CN219065744U - Automatic calibration device for laser radar - Google Patents
Automatic calibration device for laser radar Download PDFInfo
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- CN219065744U CN219065744U CN202223409160.0U CN202223409160U CN219065744U CN 219065744 U CN219065744 U CN 219065744U CN 202223409160 U CN202223409160 U CN 202223409160U CN 219065744 U CN219065744 U CN 219065744U
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Abstract
The utility model discloses an automatic laser radar calibration device, which comprises a radar bracket, a first light control platform, a second light control platform, a first light control plate and a second light control plate, wherein the radar bracket is used for inversely fixing a laser radar component to be calibrated; the first light control platform and the second light control platform are respectively arranged at two sides of the radar bracket; the first light control plate is arranged at the end part of the first light control table and extends into the laser radar component, the second light control plate is arranged at the end part of the second light control table and extends into the laser radar component, and the first light control plate and the second light control plate are closely aligned up and down. The first light control plate and the second light control plate are driven to relatively displace, so that the size of an opening formed by combining two V-shaped openings is adjusted, the quantity of reflected laser received by the laser receiver is adjusted, and laser reflected by a detection object under different distances is simulated. Therefore, the detection object does not need to be moved for a long distance, and the space distance required by laser radar calibration is reduced.
Description
Technical Field
The utility model relates to the field of laser radars, in particular to an automatic calibration device of a laser radar.
Background
As radar equipment, the laser radar has the advantages of high precision, strong anti-interference capability, high reaction speed and the like, so that the laser radar is suitable for various use environments. The lidar may obtain related information such as distance, speed, etc. about surrounding objects by transmitting a laser beam as a detection signal to a surrounding three-dimensional space, the laser beam being reflected as an echo signal after being irradiated to an object in the surrounding space, and the lidar receiving section means comparing the received echo signal with the transmitted detection signal.
The high precision is used as an important performance of the laser radars, so that each laser radar needs to be calibrated before delivery, such as a laser radar calibration device shown in a patent (with the publication number of CN208239606 and the name of a laser radar calibration device and a laser radar calibration system), and the laser radar measurement values under the condition of different ranging distances are calibrated. However, this measurement calibration method requires a long axial distance to place the reflecting plate, and it is difficult to satisfy the calibration conditions in a general laboratory and a production shop.
Therefore, a new calibration device is needed, and the space distance required by calibration can be greatly reduced on the premise of meeting the calibration and calibration of the laser radar.
Disclosure of Invention
The automatic calibration device for the laser radar disclosed by the utility model uses the movable light control plate to control the echo light signals received by the laser radar, and simulates different amounts of echo light signals received by the laser radar at different distances by controlling the light incoming quantity, so that the problem that the laser radar is required to be calibrated in a long axial direction in the current stage is solved.
The technical scheme adopted by the utility model is as follows: the automatic laser radar calibration device comprises a radar support, a first light control platform, a second light control platform, a first light control plate and a second light control plate, wherein the radar support is used for inversely fixing a laser radar component to be calibrated; the first light control platform and the second light control platform are respectively arranged at two sides of the radar bracket; the first light control plate is arranged at the end part of the first light control table and extends into the laser radar component, the second light control plate is arranged at the end part of the second light control table and extends into the laser radar component, and the first light control plate and the second light control plate are tightly aligned up and down and controlled to horizontally move by the first light control table and the second light control table.
As an alternative of the technical scheme of the utility model, the radar support is provided with a U-shaped notch, and the laser radar component is reversely arranged in the U-shaped notch, so that laser can be emitted from the direction perpendicular to the surface of the U-shaped notch.
As an alternative scheme of the technical scheme of the utility model, the first light control table and the second light control table are mutually aligned and vertically arranged on two sides of the radar support.
As an alternative of the technical scheme of the utility model, the first light control platform and the second light control platform are parallel to each other, and are arranged on two sides of the radar support and parallel to the radar support.
As an alternative scheme of the technical scheme of the utility model, the first light control plate and the second light control plate are straight plates, and V-shaped openings are arranged at the end parts.
As an alternative of the technical scheme of the utility model, the first light control plate and the second light control plate are folded plates with vertical folding angles, and the end parts are provided with V-shaped openings.
As an alternative scheme of the technical scheme of the utility model, the first light control platform comprises a first base, a first sliding rail is horizontally and fixedly arranged on the first base, a first sliding block is slidably arranged on the first sliding rail, a first screw rod is horizontally arranged in the first sliding block and is in threaded connection with the sliding block, the end part of the first screw rod is connected with a first driving motor, the first motor drives the first screw rod to rotate so as to control the first sliding block to slide along the first sliding rail, and the first light control plate is fixedly arranged at the top of the first sliding block and keeps the same direction as the first light control platform.
As an alternative scheme of the technical scheme of the utility model, the second light control platform comprises a second base, a second sliding rail is horizontally and fixedly arranged on the second base, a second sliding block is slidably arranged on the second sliding rail, a second screw rod is horizontally arranged in the second sliding block and is in threaded connection with the sliding block, the end part of the second screw rod is connected with a second driving motor, the second motor drives the second screw rod to rotate so as to control the second sliding block to slide along the second sliding rail, and the second light control plate is fixedly arranged at the top of the second sliding block and keeps the same direction with the second light control platform.
As an alternative to the technical solution of the present utility model, the first slider and the second slider have different thicknesses.
The beneficial effects obtained by the utility model are as follows: the movable light control plate is used for controlling the echo light signals received by the laser radar, and different amounts of echo light signals received by the laser radar at different distances are simulated by controlling the light incoming amount, so that the reflecting plate does not need to be axially moved, and long axial distance is not needed for calibrating the laser radar.
Drawings
Fig. 1 is a schematic diagram of an automatic laser radar calibration device according to a first embodiment of the present utility model.
Fig. 2 is a schematic diagram of a light control board according to a first embodiment of the present utility model.
Fig. 3 is a diagram showing a structure of a lidar to which the present utility model is applied.
Fig. 4 is a schematic view of a light control station according to a first embodiment of the present utility model.
Fig. 5 is a schematic diagram of an automatic laser radar calibration device according to a first embodiment of the present utility model.
Fig. 6 is a schematic diagram of a light control board according to a first embodiment of the present utility model.
Fig. 7 is a schematic diagram of a light control station according to a first embodiment of the present utility model.
Wherein, 100-radar support; 110-elastic lock catches; 200-a lidar component; 210-core scaffold; 220-power panel; 230-an emitter plate; 231-a laser emitter; 240-a laser receiving port; 250-receiving lenses; 260-firing a lens barrel; 270-a light guide tube; 280-a mirror; 300-a first light control station; 310-a first base; 320-a first slide rail; 330-a first slider; 340-a first screw rod; 350-a first drive motor; 400-a second light control station; 410-a second base; 420-a second slide rail; 430-a second slider; 440-a second screw rod; 450-a second drive motor; 500-a first light control plate; 600-second light control board.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects solved by the present utility model more apparent, the present utility model is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the following specific examples are intended to illustrate the utility model and are not intended to limit the utility model. All other embodiments, which can be made by a person skilled in the art without any inventive effort, are based on the following examples, which fall within the scope of the utility model.
It should be noted that, in the description of the present utility model, the positional or positional relationship indicated by the terms such as "upper", "lower", "left", "right", "front", "rear", etc. are based on the positional or positional relationship of the drawings, and are merely for convenience of description of the present utility model, and are not indicative or implying that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.
In the description of the embodiments, the terms "disposed," "connected," and the like are to be construed broadly unless otherwise specifically indicated and defined. For example, the connection can be fixed connection, detachable connection or integral connection; can be mechanically or electrically connected; can be directly connected, can be connected through an intermediary medium, and can also be communicated with the inside of two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
[ first embodiment ]
The automatic laser radar calibration device shown in fig. 1 is characterized in that a radar support 100 is arranged in the middle, a laser radar assembly 200 to be calibrated is fixed on the radar support 100, a first light control table 300 and a second light control table 400 are respectively arranged on the left side and the right side of the radar support 100 in an axial alignment manner, a first light control plate 500 is arranged on the first light control table 300 in a sliding manner, and the first light control plate 500 can be controlled to horizontally move along the left-right axial direction; the second light control board 600 is slidably disposed on the second light control board 400, and can control the second light control board 600 to horizontally move along the left-right axial direction. The first light control board 500 and the second light control board 600 extend into the laser radar assembly 200 to be calibrated and are aligned in a vertically tight manner. As shown in fig. 2, the radar support 100 has a U-shaped slot structure, and the laser radar assembly 200 to be calibrated is fixed on the radar support 100 through the elastic lock catch 110 in an inverted manner. The first light control board 500 and the second light control board 600 extend into the laser radar assembly 200 to be calibrated from the left and right sides.
As shown in the laser radar structure diagram in fig. 3, the laser radar is in an inverted state, and includes a core bracket 210, a power panel 220 is fixed on the top of the core bracket 210, and a laser receiver is arranged on the power panel 220; the bottom of the core bracket 210 is fixedly provided with a transmitting plate 230, a laser receiving opening 240 is arranged in the middle of the transmitting plate 230 in a penetrating way, a receiving lens 250 is arranged below the receiving opening, and a laser transmitter 231 is arranged in the middle of the laser receiving opening 240; the core support 210 passes through the receiving lens 250 to be aligned with the laser emitter 231 and is provided with the emission lens 260, is provided with the emission lens in the emission lens 260, and end connection has a right angle light guide tube 270, and light guide tube 270 dog-ear department is fixed with speculum 280, and speculum 280 and the angle slope of emission lens 260 become 45, and when laser directly income from light guide tube 270 vertical end perpendicular incidence, reflection can be followed light guide tube 270 horizontal end level through the speculum 280 reflection in the light guide tube 270. In addition, as shown in fig. 2, the horizontal end of the light guide tube 270 is parallel to the U-shaped groove, and laser light can be emitted from and into the U-shaped groove. And the first light control panel 500 and the second light control panel 600 are positioned at a central position between the emission panel 230 and the power panel 220.
Referring to fig. 2 and 3, laser light is emitted from the laser transmitter 231, passes through the emission lens barrel 260, is collimated by the emission lens, and then enters the light guide tube 270, and is reflected by the reflecting mirror 280 in the light guide tube 270 to be emitted horizontally from the horizontal end of the light guide tube 270. After the laser is reflected by an external object, the reflected laser is injected into the U-shaped groove, is reflected by the reflecting mirror 280 outside the light guide tube 270 and is converged by the receiving lens 250, passes through the laser receiving port 240 and is received by the laser receiver on the power panel 220. The lidar compares the received echo signal with the transmitted probe signal to obtain information about surrounding objects such as distance, speed, etc.
As shown in the schematic diagram of the light control stage in fig. 4, the first light control stage 300 and the second light control stage 400 have the same structure. The first light control platform 300 comprises a first base 310, a first sliding rail 320 is horizontally and fixedly arranged on the first base 310, a first sliding block 330 is slidably arranged on the first sliding rail 320, a first screw rod 340 is horizontally arranged in the first sliding block 330, the first screw rod 340 is in threaded connection with the sliding block, the end part of the first screw rod 340 is connected with a first driving motor 350, the first motor drives the first screw rod 340 to rotate so as to control the first sliding block 330 to slide along the first sliding rail 320, a straight-plate-shaped first light control plate 500 is fixedly arranged at the top of the first sliding block 330 and keeps the same direction with the first light control platform 300, and a V-shaped opening is formed in the end part of the first light control plate 500. The second light control platform 400 comprises a second base 410, a second sliding rail 420 is horizontally and fixedly arranged on the second base 410, a second sliding block 430 is slidably arranged on the second sliding rail 420, a second screw rod 440 is horizontally arranged in the second sliding block 430, the second screw rod 440 is in threaded connection with the sliding block, the end part of the second screw rod 440 is connected with a second driving motor 450, the second motor drives the second screw rod 440 to rotate so as to control the second sliding block 430 to slide along the second sliding rail 420, and a straight-plate-shaped second light control plate 600 is fixedly arranged at the top of the second sliding block 430 and keeps in the same direction with the second light control platform 400. The second light control plate 600 is provided with a V-shaped opening at an end thereof. The first slider 330 and the second slider 430 have a height difference, so that the first light control plate 500 and the second light control plate 600 mounted on the top of the first slider and the second slider are tightly fitted up and down, and the aligned V-shaped openings are adjusted along with the relative displacement of the first light control plate 500 and the second light control plate 600, so that the size of the middle opening is adjusted.
When the automatic calibration device is used for calibrating the laser radar, the first light control plate 500 and the second light control plate 600 are driven to generate relative displacement by controlling the first driving motor 350 and the second driving motor 450, so that the size of the opening combined by the two V-shaped openings is adjusted. Since the first light control board 500 and the second light control board 600 are centrally disposed between the emitter board 230 and the power board 220, the smaller the V-shaped opening is, the less reflected laser light is received by the laser receiver. Because the farther the probe is, the less the amount of reflected laser light. So that the laser reflected by the detection object at different distances can be simulated by adjusting the quantity of reflected laser received by the laser receiver. Therefore, the detection object does not need to be moved for a long distance, and the space distance required by laser radar calibration is reduced.
[ second embodiment ]
As shown in fig. 5, the automatic laser radar calibration device is provided with a radar support 100 in the middle, a laser radar assembly 200 to be calibrated is fixed on the radar support 100, a first light control platform 300 and a second light control platform 400 are respectively arranged on the left side and the right side of the radar support 100 in parallel, a first light control plate 500 is slidably arranged on the first light control platform 300, and the first light control plate 500 can be controlled to horizontally move along the front-back axial direction; the second light control board 600 is slidably disposed on the second light control board 400, and can control the second light control board 600 to horizontally move along the front-rear axial direction. As shown in fig. 6, the radar support 100 has a U-shaped slot structure, the U-shaped slot faces left and right, the laser radar assembly 200 to be calibrated is fixed on the radar support 100 through the elastic lock catch 110 in an inverted manner, and the first light control board 500 and the second light control board 600 extend into the laser radar assembly 200 to be calibrated from the left and right sides. In contrast to the first embodiment, since the flat cable needs to be disposed between the power panel 220 and the emitter panel 230 on one side in the lidar, the first light control panel 500 and the second light control panel 600 can only be extended from both sides without the flat cable. And the first light control stage 300 and the second light control stage 400 cannot be disposed on the path of laser light emission and reception. Thus, in the first embodiment, as shown in fig. 1, the first light control console 300 and the second light control console 400 are disposed on the left and right sides of the radar stand 100, and the first light control board 500 and the second light control board 600 extend into the lidar component 200 to be calibrated from the left and right sides of the radar stand 100. In this embodiment, as shown in fig. 5, the first light control console 300 and the second light control console 400 are disposed on the left and right sides of the radar support 100, but the first light control board 500 and the second light control board 600 extend into the laser radar assembly 200 to be calibrated from the front and rear sides of the radar support 100. In order to satisfy the above condition, as shown in fig. 7, the first light control panel 500 and the second light control panel 600 used in the present embodiment are different from the straight plate shape in the first embodiment, but are folded plate shapes having vertical folding angles.
As shown in the schematic diagram of the light control stage in fig. 7, the first light control stage 300 and the second light control stage 400 have the same structure. The first light control platform 300 comprises a first base 310, a first sliding rail 320 is horizontally and fixedly arranged on the first base 310, a first sliding block 330 is slidably arranged on the first sliding rail 320, a first screw rod 340 is horizontally arranged in the first sliding block 330, the first screw rod 340 is in threaded connection with the sliding block, the end part of the first screw rod 340 is connected with a first driving motor 350, the first motor drives the first screw rod 340 to rotate so as to control the first sliding block 330 to slide along the first sliding rail 320, a vertical folded plate-shaped first light control plate 500 is fixedly arranged at the top of the first sliding block 330 and keeps the same direction as the first light control platform 300, and a V-shaped opening is formed in the end part of the first light control plate 500. The second light control platform 400 comprises a second base 410, a second sliding rail 420 is horizontally and fixedly arranged on the second base 410, a second sliding block 430 is slidably arranged on the second sliding rail 420, a second screw rod 440 is horizontally arranged in the second sliding block 430, the second screw rod 440 is in threaded connection with the sliding block, the end part of the second screw rod 440 is connected with a second driving motor 450, the second motor drives the second screw rod 440 to rotate so as to control the second sliding block 430 to slide along the second sliding rail 420, and a vertical folded plate-shaped second light control plate 600 is fixedly arranged at the top of the second sliding block 430 and keeps in the same direction with the second light control platform 400. The second light control plate 600 is provided with a V-shaped opening at an end thereof. The first slider 330 and the second slider 430 have a height difference, so that the first light control plate 500 and the second light control plate 600 mounted on the top of the first slider and the second slider are tightly fitted up and down, and the aligned V-shaped openings are adjusted along with the relative displacement of the first light control plate 500 and the second light control plate 600, so that the size of the middle opening is adjusted.
Compared with the first embodiment, the first light control platform 300 and the second light control platform 400 which are arranged in parallel are arranged in the embodiment, so that the transverse space occupied by the whole laser radar automatic calibration device is reduced, and the integration degree is improved.
The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the utility model. In addition, the technical solutions between the embodiments may be combined with each other, but must be based on the implementation by those of ordinary skill in the art; when the combination of the technical solutions is contradictory or impossible to realize, it should be considered that the combination of the technical solutions does not exist and is not within the scope of protection claimed by the present utility model.
Claims (9)
1. An automatic laser radar calibration device, which is characterized by comprising:
the radar bracket is used for inversely fixing the laser radar component to be calibrated;
the first light control platform and the second light control platform are respectively arranged at two sides of the radar bracket;
the first light control plate is arranged at the end part of the first light control platform and extends into the laser radar component, the second light control plate is arranged at the end part of the second light control platform and extends into the laser radar component, and the first light control plate and the second light control plate are tightly aligned up and down and are controlled to horizontally move by the first light control platform and the second light control platform.
2. The automatic laser radar calibration device of claim 1, wherein the radar support has a U-shaped slot, and the laser radar assembly is inverted into the U-shaped slot so that laser light can be emitted from a direction perpendicular to the face of the U-shaped slot.
3. The automatic laser radar calibration device according to claim 1, wherein the first light control table and the second light control table are aligned with each other and are vertically arranged at two sides of the radar support.
4. The automatic laser radar calibration device according to claim 1, wherein the first light control table and the second light control table are parallel to each other, and are disposed on two sides of the radar support and parallel to each other.
5. The automatic laser radar calibration device as claimed in claim 3, wherein the first light control plate and the second light control plate are straight plates, and the ends of the first light control plate and the second light control plate are provided with V-shaped openings.
6. The automatic laser radar calibration device as claimed in claim 4, wherein the first light control plate and the second light control plate are folded plates with vertical folding angles, and the ends of the folded plates are provided with V-shaped openings.
7. The automatic laser radar calibration device according to any one of claims 1 to 6, wherein the first light control platform comprises a first base, a first sliding rail is horizontally and fixedly arranged on the first base, a first sliding block is slidably arranged on the first sliding rail, a first screw rod is horizontally arranged in the first sliding block and is in threaded connection with the sliding block, the end part of the first screw rod is connected with a first driving motor, the first motor drives the first screw rod to rotate so as to control the first sliding block to slide along the first sliding rail, and the first light control plate is fixedly arranged on the top of the first sliding block and keeps the same direction as the first light control platform.
8. The automatic laser radar calibration device according to claim 7, wherein the second light control table comprises a second base, a second sliding rail is horizontally and fixedly arranged on the second base, a second sliding block is slidably arranged on the second sliding rail, a second screw rod is horizontally arranged in the second sliding block and is in threaded connection with the sliding block, the end part of the second screw rod is connected with a second driving motor, the second motor drives the second screw rod to rotate so as to control the second sliding block to slide along the second sliding rail, and the second light control plate is fixedly arranged at the top of the second sliding block and keeps in the same direction with the second light control table.
9. The lidar automatic calibration device of claim 8, wherein the first slider and the second slider have different thicknesses.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223409160.0U CN219065744U (en) | 2022-12-20 | 2022-12-20 | Automatic calibration device for laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223409160.0U CN219065744U (en) | 2022-12-20 | 2022-12-20 | Automatic calibration device for laser radar |
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| Publication Number | Publication Date |
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| CN219065744U true CN219065744U (en) | 2023-05-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202223409160.0U Active CN219065744U (en) | 2022-12-20 | 2022-12-20 | Automatic calibration device for laser radar |
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| CN (1) | CN219065744U (en) |
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- 2022-12-20 CN CN202223409160.0U patent/CN219065744U/en active Active
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