Lidar auto-calibration device

Abstract

The application discloses a kind of laser radar automatic calibration device, including radar support, first light control platform, second light control platform, first light control board and second light control board, radar support is used to invert fixed to be calibrated laser radar component;First light control platform and second light control platform are respectively set in radar support two sides;First light control board is installed in the end of first light control platform and extends into laser radar component, second light control board is installed in the end of second light control platform and extends into laser radar component, first light control board and second light control board are tightly aligned up and down. By driving first light control board and second light control board to occur relative displacement, to realize the size of the aperture that two V-shaped openings are combined, to adjust the amount of reflected laser received by laser receiver, to simulate the laser reflected by detection object under different distances. Therefore, it is not necessary to move detection object for a long distance, and the required space distance for laser radar calibration is reduced.

Description

Technical Field

[0001] This invention relates to the field of lidar, and more particularly to an automatic lidar calibration device. Background Technology

[0002] As a type of radar device, lidar boasts advantages such as high precision, strong anti-interference capability, and fast response speed, making it suitable for various application environments. Lidar works by emitting a laser beam as a detection signal into the surrounding three-dimensional space. When the laser beam strikes an object in the surrounding space, it is reflected as an echo signal. The lidar receiving unit compares the received echo signal with the emitted detection signal to obtain relevant information about the surrounding objects, such as distance and speed.

[0003] High precision is a crucial performance characteristic of lidar, therefore each lidar unit requires calibration before leaving the factory. For example, the lidar calibration device shown in the patent (publication number: CN208239606, title: LiDAR Calibration Device and LiDAR Calibration System) calibrates lidar measurement values ​​under different ranging distances. However, this calibration method requires a long axial distance to place the reflector, which is difficult to meet in typical laboratories and production workshops.

[0004] Therefore, a new calibration device is needed that can significantly reduce the spatial distance required for calibration while meeting the requirements of lidar calibration. Summary of the Invention

[0005] The automatic calibration device for lidar disclosed in this invention uses a movable light control plate to control the echo light signal received by the lidar. By controlling the amount of light entering the device, it simulates different amounts of echo light signals received by the lidar at different distances, thus solving the problem that lidar measurement and calibration currently require a very long axial distance.

[0006] The technical solution adopted in this invention is as follows: an automatic laser radar calibration device, comprising a radar bracket, a first light control stage, a second light control stage, a first light control plate, and a second light control plate. The radar bracket is used to fix the laser radar component to be calibrated in an inverted position. The first light control stage and the second light control stage are respectively disposed on both sides of the radar bracket. The first light control plate is installed at the end of the first light control stage and extends into the laser radar component. The second light control plate is installed at the end of the second light control stage and extends into the laser radar component. The first light control plate and the second light control plate are closely aligned vertically and horizontally controlled by the first light control stage and the second light control stage.

[0007] As an optional solution of the present invention, the radar bracket has a U-shaped slot, and the laser radar component is placed upside down in the U-shaped slot, so that the laser can be emitted from the direction perpendicular to the U-shaped slot surface.

[0008] As an optional solution of the present invention, the first and second light control stages are aligned with each other and vertically arranged on both sides of the radar bracket.

[0009] As an optional solution of the technical solution of the present invention, the first light control stage and the second light control stage are parallel to each other and are arranged on both sides of the radar bracket and parallel to it.

[0010] As an optional solution of the technical solution of the present invention, the first light control plate and the second light control plate are straight plates with V-shaped openings at the ends.

[0011] As an optional solution of the technical solution of the present invention, the first light control plate and the second light control plate are folded plates with vertical angles and V-shaped openings at the ends.

[0012] As an optional solution of the technical solution of the present invention, the first light control stage includes a first base, a first slide rail is horizontally fixedly arranged on the first base, a first slider is slidably arranged on the first slide rail, a first lead screw is horizontally arranged inside the first slider, the first lead screw is threadedly connected to the slider, the end of the first lead screw is connected to a first drive motor, the first motor drives the first lead screw to rotate, thereby controlling the first slider to slide along the first slide rail, and the first light control plate is fixedly arranged on the top of the first slider and kept in the same direction as the first light control stage.

[0013] As an optional solution of the technical solution of the present invention, the second light control stage includes a second base, a second slide rail is horizontally fixed on the second base, a second slider is slidably arranged on the second slide rail, a second lead screw is horizontally arranged inside the second slider, the second lead screw is threadedly connected to the slider, the end of the second lead screw is connected to a second drive motor, the second motor drives the second lead screw to rotate, thereby controlling the second slider to slide along the second slide rail, and the second light control plate is fixedly arranged on the top of the second slider and kept in the same direction as the second light control stage.

[0014] As an optional solution to the technical solution of the present invention, the first slider and the second slider have different thicknesses.

[0015] The beneficial effects achieved by this invention are: a movable light control plate is used to control the echo light signal received by the lidar, and the amount of light received by the lidar at different distances is simulated by controlling the amount of light entering the lidar, so there is no need to move the reflector axially, and therefore the lidar calibration does not require a long axial distance. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the automatic calibration device for lidar according to the first embodiment of the present invention.

[0017] Figure 2 This is a schematic diagram of the position of the light control plate in the first embodiment of the present invention.

[0018] Figure 3 This is a structural diagram of the lidar to which this invention applies.

[0019] Figure 4 This is a schematic diagram of the light control stage according to the first embodiment of the present invention.

[0020] Figure 5 This is a schematic diagram of the automatic calibration device for lidar according to the first embodiment of the present invention.

[0021] Figure 6 This is a schematic diagram of the position of the light control plate in the first embodiment of the present invention.

[0022] Figure 7 This is a schematic diagram of the light control stage according to the first embodiment of the present invention.

[0023] Among them, 100-radar bracket; 110-elastic buckle; 200-lidar assembly; 210-core bracket; 220-power board; 230-emitting board; 231-laser emitter; 240-laser receiver port; 250-receiving lens; 260-emitting lens tube; 270-light guide tube; 280-reflector; 300-first light control stage; 310-first base; 320-first slide rail; 330-first slider; 340-first lead screw; 350-first drive motor; 400-second light control stage; 410-second base; 420-second slide rail; 430-second slider; 440-second lead screw; 450-second drive motor; 500-first light control plate; 600-second light control plate. Detailed Implementation

[0024] To make the technical problems solved, technical solutions, and beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the following specific embodiments are only for explaining the invention and are not intended to limit the invention. All other embodiments obtained by those skilled in the art based on the following embodiments without creative effort are within the protection scope of this invention.

[0025] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship of the accompanying drawings, and are only for the purpose of simplifying the description of this invention, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0026] In the description of the embodiments, unless otherwise explicitly specified and limited, the terms "set," "connect," etc., should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or a connection through an intermediate medium, or it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0027] [First Embodiment]

[0028] like Figure 1 The automatic lidar calibration device shown has a lidar support 100 in the middle, on which a lidar component 200 to be calibrated is fixed. A first light control platform 300 and a second light control platform 400 are axially aligned on the left and right sides of the lidar support 100, respectively. A first light control plate 500 is slidably mounted on the first light control platform 300 and can be controlled to move horizontally along the left and right axes. A second light control plate 600 is slidably mounted on the second light control platform 400 and can be controlled to move horizontally along the left and right axes. The first and second light control plates 500 and 600 extend into the lidar component 200 to be calibrated and are vertically aligned and tightly fitted together. Figure 2 As shown, the radar bracket 100 has a U-shaped groove structure. The lidar component 200 to be calibrated is inverted and fixed to the radar bracket 100 by elastic buckles 110. The first light control plate 500 and the second light control plate 600 extend into the lidar component 200 to be calibrated from the left and right sides.

[0029] like Figure 3 The diagram shows a lidar structure in an inverted state. It includes a core support 210, with a power board 220 fixed to its top and a laser receiver mounted on it. A transmitter plate 230 is fixed to the bottom of the core support 210, with a laser receiver port 240 running through its center. A receiving lens 250 is positioned below the receiver port, and a laser emitter 231 is installed in the center of the receiver port 240. A transmitting lens tube 260 is positioned below the core support 210, passing through the receiving lens 250 and aligned with the laser emitter 231. A transmitting lens is housed within the transmitting lens tube 260, and a right-angle light guide tube 270 is connected to its end. A reflector 280 is fixed at the bend of the light guide tube 270, forming a 45° angle with the transmitting lens tube 260. When laser light enters vertically from the vertical end of the light guide tube 270, it is reflected by the reflector 280 and exits horizontally from the horizontal end of the light guide tube 270. In addition, as shown... Figure 2As shown, the horizontal end of the light guide tube 270 is parallel to the U-shaped groove, allowing the laser to be emitted and received from within the U-shaped groove. Furthermore, the first light control plate 500 and the second light control plate 600 are centrally located between the emitting plate 230 and the power supply plate 220.

[0030] Combination Figure 2 and Figure 3 The laser is emitted by laser emitter 231, passes through emitting lens tube 260, and is collimated by emitting lens before entering light guide tube 270. After being reflected by reflector 280 inside light guide tube 270, it exits horizontally from the horizontal end of light guide tube 270. Upon reflection from an external object, the reflected laser enters a U-shaped groove, is reflected again by reflector 280 outside light guide tube 270, and converged by receiving lens 250. It then passes through laser receiving port 240 and is received by laser receiver on power board 220. The lidar compares the received echo signal with the emitted detection signal to obtain relevant information about surrounding objects, such as distance and speed.

[0031] like Figure 4 The schematic diagram of the light control stage shown shows that the first light control stage 300 and the second light control stage 400 have the same structure. The first light control stage 300 includes a first base 310, a first slide rail 320 is horizontally fixed on the first base 310, a first slider 330 is slidably mounted on the first slide rail 320, a first lead screw 340 is horizontally mounted inside the first slider 330, the first lead screw 340 is threadedly connected to the slider, and the end of the first lead screw 340 is connected to a first drive motor 350. The first motor drives the first lead screw 340 to rotate, thereby controlling the first slider 330 to slide along the first slide rail 320. A straight plate-shaped first light control plate 500 is fixedly mounted on the top of the first slider 330 and kept in the same direction as the first light control stage 300. The end of the first light control plate 500 is provided with a V-shaped opening. The second light control stage 400 includes a second base 410, on which a second slide rail 420 is horizontally fixed. A second slider 430 is slidably mounted on the second slide rail 420. A second lead screw 440 is horizontally mounted inside the second slider 430 and threadedly connected to the slider. The end of the second lead screw 440 is connected to a second drive motor 450. The second motor drives the second lead screw 440 to rotate, thereby controlling the second slider 430 to slide along the second slide rail 420. A straight plate-shaped second light control plate 600 is fixedly mounted on the top of the second slider 430 and keeps it in the same direction as the second light control stage 400. The end of the second light control plate 600 is provided with a V-shaped opening. The first slider 330 and the second slider 430 have a height difference, which allows the first light control plate 500 and the second light control plate 600 mounted on top of them to fit tightly together. The size of the central opening can be adjusted by the relative displacement of the first light control plate 500 and the second light control plate 600.

[0032] When calibrating the lidar using the aforementioned automatic calibration device, the first drive motor 350 and the second drive motor 450 are controlled to drive the first light control plate 500 and the second light control plate 600 to move relative to each other, thereby adjusting the size of the opening formed by the merging of the two V-shaped openings. Since the first light control plate 500 and the second light control plate 600 are centrally located between the emitting plate 230 and the power supply plate 220, the smaller the opening formed by the merging of the V-shaped openings, the less reflected laser light is received by the laser receiver. Because the farther the object being detected is, the less laser light is reflected. Therefore, by adjusting the amount of reflected laser light received by the laser receiver, the laser light reflected back from the object at different distances can be simulated. This eliminates the need for long-distance movement of the object, reducing the spatial distance required for lidar calibration.

[0033] [Second Embodiment]

[0034] like Figure 5 The automatic lidar calibration device shown has a lidar support 100 in the middle, on which a lidar component 200 to be calibrated is fixed. A first light control stage 300 and a second light control stage 400 are arranged parallel to each other on the left and right sides of the lidar support 100, respectively. A first light control plate 500 is slidably mounted on the first light control stage 300 and can be controlled to move horizontally along the front-back axis. A second light control plate 600 is slidably mounted on the second light control stage 400 and can be controlled to move horizontally along the front-back axis. Figure 6 As shown, the radar bracket 100 has a U-shaped groove structure with the U-shaped groove opening facing left and right. The lidar component 200 to be calibrated is inverted and fixed to the radar bracket 100 by elastic latches 110. The first light control plate 500 and the second light control plate 600 extend into the lidar component 200 to be calibrated from the left and right sides. Compared with the first embodiment, since a ribbon cable needs to be arranged on one side between the power board 220 and the transmitter board 230 in the lidar, the first light control plate 500 and the second light control plate 600 can only extend from the sides without ribbon cables. Furthermore, the first light control stage 300 and the second light control stage 400 cannot be set on the path of laser emission and reception. Therefore, in the first embodiment, as Figure 1 As shown, the first light control stage 300 and the second light control stage 400 are disposed on the left and right sides of the radar bracket 100, and the first light control plate 500 and the second light control plate 600 extend into the lidar assembly 200 to be calibrated from the left and right sides of the radar bracket 100. In this embodiment, as... Figure 5 As shown, the first light control stage 300 and the second light control stage 400 are disposed on the left and right sides of the radar bracket 100, but the first light control plate 500 and the second light control plate 600 extend into the lidar assembly 200 to be calibrated from the front and rear sides of the radar bracket 100. To meet the above conditions, as... Figure 7As shown, the first light control plate 500 and the second light control plate 600 used in this embodiment are different from the straight plate shape in the first embodiment, but are folded plates with vertical angles.

[0035] like Figure 7 The schematic diagram of the light control stage shown shows that the first light control stage 300 and the second light control stage 400 have the same structure. The first light control stage 300 includes a first base 310, a first slide rail 320 is horizontally fixed on the first base 310, a first slider 330 is slidably mounted on the first slide rail 320, a first lead screw 340 is horizontally mounted inside the first slider 330, the first lead screw 340 is threadedly connected to the slider, and the end of the first lead screw 340 is connected to a first drive motor 350. The first motor drives the first lead screw 340 to rotate, thereby controlling the first slider 330 to slide along the first slide rail 320. A vertically folded plate-shaped first light control plate 500 is fixedly mounted on the top of the first slider 330 and kept in the same direction as the first light control stage 300. The end of the first light control plate 500 is provided with a V-shaped opening. The second light control stage 400 includes a second base 410, on which a second slide rail 420 is horizontally fixed. A second slider 430 is slidably mounted on the second slide rail 420. A second lead screw 440 is horizontally mounted inside the second slider 430 and threadedly connected to the slider. The end of the second lead screw 440 is connected to a second drive motor 450, which drives the second lead screw 440 to rotate, thereby controlling the second slider 430 to slide along the second slide rail 420. A vertically folded plate-shaped second light control plate 600 is fixedly mounted on top of the second slider 430 and remains in the same direction as the second light control stage 400. The end of the second light control plate 600 has a V-shaped opening. The first slider 330 and the second slider 430 have a height difference, which allows the first light control plate 500 and the second light control plate 600 mounted on top of them to fit tightly together. The size of the central opening can be adjusted by the relative displacement of the first light control plate 500 and the second light control plate 600.

[0036] Compared to the first embodiment, this embodiment, with its parallel arrangement of the first and second light control stages 300 and 400, reduces the lateral space required for the entire automatic lidar calibration device and improves integration.

[0037] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them; when the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope claimed by the present invention.

Claims

1. A laser radar auto-calibration apparatus, characterized by, include: A radar bracket is used to fix the lidar assembly to be calibrated in an inverted position. The radar bracket has a U-shaped slot, in which the lidar assembly is placed inverted, so that the laser can be emitted from the direction perpendicular to the surface of the U-shaped slot. The first and second light control stations are respectively set on both sides of the radar bracket; A first light control plate and a second light control plate, wherein the first light control plate is installed at the end of the first light control stage and extends into the lidar assembly, and the second light control plate is installed at the end of the second light control stage and extends into the lidar assembly, wherein the first light control plate and the second light control plate are closely aligned vertically and horizontally controlled by the first light control stage and the second light control stage; The lidar assembly includes: a core support, a power board fixed to the top of the core support, a laser receiver mounted on the power board; an emitting plate fixed to the bottom of the core support, a laser receiving port extending through the middle of the emitting plate, a receiving lens positioned below the laser receiving port, and a laser emitter mounted in the middle of the laser receiving port. The first light control board and the second light control board are centrally located between the emitting board and the power supply board.

2. The lidar auto-calibration apparatus of claim 1, wherein, The first and second light control stages are aligned with each other and are vertically mounted on both sides of the radar bracket.

3. The lidar auto-calibration apparatus of claim 1, wherein, The first and second light control stages are parallel to each other and are set on both sides of the radar bracket, parallel to it.

4. The lidar auto-calibration apparatus of claim 2, wherein, The first and second light control plates are straight plates with V-shaped openings at their ends.

5. The lidar auto-calibration apparatus of claim 3, wherein, The first and second light control plates are folded plates with vertical angles and V-shaped openings at their ends.

6. The lidar auto-calibration apparatus of any one of claims 1 to 5, wherein, The first light control stage includes a first base, a first slide rail is horizontally fixed on the first base, a first slider is slidably arranged on the first slide rail, a first lead screw is horizontally arranged inside the first slider, the first lead screw is threadedly connected to the slider, the end of the first lead screw is connected to a first drive motor, the first motor drives the first lead screw to rotate, thereby controlling the first slider to slide along the first slide rail, and the first light control plate is fixedly arranged on the top of the first slider and kept in the same direction as the first light control stage.

7. The lidar auto-calibration apparatus of claim 6, wherein, The second light control stage includes a second base, a second slide rail is horizontally fixed on the second base, a second slider is slidably mounted on the second slide rail, a second lead screw is horizontally mounted inside the second slider, the second lead screw is threadedly connected to the slider, and the end of the second lead screw is connected to a second drive motor. The second motor drives the second lead screw to rotate, thereby controlling the second slider to slide along the second slide rail. The second light control plate is fixedly mounted on the top of the second slider and keeps it in the same direction as the second light control stage.

8. The lidar auto-calibration apparatus of claim 7, wherein, The first slider and the second slider have different thicknesses.

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