taking the rotating shaft as the center and are used for receiving the reflected light from the reflecting surface on the corresponding side of the double-faced reflector to be detected or the emitted light of the point-shaped light source module on the opposite side.
2. The detection device according to claim 1, wherein a support rod is further arranged on the positioning portion, the support rod is used for supporting the double-sided reflecting mirror to be detected, and the axis of the support rod is coaxial with the rotating shaft;
the supporting rod is coincided with the central shaft of the double-sided reflector to be detected, and the double-sided reflector to be detected and the rotating table rotate coaxially and synchronously.
3. The inspection apparatus of claim 1, wherein said first positioning adjustment apparatus further comprises a first translation stage, said rotary stage being positioned on said first translation stage; the first displacement table is used for adjusting the double-sided reflecting mirror to be measured to move in a second plane perpendicular to the first plane;
the second positioning adjusting device comprises a pitching adjusting platform and a second displacement table, and the pitching adjusting platform is positioned on the second displacement table; the pitching adjusting platform is used for adjusting the pitching angle of the point-shaped light source module in the first plane; the second displacement table is used for adjusting the point-shaped light source module to move in the first plane.
4. The detection device according to claim 3, wherein a distance between the point-like light source module and the light screen on the corresponding side is greater than or equal to 7 m.
5. The inspection device of claim 3, wherein the first positioning adjustment device and the second positioning adjustment device are both located on an optical platform;
the height from the point-like light source module to the optical platform is smaller than the height from the top end of the second positioning and adjusting device to the optical platform.
6. The detecting device for detecting the rotation of the rotating shaft as claimed in claim 5, wherein the pitch angle σ of the point-like light source module satisfies:
σ＞arctan((H2-H1)/L1)；
wherein H2The height H from the top end of the second positioning and adjusting device to the optical platform1The height L of the point-like light source module from the optical platform1The horizontal distance between the point-shaped light source module and the reflecting surface close to the point-shaped light source module is set.
7. A method for detecting a lidar reflector according to any one of claims 1 to 6, comprising the steps of:
adjusting the point-like light source module to an initial position, so that a laser point emitted by the point-like light source module is reflected to a complete reflection light spot on the light screen on the corresponding side through the double-sided reflector to be detected;
taking down the double-sided reflector to be detected, adjusting the pitch angle of the point-shaped light source modules until a pair of emission light spots emitted by the point-shaped light source modules onto the light screen on the opposite side are complete and the two emission light spots are symmetrical, and calibrating the two emission light spots as standard points respectively;
installing the double-sided reflector to be detected on the first positioning adjusting device, and rotating the rotating platform until a connecting line of a reflection light spot on one side of the double-sided reflector to be detected and a standard point on the optical screen is superposed with the projection of the first plane on the optical screen or the standard point on the optical screen;
and determining the relative deflection angle of the double-sided reflector to be detected according to the position deviation between the reflected light spot on the other side of the double-sided reflector to be detected and another standard point.
8. The detection method according to claim 7, wherein the removing of the double-sided reflector to be detected and the fine adjustment of the pitch angle of the point-like light source module are performed until a pair of emission spots emitted by the point-like light source module onto the light screen on the opposite side are complete and the two emission spots are symmetrical, and before the two emission spots are respectively calibrated as standard points, further comprising:
installing the double-sided reflector to be detected, and detecting whether a laser point emitted by the point-like light source module is complete or not through a reflection light spot reflected to the light screen on the corresponding side by the double-sided reflector to be detected;
and if the reflected light spots are complete, stopping adjusting the two point-shaped light source modules, otherwise, readjusting the positions and the pitch angles of the point-shaped light source modules.
9. The detection method as claimed in claim 7, further comprising a step of testing the relative deflection angles of other parts on the double-sided reflector to be detected, which comprises the following specific steps:
adjusting the first positioning adjusting device in a second plane perpendicular to the first plane to enable the light beam of the point-like light source module to be emitted to a to-be-measured part of the to-be-measured double-sided reflector;
rotating the rotating platform until a connecting line of a reflection light spot on one side of the double-sided reflector to be detected and a standard point on the optical screen coincides with the projection of the first plane on the optical screen or coincides with the standard point on the optical screen;
and determining the relative deflection angle of the double-sided reflector to be detected according to the position deviation between the reflected light spot on the other side of the double-sided reflector to be detected and another standard point.
10. The detection method according to any one of claims 7 to 9, wherein the relative deviation angle includes a deviation angle θ in a horizontal directionyOff angle theta from verticalz，
θy＝1/2*artan((Cy-By)/(L2+2*L1))；
θz＝1/2*artan((Cz-Bz)/(L2+2*L1))；
Wherein, ByIs the coordinate of the reflected light spot on one side of the double-sided reflector to be measured in the horizontal direction on the light screen, BzThe vertical distance between the reflected light spot on one side of the double-sided reflector to be measured and a standard point on the light screen is CyThe horizontal distance from the reflected light spot on the other side of the double-sided reflector to be measured to another standard point, CzThe vertical distance L from the reflected light spot on the other side of the double-sided reflector to be measured to another standard point1Is the horizontal distance L between the point-shaped light source module and the reflector close to the point-shaped light source module2The distance between the point-shaped light source module and the corresponding side light screen is defined.
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