CN221174967U - Calibration system for vehicle-mounted laser radar - Google Patents
Calibration system for vehicle-mounted laser radar Download PDFInfo
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- CN221174967U CN221174967U CN202322941079.5U CN202322941079U CN221174967U CN 221174967 U CN221174967 U CN 221174967U CN 202322941079 U CN202322941079 U CN 202322941079U CN 221174967 U CN221174967 U CN 221174967U
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- 238000010586 diagram Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
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Abstract
The utility model provides a calibration system for a vehicle-mounted laser radar, and relates to the technical field of vehicles. The calibration system for the vehicle-mounted laser radar comprises a calibration rod, a corner reflector, a protractor and a range finder, wherein the corner reflector, the protractor and the range finder are all arranged on the calibration rod, the corner reflector is used for reflecting laser beams emitted by the vehicle-mounted laser radar, the height of the corner reflector on the calibration rod is adjustable, and the protractor and the range finder are used for measuring the position of the calibration rod relative to the vehicle-mounted laser radar. According to the utility model, the ground point cloud can be extracted at different calibration heights, the reflection characteristics of the point cloud are enhanced, the position of the calibration rod relative to the vehicle-mounted laser radar can be measured through the protractor and the range finder, for example, the horizontal coordinate value and the longitudinal coordinate value of the calibration rod in a ground coordinate system can be obtained, and then the rotation angle approximation value of the ground point cloud plane can be obtained, so that the external parameter fitting process is accelerated, and the calibration precision is improved.
Description
Technical Field
The utility model relates to the technical field of vehicles, in particular to a calibration system for a vehicle-mounted laser radar.
Background
In-vehicle lidar is widely used in automatic driving automobiles and advanced driving assistance systems, and is generally used to measure the distance and shape of the surrounding environment, and to create a high-resolution three-dimensional map by emitting a laser beam and measuring the time for which the beam returns, so as to help the vehicle perceive the roads and objects around it.
On-board lidars typically require external calibration after installation is complete, such as measuring the position and orientation of the lidar relative to the vehicle coordinate system. However, the existing calibration method generally needs to manually select the point cloud characteristics of the calibration rod, and measure and input coordinate values of the calibration rod in a ground coordinate system, so that the calibration efficiency is low.
Disclosure of utility model
The utility model solves the problem of how to improve the calibration efficiency of the vehicle-mounted laser radar.
In order to solve the problems, the utility model provides a calibration system for a vehicle-mounted laser radar, which comprises a calibration rod, a corner reflector, a protractor and a range finder, wherein the corner reflector, the protractor and the range finder are all arranged on the calibration rod, the corner reflector is used for reflecting a laser beam emitted by the vehicle-mounted laser radar, the height of the corner reflector on the calibration rod is adjustable, and the protractor and the range finder are used for measuring the position of the calibration rod relative to the vehicle-mounted laser radar.
Optionally, the calibration system for the vehicle-mounted laser radar further comprises a bracket, and the corner reflector is mounted on the calibration rod through the bracket.
Optionally, the calibration rod is provided with a groove-shaped guide rail extending along the length direction of the calibration rod, and the bracket is used for being arranged in a sliding way along the groove-shaped guide rail so as to adjust the height of the corner reflector.
Optionally, the bracket comprises a sliding block corresponding to the groove-shaped guide rail, the sliding block is embedded in the groove-shaped guide rail, and the width of the sliding block is larger than the width of a notch of the groove-shaped guide rail.
Optionally, the slider includes a fixing for abutting with the channel rail to limit the position of the slider and the bracket when the slider moves to any place of the channel rail.
Optionally, the corner reflector comprises a mounting base, and the bracket is connected with the mounting base to mount the corner reflector.
Optionally, the surface of the calibration rod is provided with a height scale to display the height of the corner reflector, and the height scale is arranged along the groove edge of the groove-shaped guide rail.
Optionally, the protractor and the range finder are synchronously aligned with the vehicle-mounted laser radar through a linkage device, wherein the linkage device comprises a first linkage piece and a second linkage piece which are fixedly connected, the first linkage piece is connected with the protractor, and the second linkage piece is connected with the range finder.
Optionally, the first linkage member and the second linkage member are driven by a synchronous gear, a synchronous belt or a connecting rod.
Optionally, the calibration system for the vehicle-mounted laser radar further comprises a base, and the base is arranged below the calibration rod to fix the calibration rod.
According to the utility model, the angle reflector with adjustable height is arranged on the calibration rod, so that the ground point cloud can be extracted at different calibration heights, the reflection characteristics of the point cloud are enhanced, the position of the calibration rod relative to the vehicle-mounted laser radar, such as the horizontal and longitudinal coordinate values of the calibration rod in a ground coordinate system, can be measured through the angle gauge and the range finder, and further, the rotation angle approximation value of the ground point cloud plane can be obtained, thereby accelerating the external parameter fitting process and improving the calibration precision.
Drawings
FIG. 1 is a schematic diagram of a calibration system for a vehicle-mounted lidar according to an embodiment of the present utility model;
FIG. 2 is a schematic diagram of a range finder according to an embodiment of the present utility model;
fig. 3 is a schematic view of the cooperation of the bracket and the channel rail according to the embodiment of the present utility model.
Reference numerals illustrate:
1-a calibration rod, 11-a groove-shaped guide rail; 2-corner reflectors; 3-protractor; 4-range finder, 41-transmitter; 5-a base; 6-bracket, 61-slide block, 611-fixing piece.
Detailed Description
In order that the above objects, features and advantages of the utility model will be readily understood, a more particular description of the utility model will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
As shown in fig. 1, an embodiment of the present utility model provides a calibration system for a vehicle-mounted laser radar, which includes a calibration rod 1, a corner reflector 2, a protractor 3 and a range finder 4, wherein the corner reflector 2, the protractor 3 and the range finder 4 are all disposed on the calibration rod 1, the corner reflector 2 is used for reflecting a laser beam emitted by the vehicle-mounted laser radar, the height of the corner reflector 2 on the calibration rod 1 is adjustable, and the protractor 3 and the range finder 4 are used for measuring the position of the calibration rod 1 relative to the vehicle-mounted laser radar.
Specifically, the calibration system for the vehicle-mounted laser radar comprises a calibration rod 1, a corner reflector 2, a protractor 3 and a range finder 4, wherein the calibration rod 1 is used for providing support and position reference, the corner reflector 2, the protractor 3 and the range finder 4 are all arranged on the calibration rod 1, the corner reflector 2 is used for reflecting laser beams emitted by the vehicle-mounted laser radar, and the corner reflector 2 is a special reflecting device which is arranged on the calibration rod and is generally provided with a special geometric shape such as a triangle; the number of the corner reflectors 2 is one or more, and since the height of the corner reflectors 2 on the calibration rod 1 is adjustable in the embodiment, one corner reflector is usually arranged; the corner reflector 2 is placed at a known position and can generate accurate reflection, the point cloud reflection characteristic can be enhanced through the corner reflector 2, and the position of the calibration rod 1 relative to the vehicle-mounted laser radar (for example, the horizontal and vertical coordinate values of the calibration rod 1 in a ground coordinate system) is measured through the protractor 3 and the range finder 4, so that the external parameter fitting process is accelerated and the calibration precision is improved.
The calibration is a key link of the vehicle-mounted laser radar system, and ensures that the generated map and the perception data are accurate, thereby supporting the normal operation of the automatic driving system, and the calibration of the vehicle-mounted laser radar generally comprises:
(1) External parameter calibration: external parameter calibration includes measuring the position and orientation of the lidar relative to the vehicle coordinate system. It is often necessary to use accurate measurement tools and methods such as distance meters, angle gauges and the definition of the vehicle coordinate system. Parameters include the mounting position, rotation angle and tilt angle of the lidar, which may generally refer to Roll angle Roll, pitch angle Pitch, yaw angle Yaw and altitude value Z of the lidar relative to the ground.
(2) And (3) internal parameter calibration: the internal parameter calibration includes measuring internal parameters of the laser radar, such as angular resolution of the laser beam, scanning speed, etc.
(3) And (3) time synchronization calibration: it is ensured that the data of the lidar and other sensors (e.g. cameras, radars, etc.) are synchronized in time in order to fuse them into a unified coordinate system.
(4) And (3) multi-sensor fusion calibration: if the vehicle uses multiple lidars or other sensors to sense the environment, then multiple sensor fusion calibrations are required to ensure their data consistency.
(5) Motion calibration: as the vehicle travels, the lidar may be affected by vibrations and motion. Motion calibration corrects for these effects by measuring dynamic parameters of the vehicle to improve measurement accuracy.
The calibration of this embodiment generally refers to external parameter calibration, and the specific principle is as follows: (1) selecting a region of interest; (2) extracting ground point clouds; (3) ground normal vector calculation; (4) Solving a Roll angle Roll, a Pitch angle Pitch, a Yaw angle Yaw and a height value Z; (5) extracting a calibration rod point cloud; (6) recalculating the Roll angle Roll; and (7) fine tuning and storing calibration parameters.
Optionally, the calibration system for the vehicle-mounted lidar further comprises a bracket 6, and the corner reflector 2 is mounted on the calibration rod 1 through the bracket 6.
Specifically, as shown in connection with fig. 3, the corner reflector 2 is typically mounted on the calibration rod 1 by a bracket 6 (also referred to as a corner reflector bracket or bracket rod) for use in the calibration process of the lidar, the type of bracket 6 being selected according to the diameter of the calibration rod 1 and the size of the corner reflector 2.
Alternatively, the calibration rod 1 is provided with a channel rail 11 extending along the length of the calibration rod 1, and the bracket 6 is slidably disposed along the channel rail 11 to adjust the height of the corner reflector 2.
Specifically, as shown in connection with fig. 3, the index rod 1 is provided with a groove-shaped guide rail 11 extending in the length direction of the index rod 1, the bracket 6 is slidably provided with the index rod 1 through the groove-shaped guide rail 11, and the height of the corner reflector 2 can be adjusted by sliding the bracket 6 to different positions.
Alternatively, the bracket 6 includes a slider 61 corresponding to the channel rail 11, the slider being embedded in the channel rail 11, the width of the slider 61 being greater than the width of the slot of the channel rail.
Specifically, as shown in fig. 3, the bracket 6 includes a slider 61 corresponding to the channel rail 11, and the sliding arrangement of the bracket 6 along the channel rail 11 can be realized by the cooperation of the slider 61 and the channel rail 11; to ensure that the slider 61 is separated from the channel rail 11, the width of the slider 61 is set to be larger than the width of the notch of the channel rail 11, so that the slider 61 cannot be separated from the channel rail 11 when sliding up and down along the channel rail 11, thereby ensuring effective cooperation of the bracket 6 and the calibration rod 1.
Alternatively, the slider 61 includes a fixing piece 611, and when the slider 61 moves to any position of the grooved rail 11, the fixing piece 611 is used to abut against the grooved rail 11 to limit the position of the slider 61 and the bracket 6.
Specifically, as shown in fig. 3, since the slider 61 can slide along the grooved rail 11 and move to any position of the grooved rail 11, it is necessary to ensure that the fixing of the slider 61 can be achieved when the position of the slider 61 does not need to be adjusted, and therefore the slider 61 is provided to include a fixing piece 611, and the position restriction of the slider 61 and the bracket 6 can be achieved by the fixing piece 611 abutting against the grooved rail 11.
Alternatively, the corner reflector 2 includes a mounting base, and the bracket 6 is connected to the mounting base to mount the corner reflector 2.
In particular, the corner reflector 2 typically has a mounting base or fixing point, which may be fixed to the bracket 6 with screws or clamps, ensuring that the corner reflector 2 is firmly mounted and its reflecting surface (typically a special reflecting coating) faces the lidar for reflecting the laser beam.
Alternatively, the corner reflector 2 includes a cube corner reflector, a chamfer corner reflector, a tetrahedron corner reflector, a prism corner reflector, or a triangular prism corner reflector.
Specifically, the corner reflector 2 includes:
(1) Cube corner reflectors: cube corner reflectors are one of the most common corner reflectors. Typically having a cube shape with three mutually perpendicular reflecting surfaces. When light enters one face of the cube reflector and is reflected, it will be reflected onto the opposite face, enabling the cube corner reflector to reflect the incident light without changing the direction of the light.
(2) Chamfer reflector (DIHEDRAL PRISM): the chamfer reflector is generally formed by two planar reflecting surfaces which are joined together by a chamfer.
(3) Tetrahedral corner reflector (TETRAHEDRAL PRISM): a tetrahedral corner reflector is a corner reflector having four triangular reflecting surfaces. Commonly used in optical sensors and measuring devices, multiple directions of reflection may be provided.
(4) Prism corner reflector: prismatic corner reflectors are typically constructed with a series of flat and beveled surfaces that reflect light in different directions. In laser and optical measurements, a plurality of reflection angles may be provided.
(5) Triangular prism corner reflector (TRIPLE PRISM): the triangular prism corner reflector is a corner reflector similar to a general optical triangular prism. Are commonly used in optical measurement and calibration devices with highly accurate reflection properties.
Optionally, the surface of the calibration bar 1 is provided with a height scale to display the height of the corner reflector 2, the height scale being provided along the groove edge of the groove-shaped rail 11.
Specifically, the surface of the calibration rod 1 is provided with a height scale which can be used to display the current height of the corner reflector 2, and the height scale is provided along the groove side of the groove-shaped guide rail 11, so that the height of the corner reflector 2 can be clearly displayed when the corner reflector 2 is adjusted.
Optionally, the protractor 3 is used for measuring the direction of the calibration rod 1 relative to the vehicle-mounted laser radar, and the range finder 4 is used for measuring the distance between the calibration rod 1 and the vehicle-mounted laser radar.
In particular, the position of the calibration rod 1 relative to the vehicle-mounted lidar may comprise a direction and a distance, wherein the protractor 3 is used to determine the scanning angle of the lidar, and the direction of the laser beam relative to the calibration rod 1, and thus the direction of the calibration rod 1 relative to the vehicle-mounted lidar; the distance meter 4 is used for measuring the distance between the vehicle-mounted laser radar and the calibration rod 1, and can be used for calibrating the distance measurement precision of the laser radar sensor.
Wherein, as shown in connection with fig. 2, the rangefinder 4 comprises a transmitter 41, for example a laser rangefinder, typically using a laser transmitter to generate a laser beam; the rangefinder 4 also includes a receiver, typically a photodiode or other photosensitive detector, for receiving the laser beam reflected from the target object; the rangefinder 4 also includes a clock and timing circuit for measuring the time of the laser pulse from the laser emission to the return of the receiver; rangefinder 4 also includes lenses, reflectors, and other optical elements for directing the laser beam from the emitter to the target and back to the receiver.
Optionally, the protractor 3 and the range finder 4 are synchronously aligned with the vehicle-mounted laser radar through a linkage device, wherein the linkage device comprises a first linkage piece and a second linkage piece which are fixedly connected, the first linkage piece is connected with the protractor 3, and the second linkage piece is connected with the range finder 4.
Specifically, when the rangefinder 4 is aligned to the vehicle-mounted laser radar, the rangefinder 4 needs to be rotated, and meanwhile, the protractor 3 synchronously rotates through a linkage device, namely, the protractor 3 and the rangefinder 4 synchronously align to the vehicle-mounted laser radar, wherein the linkage device comprises a first linkage piece and a second linkage piece which are fixedly connected, the first linkage piece is connected with the protractor 3, the second linkage piece is connected with the rangefinder 4, and the synchronous alignment of the protractor 3 and the rangefinder 4 can be realized through the cooperation of the first linkage piece and the second linkage piece.
Optionally, the first linkage member and the second linkage member are driven by a synchronous gear, a synchronous belt or a connecting rod.
Specifically, the first linkage member and the second linkage member may be linked in the following manner:
(1) Using a synchromesh transmission, ensuring the same angular velocity between two objects can be achieved by placing a synchromesh between the two shafts. When one object rotates, the synchromesh gear transmits motion, causing the other object to rotate at the same angle.
(2) Like synchronous gear drives, synchronous belt drives use belts to transfer motion. And a synchronous belt is placed between the two objects, and rotation synchronization is realized by tightening or loosening the belt.
(3) The use of a linkage link mechanism ensures that the same angle is maintained between the two objects, by connecting the two objects to the link such that they maintain a relative positional relationship during movement.
Optionally, the rangefinder 4 comprises a laser rangefinder, an ultrasonic rangefinder, an electro-optical rangefinder or a radar rangefinder.
Specifically, the rangefinder 4 includes:
(1) Laser rangefinder (LASER DISTANCE METER): the laser rangefinder uses a laser beam to measure distance. A laser beam is emitted and the time at which the laser beam is emitted from the instrument to the target object and returned is measured, and then the distance is determined by calculating the product of the speed of light and time.
(2) Ultrasonic rangefinder (Ultrasonic Distance Sensor): ultrasonic rangefinders use ultrasonic pulses to measure distance. An ultrasonic pulse is transmitted and the time for the pulse to be transmitted from the transducer to the target object and back is measured, and then the distance is calculated.
(3) Electro-optical distance meter (Photoelectric Distance Sensor): electro-optical rangefinders use a photosensor to measure distance. An infrared light or laser beam is typically used to transmit the signal and measure the time the signal is reflected back to the sensor.
(4) Radar rangefinder (RADAR DISTANCE Sensor): radar rangefinders use radar technology to measure distance. A pulse of radio waves is transmitted and the time for the pulse to be transmitted from the sensor to the target object and back is measured.
Optionally, the calibration system for the vehicle-mounted lidar further comprises a base 5, and the base 5 is arranged below the calibration rod 1 to fix the calibration rod 1.
Specifically, as shown in connection with fig. 1, the calibration system for the vehicle-mounted lidar further includes a base 5, and the base 5 is disposed below the calibration rod 1, thereby fixing the calibration rod 1 so that the calibration rod 1 is placed on the ground or the like.
Although the utility model is disclosed above, the scope of the utility model is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the utility model, and these changes and modifications will fall within the scope of the utility model.
Claims (10)
1. The utility model provides a calibration system for on-vehicle laser radar, its characterized in that, including calibration pole (1), corner reflector (2), protractor (3) and distancer (4), corner reflector (2) protractor (3) with distancer (4) all set up on calibration pole (1), corner reflector (2) are used for reflecting the laser beam that on-vehicle laser radar launched, corner reflector (2) are in height-adjustable on calibration pole (1), protractor (3) with distancer (4) are used for measuring calibration pole (1) for on-vehicle laser radar's position.
2. Calibration system for vehicle-mounted lidar according to claim 1, characterized in that it further comprises a bracket (6), the corner reflector (2) being mounted on the calibration rod (1) by means of the bracket (6).
3. Calibration system for vehicle-mounted lidar according to claim 2, characterized in that the calibration rod (1) is provided with a channel rail (11) extending in the length direction of the calibration rod (1), the bracket (6) being arranged for sliding along the channel rail (11) for adjusting the height of the corner reflector (2).
4. A calibration system for a vehicle-mounted lidar according to claim 3, characterized in that the bracket (6) comprises a slider (61) corresponding to the grooved rail (11), the slider (61) being embedded in the grooved rail (11), the width of the slider (61) being larger than the width of the notch of the grooved rail (11).
5. Calibration system for vehicle-mounted lidar according to claim 4, characterized in that the slider (61) comprises a fixing (611), which fixing (611) is intended to abut the grooved rail (11) to limit the position of the slider (61) and the bracket (6) when the slider (61) is moved to any place of the grooved rail (11).
6. Calibration system for vehicle-mounted lidar according to claim 2, characterized in that the corner reflector (2) comprises a mounting base, with which the bracket (6) is connected for mounting the corner reflector (2).
7. A calibration system for a vehicle-mounted lidar according to claim 3, characterized in that the surface of the calibration rod (1) is provided with a height scale to show the height of the corner reflector (2), which height scale is arranged along the groove edge of the groove-shaped guide rail (11).
8. Calibration system for a vehicle-mounted lidar according to claim 1, characterized in that the protractor (3) and the rangefinder (4) are aligned synchronously with respect to the vehicle-mounted lidar by means of a linkage comprising a first and a second fixedly connected linkage, the first linkage being connected to the protractor (3) and the second linkage being connected to the rangefinder (4).
9. The calibration system for an in-vehicle lidar of claim 8, wherein the first linkage and the second linkage are driven by a synchronizing gear, a timing belt, or a linkage.
10. Calibration system for a vehicle-mounted lidar according to claim 1, characterized in that it further comprises a base (5), said base (5) being arranged below said calibration rod (1) to fix said calibration rod (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322941079.5U CN221174967U (en) | 2023-10-31 | 2023-10-31 | Calibration system for vehicle-mounted laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322941079.5U CN221174967U (en) | 2023-10-31 | 2023-10-31 | Calibration system for vehicle-mounted laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221174967U true CN221174967U (en) | 2024-06-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322941079.5U Active CN221174967U (en) | 2023-10-31 | 2023-10-31 | Calibration system for vehicle-mounted laser radar |
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| CN (1) | CN221174967U (en) |
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2023
- 2023-10-31 CN CN202322941079.5U patent/CN221174967U/en active Active
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