CN115656976B - Laser emission module, laser radar and radar calibration method - Google Patents
Laser emission module, laser radar and radar calibration method Download PDFInfo
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- CN115656976B CN115656976B CN202211687992.0A CN202211687992A CN115656976B CN 115656976 B CN115656976 B CN 115656976B CN 202211687992 A CN202211687992 A CN 202211687992A CN 115656976 B CN115656976 B CN 115656976B
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Abstract
The application provides a laser emission module, a laser radar and a radar calibration method, and relates to the technical field of radars. The laser emission module comprises a support assembly, an adjusting assembly and a laser emission device, the laser emission device is connected to the support assembly through the adjusting assembly, the adjusting assembly is used for adjusting the emission direction of the laser emission device, and the adjusting assembly locks the adjusting amount through an adhesive so as to lock the emission direction of the laser emission device. The laser emission module of this application can facilitate for laser emission device's calibration through setting up adjusting part, also further realizes laser radar's high-efficient equipment. According to the radar calibration method provided by the embodiment of the application, calibration is realized by using the calibration mechanism comprising the tool base, the indicating light emitter and the target plate and the self-contained adjusting component of the laser emission module, so that the radar calibration method can realize calibration of the laser emission module efficiently and at low cost.
Description
Technical Field
The application relates to the technical field of radars, in particular to a laser emission module, a laser radar and a radar calibration method.
Background
At present, the calibration mode of a laser radar transmitting module is basically based on advanced high-precision machine vision, and the adjustment mode is basically supported by a multi-axis mechanical table and a complex algorithm. The difficulty of the calibration method is high, so that the assembly cost of the laser radar is high.
Disclosure of Invention
The laser emission module, the laser radar and the radar calibration method can be used for efficiently calibrating the laser emission module and reducing the assembly cost of the laser emission module and the laser radar.
The embodiment of the application can be realized as follows:
in a first aspect, the application provides a laser emission module, which comprises a support assembly, an adjusting assembly and a laser emission device, wherein the laser emission device is connected to the support assembly through the adjusting assembly, the adjusting assembly is used for adjusting the emission direction of a laser emission device, and the adjusting assembly locks an adjustment amount through an adhesive so as to lock the emission direction of the laser emission device.
In an optional embodiment, the support assembly includes a base and a first fixing frame, the adjusting assembly includes a ball head, the ball head includes a ball head portion, the first fixing frame is connected to the base and forms a first clamping space with the base, the ball head portion of the ball head is embedded into the first clamping space, a cavity is provided in the ball head, the cavity has an opening, and the laser emitter is disposed in the cavity of the ball head and emits laser outwards through the opening.
In an alternative embodiment, the ball head piece further comprises a barrel, the ball head is connected to one end of the barrel, and the cavity of the ball head piece penetrates through the barrel and the ball head along the axial direction of the barrel.
In an optional embodiment, the support assembly further includes a second fixing frame connected to the base and forming a second clamping space with the base, and the barrel is inserted into the second clamping space.
In an optional embodiment, the adjusting assembly further comprises an adjusting bolt and an elastic piece, the second fixing frame is provided with an adjusting screw hole, the adjusting bolt is arranged in the adjusting screw hole and extends into the second clamping space to abut against the barrel, the elastic piece is arranged in the second clamping space, one end of the elastic piece abuts against the seat body, the other end of the elastic piece abuts against the barrel, and the elastic piece and the adjusting bolt clamp the barrel together.
In an alternative embodiment, the adjusting assembly comprises two adjusting bolts and two elastic members, the two adjusting bolts and the two elastic members are arranged around the cylinder at intervals, the adjusting bolts and the elastic members correspond to each other one by one, and the force application directions of the corresponding adjusting bolts and the corresponding elastic members to the cylinder are opposite.
In an alternative embodiment, the first fixing frame, the seat body and the ball head piece are adhered by an adhesive, and/or the second fixing frame, the seat body and the ball head piece are adhered by an adhesive.
In an alternative embodiment, the laser emitting device comprises an array of optical fibers.
In an alternative embodiment, the emission module further comprises an emission mirror coupled to the holder assembly, the emission mirror for reflecting the laser light emitted from the laser emitting device.
In a second aspect, the present application provides a lidar comprising a laser transmitter module according to any of the preceding embodiments.
In a third aspect, the present application provides a radar calibration method, configured to calibrate a laser emission module according to any one of the foregoing embodiments, where the laser emission module is calibrated by using a calibration mechanism, where the calibration mechanism includes a fixture base, an indication light emitter and a target, a relative position between the indication light emitter and the fixture base is fixed, and the target and the indication light emitter are disposed at an interval, where the radar calibration method includes:
mounting the laser emission module without applying the binder on a tool base;
controlling the indicating light emitter to emit indicating light towards the target to form an indicating light spot on the target;
controlling a laser emitting device to emit laser to the target so as to form an adjusting light spot on the target;
determining the target position of the adjusting light spot on the target plate according to the relative position relation between the indicating light emitter and the laser emitting module and the position of the indicating light spot on the target plate;
adjusting the emission direction of the laser emission device by using an adjusting component so as to enable the adjusting light spot to be at a target position;
an adhesive is applied to the adjustment member to lock the emission direction of the laser emitting device.
In an alternative embodiment, prior to applying the adhesive to the adjustment assembly, the radar calibration method further comprises:
the tunable laser emitting device is rotated about an axis of the tunable laser emitting device.
In an alternative embodiment, the target is perpendicular to the indicator light.
In an alternative embodiment, the target distance indicates 2 to 5m of light emitters.
The beneficial effects of the embodiment of the application include:
the laser emission module that this application embodiment provided includes support subassembly, adjusting part and laser emission device, and the laser emission device passes through adjusting part to be connected in support subassembly, and adjusting part is used for adjusting the transmission direction of laser emission device, and adjusting part passes through the binder and locks the regulating variable to the transmission direction locking with the laser emission device. Since the laser transmitter module is self-contained with the adjustment assembly, the adjustment assembly is available for adjusting the position of the laser transmitter assembly relative to the support assembly prior to applying the adhesive to the laser transmitter module, thereby adjusting the laser transmitting direction. And after the position of the laser emitting device is adjusted, glue is applied to lock the laser emitting direction, so that the calibration of the laser emitting module is completed. Therefore, the laser emission module of this application can facilitate for laser emission device's calibration through setting up adjusting part, also further realizes lidar's high-efficient equipment. Further, the adjusting assembly includes a ball head member, so that not only the emitting direction of the laser emitting device can be adjusted, but also the form of the laser projection pattern can be adjusted by rotating around the axis (especially, the adjusting assembly is suitable for the case that the laser emitting device comprises an optical fiber array).
The radar calibration method provided by the embodiment of the application does not depend on advanced high-precision machine vision, and the adjustment mode does not depend on complex algorithm support, but the calibration is realized by using the calibration mechanism comprising the tool base, the indicating light emitter and the target and the self-contained adjustment assembly of the laser emission module, so that the radar calibration method can realize the calibration of the laser emission module efficiently and at low cost.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used 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 for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a schematic view of a laser emitting module in an embodiment of the present application at a first viewing angle;
FIG. 2 is a schematic view of a laser emitting module under a second viewing angle in an embodiment of the present application;
fig. 3 is a schematic view of a base body according to an embodiment of the present application;
FIG. 4 is a schematic view of a first bolt engaged with a compression spring according to an embodiment of the present application;
FIG. 5 is a schematic view of an adjustment assembly and a reflector in an embodiment of the present application;
FIG. 6 is a schematic diagram of a calibration mechanism for calibrating a laser transmitter module according to an embodiment of the present disclosure;
FIG. 7 is a flow chart of a radar calibration method according to an embodiment of the present application;
FIG. 8 is a schematic view of a target in an embodiment of the present application.
Icon: 100-a laser emitting module; 110-a seat body; 111-a window; 112-a receiving groove; 113-mounting holes; 114-a limiting groove; 120-a first mount; 121-a first bolt; 122-a pressure spring; 130-a second mount; 131-a second bolt; 140-a ball head piece; 141-a bulb section; 142-a cylinder; 143-adjusting bolts; 144-an elastic member; 150-a reflective mirror; 200-a calibration mechanism; 210-a backplane; 211-foot; 220-a tooling base; 221-mounting a support; 230-indicating light emitter; 240-mirror group; 250-target board; 251-indicating a light spot; 252-adjusting the light spot; 253-target position.
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, generally described and illustrated in the figures herein, can 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 and explained in subsequent figures.
In the description of the present application, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which the present invention product is usually put into use, it is only for convenience of describing the present application and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and thus, should not be construed as limiting the present application.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.
Fig. 1 is a schematic view of a laser emitting module 100 in an embodiment of the present application at a first viewing angle; fig. 2 is a schematic diagram of a laser emitting module 100 under a second viewing angle in an embodiment of the present application; fig. 3 is a schematic diagram of the seat 110 according to an embodiment of the present application. As shown in fig. 1 to 3, the laser emission module 100 of the present embodiment includes a support assembly, an adjustment assembly, and a laser emission device (not shown in the drawings), the laser emission device being connected to the support assembly by the adjustment assembly, the adjustment assembly being used to adjust an emission direction of the laser emission device, the adjustment assembly locking an adjustment amount by an adhesive to lock the emission direction of the laser emission device. The laser emitting module 100 shown in fig. 1, 2 is in a state where no adhesive is applied, and thus the adjustment assembly is in an adjustable state.
In this embodiment, the stand assembly includes a base 110, a first fixing frame 120 and a second fixing frame 130, wherein the base 110 is used for connecting the calibration mechanism 200 in a subsequent calibration process, and is finally connected to other components of the lidar as a part of the lidar. The first fixing frame 120 and the second fixing frame 130 are fixedly connected to the base 110, and form a clamping space with the base 110 for accommodating the adjusting component and the laser emitting device, and the adjusting component can be adjusted within a range defined by the clamping space. In this embodiment, the first fixing frame 120 is a U-shaped structural member that is reversely buckled on the seat body 110, and is fixed on the seat body 110 by two first bolts 121, and forms a first clamping space with the seat body 110; the second fixing frame 130 is a semicircular structure that is reversely buckled on the base body 110, and is fixed on the base body 110 by two second bolts 131 to form a second clamping space with the base body 110.
As shown in fig. 3, the base 110 is provided with an accommodating groove 112. The first fixing frame 120 and the second fixing frame 130 are both erected on the receiving slot 112, and form a clamping space together with the inner wall of the receiving slot 112, and a part of the adjusting assembly is received in the receiving slot 112. Specifically, two ends of the first fixing frame 120 are respectively connected to two opposite sides of the accommodating groove 112, two ends of the second fixing frame 130 are respectively connected to two sides of the accommodating groove 112, and the first fixing frame 120 and the second fixing frame 130 are spaced apart in the length direction of the accommodating groove 112.
Fig. 4 is a schematic view illustrating the engagement of the first bolt 121 and the compression spring 122 according to an embodiment of the present application. As shown in fig. 4, in this embodiment, a compression spring 122 is sleeved outside the first bolt 121, one end of the compression spring 122 abuts against the head of the first bolt 121, the other end abuts against the first fixing frame 120, and the first fixing frame 120 is pressed against the adjusting component under the pushing force of the compression spring 122. By providing the pressing spring 122, the first fixing frame 120 can have a small amount of movement in a direction away from the seat body 110, and therefore the adjusting component is not difficult to adjust (for example, rotate) under the clamping of the first fixing frame 120 and the seat body 110. The second fixing frame 130 is reversely buckled on the base 110, and even if the locking and fixing are not movable any more, a certain gap is reserved for the adjusting assembly for adjustment by the formed second clamping space, so the second bolt 131 used for fixing the second fixing frame 130 can be a common bolt.
In this embodiment, the laser emitting module 100 further includes a reflecting mirror 150, the reflecting mirror 150 is connected to the base 110, and the reflecting mirror 150 is used for reflecting the laser emitted from the laser emitting device to change the path thereof. The base 110 further has a window 111, and the light beam reflected by the emission mirror 150 can be emitted from the window 111.
As shown in the drawings, the corner of the seat body 110 is provided with a mounting hole 113, and the seat body 110 can be fixedly connected with other components (such as the calibration mechanism 200 or other components in the lidar) through the mounting hole 113 and a fastener such as a bolt.
FIG. 5 is a schematic view of an adjustment assembly and a reflector 150 in one embodiment of the present application. As shown in fig. 5, in the present embodiment, the adjusting assembly includes a ball head member 140, a cavity is provided in the ball head member 140, the cavity has an opening, and a laser emitting device is provided in the cavity of the ball head member 140 and emits laser light outward through the opening. In this embodiment, the opening of the ball piece 140 faces the emission mirror 150. The ball member 140 includes a ball portion 141 and a cylindrical body 142, the ball portion 141 is connected to one end of the cylindrical body 142, and a cavity of the ball member 140 penetrates the cylindrical body 142 and the ball portion 141 in an axial direction of the cylindrical body 142.
The ball portion 141 of the ball member 140 is inserted into the first clamping space and clamped by the seat body 110 and the first fixing frame 120. The cylinder 142 is inserted into a second clamping space formed by the holder body 110 and the second fixing frame 130. Due to the arrangement of the ball head part 141, the cylinder 142 can swing around the ball head, and the whole ball head piece 140 can rotate around the axis (which is coincident with the axis of the cylinder 142) of the whole ball head piece. Because the first fixing frame 120 is pressed against the ball head 141 through the compression spring 122 and has a certain movement amount, the ball head 141 is not locked by the first fixing frame 120 and the seat body 110, and the requirement of rotation adjustment of the ball head 140 in various directions can be met.
Further, the adjusting assembly further includes an adjusting bolt 143 and an elastic member 144, the second fixing frame 130 is provided with an adjusting screw hole, the adjusting bolt 143 is disposed in the adjusting screw hole and extends into the second clamping space to abut against the cylinder 142, the elastic member 144 is disposed in the second clamping space, one end of the elastic member 144 abuts against the seat body 110, the other end of the elastic member 144 abuts against the cylinder 142, and the elastic member 144 and the adjusting bolt 143 clamp the cylinder 142 together. In the embodiment, the elastic element 144 is a spring, and one end of the elastic element abuts against the cylinder 142 and the other end abuts against the inner wall of the accommodating groove 112. As the adjusting bolt 143 is screwed in, the adjusting bolt 143 pushes the cylinder 142 along the axial direction thereof, so that the ball head 140 swings, and the elastic member 144 corresponding thereto is compressed; as the adjusting bolt 143 is unscrewed, the elastic member 144 pushes the cylinder 142 to swing in the opposite direction, and the elastic member 144 is relaxed. Therefore, the swing adjustment of the ball member 140 can be achieved by the adjustment bolt 143 and the elastic member 144, thereby adjusting the emitting direction of the laser emitting device inside the ball member 140. In order to avoid the displacement of the elastic member 144, the inner wall of the accommodating groove 112 is provided with a limiting groove 114, and the elastic member 144 abuts against the limiting groove 114.
Further, the adjusting assembly of the present embodiment includes two adjusting bolts 143 and two elastic members 144, the two adjusting bolts 143 and the two elastic members 144 are arranged at intervals around the cylinder 142, the adjusting bolts 143 and the elastic members 144 correspond to each other one by one, and the force application directions of the corresponding adjusting bolts 143 and the corresponding elastic members 144 to the cylinder 142 are opposite. Specifically, two adjusting bolts 143 and two elastic members 144 are uniformly spaced around the axis of the cylinder 142, and the two adjusting bolts 143 are spaced at 90 ° around the axis of the cylinder 142. The emission direction of the laser emitting device can be precisely adjusted by the two adjustment bolts 143. In addition, the ball member 140 can be rotated about its own axis to adjust the state of the projection pattern of the laser emitting device. For example, in the present embodiment, the laser emitting device includes the optical fiber array, so that the projection pattern of the laser emitting device can be a dot matrix, it makes sense to rotate the ball head member 140 around its own axis, because the rotation of the ball head member 140 around itself causes the form of the projection pattern to change.
In the present embodiment, the calibrated laser transmitter module 100 needs to fix the ball head member 140 by an adhesive, so as to lock the transmitting direction of the laser transmitter. Specifically, the first fixing frame 120, the seat body 110 and the ball head piece 140 are adhered by the adhesive, and the second fixing frame 130, the seat body 110 and the ball head piece 140 are adhered by the adhesive, so that the ball head piece 140 can be prevented from rotating or swinging by applying glue at the two positions, and the stability of the product is ensured.
In addition, the embodiment of the present application further provides a laser radar, which includes the laser emitting module 100 in the foregoing embodiment. The laser radar may further include other devices for realizing the basic function of the radar, such as a laser receiving device, and the configuration and arrangement of these devices may refer to the prior art, which is not described herein again.
FIG. 6 is a schematic diagram of an embodiment of the present application in which the calibration mechanism 200 calibrates the laser emitting module 100; FIG. 7 is a flow chart of a radar calibration method according to an embodiment of the present application. As shown in fig. 6 and 7, the present embodiment further provides a radar calibration method, which is used for calibrating the laser emission module 100 of the foregoing embodiment, and the calibration mechanism 200 is used to calibrate the laser emission module 100. The calibration mechanism 200 includes a tool base 220, an indicating light emitter 230, and a target 250 (see fig. 8), wherein the indicating light emitter 230 and the tool base 220 are fixed in relative position, and the target 250 and the indicating light emitter 230 are spaced apart from each other. Specifically, the calibration mechanism 200 further includes a bottom plate 210, the bottom plate 210 supports the ground through a height-adjustable support leg 211, the tool base 220 is fixedly disposed on the bottom plate 210, and the indicating light emitter 230 is fixedly connected to the bottom plate 210. By adjusting the legs 211, the indication light emitted from the indication light emitter 230 can be leveled. In addition, the calibration mechanism 200 may further include a mirror group 240, and the mirror group 240 is used for changing the beam path of the laser emission module 100.
The radar calibration method provided by the embodiment of the application comprises the following steps:
and S100, mounting the laser emission module without the adhesive on a tool base.
In the present embodiment, the relative position between the indication light emitter 230 and the tooling base 220 is fixed, and the tooling base 220 is provided with a mounting seat 221 specially used for mounting the laser emission module 100, so that the position of the laser emission module 100 is determined and kept fixed by connecting the bracket assembly of the laser emission module 100 to the mounting seat 221 of the tooling base 220. At this time, the relative position of the laser emission module 100 with respect to the pointing light emitter 230 is determined. In the present embodiment, the laser emitting module 100 is calibrated by adjusting the light beam emitted from the laser emitting module 100 to be parallel to the indicating light emitter 230, so that the indicating light generated by the indicating light emitter 230 is used as a reference, and the emitting direction thereof should be determined; and the position of the mounting bracket 221 for mounting the laser transmitter module 100 needs to be accurately set to ensure a sufficiently accurate position with respect to the pointing light emitter 230.
In the embodiment of the present application, the light emitting element of the indicating light emitter 230 may be first calibrated to ensure that the direction of the indicating light beam generated by the light emitting element coincides with the axis of the housing of the indicating light emitter 230, so that the accuracy of the position and direction of the indicating light is ensured to meet the requirement after the indicating light emitter 230 is installed at the corresponding position of the calibration mechanism 200.
And step S200, controlling the indicating light emitter to emit indicating light towards the target so as to form an indicating light spot on the target.
FIG. 8 is a schematic view of a target 250 in one embodiment of the present application. As shown in fig. 8, the indicating light forms an indicating spot 251 on the target 250. In this embodiment, the calibration may be performed by a level, such that the target 250 is perpendicular to the indicating light. Optionally, the distance between the target 250 and the indication light emitter 230 is 2 to 5m. In the present embodiment, the indicator light is visible light.
And step S300, controlling the laser emitting device to emit laser to the target so as to form an adjusting light spot on the target.
As shown in fig. 8, an adjustment spot 252 is formed on the target 250.
And step S400, determining the target position of the adjusting light spot on the target plate according to the relative position relationship between the indicating light emitter and the laser emitting module and the position of the indicating light spot on the target plate.
It should be appreciated that adjusting the target position 253 of the spot 252 satisfies the following requirements: when the adjustment spot 252 is moved to the target position 253, the laser beam is parallel to the beam emitted from the pointing light emitter 230. Since the position of the laser transmitter module 100 relative to the pointing light emitter 230 is determined, the relative position of the pointing spot 251 to the target position 253 is determined, and therefore the target position 253 of the adjustment spot 252 on the target 250 can be determined with reference to the position of the pointing spot 251 on the target 250. When the target position 253 of the adjustment spot 252 is determined, the target position 253 can be marked on the target 250 with a color card for subsequent adjustment of the laser emitting module 100.
In the present embodiment, since the laser beam desired to be formed is directly above the indication light and parallel to the indication light, the target position 253 of the adjustment spot 252 is located directly above the indication spot 251, as shown in fig. 8, and the distance between the target position 253 and the indication light emitter 230 is the height difference between the laser emitting module 100 and the indication light emitter 230. Of course, in alternative embodiments, if the arrangement layout of the tool base 220 and the indicating light emitter 230 is changed, the relative position of the laser beam to be formed and the indicating light is also changed, and the target position 253 of the adjusting light spot 252 on the target plate 250 is also changed accordingly.
And S500, adjusting the emission direction of the laser emission device by using the adjusting component so as to enable the adjusting light spot to be at the target position.
The attitude of the ball member 140 can be adjusted by screwing the adjusting bolt 143, thereby adjusting the emission direction of the laser emitting device, and when the adjusting spot 252 is at the target position 253, the light beam of the laser emitting module 100 is parallel to the indicating light, and the emission direction is adjusted as desired. In the case where the laser emitting device includes an optical fiber array, it is also possible to rotate the ball member 140 about the axis of the ball member 140, thereby achieving rotational adjustment of the laser emitting device about the axis of the adjustment laser emitting device. For example, when the laser emitting device emits light in a rectangular array, and the adjusting light spot 252 is rectangular as a whole in the embodiment shown in fig. 8, it is necessary to adjust two sides of the adjusting light spot 252 to be vertical (the other two sides are horizontal) by rotating the ball member 140 around the axis of the ball member 140 itself.
In step S600, an adhesive is applied to the adjustment member to lock the emission direction of the laser emitting device.
After the emission direction and the rotation angle of the laser emission device are adjusted, the first bolt 121 may be first locked, so that the first fixing frame 120 can press the ball portion 141 of the ball portion 140; then, an adhesive is applied to the adjustment member to lock the emission direction of the laser emitting device, thereby obtaining the adjusted laser emitting module 100. And subsequently, the laser emitting module 100 is installed in the laser radar to obtain the laser radar with higher precision.
To sum up, the laser emission module that this application embodiment provided includes support subassembly, adjusting part and laser emitting device spare, and the laser emitting device spare passes through adjusting part to be connected in the support subassembly, and adjusting part is used for adjusting the transmission direction of laser emitting device, and adjusting part passes through the bonding agent locking regulating variable to the transmission direction locking with the laser emitting device. Since the laser transmitter module is self-contained with the adjustment assembly, the adjustment assembly is available for adjusting the position of the laser transmitter assembly relative to the support assembly prior to applying the adhesive to the laser transmitter module, thereby adjusting the laser transmitting direction. And after the position of the laser emitting device is adjusted, glue is applied to lock the laser emitting direction, so that the calibration of the laser emitting module is completed. Therefore, the laser emission module of this application can facilitate for laser emission device's calibration through setting up adjusting part, also further realizes lidar's high-efficient equipment. Further, the adjusting assembly includes a ball head member, so that not only the emitting direction of the laser emitting device can be adjusted, but also the form of the laser projection pattern can be adjusted by rotating around the axis (especially, the adjusting assembly is suitable for the case that the laser emitting device comprises an optical fiber array).
The radar calibration method provided by the embodiment of the application does not depend on advanced high-precision machine vision, and the adjustment mode does not depend on complex algorithm support, but the calibration is realized by using the calibration mechanism comprising the tool base, the indicating light emitter and the target and the self-contained adjustment assembly of the laser emission module, so that the radar calibration method can realize the calibration of the laser emission module efficiently and at low cost.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (13)
1. A laser emission module is characterized by comprising a support assembly, an adjusting assembly and a laser emitting device, wherein the laser emitting device is connected to the support assembly through the adjusting assembly, the adjusting assembly is used for adjusting the emission direction of the laser emitting device, and the adjusting assembly locks an adjusting amount through an adhesive so as to lock the emission direction of the laser emitting device;
the support subassembly includes pedestal and first mount, adjusting part includes bulb spare, bulb spare includes the bulb portion, first mount connect in the pedestal, and with form first centre gripping space between the pedestal, the bulb spare the bulb portion embedding in the first centre gripping space, be provided with the cavity in the bulb spare, the cavity has the opening, laser emitter spare set up in the cavity of bulb spare, and pass through the opening outwards launches laser.
2. The laser transmitter module of claim 1, wherein the ball head further comprises a barrel, the ball head is connected to one end of the barrel, and the cavity of the ball head penetrates the barrel and the ball head along an axial direction of the barrel.
3. The laser emitter module of claim 2, wherein the holder assembly further comprises a second holder connected to the holder body and forming a second holding space with the holder body, the barrel being inserted into the second holding space.
4. The laser emitter module of claim 3, wherein the adjusting assembly further comprises an adjusting bolt and an elastic member, the second fixing frame is provided with an adjusting screw hole, the adjusting bolt is disposed in the adjusting screw hole and extends into the second clamping space to abut against the barrel, the elastic member is disposed in the second clamping space, one end of the elastic member abuts against the seat body, the other end of the elastic member abuts against the barrel, and the elastic member and the adjusting bolt clamp the barrel together.
5. The laser emitter module of claim 4, wherein the adjustment assembly comprises two adjustment bolts and two elastic members, the two adjustment bolts and the two elastic members are arranged around the cylinder at intervals, the adjustment bolts and the elastic members are in one-to-one correspondence, and the force application directions of the corresponding adjustment bolts and the elastic members to the cylinder are opposite.
6. The laser transmitter module of claim 3, wherein the first holder, the holder body, and the ball head are bonded by the adhesive, and/or the second holder, the holder body, and the ball head are bonded by the adhesive.
7. The laser emitting module of any one of claims 1-6, wherein the laser emitting device comprises an array of optical fibers.
8. The laser transmitter module of any of claims 1-6, further comprising a transmitting mirror coupled to the mount assembly, the transmitting mirror configured to reflect laser light emitted by the laser transmitter device.
9. Lidar characterized by comprising a laser transmitter module according to any of claims 1 to 8.
10. A radar calibration method for calibrating the laser transmitter module according to any one of claims 1 to 8, wherein the laser transmitter module is calibrated by using a calibration mechanism, the calibration mechanism comprises a tool base, an indicating light emitter and a target plate, the indicating light emitter and the tool base are fixed in relative position, and the target plate and the indicating light emitter are arranged at a distance, the radar calibration method comprises:
mounting the emission module without the adhesive on the tool base;
controlling the indicating light emitter to emit indicating light towards the target to form an indicating light spot on the target;
controlling the laser emitting device to emit laser to the target to form an adjusting light spot on the target;
determining the target position of the adjusting light spot on the target plate according to the relative position relation between the indicating light emitter and the emitting module and the position of the indicating light spot on the target plate;
adjusting the emission direction of the laser emission device by using the adjusting component so as to enable the adjusting light spot to be at the target position;
applying the adhesive to the adjustment assembly to lock an emission direction of the laser emitting device.
11. The radar calibration method of claim 10, wherein prior to applying the adhesive to the adjustment assembly, the radar calibration method further comprises:
and rotationally adjusting the laser emitting device around the axis of adjusting the laser emitting device.
12. The radar calibration method of claim 10, wherein the target is perpendicular to the indicator light.
13. The method for radar calibration according to claim 10, wherein the target is 2 to 5m away from the indicating light emitter.
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| CN202211687992.0A CN115656976B (en) | 2022-12-28 | 2022-12-28 | Laser emission module, laser radar and radar calibration method |
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| CN202211687992.0A CN115656976B (en) | 2022-12-28 | 2022-12-28 | Laser emission module, laser radar and radar calibration method |
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|---|---|---|---|---|
| KR100415318B1 (en) * | 2000-09-23 | 2004-01-16 | 탁승호 | Level and vertical line indicator using laser beams |
| US9207322B1 (en) * | 2013-02-01 | 2015-12-08 | Lockheed Martin Coherent Technologies, Inc. | Compact mounting for local oscillator laser launch |
| JP6417677B2 (en) * | 2014-03-07 | 2018-11-07 | 富士通オプティカルコンポーネンツ株式会社 | Optical module and optical modulator |
| JPWO2020026706A1 (en) * | 2018-08-03 | 2021-08-12 | ソニーグループ株式会社 | Manufacturing method of optical module, projection type image display device, optical module |
| CN110531371A (en) * | 2019-09-27 | 2019-12-03 | 无锡流深光电科技有限公司 | A kind of laser radar and laser distance measurement method |
| CN113030922B (en) * | 2021-03-30 | 2022-07-29 | 森思泰克河北科技有限公司 | Multi-line laser radar optical machine adjusting device, leveling method and application |
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2022
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