CN116338654A - Laser radar stray light simulation test device - Google Patents

Laser radar stray light simulation test device Download PDF

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Publication number
CN116338654A
CN116338654A CN202310440195.0A CN202310440195A CN116338654A CN 116338654 A CN116338654 A CN 116338654A CN 202310440195 A CN202310440195 A CN 202310440195A CN 116338654 A CN116338654 A CN 116338654A
Authority
CN
China
Prior art keywords
laser radar
laser
stray light
mounting ring
test device
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310440195.0A
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Chinese (zh)
Inventor
高旭伟
崔泰毓
张凤杰
请求不公布姓名
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Guangzhou Asensing Technology Co Ltd
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Guangzhou Asensing Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangzhou Asensing Technology Co Ltd filed Critical Guangzhou Asensing Technology Co Ltd
Priority to CN202310440195.0A priority Critical patent/CN116338654A/en
Publication of CN116338654A publication Critical patent/CN116338654A/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
    • G01S7/497—Means for monitoring or calibrating
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The application discloses a laser radar stray light simulation test device relates to laser radar technical field. The laser radar stray light simulation test device comprises a laser radar placing table, a laser radar rotating and arranged on the laser radar placing table, and further comprises a laser emitting assembly, wherein the laser emitting assembly comprises a mounting seat, a mounting ring arranged on the mounting seat and a laser device detachably arranged on the mounting ring, the laser radar corresponds to the geometric center position of the mounting ring, laser beams emitted by the laser device are received by laser radar scanning, and the rotating plane of the laser radar is perpendicular to the plane where the mounting ring is located. The stray light testing device can improve convenience and accuracy of stray light testing.

Description

Laser radar stray light simulation test device
Technical Field
The application relates to the technical field of laser radars, in particular to a laser radar stray light simulation test device.
Background
The laser radar plays important roles of road edge detection, obstacle identification, real-time positioning and drawing in automatic driving. The laser radar can accurately measure the position (distance and angle), motion state (speed, vibration and gesture) and shape of a target, and detect, identify, distinguish and track the target. The laser radar is widely applied in the fields of automatic driving and the like due to the characteristics of high measurement speed, high precision, long distance measurement and the like. With the rapid development of automatic driving in recent years, higher demands are also being made on laser signals and resolution data that can be output by a laser radar. The current laser radar equipment is easily affected by stray light, noise points or ghosts in the finally output calculated data are easily caused by the stray light, the quality of the output data is reduced, and interference is caused to further object classification and identification. Therefore, the influence of stray light with different angles on laser radar output data needs to be tested.
In the prior art, the incidence direction of a test beam is not generally changed in the test process, and the incidence angle of stray light relative to the laser radar is adjusted only by adjusting the angle of the laser radar relative to the mounting platform, but the stray light of all incidence angles cannot be covered by the laser radar due to interference of the laser radar with the mounting platform in the angle adjustment process, so that the test accuracy is affected.
Disclosure of Invention
The utility model aims at providing a laser radar stray light simulation test device, it can improve the convenience and the accuracy of stray light test.
Embodiments of the present application are implemented as follows:
the embodiment of the application provides a laser radar stray light simulation test device, is in including laser radar placing table, rotation setting laser radar placed on the table, still include laser emission subassembly, laser emission subassembly includes the mount pad, sets up collar on the mount pad and be in demountable installation's laser instrument on the collar, laser radar with the geometric center position of collar corresponds, laser radar scanning receipt the laser beam of laser instrument transmission, laser radar's rotation plane with the plane phase-to-phase perpendicular of collar place.
Optionally, as an implementation manner, a plurality of mounting positions are arranged on the mounting ring at intervals, and the laser is detachably mounted at one of the mounting positions.
Optionally, as an implementation manner, the laser is installed in the installation position through a connecting piece, the connecting piece includes a fixed plate and a fixed sleeve arranged on the fixed plate, the laser is arranged in the fixed sleeve in a penetrating way, and the fixed plate is fixed in the installation position.
Alternatively, as an implementation manner, the central angle of two adjacent mounting positions relative to the mounting ring is 5 ° to 10 °.
Alternatively, as an embodiment, the inner diameter of the mounting ring is greater than 1m.
Alternatively, as an implementation manner, the laser radar and the laser radar placing table are rotatably connected on the installation plane of the laser radar placing table through a rotating shaft.
Alternatively, as an implementation manner, the mounting ring is formed by connecting a plurality of connecting frames end to end.
Optionally, as an implementation manner, two ends of the connecting frame are provided with connecting parts, and two adjacent connecting frames are connected through the connecting parts.
Optionally, as an implementation manner, the mounting seat includes two parallel support columns, where the two support columns are respectively connected to the mounting ring, and a distance between the two support columns is an outer diameter of the mounting ring.
Optionally, as an implementation manner, a pulley is arranged at the bottom of the laser radar placing table.
The beneficial effects of the embodiment of the application include:
the utility model provides a laser radar stray light simulation test device, place the platform including the laser radar, rotate the laser radar of setting on the platform is placed to the laser radar, still include the laser emission subassembly, the laser emission subassembly includes the mount pad, set up the collar on the mount pad and the laser instrument of demountable installation on the collar, so that adjustment laser instrument sets up the mounted position on the collar, the laser radar corresponds with the geometric center position of collar, the laser beam of laser instrument transmission is received in the laser radar scanning, the plane of rotation of laser radar is mutually perpendicular with the plane that the collar is located, through adjustment laser instrument mounted position on the collar and rotate the laser radar, the convenience of laser radar stray light test has been improved, in order to cover the stray light of all incident angles, guarantee the accuracy nature of laser radar stray light test.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a laser radar stray light simulation test device provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of a laser radar placing table in the laser radar stray light simulation test device provided in the embodiment of the present application;
fig. 3 is a schematic structural diagram of a laser and a connecting piece in the laser radar stray light simulation test device provided in the embodiment of the present application;
fig. 4 is a schematic structural diagram of a connecting frame in the laser radar stray light simulation test device provided in the embodiment of the application.
Icon: 100-a laser radar stray light simulation test device; 110-a laser radar placement table; 111-rotating shaft; 112-pulleys; 120-laser radar; 130-a laser emitting assembly; 131-mounting seats; 132-a mounting ring; 1321—a connector; 1322-connection; 1323-mounting location; 133-a laser; 134-connecting piece; 1341-fixing plate; 1342-fixing sleeve.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of 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 apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, 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; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.
Referring to fig. 1, the present embodiment provides a laser radar stray light simulation test device 100, including a laser radar placing table 110, a laser radar 120 rotatably disposed on the laser radar placing table 110, and a laser emission assembly 130, where the laser emission assembly 130 includes a mounting base 131, a mounting ring 132 disposed on the mounting base 131, and a laser 133 detachably mounted on the mounting ring 132, the laser radar 120 corresponds to a geometric center position of the mounting ring 132, the laser radar 120 scans and receives a laser beam emitted by the laser 133, and a rotation plane of the laser radar 120 is perpendicular to a plane where the mounting ring 132 is located.
Specifically, when carrying out stray light test to laser radar 120, rotate and install laser radar 120 on laser radar placing table 110, so that laser radar 120 can rotate around the perpendicular direction of laser radar placing table 110 mounting plane, assemble laser emission subassembly 130 afterwards, be fixed in mount pad 131 with collar 132, make the plane that collar 132 is located perpendicular to the plane of rotation of laser radar 120, place laser radar 120 in the geometric center of collar 132, install laser 133 on collar 132, through adjusting the setting position of laser 133 at collar 132 and the rotation angle of laser radar 120, in order to cover the stray light of all angles, guarantee convenience and the comprehensiveness of laser radar 120 stray light test.
By way of example, after the laser 133 is positioned on the mounting ring 132, the laser 133 emits a beam toward the geometric center of the mounting ring 132 to simulate the change in the incident angle of stray light projected to the lidar 120 during the solar east-west fall by rotating the lidar 120. After the laser radar 120 rotates 360 degrees, the mounting position of the laser 133 on the mounting ring 132 is changed, so that the laser can cover stray light with all incident angles, and the stray light test of the laser radar 120 is completed by observing the finally output calculation data of the laser radar 120.
The application provides a laser radar stray light simulation test device 100, place the platform 110 including the laser radar, rotate the laser radar 120 that sets up on the platform 110 is placed to the laser radar, still include laser emission subassembly 130, laser emission subassembly 130 includes mount pad 131, set up collar 132 on mount pad 131 and the laser 133 of demountable installation on collar 132, so that adjustment laser 133 sets up the mounted position on collar 132, laser radar 120 corresponds with collar 132's geometric center position, laser radar 120 scans the laser beam of receiving laser 133 transmission, laser radar 120's rotation plane is mutually perpendicular with collar 132 place plane, through adjustment laser 133 mounted position on collar 132 and rotate laser radar 120, laser radar 120 stray light test's convenience has been improved, in order to cover the stray light of all incident angles, guarantee laser radar 120 stray light test's accuracy nature.
In one possible embodiment of the present application, as shown in fig. 1, a plurality of mounting locations 1323 are spaced apart on the mounting ring 132, and the laser 133 is detachably mounted on one of the mounting locations 1323.
Specifically, a plurality of mounting positions 1323 are disposed on the mounting ring 132 at intervals, and the laser 133 is mounted on different mounting positions 1323 of the mounting ring 132 to control the angle adjustment of the laser 133 on the mounting ring 132, so that the angle control of the stray light incident angle can be ensured.
Further, the central angle of the two adjacent mounting locations 1323 with respect to the mounting ring 132 is 5 ° to 10 °, and by setting the central angle of the two adjacent mounting locations 1323 with respect to the mounting ring 132 to 5 ° to 10 °, on the one hand, the mounting of the laser 133 can be facilitated, and on the other hand, the angle control of the stray light incident angle can be ensured. For example, adjacent mounting locations 1323 are at 5 °, 6 °, 7 °, 8 °, 9 °, or 10 ° relative to the center angle of the mounting ring 132.
In one possible embodiment of the present application, as shown in fig. 1 and 3, the laser 133 is mounted at the mounting location 1323 by the connector 134, the connector 134 includes a fixing plate 1341 and a fixing sleeve 1342 disposed on the fixing plate 1341, the laser 133 is disposed in the fixing sleeve 1342, and the fixing plate 1341 is fixed at the mounting location 1323.
Specifically, when the laser 133 is disposed on the mounting position 1323, the laser 133 is first inserted into the fixing sleeve 1342 of the connecting piece 134, a threaded hole is formed in the side wall of the fixing sleeve 1342, and the threaded fastening connecting piece 134 abuts against the laser 133 after passing through the threaded hole, so as to fix the laser 133 in the fixing sleeve 1342, and prevent the laser 133 from falling off from the fixing sleeve 1342. The fixing plate 1341 is provided with connection holes, the mounting locations 1323 are fixing holes spaced apart from each other on the mounting ring 132, and when the fixing plate 1341 is fixed to the mounting locations 1323, the connection holes are first corresponding to the fixing holes, and then the fixing plate 1341 is connected to the mounting ring 132 by sequentially passing through the connection holes and the fixing holes through the fastening connection piece 134.
When the laser radar 120 is tested by the laser radar stray light simulation test device 100, the laser 133 is firstly fixed in the fixing sleeve 1342 of the connecting piece 134, the installation position of the fixing plate 1341 on the mounting ring 132 is adjusted to cover stray light with all incidence angles, and the finally output resolving data of the laser radar 120 is observed to complete the stray light test of the laser radar 120.
In one possible embodiment of the present application, as shown in FIG. 1, the inner diameter of the mounting ring 132 is greater than 1m.
Specifically, the inner diameter of the mounting ring 132 is set to be greater than 1m, and the laser radar 120 is set at the geometric center of the mounting ring 132, so that the distance between the laser 133 arranged on the mounting ring 132 and the laser radar 120 is greater than 50cm, on one hand, the influence of sunlight and light beams emitted by a street lamp on the laser radar 120 can be better simulated, and on the other hand, interference between the laser radar 120 and the mounting ring 132 or the laser 133 in the rotation process can be avoided.
By way of example, the inner diameter of the mounting ring 132 may be set to 1.2m, 1.3m, 1.4m, or 1.5m. So as to ensure the accuracy of the stray light test of the laser radar 120.
In one possible embodiment of the present application, as shown in fig. 1 and 2, the lidar 120 and the lidar stage 110 are rotatably connected to a mounting plane of the lidar stage 110 by a rotation shaft 111.
Specifically, the lidar 120 is rotationally connected to the laser 133 through the rotation shaft 111, so as to ensure the rotation stability of the lidar 120 on the installation plane of the lidar placing table 110.
In one possible embodiment of the present application, as shown in fig. 1 and 4, the mounting ring 132 is comprised of a plurality of connectors 1321 connected end to end.
Specifically, when assembling the mounting ring 132, the plurality of connection frames 1321 are first connected to assemble, so as to facilitate the carrying and the disassembly of the mounting ring 132.
When the mounting ring 132 is used, the mounting ring 132 is assembled, and the mounting ring 132 is disassembled into a plurality of connecting pieces 134 for storage after the mounting ring 132 is used, so that the damage of the whole mounting ring 132 during storage is avoided.
Further, connecting portions 1322 are provided at both ends of the connecting frame 1321, and adjacent connecting frames 1321 are connected by the connecting portions 1322.
Specifically, the connecting portions 1322 are folded relative to the arc direction of the connecting frames 1321, the connecting portions 1322 are provided with light holes, the light holes of two adjacent connecting frames 1321 correspond to each other, and the two connecting portions 1322 connected to each other are fixed by the fastening connecting piece 134, so as to complete the overall assembly of the mounting ring 132.
For example, the mounting ring 132 is formed by connecting two semicircular connecting frames 1321 at the head, and when assembling, the connecting portions 1322 on two sides of the two semicircular connecting frames 1321 are connected to complete the overall assembly of the mounting ring 132.
It can be appreciated that the mounting ring 132 may also be formed by connecting four connecting frames 1321 arranged in 1/4 circle at first, and connecting the connecting portions 1322 on two sides of the four connecting frames 1321 arranged in 1/4 circle during assembly, so as to complete the overall assembly of the mounting ring 132.
In one possible embodiment of the present application, as shown in fig. 1, the mounting base 131 includes two parallel support columns, the two support columns are respectively connected to the mounting ring 132, and the distance between the two support columns is the outer diameter of the mounting ring 132.
Specifically, after the installation of the installation ring 132 is completed, the installation ring 132 is fixed on the support column, and is fixedly connected with the support column through the connection part 1322 on the connection frame 1321, so as to stably fix the installation ring 132.
The distance between the two support columns is set to be the outer diameter of the mounting ring 132, so that the support columns can be guaranteed to better stably support the mounting ring 132, and the relative position between the laser 133 on the mounting ring 132 and the laser radar 120 is guaranteed to be stable.
When the mounting ring 132 is formed by connecting two semicircular connecting frames 1321 in an end-to-end manner, the two semicircular connecting frames 1321 are firstly assembled in an end-to-end manner when the laser emitting assembly 130 is assembled, and after the assembly is completed, the two oppositely arranged support columns are connected with the connecting parts 1322 of the connecting frames 1321 so as to support and fix the mounting ring 132.
When the mounting ring 132 is formed by connecting four connecting frames 1321 arranged in 1/4 circle at first, the four connecting frames 1321 arranged in 1/4 circle are connected at first for assembly of the laser emitting assembly 130, and after assembly, two support columns arranged oppositely are connected with the connecting parts 1322 of the connecting frames 1321 for supporting and fixing the mounting ring 132.
In one possible embodiment of the present application, as shown in fig. 1 and 2, a pulley 112 is provided at the bottom of the lidar stage 110.
Specifically, a pulley 112 is disposed at the bottom of the laser radar placing table 110, so that the laser radar placing table 110 is transported through the pulley 112, so that the laser radar 120 disposed on the laser radar placing table 110 is transported, and the laser radar 120 is transported conveniently.
Further, a foot brake is arranged on the pulley 112, and after the laser radar placing table 110 is transported to a preset position, the pulley 112 is fixed through the foot brake, so that the laser radar 120 placed on the laser radar placing table 110 can be ensured to work stably.
The application provides a laser radar stray light simulation test device 100, place the platform 110 including the laser radar, rotate the laser radar 120 that sets up on the platform 110 is placed to the laser radar, still include laser emission subassembly 130, laser emission subassembly 130 includes mount pad 131, install the collar 132 and can dismantle the laser instrument 133 of installation on collar 132, so that adjust the mounted position that laser instrument 133 set up on collar 132, laser radar 120 corresponds with collar 132's geometric center position, laser radar 120 scans the laser beam of receiving laser instrument 133 emission, laser radar 120's rotation plane is mutually perpendicular with collar 132 place plane, through adjustment laser 133 mounted position on collar 132 and rotate laser radar 120, the convenience of laser radar 120 stray light test has been improved, in order to cover the stray light of all incident angles, guarantee laser radar 120 stray light test's accuracy nature, link together collar 132 by a plurality of link 1321 first, in order to improve the equipment handling of collar 132 convenience.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims (10)

1. The utility model provides a laser radar stray light simulation testing arrangement, its characterized in that is in including laser radar places the platform, rotates the setting and is in laser radar placed the bench, still includes laser emission subassembly, laser emission subassembly includes the mount pad, sets up collar on the mount pad and be in demountable installation's laser instrument on the collar, laser radar with the geometric center position of collar corresponds, laser radar scanning receipt the laser beam of laser instrument transmission, laser radar's rotation plane with the plane phase perpendicular that the collar is located.
2. The laser radar stray light simulation test device according to claim 1, wherein a plurality of mounting positions are arranged on the mounting ring at intervals, and the laser is detachably mounted at one of the mounting positions.
3. The laser radar stray light simulation test device according to claim 2, wherein the laser is mounted at the mounting position through a connecting piece, the connecting piece comprises a fixing plate and a fixing sleeve arranged on the fixing plate, the laser is arranged in the fixing sleeve in a penetrating mode, and the fixing plate is fixed at the mounting position.
4. The laser radar stray light simulation test device according to claim 2, wherein the central angle of two adjacent mounting positions relative to the mounting ring is 5-10 degrees.
5. The lidar stray light simulation test device of claim 1, wherein the inner diameter of the mounting ring is greater than 1m.
6. The laser radar stray light simulation test device according to claim 1, wherein the laser radar and the laser radar placing table are rotatably connected to an installation plane of the laser radar placing table through a rotating shaft.
7. The lidar stray light simulation test device of claim 1, wherein the mounting ring is formed by connecting a plurality of connecting frames end to end.
8. The laser radar stray light simulation test device according to claim 7, wherein two ends of the connecting frame are provided with connecting portions, and two adjacent connecting frames are connected through the connecting portions.
9. The laser radar stray light simulation test device according to claim 1, wherein the mounting base comprises two parallel support columns, the two support columns are respectively connected with the mounting ring, and the distance between the two support columns is the outer diameter of the mounting ring.
10. The laser radar stray light simulation test device according to claim 1, wherein a pulley is arranged at the bottom of the laser radar placing table.
CN202310440195.0A 2023-04-21 2023-04-21 Laser radar stray light simulation test device Pending CN116338654A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310440195.0A CN116338654A (en) 2023-04-21 2023-04-21 Laser radar stray light simulation test device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310440195.0A CN116338654A (en) 2023-04-21 2023-04-21 Laser radar stray light simulation test device

Publications (1)

Publication Number Publication Date
CN116338654A true CN116338654A (en) 2023-06-27

Family

ID=86887890

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310440195.0A Pending CN116338654A (en) 2023-04-21 2023-04-21 Laser radar stray light simulation test device

Country Status (1)

Country Link
CN (1) CN116338654A (en)

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