CN115291196B - Calibration method for mounting posture of laser clearance radar - Google Patents
Calibration method for mounting posture of laser clearance radar Download PDFInfo
- Publication number
- CN115291196B CN115291196B CN202210799985.3A CN202210799985A CN115291196B CN 115291196 B CN115291196 B CN 115291196B CN 202210799985 A CN202210799985 A CN 202210799985A CN 115291196 B CN115291196 B CN 115291196B
- Authority
- CN
- China
- Prior art keywords
- radar
- reference surface
- light beam
- preset reference
- laser
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000009434 installation Methods 0.000 claims abstract description 42
- 238000004364 calculation method Methods 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 6
- 230000007613 environmental effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 8
- 230000008859 change Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- 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
-
- 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
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a calibration method of a laser clearance radar installation posture, which comprises the following steps: s1, realizing angle calibration of a laser beam and a preset reference plane before the radar leaves a factory; s2, measuring radar installation parameters, determining radar beam parameters, and achieving radar attitude calibration. According to the invention, the angle of the light beam and the reference surface of the radar shell are calibrated by utilizing the tool before the radar leaves the factory, and the angle of the reference surface and the integral direction of the light beam can be determined by directly measuring the angle of the reference surface and the direction of the radar shell through the inclinometer and the ruler during installation, so that the attitude calibration of the radar can be realized, and the radar has the advantages of low cost, simplicity in operation, high efficiency, portability of the calibration tool, no need of multi-person cooperation and good environmental adaptability.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a calibration method for the installation posture of a laser clearance radar.
Background
Laser clearance radar is a technology based on laser ranging, the laser beam used by the technology is infrared light invisible to naked eyes, and the posture of the laser radar cannot be adjusted by means of the laser beam emitted by the laser radar, so that the posture of the laser radar needs to be adjusted. The purpose of laser clearance radar attitude adjustment is to direct the ranging laser beam emitted thereby to a specific position (preset blade clearance position D CLn Blade clearance refers to the distance between the blade tip and the fan tower at the height when the blades of a wind turbine are running, and can be determined by measuring the relative position of a light source on the fan and the angle of the light beam. For the multi-beam laser clearance radar, the relative included angles of a plurality of beams are determined before the radar leaves the factory, and as long as the pointing position of one beam and the whole pointing direction of the beams are calibrated, the other beams are pointed at the specific positions respectively.
Currently, the existing laser radar attitude adjustment generally comprises the steps of calibrating radar attitude by adopting an infrared camera and marking radar infrared laser by adopting an indicating laser visible to human eyes, however, the two methods have the following defects when applied:
1. the infrared cameras are used for calibrating the radar gestures, so that the pre-marked beam positions are overlapped with the ground marks, and the method has the advantages of high precision and small influence of tower drum shaking, but each radar needs to be provided with the infrared cameras, and the beam calibration file of each radar is recorded. When the radar is calibrated, the position of a ground target corresponding to the radar beam is required to be found on the ground through a specific measuring tool, and the attitude of the radar can be adjusted on the fan cabin after the ground target is found. When the radar pose is adjusted, the radar cameras are required to be connected, the light beam calibration file of each radar is imported into customized image software, the radar pose is adjusted after the ground target position and the radar light beam calibration position are displayed at the same time, and finally the radar light beam calibration position is overlapped with the ground target. The whole calibration process of the method is complex in operation, long in calibration operation time, each radar needs to be provided with a camera, and a specific tool is needed during calibration operation, so that the tool is high in manufacturing cost and troublesome to carry.
2. The infrared laser of the radar is marked by the visible indication laser of human eyes, so that the indication laser is overlapped with the ground mark, and the radar has the advantages of simplicity and intuitiveness, but a set of structure capable of adjusting the indication laser direction is needed, and the infrared laser is adjusted indoors to be overlapped with the infrared laser to be marked, so that the adjustment process is complicated; if the pointing calibration is involved, at least 2 indicating lasers (two points and one line) are needed, so that the cost is high and the complexity is increased; when the adjustment radar is installed and the indication laser is overlapped with the ground mark, the personnel for adjusting the radar cannot clearly see because the ground distance is too far, and the ground personnel are required to report the adjustment direction in a matching way; because the sunlight illumination intensity can be very high when the laser is used outdoors in daytime, the indication laser must have enough brightness (namely laser beam power) to ensure that the light spots on the ground have identification degree, more than 100mW is generally needed, at the moment, the laser source has considerable power consumption and heating value, the laser source further causes the change of the pointing direction due to thermal expansion and contraction, the calibration error is increased, and the high-power indication laser also has certain potential safety hazard.
For the problems in the related art, no effective solution has been proposed at present.
Disclosure of Invention
In view of the problems in the related art, the present inventionThe calibration method is used for solving the calibration problem of the installation posture of the laser clearance radar, and the clearance threshold (D CL ) And adjusting the roll angle, pitch angle and yaw angle of the radar to enable the ranging laser beam of the radar to be emitted at the preset clearance position of the blade so as to overcome the technical problems in the prior art.
For this purpose, the invention adopts the following specific technical scheme:
the calibration method of the installation posture of the laser clearance radar comprises the following steps:
s1, realizing angle calibration of a laser beam and a preset reference plane before the radar leaves a factory;
s2, measuring radar installation parameters, determining radar beam parameters, and achieving radar attitude calibration.
Further, the implementation of the angle calibration of the laser beam and the preset reference plane before the radar leaves the factory comprises the following steps:
s11, connecting the laser ranging modules with the radar shell by using fasteners, and keeping the pointing direction of each laser ranging module fixed relative to the radar shell;
s12, defining a certain outer surface of the selected radar housing as a preset reference surface of the radar housing, calibrating the preset reference surface and the light beam, and calibrating the relative angles of the preset reference surface and the light beam in the horizontal direction and the vertical direction;
s13, judging whether the relative angles of the preset reference surface and the light beam in the horizontal direction and the vertical direction meet a preset threshold value, if so, setting the default light beam to be perpendicular to the preset reference surface when the radar is installed, and otherwise, adjusting the installation angle of the laser ranging module.
Further, the method for calibrating the angle between the preset reference surface and the light beam in the horizontal direction and the vertical direction includes the following steps:
s121, selecting a certain outer surface of the radar housing and defining the outer surface as a preset reference surface of the radar housing;
s122, placing the inclinometer on a horizontal platform, and enabling two side surfaces of the inclinometer to be clung to a vertical tool;
s123, opening a inclinometer with visible directional light, and marking a falling point of the directional light on a plane which is a preset distance away from a vertical tool to obtain a first marking point;
s124, placing the radar on a horizontal platform, and enabling a preset reference surface of a radar shell to be clung to a vertical tool;
s125, calculating distance values of the inclinometer light source and the light beam light source in the horizontal direction and the vertical direction according to the distance between the inclinometer visible light source and the end face of the inclinometer shell and the position of the light beam light source relative to a preset reference surface;
s126, marking the light spot position of the light beam on a plane which is a preset distance away from the vertical tool by using an infrared observation mirror or a photosensitive card to obtain a second marking point;
s127, measuring the distance value of the first mark point and the second mark point in the horizontal direction and the vertical direction by using a ruler;
s128, calculating the relative angles of the preset reference plane and the light beam in the horizontal direction and the vertical direction according to a trigonometric function formula.
Furthermore, the vertical tool, the inclinometer and the horizontal platform are standard instruments and platforms, and the levelness, the verticality and the inclination measurement precision of the vertical tool, the inclinometer and the horizontal platform all meet the measurement requirements.
Further, the calculation formula of the relative angle between the preset reference plane and the light beam in the horizontal direction is as follows:
wherein, alpha represents the relative angle between a preset reference surface and the light beam in the horizontal direction;
a represents the distance value of the first mark point and the second mark point in the horizontal direction;
a represents the distance value between the inclinometer light source and the light beam light source in the horizontal direction;
l represents the distance between the vertical tool and the plane;
the calculation formula of the relative angle between the preset reference plane and the light beam in the vertical direction is as follows:
wherein, beta represents the relative angle between the preset reference surface and the light beam in the vertical direction;
b represents the distance value of the first mark point and the second mark point in the vertical direction;
b represents the distance value between the inclinometer light source and the light beam light source in the vertical direction.
Further, the adjusting the installation angle of the laser ranging module includes the following steps:
setting the allowable angle deviation of the light beam in the horizontal direction and the vertical direction as delta, and setting the distance between the vertical tool and the plane as L;
the O point is used as the center of a circle, the R point is used as the radius to be used as the circle, and the corresponding gasket is added at the joint of the laser ranging module and the mounting plate, so that the light spot of the light beam falls in the circle, and the adjustment of the mounting angle of the laser ranging module is realized.
Further, the calculation formula of the radius R is as follows:
wherein L represents the distance between the vertical tool and the plane;
delta represents the allowable angular deviation of the beam in the horizontal and vertical directions.
Further, the measuring radar installation parameters and determining radar beam parameters, and realizing radar attitude calibration comprises the following steps:
s21, when the radar is installed on the fan, the distance from any two points on a preset reference surface of the radar shell to the middle splicing line of the cabin cover is measured, and the integral direction of the radar is adjusted, so that the radar is parallel to the main shaft direction of the fan;
s22, calculating pitch angle and roll angle of radar beams by using the installation position of the radar, a beam preset clearance threshold value, a tower barrel radius at the blade tip and the length of the blade;
s23, placing the inclinometer on a preset reference surface of the radar shell, adjusting the radar, and observing an angle value displayed by the inclinometer until the radar is adjusted to a required angle, so that the corresponding pointing requirement of the ranging laser beam can be reached, and the attitude calibration of the radar is realized.
Furthermore, the middle splicing line of the cabin cover is parallel to the direction of the main shaft of the fan.
Further, the inclinometer coincides with two vertical edges of a preset reference surface during installation.
The beneficial effects of the invention are as follows:
1) The radar ranging laser beam light source and the radar shell are rigidly connected, so that after the radar is assembled, the relative position of the light source and the radar shell cannot change, the angle between the light beam and the radar shell reference surface can be calibrated by utilizing the tool before the radar leaves the factory, and during installation, the angle of the light beam and the integral direction of the light beam can be determined by directly measuring the angle of the reference surface and the direction of the radar shell through the inclinometer and the ruler, thereby realizing the gesture calibration of the radar.
2) The invention adopts the calibration method for measuring the reference surface of the radar shell, the radar does not need to increase extra cost, the inclinometer and the ruler measuring tool are universal measuring instruments, and each radar can be used when being installed. In addition, the method for calibrating the reference surface of the measuring radar is adopted, only the adjustment operation is needed on the fan cabin, the complicated ground calibration is not needed, and the operation steps are simple.
3) When the radar mounting posture is adjusted, an operator only needs to place the inclinometer on the reference surface, and the radar posture is directly adjusted according to the numerical value displayed on the inclinometer, so that compared with the method for indicating the cursor to fix, one person adjusts the posture and another person observes and feeds back information, the method is more direct and more efficient. In addition, the relative angle between the laser beam and the reference surface is ensured by a machining mode, so that the precision is high and the consistency is good.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments 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 other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for calibrating the mounting attitude of a laser clearance radar according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a laser clearance radar in a method for calibrating an installation posture of the laser clearance radar according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a reference surface 1 in a calibration method of an installation posture of a laser clearance radar according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the principle of the inclinometer with visible indication light in a calibration method of the installation posture of the laser clearance radar according to the embodiment of the invention;
FIG. 5 is a schematic structural diagram of a vertical tooling in a calibration method of a laser clearance radar installation attitude according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of the distance between the light source of the inclinometer and the light source of the light beam 1 in the horizontal and vertical directions in a calibration method of the installation posture of the laser clearance radar according to the embodiment of the invention;
FIG. 7 is a schematic diagram of distances between a mark point 1 and a mark point 2 in horizontal and vertical directions in a calibration method of an installation posture of a laser clearance radar according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of an adjustment principle of a laser ranging module in a calibration method of an installation posture of a laser clearance radar according to an embodiment of the present invention;
fig. 9 is a schematic diagram of beam principles of a clearance laser radar in a method for calibrating an installation posture of the laser clearance radar according to an embodiment of the present invention.
In the figure:
(1) a radar housing; (2) a radar adjustment mechanism; (3) a ranging module mounting plate; (4) a ranging module mounting surface; (5) a laser ranging module; (6) a vertical tool; (7) a fastener; (8) a horizontal platform; (9) a inclinometer; a clearance radar;a fan nacelle; />And a tower barrel.
Detailed Description
For the purpose of further illustrating the various embodiments, the present invention provides the accompanying drawings, which are a part of the disclosure of the present invention, and which are mainly used to illustrate the embodiments and, together with the description, serve to explain the principles of the embodiments, and with reference to these descriptions, one skilled in the art will recognize other possible implementations and advantages of the present invention, wherein elements are not drawn to scale, and like reference numerals are generally used to designate like elements.
According to the embodiment of the invention, a calibration method for the mounting gesture of the laser clearance radar is provided, and the method mainly discusses how to enable the laser beam to more accurately point to a preset blade clearance position when the laser clearance radar adjusts the gesture, and simultaneously enable the multi-beam laser clearance radar to point to a specific direction (generally parallel to the main shaft direction of a fan), but how to realize the gesture adjustment of the radar through an adjustable mechanical structure.
The core of the method is that the laser beam light source is rigidly connected with the radar casing, the radar casing is a rigid piece, and the radarAfter the assembly, the relative position of the light source and the radar shell cannot change, the angle between the light beam and a certain outer surface (reference surface) of the radar shell is calibrated by using a tool before the radar leaves the factory, and during the installation, the angle of the light beam and the integral direction of the light beam can be determined by directly measuring the angle of the reference surface and the direction of the radar shell through the inclinometer and the ruler, so that the gesture calibration of the radar is realized. The angle of the radar beam may be determined according to known radar mounting positions (X lidar ) Beam preset headroom threshold (D CLn ) Tower radius at tip (R TIP ) Blade length (H) TIP ) The overall direction of the beam is generally parallel to the fan main axis, calculated from the parameters.
The invention will now be further described with reference to the accompanying drawings and detailed description, as shown in fig. 1 to 9, a method for calibrating an installation attitude of a laser clearance radar according to an embodiment of the invention, the method comprising the steps of:
s1, realizing angle calibration of a laser beam and a preset reference plane before the radar leaves a factory;
the method for realizing the angle calibration of the laser beam and the preset reference surface before the radar leaves the factory comprises the following steps:
s11, connecting the laser ranging modules with the radar shell by using fasteners, and keeping the pointing direction of each laser ranging module fixed relative to the radar shell;
specifically, as shown in fig. 2, the whole housing of the radar and the mounting plate of the ranging module (hereinafter referred to as the mounting plate) are all machined rigid structural members, the laser ranging module is located inside the radar housing, and after being connected with the mounting plate through a fastener, the mounting plate is connected with the radar housing through the fastener again, so that the direction of each ranging module is fixed relative to the radar housing.
For the multi-beam laser clearance radar, each ranging module is fixed on the mounting plate at a certain mounting angle, and once the multi-beam laser clearance radar is mounted, the relative position and the relative posture between the beams cannot be changed. Thus, if beam 1 is calibrated, the pointing of the other ranging module beams is also calibrated.
In addition, in this embodiment, the plane formed by the default beam 1 and the beams 2 to n is adjusted and parallel to the front end surface of the mounting plate, and the beam 1 is vertically mounted on the mounting plate, and the adjustment process is not in the scope of the present embodiment (but is not generally adjusted due to high processing precision and good consistency).
S12, defining a certain outer surface of the selected radar housing as a preset reference surface of the radar housing, calibrating the preset reference surface and the light beam, and calibrating the relative angles of the preset reference surface and the light beam in the horizontal direction and the vertical direction;
specifically, as shown in fig. 3-7, a certain outer surface of the selected radar housing is defined as a preset reference surface of the radar housing, and the preset reference surface is calibrated with the light beam, so that the relative angles of the preset reference surface and the light beam in the horizontal direction and the vertical direction are calibrated, and the method comprises the following steps:
s121, selecting a certain outer surface of the radar housing and defining the outer surface as a preset reference surface (reference surface 1) of the radar housing;
s122, placing the inclinometer on a horizontal platform, and enabling two side surfaces of the inclinometer to be clung to a vertical tool;
s123, opening a inclinometer with visible directional light, and marking a falling point of the directional light on a plane (P) far away from the vertical tool to obtain a first marking point (marking point 1);
in the embodiment, the default vertical tool, the inclinometer and the horizontal platform are standard instruments and platforms, and the levelness, the verticality and the inclination measurement precision of the default vertical tool, the inclinometer and the horizontal platform all meet the measurement requirements.
S124, placing the radar on a horizontal platform, and enabling a preset reference surface (reference surface 1) of the radar shell to be clung to a vertical tool;
s125, as the distance between the visible light source of the inclinometer and the end face of the housing of the inclinometer is known and the position of the light source of the light beam 1 is known relative to the reference surface 1, the values a and b of the distances between the visible light source of the inclinometer and the light source of the light beam 1 in the horizontal direction and the vertical direction can be calculated according to the distance between the visible light source of the inclinometer and the end face of the housing of the inclinometer and the position of the light source of the light beam relative to the preset reference surface;
s126, obtaining a second mark point (mark point 2) by using the spot position of the mark light beam 1 such as an infrared observation mirror or a photosensitive card on a far plane;
s127, measuring the distance A value and the distance B value of the first mark point (mark point 1) and the second mark point (mark point 2) in the horizontal direction and the vertical direction by using a ruler;
s128, calculating relative angles alpha and beta between a preset reference surface (reference surface 1) and the light beam 1 in the horizontal direction and the vertical direction according to a trigonometric function formula:
wherein, alpha represents the relative angle between a preset reference surface and the light beam in the horizontal direction;
a represents the distance value of the first mark point and the second mark point in the horizontal direction;
a represents the distance value between the inclinometer light source and the light beam light source in the horizontal direction;
l represents the distance between the vertical tool and the plane;
beta represents the relative angle between the preset reference plane and the light beam in the vertical direction;
b represents the distance value of the first mark point and the second mark point in the vertical direction;
b represents the distance value between the inclinometer light source and the light beam light source in the vertical direction.
S13, judging whether the relative angles of the preset reference surface and the light beam in the horizontal direction and the vertical direction meet a preset threshold value, if so, setting the default light beam to be perpendicular to the preset reference surface when the radar is installed, and otherwise, adjusting the installation angle of the laser ranging module.
Since the radar housing, the mounting plate, the ranging laser module and the like are machined parts, high relative precision can be ensured, the angle alpha and beta values are basically in the range of 90 DEG + -0.2 DEG (specified), the calculation influence of + -0.2 DEG (specified) angle deviation on the clearance value of the blade is small and can be omitted, so that in practical application, the alpha and beta values do not need to be tested and calculated, as long as the relative angle between the light beam 1 and the reference surface 1 is detected to be in the range of 90 DEG + -0.2 DEG (specified), if the relative angle between the light beam 1 and the reference surface 1 is in the range, the default light beam 1 is perpendicular to the reference surface 1 when the radar is mounted, and if the relative angle between the light beam 1 and the reference surface 1 is not in the range, the laser ranging module 1 is adjusted. Specifically, the adjusting the installation angle of the laser ranging module includes the following steps:
as shown in fig. 8, assuming that the allowed angle deviations of the light beam 1 in the horizontal direction and the vertical direction are both delta values, the distance between the vertical tool and the plane (P) is L, the circle is made by taking the O point as the center of a circle and R as the radius, and the corresponding gasket is added at the joint of the laser ranging module and the mounting plate, so that the light spot of the light beam 1 falls in the circle, and the adjustment of the mounting angle of the laser ranging module is realized. Wherein the horizontal distance from the O point to the mark point 1 is a, the vertical distance is b, and the radius is
Wherein L represents the distance between the vertical tool and the plane;
delta represents the allowable angular deviation of the beam in the horizontal and vertical directions.
When the radar is installed, the posture of the reference surface 1 can be known only by calculating the pointing angle of the light beam 1 and combining the relative angle alpha and beta values of the reference surface 1 and the light beam 1 in the horizontal direction and the vertical direction, so that the pointing of the reference surface, namely, the pointing of the light beam, is ensured.
S2, measuring radar installation parameters, determining radar beam parameters, and achieving radar attitude calibration.
As shown in fig. 9, the steps of measuring radar installation parameters and determining radar beam parameters to realize radar attitude calibration include the following steps:
s21, when the radar is installed on the fan, the distance from any two points on a preset reference surface of the radar shell to the middle splicing line of the cabin cover is measured, and the integral direction of the radar is adjusted, so that the radar is parallel to the main shaft direction of the fan; the default nacelle cover middle splice line is parallel to the fan main axis direction.
S22, according to the known radar installation position (X lidar ) Beam preset headroom threshold (D CLn ) Tower radius at tip (R TIP ) Blade length (H) TIP ) Equal parameters, calculating the pitch angle theta of the radar beam by using the installation position of the radar, the clearance threshold preset by the beam, the tower barrel radius at the blade tip and the blade length 1 And roll angle (in general, roll angle requires 0 °, i.e. level adjustment during radar installation);
s23, placing the inclinometer on a preset reference surface (reference surface 1) of the radar housing (when the inclinometer is placed, the inclination needs to be coincident with two perpendicular edges of the reference surface), and observing an angle value displayed by the inclinometer while adjusting the radar until the radar is adjusted to a required angle, so that the corresponding pointing requirement of the ranging laser beam can be reached, and the gesture calibration of the radar is realized.
In summary, by means of the technical scheme, the radar ranging laser beam light source and the radar shell are rigidly connected, so that the relative position of the light source and the radar shell is not changed after the radar is assembled, the angle of the light beam and the reference surface of the radar shell can be calibrated by using a tool before the radar leaves a factory, and the angle of the light beam and the integral direction of the light beam can be determined by directly measuring the angle of the reference surface and the direction of the radar shell through the inclinometer and the ruler during installation, thereby realizing the gesture calibration of the radar.
Meanwhile, the method for calibrating the reference surface of the shell of the measuring radar is adopted, the radar does not need to increase extra cost, the inclinometer and the ruler measuring tool are universal measuring instruments, and each radar can be used when being installed. In addition, the method for calibrating the reference surface of the measuring radar is adopted, only the adjustment operation is needed on the fan cabin, the complicated ground calibration is not needed, and the operation steps are simple.
Meanwhile, when the radar installation posture is adjusted, an operator only needs to place the inclinometer on the reference surface, and the radar posture is directly adjusted according to the numerical value displayed on the inclinometer, so that compared with the method for indicating the cursor to fix one person to adjust the posture and the other person to observe and feed back information, the method is more direct and more efficient. In addition, the relative angle between the laser beam and the reference surface is ensured by a machining mode, so that the precision is high and the consistency is good.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (8)
1. The calibration method of the installation posture of the laser clearance radar is characterized by comprising the following steps of:
s1, realizing angle calibration of a laser beam and a preset reference plane before the radar leaves a factory;
s2, measuring radar installation parameters, determining radar beam parameters, and realizing radar attitude calibration;
the method for realizing the angle calibration of the laser beam and the preset reference surface before the radar leaves the factory comprises the following steps:
s11, connecting the laser ranging modules with the radar shell by using fasteners, and keeping the pointing direction of each laser ranging module fixed relative to the radar shell;
s12, defining a certain outer surface of the selected radar housing as a preset reference surface of the radar housing, calibrating the preset reference surface and the light beam, and calibrating the relative angles of the preset reference surface and the light beam in the horizontal direction and the vertical direction;
s13, judging whether the relative angles of the preset reference surface and the light beam in the horizontal direction and the vertical direction meet a preset threshold value, if so, enabling the default light beam to be perpendicular to the preset reference surface when the radar is installed, and otherwise, adjusting the installation angle of the laser ranging module;
the method comprises the steps of defining a certain outer surface of the selected radar housing as a preset reference surface of the radar housing, calibrating the preset reference surface with a light beam, and calibrating the relative angles of the preset reference surface and the light beam in the horizontal direction and the vertical direction, wherein the steps comprise the following steps:
s121, selecting a certain outer surface of the radar housing and defining the outer surface as a preset reference surface of the radar housing;
s122, placing the inclinometer on a horizontal platform, and enabling two side surfaces of the inclinometer to be clung to a vertical tool;
s123, opening a inclinometer with visible directional light, and marking a falling point of the directional light on a plane which is a preset distance away from a vertical tool to obtain a first marking point;
s124, placing the radar on a horizontal platform, and enabling a preset reference surface of a radar shell to be clung to a vertical tool;
s125, calculating distance values of the inclinometer light source and the light beam light source in the horizontal direction and the vertical direction according to the distance between the inclinometer visible light source and the end face of the inclinometer shell and the position of the light beam light source relative to a preset reference surface;
s126, marking the light spot position of the light beam on a plane which is a preset distance away from the vertical tool by using an infrared observation mirror or a photosensitive card to obtain a second marking point;
s127, measuring the distance value of the first mark point and the second mark point in the horizontal direction and the vertical direction by using a ruler;
s128, calculating the relative angles of the preset reference plane and the light beam in the horizontal direction and the vertical direction according to a trigonometric function formula.
2. The method for calibrating the installation posture of the laser clearance radar according to claim 1, wherein the vertical tool, the inclinometer and the horizontal platform are standard instruments and platforms, and the levelness, the perpendicularity and the inclination measurement precision of the vertical tool, the inclinometer and the horizontal platform all meet measurement requirements.
3. The method for calibrating the mounting posture of the laser clearance radar according to claim 1, wherein the calculation formula of the relative angle between the preset reference surface and the light beam in the horizontal direction is as follows:
wherein, alpha represents the relative angle between a preset reference surface and the light beam in the horizontal direction;
a represents the distance value of the first mark point and the second mark point in the horizontal direction;
a represents the distance value between the inclinometer light source and the light beam light source in the horizontal direction;
l represents the distance between the vertical tool and the plane;
the calculation formula of the relative angle between the preset reference plane and the light beam in the vertical direction is as follows:
wherein, beta represents the relative angle between the preset reference surface and the light beam in the vertical direction;
b represents the distance value of the first mark point and the second mark point in the vertical direction;
b represents the distance value between the inclinometer light source and the light beam light source in the vertical direction.
4. The method for calibrating the installation posture of the laser clearance radar according to claim 1, wherein the adjusting the installation angle of the laser ranging module comprises the following steps:
setting the allowable angle deviation of the light beam in the horizontal direction and the vertical direction as delta, and setting the distance between the vertical tool and the plane as L;
the O point is used as the center of a circle, the R point is used as the radius to be used as the circle, and the corresponding gasket is added at the joint of the laser ranging module and the mounting plate, so that the light spot of the light beam falls in the circle, and the adjustment of the mounting angle of the laser ranging module is realized.
5. The method for calibrating the mounting posture of the laser clearance radar according to claim 4, wherein the calculation formula of the radius R is as follows:
wherein L represents the distance between the vertical tool and the plane;
delta represents the allowable angular deviation of the beam in the horizontal and vertical directions.
6. The method for calibrating the mounting posture of the laser headroom radar according to claim 1, wherein the steps of measuring the radar mounting parameters and determining the radar beam parameters to realize the posture calibration of the radar comprise the following steps:
s21, when the radar is installed on the fan, the distance from any two points on a preset reference surface of the radar shell to the middle splicing line of the cabin cover is measured, and the integral direction of the radar is adjusted, so that the radar is parallel to the main shaft direction of the fan;
s22, calculating pitch angle and roll angle of radar beams by using the installation position of the radar, a beam preset clearance threshold value, a tower barrel radius at the blade tip and the length of the blade;
s23, placing the inclinometer on a preset reference surface of the radar shell, adjusting the radar, and observing an angle value displayed by the inclinometer until the radar is adjusted to a required angle, so that the corresponding pointing requirement of the ranging laser beam can be reached, and the attitude calibration of the radar is realized.
7. The method for calibrating the installation posture of the laser clearance radar according to claim 6, wherein the middle splicing line of the cabin cover is parallel to the direction of the main shaft of the fan.
8. The method for calibrating the installation posture of the laser clearance radar according to claim 6, wherein the inclinometer is overlapped with two vertical variable side lines of a preset reference surface during installation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210799985.3A CN115291196B (en) | 2022-07-06 | 2022-07-06 | Calibration method for mounting posture of laser clearance radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210799985.3A CN115291196B (en) | 2022-07-06 | 2022-07-06 | Calibration method for mounting posture of laser clearance radar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115291196A CN115291196A (en) | 2022-11-04 |
| CN115291196B true CN115291196B (en) | 2023-07-25 |
Family
ID=83822698
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210799985.3A Active CN115291196B (en) | 2022-07-06 | 2022-07-06 | Calibration method for mounting posture of laser clearance radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115291196B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116008970B (en) * | 2023-03-27 | 2024-01-05 | 南京牧镭激光科技股份有限公司 | Method for verifying radar null value inversion accuracy based on video image |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017101912A1 (en) * | 2015-12-18 | 2017-06-22 | Hella Gutmann Solutions GmbH | Device for calibrating at least one radar sensor |
| CN110824448A (en) * | 2019-12-06 | 2020-02-21 | 江苏南水科技有限公司 | Radar detection device, and working method and mounting method of radar detection device |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20210091914A (en) * | 2020-01-15 | 2021-07-23 | 주식회사 유텔 | Synthetic aperture radar system |
| CN113767264A (en) * | 2020-03-05 | 2021-12-07 | 深圳市大疆创新科技有限公司 | Parameter calibration method, device, system and storage medium |
| CN114384496B (en) * | 2020-10-22 | 2023-03-21 | 北京一径科技有限公司 | Method and system for calibrating angle of laser radar |
| CN114688976B (en) * | 2020-12-29 | 2023-07-18 | 北京金风科创风电设备有限公司 | Distance measurement equipment calibration method, device, system and equipment of wind turbine generator |
| CN112946609B (en) * | 2021-02-02 | 2022-03-15 | 中国汽车技术研究中心有限公司 | Calibration method, device and equipment for laser radar and camera and readable storage medium |
| CN112859053B (en) * | 2021-03-17 | 2023-07-28 | 中国人民解放军61540部队 | Method and system for calibrating time-varying parameters of laser radar |
| CN113296082B (en) * | 2021-05-28 | 2024-05-24 | 南京牧镭激光科技股份有限公司 | Calibration method and auxiliary device for laser clearance radar to monitor clearance distance of fan |
-
2022
- 2022-07-06 CN CN202210799985.3A patent/CN115291196B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017101912A1 (en) * | 2015-12-18 | 2017-06-22 | Hella Gutmann Solutions GmbH | Device for calibrating at least one radar sensor |
| CN110824448A (en) * | 2019-12-06 | 2020-02-21 | 江苏南水科技有限公司 | Radar detection device, and working method and mounting method of radar detection device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115291196A (en) | 2022-11-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9261355B2 (en) | Device for optically measuring the curvature of a rotor blade of a wind power plant | |
| US8801188B2 (en) | Method for aligning the heliostats of a heliostat field | |
| CN110007292A (en) | A kind of method and calibration system of laser radar Zero positioning | |
| CN112357110B (en) | Aircraft taxiing lamp installation angle calibration system and method based on laser positioning principle | |
| CN104048620B (en) | A kind of Radio Telescope Antenna face shape absolute calibration apparatus and method | |
| CN115291196B (en) | Calibration method for mounting posture of laser clearance radar | |
| CN109471090B (en) | Detection method of non-coaxial scanning laser radar receiving system | |
| CN108413865B (en) | secondary reflection mirror surface type detection method based on three-dimensional measurement and coordinate system conversion | |
| CN113296082A (en) | Calibration method and auxiliary device for monitoring clearance distance of fan by using laser clearance radar | |
| CN107421515A (en) | A kind of multi-functional geometric sense precision intelligence measurement apparatus and method | |
| CN109186944A (en) | Airborne more optical axis optics load light axis consistency Calibration Methods | |
| CN104697489B (en) | A kind of plane normal azimuth measuring device, method and application | |
| CN116429375B (en) | Photoelectric axis pointing consistency calibration method | |
| CN109508044B (en) | Heliostat secondary reflection pointing correction system and method | |
| CN109212495B (en) | Automatic radar target calibration method and system based on gyroscope | |
| CN115359048B (en) | Real-time dynamic alignment measurement method based on closed-loop tracking and aiming and tracking and aiming device | |
| CN118401791A (en) | Method for measuring heliostat and method for calibrating heliostat | |
| CN110108251B (en) | System and method for measuring pose of secondary reflecting surface of large radio telescope | |
| CN114967022A (en) | Auto-collimation dynamic target optical assembly and calibration method based on double theodolites | |
| CN211784204U (en) | Target correcting instrument | |
| CN108413985B (en) | System and method for acquiring boresight data and carrying equipment | |
| CN111175029A (en) | Target calibration instrument and aircraft target calibration method | |
| CN206031804U (en) | Unmanned aerial vehicle with measuring device | |
| CN112631339A (en) | System and method for correcting secondary reflection pointing of movable heliostat | |
| CN206057559U (en) | Unmanned plane with calibrating installation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 210000 room 0601, building C, Xingzhi Science Park, Xingzhi Road, Nanjing Economic and Technological Development Zone, Nanjing, Jiangsu Province Applicant after: Nanjing Mulai Laser Technology Co.,Ltd. Address before: 210000 room 0601, building C, Xingzhi Science Park, Xingzhi Road, Nanjing Economic and Technological Development Zone, Nanjing, Jiangsu Province Applicant before: NANJING MOVELASER TECHNOLOGY Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder |
Address after: 210000 Building B2, Hongfeng Science and Technology Park, Kechuang Road, Nanjing Economic and Technological Development Zone, Nanjing, Jiangsu Province Patentee after: Nanjing Mulai Laser Technology Co.,Ltd. Address before: 210000 room 0601, building C, Xingzhi Science Park, Xingzhi Road, Nanjing Economic and Technological Development Zone, Nanjing, Jiangsu Province Patentee before: Nanjing Mulai Laser Technology Co.,Ltd. |
|
| CP02 | Change in the address of a patent holder |