LiDAR evaluation method and device

Abstract

The present invention relates to the field of robotics, and specifically provides a laser radar evaluation method, comprising the following steps: S100, real-time acquisition of status information of a base motor and a rotating base motor, ranging information of an infrared sensor, and status information of an in-position switch, and reporting the information to a main control board; S200, real-time acquisition of point cloud information after the laser radar scans target one and target two, respectively, and reporting the information to the main control board. The present invention can record theoretical data by setting an evaluation mode including a dynamic and static mode and a distance and angle as set values, and at the same time obtain actual data in real time through ranging of the laser radar and the infrared sensor. Finally, the actual measured values ​​are compared with the theoretical values ​​through an evaluation algorithm to evaluate the performance of the laser radar. Compared with the existing technology, the laser radar is not affected by angle and distance, and the test data is more accurate.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and in particular to a laser radar evaluation method and device. Background Art

[0002] A robot is a machine that performs tasks automatically. It can accept commands and communicate with humans, execute pre-programmed tasks, or act according to customized principles using artificial intelligence. Its mission is to assist or replace human work, for example, in manufacturing, construction, or hazardous tasks. Robots are the product of advanced integration of cybernetics, mechatronics, computers, materials, and bionics. They currently have important applications in industry, medicine, agriculture, and even the military.

[0003] Typically, a robot's primary sensors include lidar, cameras, and IMUs. Without reliable, stable, and application-specific sensors, a robot cannot efficiently and effectively complete its assigned tasks, and the user experience will be compromised. Effectively evaluating sensor performance, including reliability, stability, and applicability, is a top priority during the initial stages of robot construction. Lidar performance evaluation is particularly crucial, as it serves as the primary sensor for laser SLAM.

[0004] However, the laser radar evaluation method in the prior art, for example, the patent document with application number CN202111350214.8, discloses a method, device, medium and equipment for evaluating the performance of a laser radar, which can perform static and dynamic tests on the radar to be tested under various test environments, and can comprehensively and effectively evaluate the performance of the radar to be tested, thereby improving the construction accuracy of the robot.

[0005] However, the above invention has limitations when encountering a test board at different angles and distances from the laser radar, because when the angle and distance between the test board and the laser radar change during the test, it means that the data measured by the laser radar also changes in real time. That is to say, when the angle changes, it is not enough to only test the values ​​of the initial position and the end position, because the angle of the test board has changed, and therefore the reflectivity of the test board has changed. That is to say, when the distance between the test board and the laser radar changes from small to large (or from large to small), it is easy for the actual measured value to deviate from the theoretical value, resulting in the test effect of the laser radar being affected. Summary of the Invention

[0006] The technical problem to be solved by the present invention is: in order to solve the problem that when encountering a test board at different angles and distances from the laser radar, there is a tendency for the actual measured value to deviate from the theoretical value, resulting in the test effect of the laser radar being affected. The present invention provides a laser radar evaluation method and device to solve the above problem.

[0007] The technical solution adopted by the present invention to solve the technical problem is: a laser radar evaluation method, comprising the following steps:

[0008] S100, obtaining status information of the base motor and the rotating base motor, ranging information of the infrared sensor, and status information of the in-position switch in real time, and reporting them to the main control board;

[0009] S200: Obtain point cloud information of target 1 and target 2 scanned by the laser radar in real time and report it to the main control board;

[0010] S300, issuing a reset command through the main control board to reset the states of the base motor and the rotating base motor to return to zero position;

[0011] S400, setting an evaluation mode including a dynamic and static mode and a distance and an angle as set values;

[0012] S500: After setting the evaluation mode, write the setting information to the main control board, activate the start button, drive the target 1 and the target 2 to the set position, and at the same time, collect the point cloud information of the target 1 and the target 2 at the set position within the set time period and store it in the data packet;

[0013] S600: Extract information from the data packet and perform analysis and comparison based on an evaluation algorithm to evaluate and obtain the performance test results of the laser radar.

[0014] Preferably, the first target is a slideway with holes connected to the output end of the base motor, and the second target is a test board fixture connected to the rotating base on the rotating base motor.

[0015] Preferably, the evaluation mode includes a bucket mode, a single board mode and an evaluation board mode.

[0016] Preferably, in step S400, the setting information in the static mode is the distance and angle of the barrel, single board, and test board to be evaluated; and the setting information in the dynamic mode is the distance information of the perforated slide in a moving state.

[0017] Preferably, in step S500, after the evaluation mode is set, the setting information is written to the main control board, the start button is activated, and the target 1 and the target 2 are driven to move to the set position. At the same time, within the set time period, the point cloud information of the target 1 and the target 2 at the set position is collected and stored in the data packet. The specific operation steps are as follows:

[0018] S501, when the evaluation mode is selected as the evaluation board mode and is set to the static mode, the distance and angle set as p1 are input to the main control board respectively;

[0019] S502, activate the start button to drive the first target to move a set distance, and drive the second target to rotate a set angle;

[0020] S503: Collect point cloud information of target 1 and target 2 through laser radar and store it in a data packet.

[0021] Preferably, in step S501, when the evaluation mode is selected as the evaluation board mode and is set to the dynamic mode, only the angle of the set value recorded as p2 is input into the main control board;

[0022] Secondly, activate the start button to drive target 1 to move from zero position to maximum position;

[0023] Among them, the point cloud data in the data packet will be triggered multiple times during the movement of target 1. Each time the infrared ranging switches from -inf to inf and triggers the storage of point cloud data, the distance information of target 1 at the current position is recorded by the infrared sensor and stored in the data packet.

[0024] Preferably, in step S600, the information in the data packet includes evaluation mode, dynamic and static conditions, distance, angle, and lidar brand.

[0025] Preferably, in step S600, the performance test results of the laser radar are evaluated and compared according to the evaluation algorithm, specifically:

[0026] When the evaluation mode is selected as bucket mode and single board mode, the laser performance is evaluated by the ratio of theoretical point cloud number to actual point cloud number, long and short distance noise points, isolated noise points and the distance variance between point cloud and fitted straight line or arc; or,

[0027] When the evaluation board mode is selected as the evaluation mode, the laser performance is evaluated by the ratio of the theoretical point cloud number to the actual point cloud number, the near and far distance noise points, the isolated noise points, the distance variance between the point cloud and the fitted line or arc, and the recognition degree of each material of the evaluation board.

[0028] The present invention also provides an evaluation device for a laser radar evaluation method, comprising a fixed base, a central slide rail provided on the fixed base, a fixed block fixedly connected to the fixed base mounted on one end of the central slide rail, a rotating base capable of self-rotation provided on the fixed block, and a laser radar base movably connected to the fixed base provided on the other side of the perforated slide rail;

[0029] The outer side of the central slide rail is connected to a slideway with holes, and the end of the slideway with holes away from the rotating base is provided with a laser radar base, and the slideway with holes can slide along the outer side wall of the central slide rail;

[0030] The surface of the central slide rail is detachably connected to a collection rack, which is provided with barrel slots and plate slots;

[0031] A test plate fixture is provided on the rotating base, an in-position switch is provided on the outer side of the rotating base, and the in-position switch is arranged on the surface of the fixed block.

[0032] Preferably, the in-position switches include a pair of zero-degree in-position switches and a pair of 45-degree in-position switches, the pair of zero-degree in-position switches and the pair of 45-degree in-position switches are symmetrically arranged about the slide rail, and the pair of zero-degree in-position switches and the pair of 45-degree in-position switches are combined to form a semicircle.

[0033] The beneficial effect of the present invention is that the present invention can record theoretical data by setting an evaluation mode including dynamic and static modes and distance and angle as set values, and at the same time obtain actual data in real time through the ranging of laser radar and infrared sensor, and finally compare the actual measured values ​​with the theoretical values ​​through the evaluation algorithm to evaluate the performance of this laser radar. Compared with the existing technology, it will not be affected by angle and distance, and the test data is more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present invention will be further described below with reference to the accompanying drawings and examples.

[0035] Figure 1 1 is a top view of the evaluation device in the present invention.

[0036] Figure 2 It is a side view of the evaluation device in the present invention.

[0037] Figure 3 It is a schematic diagram of the main control board in the laser radar evaluation method of the present invention.

[0038] Figure 4 It is a flow chart of the laser radar evaluation method in the present invention.

[0039] Figure numerals: 1. LiDAR base; 2. Slide with holes; 3. Central slide rail; 4. Fixed block; 5. Rotating base; 6. Test board fixture; 7. 45-degree positioning switch; 8. LiDAR; 9. Barrel slot; 10. Board slot; 11. Fixed hole; 12. Fixed seat; 13. Motor; 14. Base bracket; 15. Infrared sensor. DETAILED DESCRIPTION

[0040] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0041] like Figures 1 to 4 As shown, the present invention provides an embodiment of a laser radar evaluation method and device.

[0042] Specifically, refer to Figure 3 and Figure 4 , the laser radar evaluation method comprises the following steps:

[0043] S100, obtaining status information of the base motor and the rotating base motor, ranging information of the infrared sensor, and status information of the in-position switch in real time, and reporting them to the main control board;

[0044] S200: Obtain point cloud information of target 1 and target 2 scanned by the laser radar in real time and report it to the main control board;

[0045] S300, issuing a reset command through the main control board to reset the states of the base motor and the rotating base motor to return to zero position;

[0046] S400, setting an evaluation mode including a dynamic and static mode and a distance and an angle as set values;

[0047] S500: After setting the evaluation mode, write the setting information to the main control board, activate the start button, drive the target 1 and the target 2 to the set position, and at the same time, collect the point cloud information of the target 1 and the target 2 at the set position within the set time period and store it in the data packet;

[0048] S600: Extract information from the data packet and perform analysis and comparison based on an evaluation algorithm to evaluate and obtain the performance test results of the laser radar.

[0049] The present invention can realize automatic detection of multiple distances between the laser and the test board, and multi-distance testing of the barrel and the vertical board. For the testing of different test pieces, there is no need to manually move the board distance and angle, and it can be controlled directly through the software interface.

[0050] In the present invention, the base refers to the laser radar base 1 in the evaluation device.

[0051] Further: Target one is a slideway with holes connected to the output end of the base motor, and target two is a test board fixture connected to the rotating base on the rotating base motor.

[0052] Further: Evaluation modes include bucket mode, single board mode, and evaluation board mode.

[0053] Further: in step S400, the setting information in the static mode is the distance and angle of the barrel, single board, and test board to be evaluated; the setting information in the dynamic mode is the distance information of the hole slide in the moving state.

[0054] In this invention, dynamic mode means that when the perforated slide is in motion, the infrared sensor detects the perforated slide to obtain distance information. All the infrared distance information obtained is then used to trigger the point cloud information, and the successfully triggered information is stored. In actual operation, using a test board as an example, only the angle information needs to be set. The distance information of the perforated slide is triggered by the infrared sensor and the current distance information is calculated. All the infrared distance information obtained is then used to trigger the point cloud information, and finally the data of each trigger point is stored.

[0055] Further: In step S500, after the evaluation mode is set, the setting information is written to the main control board, the start button is activated, and the target 1 and the target 2 are driven to move to the set position. At the same time, within the set time period, the point cloud information of the target 1 and the target 2 at the set position is collected and stored in the data packet. The specific operation steps are as follows:

[0056] S501, when the evaluation mode is selected as the evaluation board mode and is set to the static mode, the distance and angle set as p1 are input to the main control board respectively;

[0057] S502, activate the start button to drive the first target to move a set distance, and drive the second target to rotate a set angle;

[0058] S503: Collect point cloud information of target 1 and target 2 through laser radar and store it in a data packet.

[0059] by Figure 3 For example, in evaluation board mode and when set to static mode, the angle can be set to 0 degrees +- 45 degrees or plus 30 degrees to 60 degrees; the distance can be set between 0.3-2m; after pressing the start button, the slide with holes will move, and the lidar will continue to detect, but the infrared signal controls the data storage (that is, the stored data is for each trigger point data, that is, the infrared sensor will detect the slide with holes to obtain the ranging information, and then use all the infrared ranging information obtained to trigger the point cloud information, and finally store each trigger point data).

[0060] Bucket and single-board modes follow a simpler process: setting the distance, starting the movement, storing the data, and then evaluating the results. The steps in bucket and single-board modes are simpler than those for the evaluation board. In practice, the distance can be set between 0.3 and 2 meters, and the start button can be pressed directly.

[0061] Further: in step S501, when the evaluation mode is selected as the evaluation board mode and is set to the dynamic mode, only the angle of the set value recorded as p2 is input to the main control board;

[0062] Secondly, activate the start button to drive target 1 to move from zero position to maximum position;

[0063] Among them, the point cloud data in the data packet will be triggered multiple times during the movement of target 1. Each time the infrared ranging switches from -inf to inf and triggers the storage of point cloud data, the distance information of target 1 at the current position is recorded by the infrared sensor and stored in the data packet.

[0064] In the present invention, -inf to inf represent the infrared ranging data acquired by the infrared sensor at a certain time.

[0065] Further: In step S600, the information in the data packet includes evaluation mode, dynamic and static, distance, angle and lidar brand.

[0066] Further: In step S600, the performance test results of the laser radar are evaluated and compared according to the evaluation algorithm, specifically:

[0067] When the evaluation mode is selected as bucket mode and single board mode, the laser performance is evaluated by the ratio of theoretical point cloud number to actual point cloud number, long and short distance noise points, isolated noise points and the distance variance between point cloud and fitted straight line or arc; or,

[0068] When the evaluation board mode is selected as the evaluation mode, the laser performance is evaluated by the ratio of the theoretical point cloud number to the actual point cloud number, the near and far distance noise points, the isolated noise points, the distance variance between the point cloud and the fitted line or arc, and the recognition degree of each material of the evaluation board.

[0069] like Figure 1-Figure 2 As shown, the present invention also provides an evaluation device for a laser radar evaluation method, comprising a fixed base 12, a central slide rail 3 provided on the fixed base 12, a fixed block 4 fixedly connected to the fixed base 12 mounted on one end of the central slide rail 3, a rotating base 5 capable of self-rotation provided on the fixed block 4, and a laser radar base 1 movably connected to the fixed base 12 provided on the other side of the perforated slide rail 2;

[0070] The outer side of the central slide rail 3 is connected to a perforated slideway 2, and the end of the perforated slideway 2 away from the rotating base 5 is provided with a laser radar base 1, and the perforated slideway 2 can slide along the outer wall of the central slide rail 3;

[0071] The surface of the central slide rail 3 is detachably connected to a collection rack, on which a barrel slot 9 and a plate slot 10 are provided;

[0072] A test board fixture 6 is provided on the rotating base 5 , and an in-position switch is provided on the surface of the fixed block 4 on the outer side of the rotating base 5 .

[0073] In the present invention, the perforated slideway 2 can slide along the outer wall of the central slide rail 3 in a variety of ways, such as by a push rod. Alternatively, it can be driven by a motor, which can be driven by a gear and rack. The gear is mounted on the end of the motor on the laser radar base 1. The motor on the laser radar base 1 can be installed by providing a cavity within the laser radar base 1 and then installing the motor within the cavity. The rack is installed by providing a groove on the surface of the fixing base 12 and then placing the rack within the groove.

[0074] When the perforated slide 2 slides along the outer wall of the central slide rail 3, the motor rotates to drive the gear to rotate, and then the rotating gear will engage with the rack, and then the rack can guide the movement of the laser radar base 1, and the moving laser radar base 1 will drive the perforated slide 2 to slide along the outer wall of the central slide rail 3.

[0075] In the present invention, the laser radar base 1 is used to install the laser radar 8, referring to Figure 2 .

[0076] In the present invention, the side wall of the perforated slide 2 is provided with a plurality of fixed holes 11, and the side wall of the central slide rail 3 is provided with an infrared sensor 15 matching the fixed holes 11, so that the infrared ranging operation can be realized. Specifically, Figure 2 For example, the data from one fixed point hole 11 to another fixed point hole 11 of the infrared sensor 15 represents the infrared ranging data obtained by the infrared sensor at a certain time from -inf to inf as mentioned above.

[0077] In the present invention, the rotating base 5 can rotate because a motor 13 is installed on the rotating base 5 , and a base bracket 14 is provided at the bottom of the fixed base 12 for supporting the fixed base 12 .

[0078] Furthermore, the in-position switches include a pair of zero-degree in-position switches and a pair of 45-degree in-position switches 7. The pair of zero-degree in-position switches and the pair of 45-degree in-position switches 7 are symmetrically arranged about the slide rail, and the pair of zero-degree in-position switches and the pair of 45-degree in-position switches 7 are combined to form a semicircle.

[0079] The pair of zero-degree position switches and the pair of 45-degree position switches 7 are provided in this way to make it easier to control the accuracy when adjusting the angle of the test piece (ie, the barrel, the single board and the test board).

[0080] The present invention is used in a specific manner:

[0081] 1. Fix the laser radar 8 to the laser radar base 1 with screws;

[0082] 2. Connect the motor on the laser radar base 1, the motor 13 and infrared sensor 15 on the rotating base 5, and each position switch directly to the main control board, and then report the real-time status of each motor, the ranging information on the infrared sensor 15, and the status of each position switch in real time;

[0083] 3. Connect the LiDAR 8 to the main control board and report the laser point cloud information of target 1 and target 2 through the driver package;

[0084] 4. Connect the entire device to the power supply. The main control board sends reset commands to the motor on the laser radar base 1 and the motor 13 on the rotating base 5. The motor on the laser radar base 1 controls the perforated slide 2 to the initial 0 position (that is, the infrared sensor 15 on the right side of the perforated slide 2 is aligned with the rightmost fixed hole 11 among the multiple fixed holes 11. Please refer to Figure 2 ), the motor 13 on the rotating base 5 controls the rotating base 5 to rotate to position 0 (ie, the test plate fixture 6 is perpendicular to the perforated slide 2 at this time);

[0085] 5. Set the evaluation mode, bucket mode, single board mode, evaluation board mode; (refer to the LiDAR performance evaluation software interface, i.e. Figure 3 );

[0086] 6. Set the dynamic and static evaluation modes and the test distance and angle. In static mode, the distance and angle of the barrel, board, and test board to be evaluated are directly set, and the laser radar 8 collects and stores the point cloud information of target 1 and target 2. In dynamic mode, when the perforated slide 2 is in motion, the infrared sensor 15 detects the perforated slide 2 to obtain ranging information, and then triggers the point cloud information with all the infrared ranging information obtained, and then stores the successfully triggered information.

[0087] 7. In bucket mode and single-board mode, laser performance is evaluated by the ratio of theoretical to actual point cloud counts, near and far noise points, isolated noise points, and the variance of the distance from the point cloud to the fitted line or arc. In addition to the above information, the evaluation board also adds the recognition of each material on the board.

[0088] The above is the workflow of the present invention, which is described below with examples of actual operations:

[0089] For example, select the evaluation board mode, install the evaluation board on the rotating base 5, and clamp the evaluation board with the test board fixture 6. If you set the evaluation mode to static mode, enter the distance and angle information. After writing the configuration and clicking the start button, the slide rail will automatically slide to the specified distance (the distance is fed back by the infrared ranging switch information), and the rotating base 5 will rotate to the specified angle (the angle is adjusted by the in-position switch). Then, point cloud information is recorded for a period of time and stored in a bag. The bag name contains configuration information, such as the evaluation mode, dynamic and static, distance, angle, and lidar brand.

[0090] by Figure 3 For example, in the evaluation board mode, when set to static mode, the angle can be set to 0 degrees +- 45 degrees or plus 30 degrees to 60 degrees; the distance can be set between 0.3-2m; after pressing the start button, the slide with holes will move, and the laser radar will continue to detect, but the infrared signal controls the data storage.

[0091] If dynamic mode is set, no distance needs to be entered, only the angle. Click the Start button, and the slide will move from the 0 position to the maximum position according to the preset process. Each time the infrared distance measurement switches from -inf to inf, the point cloud data is stored and the current slide scale value is recorded. The bag is then stored.

[0092] After the data packet collection is completed, click the Laser Performance Evaluation button to evaluate the performance of this lidar based on the evaluation algorithm.

[0093] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0094] With the above-described preferred embodiments of the present invention as a guide, and with reference to the above description, relevant personnel are fully capable of making various changes and modifications without departing from the technical scope of this invention. The technical scope of this invention is not limited to the contents of the specification and must be determined according to the scope of the claims.

Claims

1. A laser radar evaluation method, characterized in that: The steps include: S100, obtaining status information of the base motor and the rotating base motor, ranging information of the infrared sensor, and status information of the in-position switch in real time, and reporting them to the main control board; S200: Obtain point cloud information of target 1 and target 2 scanned by the laser radar in real time and report it to the main control board; S300, issuing a reset command through the main control board to reset the states of the base motor and the rotating base motor to return to zero position; S400, setting an evaluation mode including a dynamic and static mode and a distance and an angle as set values; S500: After setting the evaluation mode, write the setting information to the main control board, activate the start button, drive the target 1 and the target 2 to the set position, and at the same time, collect the point cloud information of the target 1 and the target 2 at the set position within the set time period and store it in the data packet; S600, extracting information from the data packet and performing analysis and comparison based on the evaluation algorithm to evaluate the performance test results of the lidar; The evaluation modes include bucket mode, single board mode and evaluation board mode; In step S400, The setting information in static mode is the distance and angle of the barrel, single board, and test board to be evaluated; the setting information in the evaluation mode is the distance information when the hole slide is in motion; In step S500, After setting the evaluation mode, write the configuration information to the main control board, press the start button, drive Target 1 and Target 2 to the set position, and collect the point cloud information of Target 1 and Target 2 at the set position within the set time period and store it in the data package. The specific operation steps are as follows: S501, when the evaluation mode is selected as the evaluation board mode and is set to the static mode, the distance and angle set as p1 are input to the main control board respectively; S502, activate the start button to drive the first target to move a set distance, and drive the second target to rotate a set angle; S503, collecting target one and target two point cloud information through the lidar and storing it in a data packet; In step S501, When the evaluation mode is selected as the evaluation board mode and is set to dynamic mode, only the angle set as p2 is input to the main control board; Secondly, activate the start button to drive target 1 to move from zero position to maximum position; Among them, the point cloud data in the data packet will be triggered multiple times during the movement of target 1. Each time the infrared ranging switches from -inf to inf and triggers the point cloud data storage, the distance information of target 1 at the current position is recorded by the infrared sensor and stored in the data packet; In step S600, the performance test results of the laser radar are evaluated and compared according to the evaluation algorithm, specifically: When the evaluation mode is selected as bucket mode and single board mode, the theoretical point cloud number and the actual point cloud number are compared. Evaluate laser performance by using scale, near and far noise, isolated noise, and variance of distance from the point cloud to a fitted line or arc; or When the evaluation mode is selected as the evaluation board mode, the ratio of the theoretical point cloud number to the actual point cloud number, Laser performance is evaluated by the variance of the distances between near and far noise points, isolated noise points, and the distance from the point cloud to the fitted line or arc, as well as the recognition of various materials on the evaluation board.

2. The laser radar evaluation method according to claim 1, wherein: The first target is a slideway with holes connected to the output end of the base motor, and the second target is a test board fixture connected to the rotating base on the rotating base motor.

3. The laser radar evaluation method according to claim 1, wherein: In step S600, the information in the data packet includes evaluation mode, dynamic and static conditions, distance, angle, and laser radar brand.

4. An evaluation device for the laser radar evaluation method according to any one of claims 1 to 3, characterized in that: It comprises a fixed seat (12), a central slide rail (3) is provided on the fixed seat (12), a fixed block (4) fixedly connected to the fixed seat (12) is installed at one end of the central slide rail (3), and a rotating base (5) capable of self-rotation is provided on the fixed block (4); The outer side of the central slide rail (3) is connected to a slideway with a hole (2), and an end of the slideway with a hole (2) away from the rotating base (5) is provided with a laser radar base (1). The slideway with a hole (2) can slide along the outer side wall of the central slide rail (3), and the other side of the slideway with a hole (2) is provided with a laser radar base (1) movably connected to a fixed base (12); The surface of the central slide rail (3) is detachably connected to a collection rack, and the collection rack is provided with a barrel groove (9) and a plate groove (10); A test plate fixture (6) is provided on the rotating base (5), an in-position switch is provided on the outer side of the rotating base (5), and the in-position switch is arranged on the surface of the fixed block (4).

5. The evaluation device of the laser radar evaluation method according to claim 4, wherein: The in-position switches include a pair of zero-degree in-position switches and a pair of 45-degree in-position switches (7), wherein the pair of zero-degree in-position switches and the pair of 45-degree in-position switches (7) are symmetrically arranged about the slide rail, and the pair of zero-degree in-position switches and the pair of 45-degree in-position switches (7) are combined to form a semicircle.

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