CN114740457A - TOF laser radar transmitting unit adjusting system and method - Google Patents
TOF laser radar transmitting unit adjusting system and method Download PDFInfo
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- CN114740457A CN114740457A CN202210359209.1A CN202210359209A CN114740457A CN 114740457 A CN114740457 A CN 114740457A CN 202210359209 A CN202210359209 A CN 202210359209A CN 114740457 A CN114740457 A CN 114740457A
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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
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Abstract
The invention relates to a system and a method for adjusting a TOF laser radar transmitting unit, wherein the system comprises a fixed tool, a test board and a data processing module; the fixed tooling is provided with a fixed station and two reference light sources which are respectively positioned at two sides of the fixed station; the test board is arranged at a set distance from the fixed tool, and is provided with a light spot reference ring corresponding to the laser module to be detected and reference position limiting rings corresponding to the reference light sources one by one; the data processing module comprises an image acquisition unit and a processor unit for calculating the spot size and the spot offset of the laser module to be detected on the image acquired by the image acquisition unit; the facula size and the facula offset of survey laser module that can be accurate when adjusting the purpose that provides reliable foundation for facula size and offset, can detect whether there is relative position change between fixed frock is whole and the survey test panel, has not only simplified the debugging operation, can promote debugging efficiency simultaneously.
Description
Technical Field
The invention relates to the technical field of TOF laser radars, in particular to a TOF laser radar transmitting unit adjusting system and a TOF laser radar transmitting unit adjusting method.
Background
The basic principle of the ToF ranging technology is a mode of emitting modulated light pulses through a laser, receiving the reflected light pulses by a photoelectric detector after the light pulses encounter the reflection of an object, and calculating the distance according to the time t from the emission of the laser to the reception of the reflected laser by the photoelectric detector and the speed of light; the modulation mode has higher requirements on the transmitter and the receiver, and has the advantages of high precision, high sensitivity, high imaging speed, wide range measurement range and the like.
The ToF ranging system mainly comprises: the device comprises a laser emitting unit, a laser receiving unit and a signal processing unit; the transmitting unit is mainly used for transmitting collimated laser beams to irradiate a target and mainly comprises a laser and a transmitting optical system, and the laser receiving unit mainly comprises a receiving optical system and a receiving detection circuit; the transmitting unit can send out a laser pulse with high peak power and narrow pulse width, the detector of the main wave can receive part of the split laser signals and convert the split laser signals into voltage pulse signals so as to determine the starting time of laser transmission, after the laser pulse emitted to a detected target is reflected or scattered by the detected target, a part of light beams are received by a receiving system and then enter a time measuring system through a series of devices to serve as laser echo signals detected by the detector so as to determine the ending time;
the optical design of the ToF ranging technology needs to ensure that the optical axes of the transmitting unit and the receiving unit are consistent, and the field of view of the receiving optical system is larger than the divergence angle of the ranging laser beam within the range of the target distance, so as to ensure that the return light energy reflected and scattered by the target can enter the receiving field of the receiving optical system. In addition, under the condition that the laser energy is not changed, if the divergence angle of the laser beam is larger, the laser energy density reaching the measured object is smaller, the laser measurement precision is inevitably influenced by the reduction of the laser energy density, and the divergence angle of the laser beam is required to be compressed if the receiving system receives the maximum energy;
at present, no method for rapidly detecting the angle and the divergence angle of the light emitted by the laser emitting unit exists.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a TOF lidar transmitting unit adjusting system and method for overcoming the above-mentioned drawbacks of the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows:
constructing a TOF laser radar transmitting unit adjusting system, wherein the TOF laser radar transmitting unit adjusting system comprises a fixed tool, a test board and a data processing module; the fixing tool is provided with a fixing station for fixing the laser module to be detected and two reference light sources respectively positioned at two sides of the fixing station; the test board is arranged at a set distance from the fixed tool, and is provided with a light spot reference ring corresponding to the laser module to be detected and reference position limiting rings corresponding to the reference light sources one by one; the data processing module comprises an image acquisition unit for acquiring the light spot image on the test board and a processor unit for calculating the light spot size and the light spot offset of the laser module to be detected on the image acquired by the image acquisition unit.
According to the TOF laser radar transmitting unit adjusting system, the centers of the two reference position limiting rings are as high as the center of the light spot reference ring.
According to the TOF laser radar transmitting unit adjusting system, the reference position limiting ring is in a circular ring shape.
The TOF laser radar transmitting unit adjusting system comprises a light spot reference ring and a plurality of concentric circles, wherein the light spot reference ring is concentric with the cross mark.
The TOF laser radar transmitting unit adjusting system is characterized in that the reference light source adopts a laser light source.
According to the TOF laser radar transmitting unit adjusting system, the two reference light sources are respectively arranged on the left side and the right side of the fixed station.
A TOF laser radar transmitting unit adjusting method is applied to the TOF laser radar transmitting unit adjusting system and comprises the following implementation methods:
adjusting the position of the test board from the fixed tool according to the performance of the laser module to be detected;
adjusting the angle of the fixed tool to enable the light spots of the two reference light sources to be correspondingly positioned in the two reference position limiting rings;
placing the laser module to be detected on a fixed station, and adjusting the light spot of the laser module to be detected to be positioned in a light spot reference ring;
the image acquisition unit acquires a spot image on the test board and sends the spot image to the processor unit, and the processor unit calculates the size of the spot and the offset of the spot according to the spot image.
The TOF laser radar transmitting unit adjusting method comprises the following steps that a light spot reference ring comprises a cross mark and a plurality of concentric circles, wherein the cross mark and the concentric circles are concentric;
and when the processor unit calculates, a rectangular coordinate system is established by taking the center of the cross mark as the center of a circle, and the size of the light spot is determined according to the offset of the light spot center in the transverse direction and the longitudinal direction and according to the positions of the two transverse end points and the positions of the two longitudinal end points of the light spot.
According to the TOF laser radar transmitting unit adjusting method, when the data processing module detects that the light spot of the reference light source is separated from the reference position limit ring, error reminding is sent to the outside.
The TOF laser radar transmitting unit adjusting method comprises the steps that a laser module to be detected comprises a radar PCB, a fixing piece, a laser transmitting unit and a photoelectric detector are arranged on the radar PCB, a first mounting hole for mounting the laser transmitting unit and a second mounting hole for mounting a receiving lens cone are formed in the fixing piece, an adjusting gap is reserved between the receiving lens cone and the second mounting hole, and the photoelectric detector is located in the second mounting hole;
the method further comprises the steps of: and the receiving lens cone extends into the second mounting hole, the mounting position of the receiving lens cone in the second mounting hole is adjusted in the X-axis direction, the Y-axis direction and the Z-axis direction according to the image acquired by the photoelectric detector, and the receiving lens cone is fixed in the second mounting hole after the position adjustment is finished.
The invention has the beneficial effects that: by applying the method, the reliability of the corresponding relation between the laser module to be detected and the light spot reference ring is ensured through the positioning relation between the two groups of reference light sources and the reference position limit ring, so that the purposes of accurately measuring the light spot size and the light spot offset of the laser module and providing a reliable basis for adjusting the light spot size and the offset are achieved, meanwhile, the positioning relation between the reference light sources and the reference position limit ring can also reflect whether the relative position between the whole fixed tooling and the test board changes or not in debugging, and if the relative position changes, the whole set of debugging and mounting system needs to be subjected to omnibearing inspection; not only simplifies the debugging operation, but also can improve the debugging efficiency and the debugging accuracy.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be further described with reference to the accompanying drawings and embodiments, wherein the drawings in the following description are only part of the embodiments of the present invention, and for those skilled in the art, other drawings can be obtained without inventive efforts according to the accompanying drawings:
FIG. 1 is a schematic diagram of a TOF lidar transmission unit adjustment system in accordance with a preferred embodiment of the present invention;
FIG. 2 is a front view of a TOF lidar transmission unit adjustment system in accordance with a preferred embodiment of the present invention;
FIG. 3 is a schematic view of a TOF lidar transmission unit adjustment system spot reference ring according to a preferred embodiment of the present invention;
FIG. 4 is a schematic view of a TOF lidar transmission unit adjustment system reference position confinement ring in accordance with a preferred embodiment of the present invention;
FIG. 5 is a schematic view of the TOF lidar transmission unit adjusting system light spot reference ring area division according to a preferred embodiment of the present invention;
FIG. 6 is a functional block diagram of the TOF lidar transmission unit adjustment system data processing module of the preferred embodiment of the present invention;
FIG. 7 is a flow chart of a TOF lidar transmission unit adjustment method of a preferred embodiment of the present invention;
fig. 8 is a cross-sectional view of a laser module to be detected according to a TOF lidar transmitting unit adjusting method of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without inventive step, are within the scope of the present invention.
The TOF lidar transmitting unit adjusting system of the preferred embodiment of the invention, as shown in fig. 1 and referring to fig. 2-6, comprises a fixed tool 1, a test board 2 and a data processing module 3; the fixing tool 1 is provided with a fixing station 10 for fixing the laser module 4 to be detected and two reference light sources 11 respectively positioned at two sides of the fixing station 10; the test board 2 is arranged at a set distance from the fixed tool 1, and the test board 2 is provided with a light spot reference ring 20 corresponding to the laser module 4 to be detected and reference position limiting rings 21 corresponding to the reference light sources 11 one by one; the data processing module 3 comprises an image acquisition unit 30 for acquiring a light spot image on the test board 2, and a processor unit 31 for calculating the light spot size and the light spot offset of the laser module to be detected on the image acquired by the image acquisition unit 30;
by applying the method, the reliability of the corresponding relation between the laser module 4 to be detected and the light spot reference ring 11 is ensured through the positioning relation between the two groups of reference light sources 11 and the reference position limiting ring 21, so that the purposes of accurately measuring the light spot size and the light spot offset of the laser module 4 and providing a reliable basis for adjusting the light spot size and the offset are achieved, meanwhile, the positioning relation between the reference light sources 11 and the reference position limiting ring 21 can reflect whether the relative position change exists between the whole fixed tooling and the test board during debugging, and if the relative position change exists, the whole set of debugging and mounting system (the system refers to the whole assembling system of the radar transceiver module) needs to be subjected to omnibearing inspection; debugging operation is simplified, and meanwhile debugging efficiency and debugging accuracy can be improved;
it should be noted that, the fixing station 10 may be position-limited in a manner of providing two positioning blocks 100 as shown in fig. 1, and may adopt other forms such as a clamp, a positioning groove, and the like, or may be directly fixed by detachable glue without providing a specific structure, and simple changes based on such forms are all within the scope of protection of the present application.
Preferably, the centers of both reference position limit rings 21 are equal to the center of the spot reference ring 11; by adopting the arrangement mode, the centers of the two reference position limiting rings 21 are kept horizontal to the center of the light spot reference ring 11, so that the generation of errors is reduced;
preferably, the fixed tooling and the test board are adjusted in relative position in advance by using equipment such as a level meter and the like, the fixed tooling is ensured to be parallel to the horizontal plane, the test board is vertical to the horizontal plane, the distance between the fixed tooling and the test board is adjusted to be a set value (the distance is determined according to the performance of the module to be tested, if the light spot at the position of six meters needs to be seen in light adjustment, the fixed tooling and the test board are placed at the position of six meters), and the fixed tooling and the test board are kept relatively fixed after adjustment.
Preferably, the reference position limiting ring 21 is in the shape of a circular ring to facilitate the measurement of the offset, although other shapes may be designed as required.
Preferably, the light spot reference ring 20 includes a cross mark 200 and a plurality of concentric circles 201, the cross mark and the concentric circles being concentric; in this way, when calculating the flare and the offset, the following method can be referred to:
as shown in fig. 5, the reference position-defining circle is placed at a specific position, and the size and shape of the circle are determined by the spot shape (a1+ a2, b1+ b2) plus the right, left, upper and lower offsets (d1, d2, d3, d4), such as a length L1 in the horizontal direction, which is a1+ a2+ d1+ d2, and a length L2 in the vertical direction, which is b1+ b2+ d3+ d 4; the facula reference ring is composed of a plurality of concentric circles, the radius of each ring is known, the position of the circle center is determined according to the position relation of the two reference light sources and the module transmitting unit to be measured, when the transmitting unit is adjusted, the facula is adjusted to a specific position in the reference ring by adjusting the emergent direction of the facula (if the center of the facula is heavily summed with the facula reference ring, only the facula position is required to be bilaterally symmetrical in the circle), and meanwhile, the size of the facula can be directly read according to the ring with the known radius.
The reference light source preferably uses a laser with a small divergence angle, such as a common laser pen. In the horizontal direction, if the emitting directions of the two light sources are adjusted to be parallel, no matter how far the distance between the fixed tooling and the test board is, the distance between the two reference light sources on the test board is not changed, if the two light sources are emitted at a specific included angle, the distance between the two reference light sources on the test board can be calculated according to the included angle and the propagation distance, the distance between the two reference light sources can be directly measured out or grasped out through a camera, that is, no matter how large the distance between the fixed tooling and the test board is, the distance between the two reference light sources is a determined value, similarly, the distance between the two reference light sources can be emitted in the same horizontal direction or emitted at a specific included angle, and the distance between the two reference light sources is also a determined value.
Preferably, two reference light sources are respectively arranged at the left side and the right side of the fixed station, although the upper side and the lower side can be adopted in the same way, and the simple replacement based on the orientation also belongs to the protection scope of the application.
A TOF lidar transmitting unit adjusting method is applied to the TOF lidar transmitting unit adjusting system, as shown in fig. 7, and the implementation method thereof is as follows:
s01: adjusting the position of the test board from the fixed tool according to the performance of the laser module to be detected;
s02: adjusting the angle of the fixed tool to enable the light spots of the two reference light sources to be correspondingly positioned in the two reference position limiting rings;
s03: placing the laser module to be detected on a fixed station, and adjusting the light spot of the laser module to be detected to be positioned in a light spot reference ring;
s04: the image acquisition unit acquires a light spot image on the test plate and sends the light spot image to the processor unit, and the processor unit calculates the size and the offset of the light spot according to the light spot image;
by applying the method, the reliability of the corresponding relation between the laser module to be detected and the light spot reference ring is ensured through the positioning relation between the two groups of reference light sources and the reference position limit ring, so that the purposes of accurately measuring the light spot size and the light spot offset of the laser module and providing a reliable basis for adjusting the light spot size and the offset are achieved, meanwhile, the positioning relation between the reference light sources and the reference position limit ring can reflect whether the relative position between the whole fixed tooling and the test board changes or not in debugging, and if the relative position changes, the whole debugging and mounting system (the system refers to the whole assembling system of the radar transceiver module) needs to be subjected to omnibearing inspection; not only simplifying the debugging operation, but also improving the debugging efficiency and the debugging accuracy.
Preferably, the light spot reference ring comprises a cross mark and a plurality of concentric circles, and the cross mark is concentric with the concentric circles; when the processor unit calculates, a rectangular coordinate system is established with the center of the cross mark as the center of a circle, and the size of the light spot is determined according to the offset of the light spot center in the transverse direction and the longitudinal direction, and according to the position of the two ends of the light spot in the transverse direction and the position of the two ends of the light spot in the longitudinal direction, which specifically refers to the above description.
Preferably, when the data processing module detects that the light spot of the reference light source is separated from the reference position limiting ring, the data processing module sends error reminding to the outside, and automatic reminding is performed when deviation occurs.
Preferably, as shown in fig. 8, the laser module to be detected includes a radar PCB 40, a fixing member 41, a laser emitting unit 42 and a photoelectric detector 43 are arranged on the radar PCB 40, a first mounting hole 410 for mounting the laser emitting unit 42 and a second mounting hole 411 for mounting the receiving lens barrel 5 are arranged on the fixing member 41, an adjusting gap is left between the receiving lens barrel 5 and the second mounting hole 411, and the photoelectric detector 43 is located in the second mounting hole 411;
the method further comprises the steps of:
the receiving lens barrel 5 is inserted into the second mounting hole 411, the mounting position of the receiving lens barrel 5 in the second mounting hole 411 is adjusted in the X-axis direction, the Y-axis direction and the Z-axis direction according to the image acquired by the photoelectric detector 43, and the receiving lens barrel 5 is fixed in the second mounting hole 411 after the position adjustment is completed;
by adopting the method to adjust and mount the receiving lens cone, the three dimensions of the XYZ axes of the receiving lens can be adjusted, and the module can be directly adjusted without other devices, so that the assembly time is reduced, and the precision of a product is improved;
wherein, the fixation can adopt glue bonding and other modes, and the adjustment of the X axis, the Y axis and the Z axis can be realized by adopting the existing three-way motion mechanism.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (10)
1. A TOF laser radar transmitting unit adjusting system is characterized by comprising a fixed tool, a test board and a data processing module; the fixing tool is provided with a fixing station for fixing the laser module to be detected and two reference light sources respectively positioned at two sides of the fixing station; the test board is arranged at a set distance from the fixed tool, and is provided with a light spot reference ring corresponding to the laser module to be detected and reference position limiting rings corresponding to the reference light sources one by one; the data processing module comprises an image acquisition unit for acquiring the light spot image on the test board and a processor unit for calculating the light spot size and the light spot offset of the laser module to be detected on the image acquired by the image acquisition unit.
2. The TOF lidar transmit unit adjustment system of claim 1, wherein the centers of both of the reference position limit rings are level with the center of the spot reference ring.
3. The TOF lidar transmission unit adjustment system of claim 2, wherein the reference position limiting ring is annular in shape.
4. The TOF lidar transmit unit adjustment system according to any of claims 1 to 3, wherein the speckle reference ring comprises a cross marking and a plurality of concentric circles, the cross marking being concentric with the concentric circles.
5. A TOF lidar transmission unit adjustment system according to any of claims 1 to 3 wherein the reference light source is a laser light source.
6. The TOF lidar transmission unit adjustment system according to any of claims 1 to 3, wherein two of the reference light sources are respectively arranged on the left and right sides of the stationary station.
7. A TOF laser radar transmitting unit adjusting method is applied to the TOF laser radar transmitting unit adjusting system as claimed in any one of claims 1-6, and is characterized by being implemented as follows:
adjusting the position of the test board from the fixed tool according to the performance of the laser module to be detected;
adjusting the angle of the fixed tool to enable the light spots of the two reference light sources to be correspondingly positioned in the two reference position limiting rings;
placing the laser module to be detected on a fixed station, and adjusting the light spot of the laser module to be detected to be positioned in a light spot reference ring;
the image acquisition unit acquires a spot image on the test board and sends the spot image to the processor unit, and the processor unit calculates the size of the spot and the offset of the spot according to the spot image.
8. The TOF lidar transmission unit adjustment method of claim 7 wherein the spot reference ring comprises a cross mark and a plurality of concentric circles, the cross mark and concentric circles being concentric;
and when the processor unit calculates, a rectangular coordinate system is established by taking the center of the cross mark as the center of a circle, and the size of the light spot is determined according to the offset of the light spot center in the transverse direction and the longitudinal direction and according to the positions of the two transverse end points and the positions of the two longitudinal end points of the light spot.
9. The TOF lidar transmission unit adjustment method according to claim 7, wherein the data processing module issues an error prompt to the outside when detecting that the light spot of the reference light source is out of the reference position limit loop.
10. The TOF lidar transmitting unit adjusting method according to any of claims 7 to 9, wherein the laser module to be detected comprises a radar PCB, the radar PCB is provided with a fixing member, a laser transmitting unit and a photodetector, the fixing member is provided with a first mounting hole for mounting the laser transmitting unit and a second mounting hole for mounting a receiving lens barrel, an adjusting gap is left between the receiving lens barrel and the second mounting hole, and the photodetector is located in the second mounting hole;
the method further comprises the steps of: and the receiving lens cone extends into the second mounting hole, the mounting position of the receiving lens cone in the second mounting hole is adjusted in the X-axis direction, the Y-axis direction and the Z-axis direction according to the image acquired by the photoelectric detector, and the receiving lens cone is fixed in the second mounting hole after the position adjustment is finished.
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| CN116859375A (en) * | 2023-09-04 | 2023-10-10 | 武汉市品持科技有限公司 | Laser radar dimming method, system and readable storage medium |
| CN116859375B (en) * | 2023-09-04 | 2023-11-28 | 武汉市品持科技有限公司 | Laser radar dimming method, system and readable storage medium |
| CN117008104A (en) * | 2023-09-28 | 2023-11-07 | 武汉市品持科技有限公司 | Sensor calibration compensation method |
| CN117008104B (en) * | 2023-09-28 | 2023-12-22 | 武汉市品持科技有限公司 | Sensor calibration compensation method |
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