CN215297663U - Vehicle-mounted laser radar testing device - Google Patents

Abstract

The utility model discloses a vehicle-mounted laser radar testing device. This on-vehicle laser radar testing arrangement includes: the device comprises a guide rail, a motion platform, a linear motor, a reflecting plate, a distance measuring module and a controller; the extending direction of the guide rail is the same as the transmitting direction of the laser radar to be detected; the moving platform can move along the extending direction of the guide rail; the linear motor is used for driving the motion platform to move along the extending direction of the guide rail; the reflecting plate is arranged on the moving platform, the reflecting surface of the reflecting plate is perpendicular to the laser ray emitted by the laser radar to be detected, and the reflecting plate is used for reflecting the ray emitted by the laser radar to be detected; the distance measurement module is used for measuring the relative distance between the reflecting surface and the laser radar to be measured; the controller is respectively connected with the linear motor and the ranging module, and the controller is used for controlling the linear motor to move according to the relative relation between the relative distance measured by the ranging module in real time and the preset test distance. According to the technical scheme, the control precision of the test distance is improved, and the test accuracy is further improved.

Description

Vehicle-mounted laser radar testing device

Technical Field

The embodiment of the utility model provides a relate to radar test technique, especially relate to a vehicle-mounted laser radar testing arrangement.

Background

The vehicle-mounted laser radar is also called a vehicle-mounted three-dimensional laser scanner, is a mobile three-dimensional laser scanning system, and is one of the most effective tools for city modeling. With the development of urban digitization degree, the application of the vehicle-mounted laser radar is more and more extensive, and the vehicle-mounted laser radar needs to be properly tested before leaving a factory to determine the application range of the radar.

Fig. 1 is a schematic diagram of a vehicle-mounted laser radar testing device in the prior art, and referring to fig. 1, the existing detection equipment mostly drives a motion platform of an installation reflecting plate to move by a servo motor and a synchronous belt, and the motion platform is driven by the synchronous belt to move to detect the laser radar.

However, the existing vehicle-mounted laser radar testing device is low in control precision and large in testing error, and development of the vehicle-mounted laser radar industry is restricted.

SUMMERY OF THE UTILITY MODEL

The utility model provides a vehicle-mounted laser radar testing device has improved the control accuracy and the test accuracy to the test distance.

The embodiment of the utility model provides a vehicle-mounted laser radar testing arrangement, this vehicle-mounted laser radar testing arrangement includes: the device comprises a guide rail, a motion platform, a linear motor, a reflecting plate, a distance measuring module and a controller; the extending direction of the guide rail is the same as the transmitting direction of the laser radar to be detected; the motion platform is arranged opposite to and in contact with the guide rail, and can move along the extending direction of the guide rail; the linear motor is used for driving the motion platform to move along the extending direction of the guide rail; the reflecting plate is arranged on the motion platform, the reflecting surface of the reflecting plate is perpendicular to the laser ray emitted by the laser radar to be detected, and the reflecting plate is used for reflecting the ray emitted by the laser radar to be detected; the distance measurement module is used for measuring the relative distance between the reflecting surface and the laser radar to be measured and sending the relative distance to the controller; the controller is respectively connected with the linear motor and the ranging module, and the controller is used for controlling the linear motor to move according to the relative relation between the relative distance measured by the ranging module in real time and a preset test distance.

Optionally, the distance measuring module comprises a magnetic grid ruler and an encoder, and the magnetic grid ruler is arranged in parallel with the guide rail; the encoder is arranged at the bottom of the motion platform and is opposite to the magnetic grid ruler.

Optionally, the controller is connected to the laser radar to be tested, and is configured to control the laser radar to be tested to start or stop testing, and receive a test result from the laser radar to be tested.

Optionally, the linear motor includes a rotor and a stator, the stator is parallel to the guide rail, and the rotor is relatively fixed to the bottom of the motion platform.

Optionally, the length of the guide rail, the length of the stator, and the length of the magnetic scale are all the same.

Optionally, the vehicle-mounted lidar testing apparatus further includes: the base is used for fixing the guide rail, the linear motor and the magnetic grid ruler.

Optionally, the vehicle-mounted lidar testing apparatus further includes: and the mounting fixture is adjacent to one end of the guide rail and used for fixing the laser radar to be detected, and the mounting fixture is arranged on the base.

Optionally, the base includes a first base and a second base, the first base and the second base are disposed adjacent to each other, a bearing surface of the first base and a bearing surface of the second base are on the same plane, the bearing surface of the first base is used for disposing the mounting fixture, and the bearing surface of the second base is used for disposing the guide rail, the linear motor, and the magnetic scale.

Optionally, the linear motor is a flat plate linear motor.

Optionally, the controller comprises a comparison circuit and a processing circuit, and an output end of the comparison circuit is electrically connected with an input end of the processing circuit;

the comparison circuit is used for comparing the relative distance with the preset test distance and outputting a comparison result signal to the processing circuit, and the processing circuit is used for outputting a motor control signal according to the comparison result signal.

The vehicle-mounted laser radar testing device provided by the embodiment is provided with the linear motor which can drive the motion platform to move, the distance measuring module can constantly measure the relative distance between the reflecting plate and the laser radar to be tested, the controller can control the linear motor to drive the motion platform to move according to the relative distance and the preset testing distance, the distance measuring platform measures the relative distance in real time and feeds the relative distance back to the controller in the motion process of the motion platform, so that the controller can further control the motion state of the linear motor according to the real-time relative distance, the closed-loop control on the distance measured by the laser radar is realized, the testing accuracy and reliability of the device are improved, the failure rate and use cost of the device are reduced, the linear motor has the advantages of high positioning accuracy, good stability, no contact transmission force and extremely small mechanical friction loss in the testing process, the embodiment adopts the linear electrode to drive the motion platform to move, the control precision of the measuring distance of the laser radar is improved, and the testing precision is further improved.

Drawings

FIG. 1 is a schematic diagram of a vehicle-mounted lidar testing apparatus in the prior art;

fig. 2 is a schematic structural diagram of a top view of the vehicle-mounted laser radar testing device provided by the present invention;

fig. 3 is a schematic structural diagram of a top view of another vehicle-mounted laser radar testing device provided by the present invention;

fig. 4 is a schematic structural diagram of a top view of still another vehicle-mounted laser radar testing device provided by the present invention;

fig. 5 is a schematic structural diagram of a top view of still another vehicle-mounted laser radar testing device provided by the present invention;

fig. 6 is a schematic structural diagram of a top view of still another vehicle-mounted laser radar testing device provided by the present invention;

fig. 7 is a schematic structural diagram of a controller according to the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

The embodiment of the utility model provides a vehicle-mounted laser radar testing device. Fig. 2 is the utility model provides a pair of on-vehicle laser radar testing arrangement's the structural schematic diagram that overloads, refer to fig. 2, on-vehicle laser radar testing arrangement 100, include: the device comprises a guide rail 101, a motion platform 102, a linear motor 103, a reflecting plate 104, a distance measuring module 105 and a controller 106; the extending direction of the guide rail 101 is the same as the transmitting direction of the laser radar 107 to be detected; the moving platform 102 is arranged opposite to and in contact with the guide rail 101, and the moving platform 102 can move along the extending direction of the guide rail 101; the linear motor 103 is used for driving the moving platform 102 to move along the extending direction of the guide rail 101; the reflecting plate 104 is arranged on the moving platform 102, the reflecting surface of the reflecting plate 104 is perpendicular to the laser ray emitted by the laser radar 107 to be detected, and the reflecting plate 104 is used for reflecting the ray emitted by the laser radar 107 to be detected; the distance measurement module 105 is configured to measure a relative distance between the reflection surface and the laser radar 107 to be measured, and send the relative distance to the controller 106; the controller 106 is respectively connected with the linear motor 103 and the ranging module 105, and the controller 106 is used for controlling the linear motor 103 to move according to the relative relation between the relative distance measured by the ranging module 105 in real time and the preset test distance.

Specifically, the guide rail 101 is parallel to the emitting direction of the laser radar 107 to be measured, and a slider or a wheel may be disposed at the bottom of the moving platform 102, and the slider or the wheel may be disposed corresponding to the guide rail 101, and the slider may enable the moving platform 102 to move along the extending direction of the guide rail 101. The moving platform 102 may be a flat plate, and may bear the reflective plate 104 and drive the reflective plate 104 to move along the extending direction of the guide rail 101, so as to adjust the relative distance between the reflective plate 104 and the laser radar 107 to be measured. The linear motor 103 can drive the moving platform 102 to move along the extending direction of the guide rail 101. The distance measuring module 105 may be a magnetic grating ruler measuring device, a grating ruler measuring device, or other electronic distance measuring devices with a mobile distance measuring function, and the distance measuring module 105 may measure the relative distance between the reflective plate 104 and the laser radar 107 to be measured in real time. The controller 106 can be a computer, and can also be a microprocessor or a processing circuit, the controller 106 is connected with the linear motor 103 and the ranging module 105 respectively, the relative distance between the reflecting plate 104 measured by the ranging module 105 and the laser radar 107 to be tested can be collected in real time, the relative distance is compared with a preset test distance, the motion of the linear motor 103 is controlled according to the size relation between the relative distance and the preset test distance until the relative distance is equal to the preset test distance, wherein the preset test distance is related to the model of the laser radar 107 to be tested, and the preset test distance can be set by a user. In the process of testing a laser radar 107 to be tested, a plurality of different preset test distances generally need to be set, the moving platform 102 drives the reflecting plate 104 to move, the reflecting plate 104 is located at a position where the test distance is preset from the laser radar 107 to be tested, if the laser emitted by the laser radar 107 to be tested can receive reflected laser, the preset test distance at the moment is smaller than the maximum detection distance, the test is performed successively at each preset test distance by changing the relative distance, and finally the test result is analyzed to determine the maximum detection distance of the laser radar.

For example, before the process of testing the laser radar 107 to be tested, the tester inputs a preset test distance related to the model of the laser radar 107 to be tested in the controller 106, where the preset test distance may be a plurality of values, and specifically, the preset test distance may include 5.12m, 5.14m, 5.16m, …, and 6 m. During testing, ranging module 105 first measures the initial relative distance between the reflective surface and lidar 107 to be tested and transmits it to controller 106. The controller 106 analyzes the relationship between the initial relative distance and 5.12m, if the initial relative distance is greater than 5.12m, the controller 106 controls the linear motor 103 to drive the motion platform 102 to move towards the direction close to the laser radar 107 to be detected, and if the initial relative distance is less than 5.12m, the controller 106 controls the linear motor 103 to drive the motion platform 102 to move away from the laser radar 107 to be detected. In the process that the linear motor 103 drives the motion platform 102 to move, the distance measurement module 105 measures the relative distance between the reflection surface and the laser radar 107 to be measured in real time and sends the relative distance to the controller 106 for analysis, the controller 106 correspondingly controls the motion state of the linear motor 103 according to the analysis result to form closed-loop adjustment on the relative position until the relative position is equal to 5.12m, the error is smaller than the user allowable error, and the user allowable error can be 0.01 mm. At this time, the laser radar 107 to be tested emits laser to the reflection plate 104 and receives the reflected beam of the reflection plate 104, and the laser radar 107 to be tested generates and outputs a corresponding test result according to the received reflected beam, where the test result includes beam quality, reflected beam receiving condition and/or scanning angle. And then, repeating similar steps to sequentially adjust the relative distances to be 5.14m, 5.16m, … m and 6m, respectively testing the laser radar 107 to be tested when the relative distances are different values, and locally storing all test results.

The vehicle-mounted laser radar testing device provided by the embodiment is provided with the linear motor which can drive the motion platform to move, the distance measuring module can constantly measure the relative distance between the reflecting plate and the laser radar to be tested, the controller can control the linear motor to drive the motion platform to move according to the relative distance and the preset testing distance, the distance measuring platform measures the relative distance in real time and feeds the relative distance back to the controller in the motion process of the motion platform, so that the controller can further control the motion state of the linear motor according to the real-time relative distance, the closed-loop control on the distance measured by the laser radar is realized, the testing accuracy and reliability of the device are improved, the failure rate and use cost of the device are reduced, the linear motor has the advantages of high positioning accuracy, good stability, no contact transmission force and extremely small mechanical friction loss in the testing process, the embodiment adopts the linear electrode to drive the motion platform to move, the control precision of the measuring distance of the laser radar is improved, and the testing precision is further improved.

With continued reference to fig. 2, optionally, the ranging module 105 includes a magnetic scale 201 and an encoder 202, the magnetic scale 201 being disposed parallel to the guide rail 101; the encoder 202 is disposed at the bottom of the moving platform 102, opposite to the magnetic scale 201. Wherein the encoder 202 is shown in dashed lines since the encoder 202 is arranged in a position that is not visible from above.

Specifically, the magnetic scale 201 is a magnetic scale on which magnetic waves with equal intervals are recorded, and any length on the magnetic scale 201 can be represented by the sum of the length and a plurality of magnetic scale wavelengths; the encoder 202 is disposed in contact with the magnetic scale 201 or spaced apart by 0.01mm, and the encoder 202 may convert magnetic signals of various positions on the magnetic scale 201 into electrical signals and transmit the electrical signals to the controller 106. Because the encoder 202 is arranged at the bottom of the moving platform 102, the encoder 202 can move along with the moving platform 102 to measure the relative distance between the reflecting plate 104 and the laser radar 107 to be measured in real time, the measurement precision of the magnetic grid ruler 201 is high, the precise adjustment and the real-time closed-loop adjustment of the measurement distance can be realized, and the measurement precision is further improved.

Fig. 3 is the utility model provides a structural schematic diagram of another kind of on-vehicle lidar testing arrangement's overlooking, refer to fig. 3, optionally, controller 106 is connected with the lidar 107 that awaits measuring for control lidar 107 that awaits measuring begins or stops the test, and receives the test result that lidar 107 that awaits measuring sent.

For example, in the process of testing the laser radar 107 to be tested, if the preset testing distance is set to be 5.12m, the controller 106 determines the relative relationship between the relative distance between the reflection surface and the laser radar 107 to be tested and 5.12m in real time, and when the relative distance is equal to 5.12m, the controller 106 controls the laser radar 107 to be tested to start testing. After the test of the laser radar to be tested 107 is completed, the test result is sent to the controller 106, the controller 106 stores the test result and then controls the laser radar to be tested 107 to stop testing, and then the preset test distance is switched to perform the next group of tests.

The on-vehicle lidar testing arrangement that this embodiment provided, the lidar that awaits measuring is connected with the controller, and the controller can set up the back that targets in place at the measuring distance and control the lidar that awaits measuring and begin the test, and the test result of receiving the lidar that awaits measuring carries out local storage and analysis, has improved the degree of automation and the efficiency of test.

With continued reference to fig. 3, optionally, the linear motor 103 comprises a mover 401 and a stator 402, the stator 402 is arranged in parallel with the guide 101, and the mover 401 is arranged in fixed relation to the bottom of the motion platform 102. Here, since the mover 401 is disposed at a position not visible in a plan view, the mover 401 is illustrated by a dotted line in the drawing.

Specifically, the linear motor 103 is a flat-type linear motor 103. Linear motor 103 can be with the bottom relatively fixed setting of active cell 401 and motion platform 102, and the active cell 401 that is driven by linear motor 103 moves motion platform 102, because linear motor 103's positioning accuracy is high and stability is good, then can realize more accurate and stable regulation to measuring distance, has further improved the test accuracy and the reliability of device. Moreover, the linear motor 103 has no contact transmission force, the mechanical friction loss is extremely low, and the failure rate and the use cost of the device are reduced.

With reference to fig. 3, optionally, the length of the guide rail 101 is the same as the length of the stator 402 and the length of the magnetic scale 201, and the two ends of the guide rail 101, the stator 402 and the magnetic scale 201 are aligned, so that the linear motor 103 drives the motion platform 102 to move stably, and the stability of the device is improved.

Fig. 4 is another kind of vehicle-mounted laser radar testing device's overlook structure schematic diagram, refer to fig. 4, optionally, vehicle-mounted laser radar testing device still includes base 501, and base 501 is used for fixed guide 101, linear electric motor 103 and magnetic grid chi 201.

Specifically, the base 501 may be made of metal, stone or wood, and the base 501 may provide a bearing surface for the guide rail 101, the linear motor 103, and the magnetic scale 201, so as to fix the positions of the guide rail 101, the linear motor 103, and the magnetic scale 201, thereby improving the reliability of the test.

Fig. 5 is the utility model provides a structural schematic diagram of another kind of on-vehicle lidar testing arrangement's overlooking, refer to fig. 5, optionally, on-vehicle lidar testing arrangement still includes mounting fixture 601, and mounting fixture 601 sets up adjacent with the one end of guide rail 101 for fixed lidar 107 that awaits measuring, mounting fixture 601 set up on base 501.

Specifically, the mounting fixture 601 is fixedly arranged on the base 501, the laser radar 107 to be tested can be fixed on the base 501, the transmitting port of the laser radar 107 to be tested can be aligned to the reflecting surface, laser emitted by the laser radar 107 to be tested can be accurately projected onto the reflecting surface, direction deviation is avoided, and the reliability of a test result is further improved.

Fig. 6 is another structural schematic diagram of a vehicle-mounted lidar testing apparatus, referring to fig. 6, optionally, the base 501 includes a first base 701 and a second base 702, the first base 701 and the second base 702 are adjacently disposed, a bearing surface of the first base 701 is on the same plane as a bearing surface of the second base 702, the bearing surface of the first base 701 is used for setting the mounting fixture 601, and the bearing surface of the second base 702 is used for setting the guide rail 101, the linear motor 103 and the magnetic scale 201.

Specifically, the bearing surface of the first base 701 may be provided with the mounting fixture 601, the bearing surface of the second base 702 may be provided with the guide rail 101, the linear motor 103 and the magnetic scale 201, and the first base 701 and the second base 702 are separately arranged, so that the influence of the vibration of the motion platform 102 on the laser radar 107 to be tested in the motion process can be reduced, the interference factor of the test is reduced, and the reliability of the test result is improved.

Fig. 7 is a schematic structural diagram of a controller according to the present invention, referring to fig. 7, optionally, the controller 106 includes a comparison circuit 801 and a processing circuit 802, an output end of the comparison circuit 801 is electrically connected to an input end of the processing circuit 802; the comparison circuit 801 is configured to compare the relative distance with a preset test distance and output a comparison result signal to the processing circuit 802, and the processing circuit 802 is configured to output a motor control signal according to the comparison result signal.

Specifically, the comparison circuit 801 may include at least one comparator, and the comparison circuit 801 is connected to the ranging module and may receive the relative distance measured by the ranging module in real time. The processing circuit 802 may include a control chip or a processor, the processing circuit 802 is connected to the linear motor and the laser radar to be detected, and the processing circuit 802 outputs a motor control signal according to the comparison result to correspondingly control the motion of the linear motor. The processing circuit 802 also controls the lidar to be tested to start testing according to the comparison result, and controls the lidar to be tested to stop testing according to the test result.

The vehicle-mounted laser radar testing device provided by the embodiment is provided with the linear motor which can drive the motion platform to move, the distance measuring module can constantly measure the relative distance between the reflecting plate and the laser radar to be tested, the controller can analyze the relation between the relative distance and the preset testing distance and control the linear motor to drive the motion platform to move, the distance measuring platform measures the relative distance in real time and feeds the relative distance back to the controller in the motion process of the motion platform, the controller can further control the motion state of the linear motor according to the real-time relative distance, the linear motor is high in positioning precision, good in stability and free of contact transmission force, mechanical friction loss in the test process is extremely low, closed-loop control over the distance measured by the laser radar is achieved, the controller can also control the laser radar to be tested to test and collect test results, and the control precision of the distance measured and the automation degree of the test are improved.

It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.

Claims (10)

1. The utility model provides a vehicle-mounted laser radar testing device which characterized in that includes: the device comprises a guide rail, a motion platform, a linear motor, a reflecting plate, a distance measuring module and a controller; the extending direction of the guide rail is the same as the transmitting direction of the laser radar to be detected;

the motion platform is arranged opposite to and in contact with the guide rail, and can move along the extending direction of the guide rail;

the linear motor is used for driving the motion platform to move along the extending direction of the guide rail;

the reflecting plate is arranged on the motion platform, the reflecting surface of the reflecting plate is perpendicular to the laser ray emitted by the laser radar to be detected, and the reflecting plate is used for reflecting the ray emitted by the laser radar to be detected;

the distance measurement module is used for measuring the relative distance between the reflecting surface and the laser radar to be measured and sending the relative distance to the controller;

the controller is respectively connected with the linear motor and the ranging module, and the controller is used for controlling the linear motor to move according to the relative relation between the relative distance measured by the ranging module in real time and a preset test distance.

2. The vehicle-mounted lidar testing device of claim 1, wherein the ranging module comprises a magnetic scale and an encoder, the magnetic scale is arranged in parallel with the guide rail; the encoder is arranged at the bottom of the motion platform and is opposite to the magnetic grid ruler.

3. The vehicle-mounted lidar testing device according to claim 1, wherein the controller is connected to the lidar to be tested, and is configured to control the lidar to be tested to start or stop testing and receive a test result sent by the lidar to be tested.

4. The vehicle-mounted lidar testing device of claim 2, wherein the linear motor comprises a rotor and a stator, the stator is arranged in parallel with the guide rail, and the rotor is fixedly arranged relative to the bottom of the motion platform.

5. The vehicle-mounted lidar testing apparatus of claim 4, wherein a length of the guide rail, a length of the stator, and a length of the magnetic scale are all the same.

6. The vehicle-mounted lidar testing apparatus of claim 2, further comprising: the base is used for fixing the guide rail, the linear motor and the magnetic grid ruler.

7. The vehicle-mounted lidar testing apparatus of claim 6, further comprising:

and the mounting fixture is adjacent to one end of the guide rail and used for fixing the laser radar to be detected, and the mounting fixture is arranged on the base.

8. The vehicle-mounted lidar testing apparatus of claim 7, wherein the base comprises a first base and a second base, the first base and the second base are adjacently arranged, a bearing surface of the first base and a bearing surface of the second base are in the same plane, the bearing surface of the first base is used for arranging the mounting fixture, and the bearing surface of the second base is used for arranging the guide rail, the linear motor and the magnetic scale.

9. The vehicle lidar testing device of claim 1, wherein the linear motor is a flat plate linear motor.

10. The vehicle-mounted lidar testing apparatus of claim 1, wherein the controller comprises a comparison circuit and a processing circuit, an output terminal of the comparison circuit being electrically connected to an input terminal of the processing circuit;

the comparison circuit is used for comparing the relative distance with the preset test distance and outputting a comparison result signal to the processing circuit, and the processing circuit is used for outputting a motor control signal according to the comparison result signal.

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