Laser radar reflector detection device and detection method

Abstract

The present invention provides a detection device and a detection method for a laser radar reflector. The detection device is used to detect the relative deflection angle of a double-sided reflector, and includes: a first positioning adjustment device, including a rotating table, a positioning part is provided on the rotating table, and the axis of the positioning part is coaxially arranged with the rotation axis of the rotating table; a light source emission system, including at least one pair of point light source modules, the point light source modules are symmetrically arranged on both sides of the first positioning adjustment device with the rotation axis of the rotating table as the center, and the light beams of the pair of point light source modules are all on a first plane parallel to the rotation axis; at least one pair of second positioning adjustment devices, respectively supporting the point light source modules and used to adjust the pitch angle of the point light source modules in the first plane; at least one pair of light screens, symmetrically arranged on the outside of the second positioning adjustment device, used to receive the reflected light spot on the corresponding side of the double-sided reflector to be tested or the emitted light spot of the point light source module on the opposite side. The detection device of the present invention is simple to operate and has high detection accuracy.

Description

Technical Field

[0001] The present invention relates to the field of laser radar technology, and in particular to a detection device and a detection method for a laser radar reflector. Background Art

[0002] LiDAR is a commonly used high-precision ranging radar system that is responsible for obstacle detection, identification and real-time positioning in autonomous driving. The working principle of LiDAR is to emit laser to the target object, then receive the echo returned from the target object, and obtain the target object information by comparing the echo signal with the transmitted signal.

[0003] The reflector is an important optical device in the laser radar. The laser emitted by the laser radar can be measured at multiple angles after passing through the reflector, increasing the horizontal field of view and repetition rate. In addition, the laser radar can also split the light by designing the vertical inclination of the reflector to obtain a multi-line laser radar.

[0004] However, since the reflector may be affected by processing errors or stress deformation during the processing, it cannot meet the working requirements of the laser radar, affecting the normal use of the laser radar. Generally, the reflector of a semi-solid laser radar is a double-sided reflector, which is driven to rotate by a motor. However, if the relative deflection angle of the double-sided reflector in the horizontal and vertical directions exceeds the radar resolution, the light spots reflected by the double-sided reflector will not overlap, causing point cloud jitter, point cloud anomalies, and inaccurate ranging. However, there is currently no device and method for detecting the relative deflection angle of a double-sided reflector. Therefore, there is an urgent need for a detection device and a detection method for detecting the relative deflection angle of a double-sided reflector to facilitate the testing of the relative deflection angle of the double-sided reflector. Summary of the invention

[0005] The embodiments of the present invention provide a detection device and a detection method for a laser radar reflector to solve the problem that the relative deflection angle of a double-sided reflector cannot be detected at present.

[0006] In a first aspect, an embodiment of the present invention provides a detection device for a laser radar reflector, which is used to detect the relative deflection angle of a double-sided reflector, and the detection device includes:

[0007] The first positioning and adjusting device comprises a rotating platform, on which a positioning part is arranged, the axis of the positioning part is coaxially arranged with the rotating axis of the rotating platform, and the positioning part is used to position the double-sided reflector to be measured;

[0008] The light source emission system comprises at least one pair of point light source modules, which are symmetrically arranged on both sides of the first positioning adjustment device with the rotation axis of the rotating table as the center, and the light beams of the pair of point light source modules are both on a first plane parallel to the rotation axis;

[0009] At least one pair of second positioning adjustment devices, respectively supporting the point light source modules and used to adjust the pitch angle of the point light source modules in the first plane;

[0010] At least one pair of light screens are symmetrically arranged outside the second positioning adjustment device with the rotation axis as the center, and are used to receive the reflected light from the corresponding side reflection surface of the double-sided reflector to be tested or the emitted light from the opposite side point light source module.

[0011] In a possible implementation, the positioning portion is further provided with a support rod, the support rod is used to support the double-sided reflector to be measured, and the axis of the support rod is coaxially arranged with the rotation axis of the rotating table;

[0012] The support rod coincides with the central axis of the double-sided reflector to be measured, and the double-sided reflector to be measured rotates coaxially and synchronously with the rotating platform.

[0013] In a possible implementation, the first positioning and adjusting device further includes a first translation stage, and the rotating stage is located on the first translation stage; wherein the first translation stage is used to adjust the double-sided reflector to be measured to move in a second plane perpendicular to the first plane;

[0014] The second positioning and adjusting device includes a pitch adjustment platform and a second translation platform, and the pitch adjustment platform is located on the second translation platform; wherein the pitch adjustment platform is used to adjust the pitch angle of the point light source module in the first plane; the second translation platform is used to adjust the movement of the point light source module in the first plane.

[0015] In some embodiments, the distance between the point light source module and the light screen on the corresponding side is greater than or equal to 7 meters.

[0016] In some embodiments, the first positioning adjustment device and the second positioning adjustment device are both located on the optical platform;

[0017] The height between the point light source module and the optical platform is less than the height between the top of the second positioning and adjusting device and the optical platform.

[0018] Exemplarily, the pitch angle σ of the point light source module satisfies:

[0019] σ>arctan((H2-H1) / L1);

[0020] Among them, H2 is the height of the top of the second positioning adjustment device from the optical platform, H1 is the height of the point light source module from the optical platform, and L1 is the horizontal distance between the point light source module and the reflective surface close to the point light source module.

[0021] For example, the point light source is visible light or invisible light emitted by a laser tube.

[0022] The detection device of the laser radar reflector provided by the embodiment of the present invention uses the rotating axis of the rotating platform as the positioning part of the double-sided reflector to be tested, and at least one group of point light source modules, a pair of second positioning adjustment devices and a pair of light screens are symmetrically arranged on both sides of the rotating axis of the rotating platform. The second positioning adjustment device is adjusted to position the position and pitch angle of the positioning point light source module, and the first positioning adjustment device is adjusted to make the reflected light spot on either side of the double-sided reflector to be tested to the calibration position, and the relative deflection angle is measured by the reflected light spot on the other side and the calibration position. In this way, the relative deflection angle of the double-sided reflector to be tested can be magnified by an optical method using a double point light source module.

[0023] In addition, the detection device provided in the embodiment of the present invention is easy to operate, can reduce the complexity of measurement, and the test accuracy of the relative deflection angle reaches 0.001°.

[0024] In a second aspect, an embodiment of the present invention provides a method for detecting a laser radar reflector, based on the above-mentioned detection device of the laser radar reflector, comprising the following steps:

[0025] Adjust the point light source module to the initial position so that the laser point emitted by the point light source module is reflected by the double-sided reflector to the light screen on the corresponding side and the reflected light spot is complete;

[0026] Remove the double-sided reflector to be tested, adjust the pitch angle of the point light source module, until the emission spots emitted by a pair of point light source modules to the light screen on the opposite side are complete and the two emission spots are symmetrical, and mark the two emission spots as standard points respectively;

[0027] Install the double-sided reflector to be tested on the first positioning and adjusting device, and rotate the rotating stage until the reflected light spot on one side of the double-sided reflector to be tested and the line connecting the standard point on the light screen coincide with the projection of the first plane on the light screen or coincide with the standard point on the light screen;

[0028] The relative deflection angle of the double-sided reflector to be measured is determined according to the position deviation between the reflected light spot on the other side of the double-sided reflector to be measured and another standard point.

[0029] In a possible implementation, the double-sided reflector to be tested is removed, and the pitch angle of the point light source module is adjusted until the emission spots emitted by a pair of point light source modules to the light screen on the opposite sides are complete and the two emission spots are symmetrical, and before the two emission spots are calibrated as standard points respectively, the method further includes:

[0030] Install the double-sided reflector to be tested, and detect whether the reflected light spot on the light screen on the corresponding side reflected by the laser point emitted by the point light source module through the double-sided reflector to be tested is complete;

[0031] If the reflected light spot is complete, stop adjusting the two point light source modules; otherwise, readjust the position and pitch angle of the point light source modules.

[0032] In a possible implementation, the step of testing the relative deflection angles of other parts of the double-sided reflector to be tested is also included, and the specific steps are:

[0033] Adjusting the first positioning adjustment device in a second plane perpendicular to the first plane so that the light beam of the point light source module is emitted to the intended measurement position of the double-sided reflector to be measured;

[0034] Rotate the rotating stage until the reflected light spot on one side of the double-sided reflector to be measured and the line connecting the standard point on the light screen on that side coincides with the projection of the first plane on the light screen or coincides with the standard point on the light screen;

[0035] The relative deflection angle of the double-sided reflector to be measured is determined according to the position deviation between the reflected light spot on the other side of the double-sided reflector to be measured and another standard point.

[0036] In a possible implementation, the relative deflection angle includes a deflection angle θ in the horizontal direction. y The deflection angle θ from the vertical direction z ,

[0037] θ y =1 / 2*artan((C y -B y ) / (L2+2*L1));

[0038] θ z =1 / 2*artan((C z -B z ) / (L2+2*L1));

[0039] Among them, B y B is the horizontal coordinate of the reflected light spot on one side of the double-sided reflector to be measured on its light screen, z C is the vertical distance between the reflected light spot on one side of the double-sided reflector to be tested and the standard point on its light screen. y C is the horizontal distance between the reflected light spot on the other side of the double-sided reflector to be measured and another standard point, z is the vertical distance between the reflected light spot on the other side of the double-sided reflector to be measured and another standard point, L1 is the horizontal distance between the point light source module and the reflector close to the point light source module, and L2 is the distance between the point light source module and the corresponding side light screen.

[0040] The detection method of the laser radar reflector provided by the embodiment of the present invention is as follows: first, by adjusting the reflection spot of the point light source module on the light screen on the corresponding side to be complete, and after removing the double-sided reflector to be tested, by adjusting the pitch angle of the point light source module, the emission spot emitted by a pair of point light sources to the light screen on the opposite side is also displayed complete, and the above two emission spots are symmetrical, and the two spots are respectively calibrated as standard points. Then, the rotating table is rotated until the emission spot on one side of the double-sided reflector to be tested and the line connecting the standard point on its light screen coincides with the projection of the first plane on the light screen or coincides with the standard point on its light screen. Finally, according to the distance deviation between the reflection spot on the other side of the double-sided reflector to be tested and another standard point, the relative deflection angle of the double-sided reflector to be tested is determined. In this way, by using the optical method of the double point light source module to amplify the angle difference of the double-sided reflector to be tested, the relative deflection angle of the double-sided reflector can be tested. The test method is simple and the test accuracy is as high as 0.001°. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0042] Figure 1 is a schematic diagram of the side structure of a detection device for a laser radar reflector provided in an embodiment of the present invention;

[0043] Figure 2 is a schematic diagram of a top view of the structure of a detection device for a laser radar reflector provided in an embodiment of the present invention;

[0044] Figure 3 yes Figure 1 Light path diagram;

[0045] Figure 4 yes Figure 2 Light path diagram;

[0046] Figure 5 It is a flow chart of a method for detecting a laser radar reflector provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0047] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0048] In order to make the purpose, technical solutions and advantages of the present invention more clear, specific embodiments will be described below in conjunction with the accompanying drawings.

[0049] As described in the background technology, the reflector may be affected by processing errors or stress deformation during the processing. When two reflectors form a double-sided reflector and are used in a laser radar, if the relative deflection angle of the double-sided reflector exceeds the radar resolution, the light spots reflected by the double-sided reflector will not overlap, causing point cloud jitter, point cloud anomalies, and inaccurate ranging. However, there is currently no method for detecting the relative deflection angle of a double-sided reflector.

[0050] In order to solve the problems in the prior art, an embodiment of the present invention provides a detection device and a detection method for a laser radar reflector. The detection device for a laser radar reflector provided by an embodiment of the present invention is first introduced below.

[0051] like Figures 1 to 4 As shown, a structural schematic diagram of a detection device for a laser radar reflector is provided, which is used to detect the relative deflection angle of a double-sided reflector. The detection device includes a first positioning adjustment device 1, a light source emission system, at least one pair of second positioning adjustment devices 3 and at least one pair of light screens 4.

[0052] Wherein, the first positioning and adjusting device 1 comprises a rotating table, on which a positioning part is arranged, and the axis of the positioning part is coaxially arranged with the rotation axis of the rotating table, and the positioning part is used to position the double-sided reflector 5 to be tested. It should be noted that the double-sided reflector 5 to be tested comprises two symmetrically designed reflecting surfaces 510 and 520. The positioning part here can be a groove or a clamping part, which is used to fix the double-sided reflector 5 to be tested. The rotation axis here is a virtual axis along which the rotating table rotates. After the double-sided reflector 5 to be tested is positioned on the rotating table, the two reflecting surfaces 510 and 520 are symmetrically distributed on both sides of the rotation axis with the rotation axis of the rotating table as the center.

[0053] The light source emission system includes at least one pair of point light source modules 201, 202, which are symmetrically arranged on both sides of the first positioning adjustment device 1 with the rotation axis of the rotating table as the center, and the light beams of the pair of point light source modules 201, 202 are on the first plane 7 parallel to the rotation axis, thereby ensuring that the pair of point light source modules are on the same axis, ensuring the accuracy of the test. Figure 2 , Figure 3 and Figure 4 In the coordinate system, the rotation axis is parallel to the Z axis, the first plane 7 is a plane formed by the Y axis direction and the Z axis direction, and the first plane 7 is parallel to the rotation axis.

[0054] At least one pair of second positioning and adjusting devices 3 respectively supports the point light source modules 201 and 202 and is used to respectively adjust the pitch angles of the point light source modules 201 and 202 in the first plane 7. At least one pair of light screens 4 is symmetrically arranged on the outer side of the second positioning and adjusting devices 3 with the rotation axis of the rotating table as the center, and is used to receive the reflected light from the reflection surface on the corresponding side of the double-sided reflector 5 to be measured or the emitted light from the point light source module on the opposite side. The light spot formed by the reflected light from the reflection surface on the corresponding side of the double-sided reflector 5 to be measured received by the light screen 4 is recorded as the reflected light spot, and the light spot formed on the light screen 4 by the emitted light emitted by the point light source module on the opposite side received by the light screen 4 is recorded as the emitted light spot, wherein the corresponding side and the opposite side are relative positions with reference to the rotation axis of the rotating table, the reflection surface on the corresponding side of the light screen 4 refers to the reflection surface on the same side of the rotation axis as the light screen 4, and the point light source module on the opposite side of the light screen 4 refers to the point light source module on the different side of the rotation axis as the light screen 4.

[0055] The detection device of the laser radar reflector in the embodiment of the present application can adjust the position and pitch angle of the corresponding point light source module by adjusting the second positioning adjustment device 3, and can adjust the first positioning adjustment device 1 to make the reflection spot formed by the reflection light on either side of the reflection surface of the double-sided reflector 5 to be tested to the calibration position, and measure the relative deflection angle between the reflection spot on the other side and the calibration position. The calibration position is to calibrate the emission spot that meets the preset requirements projected onto the light screen as the calibration position after adjusting the second positioning adjustment device 3.

[0056] Specifically, the positioning portion is also provided with a support rod 530, and the support rod 530 is used to support the double-sided reflector 5 to be tested. The double-sided reflector 5 to be tested includes a symmetrically arranged reflection surface 510 and a reflection surface 520, and the central axis of the double-sided reflector 5 to be tested coincides with the central axis of the support rod 530, so as to ensure that after the double-sided reflector 5 to be tested is positioned on the rotating table, the two reflection surfaces 510 and 520 can be symmetrically distributed on both sides of the rotation axis with the rotation axis of the rotating table as the center. In addition, the axis of the support rod 530 is coaxially arranged with the rotation axis of the rotating table. When testing the relative deflection angle of the double-sided reflector to be tested, the double-sided reflector 5 to be tested can be driven to rotate coaxially and synchronously through the rotating table. It should be noted here that the support rod 530 is provided with a groove for fixing the double-sided reflector 5 to be tested, or a clamping portion is provided to fix the double-sided reflector 5 to be tested.

[0057] In some embodiments, the first positioning and adjusting device 1 further includes a first translation stage, and the rotating stage is located on the first translation stage. The first translation stage can be used to adjust the double-sided reflector 5 to be tested to move in a second plane perpendicular to the first plane 7. It should be noted that the second plane here refers to a plane parallel to the rotation axis and perpendicular to the first plane. Figure 2 , Figure 3 and Figure 4, in the coordinate system, the rotation axis is parallel to the Z axis, the first plane 7 is a plane composed of the Y axis direction and the Z axis direction, and the second plane is a plane composed of the X axis direction and the Z axis direction. That is, the double-sided reflector 5 to be tested can be moved in any one direction or two directions in the second plane by adjusting the first displacement stage, so that the height of the double-sided reflector 5 to be tested relative to the first positioning adjustment device 1 can be adjusted, and the light beam of the point light source module is emitted to different parts of the double-sided reflector 5 to be tested, so that the relative deflection angles of different positions of the double-sided reflector 5 to be tested can be tested.

[0058] In addition, the second positioning and adjusting device 3 may include a pitch adjustment platform and a second displacement platform, and the pitch adjustment platform is located on the second displacement platform. Among them, the pitch adjustment platform is used to adjust the pitch angle of the point light source module in the first plane. The second displacement platform is used to adjust the movement of the point light source module in the first plane. By adjusting the movement of the point light source module in any one direction or two directions in the first plane, the position of the point light source module relative to the double-sided reflector 5 to be tested can be adjusted. Among them, both the first displacement platform and the second displacement platform can adopt a three-dimensional displacement platform, and customers can choose according to test requirements.

[0059] Specifically, the distance between the point light source module and the light screen 4 on the corresponding side is greater than or equal to 7 meters, which is convenient for testing the relative deflection angle using an optical testing method. Specifically, the size of a pair of light screens 4 can be the same, and the pair of light screens 4 are symmetrically arranged with the rotation axis of the rotating table in the first positioning and adjusting device 1 as the central axis.

[0060] In order to ensure the accuracy of the test, the first positioning and adjusting device 1 and the second positioning and adjusting device 3 can be placed on the optical platform 6, and a pair of light screens 4 are symmetrically arranged on the outside of the second positioning and adjusting device 3 with respect to the rotation axis of the rotating table of the first positioning and adjusting device 1. The height of the point light source module from the optical platform 6 is less than the height of the top of the second positioning and adjusting device 2 from the optical platform 6.

[0061] Specifically, the pitch angle of the point light source module in the first plane can be adjusted so that the reflected light spot emitted by the point light source module onto the light screen 4 through the double-sided reflector 5 to be tested and the emitted light spot emitted onto the light screen 4 can be completely displayed on the light screen 4.

[0062] Among them, the pitch angle σ of the point light source module should satisfy:

[0063] σ>arctan((H2-H1) / L1);

[0064] That is, the emission spot and the reflection spot of the point light source module will not be blocked and can be fully displayed on the light screen 4. Among them, H2 is the height of the top of the second positioning adjustment device 3 from the optical platform 6, H1 is the height of the point light source module from the optical platform 6, and L1 is the horizontal distance between the point light source module and the reflection surface close to the point light source module.

[0065] In addition, the point light source module can be a point light source emitted by a laser tube, including a point light source module 201 and a point light source module 202. The point light source can be visible light or invisible light, and can be used to test the relative deflection angle of the double-sided reflector 5 to be tested.

[0066] In order to better understand the detection device of the laser radar reflector provided by the present invention, the following is combined with Figures 1 to 4 , the detection device of the laser radar reflector is described in detail.

[0067] For the convenience of description, only a pair of point light source modules 201 and 202 , a pair of second positioning adjustment devices 3 and a pair of light screens 4 are introduced here.

[0068] A first positioning and adjusting device 1 is arranged on the optical platform 6, and the first positioning and adjusting device 1 includes a first three-dimensional displacement stage and a rotating stage, wherein the rotating stage is located on the first three-dimensional displacement stage. A support rod 530 for positioning the double-sided reflector 5 to be measured is arranged on the positioning portion of the rotating stage, and when the rotating stage rotates, the support rod 530 can drive the double-sided reflector 5 to be measured to rotate. The double-sided reflector 5 to be measured includes a symmetrically arranged reflection surface 510 and a reflection surface 520. It should be noted that, for the convenience of operation, the central axes of the rotating stage, the first three-dimensional displacement stage, the support rod 530, the positioning portion and the double-sided reflector 5 to be measured can be coaxially arranged.

[0069] Two second positioning adjustment devices 3 are symmetrically arranged on both sides of the rotating table on the optical platform 6. The two second positioning adjustment devices 3 respectively support the point light source module and are used to adjust the pitch angle of the point light source module in the first plane 7. A pair of point light source modules are also symmetrical about the rotation axis of the rotating table. It should be noted that the first plane 7 here is a plane composed of the Y-axis direction and the Z-axis direction, and the first plane 7 is parallel to the rotation axis.

[0070] Among them, a pair of point light source modules can respectively use two laser tubes as a pair of point light source modules, including a first laser tube 201 and a second laser tube 202. Specifically, the first laser tube 201 and the second laser tube 202 are symmetrically arranged with the rotation axis of the rotating table as the axis in the X direction. By adjusting the positions of the two second positioning adjustment devices 3, the first laser tube 201 and the second laser tube 202 are on the same axis in the Y direction. In addition, the first laser tube 201 and the second laser tube 202 are tilted upward in the Z direction.

[0071] Specifically, the second positioning adjustment device 3 may include a pitch adjustment platform and a second three-dimensional displacement platform, and the pitch adjustment platform is located on the second three-dimensional displacement platform. The pitch adjustment platform is used to adjust the pitch angle of the point light source module in the Z direction. The second three-dimensional displacement platform is used to adjust the point light source module to move in any one direction of the Y direction or the Z direction or in both directions at the same time.

[0072] In order to ensure that the light emitted by the point light source module is not blocked by the second positioning adjustment device 3 after being reflected by the double-sided reflector to be measured, the pitch angle of the point light source module in the Z direction can be adjusted.

[0073] Specifically, the pitch angle σ of the point light source module satisfies:

[0074] σ>arctan((H2-H1) / L1);

[0075] Among them, H2 is the height of the top of the second positioning adjustment device 3 from the optical platform 6, H1 is the height of the point light source module from the optical platform 6, and L1 is the horizontal distance between the point light source module and the reflective surface close to the point light source module.

[0076] Of course, a through hole may also be provided below the second positioning and adjusting device 3 , so that the light emitted by the point light source module is reflected by the double-sided reflector to be measured and then displayed on the light screen 4 through the through hole.

[0077] In addition, the first three-dimensional displacement stage in the first positioning and adjusting device 1 is used to adjust the movement of the double-sided reflector 5 to be tested in the X direction or the Z direction, so as to facilitate the testing of the relative deflection angles of the double-sided reflector at different positions to be tested.

[0078] In addition, a pair of light screens 4 are provided outside the second positioning and adjusting device 3, and the pair of light screens 4 are symmetrically arranged on both sides of the rotating table, respectively, for receiving the reflected light of the reflective surface on the corresponding side of the double-sided reflector to be tested or the emitted light of the point light source module on the opposite side. It should be noted that, in order to ensure the accuracy of the test, the pair of light screens 4 can be set to the same size, and the distance between the point light source module and the light screen 4 on the corresponding side must be greater than or equal to 7 meters. The farther the distance between the light screen 4 and the point light source module is, the more obvious the light spot deviation caused by the deviation of the reflective surface of the optical system will be, and the more accurate the relative deflection angle test will be.

[0079] By adjusting the first positioning adjustment device 1 and the second positioning adjustment device 3, the line connecting the reflected light spot on either side of the double-sided reflector 5 to be tested and the first preset standard point is made to be the projection of the first plane on the light screen 4, and the relative deflection angle of the double-sided reflector 5 to be tested is determined by detecting the offset value between the reflected light spot on the other side of the double-sided reflector 5 to be tested and the second preset standard point.

[0080] The detection device of the laser radar reflector provided in the embodiment of the present invention is provided with a positioning part for fixing the double-sided reflector to be tested on a rotating table, and the axis of the positioning part is coaxial with the rotation axis of the rotating table. At least one group of point light source modules, a pair of second positioning adjustment devices and a pair of light screens are symmetrically arranged on both sides of the rotation axis of the rotating table. The second positioning adjustment device is adjusted to position and pitch angle of the positioning point light source module, and the first positioning adjustment device is adjusted to make the reflected light spot on either side of the double-sided reflector to be tested to the calibrated position, and the relative deflection angle is measured by the reflected light spot on the other side and the calibrated position. In this way, the relative deflection angle of the double-sided reflector to be tested can be magnified by the optical method using a double point light source module.

[0081] In addition, the detection device provided in the embodiment of the present invention is easy to operate, can reduce the complexity of measurement, and the test accuracy of the relative deflection angle reaches 0.001°.

[0082] The above is the detection device of the laser radar reflector provided by the present invention, and its detection method is introduced below.

[0083] Please refer to Figures 3 to 5 The detection method of the laser radar reflector provided in the embodiment of the present invention may include the following steps:

[0084] Step S510, adjusting the point light source module to an initial position so that the laser point emitted by the point light source module is reflected by the double-sided reflector to be tested to form a complete reflected light spot on the light screen on the corresponding side.

[0085] By adjusting the position of the second positioning adjustment device 3, that is, adjusting the relative distance between the point light source module and the horizontal position of the double-sided reflector 5 to be measured, the laser point emitted by the point light source module is reflected by the double-sided reflector 5 to be measured to the light screen 4 on the corresponding side and can be completely hit by the reflected light spot on the corresponding side.

[0086] Step S520, remove the double-sided reflector to be tested, adjust the pitch angle of the point light source module, until the emission spots emitted by a pair of point light source modules to the light screen on the opposite sides are complete and the two emission spots are symmetrical, and calibrate the two emission spots as standard points respectively.

[0087] After removing the double-sided reflector to be tested, the pitch angle of the point light source module is changed by adjusting the second positioning adjustment device 3, so that the emission spots emitted by a pair of point light source modules to the light screen 4 on the opposite side are complete, and the symmetrical distribution of the two emission spots is confirmed by auxiliary instruments such as a level meter.

[0088] Then, reinstall the double-sided reflector 5 to be tested, and check whether the reflected light spot of the laser point emitted by the point light source module reflected by the double-sided reflector 5 to the light screen 4 on the corresponding side is complete. If the two reflected light spots are complete, the two emission light spots are calibrated as standard points respectively. If the two reflected light spots are incomplete, it is necessary to readjust the relative distance between the point light source module and the horizontal distance of the double-sided reflector 5 to be tested and the pitch angle of the point light source module again. When the two reflected light spots after the double-sided reflector 5 to be tested are installed are complete and symmetrical, and the two emission light spots after the double-sided reflector 5 to be tested are removed are complete, stop adjusting the position and pitch angle of the point light source module, and calibrate the two emission light spots as standard points respectively.

[0089] It should be noted that once the position and elevation angle of the point light source module are determined, they will no longer be adjusted during subsequent testing.

[0090] Step S530, install the double-sided reflector to be tested on the first positioning and adjusting device, and rotate the rotating stage until the reflection spot on one side of the double-sided reflector to be tested and the line connecting the standard point on the light screen coincide with the projection of the first plane on the light screen or coincide with the standard point on the light screen.

[0091] By rotating the rotating table, the reflected light spot B on one side of the double-sided reflector 5 to be tested is made to coincide with the standard point on its light screen 4 in the Y-axis direction. There will be some deviation on the Z-axis. Here, it is only limited that the reflected light spot on one side of the double-sided reflector 5 to be tested coincides with the first emitted light spot on its light screen in the Y-direction.

[0092] Step S540: Determine the relative deflection angle of the double-sided reflector to be measured according to the position deviation between the reflected light spot on the other side of the double-sided reflector to be measured and another standard point.

[0093] The relative deflection angle can be obtained according to the position deviation between the reflection spot C on the other side of the double-sided reflector 5 to be measured and another standard point. The relative deflection angle can be obtained by the position deviation between the reflection spot B, the reflection spot C and the two standard points.

[0094] Specifically, the horizontal distance between the point light source module and the reflective surface close to the point light source module is L1, and the distance between the point light source module and the corresponding side light screen is L2, wherein the coordinate of the reflected light spot B in the Y direction is B y The distance deviation between the reflected light spot B and the standard point on the light screen in the Z direction is B z , the distance deviation between the reflected light spot C and another standard point in the Y direction is C y , the distance deviation between the reflected light spot C and another standard point in the Z direction is C z According to the imaging characteristics of the plane mirror and the principle of light reflection, the plane mirror rotates θ degrees, and the light spot reflected by the plane mirror rotates 2θ.

[0095] Therefore, the relative deflection angle of the double-sided reflector 5 to be measured includes the deflection angle θ in the horizontal direction. y The deflection angle θ from the vertical direction z , the specific calculation formula is:

[0096] θ y =1 / 2*artan((C y -B y ) / (L2+2*L1));

[0097] θ z =1 / 2*artan((C z -B z ) / (L2+2*L1)).

[0098] Thereby, the relative deflection angle of the double-sided reflector can be calculated.

[0099] In order to verify the accuracy of the test and whether the relative deflection angles at different positions of the double-sided reflector are different, the first positioning adjustment device can be adjusted so that the light beam of the point light source module is emitted to the intended test position of the double-sided reflector to be tested.

[0100] Firstly, the first positioning and adjusting device 1 is adjusted in a second plane perpendicular to the first plane 7 so that the light beam of the point light source module is emitted to the intended measuring position of the double-sided reflector 5 to be measured.

[0101] After the double-sided reflector 5 to be tested is fixed, the relative deflection angle of the double-sided reflector 5 to be tested can be tested according to the above steps. The rotating stage is rotated until the line connecting the reflected light spot on one side of the double-sided reflector 5 to be tested and the standard point on the light screen on that side coincides with the projection of the first plane 7 on the light screen 4 or coincides with the standard point. Then, the relative deflection angle of the double-sided reflector to be tested is measured according to the position deviation between the reflected light spot on the other side of the double-sided reflector to be tested and another standard point.

[0102] The detection method of the laser radar reflector provided by the embodiment of the present invention is as follows: first, by adjusting the reflection spot of the point light source module on the light screen on the corresponding side to be complete, and after removing the double-sided reflector to be tested, by adjusting the pitch angle of the point light source module, the emission spot emitted by a pair of point light sources to the light screen on the opposite side is also displayed complete, and the above two emission spots are symmetrical, and the two spots are respectively calibrated as standard points. Then, the rotating table is rotated until the emission spot on one side of the double-sided reflector to be tested and the line connecting the standard point on its light screen coincides with the projection of the first plane on the light screen or coincides with the standard point. Finally, according to the distance deviation between the reflection spot on the other side of the double-sided reflector to be tested and another standard point, the relative deflection angle of the double-sided reflector to be tested is determined. In this way, by using the optical method of the double-point light source module to amplify the angle difference of the double-sided reflector to be tested, the relative deflection angle of the double-sided reflector can be tested. The test method is simple and the test accuracy is as high as 0.001°.

[0103] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0104] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A laser radar reflector detection device, used to detect the relative deflection angle of a double-sided reflector, characterized in that: The detection device comprises: The first positioning and adjusting device comprises a rotating platform, on which a positioning part is arranged, the axis of the positioning part is coaxially arranged with the rotating axis of the rotating platform, and the positioning part is used to position the double-sided reflector to be measured; A light source emitting system, comprising at least one pair of point light source modules, wherein the point light source modules are symmetrically arranged on both sides of the first positioning and adjusting device with the rotation axis as the center, and the light beams of the pair of point light source modules are both on a first plane parallel to the rotation axis; At least one pair of second positioning adjustment devices, respectively supporting the point light source modules and used to adjust the pitch angles of the point light source modules in the first plane; At least one pair of light screens are symmetrically arranged outside the second positioning and adjusting device with the rotation axis as the center, and are used to receive reflected light from the reflective surface on the corresponding side of the double-sided reflector to be tested or emitted light from the point light source module on the opposite side.

2. The detection device according to claim 1, characterized in that The positioning portion is also provided with a support rod, the support rod is used to support the double-sided reflector to be measured, and the axis of the support rod is coaxially arranged with the rotation axis; Wherein, the support rod coincides with the central axis of the double-sided reflector to be measured, and the double-sided reflector to be measured rotates coaxially and synchronously with the rotating stage.

3. The detection device according to claim 1, characterized in that: The first positioning and adjusting device further comprises a first displacement platform, and the rotating platform is located on the first displacement platform; wherein the first displacement platform is used to adjust the double-sided reflector to be measured to move in a second plane perpendicular to the first plane; The second positioning and adjustment device includes a pitch adjustment platform and a second translation platform, and the pitch adjustment platform is located on the second translation platform; wherein the pitch adjustment platform is used to adjust the pitch angle of the point light source module in the first plane; and the second translation platform is used to adjust the movement of the point light source module in the first plane.

4. The detection device according to claim 3, characterized in that: The distance between the point light source module and the light screen on the corresponding side is greater than or equal to 7 meters.

5. The detection device according to claim 3, characterized in that: The first positioning adjustment device and the second positioning adjustment device are both located on the optical platform; The height between the point light source module and the optical platform is less than the height between the top end of the second positioning and adjusting device and the optical platform.

6. The detection device according to claim 5, characterized in that: The pitch angle σ of the point light source module satisfies: σ>arctan((H2-H1) / L1); Among them, H2 is the height of the top of the second positioning and adjusting device from the optical platform, H1 is the height of the point light source module from the optical platform, and L1 is the horizontal distance between the point light source module and the reflective surface close to the point light source module.

7. A method for detecting a laser radar reflector, based on the detection device for a laser radar reflector according to any one of claims 1 to 6, characterized in that: The following steps are involved: Adjusting the point light source module to an initial position so that the laser point emitted by the point light source module is reflected by the double-sided reflector to be tested to form a complete reflected light spot on the light screen on the corresponding side; Remove the double-sided reflector to be tested, adjust the pitch angle of the point light source module, until the emission spots emitted by a pair of point light source modules to the light screen on the opposite sides are complete and the two emission spots are symmetrical, and mark the two emission spots as standard points respectively; Mounting the double-sided reflector to be tested on the first positioning and adjusting device, and rotating the rotating stage until the line connecting the reflected light spot on one side of the double-sided reflector to be tested and the standard point on the light screen coincides with the projection of the first plane on the light screen or coincides with the standard point on the light screen; The relative deflection angle of the double-sided reflector to be measured is determined according to the position deviation between the reflected light spot on the other side of the double-sided reflector to be measured and another standard point.

8. The detection method according to claim 7, characterized in that The method further comprises: removing the double-sided reflector to be tested, finely adjusting the pitch angle of the point light source module until the emission spots emitted by a pair of the point light source modules to the light screen on the opposite sides are complete and the two emission spots are symmetrical, and before respectively calibrating the two emission spots as standard points. Install the double-sided reflector to be tested, and detect whether the reflected light spot on the light screen on the corresponding side, which is reflected by the double-sided reflector to be tested, from the laser point emitted by the point-shaped light source module is complete; If the reflected light spot is complete, stop adjusting the two point-shaped light source modules; otherwise, readjust the position and pitch angle of the point-shaped light source modules.

9. The detection method according to claim 7, characterized in that: The method also includes the step of testing the relative deflection angles of other parts of the double-sided reflector to be tested, and the specific steps are as follows: Adjusting the first positioning adjustment device in a second plane perpendicular to the first plane so that the light beam of the point light source module is emitted to the intended measurement position of the double-sided reflector to be measured; Rotate the rotating stage until the line connecting the reflected light spot on one side of the double-sided reflector to be measured and the standard point on the light screen coincides with the projection of the first plane on the light screen or coincides with the standard point on the light screen; The relative deflection angle of the double-sided reflector to be measured is determined according to the position deviation between the reflected light spot on the other side of the double-sided reflector to be measured and another standard point.

10. The detection method according to any one of claims 7 to 9, characterized in that: The relative deflection angle includes the deflection angle θ in the horizontal direction y The deflection angle θ from the vertical z , <h2 style=";text-align:left;direction:ltr">θ<h2 style=";text-align:left;direction:ltr"> y <h2 style=";text-align:left;direction:ltr"> 1 / 2 artan((C<h2 style=";text-align:left;direction:ltr"> y <h2 style=";text-align:left;direction:ltr"> -B<h2 style=";text-align:left;direction:ltr"> y <h2 style=";text-align:left;direction:ltr"> ) / (L2+2*L1)); <h2 style=";text-align:left;direction:ltr">θ<h2 style=";text-align:left;direction:ltr"> z <h2 style=";text-align:left;direction:ltr"> 1 / 2 artan((C<h2 style=";text-align:left;direction:ltr"> z <h2 style=";text-align:left;direction:ltr"> -B<h2 style=";text-align:left;direction:ltr"> z <h2 style=";text-align:left;direction:ltr"> ) / (L2+2*L1)); Among them, B y is the horizontal coordinate of the reflected light spot on one side of the double-sided reflector to be measured on its light screen, B z C is the vertical distance between the reflected light spot on one side of the double-sided reflector to be tested and the standard point on its light screen, y C is the horizontal distance between the reflected light spot on the other side of the double-sided reflector to be measured and another standard point, z is the vertical distance between the reflected light spot on the other side of the double-sided reflector to be tested and another standard point, L1 is the horizontal distance between the point light source module and the reflector close to the point light source module, and L2 is the distance between the point light source module and the corresponding side light screen.

Images