CN114578326A - A lidar calibration test bench - Google Patents

Abstract

The invention discloses a laser radar calibration experiment table which comprises a workbench, a support frame, a laser radar body, a first laser calibration plate, a second laser calibration plate, an installation seat and an adjusting piece, wherein the support frame is fixed at the top of the workbench; and a mounting assembly. According to the laser calibration device, the laser radar is fixed on the experiment assembly to perform a calibration experiment, and then the laser calibration plate is installed through the installation assembly without screws and the like, so that the disassembly and assembly efficiency is higher, and the installation stability is higher.

Description

A lidar calibration test bench

technical field

The invention relates to the technical field of laser radar calibration, in particular to a laser radar calibration test bench.

Background technique

By emitting laser light to the target object and receiving the reflected light of the object, the lidar detects the environment within the laser range and the position, shape and other characteristics of the object. Due to the possible errors in the design, processing, and assembly of the mechanical part of the lidar equipment, resulting in There is a certain error in the laser radar itself. At this time, the laser radar needs to be calibrated. The laser radar calibration test bench in the existing technology generally fixes the laser calibration plate by means of screws, etc. This installation method requires a long time. It takes time, and it is inconvenient to disassemble and assemble, which affects the efficiency of radar calibration.

SUMMARY OF THE INVENTION

The purpose of this section is to outline some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract and title of the application to avoid obscuring the purpose of this section, abstract and title, and such simplifications or omissions may not be used to limit the scope of the invention.

The present invention is proposed in view of the above and/or problems existing in the existing lidar calibration test benches.

Therefore, the problem to be solved by the present invention is that the laser radar calibration test bench in the prior art generally fixes the laser calibration plate by means of screws, etc. This installation method takes a long time, and the disassembly and assembly are relatively inconvenient. Affects radar calibration efficiency.

In order to solve the above technical problems, the present invention provides the following technical solutions: a lidar calibration test bench, which includes an experimental assembly, including a workbench, a support frame, a lidar body, a first laser calibration plate, a second laser calibration plate, A mounting seat and an adjusting member, the support frame is fixed on the top of the worktable, the mounting seat is arranged on the worktable and is located inside the support frame, and the lidar body is mounted on the top of the mounting seat , the adjustment member is arranged on both sides of the top of the workbench, the first laser calibration plate is arranged on the adjustment member, and the second laser calibration plate is fixed on the top of the support frame; and an installation component, set The adjusting member includes a connecting frame, a receiving member, a triggering member, a transmission member and a clamping member, the connecting frame is fixed on the top of the adjusting member, and the receiving member is arranged on both sides of the interior of the connecting frame, The triggering part is arranged on the receiving part, the transmission part is located between the two receiving parts, and the clamping part is fixed on the top of the transmission part.

As a preferred solution of the lidar calibration test bench of the present invention, wherein: the mounting base includes a first optical breadboard, a rotary displacement stage, an X-axis angular displacement stage, a Y-axis angular displacement stage, a support plate, and a quick release a fixed seat, the first optical breadboard is arranged on both sides of the top of the workbench, the rotary displacement stage is fixed on the top of the first optical breadboard, the X-axis angle displacement stage and the top of the rotary displacement stage Fixed, the Y-axis angular displacement stage is installed on the top of the X-axis angular displacement stage, the support plate is fixed to the top of the Y-axis angular displacement stage, and the quick-release fixing seat is fixed on the top of the support plate, so The lidar body is installed on the top of the quick release fixing seat.

As a preferred solution of the lidar calibration test bench of the present invention, wherein: the adjustment member includes a second optical breadboard, a sliding micro stage and a precision uniaxial displacement stage, and the second optical breadboard is arranged on the On both sides of the top of the worktable, the sliding micro-stage is fixed on the top of the second optical breadboard, the precision uniaxial displacement stage is arranged on the sliding micro-stage, and the connecting frame is fixed on the precision uniaxial displacement table top.

As a preferred solution of the lidar calibration test bench of the present invention, wherein: the receiving member includes a fixing pipe, a connecting pipe, a receiving rod, a receiving plate, and a sealing ball, and the fixing pipe is fixed inside the connecting frame On both sides, the connecting pipe is fixed with the top of the fixing pipe, the receiving rod is slid in the connecting pipe, the receiving plate is fixed on the tops of the two receiving rods, and the sealing ball is slid in the fixing pipe .

As a preferred solution of the lidar calibration test bench of the present invention, wherein: the receiving member further includes a sealing plate and a first spring, the sealing plate is fixed to the bottom end of the receiving rod, and slides on the connection Inside the tube, both ends of the first spring are respectively fixed with the sealing plate and the fixing tube.

As a preferred solution of the lidar calibration test bench of the present invention, wherein: the trigger element includes a trigger rod and a trigger block, the trigger rod is fixed on the sealing ball, and a through hole is formed on the fixed tube , the trigger rod slides in the through hole and extends to the outside of the fixing tube, and the trigger block is fixed on both ends of the trigger rod.

As a preferred solution of the lidar calibration test bench of the present invention, wherein: the trigger further includes a limit plate and a second spring, the limit plate is fixed on the inner side of the connecting frame, and the middle part is provided with a sliding plate The trigger rod slides in the sliding hole, and the two ends of the second spring are respectively fixed to the trigger rod and the connecting frame.

As a preferred solution of the lidar calibration test bench of the present invention, wherein: the transmission member includes a driving rod, a driving block and a rotating rod, the driving rod is fixed on one side of the receiving plate, and the driving block is fixed At the end of the driving rod, the rotating rod is rotatably connected to the top of the limiting plate, a helical groove is formed on the rotating rod, and the driving block slides on the helical groove.

As a preferred solution of the lidar calibration test bench of the present invention, wherein: the transmission member further includes a driving gear, a tooth plate and a fixing plate, the driving gear is fixed on the top of the rotating rod, and the connecting frame is two Rectangular holes are opened on both sides, and the fixing plate is installed in the rectangular hole and located on both sides of the driving gear. The toothed plate slides on the top of the fixing plate and meshes with the driving gear.

As a preferred solution of the lidar calibration test bench of the present invention, wherein: the clamping member includes a limit frame, a support rod, a splint and a rubber block, and the limit frame slides on the fixed plate, so that the One end of the support rod is fixed on the top of the limiting frame, and the other end is fixed on the bottom of the splint, and the rubber blocks are evenly distributed on the inner side of the splint.

The beneficial effects of the present invention are as follows: the present invention fixes the laser radar on the experimental assembly to perform calibration experiments, and then installs the laser calibration plate through the installation assembly, without screws or the like for fixing, higher disassembly and assembly efficiency, and stronger installation stability.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort. in:

Figure 1 shows the overall structure of the lidar calibration test bench.

Figure 2 is a structural diagram of the mounting base of the lidar calibration test bench.

Figure 3 is a structural diagram of the adjustment part of the lidar calibration test bench.

Figure 4 is a structural diagram of the installation components of the lidar calibration test bench.

Figure 5 is a structural diagram of the connection between the socket and the trigger of the lidar calibration test bench.

Figure 6 is a structural diagram of the connection between the transmission part and the clamping part of the lidar calibration test bench.

Figure 7 is another perspective view of the transmission parts of the lidar calibration test bench.

Detailed ways

In order to make the above objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

Many specific details are set forth in the following description to facilitate a full understanding of the present invention, but the present invention can also be implemented in other ways different from those described herein, and those skilled in the art can do so without departing from the connotation of the present invention. Similar promotion, therefore, the present invention is not limited by the specific embodiments disclosed below.

Second, reference herein to "one embodiment" or "an embodiment" refers to a particular feature, structure, or characteristic that may be included in at least one implementation of the present invention. The appearances of "in one embodiment" in various places in this specification are not all referring to the same embodiment, nor are they separate or selectively mutually exclusive from other embodiments.

Example 1

Referring to FIG. 1 and FIG. 4 , it is the first embodiment of the present invention. This embodiment provides a lidar calibration test bench. The lidar calibration test bench includes an experimental assembly 100 and an installation assembly 200 . Carry out a calibration experiment, and then make the installation of the laser calibration board more convenient and stable by installing the assembly 200 .

Specifically, the experimental assembly 100 includes a workbench 101, a support frame 102, a lidar body 103, a first laser calibration plate 104, a second laser calibration plate 105, a mounting seat 106 and an adjustment member 107, and the support frame 102 is fixed on the workbench At the top of 101 , the mounting seat 106 is arranged on the worktable 101 and is located inside the support frame 102 , the lidar body 103 is mounted on the top of the mounting seat 106 , the adjusting members 107 are arranged on both sides of the top of the worktable 101 , and the first laser calibration plate 104 is arranged On the adjusting member 107 , the second laser calibration plate 105 is fixed on the top of the support frame 102 .

The support frame 102 is used to fix the second laser calibration plate 105 so that it is located directly above the lidar body 103 , and then the two first laser calibration plates 104 on both sides are fixed by the adjusting members 107 , and the adjustment is more convenient and accurate, the lidar body 103 is installed through the mounting seat 106, so that the disassembly and assembly efficiency is higher.

The mounting assembly 200 is arranged on the adjusting member 107 and includes a connecting frame 201, a receiving member 202, a triggering member 203, a transmission member 204 and a clamping member 205. The connecting frame 201 is fixed on the top of the adjusting member 107, and the receiving member 202 is arranged on the connecting frame On both sides of the interior of the 201 , the triggering member 203 is disposed on the receiving member 202 , the transmission member 204 is located between the two receiving members 202 , and the clamping member 205 is fixed on the top of the transmission member 204 .

The first laser calibration plate 104 is supported by the receiving member 202. When the first laser calibration plate 104 presses the receiving member 202 to move downward, it drives the clamping members 205 on both sides through the transmission member 204 to move inward at the same time. The first laser calibration plate 104 is clamped and fixed, and at the same time, the disassembly of the first laser calibration plate 104 is more convenient through the trigger 203, and there is no need for multiple screws to fix it, which greatly improves the first laser calibration plate 104. Disassembly efficiency.

Example 2

1 to 3, it is a second embodiment of the present invention, which is based on the previous embodiment.

Specifically, the mounting base 106 includes a first optical breadboard 106a, a rotary displacement stage 106b, an X-axis angular displacement stage 106c, a Y-axis angular displacement stage 106d, a support plate 106e and a quick release fixing base 106f, and the first optical breadboard 106a is provided with On both sides of the top of the worktable 101, the rotation stage 106b is fixed on the top of the first optical breadboard 106a, the X-axis angular stage 106c is fixed with the top of the rotation stage 106b, and the Y-axis angular stage 106d is installed on the X-axis angular stage 106c On the top, the support plate 106e is fixed to the top of the Y-axis angle displacement stage 106d, the quick release fixing seat 106f is fixed on the top of the support plate 106e, and the lidar body 103 is installed on the top of the quick release fixing seat 106f.

The first optical breadboard 106a is fixed on the worktable 101 by screws, the rotating displacement table 106b enables fine adjustment of the lidar body 103 in the Z-axis, and the X-axis angular displacement table 106c enables the lidar body 103 to move in the X-axis. The Y-axis angular displacement stage 106d enables fine adjustment of the lidar body 103 in the Y-axis direction, and the support plate 106e is provided with a damping block, which is used to prevent the lidar body 103 from being subjected to possible shocks during the working process. The impact force is offset to improve the safety of the device. The quick-release fixing seat 106f is used to quickly remove and install the lidar body 103 to improve the experimental efficiency of the device. The adjustment devices in this embodiment are all of the prior art. The working principle will not be described in detail. The combination of various adjustment devices can achieve fine adjustment of the lidar body 103 in various directions, thereby greatly improving the precision of its experiments.

The adjustment member 107 includes a second optical breadboard 107a, a sliding micro stage 107b and a precision uniaxial displacement stage 107c. The second optical breadboard 107a is disposed on both sides of the top of the workbench 101, and the sliding micro stage 107b is fixed to the second optical breadboard 107a On the top, the precision uniaxial stage 107c is disposed on the sliding micro stage 107b, and the connecting frame 201 is fixed on the top of the precision uniaxial stage 107c.

The sliding micro stage 107b adopts a screw nut type manual translation stage, which has a strong load capacity. Driven by a grinding screw, with high sensitivity, the translation table has a self-locking function, the side rotation handwheel has a scale, which is easy to adjust, the stroke is 200mm, the screw pitch is 3mm, and the table top moves 3mm for each rotation of the first wheel. , the sliding micro stage 107b can realize the rough adjustment of the first laser calibration plate 104 in the horizontal X-axis direction, which is convenient for manual control of the distance between the two first laser calibration plates 104 . The precision uniaxial stage 107c has hardened steel linear bearings for precise motion. The precision single-axis translation stage 107c is equipped with a vernier micrometer head as a driver. The total travel of the single-axis translation stage is 25mm, and the equipped vernier micrometer head has a stroke of 13mm and a division of 10μm, which can realize the first laser calibration board 104 level X The fine adjustment in the axial direction can also facilitate manual control of the precise distance between the two first laser calibration boards 104 .

Example 3

4 to 7, it is a third embodiment of the present invention, which is based on the first two embodiments.

Specifically, the receiving member 202 includes a fixed pipe 202a, a connecting pipe 202b, a receiving rod 202c, a receiving plate 202d, and a sealing ball 202e. The fixed pipe 202a is fixed on both sides of the inner side of the connecting frame 201, and the connecting pipe 202b is fixed to the top of the fixed pipe 202a. The receiving rod 202c slides in the connecting pipe 202b, the receiving plate 202d is fixed on the top of the two receiving rods 202c, and the sealing ball 202e slides in the fixing pipe 202a.

There is a sealing ring inside the fixing tube 202a, and the sealing ball 202e is closely attached to the sealing ring to avoid air leakage in the connecting tube 202b during installation, which affects the clamping effect of the calibration plate. The bottom is in contact with the placement groove to prevent it from being detached from the receiving plate 202d during use; when the receiving rod 202c moves downwards in the connecting pipe 202b, the air in the connecting pipe 202b pushes the sealing ball 202e downward, and releases the sealing ball 202e from the gap. Leakage out, so that the receiving plate 202d and the receiving rod 202c can move downward. When reaching the proper position, the sealing ball 202e upwardly blocks the air outlet of the connecting pipe 202b. At this time, due to the air pressure, the receiving rod 202c cannot move up and down.

The receiving member 202 further includes a sealing plate 202f and a first spring 202g. The sealing plate 202f is fixed to the bottom end of the receiving rod 202c and slides in the connecting pipe 202b. The two ends of the first spring 202g are respectively fixed to the sealing plate 202f and the fixing pipe 202a.

The sealing plate 202f is used to seal the air below the connecting pipe 202b, so as to avoid the phenomenon of air leakage during fixing, which affects the clamping effect. convenient.

The trigger member 203 includes a trigger rod 203a and a trigger block 203b, the trigger rod 203a is fixed on the sealing ball 202e, a through hole M is formed on the fixed tube 202a, the trigger rod 203a slides in the through hole M, and extends to the outside of the fixed tube 202a, The trigger block 203b is fixed on both ends of the trigger rod 203a.

The trigger rod 203a penetrates through the two sealing balls 202e and extends outward. When the trigger rod 203a moves up and down, it can drive the two sealing balls 202e to move at the same time. The top of the trigger block 203b is chamfered to facilitate the staff to move it downward. .

The trigger member 203 further includes a limit plate 203c and a second spring 203d. The limit plate 203c is fixed on the inner side of the connecting frame 201, and a sliding hole N is opened in the middle. The trigger rod 203a slides in the sliding hole N, and both ends of the second spring 203d They are respectively fixed with the trigger rod 203a and the connecting frame 201 .

The limiting plate 203c is rectangular and is located in the middle of the inner side of the connecting frame 201. A plurality of second springs 203d are provided to push the trigger rod 203a upward, so that the sealing ball 202e can more conveniently block the bottom of the connecting pipe 202b to prevent In the event of air leakage during use, the sliding hole N is used to limit the trigger rod 203a to prevent it from shifting during the up and down movement.

The transmission member 204 includes a driving rod 204a, a driving block 204b and a rotating rod 204c. The driving rod 204a is fixed on one side of the receiving plate 202d, the driving block 204b is fixed on the end of the driving rod 204a, and the rotating rod 204c is rotatably connected to the top of the limiting plate 203c. The rotating rod 204c is provided with a spiral groove S, and the driving block 204b slides on the spiral groove S.

The driving rod 204a is U-shaped. When the receiving plate 202d and the driving rod 204a move downward, the driving block 204b slides in the spiral groove S, thereby driving the rotating rod 204c to rotate.

The transmission member 204 further includes a driving gear 204d, a toothed plate 204e and a fixing plate 204f, the driving gear 204d is fixed on the top of the rotating rod 204c, the connecting frame 201 is provided with a rectangular hole J on both sides, and the fixing plate 204f is installed in the rectangular hole J, and Located on both sides of the driving gear 204d, the toothed plate 204e slides on the top of the fixing plate 204f and meshes with the driving gear 204d.

When the rotating rod 204c rotates, it drives the driving gear 204d to rotate, thereby driving the two toothed plates 204e to rotate through the driving gear 204d. The two toothed plates 204e are staggered. When the driving gear 204d rotates, the two toothed plates 204e can simultaneously turn inward. Or move outward at the same time, and the fixed plate 204f is fixed in the rectangular hole J through the installation block, and a limit block is fixed on the fixed plate 204f to limit the tooth plate 204e to prevent it from shifting during the left and right movement. .

The clamping member 205 includes a limit frame 205a, a support rod 205b, a splint 205c and a rubber block 205d. The limit frame 205a slides on the fixing plate 204f, one end of the support rod 205b is fixed on the top of the limit frame 205a, and the other end is connected to the bottom of the splint 205c. Fixed, the rubber blocks 205d are evenly distributed on the inner side of the splint 205c.

The limit frame 205a slides on the fixing plate 204f, and the end of the fixing plate 204f is fixed with a limit block to prevent the limit frame 205a from being detached from the fixing plate 204f, and the support rod 205b is V-shaped and fixed on the limit frame 205a and the splint 205c In between, the rubber blocks 205d are rectangular, and there are a plurality of them, and they are evenly distributed on the inner side of the clamping plate 205c. When the toothed plate 204e moves inward, the toothed plate 204e drives the limit frame 205a and the clamping plate 205c to move until the rubber block 205d is aligned with the calibration plate 205d. The plate touches and squeezes it to complete the fixation.

In use, when the first laser calibration plate 104 needs to be installed, it is placed in the placement groove on the receiving plate 202d, and then manually pressed down, and the receiving plate 202d drives the receiving rod 202c to move downward, At this time, the air in the connecting pipe 202b is discharged downward through the sealing plate 202f, and the sealing ball 202e will move downward under the action of the gas. When the first laser calibration plate 104 moves to the proper position, the second spring 203d will trigger the The rod 203a is pushed upward, so that the sealing ball 202e blocks the bottom of the connecting pipe 202b. At this time, due to the air pressure inside the connecting pipe 202b, the receiving rod 202c will not move, and the first laser calibration plate 104 is preliminarily fixed. When the plate 202d moves downward, the driving block 204b slides in the spiral groove S, thereby driving the rotating rod 204c to rotate, and then driving the driving gear 204d to rotate through the rotating rod 204c, thereby driving the two toothed plates 204e to rotate through the driving gear 204d, so that The two toothed plates 204e move inward at the same time, thereby driving the two limit frames 205a and the splint 205c to move inward until the rubber block 205d contacts the first laser calibration plate 104 and clamps it. The installation of a laser calibration plate 104 does not require additional tools such as screws, which greatly improves the work efficiency of the experimenter. When the experiment is completed, manually move the trigger block 203b and the trigger rod 203a downward, and the trigger rod 203a drives the seal The ball 202e moves downward so that the air enters the connecting pipe 202b. At this time, the first spring 202g pushes the receiving rod 202c upward. At this time, the two groups of rubber blocks 205d also move to the outside at the same time, and the first laser calibration plate 104 dismantling, greatly improving the dismantling efficiency.

It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be Modifications or equivalent substitutions without departing from the spirit and scope of the technical solutions of the present invention should be included in the scope of the claims of the present invention.

Claims (10)

1. a lidar calibration test bench, is characterized in that: comprise, An experimental assembly (100), comprising a workbench (101), a support frame (102), a lidar body (103), a first laser calibration plate (104), a second laser calibration plate (105), a mounting seat (106), and An adjustment member (107), the support frame (102) is fixed on the top of the workbench (101), and the mounting seat (106) is arranged on the workbench (101) and located on the support frame (102) ) inside, the lidar body (103) is mounted on the top of the mounting seat (106), the adjustment member (107) is provided on both sides of the top of the workbench (101), the first laser calibration plate ( 104) is disposed on the adjusting member (107), and the second laser calibration plate (105) is fixed on the top of the support frame (102); and The mounting assembly (200) is arranged on the adjusting member (107), and comprises a connecting frame (201), a receiving member (202), a triggering member (203), a transmission member (204) and a clamping member (205), so The connecting frame (201) is fixed on the top of the adjusting member (107), the receiving member (202) is arranged on both sides of the inside of the connecting frame (201), and the triggering member (203) is arranged on the receiving member On (202), the transmission member (204) is located between the two receiving members (202), and the clamping member (205) is fixed on the top of the transmission member (204). 2. The lidar calibration test bench according to claim 1, wherein the mounting base (106) comprises a first optical breadboard (106a), a rotary displacement stage (106b), and an X-axis angle displacement stage (106c). ), a Y-axis angular displacement stage (106d), a support plate (106e) and a quick release fixing seat (106f), the first optical breadboard (106a) is arranged on both sides of the top of the workbench (101), the A rotary stage (106b) is fixed on the top of the first optical breadboard (106a), the X-axis angular stage (106c) is fixed with the top of the rotary stage (106b), and the Y-axis angular stage ( 106d) is installed on the top of the X-axis angular displacement stage (106c), the support plate (106e) is fixed to the top of the Y-axis angular displacement stage (106d), and the quick release fixing seat (106f) is fixed on the On the top of the support plate (106e), the lidar body (103) is mounted on the top of the quick release fixing seat (106f). 3. The lidar calibration test bench according to claim 1 or 2, wherein the adjustment member (107) comprises a second optical breadboard (107a), a sliding micro-stage (107b) and a precision uniaxial displacement stage (107c), the second optical breadboard (107a) is arranged on both sides of the top of the workbench (101), and the sliding micro-table (107b) is fixed on the top of the second optical breadboard (107a), so The precise uniaxial displacement stage (107c) is arranged on the sliding micro stage (107b), and the connecting frame (201) is fixed on the top of the precise uniaxial displacement stage (107c). 4. The lidar calibration test bench according to claim 3, wherein the receiving member (202) comprises a fixing pipe (202a), a connecting pipe (202b), a receiving rod (202c), and a receiving plate (202d) , and a sealing ball (202e), the fixing pipe (202a) is fixed on both sides of the inside of the connecting frame (201), the connecting pipe (202b) is fixed with the top of the fixing pipe (202a), and the receiving rod (202c) slides in the connecting pipe (202b), the receiving plate (202d) is fixed on the top of the two receiving rods (202c), and the sealing ball (202e) slides on the fixing pipe (202a) Inside. 5. The lidar calibration test bench according to claim 4, wherein the receiving member (202) further comprises a sealing plate (202f) and a first spring (202g), and the sealing plate (202f) is connected to the The bottom end of the receiving rod (202c) is fixed and slides in the connecting pipe (202b), and both ends of the first spring (202g) are respectively fixed to the sealing plate (202f) and the fixing pipe (202a) . 6. The lidar calibration test bench according to claim 4 or 5, wherein the trigger member (203) comprises a trigger rod (203a) and a trigger block (203b), and the trigger rod (203a) is fixed on the On the sealing ball (202e), the fixing tube (202a) is provided with a through hole (M), and the trigger rod (203a) slides in the through hole (M) and extends to the fixing tube Outside (202a), the trigger block (203b) is fixed on both ends of the trigger rod (203a). 7. The lidar calibration test bench according to claim 6, wherein the trigger (203) further comprises a limit plate (203c) and a second spring (203d), and the limit plate (203c) is fixed on the inner side of the connecting frame (201), and a sliding hole (N) is opened in the middle part, the trigger rod (203a) slides in the sliding hole (N), and the two ends of the second spring (203d) are respectively It is fixed with the trigger rod (203a) and the connecting frame (201). 8 . The lidar calibration test bench according to claim 7 , wherein the transmission member ( 204 ) comprises a driving rod ( 204 a ), a driving block ( 204 b ) and a rotating rod ( 204 c ), and the driving rod ( 204a) is fixed on one side of the receiving plate (202d), the driving block (204b) is fixed on the end of the driving rod (204a), and the rotating rod (204c) is rotatably connected to the limiting plate (203c) ), a spiral groove (S) is formed on the rotating rod (204c), and the driving block (204b) slides on the spiral groove (S). 9. The lidar calibration test bench according to claim 8, wherein the transmission member (204) further comprises a driving gear (204d), a toothed plate (204e) and a fixing plate (204f), the driving gear (204d) is fixed on the top of the rotating rod (204c), rectangular holes (J) are opened on both sides of the connecting frame (201), and the fixing plate (204f) is installed in the rectangular holes (J), and located on both sides of the driving gear (204d), the toothed plate (204e) slides on the top of the fixing plate (204f) and meshes with the driving gear (204d). 10. The lidar calibration test bench according to claim 9, wherein the clamping member (205) comprises a limit frame (205a), a support rod (205b), a splint (205c) and a rubber block (205d) ), the limiting frame (205a) slides on the fixing plate (204f), one end of the support rod (205b) is fixed on the top of the limiting frame (205a), and the other end is connected to the splint (205c) The bottom is fixed, and the rubber blocks (205d) are evenly distributed on the inner side of the splint (205c).

Images