CN213715455U

CN213715455U - Laser radar calibration equipment based on environment

Info

Publication number: CN213715455U
Application number: CN202022879183.2U
Authority: CN
Inventors: 吕济明; 李晓英; 董立波; 白光磊; 刘志山
Original assignee: Suzhou Cexun Intelligent Automotive Technology Co ltd
Current assignee: Suzhou Cexun Intelligent Automotive Technology Co ltd
Priority date: 2020-12-03
Filing date: 2020-12-03
Publication date: 2021-07-16
Anticipated expiration: 2030-12-03

Abstract

The utility model discloses a laser radar calibration equipment based on environment, including laser radar calibration equipment, laser radar calibration equipment is by the three-dimensional revolving stage mechanism that the cooperation was used, mark target mobile location platform and light analog system and constitute, three-dimensional revolving stage mechanism, mark target mobile location platform and light analog system and install in the laboratory and be connected with the control cabinet through the LAN, three-dimensional revolving stage mechanism includes the fixed bolster and installs in the three-dimensional revolving stage of fixed bolster outer end through the bolt, the lower extreme of fixed bolster is fixed in ground, surveyed laser radar is installed to the top of three-dimensional revolving stage. The utility model discloses intelligent vehicle laser radar's calibration equipment based on environment, wherein three-dimensional revolving stage can carry out automatic formula activity adjustment to laser radar's angle, position respectively with calibration target mobile location platform, has improved the degree of automation of equipment, can simulate the test to laser radar under the different environment through light analog system in addition, has improved the comprehensiveness of laser radar test.

Description

Laser radar calibration equipment based on environment

Technical Field

The utility model relates to an intelligent vehicle test equipment technical field specifically is a laser radar calibration equipment based on environment.

Background

The research and development of intelligent vehicles belong to the strategic development direction of each vehicle enterprise. With falling to the ground of various technologies and laws and regulations matched with the intelligent vehicle, the mass production of the intelligent vehicle indicates daily wait, the intelligent vehicle gradually enters the daily life of people, and finally intelligent traffic with high safety and without manual intervention is realized.

However, the existing calibration test for the laser radar in the intelligent vehicle sensing system has the following problems: (1) if the calibration is carried out in a good environment of a laboratory, the calibration result has great limitation, and the reliability of radar data can be questioned under the specific environment with strong interference to the laser radar when the light changes violently; (2) if the vehicle is limited by weather in an outdoor environment, accurate calibration cannot be realized, and a large amount of complete vehicle testing equipment and related professionals are needed, so that the occupancy rate of various resources is very high, the time is wasted, and the cost is increased. For this reason, a corresponding technical scheme needs to be designed to solve the existing technical problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a lidar calibration equipment based on environment, the demarcation test to lidar among the intelligent vehicle perception system has been solved, if mark in the good environment of laboratory, the demarcation result has very big limitation, specific having had under the environment of stronger interference to lidar meetting the violent change of light, the reliability of radar data will arouse the question, if under outdoor environment, receive the restriction of weather again, also can't realize accurate demarcation, the condition just still needs a large amount of complete car test equipment and relevant professional of supporting, it is very high to lead to the occupancy to various resources, the waste time, and the cost is increased, this technical problem.

In order to achieve the above object, the utility model provides a following technical scheme: a laser radar calibration device based on environment comprises a laser radar calibration device, wherein the laser radar calibration device is composed of a three-dimensional turntable mechanism, a calibration target moving and positioning platform and a light simulation system which are used in a matched mode, the three-dimensional turntable mechanism, the calibration target moving and positioning platform and the light simulation system are installed in a test room and are connected with a control console through a local area network, the three-dimensional turntable mechanism comprises a fixed support and a three-dimensional turntable which is installed at the outer end of the fixed support through bolts, the lower end of the fixed support is fixed on the ground, a laser radar to be tested is installed above the three-dimensional turntable, the calibration target moving and positioning platform is located on one side of the three-dimensional turntable mechanism and is composed of a base, a driving mechanism and a calibration target, the driving mechanism is installed on the base and is connected with the calibration target, the light simulation system comprises a mesh-shaped, the surface of netted light mainboard is formed with a plurality of groups cell, every group correspond on the cell and install a set of light, a plurality of groups connect in parallel through the circuit between the illumination.

As a preferred embodiment of the utility model, the fixed bolster is two segmentation structures and alternates the L type support in the guide cylinder including the guide cylinder and the activity that are fixed in ground, L type support alternates with junction one side screw thread of guide cylinder has spacing bolt.

As a preferred embodiment of the utility model, three-dimensional revolving stage comprises chassis, servo motor one, U type frame, servo motor two, mount pad and servo motor three, chassis horizontal installation is on L type support, servo motor one is installed on the chassis and power take off end is connected with U type frame, the upper end and the servo motor two phase connection of U type frame, the power take off end and the mount pad of servo motor two are connected, servo motor three is fixed in on the mount pad and power take off end is connected with surveyed laser radar.

As an optimal implementation manner of the present invention, the rotation angle sensor is installed at the end of the first servo motor, the second servo motor and the third servo motor, and the rotation angle sensor drives the detected lidar to rotate along the three axes X, Y, Z respectively.

As a preferred embodiment of the present invention, the base includes a first substrate and a second substrate which are arranged in parallel, a guide groove is formed between the first substrate and the second substrate, and a sliding groove is formed on the surface of the second substrate.

As a preferred embodiment of the utility model, actuating mechanism comprises linear guide, rack, gear, servo motor four, reduction gear and motion platform, linear guide and the equal horizontal installation of rack are on base plate one, the slip is provided with the slurcam on the linear guide, the upper end of slurcam is fixed with the spliced pole, the rack is connected with the gear engagement of top, servo motor four's power take off end is connected with the input of reduction gear, the output of reduction gear is connected with the gear, servo motor four and reduction gear are all installed on the slurcam, the upper end of spliced pole is connected with the motion platform, the motion platform slides and sets up in the spout, mark the target rigid mounting on the motion platform.

As an optimal implementation mode of the utility model, one side of base plate one still is provided with the magnetic grid chi, the magnetic grid read head is installed to the lateral wall of slurcam, the reading end of magnetic grid read head is just to the magnetic grid chi.

Compared with the prior art, the beneficial effects of the utility model are as follows:

1. the utility model discloses environment-based intelligent vehicle laser radar's calibration equipment comprises three-dimensional revolving stage, calibration target mobile location platform and light analog system, wherein the laser radar under test passes through the support and installs on three-dimensional revolving stage, the user can adjust the installation angle of radar according to the test requirement, the calibration target is fixed on mobile platform, mobile platform can follow guide rail linear motion, control system gathers feedback calibration target's positional information and velocity information simultaneously, with radar feedback data synchronization, and then calibration radar's output result, light analog system can simulate the lighting environment under different luminance, different colour temperature conditions according to the user's requirement, be used for demarcating the laser radar performance under different environmental conditions, such design mode can simulate the illumination environment in the laboratory, accomplish test and demarcation work under different illumination environments to the laser radar, the accuracy of the test structure is greatly improved, and the test cost is reduced.

2. The utility model discloses a three-dimensional revolving stage can carry out automatic formula activity to laser radar's angle, position respectively with demarcation target mobile location platform, has improved the degree of automation of equipment, can simulate the test to laser radar under the different environment through light analog system in addition, has improved the comprehensiveness of laser radar test and the representativeness of test result.

Drawings

FIG. 1 is an overall structure diagram of the present invention;

fig. 2 is a structural diagram of the three-dimensional turntable mechanism of the present invention;

fig. 3 is the structure diagram of the mobile positioning platform of the calibration target of the present invention.

In the figure, 1, a three-dimensional turntable mechanism; 2. calibrating a target moving and positioning platform; 3. a light simulation system; 4. a console; 5. fixing a bracket; 6. a three-dimensional turntable; 7. a laser radar to be detected; 8. a base; 9. calibrating a target; 10. a net-shaped light main board; 11. an illuminating lamp; 12. a cell; 13. a guide cylinder; 14. an L-shaped bracket; 15. a limit bolt; 16. a chassis; 17. a first servo motor; 18. a U-shaped frame; 19. a servo motor II; 20. a mounting seat; 21. a servo motor III; 22. a first substrate; 23. a second substrate; 24. a guide groove; 25. a chute; 26. a linear guide rail; 27. a rack; 28. a gear; 29. a servo motor IV; 30. a speed reducer; 31. a motion platform; 32. a push plate; 33. connecting columns; 34. a magnetic grid ruler; 35. a magnetic grid read head; 36. a drive mechanism; 37. and a rotation angle sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-3, the present invention provides a technical solution: a laser radar calibration device based on environment comprises a laser radar calibration device, wherein the laser radar calibration device is composed of a three-dimensional turntable mechanism 1, a calibration target moving and positioning platform 2 and a light simulation system 3 which are used in a matched mode, the three-dimensional turntable mechanism 1, the calibration target moving and positioning platform 2 and the light simulation system 3 are installed in a test room and are connected with a control console 4 through a local area network, the three-dimensional turntable mechanism 1 comprises a fixed support 5 and a three-dimensional turntable 6 which is installed at the outer end of the fixed support 5 through bolts, the lower end of the fixed support 5 is fixed on the ground, a laser radar 7 to be measured is installed above the three-dimensional turntable 6, the calibration target moving and positioning platform 2 is located on one side of the three-dimensional turntable mechanism 1 and is composed of a base 8, a driving mechanism 36 and a calibration target 9, the driving mechanism 36 is installed on the base 8 and is connected with the calibration target 9, the light simulation system 3 comprises, the surface of netted light mainboard 10 is formed with a plurality of groups cell 12, corresponds to install a set of light 11 on every group cell 12, connects in parallel through the circuit between a plurality of groups illumination.

Further improved, as shown in fig. 1: the fixed support 5 is of a two-section structure and comprises a guide cylinder 13 fixed on the ground and an L-shaped support 14 movably inserted in the guide cylinder 13, and a limit bolt 15 is inserted in a thread on one side of the joint of the L-shaped support 14 and the guide cylinder 13 and can adjust the height of the three-dimensional turntable 6.

Further improved, as shown in fig. 2: the three-dimensional rotary table 6 comprises a chassis 16, a first servo motor 17, a U-shaped frame 18, a second servo motor 19, a mounting seat 20 and a third servo motor 21, wherein the chassis 16 is horizontally arranged on the L-shaped support 14, the first servo motor 17 is arranged on the chassis 16, the power output end of the first servo motor is connected with the U-shaped frame 18, the upper end of the U-shaped frame 18 is connected with the second servo motor 19, the power output end of the second servo motor 19 is connected with the mounting seat 20, the third servo motor 21 is fixed on the mounting seat 20, the power output end of the third servo motor is connected with the laser radar 7 to be measured, the three-dimensional rotary table 6 can realize the rotation motion around three axes X, Y, Z, the attitude angle of a spherical surface of 360 degrees can be realized theoretically, and contains high accuracy corner sensor 37 for measure turned angle, the user can be according to the test requirement, the gesture angle of arbitrary adjustment laser radar.

Further improved, as shown in fig. 2: the end parts of the first servo motor 17, the second servo motor 19 and the third servo motor 21 are provided with rotation angle sensors 37 which respectively drive the tested laser radar 7 to rotate along three axes X, Y, Z.

In a further improvement, as shown in fig. 3: the base 8 comprises a first substrate 22 and a second substrate 23 which are arranged in parallel, a guide groove 24 is formed between the first substrate 22 and the second substrate 23, and a sliding groove 25 is formed on the surface of the second substrate 23.

In a further improvement, as shown in fig. 3: the driving mechanism 36 is composed of a linear guide rail 26, a rack 27, a gear 28, a servo motor four 29, a reducer 30 and a moving platform 31, wherein the linear guide rail 26 and the rack 27 are both horizontally arranged on the first base plate 22, a pushing plate 32 is arranged on the linear guide rail 26 in a sliding mode, a connecting column 33 is fixed at the upper end of the pushing plate 32, the rack 27 is meshed with the gear 28 above the rack, the power output end of the servo motor four 29 is connected with the input end of the reducer 30, the output end of the reducer 30 is connected with the gear 28, the servo motor four 29 and the reducer 30 are both arranged on the pushing plate 32, the upper end of the connecting column 33 is connected with the moving platform 31, the moving platform 31 is arranged in the sliding groove 25 in a sliding mode, and the calibration target 9 is rigidly arranged on the moving platform 31.

Specifically, a magnetic grid ruler 34 is further arranged on one side of the first substrate 22, a magnetic grid reading head 35 is mounted on the side wall of the pushing plate 32, the reading end of the magnetic grid reading head 35 is opposite to the magnetic grid ruler 34, the magnetic grid ruler 34 is used as a position detection sensor in the system, reading is carried out through the magnetic grid reading head 35, the system is a non-contact measurement principle, and the measurement stroke is not limited.

When in use: the utility model discloses environment-based intelligent vehicle laser radar's calibration equipment, by three-dimensional revolving stage mechanism 1, mark target mobile location platform 2 and light analog system 3 and constitute, wherein surveyed laser radar 7 passes through the support mounting on three-dimensional revolving stage 6, the user can adjust the installation angle of radar according to the test requirement, mark target 9 and fix on motion platform 31, motion platform 31 can follow guide rail linear motion, the system collection that the control cabinet is built-in simultaneously feeds back position information and the speed information of marking target 9, synchronous with radar feedback data, and then the output result of calibration radar, light analog system 3 can be according to the user's requirement, simulate the lighting environment under different luminance, different colour temperature conditions, be used for demarcating the laser radar performance under different environmental conditions, surveyed laser radar 7 installs on three-dimensional revolving stage 9, and guarantee that radar measurement center is parallel with mark target 9 motion axis, adjusting the current light brightness and color temperature according to requirements, starting the calibration target mobile positioning platform 2 after reaching set indexes, moving at a certain speed, simultaneously collecting radar test results and the motion state of the motion platform, adjusting the angle of the radar, repeating the above actions, and testing.

And (4) supplementary notes: the first servo motor, the second servo motor, the third servo motor and the fourth servo motor are all of MR-J2S-10A + HC-KFS13 models; the speed reducer adopts GH18 model; the magnetic grid ruler and the magnetic grid reading head adopt MRR-H200 model; the rotation angle sensor adopts RS232 model.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a lidar calibration equipment based on environment, includes lidar calibration equipment which characterized in that: the laser radar calibration equipment comprises a three-dimensional turntable mechanism (1), a calibration target moving and positioning platform (2) and a light simulation system (3) which are used in a matched mode, wherein the three-dimensional turntable mechanism (1), the calibration target moving and positioning platform (2) and the light simulation system (3) are installed in a laboratory and are connected with a control console (4) through a local area network, the three-dimensional turntable mechanism (1) comprises a fixed support (5) and a three-dimensional turntable (6) which is installed at the outer end of the fixed support (5) through bolts, the lower end of the fixed support (5) is fixed on the ground, a laser radar (7) to be measured is installed above the three-dimensional turntable (6), the calibration target moving and positioning platform (2) is located on one side of the three-dimensional turntable mechanism (1) and consists of a base (8), a driving mechanism (36) and a calibration target (9), the driving mechanism (36) is installed on the base (8) and the upper side, light analog system (3) include netted light mainboard (10) and evenly install a plurality of groups light (11) on the light mainboard, the surface of netted light mainboard (10) is formed with a plurality of groups cell (12), every group correspond on cell (12) and install a set of light (11), a plurality of groups connect in parallel through the circuit between the illumination.

2. The environment-based lidar calibration apparatus of claim 1, wherein: the fixed support (5) is of a two-section structure and comprises a guide cylinder (13) fixed on the ground and an L-shaped support (14) movably inserted in the guide cylinder (13), and a limit bolt (15) is inserted into one side of the joint of the L-shaped support (14) and the guide cylinder (13) in a threaded manner.

3. The environment-based lidar calibration apparatus of claim 1, wherein: the three-dimensional rotary table (6) comprises a chassis (16), a first servo motor (17), a U-shaped frame (18), a second servo motor (19), a mounting seat (20) and a third servo motor (21), wherein the chassis (16) is horizontally mounted on the L-shaped support (14), the first servo motor (17) is mounted on the chassis (16) and a power output end of the first servo motor is connected with the U-shaped frame (18), the upper end of the U-shaped frame (18) is connected with the second servo motor (19), the power output end of the second servo motor (19) is connected with the mounting seat (20), and the third servo motor (21) is fixed on the mounting seat (20) and the power output end of the third servo motor is connected with the tested laser radar (7).

4. An environment-based lidar calibration apparatus according to claim 3, wherein: and corner sensors (37) are arranged at the end parts of the first servo motor (17), the second servo motor (19) and the third servo motor (21) and respectively drive the tested laser radar (7) to rotate along three axes X, Y, Z.

5. The environment-based lidar calibration apparatus of claim 1, wherein: the base (8) comprises a first base plate (22) and a second base plate (23) which are arranged in parallel, a guide groove (24) is formed between the first base plate (22) and the second base plate (23), and a sliding groove (25) is formed in the surface of the second base plate (23).

6. The environment-based lidar calibration apparatus of claim 5, wherein: actuating mechanism (36) comprises linear guide (26), rack (27), gear (28), four servo motor (29), reduction gear (30) and motion platform (31), the equal horizontal installation of linear guide (26) and rack (27) is on base plate (22), it is provided with slurcam (32) to slide on linear guide (26), the upper end of slurcam (32) is fixed with spliced pole (33), rack (27) are connected with gear (28) meshing of top, the power take off end of four servo motor (29) is connected with the input of reduction gear (30), the output of reduction gear (30) is connected with gear (28), four servo motor (29) and reduction gear (30) are all installed on slurcam (32), the upper end of spliced pole (33) is connected with motion platform (31), motion platform (31) slide and set up in spout (25), the calibration target (9) is rigidly mounted on the moving platform (31).

7. The environment-based lidar calibration apparatus of claim 6, wherein: one side of the first substrate (22) is further provided with a magnetic grid ruler (34), the side wall of the pushing plate (32) is provided with a magnetic grid reading head (35), and the reading end of the magnetic grid reading head (35) is over against the magnetic grid ruler (34).