A lidar testing device and method

Abstract

The application discloses a kind of laser radar testing device and method.The laser radar testing device provided by the application comprises a test platform, an adjusting module, a film attaching module, a signal receiving board and a control center, which can simultaneously satisfy the measurement of the farthest measurement distance, distance measurement accuracy and angle of laser radar, and the measurement distance is shortened by attaching an attenuation film on the light-emitting surface of the laser radar, so that the test space is reduced to about 2 square meters.The laser radar testing method provided by the application is completed by machine in data acquisition, judgment and identification, avoiding the uncertainty introduced by human in data acquisition and processing process.The laser radar testing device of the application can effectively ensure the consistency of data measurement position.

Description

Technical Field

[0001] This invention relates to the field of lidar, and more specifically to a lidar testing device and method. Background Technology

[0002] LiDAR (Light Detection and Ranging) is widely used in geographic surveying, environmental monitoring, robot navigation and obstacle avoidance, and autonomous driving due to its extremely high range, angle, and velocity resolution, strong anti-interference capability, minimal measurement error, and lightweight and flexible characteristics. Therefore, LiDAR places high demands on all its components. Efficient, accurate, and reliable testing equipment and methods are crucial for the stability and consistency of LiDAR products. Current testing methods involve performing tests on different parameters at different test sites.

[0003] In existing LiDAR technology parameter testing methods, manual testing is usually used. The different measurement personnel can easily introduce uncertainty in the judgment. In addition, in conventional testing methods, the positioning accuracy of angle measurement is low, and the consistency of the measurement position cannot be guaranteed. Moreover, existing testing methods require a testing space of tens or even hundreds of meters. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a lidar testing device and method.

[0005] A lidar testing device for measuring the technical parameters of a lidar, comprising:

[0006] Test platform;

[0007] An adjustment module is provided at one end of the test platform to support the lidar and calibrate and adjust its position.

[0008] A film-applying module is provided with an attenuation film, and driving the film-applying module can attach the attenuation film to the light-emitting surface of the lidar under test;

[0009] A signal receiving board is disposed at the other end of the test platform relative to the adjustment module, and is used to receive and measure the position and intensity of the light signal emitted by the lidar under test;

[0010] The control center is used to drive the movement of the adjustment module and the film application module, and is connected to the signal receiving board to receive and process the data uploaded by the signal receiving board.

[0011] Preferably, the adjustment module includes a calibration unit, the calibration unit comprising:

[0012] Fixed plate,

[0013] An adjustment plate, the upper surface of which is used to place a lidar, and the adjustment plate is arranged opposite to the fixed plate;

[0014] A steel ball, wherein the steel ball is located at one corner of the gap formed between the fixed plate and the adjusting plate;

[0015] A clamping screw, used to secure the steel ball;

[0016] Two screw adjusters are located at the center of opposite sides of the steel ball;

[0017] During operation, the height of the adjusting plate relative to the fixed plate is adjusted by adjusting the relative positions of the two screw adjusters and the steel ball, thereby ensuring that the adjusting plate reaches the standard position required for testing relative to the signal receiving plate.

[0018] Preferably, the adjustment module further includes a clamping block, the clamping block comprising:

[0019] A limiting block, which is an L-shaped fixing block, is fixed to the upper surface of the adjusting plate;

[0020] A clamping block, wherein the clamping block is disposed opposite to the limiting block;

[0021] A translation motor is used to drive the movement of the clamping block.

[0022] Preferably, the adjustment module further includes a rotating part, which includes a rotary motor for driving the adjustment module to rotate.

[0023] Preferably, the film application module includes:

[0024] Electric cylinder;

[0025] Vertical sliding plate;

[0026] A horizontal moving plate, which is fixed to the electric cylinder;

[0027] A slider is disposed on both sides of the horizontal moving plate, and the slider can slide up and down;

[0028] A film-applying arm is connected to the slider via the vertical moving plate, and an attenuation film is provided at one end of the film-applying arm near the calibration part.

[0029] The railway track is wedge-shaped.

[0030] A follower wheel is located below the film-applying arm and moves on the track.

[0031] Preferably, a target is provided on the signal receiving board, and the signal receiving board adopts a photoelectric sensor array.

[0032] A lidar testing method for measuring the maximum measurement distance of a lidar, using the lidar testing device described above, includes the following steps:

[0033] S101: Fix the standard lidar onto the adjustment module;

[0034] S102: Adjust the position of the standard lidar so that the irradiation point of the laser beam emitted by the standard lidar is in the standard position.

[0035] S103: Replace the standard lidar with the lidar to be tested, and fix the lidar to be tested on the adjustment module;

[0036] S104: Select an attenuation film with a certain transmittance and attach it to the light-emitting surface of the lidar to be tested;

[0037] S105: Collect the intensity of the irradiation point of the laser beam emitted by the lidar under test, and transmit the intensity information to the control center;

[0038] S106: Determine whether the intensity value at the point of maximum intensity is lower than the limit value; if not, replace the attenuation film with a different transmittance and repeat S104-S106; if yes, proceed to S107.

[0039] S107: The maximum measurement distance of the lidar under test is calculated based on the distance from the lidar under test to the signal receiving board and the transmittance of the attenuation film.

[0040] Preferably, the attenuation film is selected using a binary search method.

[0041] A lidar testing method for measuring lidar distance measurement accuracy, using the lidar testing device described above, includes the following steps:

[0042] S201: Fix the standard lidar onto the adjustment module;

[0043] S202: Adjust the position of the standard lidar so that the irradiation point of the laser beam emitted by the standard lidar is in the standard position;

[0044] S203: Replace the standard lidar with the lidar to be tested, and fix the lidar to be tested onto the adjustment module;

[0045] S204: Select a suitable attenuation film according to the farthest measurement distance of the lidar under test, and attach the attenuation film to the light-emitting surface of the lidar under test;

[0046] S205: Collect the intensity of the irradiation point of the laser beam emitted by the lidar under test, and transmit the intensity information to the control center;

[0047] S206: Collect the intensity value of the point with the maximum intensity, and calculate the test distance of the laser radar under test based on the distance from the laser radar under test to the signal receiving board and the transmittance of the attenuation film.

[0048] S207: Compare the calculated test distance with the corresponding standard data of the attenuation film. If the distance is within the standard data range, the distance measurement accuracy of the lidar under test meets the standard; if it is not within the standard data range, the distance measurement accuracy of the lidar under test does not meet the standard.

[0049] A lidar testing method for measuring lidar deflection angle, using the lidar testing apparatus described above, includes the following steps:

[0050] S301: Fix the standard lidar onto the adjustment module;

[0051] S302: Adjust the position of the standard lidar so that the irradiation point of the laser beam emitted by the standard lidar is in the standard position;

[0052] S303: Replace the standard lidar with the lidar to be tested, and fix the lidar to be tested onto the adjustment module;

[0053] S304: Collect the position of the illumination point of the laser beam emitted by the lidar under test, and transmit the position information to the control center;

[0054] S305: The positive deflection angle of the laser radar under test is calculated based on the distance from the laser radar under test to the signal receiving board and the position difference between the irradiation point and the target.

[0055] S306: Rotate the lidar under test 90° clockwise and repeat steps S304-S305; measure the left deflection angle of the lidar under test; rotate the lidar under test 180° counterclockwise and repeat steps S304-S305; measure the right deflection angle of the lidar under test.

[0056] The beneficial effects of this invention are:

[0057] The lidar testing device provided by this invention can simultaneously meet the requirements for measuring the maximum measurement distance, distance measurement accuracy, and deflection angle of lidar.

[0058] By attaching an attenuation film to the light-emitting surface of the lidar, the measurement distance is shortened, and the test space is reduced to about 2 square meters, thus reducing the test area.

[0059] The lidar testing method provided by this invention is completed by machines from data acquisition, judgment and identification, avoiding the uncertainty introduced by human intervention in the data acquisition and processing process; the lidar testing device of this invention can effectively ensure the consistency of data measurement position. Attached Figure Description

[0060] Figure 1 This is a schematic diagram of the lidar testing device of the present invention.

[0061] Figure 2 This is a schematic diagram of the adjustment module of the present invention.

[0062] Figure 3 This is a schematic diagram of the calibration section of the present invention.

[0063] Figure 4 This is a schematic diagram of the relaxed state of the clamping block portion of the present invention.

[0064] Figure 5 This is a schematic diagram of the clamping state of the clamping block part of the present invention.

[0065] Figure 6 This is a schematic diagram of the film application module of the present invention.

[0066] Figure 7 This is a schematic diagram of the rotation sequence of the rotating part of the present invention.

[0067] Figure Descriptions: 1. Test Platform; 2. Adjustment Module; 210. Calibration Unit; 211. Fixing Plate; 212. Adjustment Plate; 213. Steel Ball; 214. Clamping Screw; 215. Two Screw Adjusters; 220. Clamping Block; 221. Limiting Block; 222. Holding Block; 223. Translation Motor; 230. Rotating Unit; 3. Film Application Module; 301. Attenuation Film; 302. Electric Cylinder; 303. Follower Wheel; 304. Horizontal Moving Plate; 305. Slider; 306. Vertical Moving Plate; 307. Film Application Arm; 308. Track; 4. Signal Receiving Board. Detailed Implementation

[0068] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0069] like Figure 1 As shown, the lidar testing device of the present invention is used to measure the technical parameters of a lidar, including:

[0070] Test platform 1, the configuration of which is not limited, can be changed to other shapes according to production needs;

[0071] Adjustment module 2, which is located at one end of the test platform 1, is used to support the lidar and calibrate and adjust the position of the lidar;

[0072] The film application module 3 is provided with an attenuation film 301. Driving the film application module 3 can attach the attenuation film 301 to the light-emitting surface of the lidar to be tested.

[0073] Signal receiving board 4 is disposed at the other end of the test platform 1 relative to the adjustment module 2, and is used to receive and measure the position and intensity of the light signal emitted by the lidar under test;

[0074] The control center is used to drive the movement of the adjustment module 2 and the film application module 3, and is connected to the signal receiving board 4 to receive and process the data uploaded by the signal receiving board 4.

[0075] Preferred, such as Figure 2 As shown, the adjustment module 2 includes: a calibration part 210, a clamping part 220, and a rotating part 230.

[0076] like Figure 3 As shown, the calibration unit 210 includes:

[0077] Fixing plate 211;

[0078] Adjustment plate 212, the upper surface of which is used to place the lidar, and the adjustment plate 212 is arranged opposite to the fixed plate 211;

[0079] Steel ball 213, the steel ball 213 is located at one corner of the gap formed by the fixed plate 211 and the adjusting plate 212;

[0080] A clamping screw 214 is used to fix the steel ball 213;

[0081] Two screw adjusters 215 are located at the center of opposite sides of the steel ball 213.

[0082] During operation, by adjusting the relative positions of the two screw adjusters 215 and the steel ball 213, the height of the adjusting plate 212 relative to the fixed plate 211 is adjusted, thereby ensuring that the adjusting plate 212 reaches the standard position required for testing relative to the test platform 1.

[0083] like Figure 4 , Figure 5 As shown, the clamping block portion 220 includes:

[0084] Limiting block 221, the limiting block 221 is an L-shaped fixing block, fixed to the upper surface of the adjusting plate 212;

[0085] Clamping block 222, which is disposed opposite to the limiting block 221;

[0086] Translation motor 223 is used to drive the movement of the clamping block 222.

[0087] During operation, the control center controls the translation motor 223 to move the clamping block 222 away from the standard lidar. At this time, the clamping block module is in a relaxed state, such as... Figure 4 As shown; the control center controls the translation motor 223 to move the clamping block 222 closer to the lidar under test, and cooperates with the limiting block 221 to completely fix the lidar under test. At this time, the clamping block module is in a clamping state, as shown. Figure 5 As shown.

[0088] like Figure 2 As shown, the rotating part 230 is connected to the calibration part 210 and is fixed below the test platform 1; the rotating part 230 includes a rotary motor for driving the calibration part 210 to rotate.

[0089] like Figure 6 As shown, the film application module 3 includes: an electric cylinder 302, a follower wheel 303, a horizontal moving plate 304, a slider 305, a vertical moving plate 306, a film application arm 307, and a circuit track 308; the horizontal moving plate 304 is fixed to the electric cylinder 302, the slider 305 is disposed on both sides of the horizontal moving plate 304, and the slider 305 can slide up and down; the film application arm 307 is connected to the slider 305 through the vertical moving plate 306, and an attenuation film 301 is disposed at one end of the film application arm 307 near the calibration part 210; the circuit track 308 is wedge-shaped; the follower wheel 303 is disposed below the film application arm 307, and the follower wheel 303 moves on the circuit track 308.

[0090] Taking the forward film application action as an example, the operation is further explained as follows: When the electric cylinder 302 is activated, it drives the horizontal moving plate 304 to move towards the lidar. During the movement, the horizontal moving plate 304 drives the follower wheel 303, the slider 305, the vertical moving plate 306, the film application arm 307, and the attenuation film 301 to move together towards the lidar. The follower wheel 303 moves forward and upward on the wedge-shaped track 308. At this time, the slider 305 slides upward, and the follower wheel 303 drives the vertical moving plate 306, the film application arm 307, and the attenuation film 301 to move upward. When it reaches the designated position, the attenuation film 301 is close to the lidar under test, and its height is consistent with the height of the lidar under test.

[0091] In an optional embodiment, a target is provided on the signal receiving board 4, which employs a photoelectric sensor array.

[0092] Due to the limited intensity of the emitted laser from a lidar, noise interference, and the limited sensitivity of the receiver, the echo intensity is very weak when the target is far from the lidar. In this case, the lidar cannot accurately measure the distance, thus limiting its measurement range. This invention also provides a lidar testing method for measuring the maximum measurement distance of a lidar. This method uses the lidar testing device described above and includes the following steps:

[0093] S101: Fix the standard lidar onto the adjustment module;

[0094] S102: Adjust the position of the standard lidar so that the irradiation point of the laser beam emitted by the standard lidar is in the standard position.

[0095] S103: Replace the standard lidar with the lidar to be tested, and fix the lidar to be tested on the adjustment module;

[0096] S104: Select an attenuation film with a certain transmittance and attach it to the light-emitting surface of the lidar to be tested;

[0097] S105: Collect the intensity of the irradiation point of the laser beam emitted by the lidar under test, and transmit the intensity information to the control center;

[0098] S106: Determine whether the intensity value at the point of maximum intensity is lower than the limit value; if not, replace the attenuation film with a different transmittance and repeat S104-S106; if yes, proceed to S107.

[0099] S107: The maximum measurement distance of the lidar under test is calculated based on the distance from the lidar under test to the signal receiving board and the transmittance of the attenuation film.

[0100] In this embodiment, the selection of the attenuation membrane transmittance can be achieved by a binary search method, which can effectively reduce the number of repeated steps and has a fast search speed.

[0101] Ranging accuracy refers to the deviation between the distance measured by the lidar and the actual distance to the target, i.e., the difference between the measured mean and the true value. Ranging precision refers to the fluctuation when measuring the same distance, i.e., the standard deviation of multiple measurement results. Ranging sensitivity, also called ranging resolution, refers to the smallest distance variation that the lidar can detect. Ranging consistency refers to the difference in the above ranging performance when measuring the same target at different distances, or when measuring targets with different reflectivities at the same distance. This invention also provides a lidar testing method for measuring the distance measurement accuracy of a lidar. This method uses the lidar testing device described above and includes the following steps:

[0102] S201: Fix the standard lidar onto the adjustment module;

[0103] S202: Adjust the position of the standard lidar so that the irradiation point of the laser beam emitted by the standard lidar is in the standard position;

[0104] S203: Replace the standard lidar with the lidar to be tested, and fix the lidar to be tested onto the adjustment module;

[0105] S204: Select a suitable attenuation film according to the farthest measurement distance of the lidar under test, and attach the attenuation film to the light-emitting surface of the lidar under test;

[0106] S205: Collect the intensity of the irradiation point of the laser beam emitted by the lidar under test, and transmit the intensity information to the control center;

[0107] S206: Collect the intensity value of the point with the maximum intensity, and calculate the test distance of the laser radar under test based on the distance from the laser radar under test to the signal receiving board and the transmittance of the attenuation film.

[0108] S207: Compare the calculated test distance with the corresponding standard data of the attenuation film. If the distance is within the standard data range, the distance measurement accuracy of the lidar under test meets the standard; if it is not within the standard data range, the distance measurement accuracy of the lidar under test does not meet the standard.

[0109] The offset angle of a lidar refers to the angle at which the lidar is offset relative to the horizontal position during operation. If this offset angle is too large, the illumination spot may deviate from the object being measured during long-distance ranging. The smaller the offset angle, the higher the measurement accuracy. This invention also provides a lidar testing method for measuring the distance measurement accuracy of a lidar. This method uses the lidar testing device described above and includes the following steps:

[0110] S301: Fix the standard lidar onto the adjustment module;

[0111] S302: Adjust the position of the standard lidar so that the irradiation point of the laser beam emitted by the standard lidar is in the standard position;

[0112] S303: Replace the standard lidar with the lidar to be tested, and fix the lidar to be tested onto the adjustment module;

[0113] S304: Collect the position of the illumination point of the laser beam emitted by the lidar under test, and transmit the position information to the control center;

[0114] S305: The positive deflection angle of the laser radar under test is calculated based on the distance from the laser radar under test to the signal receiving board and the position difference between the irradiation point and the target.

[0115] S306: Rotate the lidar under test 90° clockwise, and repeat steps S304-S305; measure the left deflection angle of the lidar under test; rotate the lidar under test 180° counterclockwise, and repeat steps S304-S305; measure the right deflection angle of the lidar under test; Figure 7 As shown.

[0116] It should be noted that the rotation direction and angle of the rotating part in S306 above are only an example in the embodiments of this application. In fact, the rotation direction and angle of the rotating part in S306 are based on the angle of deviation at the center positions on both sides of the lidar under test, and are not specifically limited in the embodiments of this application.

[0117] In this embodiment, the lidar testing device provided by the present invention can simultaneously meet the measurement requirements of the above three lidar technical parameters; only one calibration step of the standard lidar is required during measurement.

[0118] Compared with existing technologies, this invention has the following advantages: The lidar testing device provided by this invention can simultaneously meet the requirements for measuring the maximum measurement distance, distance measurement accuracy, and deflection angle of lidar. Furthermore, by attaching an attenuation film to the light-emitting surface of the lidar, the measurement distance is shortened, reducing the testing space to approximately 2 square meters. The lidar testing method provided by this invention completes data acquisition, judgment, and identification entirely by machine, avoiding uncertainties introduced by human intervention during data acquisition and processing. Using the lidar testing device of this invention can effectively ensure the consistency of data measurement positions.

[0119] The above-described embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention. The scope of protection of the present invention is defined by the claims.

Claims

1. A lidar testing device for measuring the technical parameters of a lidar, characterized in that, include: Test platform; An adjustment module is provided at one end of the test platform to support the lidar and calibrate and adjust its position. A film-applying module is provided with an attenuation film, and driving the film-applying module can attach the attenuation film to the light-emitting surface of the lidar under test; A signal receiving board is disposed at the other end of the test platform relative to the adjustment module, and is used to receive and measure the position and intensity of the light signal emitted by the lidar under test; The control center is used to drive the movement of the adjustment module and the film application module, and is connected to the signal receiving board to receive and process the data uploaded by the signal receiving board. The adjustment module includes a calibration unit, which includes: Fixed plate, An adjustment plate, the upper surface of which is used to place a lidar, and the adjustment plate is arranged opposite to the fixed plate; A steel ball, wherein the steel ball is located at one corner of the gap formed between the fixed plate and the adjusting plate; A clamping screw, used to secure the steel ball; Two screw adjusters are located at the center of opposite sides of the steel ball; During operation, the height of the adjusting plate relative to the fixed plate is adjusted by adjusting the relative positions of the two screw adjusters and the steel ball, thereby ensuring that the adjusting plate reaches the standard position required for testing relative to the signal receiving plate.

2. The lidar testing device as described in claim 1, characterized in that: The adjustment module further includes a clamping block, which includes: A limiting block, which is an L-shaped fixing block, is fixed to the upper surface of the adjusting plate; A clamping block, wherein the clamping block is disposed opposite to the limiting block; A translation motor is used to drive the movement of the clamping block.

3. The lidar testing device as described in claim 2, characterized in that: The adjustment module further includes a rotating part, which includes a rotary motor for driving the adjustment module to rotate.

4. The lidar testing device as described in claim 3, characterized in that: The film application module includes: Electric cylinder; Vertical sliding plate; A horizontal moving plate, which is fixed to the electric cylinder; A slider is disposed on both sides of the horizontal moving plate, and the slider can slide up and down; A film-applying arm is connected to the slider via the vertical moving plate, and an attenuation film is provided at one end of the film-applying arm near the calibration part. The railway track is wedge-shaped. A follower wheel is located below the film-applying arm and moves on the track.

5. The lidar testing device as described in claim 1, characterized in that: A target is provided on the signal receiving board, and the signal receiving board adopts a photoelectric sensor array.

6. A lidar testing method for measuring the maximum measurement distance of a lidar, characterized in that: The laser radar testing apparatus as described in any one of claims 1-5 includes the following steps: S101: Fix the standard lidar onto the adjustment module; S102: Adjust the position of the standard lidar so that the irradiation point of the laser beam emitted by the standard lidar is in the standard position. S103: Replace the standard lidar with the lidar to be tested, and fix the lidar to be tested on the adjustment module; S104: Select an attenuation film with a certain transmittance and attach it to the light-emitting surface of the lidar to be tested; S105: Collect the intensity of the irradiation point of the laser beam emitted by the lidar under test, and transmit the intensity information to the control center; S106: Determine whether the intensity value at the point of maximum intensity is lower than the limit value; if not, replace the attenuation film with a different transmittance and repeat S104-S106; if yes, proceed to S107. S107: The maximum measurement distance of the lidar under test is calculated based on the distance from the lidar under test to the signal receiving board and the transmittance of the attenuation film.

7. The lidar testing method as described in claim 6, characterized in that: The attenuation film selection method adopts a binary search approach.

8. A lidar testing method for measuring lidar distance measurement accuracy, characterized in that: The laser radar testing apparatus as described in any one of claims 1-5 includes the following steps: S201: Fix the standard lidar onto the adjustment module; S202: Adjust the position of the standard lidar so that the irradiation point of the laser beam emitted by the standard lidar is in the standard position; S203: Replace the standard lidar with the lidar to be tested, and fix the lidar to be tested onto the adjustment module; S204: Select a suitable attenuation film according to the farthest measurement distance of the lidar under test, and attach the attenuation film to the light-emitting surface of the lidar under test; S205: Collect the intensity of the irradiation point of the laser beam emitted by the lidar under test, and transmit the intensity information to the control center; S206: Collect the intensity value of the point with the maximum intensity, and calculate the test distance of the laser radar under test based on the distance from the laser radar under test to the signal receiving board and the transmittance of the attenuation film. S207: Compare the calculated test distance with the corresponding standard data of the attenuation film. If the distance is within the standard data range, the distance measurement accuracy of the lidar under test meets the standard; if it is not within the standard data range, the distance measurement accuracy of the lidar under test does not meet the standard.

9. A lidar testing method for measuring lidar deflection angle, characterized in that: The laser radar testing apparatus as described in any one of claims 1-5 includes the following steps: S301: Fix the standard lidar onto the adjustment module; S302: Adjust the position of the standard lidar so that the irradiation point of the laser beam emitted by the standard lidar is in the standard position; S303: Replace the standard lidar with the lidar to be tested, and fix the lidar to be tested onto the adjustment module; S304: Collect the position of the illumination point of the laser beam emitted by the lidar under test, and transmit the position information to the control center; S305: The positive deflection angle of the laser radar under test is calculated based on the distance from the laser radar under test to the signal receiving board and the position difference between the irradiation point and the target. S306: Rotate the lidar under test 90° clockwise and repeat steps S304-S305; measure the left deflection angle of the lidar under test; rotate the lidar under test 180° counterclockwise and repeat steps S304-S305; measure the right deflection angle of the lidar under test.

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