CN204331026U - For the removable target system of three-dimensional imaging load calibration - Google Patents
For the removable target system of three-dimensional imaging load calibration Download PDFInfo
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- CN204331026U CN204331026U CN201420846350.5U CN201420846350U CN204331026U CN 204331026 U CN204331026 U CN 204331026U CN 201420846350 U CN201420846350 U CN 201420846350U CN 204331026 U CN204331026 U CN 204331026U
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Abstract
The utility model provides a kind of removable target system for the calibration of three-dimensional imaging load.This removable target system comprises: the left platform be stitched together by buckle and right platform; Wherein, this left platform and right platform include: several legs; Be fixed on the base plate above several legs; Be installed on the line slideway above base plate; And can linearly N number of target assemblies of moving left and right of guide rail, this target assemblies comprises three-dimensional imaging load verification target, wherein, and N >=1.In the utility model, this removable target system is made up of left and right two parts, and these two parts can splice use, also can be used alone, thus adds dirigibility and adaptability.In addition, multiple target is removable, detachable and replaceable, and by changing target, moving target mark relative position and changing target height, adapt to the calibration demand of different parameters load, test multiple load, the applicability of target system is wider.
Description
Technical field
The utility model relates to opto-electronic industry laser radar technique field, particularly relates to a kind of removable target system for the calibration of three-dimensional imaging load.
Background technology
Laser radar (Light Detection And Ranging, LiDAR) with the three-dimensional imaging load of high-resolution optical sensor integration, high precision earth's surface elevation information and the synchronous acquisition of optical image can be realized, there is the superiority that traditional photography measuring method cannot replace.
Current commercial aviation three-dimensional imaging load adopts laser radar system to carry CCD camera with platform mostly, as the ALS60 system integration face battle array digital camera RCD 105 of Leica company, the LiteMapper 6800 of IGI company is integrated with DigiCAM aviation digital camera, and other are all equipped with digital camera as airborne laser radar systems such as the Falcon of ALTM, TopoSys of Optech.Except same platform load, the common light path imaging technical research that also had part research institution to carry out, system not yet reaches commercial level.
Before load operation, carrying out comprehensive static system calibration, accurate certainty annuity calibration parameter, ensure laser ranging data and optical imaging data precision, is that three-dimensional imaging load high precision potentiality play the primary technical matters solved of application.
For single LiDAR load, the static calibration work in current ground mainly concentrates on range error, strength information corrects, as Wang Liuzhao has carried out the demarcation of distance measure to RA-360 type laser scanner, to realize the correction to laser ranging value; E.Ahokas uses the identification plate of different brightness to correct the strength information that Optech ALTM3100 laser scanner obtains.Do a lot of work in camera calibration both at home and abroad, compare the calibration technology of area array cameras, the work system not enough that line-scan digital camera calibration aspect is done, mainly concentrate on the calibration research of aviation three line scanner camera.
Domesticly achieve some achievements in multiple load with in the investigation and application of platform operations, propose the associating calibration method of multiple load, as the people such as Liu Ke, Lu Jianfeng, Xiang Zhiyu have studied the associating calibration method for origin coordinate system transform relation between area array cameras and laser ranging system respectively.And line-scan digital camera have not been reported with the calibration of combining of linear array LiDAR.
Existing calibration method and technology generally all develop the calibration device of one or more sets couplings to each three-dimensional imaging load, with the different parameters of calibration load, if University Of Science and Technology Of Shandong is to use gray scale target calibration LiDAR range error, use high precision turntable to complete the calibration of LiDAR angle error, Chinese Surveying and mapping chief minister carries out the calibration of scan-type LiDAR and line-scan digital camera collimation in conjunction with the cross drone target that reflective sheeting makes with hoistable platform.
Realizing in process of the present utility model, applicant finds that prior art is used for the system of three-dimensional imaging load calibration can only a parameter of the three-dimensional load of calibration, the static calibration of system multiparameter can not be carried out, and set of system is often for the parameter designing of specific load, poor to the adaptability of different three-dimensional imaging load.
Utility model content
(1) technical matters that will solve
In view of above-mentioned technical matters, the utility model provides a kind of removable target system for the calibration of three-dimensional imaging load, to improve the applicability of target system.
(2) technical scheme
According to an aspect of the present utility model, provide a kind of removable target system for the calibration of three-dimensional imaging load.This removable target system comprises: the left platform 100 be stitched together by buckle 300 and right platform 200.Wherein, this left platform 100 and right platform 200 include: several legs; Be fixed on the base plate 120 above several legs; Be installed on the line slideway 130 above base plate; And can linearly N number of target assemblies of moving left and right of guide rail 130, this target assemblies comprises three-dimensional imaging load verification target, wherein, and N >=1.
Preferably, in the removable target system of the utility model, N≤5.
Preferably, in the removable target system of the utility model, the below of the side of line slideway is fixed with tooth bar 131; Target assemblies 141 comprises: slide plate 141a, can linearly move forward and backward by guide rail 130; Be installed on the servomotor 141b of slide plate 141a side; Be installed on the target support 141c above slide plate 141a; And the three-dimensional imaging load verification target 141d be fixed on target support 141c; Wherein, the rotation the tip of the axis of servomotor 141b is provided with gear, and the tooth bar 131 of the below of the side of this gear and line slideway engages each other, and under the drive of this servomotor 141b, target assemblies 141 can linearly move forward and backward by guide rail 130.
Preferably, in the removable target system of the utility model, the back side of three-dimensional imaging load verification target 141d arranges lifting cover 141d ＇; The rear of this lifting cover is bolted with tightening pin 141d ＂; Wherein, lifting cover 141d ＇ is socketed on target support 141c, blocks target support and three-dimensional imaging load is verified the predeterminated position that target 141d is fixed on target support 141c by tightening pin 141d ＂.
Preferably, in the removable target system of the utility model, the xsect of target support 141c is square, and the accommodation space of lifting cover 141d ＇ is corresponding square.
Preferably, in the removable target system of the utility model, three-dimensional imaging load verification target 141d is towards optical axis direction; Line slideway 130 arranges perpendicular to optical axis direction or arranges along optical axis direction.
Preferably, the removable target system of the utility model also comprises: several drag chains 161,162,163, are arranged on base plate 120, the side of line slideway 130 to, the cable of servomotor 141b is positioned at this drag chain.
Preferably, the removable target system of the utility model also comprises: section bar 150, is arranged between base plate 120 and line slideway 130, and the padded line slideway of this section bar 150 is to adapt to several drag chains 161,162,163.
Preferably, in the removable target system of the utility model, each parts in left platform 100 and right platform 200 all do blackening process to reduce reflection.
Preferably, in the removable target system of the utility model, base plate is aluminum soleplate.
(3) beneficial effect
As can be seen from technique scheme, the removable target system that the utility model is used for the calibration of three-dimensional imaging load has following beneficial effect:
(1) multiple target is removable, detachable and replaceable, and by changing target, moving target mark relative position and changing target height, adapt to the calibration demand of different parameters load, test multiple load, the applicability of target system is wider; Can by placing the target of different gray scale, different reflectivity, different resolution, realize the verification of the range error of LiDAR, resolution of ranging etc., the verification of camera internal position element etc. and the associating calibration of multisensor matching precision, thus set of system can carry out the static calibration of the multiple parameter of three-dimensional load;
(2) system is made up of left and right two parts, and these two parts can splice use, also can be used alone, thus adds dirigibility of the present utility model and adaptability, is convenient to carrying, cost-saving.
Accompanying drawing explanation
Figure 1A is according to the front elevation of the embodiment of the present invention for the removable target system of three-dimensional imaging load calibration;
Figure 1B is according to the left view of the embodiment of the present invention for the removable target system of three-dimensional imaging load calibration;
Fig. 2 is for target system removable shown in Figure 1A is at the stereographic map of the first test mode;
Fig. 3 A and Fig. 3 B is respectively removable target system shown in Figure 1A at the stereographic map of the second test mode and front elevation.
[main element]
The left platform of 100-;
111,112,113,114-leg;
120-aluminum soleplate;
130-line slideway; 131 tooth bars;
141,142,143-target assemblies;
141a-slide plate; 141b-servomotor;
141c-target support; 141d-target;
141d ＇-lifting cover; 141d ＂-tightening pin;
150-aluminium section bar;
161,162,163-drag chain;
The right platform of 200-;
241,242-target assemblies;
300-buckle.
Embodiment
For making the purpose of this utility model, technical scheme and advantage clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the utility model is further described.It should be noted that, in accompanying drawing or instructions describe, similar or identical part all uses identical figure number.The implementation not illustrating in accompanying drawing or describe is form known to a person of ordinary skill in the art in art.In addition, although herein can providing package containing the demonstration of the parameter of particular value, should be appreciated that, parameter without the need to definitely equaling corresponding value, but can be similar to corresponding value in acceptable error margin or design constraint.The direction term mentioned in embodiment, such as " on ", D score, "front", "rear", "left", "right" etc., be only the direction with reference to accompanying drawing.Therefore, the direction term of use is used to illustrate and is not used for limiting protection domain of the present utility model.
The utility model is intended to overcome the defect that existing target system can not carry out the comprehensive static system calibration of parameter, improve the adaptability of calibration device simultaneously, a kind of Multifunctional mobile target apparatus for the calibration of three-dimensional imaging load is proposed, so that the static calibration of the multiparameter system being applicable to the three-dimensional imaging load of different resolution.
In one exemplary embodiment of the present invention, provide a kind of removable target system for the calibration of three-dimensional imaging load.Figure 1A is according to the front elevation of the embodiment of the present invention for the removable target system of three-dimensional imaging load calibration.Figure 1B is according to the left view of the embodiment of the present invention for the removable target system of three-dimensional imaging load calibration.
Please refer to Figure 1A and Figure 1B, the removable target system of the present embodiment is made up of left platform 100 and right platform 200.Wherein, this left platform 100 and right platform 200 are undertaken splicing and the use that links together by buckle 300.Certainly, both also can be used alone, to meet the demand of different loads parameter.Whole removable target system is designed to two platforms and adds dirigibility of the present utility model and adaptability, be convenient to carrying, cost-saving.
Due to left platform 100 and right platform 200 symmetric design, construct substantially identical.Below be only described in detail for the left platform 100 of one of them, those skilled in the art illustrate according to above the relative configurations can understanding right platform 200.
Please refer to Figure 1A and Figure 1B, left platform 100 comprises: the leg (111,112,113,114) adjusting 4 fine-tuning height of left plateau levels; Be fixed on the aluminum soleplate 120 above 4 legs; Be installed on the line slideway 130 above aluminum soleplate; N number of target assemblies, can move left and right along described line slideway, wherein, and N >=1.This target assemblies comprises three-dimensional imaging load verification target.
In the present embodiment, left platform 100 is provided with 3 target assemblies (141,142,143), i.e. N=3.Right platform is provided with 2 target assemblies (241,242), i.e. N=2.But the utility model is not as limit, the number of target assemblies can be arranged as required.Generally, 1≤N≤5.Further, the structure of each target assemblies is substantially identical, and the present embodiment is only described for one of them.
Wherein, the below of the side of line slideway 130 is provided with tooth bar 131.Target assemblies 141 comprises: slide plate 141a, can move forward and backward along guide rail; Be installed on the servomotor 141b of slide plate 141a side; Be installed on the target support 141c above slide plate 141a; Be fixed on the three-dimensional imaging load verification target 141d on target support 141c.The rotation the tip of the axis of this servomotor 141b is provided with gear, and the tooth bar 131 below this gear and guide rail side engages each other.
On aluminum soleplate 120, the side of line slideway is to arranging drag chain 161,162,163.Three-dimensional imaging load verification target 141d uses drag chain 161,162,163 to protect cable respectively when different positions.Use below line slideway aluminium section bar 150 and aluminum soleplate 120 padded and fixing, to adapt to drag chain height.
In the present embodiment, each slide plate is driven by gear-tooth bar by independently servomotor, makes slide plate drive three-dimensional imaging load verification target 141d to move on line slideway by operational order.In spacing scope, slide plate can drive three-dimensional imaging load to verify target 141d and arbitrarily move to any position, adapts to the load calibration of different resolution.
Please refer to Figure 1B, the back side of target 141d is provided with lifting cover 141d ＇.The rear of this lifting cover is bolted with tightening pin 141d ＂.This lifting cover is socketed on target support 141c, blocks target support and fix by tightening pin 141d ＂.The xsect of target support 141c is square, and the accommodation space of lifting cover 141d ＇ is corresponding square.
Under adjustment state, unclamp tightening pin, target 141d is adjusted to suitable position on target support 141c, tightening pin is tightened and target 141d can be fixed on the relevant position of target support 141c, thus the height electrodeless of target 141d is adjustable.
It should be noted that, lifting cover 141d ＇ can repeatedly dismantle, and is convenient to the target 141d changing different purposes.In addition, by being again socketed lifting cover 141d ＇, can also change target 141d towards.
In the present embodiment, 5 targets are detachable and change, and can place different gray scale, different reflectivity target, for the calibration such as addition constant, multiplying constant in LiDAR range error; The target placing adaptive optics sensor is used for the calibration of optical camera elements of interior orientation; Use special formed target, can be used for the calibration of LiDAR and optical image matching relationship.
Fig. 2 is for target system removable shown in Figure 1A is at the stereographic map of the first test mode.Please refer to Fig. 2, placed in line slideway vertical optical axis direction, target can cover detector field of view.
Fig. 3 A and Fig. 3 B is respectively removable target system shown in Figure 1A at the stereographic map of the second test mode and front elevation.Please refer to Fig. 3 A and Fig. 3 B, placed along optical axis direction by line slideway and be elevated the target frame of each target to differing heights, the displacement by motor accurately controls target spacing, for parameter calibrations such as LiDAR resolution of ranging.
In the present embodiment, the equal blackening process of all parts of removable target system, to prevent from occurring strong reflection damage detection device in laser visual field.
So far, by reference to the accompanying drawings the present embodiment has been described in detail.Describe according to above, the removable target system that those skilled in the art should be used for the calibration of three-dimensional imaging load to the utility model has had clearly to be familiar with.
In addition, the above-mentioned definition to each element and method is not limited in various concrete structures, shape or the mode mentioned in embodiment, those of ordinary skill in the art can change simply it or replace, such as: except aluminum soleplate, the loading plate of other metal materials can also be adopted, as long as the stability of line slideway and target assemblies can be ensured; The number of leg can adjust as required.
In sum, the removable target system of the utility model is by removable, detachable and removable target and the left and right platform that can mutually splice, drastically increase the dirigibility of target system, can to the static calibration of the multiparameter system of the three-dimensional imaging load of different resolution.
Above-described specific embodiment; the purpose of this utility model, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiment of the utility model; be not limited to the utility model; all within spirit of the present utility model and principle, any amendment made, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (10)
1. for a removable target system for three-dimensional imaging load calibration, it is characterized in that, comprising: the left platform (100) be stitched together by buckle (300) and right platform (200);
Wherein, this left platform (100) and right platform (200) include:
Several legs (111,112,113,114);
Be fixed on the base plate (120) above several legs described;
Be installed on the line slideway (130) above described base plate; And
N number of target assemblies that can move left and right along described line slideway (130), this target assemblies comprises three-dimensional imaging load verification target, wherein, N >=1.
2. removable target system according to claim 1, is characterized in that, N≤5.
3. removable target system according to claim 1, is characterized in that, the below of the side of described line slideway is fixed with tooth bar (131);
Described target assemblies (141) comprising:
Slide plate (141a), can linearly move forward and backward by guide rail (130);
Be installed on the servomotor (141b) of described slide plate (141a) side;
Be installed on the target support (141c) of described slide plate (141a) top; And
Be fixed on three-dimensional imaging load verification target (141d) on described target support (141c);
Wherein, the rotation the tip of the axis of described servomotor (141b) is provided with gear, the tooth bar (131) of the below of the side of this gear and line slideway engages each other, under the drive of this servomotor (141b), described target assemblies (141) can linearly move forward and backward by guide rail (130).
4. removable target system according to claim 3, is characterized in that, the back side of described three-dimensional imaging load verification target (141d) arranges lifting cover (141d '); The rear of this lifting cover is bolted with tightening pin (141d ");
Wherein, described lifting cover (141d ') is socketed on described target support (141c), and by described tightening pin, (141d ") blocks target support and three-dimensional imaging load is verified the predeterminated position that target (141d) is fixed on described target support (141c).
5. removable target system according to claim 4, is characterized in that, the xsect of described target support (141c) is square, and the accommodation space of described lifting cover (141d ') is corresponding square.
6. removable target system according to claim 5, is characterized in that, described three-dimensional imaging load verification target (141d) is towards optical axis direction;
Described line slideway (130) arranges perpendicular to optical axis direction or arranges along optical axis direction.
7. removable target system according to claim 3, is characterized in that, also comprise:
Several drag chains (161,162,163), are arranged on described base plate (120), the side of described line slideway (130) to, the cable of described servomotor (141b) is positioned at this drag chain.
8. removable target system according to claim 7, is characterized in that, also comprise:
Section bar (150), is arranged between base plate (120) and line slideway (130), and the padded described line slideway of this section bar (150) is to adapt to described several drag chains (161,162,163).
9. removable target system according to any one of claim 1 to 8, is characterized in that, each parts in described left platform (100) and right platform (200) all do blackening process to reduce reflection.
10. removable target system according to any one of claim 1 to 8, is characterized in that, described base plate is aluminum soleplate.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420846350.5U CN204331026U (en) | 2014-12-26 | 2014-12-26 | For the removable target system of three-dimensional imaging load calibration |
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| CN201420846350.5U CN204331026U (en) | 2014-12-26 | 2014-12-26 | For the removable target system of three-dimensional imaging load calibration |
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| CN204331026U true CN204331026U (en) | 2015-05-13 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106643515A (en) * | 2016-10-12 | 2017-05-10 | 华中光电技术研究所（中国船舶重工集团公司第七七研究所） | Maximal attenuation length measuring device and method of underwater laser imaging equipment |
| CN107678013A (en) * | 2017-09-14 | 2018-02-09 | 同济大学 | Long-range laser radar calibration system and method |
| US10928490B2 (en) | 2017-09-07 | 2021-02-23 | Ford Global Technologies, Llc | Lidar calibration |
| CN112782678A (en) * | 2021-02-03 | 2021-05-11 | 中国地质环境监测院(自然资源部地质灾害技术指导中心) | Laser radar and air-air three-measurement data fusion evaluation concave die and evaluation method thereof |
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| CN113009454A (en) * | 2021-03-08 | 2021-06-22 | 福建汇川物联网技术科技股份有限公司 | Laser ranging target and ranging method |
| US11681030B2 (en) | 2019-03-05 | 2023-06-20 | Waymo Llc | Range calibration of light detectors |
| US11747453B1 (en) | 2019-11-04 | 2023-09-05 | Waymo Llc | Calibration system for light detection and ranging (lidar) devices |
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- 2014-12-26 CN CN201420846350.5U patent/CN204331026U/en active Active
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106643515A (en) * | 2016-10-12 | 2017-05-10 | 华中光电技术研究所（中国船舶重工集团公司第七七研究所） | Maximal attenuation length measuring device and method of underwater laser imaging equipment |
| CN106643515B (en) * | 2016-10-12 | 2019-05-14 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | A kind of underwater laser images equipment maximum attenuation length-measuring appliance and method |
| US10928490B2 (en) | 2017-09-07 | 2021-02-23 | Ford Global Technologies, Llc | Lidar calibration |
| CN107678013A (en) * | 2017-09-14 | 2018-02-09 | 同济大学 | Long-range laser radar calibration system and method |
| CN107678013B (en) * | 2017-09-14 | 2021-08-20 | 同济大学 | Remote laser radar calibration system and method |
| US11681030B2 (en) | 2019-03-05 | 2023-06-20 | Waymo Llc | Range calibration of light detectors |
| US11747453B1 (en) | 2019-11-04 | 2023-09-05 | Waymo Llc | Calibration system for light detection and ranging (lidar) devices |
| US12032101B1 (en) | 2019-11-04 | 2024-07-09 | Waymo Llc | Calibration system for light detection and ranging (lidar) devices |
| CN112782678A (en) * | 2021-02-03 | 2021-05-11 | 中国地质环境监测院(自然资源部地质灾害技术指导中心) | Laser radar and air-air three-measurement data fusion evaluation concave die and evaluation method thereof |
| CN112985264A (en) * | 2021-02-18 | 2021-06-18 | 西安工业大学 | Fragment position testing device and method based on space point retrieval mechanism |
| CN112985264B (en) * | 2021-02-18 | 2023-03-07 | 西安工业大学 | Fragment position testing device and method based on space point retrieval mechanism |
| CN113009454A (en) * | 2021-03-08 | 2021-06-22 | 福建汇川物联网技术科技股份有限公司 | Laser ranging target and ranging method |
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