Calibration device and method of multi-line laser radar

Abstract

The invention belongs to the intelligent vehicle environment perception technology field and especially relates to a calibration device and a method of a multi-line laser radar. The device comprises acalibration plate, a calibration rod, a rotating disk, a spring lock mechanism, an end cap, a bearing, a ball and a pedestal. The calibration plate is clamped on an upper end of the calibration rod.A lower end of the calibration rod is connected to the rotating disk in a threaded connection mode. The rotating disk is clamped in a ring groove of the pedestal and is fixedly arranged with the pedestal through the spring lock mechanism. The bearing is arranged between the pedestal and a bearing hole of the rotating disk and forms interference fit with the rotating disk. The end cap is arranged on the rotating disk and is fixedly arranged at a center shaft of the pedestal through a bolt. A pad is arranged between the bolt and the end cap. The invention discloses the convenient and high-efficient calibration device and the method aiming at a rotation-type 64-line laser radar. Three-dimensional coordinates of scanning points can be simultaneously and accurately calibrated. By using an existing laser radar, an actual position coordinate of each laser scanning point is difficult to be determined, a scanning track shape is discrete and complex and a calibration process is tedious. In the invention, the above problems are solved.

Description

technical field [0001] The invention belongs to the technical field of intelligent vehicle environment perception, and specifically relates to a calibration device and method for a rotary 64-line multi-line laser radar. Background technique [0002] As an important part of the environment perception hardware system of smart cars, lidar undertakes important tasks such as road edge detection, obstacle recognition and real-time localization and mapping (SLAM) in automatic driving. Due to the advantages of fast measurement speed, high precision and long distance measurement, lidar has been widely used in smart cars. In practical applications, whether the calibration of lidar is accurate will have a major impact on the perception, positioning and upper-level decision-making planning of smart cars. Therefore, it is necessary to design a reasonable scheme to accurately and reliably calibrate the 3D lidar. Usually, the laser radar uses a near-infrared laser with a wavelength of ab...

AI Technical Summary

Problems solved by technology

[0003] The invention is a convenient and efficient calibration device and method for a rotary 64-line laser radar, which can accurately calibrate the three-dimensional coordinates of the scanning point at the same time; it solves the problem that the existing laser radar is difficult to determine the actual position coordinates and scanning trajectory of the laser scanning point Discrete and complex shapes and cumbersome calibration process

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