CN115372934A - Laser radar assembly offset angle acquisition system and assembly angle correction method - Google Patents

Laser radar assembly offset angle acquisition system and assembly angle correction method Download PDF

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Publication number
CN115372934A
CN115372934A CN202110541317.6A CN202110541317A CN115372934A CN 115372934 A CN115372934 A CN 115372934A CN 202110541317 A CN202110541317 A CN 202110541317A CN 115372934 A CN115372934 A CN 115372934A
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China
Prior art keywords
angle
laser radar
lidar
distance
detection device
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Chinese (zh)
Inventor
张阳
纪淑花
陈思宏
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Guangdong Bozhilin Robot Co Ltd
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Guangdong Bozhilin Robot Co Ltd
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Priority to CN202110541317.6A priority Critical patent/CN115372934A/en
Publication of CN115372934A publication Critical patent/CN115372934A/en
Pending legal-status Critical Current

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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
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • 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
    • G01S7/495—Counter-measures or counter-counter-measures using electronic or electro-optical means
    • 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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  • 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 application provides a laser radar assembly offset angle acquisition system and an assembly angle correction method, relates to the field of laser radar manufacturing. The laser radar assembly offset angle acquisition system comprises a base, a positioning device and a positioning device target piece, angle detection device and processor. The base has a mounting surface for mounting the lidar. The target piece is used for receiving laser emitted by the laser radar. The angle detection device is installed at the base, and the angle detection device is configured to detect the contained angle between installation face and the horizontal plane. The processor is electrically connected with the angle detection device and used for obtaining the offset angle of the laser radar according to the angle value detected by the angle detection device, the distance between the laser radar and the target piece in the horizontal direction and the distance between the laser spot on the target piece and the laser radar in the vertical direction. The system detects the included angle between the installation surface and the horizontal plane by arranging the angle detection device, and the processor corrects the included angle when calculating the deviation angle, so that the requirement on the levelness of the installation surface is reduced.

Description

Laser radar assembly offset angle acquisition system and assembly angle correction method
Technical Field
The application relates to the field of laser radar manufacturing, in particular to a laser radar assembly offset angle acquisition system and an assembly angle correction method.
Background
The laser radar is a radar which emits laser beams to detect the position and the direction of a target, and the working principle of the radar is that the detection laser beams are emitted to the target firstly, and after the target reflects the laser beams, the distance of the target is judged according to the positions of the laser beams reflected by different targets projected on an inductor. The existing laser radar has errors in the assembling process, so that an offset angle exists between actually emitted laser beams and theoretically emitted laser beams. In the prior art, the offset angle of the laser radar is difficult to obtain quickly, and the offset angle is corrected.
Disclosure of Invention
An object of the embodiments of the present application is to provide a system for obtaining an assembly offset angle of a laser radar and a method for correcting the assembly offset angle, which aim to solve the problem that it is difficult to quickly obtain an offset angle of a laser radar in the related art.
In a first aspect, an embodiment of the present application provides a laser radar assembly deviation angle acquisition system, which includes a base, a target, an angle detection device, and a processor. The base has a mounting surface for mounting the lidar. The target piece and the base are arranged at intervals, for receiving laser light emitted by the laser radar. The angle detection device is installed at the base, and the angle detection device is configured to detect the contained angle between installation face and the horizontal plane. The processor is electrically connected with the angle detection device, and the deviation angle of the laser radar is obtained according to the angle value detected by the angle detection device, the distance between the laser radar and the target piece in the horizontal direction and the distance between the laser spot on the target piece and the laser radar in the vertical direction.
In the technical scheme, the laser radar assembly offset angle acquisition system detects the included angle between the installation surface and the horizontal plane by arranging the angle detection device, and the processor corrects the angle value detected by the angle detection device when calculating the offset angle, so that the requirement on the levelness of the installation surface is reduced. By adopting the laser radar assembly offset angle acquisition system, the offset angle of the laser radar can be quickly and conveniently determined, and then the laser radar can be adjusted according to the offset angle to correct the laser radar.
As an optional technical solution of the embodiment of the present application, the laser radar assembly offset angle obtaining system includes an image pickup device, and the image pickup device is electrically connected to the processor. The camera equipment is used for acquiring the position information of the laser spot on the target piece. The processor is used for acquiring the light spots according to the position information distance from the lidar in the vertical direction.
In above-mentioned technical scheme, through setting up the positional information that camera equipment obtained the facula on the mark target piece, compare in adopting the naked eye to observe the facula position, it is faster to obtain speed, and jamming is less, and is more accurate.
As an optional technical scheme of the embodiment of the application, the laser radar assembly offset angle acquisition system comprises a rotating mechanism, and the laser radar is installed on the installation surface through the rotating mechanism. The rotating mechanism is used for driving the laser radar to rotate around an axis perpendicular to the mounting surface relative to the base.
In above-mentioned technical scheme, through setting up slewing mechanism, be convenient for drive laser radar and rotate, be convenient for measure the skew angle in the laser radar all directions.
As an optional technical solution of the embodiment of the present application, the rotating mechanism is electrically connected to the processor, and the processor is configured to obtain a first average value of the offset angle according to the number of rotations of the rotating mechanism.
In the technical scheme, the laser radar is rotated for multiple times, the first average values of the multiple deviation angles are obtained, the laser radar is corrected through the first average values, and the efficiency is higher.
In a second aspect, an embodiment of the present application further provides a laser radar assembly angle correction method, where based on any one of the laser radar assembly offset angle acquisition systems, the laser radar assembly angle correction method includes: acquiring a first distance between a light spot of laser on a target piece and a laser radar in the vertical direction; obtaining the laser radar and the target member a second distance in the horizontal direction; detecting an included angle between the mounting surface and the horizontal plane through an angle detection device; acquiring a deviation angle of the laser radar according to the first distance, the second distance and the angle value detected by the angle detection device; adjusting the position of the laser radar for multiple times to obtain a first average value of the offset angle; and adjusting the laser radar according to the first average value.
In the technical scheme, the included angle between the installation surface and the horizontal plane is detected by arranging the angle detection device, when the deviation angle is calculated, the angle value detected by the angle detection device is corrected, so that the requirement on the levelness of the mounting surface is reduced. By adopting the laser radar assembly angle correction method, the offset angle of the laser radar can be quickly and conveniently determined, the laser radar can be adjusted for multiple times to obtain the first average value of the offset angle, the laser radar can be adjusted according to the first average value to correct the laser radar, and the correction efficiency and accuracy of the laser radar are improved.
As an optional technical solution of the embodiment of the present application, obtaining the offset angle of the laser radar according to the first distance, the second distance, and the angle value detected by the angle detection device includes: according to
Figure BDA0003071908870000031
And calculating an offset angle, wherein h is a first distance, S is a second distance, and alpha is an angle value detected by the angle detection device.
In the above technical solution, according to
Figure BDA0003071908870000032
In the context of this formula, the expression, the offset angle of the laser radar can be rapidly calculated.
As an optional technical solution of the embodiment of the present application, adjusting the position of the laser radar multiple times includes: and rotating the laser radar around an axis perpendicular to the mounting surface, recording the angular position of the laser radar after each rotation, and obtaining a second average value of the angular positions for multiple times.
In the technical scheme, the laser radar is rotated, so that the offset angle of the laser radar in each direction can be conveniently measured. By calculating the second average value of the angular position, the average adjustment amount of the laser radar is convenient to determine.
As an optional technical solution of the embodiment of the present application, adjusting the lidar according to the first average value includes: and adjusting the assembling bolts on the laser radar according to the first average value and the second average value.
In the technical scheme, the offset angle of the laser radar can be quickly adjusted by adjusting the screwing condition of the assembling bolt, and the laser radar is convenient and quick to use.
As an optional technical solution of the embodiment of the present application, adjusting the mounting bolt on the laser radar according to the first average value and the second average value includes: according to
Figure BDA0003071908870000041
And calculating the adjusting angle of the assembling bolt, wherein rho is a second average value, and theta is an included angle between the transmitting direction of the laser radar and a straight line passing through the center of the assembling bolt and the installation center of the laser radar.
In the above technical scheme, according to
Figure BDA0003071908870000042
By the formula, the adjusting angle of the assembling bolt can be quickly calculated.
As an optional technical solution of the embodiment of the present application, adjusting the mounting bolt on the laser radar according to the first average value and the second average value further includes: according to
Figure BDA0003071908870000043
And calculating the number of adjusting turns of the assembling bolt, wherein d is the thread pitch value of the assembling bolt, and R is the distance from the mounting center to the center of the assembling bolt.
In the above technical scheme, according to
Figure BDA0003071908870000044
This formula allows calculation of the number of adjustment turns of the mounting bolt, and then, the assembling bolt is rotated according to the adjusting number of turns of the assembling bolt, so that the laser radar can be corrected.
Drawings
To more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a laser radar assembly offset angle acquisition system according to an embodiment of the present disclosure;
fig. 2 is a schematic view illustrating adjustment of the mounting bolt provided in the embodiment of the present application.
Icon: 100-a base; 200-a target member; 300-angle detection means; 400-a processor; 500-an image pickup apparatus; 600-a rotation mechanism; 700-laser radar; 710-assembling the bolt.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, as generally described and illustrated in the figures herein, could be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.
In the description of the embodiments of the present application, it is to be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, refer to the orientation or positional relationship as shown in the drawings, or as conventionally placed in use of the product of the application, or as conventionally understood by those skilled in the art, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present application.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Examples
Referring to fig. 1, the present embodiment provides a lidar set-up offset angle acquisition system, which includes a base 100, a target 200, an angle detection device 300, and a processor 400. The base 100 has a mounting surface for mounting the laser radar 700. Target member 200 is spaced apart from base 100 and is configured to receive laser light from lidar 700. The angle detection device 300 is mounted to the base 100, and the angle detection device 300 is configured to detect an angle between a mounting surface and a horizontal plane. The processor 400 is electrically connected to the angle detection device 300, and is configured to obtain the offset angle of the laser radar 700 according to the angle value detected by the angle detection device 300, the distance between the laser radar 700 and the target piece 200 in the horizontal direction, and the distance between the laser spot on the target piece 200 and the laser radar 700 in the vertical direction. The laser radar assembly offset angle acquisition system detects the included angle between the installation surface and the horizontal plane by arranging the angle detection device 300, and the processor 400 corrects the angle value detected by the angle detection device 300 when calculating the offset angle, so that the requirement on the levelness of the installation surface is reduced. By adopting the laser radar assembly offset angle acquisition system, the offset angle of the laser radar 700 can be quickly and conveniently determined, and then the laser radar 700 can be adjusted according to the offset angle to correct the laser radar 700.
Referring to fig. 1, in some embodiments, the upper surface of the base 100 is a mounting surface, and the laser radar 700 is mounted on the upper surface of the base 100. The target member 200 is disposed at a distance from the base 100 in the horizontal direction, and the laser radar 700 is aligned with the center position or the vicinity of the center position of the target member 200, so that the target member 200 receives the laser light emitted from the laser radar 700. Optionally, the target member 200 is a target paper having a grid thereon to facilitate determining the spot location of the laser on the target paper.
In some embodiments, the angle detection device 300 is mounted to a mounting surface, and the angle detection device 300 is configured to detect an angle between the mounting surface and a horizontal plane. Of course, in other embodiments, the angle detection apparatus 300 may be installed at other positions of the base 100, as long as the angle between the mounting surface and the horizontal plane can be detected. For example, referring to fig. 1, the upper surface (i.e., the mounting surface) of the base 100 is parallel to the lower surface of the base 100. The angle detecting device 300 may be mounted to the lower surface of the base 100 and also be capable of detecting an angle between the mounting surface and the horizontal plane.
Referring to fig. 1 of the drawings, in which, in some embodiments of the present invention, the, the processor 400 is a computer. Optionally, the processor 400 is a Central Processing Unit (CPU). The processor 400 is electrically connected to the angle detecting device 300 to receive the angle value detected by the angle detecting device 300. Additionally, the distance of lidar 700 from target piece 200 in the horizontal direction is determined at the time of placement of target piece 200 and lidar 700, and may be manually input to processor 400. The distance between the laser spot on the target member 200 and the laser radar 700 in the vertical direction can be confirmed by the operator, and then input to the processor 400. The processor 400 obtains the offset angle of the laser radar 700 according to the angle value detected by the angle detection device 300, the distance between the laser radar 700 and the target member 200 in the horizontal direction, and the distance between the laser spot on the target member 200 and the laser radar 700 in the vertical direction.
In some embodiments, the lidar assembly offset angle acquisition system includes an image capture device 500, and the image capture device 500 is electrically connected to the processor 400. The image pickup apparatus 500 is disposed toward the target member 200, and the image pickup apparatus 500 is used to acquire positional information of a spot of the laser light on the target member 200. The processor 400 is configured to obtain a distance between the light spot and the laser radar 700 in the vertical direction according to the position information. The position information of the light spot on the target member 200 is acquired by setting the image pickup apparatus 500, compared with the method of observing the position of the light spot by naked eyes, the method has the advantages of higher acquisition speed, smaller man-made interference and higher accuracy. Alternatively, the image capturing apparatus 500 is a camera, a video camera, a scanner, or the like.
Referring to fig. 1, in some embodiments, the lidar mounting offset angle acquisition system includes a rotating mechanism 600, and the lidar 700 is mounted on the mounting surface via the rotating mechanism 600. The rotating mechanism 600 is used for driving the laser radar 700 to rotate around an axis perpendicular to the installation surface relative to the base 100. The rotation mechanism 600 is arranged to facilitate the rotation of the laser radar 700, it is convenient to measure the offset angle in each direction of laser radar 700. Alternatively, the rotating mechanism 600 is an electric turntable, the rotating mechanism 600 is electrically connected to the processor 400, and the processor 400 is configured to obtain a first average value of the offset angle according to the number of rotations of the rotating mechanism 600. By rotating the laser radar 700 for multiple times, the first average values of the multiple offset angles are obtained, and the laser radar 700 is corrected through the first average values, so that the efficiency is higher.
The embodiment also provides a laser radar assembly angle correction method, based on the laser radar assembly offset angle acquisition system, the laser radar assembly angle correction method includes: acquiring a first distance between a light spot of laser on the target piece 200 and the laser radar 700 in the vertical direction; obtaining a laser radar 700 and target member 200 a second distance in the horizontal direction; detecting an included angle between the installation surface and the horizontal plane through an angle detection device 300; acquiring a deviation angle of the laser radar 700 according to the first distance, the second distance and the angle value detected by the angle detection device 300; adjusting the position of the laser radar 700 for multiple times to obtain a first average value of the offset angle; laser radar 700 is adjusted according to the first average value. By arranging the angle detection device 300, the included angle between the installation surface and the horizontal plane is detected, and when the deviation angle is calculated, the angle value detected by the angle detection device 300 is corrected, so that the requirement on the levelness of the installation surface is reduced. By adopting the laser radar assembly angle correction method, the offset angle of the laser radar 700 can be quickly and conveniently determined, the laser radar 700 is adjusted for multiple times to obtain the first average value of the offset angle, the laser radar 700 is adjusted according to the first average value, the laser radar 700 is corrected, and the correction efficiency and accuracy of the laser radar 700 are improved.
Referring to fig. 1, if the laser radar 700 is installed horizontally, the laser emitted from the laser radar 700 should strike at point 0, and the point 0 is at the same height as the laser radar 700. However, because of the angle between the mounting surface and the horizontal plane, the laser emitted by lidar 700 should ideally strike point a. The distance h of 0A can be calculated by a trigonometric function 0 = S · tan α. Where S is the second distance, and α is a detection value detected by the angle detection device 300.
The angle ρ of the rotating mechanism 600 is obtained, and the laser emitted by the laser radar 700 actually strikes at point B due to the offset angle of the laser radar 700. Then can be based on
Figure BDA0003071908870000091
α is a deviation angle when the angle of the rotating mechanism 600 is ρ, where h is a first distance, S is a second distance, and α is an angle value detected by the angle detecting device 300. Thereafter, the rotation mechanism 600 is rotated to measure the offset angle at another position. Multiple sets of data can be obtained, and multiple sets of measurement data can be obtained: (ρ) 1 ，β 1 )，(ρ 2 ，β 2 )，(ρ 3 ，β 3 )，...，(ρ n ，β n ) Obtaining a second average value based on the plurality of sets of measurement dataThe value and the first average, written as (ρ, β).
Referring to fig. 2, the assembling bolts 710 on the laser radar 700 are adjusted according to the average value (ρ, β), and the offset angle of the laser radar 700 can be adjusted quickly by adjusting the tightening condition of the assembling bolts 710, which is convenient and fast. Optionally according to
Figure BDA0003071908870000092
The adjustment angle of the fitting bolt 710 is calculated, where p is the second average value, θ is an angle between the transmission direction of laser radar 700 and a straight line passing through the center of mounting bolt 710 and the mounting center of laser radar 700. Referring to fig. 2, point C is the installation center of laser radar 700, point D is the center of mounting bolt 710, and θ is the angle between the emission direction of laser radar 700 and line CD.
In addition, can also be based on
Figure BDA0003071908870000093
The number of adjustment turns of the mounting bolt 710 is calculated, where d is the pitch value of the mounting bolt 710 and R is the distance from the mounting center to the center of the mounting bolt 710. As incorporated in fig. 1, R is the length of the line segment CD.
By adopting the same calculation method, the system can be used, all mounting bolts 710 are adjusted. For example, referring to fig. 2, in fig. 2, four assembling bolts 710 are provided, and the number of adjusting turns needs to be calculated respectively according to different assembling bolts 710 and adjusted respectively.
After all assembly bolts 710 have been adjusted, the angle of deviation of lidar 700 may be tested again to determine whether the angle of deviation of lidar 700 is within a threshold.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. A lidar set-up offset angle acquisition system, comprising:
a base having a mounting surface for mounting a laser radar;
the target piece is arranged at an interval with the base and used for receiving laser emitted by the laser radar;
an angle detection device mounted to the base, the angle detection device configured to detect an included angle between the mounting surface and a horizontal plane; and
and the processor is electrically connected with the angle detection device and is used for acquiring the offset angle of the laser radar according to the angle value detected by the angle detection device, the distance between the laser radar and the target piece in the horizontal direction and the distance between the laser spot on the target piece and the laser radar in the vertical direction.
2. The lidar set-up offset angle acquisition system according to claim 1, wherein the lidar set-up offset angle acquisition system comprises a camera device electrically connected to the processor, the camera device is configured to acquire position information of a light spot of the laser on the target member, and the processor is configured to acquire a distance between the light spot and the lidar in a vertical direction according to the position information.
3. The lidar set-up offset angle acquisition system of claim 1, wherein the lidar set-up offset angle acquisition system comprises a rotating mechanism, the lidar is mounted to the mounting surface via the rotating mechanism, and the rotating mechanism is configured to rotate the lidar relative to the base about an axis perpendicular to the mounting surface.
4. The lidar set-up offset angle acquisition system of claim 3, wherein the rotating mechanism is electrically connected to the processor, and wherein the processor is configured to obtain the first average of the offset angles based on a number of rotations of the rotating mechanism.
5. A lidar mounting angle correction method based on the lidar mounting offset angle acquisition system according to any one of claims 1 to 4, comprising:
acquiring a first distance between a light spot of the laser on the target piece and the laser radar in the vertical direction;
acquiring a second distance between the laser radar and the target piece in the horizontal direction;
detecting an included angle between the mounting surface and a horizontal plane through the angle detection device;
acquiring a deviation angle of the laser radar according to the first distance, the second distance and the angle value detected by the angle detection device;
adjusting the position of the laser radar for multiple times to obtain a first average value of the offset angle;
and adjusting the laser radar according to the first average value.
6. The lidar mounting angle correction method according to claim 5, wherein the obtaining of the offset angle of the lidar based on the first distance, the second distance, and the angle value detected by the angle detection device comprises:
according to
Figure FDA0003071908860000021
And calculating the offset angle, wherein h is the first distance, S is the second distance, and alpha is an angle value detected by an angle detection device.
7. The lidar mounting angle correction method of claim 6, wherein the adjusting the position of the lidar a plurality of times comprises:
and rotating the laser radar around an axis perpendicular to the mounting surface, recording the angular position of the laser radar after each rotation, and obtaining a second average value of the angular positions for multiple times.
8. The lidar set-up angle correction method of claim 7, wherein the adjusting the lidar based on the first average value comprises:
and adjusting the assembling bolts on the laser radar according to the first average value and the second average value.
9. The lidar mounting angle correction method of claim 8, wherein the adjusting the mounting bolts on the lidar based on the first average value and the second average value comprises:
according to
Figure FDA0003071908860000031
And calculating the adjusting angle of the assembling bolt, wherein rho is the second average value, and theta is an included angle between the transmitting direction of the laser radar and a straight line passing through the center of the assembling bolt and the installation center of the laser radar.
10. The lidar mounting angle correction method of claim 9, wherein the adjusting the mounting bolts on the lidar based on the first average value and the second average value further comprises:
according to
Figure FDA0003071908860000032
And calculating the number of adjusting turns of the assembling bolt, wherein d is the thread pitch value of the assembling bolt, and R is the distance from the mounting center to the center of the assembling bolt.
CN202110541317.6A 2021-05-18 2021-05-18 Laser radar assembly offset angle acquisition system and assembly angle correction method Pending CN115372934A (en)

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Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115598626A (en) * 2022-12-14 2023-01-13 成都量芯集成科技有限公司（Cn） Deviation calibration device and method for laser range finder
CN116679290A (en) * 2023-08-02 2023-09-01 东莞市沃百泰优电子科技有限公司 Method, system and medium for testing rotation center offset of rotary laser radar

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115598626A (en) * 2022-12-14 2023-01-13 成都量芯集成科技有限公司（Cn） Deviation calibration device and method for laser range finder
CN115598626B (en) * 2022-12-14 2023-03-14 成都量芯集成科技有限公司 Deviation calibration device and method for laser range finder
CN116679290A (en) * 2023-08-02 2023-09-01 东莞市沃百泰优电子科技有限公司 Method, system and medium for testing rotation center offset of rotary laser radar
CN116679290B (en) * 2023-08-02 2024-04-19 东莞市沃百泰优电子科技有限公司 Method, system and medium for testing rotation center offset of rotary laser radar

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