CN111308450B - Laser radar calibration device and application method thereof - Google Patents
Laser radar calibration device and application method thereof Download PDFInfo
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- CN111308450B CN111308450B CN202010177562.9A CN202010177562A CN111308450B CN 111308450 B CN111308450 B CN 111308450B CN 202010177562 A CN202010177562 A CN 202010177562A CN 111308450 B CN111308450 B CN 111308450B
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- 238000005259 measurement Methods 0.000 claims abstract description 25
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- 238000012795 verification Methods 0.000 abstract description 10
- 238000012937 correction Methods 0.000 description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
- G01S7/4972—Alignment of sensor
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- Optical Radar Systems And Details Thereof (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a laser radar calibration device and a using method thereof, wherein the calibration device comprises: guide rail, moving platform, a plurality of reflecting plates, facula detector, standard distancer and surveyed laser radar, standard distancer, surveyed laser radar follow electric mobile platform along transverse guide back and forth movement, and the different reflecting plates of distance are placed respectively to the opposite dislocation of surveyed laser radar to realize the multiple measurements of different distances, surveyed laser radar can carry out range finding calibration and precision verification many times in different distance departments. Compared with the measuring mode of a longitudinal guide rail, the measuring mode of the transverse guide rail and the plurality of reflecting plates can greatly reduce the length of the guide rail; the controller is used for controlling the communication among the electric mobile platform, the facula detector, the standard range finder and the laser radar to be measured, so that the automatic calibration at different measuring positions can be realized, the automation degree is high, and the calibration is accurate.
Description
Technical Field
The invention relates to the field of laser, in particular to a laser radar calibration device and a using method thereof.
Background
Laser radars have been widely used in various industries due to their measurement advantages such as high accuracy and high resolution. Facing the large demands of the market, it is problematic to accomplish the production of laser radars in large quantities with high efficiency and quality.
High-precision measurement is taken as an important performance of the laser radar and must be guaranteed before use, so that each laser radar must be calibrated in a calibration mode before leaving a factory, otherwise, the measurement data of the laser radar has large system errors, and the deviation between the measurement value and the actual distance is large, so that accurate measurement cannot be realized.
At present, the reliability of most of laser radar production line calibration devices is low, the labor cost is high, and therefore the problem that how to calibrate the laser radar correctly and efficiently becomes a production line urgent need to be solved is solved.
Disclosure of Invention
In view of this, the present invention provides a laser radar calibration apparatus and a method for using the same, the present invention provides: standard distancer, surveyed laser radar follow electric mobile platform along transverse guide round trip movement, make surveyed laser radar's the opposite reflecting plate of misplacing different distances respectively to realize the multiple measurements of different distances, surveyed laser radar can carry out range finding calibration and precision verification many times in different distance departments.
Specifically, the method comprises the following steps: a lidar calibration apparatus comprising: the device comprises a guide rail, a mobile platform, a plurality of reflecting plates, a facula detector, a standard range finder and a laser radar to be measured, wherein the standard range finder and the laser radar to be measured are arranged on the mobile platform; the mobile platform can move to a plurality of measuring positions along the guide rail; the reflecting plates are positioned at different positions relative to the guide rail, and at each measuring position, the corresponding reflecting plate can reflect the measuring light signals generated by the standard distance meter and the laser radar to be measured; the light spot detector is used for capturing light spots generated on the reflecting plate by the standard range finder and the laser radar to be detected.
Preferably, the guide rail is a linear guide rail, the length direction of the guide rail is set to be a transverse direction, the width direction of the guide rail is a longitudinal direction, and the plurality of reflection plates are arranged at different transverse and longitudinal positions with respect to the linear guide rail.
Preferably, the plurality of reflection plates are spaced apart from one end point of the linear guide in a longitudinal direction at a gradually increasing distance; and/or the plurality of reflecting plates are arranged at a gradually increasing distance in a transverse direction relative to one end point of the linear guide rail.
Preferably, the mobile platform is an electric mobile platform, the electric mobile platform comprises a motor and a controller, and the controller controls the mobile platform to move along the guide rail by controlling the motor.
Preferably, the controller is used for controlling the communication among the electric moving platform, the facula detector, the standard range finder and the laser radar to be detected.
Preferably, during calibration, the electric mobile platform, the light spot detector, the standard range finder and the laser radar to be measured are in synchronous communication, and the controller monitors the light spots and data of the electric mobile platform in the motion process.
Preferably, the mobile platform is further provided with a multi-degree-of-freedom adjusting holder, and the standard range finder and the laser radar to be detected are arranged on the multi-degree-of-freedom adjusting holder.
Preferably, the spot detector is a zoom camera.
In addition, the invention also provides a using method of the calibration device, which comprises the following steps: the method comprises the steps that a laser radar to be detected, a standard distance meter, a reflecting plate, a guide rail, a moving platform and a light spot detector are adjusted, when the moving platform moves to a calibration position along the guide rail, the reflecting plate can receive the laser radar to be detected, the light spot generated by the standard distance meter can be received by the reflecting plate, and the light spot detector can detect the light spot; the moving platform is moved to a plurality of measuring positions along the guide rail, the laser radar to be measured and the standard range finder irradiate light spots on the reflecting plate, and the calibration is carried out after the light spot detector detects that the light spots on the reflecting plate meet the requirements.
Preferably, each measuring position, the laser radar to be measured and the standard distance meter measure for a plurality of times, and the average value is taken as the measured distance value.
Preferably, the moving direction of the moving platform along the guide rail is perpendicular to the optical axis direction of the laser radar during measurement.
Has the advantages that:
according to the laser radar calibration device, the mobile platform moves to different measurement positions along the transverse guide rail, and the different measurement positions correspond to different reflecting plates, so that compared with a traditional longitudinal guide rail calibration mode, the technical effect of reducing the length of the guide rail can be achieved; the controller is used for controlling the communication among the electric mobile platform, the facula detector, the standard range finder and the laser radar to be measured, can realize the automatic calibration at different measuring positions, and has high automation degree and accurate calibration.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings. The drawings described below are merely some embodiments of the present disclosure, and other drawings may be derived from those drawings by those of ordinary skill in the art without inventive effort.
FIG. 1 is a schematic diagram of a lidar calibration apparatus of the present invention.
FIG. 2 is a partially enlarged schematic view of a lidar calibration apparatus of the present invention.
FIG. 3 is a schematic diagram of the measurement principle of the lidar calibration apparatus of the present invention.
Wherein: 1-guide rail, 2-mobile platform, 3-cradle head, 4-reflecting plate, 5-standard range finder, 6-laser radar to be detected, 7-facula detector, 8-computer and 9-ground.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals denote the same or similar parts in the drawings, and thus, a repetitive description thereof will be omitted.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the disclosure.
It will be understood that, although the terms first, second, third, etc. may be used herein to describe various structures, these structures should not be limited by these terms. These terms are used to distinguish one structure from another structure. Thus, a first structure discussed below may be termed a second structure without departing from the teachings of the disclosed concept. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In the description of the present invention, it should be noted that the terms "front", "back", "center", "upper", "lower", "left and right", "vertical", "middle", horizontal "," inner "," outer ", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
It is to be understood by those skilled in the art that the drawings are merely schematic representations of exemplary embodiments, and that the blocks or processes shown in the drawings are not necessarily required to practice the present disclosure and are, therefore, not intended to limit the scope of the present disclosure.
The following detailed description of embodiments of the invention is provided in conjunction with the accompanying figures 1-3:
as shown in fig. 1 and 2, the lidar calibration apparatus of the present invention includes: the device comprises a guide rail 1, a moving platform 2, a plurality of reflecting plates 4, a facula detector 7, a standard range finder 5 and a laser radar to be detected 6, wherein the standard range finder 5 and the laser radar to be detected 6 are arranged on the moving platform 2; the mobile platform 2 can move to a plurality of measuring positions along the guide rail 1; the reflecting plates 4 are positioned at different positions relative to the guide rail 1, and at each measuring position, the corresponding reflecting plate 4 can reflect the measuring light signals generated by the standard distance meter 5 and the laser radar 6 to be measured; the spot detector 7 is used for capturing the spots generated on the reflecting plate 4 by the standard range finder 5 and the laser radar 6 to be detected.
The guide rail 1 may be a linear guide rail 1, the length direction of the guide rail 1 is set to be a lateral direction, the width direction is set to be a longitudinal direction, and the plurality of reflection plates 4 may be disposed at different lateral and longitudinal positions on the floor 9. The distance between the plurality of reflecting plates 4 is gradually increased in the longitudinal direction relative to one end of the linear guide rail 1; and/or, the plurality of reflection plates 4 are arranged at a gradually increasing distance in a transverse direction relative to one end of the linear guide rail 1.
The transverse linear guide rail 1 and the reflecting plate 4 are fixed, and other components are placed on the electric moving platform 2 and move back and forth along the transverse guide rail 1 along with the electric moving platform 2, namely the moving direction is vertical to the optical axis direction of the laser radar 6 to be detected. The reflector plates 4 with different distances are respectively placed on the opposite surfaces of the laser radar 6 to be detected in a staggered mode and move in the direction perpendicular to the optical axis, and the laser radar 6 to be detected can carry out ranging calibration and precision verification for multiple times at different distances.
The mode of carrying out range finding calibration and precision verification through transverse guide 1 back and forth movement is favorable to saving the time of range finding calibration and precision verification, improves the efficiency of volume production, finishes the market current situation that the laser radar of high accuracy high performance price ratio supplies short of requisites. For example, the conventional 60-meter laser radar ranging calibration and precision identification uses a 60-meter longitudinal guide rail 1, and if the moving platform 2 carrying the reflecting plate 4 moves 0.2 meter per second, 300 seconds are required; the measuring and calibrating method is changed into the method for measuring and calibrating 10 points, only 3 meters of transverse guide rails 1 are needed, and the distance measuring calibration and the precision calibration can be completed at the same speed in 15 seconds.
The transverse linear guide rail 1 can only consist of one standard guide rail 1 (such as 3-meter guide rail 1), the surface of the transverse linear guide rail is provided with standard scales for recording the moving distance, the splicing of a plurality of guide rails 1 is not needed, the splicing error can be reduced, and the precision of precision distance measurement and verification is improved.
The moving platform 2 is an electric moving platform 2, the electric moving platform 2 comprises a motor and a controller, and the controller controls the moving platform 2 to move along the guide rail 1 through the motor. The controller is used for controlling the communication among the electric mobile platform 2, the facula detector 7, the standard range finder 5 and the laser radar 6 to be measured. During calibration, the electric mobile platform 2, the light spot detector 7, the standard range finder 5 and the laser radar 6 to be measured are in synchronous communication, and light spots and data of the electric mobile platform 2 in the motion process are monitored.
The electric mobile platform 2 can contain a motor and a controller inside, the calibration device also comprises an additional computer 8, and the computer 8 can replace the controller to realize control. The motor is used for driving various devices to move back and forth along the transverse linear guide rail 1. The electric moving platform 2 enables the standard distance meter 5, the precision motor, the zoom camera and the laser radar to be detected 6 to communicate with each other through an internal controller, and finally calibration and verification of the laser radar to be detected 6 at different distances are achieved. And the standard range finder 5 acquires data synchronously with the laser radar 6 to be detected, and calibrates and verifies the laser radar 6 to be detected through operations such as controller conversion in the electric mobile platform 2.
The mobile platform 2 can also be provided with a multi-degree-of-freedom adjusting cloud deck 3, and the standard range finder 5 and the laser radar to be measured 6 are arranged on the multi-degree-of-freedom adjusting cloud deck 3.
The spot detector 7 is a zoom camera. The zooming camera monitors the condition of the light spot in real time, the zooming camera, the detected laser radar 6, the standard range finder 5 and the electric moving platform 2 are in synchronous communication, the light spot and data of the electric moving platform 2 in the motion process are monitored, and the stability and reliability of the collected data are ensured.
If the light spots are strip-shaped, the light spots are kept wide up and down and narrow left and right, and the length of the transverse guide rail 1 can be effectively shortened after proper layout.
The reflection plate 4: the device is used for reflecting light spots of the laser radar and the standard distance meter 5, and distance measurement of two devices is realized under the condition of the same target object and the same distance. The light spot monitoring of the laser radar and the standard range finder 5 by the zoom camera is facilitated. The reflecting plate 4 needs to be fixed in a plurality of pieces, and does not need to be moved. The length of the reflecting plate 4 should be larger than the length of the light spot, and the width should be properly larger than the width of the light spot, and the reflecting plate should be correspondingly placed at a proper position.
In addition, the invention also provides a using method of the calibration device, which comprises the following steps: the laser radar 6 to be detected, the standard range finder 5, the reflecting plate 4, the guide rail 1, the moving platform 2 and the light spot detector are adjusted, so that when the moving platform 2 moves to a calibration position along the guide rail 1, the reflecting plate 4 can receive the laser radar 6 to be detected, the light spots generated by the standard range finder 5 can be detected by the light spot detector; the moving platform 2 is moved to a plurality of measuring positions along the guide rail 1, the laser radar 6 to be measured and the standard range finder 5 irradiate light spots on the reflecting plate 4, and the calibration is carried out after the light spot detector detects that the light spots on the reflecting plate 4 meet the requirements. And measuring for each measuring position by the laser radar 6 to be measured and the standard distance meter 5 for multiple times, and taking the average value as a distance value.
The following describes the measurement process of the present device with reference to fig. 1-3:
(1) installation: and respectively leveling and centering the laser radar 6 to be detected, the standard range finder 5, the reflecting plate 4, the transverse linear guide rail 1, the electric moving platform 2 and the zooming camera.
(2) Single-point measurement: all equipment is started, the electric mobile platform 2 can synchronously control the high-precision range finder (standard range finder), the precision motor, the zooming camera and the detected laser radar 6 through the internal controller, the standard range finder 5 and the detected laser radar 6 can respectively generate a light spot at the moment, two light spots appearing on the same reflecting plate 4 are monitored by the zooming camera, and when the light spots completely irradiate the reflecting plate 4, distance calibration and verification are carried out. The distance L0 between the standard distance meter 5 and the measurement reference edge of the laser radar 6 to be measured was accurately measured using the standard distance meter 5, and the measurement was performed 5 times using the standard distance meter 5, and the average value thereof was taken as the measurement value of L0.
(3) Multi-point measurement calibration and verification: the electric moving platform 2 drives related components to move along the transverse linear guide rail 1, n (for example, n is 10) measuring points are determined from the head end to the tail end, the number of the measuring points corresponds to the number of the reflecting plate 4, the centering displacement error of each point is determined, after the measured laser radar 6 and the standard distance meter 5 are leveled and centered with the reflecting plate 4, the uncertain error generated in the moving process of the electric moving platform 2 is not more than 0.2mm, each measuring point is measured for 5 times by the standard distance meter 5 and the measured laser radar 6 respectively, the average value of the measuring points is taken as the measured value of the measuring point, then the return measurement is carried out, and the average value of the return observation is taken as the distance of each point;
as shown in fig. 3, the relationship between the measured distances of the respective components at the time of calibration is illustrated: when Di (i is 0,1, …,20) represents the distance from the laser radar 6 to each point, Pi represents the observed value of the standard distance meter 5 to each point, the difference Vi generated on each segment is: vi is L0+ Pi-Di. And taking the range indication value of the standard range finder 5 as a standard distance, wherein the difference between the range indication value of the laser radar to be detected 6 and the range indication value of the standard range finder 5 is the range indication value error of the laser radar to be detected 6. The distance observation value of the measured laser radar 6 subjected to weather correction and slant and flat correction on the measured point is set as Di, and the corresponding reference value (baseline value) is set as Di 0. The calculation formula is as follows:
Vi＝L0+Pi-Di
Di0＝L0+Pi
in the formula: vi is an indication error of the laser radar 6 to be detected; di is a measurement indicating value of the laser radar 6 to be measured;
pi is a measurement indication value of the standard distance meter 5; l0 is an indication of the distance between the reference range finder 5 and the edge of the lidar 6 being measured.
Taking into account the effects of the range error and the correction of the addition, multiplication constant (C, R): where the multiplication constant may be derived from multiple measurements.
The equation of error is obtained from the formula Di0 ═ Di + Vi + C + R × Di: and Vi is Di0-Di-C-R Di. Thereby completing the calibration.
Has the advantages that:
the laser radar calibration device and the use method thereof can realize multiple measurements at different distances, and the laser radar to be measured can carry out multiple ranging calibration and precision verification at different distances. Compared with the measuring mode of a longitudinal guide rail, the measuring mode of the transverse guide rail and the plurality of reflecting plates can greatly reduce the length of the guide rail; the controller is used for controlling the communication among the electric mobile platform, the facula detector, the standard range finder and the laser radar to be measured, can realize the automatic calibration at different measuring positions, and has high automation degree and accurate calibration.
Exemplary embodiments of the present disclosure are specifically illustrated and described above. It is to be understood that the present disclosure is not limited to the precise arrangements, instrumentalities, or instrumentalities described herein; on the contrary, the disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (8)
1. A lidar calibration apparatus comprising: guide rail (1), moving platform (2), a plurality of reflecting plate (4), facula detector (7), standard distancer (5) and surveyed laser radar (6), its characterized in that:
the standard range finder (5) and the laser radar to be measured (6) are both arranged on the mobile platform (2);
the movable platform (2) can move to a plurality of measuring positions along the guide rail (1);
the reflecting plates (4) are positioned at different positions relative to the guide rail (1), and at each measuring position, the corresponding reflecting plate (4) can reflect the measuring light signals generated by the standard distance meter (5) and the laser radar (6) to be measured;
the light spot detector (7) is used for capturing light spots generated by the standard range finder (5) and the measured laser radar (6) on the reflecting plate (4);
the guide rail (1) is a linear guide rail (1), the length direction of the guide rail is set to be transverse, the width direction of the guide rail is set to be longitudinal, and the plurality of reflecting plates (4) are arranged at different transverse and longitudinal positions relative to the linear guide rail (1);
the distance between the plurality of reflecting plates (4) and one end point of the linear guide rail (1) is gradually increased in the longitudinal direction; and/or the plurality of reflecting plates (4) are arranged at a transverse direction relative to one end point of the linear guide rail (1), and the distance between the reflecting plates is gradually increased.
2. The calibration device of claim 1, wherein: the moving platform (2) is an electric moving platform (2), the electric moving platform (2) comprises a motor and a controller, and the controller controls the moving platform (2) to move along the guide rail (1) by controlling the motor.
3. The calibration device of claim 2, wherein: the controller is used for controlling communication among the electric mobile platform (2), the light spot detector (7), the standard range finder (5) and the laser radar to be detected (6).
4. The calibration device of claim 3, wherein: during calibration, the electric moving platform (2), the facula detector (7), the standard range finder (5) and the laser radar to be measured (6) are in synchronous communication, and the controller is also used for processing facula information detected by the facula detector (7), and measurement data of the electric standard range finder (5) and the laser radar to be measured (6).
5. Calibration device according to claim 1 or 4, characterized in that: the mobile platform (2) is also provided with a multi-degree-of-freedom adjusting cradle head (3), and the standard range finder (5) and the laser radar to be measured (6) are arranged on the multi-degree-of-freedom adjusting cradle head (3).
6. Calibration device according to claim 1 or 4, characterized in that: the light spot detector (7) is a zoom camera.
7. A method of using a calibration device according to any one of claims 1 to 6, wherein: the method comprises the following steps:
the method comprises the following steps of adjusting a laser radar to be detected (6), a standard range finder (5), a reflecting plate (4), a guide rail (1), a moving platform (2) and a light spot detector, enabling the reflecting plate (4) to receive light spots generated by the laser radar to be detected (6) and the standard range finder (5) when the moving platform (2) moves to a calibration position along the guide rail (1), and enabling the light spot detector to detect the light spots;
the moving platform (2) is moved to a plurality of measuring positions along the guide rail (1), the laser radar (6) to be measured and the standard range finder (5) irradiate light spots onto the reflecting plate (4), and when the light spot detector detects that the light spots on the reflecting plate (4) meet the requirements, calibration is carried out.
8. Use according to claim 7, characterized in that: and at each measuring position, the measured laser radar (6) and the standard distance meter (5) measure for multiple times, and the average value is taken as the measured distance value.
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