CN208239606U - Laser radar caliberating device and laser radar calibration system - Google Patents
Laser radar caliberating device and laser radar calibration system Download PDFInfo
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- CN208239606U CN208239606U CN201820817060.6U CN201820817060U CN208239606U CN 208239606 U CN208239606 U CN 208239606U CN 201820817060 U CN201820817060 U CN 201820817060U CN 208239606 U CN208239606 U CN 208239606U
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- caliberating device
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Abstract
The utility model relates to laser radar production technical fields, more particularly, to a kind of laser radar caliberating device and laser radar calibration system.The laser radar caliberating device includes track, moving assembly, standard ranging component and calibration facility；Moving assembly is slideably positioned on track；Track is provided with the first installation position and the second installation position, and the two is apart from the identical distance of moving assembly；First installation position is for installing laser radar to be calibrated；Standard ranging component is installed on the second installation position；Calibration facility is connected with standard ranging component, and calibration facility can acquire the detection data of laser radar.The laser radar caliberating device uses the measurement data of calibration facility automatic collection laser radar and standard ranging component and is analyzed and processed, and the reliability of laser radar calibration calibration can be improved, while reducing cost of labor, improves working efficiency.
Description
Technical field
The utility model relates to laser radar production technical fields, more particularly, to a kind of laser radar caliberating device and swash
Optical radar calibration system.
Background technique
Laser radar has been widely used in various industries due to the measurements advantage such as its high-precision, high-resolution.Face city
The wilderness demand of field, efficiently and high quality completes the production of high-volume laser radar as problem.
High-acruracy survey must guaranteed before as an important performance of laser radar, therefore every laser
Radar has to pass through calibration calibration before factory, and otherwise its measurement data can have larger systematic error, this will lead to measured value
And actual range deviation is big and cannot achieve accurate measurement.
The reliability of the caliberating device of major part laser radar producing line is low at present and high labor cost, therefore, how to swashing
Optical radar, which carries out correct, efficient calibration calibration, becomes producing line urgent problem to be solved.
The information disclosed in the background technology section is intended only to deepen the reason to the general background technology of the utility model
Solution, and it is known to those skilled in the art existing to be not construed as recognizing or imply that the information is constituted in any form
Technology.
Utility model content
One of the purpose of this utility model is to provide a kind of laser radar caliberating device and laser radar calibration system, solution
It has determined the technical issues of caliberating device reliability is low and high labor cost of laser radar production line in the related technology.
In a first aspect, a kind of laser radar caliberating device provided by the utility model, comprising: track, moving assembly, standard
Ranging component and calibration facility；
The moving assembly is slideably positioned on the track；
The track is provided with the first installation position and the second installation position, and the two is apart from the identical distance of the moving assembly；
First installation position is for installing laser radar to be calibrated；
The standard ranging component is installed on second installation position；
The calibration facility is connected with the standard ranging component, and the calibration facility can acquire the laser thunder
The detection data reached.
With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, wherein institute
The standard ranging component of stating includes the standard rangefinder being connected and the LCD display that is set on the standard rangefinder；
The standard rangefinder is connected with the calibration facility.
The possible embodiment of with reference to first aspect the first, the embodiment of the invention provides second of first aspect
Possible embodiment, wherein the standard rangefinder is visible light formula laser range sensor.
With reference to first aspect, the embodiment of the invention provides the third possible embodiments of first aspect, wherein institute
Stating calibration facility includes the infrared camera and computer being connected；
The infrared camera is for acquiring light spot image of the laser radar on the moving assembly；
The computer is connected with the standard ranging component, and the computer can acquire the laser radar
Detection data.
With reference to first aspect, the embodiment of the invention provides the 4th kind of possible embodiments of first aspect, wherein institute
Stating moving assembly includes sliding block, reflection board mount and standard reflecting plate；
The sliding block is slideably positioned on the track, and the standard reflecting plate is fixed on institute by the reflection board mount
It states on sliding block.
With reference to first aspect, the embodiment of the invention provides second of possible embodiments of first aspect, wherein institute
Stating track includes sliding rail and the support of multiple sliding rails；
The moving assembly is slideably positioned on the sliding rail；
Multiple sliding rails supports are uniformly arranged along the length direction of the sliding rail, and each sliding rail support perpendicular to
The length direction of the track.
The 5th kind of possible embodiment with reference to first aspect, the embodiment of the invention provides the 6th kind of first aspect
Possible embodiment, wherein the sliding rail is spliced by a plurality of guide rail head and the tail.
The 5th kind of possible embodiment with reference to first aspect, the embodiment of the invention provides the 7th kind of first aspect
Possible embodiment, wherein be provided with master scale on the sliding rail.
With reference to first aspect to the 7th kind of possible embodiment of first aspect, the embodiment of the invention provides first party
The 8th kind of possible embodiment in face, wherein the first end of the track is provided with standard rangefinder pedestal and laser radar
Pedestal；
The standard rangefinder pedestal has second installation position, for installing the standard ranging component；
The laser radar pedestal has first installation position, for installing the laser radar to be calibrated.
Second aspect, the utility model provides a kind of laser radar calibration system, including as above-mentioned technical proposal provides
Any laser radar caliberating device.
Compared with prior art, laser radar caliberating device and laser radar calibration system energy provided by the utility model
Enough reach it is following the utility model has the advantages that
The utility model provides one kind, including track, moving assembly, standard ranging component and calibration facility；Mobile group
Part is slideably positioned on track；Track is provided with the first installation position and the second installation position, the two apart from moving assembly it is identical away from
From；First installation position is for installing laser radar to be calibrated；Standard ranging component is installed on the second installation position；Calibration facility with
Standard ranging component is connected, and calibration facility can acquire the detection data of laser radar.
In use, laser radar to be calibrated is installed on the first installation position, adjustment laser radar makes laser radar
Hot spot is fallen on moving assembly.In moving assembly sliding process in orbit, standard ranging component and laser radar detect simultaneously
The positional distance of moving assembly obtains multiple groups measured value, and result is fed back to calibration facility, by calibration facility respectively by the two
Measured value calculate mean deviation fitting data laser radar is calibrated.Laser radar 5 after calibration is mounted on the first peace
Position is filled, is moved on moving assembly to the orbital position of setting, the measured value of contrast standard ranging component and laser radar, to laser
The measured value of radar carries out Accuracy evaluation.If the two error detection value is meeting within the scope of required precision, the laser radar
Successfully complete calibration.
As can be seen that laser radar caliberating device provided by the utility model uses calibration facility automatic collection laser radar
With the measurement data of standard ranging component and be analyzed and processed, the reliability of laser radar calibration calibration can be improved, simultaneously
Cost of labor is reduced, working efficiency is improved.
Laser radar calibration system provided by the utility model, which can obtain above-mentioned laser radar caliberating device, to be reached
All beneficial effects arrived are realized and are precisely demarcated to laser radar 5, guarantee the quality of factory laser radar.
Other feature and advantage of the utility model will illustrate in the following description, also, partly from specification
In become apparent, or understood and implementing the utility model.The purpose of this utility model and other advantages are illustrating
Specifically noted structure is achieved and obtained in book, claims and attached drawing.
Detailed description of the invention
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of use state for laser radar caliberating device that the utility model embodiment one provides with reference to figure；
Fig. 2 is a kind of use state local-reference for laser radar caliberating device that the utility model embodiment one provides
Figure.
Icon: 11- sliding rail；The support of 12- sliding rail；21- sliding block；22- reflects board mount；23- standard reflecting plate；3- standard is surveyed
Distance meter；31- standard rangefinder pedestal；41- infrared camera；42- computer；5- laser radar；51- laser radar pedestal.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work belongs to practical
Novel protected range.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " the
One ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
The concrete meaning of language in the present invention.
Specific embodiment of the present utility model is described in detail below in conjunction with attached drawing.It should be understood that herein
Described specific embodiment is only used for describing and explaining the present invention, and is not intended to limit the utility model.
Embodiment one
Referring to Fig.1-2, the utility model embodiment provides a kind of laser radar caliberating device, including track, moving assembly,
Standard ranging component and calibration facility；
Moving assembly is slideably positioned on track；Track is provided with the first installation position and the second installation position, and the two distance is moved
The dynamic identical distance of component；
First installation position is for installing laser radar 5 to be calibrated；Standard ranging component is installed on the second installation position；
Calibration facility is connected with standard ranging component, and calibration facility can acquire the detection data of laser radar 5.
Moving assembly is slideably positioned on track, can be free to travel to any position in orbit, has stronger spirit
Activity, therefore calibration point position can be adjusted according to specific requirements, it can be according to the range and required precision tune of laser radar 5
Whole calibration point number or spacing.
First installation position and the second installation position are set side by side so that laser radar 5 and standard ranging component to be calibrated away from
It is consistent with a distance from moving assembly, laser radar 5 and standard ranging component can detect simultaneously the moving assembly on sliding rail 11 with
Know distance.
Laser radar 5, which can issue infrared light and be reflected on moving assembly, forms hot spot, and receives the anti-of moving assembly
5 measured value of laser radar that feedback obtains moving assembly distance is fed back to calibration facility.
Now the course of work of laser radar caliberating device provided by the present embodiment is done to be described in detail.
In use, laser radar 5 to be calibrated is installed on the first installation position, adjustment laser radar 5 makes laser radar 5
Hot spot fall on moving assembly.In moving assembly sliding process in orbit, standard ranging component and laser radar 5 are examined simultaneously
The positional distance for surveying moving assembly obtains multiple groups measured value, and result is fed back to calibration facility, by calibration facility respectively by two
The measured value of person calculates mean deviation fitting data and calibrates to laser radar 5.Laser radar 5 after calibration is mounted on first
Moving assembly is moved on the orbital position of setting by installation position, the measured value of contrast standard ranging component and laser radar 5,
Accuracy evaluation is carried out to the measured value of laser radar 5.If the two error detection value is meeting within the scope of required precision, this swashs
Optical radar 5 successfully completes calibration.
As can be seen that laser radar caliberating device provided by the utility model uses calibration facility automatic collection laser radar
5 with the measurement data of standard ranging component and be analyzed and processed, the reliability of the calibration calibration of laser radar 5 can be improved, together
When reduce cost of labor, improve working efficiency.
It should be noted that during the calibration process, need to adjust the reflecting mirror on the rotating electric machine inside laser radar 5,
Motor is kept not rotate, so that the hot spot of laser radar 5 is fallen in the designated position of moving assembly, facula position in calibration process
It must remain unchanged, i.e., the operating mode of laser radar 5 is changed to fixed point distance measurement mode by scan pattern.
In the utility model at least one embodiment, calibration facility includes the infrared camera 41 and computer being connected
42；
Infrared camera 41 is for acquiring light spot image of the laser radar 5 on moving assembly；Computer 42 and standard are surveyed
It is connected away from component, and computer 42 can acquire the detection data of laser radar 5.
Laser radar 5, which can issue infrared light and fall in, forms hot spot on moving assembly, infrared camera 41 is for observing
The facula position of laser radar 5 facilitates the facula information acquired according to infrared camera 41 to be adjusted laser radar 5, makes
It is constant to obtain hot spot holding position in the movement of moving assembly.
The calibration software developed based on Labview is installed on computer 42, acquires the measurement data and standard of laser radar 5
The correction formula of laser radar 5 is calculated by linear fit mode for the measurement data of rangefinder 3.
Wherein, the first end of track is provided with standard rangefinder pedestal 31 and laser radar pedestal 51；Standard rangefinder base
Seat 31 has above-mentioned second installation position, for installing standard ranging component；Laser radar pedestal 51 has above-mentioned first installation position,
For installing laser radar 5 to be calibrated.
The first end of track is to install one end of laser radar 5, and opposite second end is to the track between laser radar 5
The sliding area of moving assembly is moved close to for moving assembly or far from laser radar 5.
In the movement of moving assembly, laser radar 5 and standard ranging component detect the range data of moving assembly respectively.
When work, setting in orbit is uniformly arranged multiple calibration points, and moving assembly is placed in the first mark of track first end
Fixed point successively moves, then left mouse button is clicked demarcates on computer 42 since close to one end of laser radar to the other end
" fixed-point data acquisition " button of software interface, computer 42 acquire the measured value of laser radar 5 and standard rangefinder 3 for several times,
And the initial data after calculating respectively it averagely the results are shown in the first row of table on the left of interface as linear fit, this
When interface lower right fitting formula in slope and intercept can be according to initial data real-time update.
Ibid, successively uniform moving assembly to follow-up calibration point and acquires data, completes entirely until reaching track second end
The acquisition of portion's data, the slope updated in fitting formula at this time and intercept are the calibrating parameters of the laser radar 5.
Calibrating parameters are transferred to laser radar 5 by " the parameter downloading " that left mouse button clicks 42 interface of computer, are hereafter swashed
The measurement data that optical radar 5 exports then is by calibration.
It finally needs to measure Accuracy evaluation to the laser radar 5 after calibration, i.e., takes several positions at random in orbit
It sets, mark moving assembly is moved at this, the measured value of laser radar 5 and standard rangefinder 3 is compared, if error is meeting precision
In claimed range, then the laser radar 5 successfully completes calibration, otherwise needs to re-start calibration.
In the utility model at least one embodiment, standard ranging component includes the standard rangefinder 3 being connected and LCD aobvious
Display screen；Standard rangefinder 3 is connected with calibration facility.
3 measurement data of standard rangefinder can be directly read from its LCD display, can also be transmitted to computer by USB
42 displays.
Wherein, standard rangefinder 3 can be visible light formula laser range sensor, and visible light formula is used to can avoid standard
The transmitting optical band of rangefinder 3 is close with the infrared band that laser radar 5 emits and interferes to 5 ranging of laser radar,
While visible light is also convenient for human eye and directly observes.
In the utility model at least one embodiment, moving assembly includes that sliding block 21, reflection board mount 22 and standard are anti-
Penetrate plate 23；
Sliding block 21 is slideably positioned on track, and standard reflecting plate 23 is fixed on sliding block 21 by reflecting board mount 22.
Sliding block 21 is slidably matched with track, and sliding block 21 slides in orbit, to drive reflection board mount 22 mobile, and then band
Dynamic standard reflecting plate 23 is mobile.
Standard reflecting plate 23 realizes range measurement for reflection laser radar 5 and visible light formula laser range sensor
Standard reflection object, meanwhile, standard reflecting plate 23 is used to form the hot spot of laser radar 5, and infrared camera 41 is facilitated to capture.
It should be noted that being provided with the mounting groove for installing standard reflecting plate 23 on reflection board mount 22.
In the utility model at least one embodiment, track includes sliding rail 11 and multiple sliding rails support 12；Moving assembly
It is slideably positioned on sliding rail 11；
Multiple sliding rail supports 12 are uniformly arranged along the length direction of sliding rail 11, and the support 12 of each sliding rail is perpendicular to track
Length direction.
Wherein, entire sliding rail 11 is spliced by a plurality of guide rail head and the tail, and is provided with master scale on sliding rail 11.Therefore its
Entire length can be adjusted according to the range of laser radar 5, and equidistant scale is distributed on sliding rail 11 using as standard reflecting plate
The reference of 23 shift positions.
Embodiment two
The utility model embodiment provides a kind of laser radar calibration system, including appoints as provided by above-described embodiment one
A kind of laser radar caliberating device.
Wherein, the specific structure of laser radar caliberating device is hereinbefore discussed in detail, and details are not described herein again.
Laser radar calibration system provided by the utility model embodiment can obtain above-mentioned laser radar caliberating device
The attainable all beneficial effects of institute are realized and are precisely demarcated to laser radar 5, guarantee the quality of factory laser radar 5.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should
Understand: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of
Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and this is practical new
The range of each embodiment technical solution of type.
Claims (10)
1. a kind of laser radar caliberating device characterized by comprising track, moving assembly, standard ranging component and calibration
Equipment；
The moving assembly is slideably positioned on the track；
The track is provided with the first installation position and the second installation position, and the two is apart from the identical distance of the moving assembly；
First installation position is for installing laser radar to be calibrated (5)；
The standard ranging component is installed on second installation position；
The calibration facility is connected with the standard ranging component, and the calibration facility can acquire the laser radar
(5) detection data.
2. laser radar caliberating device according to claim 1, which is characterized in that the standard ranging component includes being connected
The standard rangefinder (3) connect and the LCD display being set on the standard rangefinder (3)；
The standard rangefinder (3) is connected with the calibration facility.
3. laser radar caliberating device according to claim 2, which is characterized in that the standard rangefinder (3) is visible
Light formula laser range sensor.
4. laser radar caliberating device according to claim 1, which is characterized in that the calibration facility includes being connected
Infrared camera (41) and computer (42)；
The infrared camera (41) is for acquiring light spot image of the laser radar (5) on the moving assembly；
The computer (42) is connected with the standard ranging component, and the computer (42) can acquire the laser thunder
Up to the detection data of (5).
5. laser radar caliberating device according to claim 1, which is characterized in that the moving assembly includes sliding block
(21), board mount (22) and standard reflecting plate (23) are reflected；
The sliding block (21) is slideably positioned on the track, and the standard reflecting plate (23) passes through the reflection board mount (22)
It is fixed on the sliding block (21).
6. laser radar caliberating device according to claim 1, which is characterized in that the track include sliding rail (11) and
Multiple sliding rails support (12)；
The moving assembly is slideably positioned on the sliding rail (11)；
Multiple sliding rail supports (12) are uniformly arranged along the length direction of the sliding rail (11), and each sliding rail support
(12) perpendicular to the length direction of the track.
7. laser radar caliberating device according to claim 6, which is characterized in that the sliding rail (11) is first by a plurality of guide rail
Tail is spliced.
8. laser radar caliberating device according to claim 6, which is characterized in that be provided with standard on the sliding rail (11)
Scale.
9. laser radar caliberating device according to claim 1 to 8, which is characterized in that the first of the track
End is provided with standard rangefinder pedestal (31) and laser radar pedestal (51)；
The standard rangefinder pedestal (31) has second installation position, for installing the standard ranging component；
The laser radar pedestal (51) has first installation position, for installing the laser radar (5) to be calibrated.
10. a kind of laser radar calibration system, which is characterized in that including laser thunder as claimed in any one of claims 1-9 wherein
Up to caliberating device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820817060.6U CN208239606U (en) | 2018-05-29 | 2018-05-29 | Laser radar caliberating device and laser radar calibration system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820817060.6U CN208239606U (en) | 2018-05-29 | 2018-05-29 | Laser radar caliberating device and laser radar calibration system |
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| CN111337892A (en) * | 2020-03-26 | 2020-06-26 | 福州盛博电子有限公司 | Radar automatic calibration and calibration method and system |
| CN111766571A (en) * | 2020-07-13 | 2020-10-13 | 安东仪器仪表检测有限公司 | Outdoor calibration method for infrared range finder |
| WO2022095247A1 (en) * | 2020-11-06 | 2022-05-12 | 深圳奥锐达科技有限公司 | Distance measurement error calibration system and calibration method for laser radar |
| CN112526488A (en) * | 2020-12-03 | 2021-03-19 | 苏州测迅智能汽车科技有限公司 | Laser radar calibration test system based on environment and calibration method thereof |
| CN113189568A (en) * | 2021-04-30 | 2021-07-30 | 深圳市安思疆科技有限公司 | Laser radar calibration device and method |
| CN113189568B (en) * | 2021-04-30 | 2024-03-05 | 深圳市安思疆科技有限公司 | Laser radar calibration device and method |
| CN112985331B (en) * | 2021-05-07 | 2021-08-13 | 北京三快在线科技有限公司 | Calibration device of sensor |
| CN112985331A (en) * | 2021-05-07 | 2021-06-18 | 北京三快在线科技有限公司 | Calibration device of sensor |
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