CN115774254A - Laser radar testing device and method - Google Patents
Laser radar testing device and method Download PDFInfo
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- CN115774254A CN115774254A CN202211394804.5A CN202211394804A CN115774254A CN 115774254 A CN115774254 A CN 115774254A CN 202211394804 A CN202211394804 A CN 202211394804A CN 115774254 A CN115774254 A CN 115774254A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The invention discloses a laser radar testing device and a laser radar testing method. The laser radar testing device provided by the invention comprises: the laser radar testing device comprises a testing platform, an adjusting module, a film pasting module, a signal receiving board and a control center, can simultaneously meet the requirements of measuring the farthest measuring distance, the distance measuring precision and the deflection angle of a laser radar, and shortens the measuring distance by pasting an attenuation film on the light emitting surface of the laser radar, so that the testing space is reduced to about 2 square meters. The laser radar testing method provided by the invention is completed by a machine from data acquisition, judgment and identification, thereby avoiding the uncertainty caused by artificial introduction in the data acquisition and processing processes; the laser radar testing device can effectively ensure the consistency of data measurement positions.
Description
Technical Field
The invention relates to the field of laser radars, in particular to a laser radar testing device and method.
Background
The laser radar has the characteristics of extremely high distance, angle and speed resolution, extremely high interference resistance, extremely small measurement error and light and flexible characteristics, so that the laser radar is widely applied to the fields of geographical mapping, environmental monitoring, robot navigation obstacle avoidance, automatic driving and the like. Therefore, the laser radar has higher requirements on all collar parts, and the high-efficiency, accurate and reliable testing device and method are of great importance to the stability and consistency of radar products. The existing testing mode is respectively carried out on different parameters in different testing places.
In the existing laser radar technical parameter testing mode, a manual testing mode is usually adopted, and the uncertainty of judgment is easily introduced due to the difference of measuring personnel during testing; in addition, in a conventional test mode, the angle measurement positioning precision is low, and the consistency of data measurement positions during measurement cannot be ensured; and the existing testing method needs testing space of dozens of meters or even hundreds of meters.
Disclosure of Invention
In order to solve the technical problem, the invention provides a laser radar testing device and a laser radar testing method.
A lidar testing apparatus for measuring a lidar technique, comprising:
a test platform;
the adjusting module is arranged at one end of the testing platform and used for bearing the laser radar and calibrating and adjusting the position of the laser radar;
the film sticking module is provided with an attenuation film and is driven to stick the attenuation film on the light emitting surface of the laser radar to be tested;
the signal receiving board is arranged at the other end, opposite to the adjusting module, of the testing platform and is used for receiving and measuring the position and the intensity of an optical signal emitted by the laser radar to be tested;
and the control center is used for driving the adjusting module and the film sticking module to move, is connected with the signal receiving board and is used for receiving the data uploaded by the signal receiving board and processing the data.
Preferably, the adjusting module includes a calibrating portion, and the calibrating portion includes:
a fixing plate is arranged on the base plate,
the upper surface of the adjusting plate is used for placing a laser radar, and the adjusting plate is arranged opposite to the fixing plate;
the steel ball is positioned at one corner of a gap formed by the fixed plate and the adjusting plate;
the compression screw is used for fixing the steel ball;
the two screw regulators are respectively positioned in the center positions of two sides of the diagonal of the steel ball;
when the device works, the height of the adjusting plate relative to the fixed plate is adjusted by adjusting the relative positions of the two spiral adjusters and the steel balls, so that the adjusting plate is ensured to reach the standard position required by testing relative to the signal receiving plate.
Preferably, the adjusting module further comprises a clamping block portion, the clamping block portion comprising:
the limiting block is an L-shaped fixing block and is fixed on the upper surface of the adjusting plate;
the clamping block is arranged opposite to the limiting block;
and the translation motor is used for driving the clamping block to move.
Preferably, the adjusting module further comprises a rotating portion, and the rotating portion includes a rotating motor for driving the adjusting module to rotate.
Preferably, the film sticking module comprises:
an electric cylinder;
vertically moving the plate;
the horizontal moving plate is fixed with the electric cylinder;
the sliding blocks are arranged on two sides of the horizontal moving plate and can slide up and down;
the film pasting arm is connected with the sliding block through the vertical moving plate, and an attenuation film is arranged at one end, close to the calibration part, of the film pasting arm;
a line track, the line track being wedge-shaped;
and the follow-up wheel is arranged below the film sticking arm and moves on the line track.
Preferably, a target is arranged on the signal receiving plate, and the signal receiving plate adopts a photoelectric sensor array.
A lidar testing method for measuring the farthest measurement distance of a lidar using the lidar testing apparatus of any of claims 1 to 7, comprising the steps of:
s101: fixing a standard laser radar on the adjusting module;
s102: adjusting the position of the standard laser radar to enable an irradiation point of a laser beam emitted by the standard laser radar to be at a standard position;
s103: replacing the standard laser radar with a laser radar to be tested, and fixing the laser radar to be tested on the adjusting module;
s104: selecting an attenuation film with a certain transmittance to be attached to the light-emitting surface of the laser radar to be tested;
s105: collecting the intensity of an irradiation point of a laser beam emitted by a laser radar to be tested, and transmitting intensity information to the control center;
s106: judging whether the intensity value of the maximum intensity point is lower than a limit value or not; if not, replacing the attenuation films with different transmittances and repeating S104-S106; if yes, executing S107;
s107: and calculating the farthest measurement distance of the laser radar to be tested according to the distance from the laser radar to be tested to the signal receiving board and the transmittance of the attenuation film.
Preferably, the attenuation film selection mode adopts a binary search mode.
A lidar testing method for measuring lidar distance measurement accuracy, using the lidar testing apparatus of any of claims 1 to 7, comprising the steps of:
s201: fixing a standard laser radar on the adjusting module;
s202: adjusting the position of the standard laser radar to enable an irradiation point of a laser beam emitted by the standard laser radar to be at a standard position;
s203: replacing the standard laser radar with a laser radar to be tested, and fixing the laser radar to be tested on the adjusting module;
s204: selecting a proper attenuation film according to the farthest measurement distance of the radar to be tested, and attaching the attenuation film to the light-emitting surface of the laser radar to be tested;
s205: collecting the intensity of an irradiation point of a laser beam emitted by a laser radar to be tested, and transmitting intensity information to the control center;
s206: acquiring the strength value of the maximum strength point, and calculating the testing distance of the laser radar to be tested according to the distance from the laser radar to be tested to the signal receiving board and the transmittance of the attenuation film;
s207: comparing the calculated test distance with the corresponding standard data of the attenuation film, and if the test distance is within the range of the standard data, the measurement precision of the laser radar distance to be tested reaches the standard; and if the distance is not in the standard data range, the distance measurement precision of the laser radar to be tested does not reach the standard.
A lidar testing method for measuring a lidar declination angle, using the lidar testing apparatus of any of claims 1-7, comprising the steps of:
s301: fixing a standard laser radar on the adjusting module;
s302: adjusting the position of the standard laser radar to enable an irradiation point of a laser beam emitted by the standard laser radar to be at a standard position;
s303: replacing the standard laser radar with a laser radar to be tested, and fixing the laser radar to be tested on the adjusting module;
s304: collecting the position of an irradiation point of a laser beam emitted by a laser radar to be tested, and transmitting position information to the control center;
s305: calculating a positive deflection angle of the laser radar to be tested according to the distance from the laser radar to be tested to the signal receiving board and the position difference between the irradiation point position and the target;
s306: rotating the laser radar to be tested by 90 degrees clockwise, and repeating the steps S304-S305; measuring a left deflection angle of the laser radar to be tested; rotating the laser radar to be tested by 180 degrees anticlockwise, and repeating the steps S304-S305; and measuring the right declination angle of the laser radar to be tested.
The invention has the beneficial effects that:
1. the laser radar testing device provided by the invention can simultaneously meet the requirements of measuring the farthest measuring distance, the distance measuring precision and the deflection angle of the laser radar.
2. The attenuation film is attached to the light-emitting surface of the laser radar, so that the measuring distance is shortened, the testing space is reduced by about 2 square meters, and the testing area is reduced.
3. The laser radar testing method provided by the invention is completed by machines from data acquisition, judgment and identification, thereby avoiding the uncertainty caused by artificial introduction in the data acquisition and processing processes; the laser radar testing device can effectively ensure the consistency of data measurement positions.
Drawings
FIG. 1 is a schematic diagram of a lidar testing apparatus of the present invention.
FIG. 2 is a schematic diagram of the conditioning module of the present invention.
Fig. 3 is a schematic view of the calibration portion of the present invention.
FIG. 4 is a schematic view of the loose state of the clamp block portion of the present invention.
Fig. 5 is a schematic view showing a clamping state of the block portion of the present invention.
Fig. 6 is a schematic view of a lamination module of the present invention.
Fig. 7 is a schematic view showing a rotation sequence of the rotary part of the present invention.
Description of the drawings: 1. a test platform; 2. an adjustment module; 210. a calibration unit; 211. a fixing plate; 212. an adjusting plate; 213. steel balls; 214. a compression screw; 215. two screw adjusters; 220. a clamping block part; 221. a limiting block; 222. a clamping block; 223. a translation motor; 230. a rotating part; 3. a film sticking module; 301. a attenuating membrane; 302. an electric cylinder; 303. a follower wheel; 304. a horizontal movement plate; 305. a slider; 306. vertically moving the plate; 307. a film pasting arm; 308. a line track; 4. and a signal receiving board.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
As shown in fig. 1, the lidar testing apparatus of the present invention is used for measuring technical parameters of a lidar, and comprises:
the test platform 1 is not limited in configuration, and can be additionally shaped and changed according to production requirements;
the adjusting module 2 is arranged at one end of the testing platform 1, and is used for bearing a laser radar and calibrating and adjusting the position of the laser radar;
the film sticking module 3 is provided with an attenuation film 301, and the attenuation film 301 can be attached to a light emitting surface of a laser radar to be tested by driving the film sticking module 3;
the signal receiving board 4 is arranged at the other end, opposite to the adjusting module 2, of the testing platform 1 and is used for receiving and measuring the position and the intensity of an optical signal emitted by the laser radar to be tested;
and the control center is used for driving the adjusting module 2 and the film sticking module 3 to move, and is connected with the signal receiving board 4 to receive and process data uploaded by the signal receiving board 4.
Preferably, as shown in fig. 2, the adjusting module 2 includes: an alignment part 210, a clamping block part 220, and a rotation part 230.
As shown in fig. 3, the calibration part 210 includes:
a fixing plate 211;
an adjusting plate 212, an upper surface of the adjusting plate 212 being used for placing the lidar, and the adjusting plate 212 being disposed opposite to the fixing plate 211;
the steel ball 213 is positioned at one corner of a gap formed by the fixing plate 211 and the adjusting plate 212;
a compression screw 214, wherein the compression screw 214 is used for fixing the steel ball 213;
two screw adjusters 215, wherein the two screw adjusters 215 are respectively positioned at the center positions of two opposite sides of the steel ball 213;
during operation, the height of the adjusting plate 212 relative to the fixing plate 211 is adjusted by adjusting the relative positions of the two screw adjusters 215 and the steel balls 213, so that the adjusting plate 212 can reach the standard position required by the test relative to the test platform 1.
As shown in fig. 4 and 5, the block clamping portion 220 includes:
the limiting block 221 is an L-shaped fixing block and is fixed on the upper surface of the adjusting plate 212;
the clamping block 222 is arranged opposite to the limiting block 221; and a translation motor 223 for driving the holding block 222 to move.
During operation, the control center controls the translation motor 223 to drive the clamping block 222 to be away from the standard lidar, and at this time, the clamping block module is in a loose state, as shown in fig. 4; the control center controls the translation motor 223 to drive the clamping block 222 to approach the laser radar to be tested, and cooperates with the limiting block 221 to completely fix the laser radar to be tested, and at this time, the clamping block module is in a clamping state, as shown in fig. 5.
As shown in fig. 2, the rotating part 230 is connected to the calibration part 210 and fixed below the test platform 1; the rotating part 230 includes a rotating motor for rotating the calibration part 210.
As shown in fig. 6, the film sticking module 3 includes: an electric cylinder 302, a follow-up wheel 303, a horizontal moving plate 304, a slide block 305, a vertical moving plate 306, a film sticking arm 307 and a line track 308; the horizontal translation plate 304 is fixed to the electric cylinder 302, the sliding blocks 305 are arranged on two sides of the horizontal translation plate 304, and the sliding blocks 305 can slide up and down; the film sticking arm 307 is connected with the sliding block 305 through the vertical moving plate 306, and one end of the film sticking arm 307 close to the calibration part 210 is provided with an attenuation film 301; the line track 308 is wedge-shaped; the follower wheel 303 is disposed below the film sticking arm 307, and the follower wheel 303 moves on the line track 308.
In operation, taking forward film sticking as an example for further explanation, the electric cylinder 302 is started, the electric cylinder 302 drives the horizontal moving plate 304 to move in the direction of the lidar, during the movement, the horizontal moving plate 304 drives the follower wheel 303, the slider 305, the vertical moving plate 306, the film sticking arm 307 and the attenuation film 301 to move integrally in the direction of the lidar, the follower wheel 303 moves forward on the wedge-shaped track 308 and moves upward at the same time, at this time, the slider 305 slides upward, the follower wheel 303 drives the vertical moving plate 306, the film sticking arm 307 and the attenuation film 301 to move upward, and when the attenuation film 301 moves to a specified position, the height of the laser radar to be tested is consistent with the height of the laser radar to be tested.
In an alternative embodiment, the signal receiving board 4 is provided with a target, and the signal receiving board 4 adopts a photoelectric sensor array.
Because laser radar outgoing laser intensity is limited, there is noise interference, the sensitivity of receiver is limited etc. reason, when the distance between target object and the laser radar is very far away, echo intensity is very weak, and laser radar can't the accurate measurement distance this moment, therefore laser radar's measuring distance is limited. The invention also provides a laser radar testing method for measuring the farthest measuring distance of the laser radar, which uses the laser radar testing device and comprises the following steps:
s101: fixing a standard laser radar on the adjusting module;
s102: adjusting the position of the standard laser radar to enable an irradiation point of a laser beam emitted by the standard laser radar to be at a standard position;
s103: replacing the standard laser radar with a laser radar to be tested, and fixing the laser radar to be tested on the adjusting module;
s104: selecting an attenuation film with a certain transmittance to be attached to the light-emitting surface of the laser radar to be tested;
s105: collecting the intensity of an irradiation point of a laser beam emitted by a laser radar to be tested, and transmitting intensity information to the control center;
s106: judging whether the intensity value of the maximum intensity point is lower than a limit value or not; if not, replacing the attenuation films with different transmittances and repeating S104-S106; if yes, executing S107;
s107: and calculating the farthest measurement distance of the laser radar to be tested according to the distance from the laser radar to be tested to the signal receiving board and the transmittance of the attenuation film.
In this embodiment, a binary search method may be adopted for selecting the transmittance of the attenuation film, which can effectively reduce the number of repeated steps and increase the search speed.
The ranging accuracy refers to the deviation between the distance measured by the laser radar and the actual distance of the target, namely the difference between the measured average value and the actual value. The ranging accuracy refers to the fluctuation of the measured distance, i.e., the standard deviation of the multiple measurements. The ranging sensitivity is also called ranging resolution, and refers to the minimum distance change that can be measured by the laser radar. Ranging consistency refers to the above ranging performance measuring the same target at different distances or measuring the difference of different reflectivity targets at the same distance. The invention also provides a laser radar testing method for measuring the distance measurement precision of the laser radar, which uses the laser radar testing device and comprises the following steps:
s201: fixing a standard laser radar on the adjusting module;
s202: adjusting the position of the standard laser radar to enable an irradiation point of a laser beam emitted by the standard laser radar to be at a standard position;
s203: replacing the standard laser radar with a laser radar to be tested, and fixing the laser radar to be tested on the adjusting module;
s204: selecting a proper attenuation film according to the farthest measurement distance of the to-be-tested radar, and attaching the attenuation film to the light-emitting surface of the to-be-tested laser radar;
s205: collecting the intensity of an irradiation point of a laser beam emitted by a laser radar to be tested, and transmitting intensity information to the control center;
s206: collecting the intensity value of the maximum intensity point, and calculating the testing distance of the laser radar to be tested according to the distance from the laser radar to be tested to the signal receiving board and the transmittance of the attenuation film;
s207: comparing the calculated test distance with the corresponding standard data of the attenuation film, and if the test distance is within the range of the standard data, the measurement precision of the laser radar distance to be tested reaches the standard; and if the measured distance is not in the standard data range, the distance measurement accuracy of the laser radar to be tested does not reach the standard.
The deflection angle of the laser radar is a deflection angle of the laser radar relative to a horizontal position when the laser radar works, the situation that an irradiation light spot deviates from a measured object when the deflection angle is too large can occur when the distance measurement is carried out, and the smaller the deflection angle of the laser radar is, the higher the measurement precision is. The invention also provides a laser radar testing method for measuring the distance measurement precision of the laser radar, which uses the laser radar testing device and comprises the following steps:
s301: fixing a standard laser radar on the adjusting module;
s302: adjusting the position of the standard laser radar to enable an irradiation point of a laser beam emitted by the standard laser radar to be at a standard position;
s303: replacing the standard laser radar with a laser radar to be tested, and fixing the laser radar to be tested on the adjusting module;
s304: collecting the position of an irradiation point of a laser beam emitted by a laser radar to be tested, and transmitting position information to the control center;
s305: calculating a positive deflection angle of the laser radar to be tested according to the distance from the laser radar to be tested to the signal receiving board and the position difference between the irradiation point position and the target;
s306: rotating the laser radar to be tested by 90 degrees clockwise, and repeating the steps S304-S305; measuring a left deflection angle of the laser radar to be tested; rotating the laser radar to be tested by 180 degrees anticlockwise, and repeating the steps S304-S305; measuring the right declination angle of the laser radar to be tested; as shown in fig. 7.
It should be noted that the rotation direction and the rotation angle of the rotating part in S306 are only used as an example in this embodiment, and actually, the rotation direction and the rotation angle of the rotating part in S306 are subject to measurement of the deflection angle at the center position of two sides of the laser radar to be tested, which is not specifically limited in this embodiment.
In this embodiment, the lidar testing device provided by the invention can simultaneously meet the measurement of the three technical parameters of the lidar; the calibration step of the standard laser radar is only needed to be carried out once during measurement.
Compared with the prior art, the invention has the following advantages: the laser radar testing device provided by the invention can simultaneously meet the requirements of measuring the farthest measuring distance, the distance measuring precision and the deflection angle of the laser radar, and the measuring distance is shortened by attaching the attenuation film on the light-emitting surface of the laser radar, so that the testing space is reduced to about 2 square meters. The laser radar testing method provided by the invention is completed by machines from data acquisition, judgment and identification, thereby avoiding the uncertainty caused by artificial introduction in the data acquisition and processing processes; the laser radar testing device can effectively ensure the consistency of data measurement positions.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (10)
1. A lidar testing apparatus for measuring a technical parameter of a lidar, comprising:
a test platform;
the adjusting module is arranged at one end of the testing platform and used for bearing the laser radar and calibrating and adjusting the position of the laser radar;
the film sticking module is provided with an attenuation film and is driven to stick the attenuation film on the light emitting surface of the laser radar to be tested;
the signal receiving board is arranged at the other end, opposite to the adjusting module, of the testing platform and is used for receiving and measuring the position and the intensity of an optical signal emitted by the laser radar to be tested;
and the control center is used for driving the adjusting module and the film sticking module to move, is connected with the signal receiving board and is used for receiving the data uploaded by the signal receiving board and processing the data.
2. The lidar testing apparatus of claim 1, wherein: the adjustment module includes a calibration portion including:
a fixing plate is arranged on the base plate,
the upper surface of the adjusting plate is used for placing a laser radar, and the adjusting plate is arranged opposite to the fixing plate;
the steel ball is positioned at one corner of a gap formed by the fixed plate and the adjusting plate;
the compression screw is used for fixing the steel ball;
the two screw regulators are respectively positioned in the center positions of two sides of the diagonal of the steel ball;
when the device works, the height of the adjusting plate relative to the fixed plate is adjusted by adjusting the relative positions of the two spiral adjusters and the steel balls, so that the adjusting plate is ensured to reach the standard position required by testing relative to the signal receiving plate.
3. The lidar testing apparatus of claim 2, wherein: the adjustment module further includes a clamping block portion, the clamping block portion including:
the limiting block is an L-shaped fixing block and is fixed on the upper surface of the adjusting plate;
the clamping block is arranged opposite to the limiting block;
and the translation motor is used for driving the clamping block to move.
4. The lidar testing apparatus of claim 3, wherein: the adjusting module further comprises a rotating portion, and the rotating portion comprises a rotating motor used for driving the adjusting module to rotate.
5. The lidar testing apparatus of claim 4, wherein: the film sticking module comprises:
an electric cylinder;
vertically moving the plate;
the horizontal moving plate is fixed with the electric cylinder;
the sliding blocks are arranged on two sides of the horizontal moving plate and can slide up and down;
the film pasting arm is connected with the sliding block through the vertical moving plate, and an attenuation film is arranged at one end, close to the calibration part, of the film pasting arm;
a line track, the line track being wedge-shaped;
and the follow-up wheel is arranged below the film sticking arm and moves on the line track.
6. The lidar testing apparatus of claim 1, wherein: the signal receiving board is provided with a target and adopts a photoelectric sensor array.
7. A laser radar testing method is used for measuring the farthest measuring distance of a laser radar, and is characterized in that: use of a lidar testing apparatus according to any of claims 1 to 7, comprising the steps of:
s101: fixing a standard laser radar on the adjusting module;
s102: adjusting the position of the standard laser radar to enable an irradiation point of a laser beam emitted by the standard laser radar to be at a standard position;
s103: replacing the standard laser radar with a laser radar to be tested, and fixing the laser radar to be tested on the adjusting module;
s104: selecting an attenuation film with a certain transmittance to be attached to the light-emitting surface of the laser radar to be tested;
s105: collecting the intensity of an irradiation point of a laser beam emitted by a laser radar to be tested, and transmitting intensity information to the control center;
s106: judging whether the intensity value of the maximum intensity point is lower than a limit value; if not, replacing the attenuation films with different transmittances and repeating S104-S106; if yes, executing S107;
s107: and calculating the farthest measurement distance of the laser radar to be tested according to the distance from the laser radar to be tested to the signal receiving board and the transmittance of the attenuation film.
8. The lidar testing method of claim 8, wherein: the attenuation membrane selection mode adopts a half-searching mode.
9. A laser radar test method is used for measuring the distance measurement precision of a laser radar and is characterized in that: use of a lidar testing apparatus according to any of claims 1 to 7, comprising the steps of:
s201: fixing a standard laser radar on the adjusting module;
s202: adjusting the position of the standard laser radar to enable an irradiation point of a laser beam emitted by the standard laser radar to be at a standard position;
s203: replacing the standard laser radar with a laser radar to be tested, and fixing the laser radar to be tested on the adjusting module;
s204: selecting a proper attenuation film according to the farthest measurement distance of the to-be-tested radar, and attaching the attenuation film to the light-emitting surface of the to-be-tested laser radar;
s205: collecting the intensity of an irradiation point of a laser beam emitted by a laser radar to be tested, and transmitting intensity information to the control center;
s206: collecting the intensity value of the maximum intensity point, and calculating the testing distance of the laser radar to be tested according to the distance from the laser radar to be tested to the signal receiving board and the transmittance of the attenuation film;
s207: comparing the calculated test distance with the corresponding standard data of the attenuation film, and if the test distance is within the range of the standard data, the measurement precision of the laser radar distance to be tested reaches the standard; and if the distance is not in the standard data range, the distance measurement precision of the laser radar to be tested does not reach the standard.
10. A laser radar testing method is used for measuring a laser radar deflection angle, and is characterized in that: use of a lidar testing apparatus according to any of claims 1 to 7, comprising the steps of:
s301: fixing a standard laser radar on the adjusting module;
s302: adjusting the position of the standard laser radar to enable an irradiation point of a laser beam emitted by the standard laser radar to be at a standard position;
s303: replacing the standard laser radar with a laser radar to be tested, and fixing the laser radar to be tested on the adjusting module;
s304: collecting the position of an irradiation point of a laser beam emitted by a laser radar to be tested, and transmitting position information to the control center;
s305: calculating a positive deflection angle of the laser radar to be tested according to the distance from the laser radar to be tested to the signal receiving board and the position difference between the irradiation point position and the target;
s306: rotating the laser radar to be tested by 90 degrees clockwise, and repeating the steps S304-S305; measuring a left deflection angle of the laser radar to be tested; rotating the laser radar to be tested by 180 degrees anticlockwise, and repeating the steps S304-S305; and measuring the right declination angle of the laser radar to be tested.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211394804.5A CN115774254A (en) | 2022-11-07 | 2022-11-07 | Laser radar testing device and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117269942A (en) * | 2023-11-22 | 2023-12-22 | 成都量芯集成科技有限公司 | Distance calibration device and method for laser range finder |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117269942A (en) * | 2023-11-22 | 2023-12-22 | 成都量芯集成科技有限公司 | Distance calibration device and method for laser range finder |
| CN117269942B (en) * | 2023-11-22 | 2024-02-02 | 成都量芯集成科技有限公司 | Distance calibration device and method for laser range finder |
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