A method and device for detecting the flatness of a wall surface by calibrating a lidar

Abstract

The present invention belongs to the field of detection technology, and particularly relates to a method and a detection device for detecting the flatness of a wall surface by laser radar calibration. By preprocessing the wall surface; setting up a detection device; determining the size of a collection board; setting the position of the collection board; and detecting the flatness of the wall surface by the detection device and the collection board, the test accuracy is improved by using the reflection of light, and the flatness can be visually judged by the position of the light spot of the reflected light.

Description

Technical Field

[0001] The present invention belongs to the technical field of detection, and particularly relates to a method and device for detecting the flatness of a calibration wall surface of a lidar. Background Art

[0002] Before calibrating a lidar, it is necessary to check the flatness of the calibration wall. In the prior art, a device combining a guide rail and a laser rangefinder is used. The guide rail is arranged at a certain angle with the wall surface. During the process of the laser rangefinder moving along the guide rail, the vertical distance from each point of the guide rail to the wall surface is measured, and the difference between the measured value and the theoretically calculated value is determined as the measured flatness. There are measurement errors in the laser rangefinder itself in this solution, which cannot be satisfied when strict requirements are imposed on the detection results, and data recording and calculation are required during measurement, making it impossible to visually judge.

[0003] Therefore, based on the above technical problems, it is necessary to design a new method and device for detecting the flatness of a calibration wall surface of a lidar. Summary of the Invention

[0004] The purpose of the present invention is to provide a method and device for detecting the flatness of a calibration wall surface of a lidar.

[0005] To solve the above technical problems, the present invention provides a method for detecting the flatness of a calibration wall surface of a lidar, including:

[0006] Preprocessing the wall surface;

[0007] Setting up the detection device;

[0008] Determining the size of the acquisition board;

[0009] Setting the position of the acquisition board; and

[0010] Detecting the flatness of the wall surface through the detection device and the acquisition board.

[0011] Further, the method for preprocessing the wall surface includes:

[0012] Pasting a highly reflective wallpaper on the area to be detected on the wall surface.

[0013] Further, the method for setting up the detection device includes:

[0014] Placing the detection device parallel to the wall surface, and offsetting the laser rangefinder in the detection device to a preset angle so that the laser rangefinder forms a preset included angle with the wall surface.

[0015] Further, the method for determining the size of the acquisition board includes:

[0016] Determining the size of the acquisition board according to the reflected light spot of the laser emitted by the laser rangefinder, and cutting the acquisition board to the corresponding size.

[0017] Further, the method for setting the position of the acquisition board includes:

[0018] Set the cut acquisition board on one side of the laser rangefinder to receive the reflected light of the laser.

[0019] Further, the method for detecting the flatness of the wall surface by the detection device and the acquisition board includes:

[0020] Start the laser rangefinder to emit laser light, and determine whether the flatness meets the requirements by judging whether the light spot of the reflected light falls on the acquisition board;

[0021] If the light spot does not fall on the acquisition board, the wall surface does not meet the flatness requirement, and the detection is terminated;

[0022] If the light spot falls on the acquisition board, the wall surface meets the flatness requirement, and the laser rangefinder and the acquisition board are synchronously moved to continue the detection until the detection of the area to be detected on the wall surface is completed.

[0023] On the other hand, the present invention also provides a laser radar calibrated wall surface flatness detection device, including:

[0024] A detection device;

[0025] The detection device is arranged parallel to the wall, and the detection device is adapted to detect the wall surface by using the laser radar calibrated wall surface flatness detection method as described in claim 1.

[0026] Further, the detection device includes: a displacement stage, a laser rangefinder and an acquisition board;

[0027] The laser rangefinder is arranged on the displacement stage, and the laser rangefinder is adapted to emit laser light;

[0028] The displacement stage is adapted to drive the laser rangefinder to rotate so that the laser rangefinder deflects to a preset angle;

[0029] The acquisition board is arranged on one side of the displacement stage, and the displacement stage and the acquisition board are arranged parallel to the wall.

[0030] Further, the detection device further includes: a guide rail and two lifting platforms arranged on the guide rail;

[0031] The displacement stage is arranged on one lifting platform;

[0032] The acquisition board is arranged on the other lifting platform.

[0033] Further, the detection device further includes: a highly reflective wallpaper;

[0034] The highly reflective wallpaper is adapted to be pasted on the wall surface.

[0035] The beneficial effects of the present invention are as follows. By pre - treating the wall surface, setting up a detection device, determining the size of the acquisition board, setting the position of the acquisition board, and detecting the flatness of the wall surface through the detection device and the acquisition board, the present invention realizes improving the test accuracy by using the reflection of light, and the flatness can be visually judged by the position of the light spot of the reflected light.

[0036] Other features and advantages of the present invention will be described in the following specification, and some of them will become obvious from the specification or be understood by implementing the present invention.

[0037] To make the above - mentioned objects, features, and advantages of the present invention more obvious and understandable, the following specifically gives preferred embodiments and, in conjunction with the accompanying drawings, detailed descriptions are as follows. Brief Description of the Drawings

[0038] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the following - described drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0039] Figure 1 is a flowchart of a method for detecting the flatness of a wall surface by laser radar calibration of the present invention;

[0040] Figure 2 is a specific flowchart of a method for detecting the flatness of a wall surface by laser radar calibration of the present invention;

[0041] Figure 3 is a schematic structural diagram of the detection device of the present invention;

[0042] Figure 4 is a schematic structural diagram of the detection device of the present invention;

[0043] Figure 5 is a schematic diagram of the light spot of the present invention.

[0044] In the figure:

[0045] 1 wall surface;

[0046] 2 highly reflective wallpaper;

[0047] 3 detection device, 31 guide rail, 32 lifting platform, 33 displacement platform, 34 laser rangefinder, 35 acquisition board;

[0048] 4 laser light path;

[0049] 5 reflected - light light path. Detailed Embodiments

[0050] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0051] Embodiment 1

[0052] As Figures 1 - 5 shown, Embodiment 1 of the present invention provides a method for detecting the flatness of a wall surface for laser radar calibration, including: preprocessing the wall surface 1; setting up the detection device 3; determining the size of the acquisition board 35; setting the position of the acquisition board 35; and detecting the flatness of the wall surface 1 through the detection device 3 and the acquisition board 35, which realizes improving the test accuracy by using the reflection of light, and the flatness can be visually judged by the position of the light spot of the reflected light.

[0053] In this embodiment, the method for preprocessing the wall surface 1 includes: pasting a highly reflective wallpaper 2 on the area to be detected of the wall surface 1 to ensure that there is no fault on the wall surface 1, restoring the flatness of the wall surface 1 through the highly reflective wallpaper 2 and achieving the effect of specular reflection through the highly reflective wallpaper 2.

[0054] In this embodiment, the method for setting up the detection device 3 includes: placing the detection device 3 parallel to the wall surface 1, and offsetting the laser rangefinder 34 in the detection device 3 to a preset angle so that the laser rangefinder 34 forms a preset included angle with the wall surface 1, which is convenient for the laser emitted by the laser rangefinder 34 to be reflected on the highly reflective wallpaper 2, and the reflected light can be irradiated on the acquisition board 35 through the included angle for easy observation.

[0055] In this embodiment, the method for determining the size of the acquisition board 35 includes: determining the size of the acquisition board 35 according to the light spot of the reflected light of the laser emitted by the laser rangefinder 34, and cutting the acquisition board 35 to the corresponding size. By cutting the size of the acquisition board 35, the reflected light can be irradiated on the acquisition board 35, and the size adjustment of the acquisition board 35 avoids the acquisition board 35 being too large in size, and avoids the acquisition board 35 with too large size from collecting offset light spots, making the detection more accurate.

[0056] In this embodiment, the method for setting the position of the acquisition board 35 includes: setting the cut acquisition board 35 on one side of the laser rangefinder 34 to receive the reflected light of the laser. Setting the acquisition board 35 on one side of the laser rangefinder 34 is convenient for receiving the reflected light, and the flatness of the wall surface 1 is judged by observing the position of the light spot of the reflected light (the laser optical path 4 and the reflected light optical path 5 of the laser rangefinder 34 are as Figure 5 shown by the arrows).

[0057] In this embodiment, the method for detecting the flatness of the wall surface 1 by the detection device 3 and the acquisition board 35 includes: starting the laser rangefinder 34 to emit laser light, and determining whether the flatness meets the requirements by judging whether the light spot of the reflected light falls on the acquisition board 35; if the light spot does not fall on the acquisition board 35, the wall surface 1 does not meet the flatness requirements, and the detection is terminated; if the light spot falls on the acquisition board 35, the wall surface 1 meets the flatness requirements, and the laser rangefinder 34 and the acquisition board 35 are moved synchronously to continue the detection until the detection of the area to be detected on the wall surface 1 is completed.

[0058] Stick a highly reflective wallpaper 2 on the position of the wall surface 1 that needs to be measured to ensure that there is no fault on the wall surface 1. Place the detection device 3 parallel to the wall surface 1, start the laser rangefinder 34 to emit laser light, and judge whether the light spot of the reflected light falls on the acquisition board 35. As shown in the figure, if the light spot does not fall on the acquisition board 35, the wall surface 1 does not meet the flatness requirements, and the detection is terminated. If the light spot falls on the acquisition board 35, the wall surface 1 meets the flatness requirements, and the laser rangefinder 34 and the acquisition board 35 are moved synchronously to continue the detection. Connect the guide rail 31 and the two lifting platforms 32 together, place the displacement table 33 on the left lifting platform 32, place the laser rangefinder 34 on the displacement table 33, place the laser rangefinder 34 horizontally with respect to the ground, deflect the laser rangefinder 34 to a preset angle through the displacement table 33, cut a suitable acquisition board 35 based on the size of the light spot, place the acquisition board 35 on the right lifting platform 32, place the acquisition board 35 facing the wall surface 1 and perpendicular to the ground, calculate the suitable position for placing the acquisition board 35 based on the distance and angle between the laser rangefinder 34 and the wall surface 1, and place and fix the acquisition board 35 at this position by moving the lifting platform 32 left and right through the guide rail 31. The height of the lifting platform 32 can be adjusted to meet the detection requirements of different positions on the wall surface 1.

[0059] Embodiment 2

[0060] Based on Embodiment 1, this Embodiment 2 further provides a detection device that uses the laser radar calibration wall surface flatness detection method in Embodiment 1, including: a detection device 3; the detection device 3 is arranged parallel to the wall, and the detection device 3 is adapted to detect the wall surface 1 by using the laser radar calibration wall surface flatness detection method as described in Claim 1.

[0061] In this embodiment, the detection device 3 includes: a displacement table 33, a laser rangefinder 34, and an acquisition board 35; the laser rangefinder 34 is arranged on the displacement table 33, and the laser rangefinder 34 is adapted to emit laser light; the displacement table 33 is adapted to drive the laser rangefinder 34 to rotate so that the laser rangefinder 34 is deflected to a preset angle; the acquisition board 35 is arranged on one side of the displacement table 33, and the displacement table 33 and the acquisition board 35 are arranged parallel to the wall.

[0062] In this embodiment, the detection device 3 further includes: a guide rail 31, and two lifting platforms 32 arranged on the guide rail 31; the displacement platform 33 is arranged on one lifting platform 32; the acquisition board 35 is arranged on the other lifting platform 32.

[0063] In this embodiment, the detection device further includes: a highly reflective wall paper 2; the highly reflective wall paper 2 is suitable for being pasted on the wall surface 1. Paste the highly reflective wall paper 2 at the position on the wall surface 1 that needs to be measured to ensure that there is no fault in the wall surface 1. Place the detection device 3 parallel to the wall surface 1, start the laser rangefinder 34, emit laser light, and determine whether the light spot of the reflected light falls on the acquisition board 35. As shown in the figure, if the light spot does not fall on the acquisition board 35, the wall surface 1 does not meet the flatness requirement, and the detection is terminated. If the light spot falls on the acquisition board 35, the wall surface 1 meets the flatness requirement, synchronously move the laser rangefinder 34 and the acquisition board 35, and continue the detection. Connect the guide rail 31 and the two lifting platforms 32 together, place the displacement platform 33 on the left lifting platform 32, place the laser rangefinder 34 on the displacement platform 33, place the laser rangefinder 34 horizontally with respect to the ground, deflect the laser rangefinder 34 to a preset angle through the displacement platform 33, cut a suitable acquisition board 35 based on the size of the light spot, place the acquisition board 35 on the right lifting platform 32, place the acquisition board 35 facing the wall surface 1 and perpendicular to the ground, calculate the suitable position for placing the acquisition board 35 based on the distance and angle between the laser rangefinder 34 and the wall surface 1, and place and fix the acquisition board 35 at this position by moving the lifting platform 32 left and right through the guide rail 31. The detection requirements for different positions of the wall surface 1 can be met by adjusting the height of the lifting platform 32.

[0064] In summary, the present invention pre-treats the wall surface 1; sets up the detection device 3; determines the size of the acquisition board 35; sets the position of the acquisition board 35; and detects the flatness of the wall surface 1 through the detection device 3 and the acquisition board 35, realizing the improvement of the test accuracy by using the reflection of light, and the flatness can be intuitively judged by the position of the light spot of the reflected light.

[0065] In several embodiments provided in this application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of devices, methods, and computer program products according to multiple embodiments of the present invention. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a part of code, and the module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0066] In addition, in each embodiment of the present invention, the functional modules can be integrated together to form an independent part, or each module can exist alone, or two or more modules can be integrated to form an independent part.

[0067] If the above functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0068] Taking the above ideal embodiments of the present invention as an inspiration, through the above description, relevant workers can completely make various changes and modifications without departing from the technical idea of this invention. The technical scope of this invention is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A method for detecting the flatness of a calibration wall surface of a lidar, characterized in that, Including: Preprocessing the wall surface, including pasting a highly reflective wallpaper on the area to be detected on the wall surface; Setting up the detection device, including placing the detection device parallel to the wall surface and offsetting the laser rangefinder in the detection device to a preset angle so that the laser rangefinder forms a preset included angle with the wall surface; Determining the size of the acquisition board, including determining the size of the acquisition board according to the reflected light spot of the laser emitted by the laser rangefinder and cutting the acquisition board of the corresponding size; Setting the position of the acquisition board, including setting the cut acquisition board on one side of the laser rangefinder to receive the reflected light of the laser; And Detecting the flatness of the wall surface by the detection device and the acquisition board, including starting the laser rangefinder to emit laser, and determining whether the flatness meets the requirements by judging whether the light spot of the reflected light falls on the acquisition board; if the light spot does not fall on the acquisition board, the wall surface does not meet the flatness requirements and the detection is terminated; if the light spot falls on the acquisition board, the wall surface meets the flatness requirements, and the laser rangefinder and the acquisition board are moved synchronously to continue the detection until the detection of the area to be detected on the wall surface is completed.

2. A laser radar calibration wall flatness detection device, characterized in that, Including: A detection device; The detection device is arranged parallel to the wall, and the detection device is adapted to detect the wall surface by using the laser radar calibration wall surface flatness detection method as described in claim 1.

3. The laser radar calibration wall surface flatness detection device according to claim 2, wherein The detection device includes: a displacement stage, a laser rangefinder and an acquisition board; The laser rangefinder is arranged on the displacement stage, and the laser rangefinder is adapted to emit laser; The displacement stage is adapted to drive the laser rangefinder to rotate so that the laser rangefinder deflects to a preset angle; The acquisition board is arranged on one side of the displacement stage, and the displacement stage and the acquisition board are arranged parallel to the wall.

4. The laser radar calibration wall surface flatness detection device according to claim 3, wherein The detection device further includes: a guide rail and two lifting stages arranged on the guide rail; The displacement stage is arranged on one lifting stage; The acquisition board is arranged on the other lifting stage.

5. The laser radar calibration wall surface flatness detection device according to claim 4, wherein The detection device further includes: a highly reflective wallpaper; The highly reflective wallpaper is adapted to be pasted on the wall surface.

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