A split-type lidar calibration test bench and alignment method

Abstract

This invention discloses a split-type lidar calibration test bench and alignment method. The lidar under test mounting platform includes a test end base, an alignment and movement module, a multi-point laser ranging panel, and a lidar adjustment platform. The alignment and movement module is mounted on the top surface of the test end base, and the multi-point laser ranging panel and lidar adjustment platform are mounted on the alignment and movement module. The lidar under test is mounted on the lidar adjustment platform surface. The calibration target mounting platform includes a target end base, a three-dimensional alignment plate, and a calibration plate. The three-dimensional alignment plate is fixed to the front of the target end base, and the calibration plate is slidably mounted on the target end base. The alignment method achieves precise alignment through multi-point ranging between the multi-point laser ranging panel and the three-dimensional alignment plate, realizing calibration over a large distance range of the test bench, solving the problem of inconvenient lidar calibration distance adjustment, and greatly improving the applicability of the lidar calibration test bench.

Description

Technical Field

[0001] This invention relates to the field of lidar technology, and in particular to a split lidar calibration test bench and alignment method. Background Art

[0002] Vehicle-mounted LiDAR is a mobile 3D laser scanning system that is increasingly widely used in vehicle navigation and urban modeling. Because errors may exist in the design, manufacturing, and assembly of the mechanical components of LiDAR equipment, vehicle-mounted LiDAR requires relevant performance tests to determine its performance parameters.

[0003] In existing technologies, lidar calibration test benches typically involve fixing a reflective calibration plate in a large area or using long-distance sliding rails to mount the reflective calibration plate. However, this calibration method has a limited calibration distance range or requires a large amount of space in the test area, making it unsuitable for carrying out multiple lidar types or multiple calibration tasks. Summary of the Invention

[0004] In view of the problems existing in the above and / or existing lidar calibration test benches, the present invention is proposed.

[0005] The problem that this invention aims to solve is that existing lidar calibration test benches generally fix the positions of the lidar under test and the calibration target plate in the venue or use a long slide rail to install the reflective calibration plate to achieve the distance required for the calibration task. This method has a fixed calibration distance and requires a large space in the test site, which affects the lidar calibration efficiency.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a split-type lidar calibration test bench, a lidar under test mounting platform, including a test end base, an alignment and movement module, a multi-point laser ranging panel, and a lidar adjustment platform; the alignment and movement module is located on the test end base, the multi-point laser ranging panel and the lidar adjustment platform are mounted on the alignment and movement module, the alignment and movement module is used to provide horizontal, vertical, and rotational degrees of freedom, the lidar adjustment platform is used to provide rotational degrees of freedom for the lidar under test, during calibration, the lidar under test is mounted on the lidar adjustment platform, wherein the multi-point laser ranging panel includes a ranging panel housing, a visible light laser, and a laser ranging module, the visible light laser is disposed around the working surface of the ranging panel housing, the laser ranging module is disposed on the working surface of the ranging panel housing and surrounded by the area enclosed by the visible light laser, and the ranging origin of the laser ranging module is located on the working surface of the ranging panel housing;

[0007] The calibration target mounting platform includes a target end base, a three-dimensional alignment plate, a calibration plate bracket, and a calibration plate. The three-dimensional alignment plate is fixed to the target end base, and its upper edge is parallel to the top surface of the target end base. The calibration plate is slidably disposed on the target end base. The three-dimensional alignment plate includes a parallel alignment working surface, a vertical alignment working surface, and a horizontal alignment working surface. The parallel alignment working surface, the vertical alignment working surface, and the horizontal alignment working surface are all diffuse reflection planes, and the three alignment working surfaces are not parallel to each other. The parallel alignment working surface is parallel to the front surface of the target end base.

[0008] As a preferred embodiment of the split-type lidar calibration test bench of the present invention, the alignment and movement module includes a horizontal linear slide, a horizontal guide rail, a horizontal moving platform, a rotating platform, a vertical linear slide, and a vertical moving platform; the horizontal moving platform slides within the motion plane of the horizontal linear slide and the horizontal guide rail; the rotating platform is fixed to the top surface of the horizontal moving platform; the vertical linear slide is installed on the top surface of the rotating platform and the slider's motion axis is perpendicular to the top surface of the rotating platform; the vertical moving platform is installed on the working surface of the vertical linear slide slider and can slide vertically.

[0009] As a preferred embodiment of the split-type lidar calibration test bench of the present invention, a first horizontal ruler and a second horizontal ruler are arranged perpendicularly to each other on the top surface of the rotating platform.

[0010] As a preferred embodiment of the split-type lidar calibration test bench of the present invention, the lidar adjustment table includes an optical rotary table, an X-axis optical angle table, a Y-axis optical angle table, and a lidar fixing plate. The optical rotary table is disposed on the alignment and movement module, the X-axis optical angle table is disposed on the top of the optical rotary table, the Y-axis optical angle table is disposed on the top of the X-axis optical angle table, and the lidar fixing plate is disposed on the Y-axis optical angle table.

[0011] In a preferred embodiment of the split-type lidar calibration test bench of the present invention, the origin of the laser ranging module is flush with the working surface of the ranging panel housing.

[0012] As a preferred embodiment of the split-type lidar calibration test bench of the present invention, the calibration target mounting platform further includes a calibration plate bracket, the calibration plate bracket is slidably disposed on the target end base, and the calibration plate is disposed on the calibration plate bracket.

[0013] As a preferred embodiment of the split-type lidar calibration test bench of the present invention, the calibration target mounting platform further includes a linear slide rail module, the linear slide rail module is disposed on the top surface of the target end platform, and the calibration plate bracket is mounted on the slider of the linear slide rail module; the calibration plate is fixed to the calibration plate bracket and slides on the linear slide rail module.

[0014] As a preferred embodiment of the split-type lidar calibration test bench of the present invention, the calibration target mounting platform further includes a third level and a fourth level; the third level and the fourth level are perpendicularly arranged on the target end platform.

[0015] As a preferred embodiment of the split-type lidar calibration test bench of the present invention, the three-dimensional alignment plate includes a parallel alignment working surface, a vertical alignment working surface, and a horizontal alignment working surface; the parallel alignment working surface, the vertical alignment working surface, and the horizontal alignment working surface are all diffuse reflection planes, and the three alignment working surfaces are not parallel. The parallel alignment working surface is parallel to the front of the target end platform. With the parallel alignment working surface as a reference, the thickness of the vertical alignment working surface changes monotonically in the vertical direction, and the thickness of the horizontal alignment working surface changes monotonically in the horizontal direction.

[0016] This invention provides an alignment method for a split-type lidar calibration test bench, applicable to split-type lidar calibration test bench devices. The method includes:

[0017] Place the calibration target mounting platform on the test site, adjust the target end base so that the top surface is completely horizontal, and align the three-dimensional alignment plate with the position where the lidar to be tested is to be placed;

[0018] According to the distance requirements of the calibration task, the lidar under test is placed on the opposite side of the calibration target mounting platform. The test end base is adjusted so that the top surface is completely horizontal. At this time, the working surface of the multi-point laser ranging panel should be opposite to the working surface of the three-dimensional alignment plate.

[0019] The alignment moving module can be adjusted electrically or manually so that the visible light laser irradiates the stereo alignment plate. At this time, all visible laser points should irradiate the working surface of the stereo alignment plate.

[0020] Record the ranging value measured by the laser ranging module at this time;

[0021] The angle between the working surface of the multi-point laser ranging panel and the parallel alignment working surface is represented by the distance difference between the two points illuminated by the laser ranging module. The alignment moving module is adjusted electrically or manually to make the two parallel.

[0022] The difference between the current distance between the working surface of the multi-point laser ranging panel and the parallel alignment working surface and the distance between the laser ranging module irradiating the vertical alignment working surface indicates the vertical relative position between the working surface of the multi-point laser ranging panel and the vertical alignment working surface. The alignment moving module is adjusted vertically for centering by electric or manual adjustment.

[0023] The difference between the distance between the working surface of the multi-point laser ranging panel and the parallel alignment working surface and the distance between the laser ranging module illuminating the horizontal alignment working surface indicates the horizontal relative position between the working surface of the multi-point laser ranging panel and the horizontal alignment working surface. The alignment moving module is adjusted electrically or manually to achieve horizontal centering, thus completing the alignment of the relative positions of the laser radar mounting platform under test and the calibration target mounting platform.

[0024] Compared with the prior art, the beneficial effects of the present invention are at least as follows:

[0025] This invention mounts the lidar under test on a lidar mounting platform and mounts a calibration plate on a calibration target mounting platform to perform lidar calibration tests. By aligning the multi-point laser ranging panel with the three-dimensional alignment plate, the calibration distance of the lidar can be easily adjusted. Compared with fixing the calibration position in the test site and using long guide rails, this invention solves the problem of inconvenient lidar calibration distance adjustment and greatly improves the applicability of the lidar calibration test platform.

[0026] Commonly used vehicle-mounted lidar includes mechanical rotating lidar and MEMS galvanometer lidar. Different lidars have different effective ranging ranges and fields of view. The effective ranging range of the laser ranging module of this invention is larger than that of the vehicle-mounted lidar, and the observation pose of the vehicle-mounted lidar can be adjusted to meet the calibration requirements of the vehicle-mounted lidar.

[0027] The calibration tasks of lidar include lidar field-of-view calibration, lidar point adhesion angle and distance calibration, lidar ranging accuracy calibration, and laser reflection intensity calibration. In these tasks, it is necessary to obtain the relative position between the lidar under test and the calibration object, and the distance of the relative position varies greatly. This invention can provide the relative position quickly and adapt to the distance range required for different lidar calibration tasks. Attached Figure Description

[0028] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0029] Figure 1 This is an overall structural diagram of the split-type lidar calibration test bench provided in an embodiment of the present invention.

[0030] Figure 2 This is a structural diagram of the laser radar mounting platform of the split laser radar calibration test bench in an embodiment of the present invention.

[0031] Figure 3 This is a structural diagram of the alignment and movement module of the split-type lidar calibration test bench in an embodiment of the present invention.

[0032] Figure 4 This is a structural diagram of the multi-point laser ranging panel of the split-type lidar calibration test bench in an embodiment of the present invention.

[0033] Figure 5 This is a structural diagram of the lidar adjustment table of the split lidar calibration test bench in an embodiment of the present invention.

[0034] Figure 6 This is a structural diagram of the calibration target mounting platform of the split-type lidar calibration test bench in an embodiment of the present invention.

[0035] Figure 7 A three-dimensional alignment plate structure diagram of the split-type lidar calibration test bench.

[0036] Figure 8 A flowchart illustrating an alignment method for a split-type lidar calibration test bench provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0037] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0038] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" appear, the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, 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. Therefore, they should not be construed as limitations on this application.

[0039] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0040] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0041] This invention provides a split-type lidar calibration test bench, mainly suitable for calibration tasks of various indicators of vehicle-mounted lidar, with reference to... Figure 1 The split-type lidar calibration test bench includes a lidar under test mounting platform 100 and a calibration target mounting platform 200. The lidar under test mounting platform 100 is used to mount the vehicle-mounted lidar to be tested, and the calibration target mounting platform 200 is used to mount a calibration board. The lidar under test mounting platform 100 and the calibration target mounting platform 200 obtain a determined position between the lidar under test and the calibration board through an alignment method.

[0042] Please refer to Figure 2-5 The test lidar mounting platform 100 includes the test end station 101, the alignment and movement module 102, the multi-point laser ranging panel 103, and the lidar adjustment platform 104.

[0043] The alignment and movement module 102 is fixed to the top surface of the measured end platform 101. The alignment and movement module 102 includes a horizontal linear slide 102a, a horizontal guide rail 102b, a horizontal moving platform 102c, a rotary platform 102d, a first level 102e, a second level 102f, a vertical linear slide 102g, and a vertical moving platform 102h. The horizontal moving platform 102c is slidably mounted on the sliders of the horizontal linear slide 102a and the horizontal guide rail 102b and moves linearly within the top surface of the measured end platform 101. The rotary platform 102d is fixed to the top surface of the horizontal moving platform 102c. The vertical linear slide 102g is mounted on the top surface of the rotary platform 102d, and the axis of motion of the slider on the vertical linear slide 102g is perpendicular to the top surface of the rotary platform 102d. Therefore, the alignment and movement module 102 has one rotational degree of freedom and two linear motion degrees of freedom. The first horizontal ruler 102e and the second horizontal ruler 102f are fixed perpendicularly to each other on the top surface of the rotary platform 102d and are used to determine whether the laser radar mounting platform 100 under test is adjusted in place. The vertical movement platform 102h is set on the slider of the vertical linear slide 102g and is used to support the laser radar 105 under test.

[0044] The multi-point laser ranging panel 103 and the laser radar adjustment table 104 are mounted on the vertical moving platform 102h of the alignment moving module 102 and move vertically via the vertical linear slide table 102g; the laser radar under test 105 is mounted on the table surface of the laser radar adjustment table 104.

[0045] The multi-point laser ranging panel 103 includes a ranging panel housing 103a, a visible light laser 103b, and a laser ranging module 103c. The visible light laser 103b and the laser ranging module 103c are disposed on the working surface of the ranging panel housing 103a. The visible light laser 103b surrounds the laser ranging module 103c in a polygonal area formed by the four corners of the working surface of the ranging panel housing 103a. The ranging origin of the laser ranging module 103c is disposed on the working surface of the ranging panel housing 103a.

[0046] The lidar adjustment stage 104 includes an optical rotary stage 104a, an X-axis optical angle stage 104b, a Y-axis optical angle stage 104c, and a lidar mounting plate 104d. The X-axis optical angle stage 104b is mounted on the top surface of the optical rotary stage 104a, the Y-axis optical angle stage 104c is mounted on the top surface of the X-axis optical angle stage 104b, and the lidar mounting plate 104d is mounted on the top surface of the Y-axis optical angle stage 104c. The lidar under test 105 is mounted on the lidar adjustment stage 104 via the lidar mounting plate 104d, thereby achieving three rotational degrees of freedom. The optical rotary stage 104a, X-axis optical angle stage 104b, and Y-axis optical angle stage 104c are all existing mature products and will not be described in detail here.

[0047] Specifically, refer to Figure 6 and Figure 7 The calibration target mounting platform 200 includes a target end base 201, a three-dimensional alignment plate 202, a linear slide rail module 203, a calibration plate bracket 204, a calibration plate 205, a third level 206, and a fourth level 207. The surface opposite the laser radar mounting platform 100 during operation is defined as the target end base 201. The three-dimensional alignment plate 202 is fixed to the front of the target end base 201, with its parallel alignment working surface 202a parallel to the front of the target end base 201, and its upper edge parallel to the top surface of the target end base 201. In one aspect of this invention... In some embodiments, the three-dimensional alignment plate 202 has a rectangular structure, so parallel placement can obtain the maximum parallel alignment working range; the linear slide rail module 203 is disposed on the top surface of the target end platform 201, the calibration plate bracket 204 is mounted on the slider of the linear slide rail module 203, and the calibration plate 205 is fixed to the calibration plate bracket 204 and slides on the linear slide rail module 203, so that the calibration plate 205 can move back and forth linearly on the calibration target mounting platform 200; the third horizontal ruler 206 and the fourth horizontal ruler 207 are disposed perpendicularly to each other on the top surface of the target end platform 201.

[0048] The three-dimensional alignment plate 202 includes a parallel alignment working surface 202a, a vertical alignment working surface 202b, and a horizontal alignment working surface 202c. The surfaces of the three-dimensional alignment plate 202 are all made of a highly diffuse reflective material, such as polytetrafluoroethylene in some embodiments of the present invention. The parallel alignment working surface 202a is parallel to the front of the target end platform 201. With the parallel alignment working surface 202a as a reference, the thickness of the vertical alignment working surface 202b changes monotonically in the vertical direction, such as gradually increasing or gradually decreasing, and the thickness of the horizontal alignment working surface 202c changes monotonically in the horizontal direction, such as gradually increasing or gradually decreasing.

[0049] This invention also provides an alignment method for a split-type lidar calibration test bench, applicable to the split-type lidar calibration test bench device provided in this invention. Figure 8 A flowchart illustrating an alignment method for a split-type lidar calibration test bench provided in an embodiment of the present invention. (Refer to...) Figure 8 In some embodiments of the present invention, the alignment method of the split-type lidar calibration test bench specifically includes:

[0050] S301. Place the calibration target mounting platform 200 in the test site, and adjust the target end platform 201 with reference to the third level 206 and the fourth level 207 to make the top surface completely horizontal, and align the three-dimensional alignment plate 202 with the position where the object to be tested is to be placed.

[0051] S302. According to the distance requirements of the specific calibration task, the laser radar mounting platform 100 to be tested is placed on the opposite side of the calibration target mounting platform 200. At this time, it should be manually ensured that the two are roughly aligned. Specifically, it can be understood that the parallel alignment working surface 202a of the multi-point laser ranging panel 103 and the stereo alignment plate 202 are roughly parallel, and the normal vector direction of the working surface of the multi-point laser ranging panel 103 is projected into the normal vector projection of the stereo alignment plate 202. The measured end platform 101 is adjusted with reference to the first level 102e and the second level 102f to make the top surface completely horizontal.

[0052] S303. Adjust the alignment module 102 electrically or manually so that the visible light laser 103b irradiates the stereo alignment plate 202. This can be understood as an extension of step S302. At this time, the visible laser points emitted by the visible light laser 103b should all irradiate the working surface of the stereo alignment plate 202.

[0053] S304. Record the distance values ​​of the two laser ranging modules 103c relative to the parallel alignment working surface 202a at this time. Based on the distance difference between the two points irradiated on the parallel alignment working surface 202a and the distance between the two corresponding laser ranging modules 103c on the multi-point laser ranging panel 103, the angle between the working surface of the multi-point laser ranging panel 103 and the parallel alignment working surface 202a at this time can be calculated. Adjust the alignment moving module 102 electrically or manually to make the working surface of the multi-point laser ranging panel 103 parallel to the parallel alignment working surface 202a.

[0054] S305. At this time, the distance between the working surface of the multi-point laser ranging panel 103 and the parallel alignment working surface 202a is obtained in step S304. Subtracting the ranging distance value of the laser ranging module 103c illuminating the vertical alignment working surface 202b from this distance gives the height of the ranging point on the vertical alignment working surface 202b with the parallel alignment working surface 202a as the origin. Based on this height and the angle between the vertical alignment working surface 202b and the parallel alignment working surface 202a, the vertical deviation of the alignment center can be obtained. The alignment moving module 102 is then adjusted electrically or manually to achieve vertical alignment.

[0055] Similarly, the height of the measuring point on the horizontal alignment working surface 202c can be easily obtained, and the horizontal deviation of the alignment center can be calculated. The alignment moving module 102 can be adjusted electrically or manually to achieve horizontal alignment.

[0056] At this point, the alignment of the laser radar under test mounting platform 100 and the calibration target mounting platform 200 is completed. Specifically, the relative position of the laser radar under test to the calibration board can be obtained through the alignment method proposed in this embodiment of the invention.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the technical solutions of the embodiments of the present invention.

Claims

1. A split-type lidar calibration test bench, characterized in that, include, The test lidar mounting platform (100) includes a test end station (101), a positioning and moving module (102), a multi-point laser ranging panel (103), and a lidar adjustment platform (104). The positioning and moving module (102) is located on the test end station (101), and the multi-point laser ranging panel (103) and the lidar adjustment platform (104) are mounted on the positioning and moving module (102). The positioning and moving module (102) provides horizontal, vertical, and rotational degrees of freedom. The lidar adjustment platform (104) provides rotational degrees of freedom for the lidar under test (105). During calibration, the lidar under test... A lidar (105) is installed on the lidar adjustment platform (104). The multi-point laser ranging panel (103) includes a ranging panel housing (103a), a visible light laser (103b), and a laser ranging module (103c). The visible light laser (103b) is disposed around the working surface of the ranging panel housing (103a). The laser ranging module (103c) is disposed on the working surface of the ranging panel housing (103a) and surrounded by the area enclosed by the visible light laser (103b). The ranging origin of the laser ranging module (103c) is located on the working surface of the ranging panel housing (103a). A calibration target mounting platform (200) includes a target end base (201), a three-dimensional alignment plate (202), a calibration plate bracket (204), and a calibration plate (205); the three-dimensional alignment plate (202) is fixed to the target end base (201) and its upper edge is parallel to the top surface of the target end base (201); the calibration plate (205) is slidably disposed on the target end base (201), wherein the three-dimensional alignment plate (202) includes a parallel alignment working surface (202a), a vertical alignment working surface (202b), and a horizontal alignment working surface (202c), and the three alignment working surfaces are not parallel to each other; The lidar adjustment platform (104) includes an optical rotary table (104a), an X-axis optical angle table (104b), a Y-axis optical angle table (104c), and a lidar fixing plate (104d). The optical rotary table (104a) is mounted on the alignment and movement module (102). The X-axis optical angle table (104b) is mounted on top of the optical rotary table (104a). The Y-axis optical angle table (104c) is mounted on top of the X-axis optical angle table (104b). The lidar fixing plate (104d) is mounted on the Y-axis optical angle table (104c). In the three-dimensional alignment plate (202), with the parallel alignment working surface (202a) as the reference, the thickness of the vertical alignment working surface (202b) changes monotonically in the vertical direction, and the thickness of the horizontal alignment working surface (202c) changes monotonically in the horizontal direction.

2. The split-type lidar calibration test bench according to claim 1, characterized in that: The alignment and movement module (102) includes a horizontal linear slide (102a), a horizontal guide rail (102b), a horizontal moving platform (102c), a rotating platform (102d), a vertical linear slide (102g), and a vertical moving platform (102h). The horizontal moving platform (102c) slides within the motion plane of the horizontal linear slide (102a) and the horizontal guide rail (102b). The rotating platform (102d) is fixed to the top surface of the horizontal moving platform (102c). The vertical linear slide (102g) is disposed on the top surface of the rotating platform (102d), and the motion axis of the slider on the vertical linear slide (102g) is perpendicular to the top surface of the rotating platform (102d). The vertical moving platform (102h) is mounted on the working surface of the slider of the vertical linear slide (102g) and can slide vertically.

3. The split-type lidar calibration test bench according to claim 2, characterized in that: The alignment and movement module (102) further includes a first horizontal ruler (102e) and a second horizontal ruler (102f), which are perpendicular to each other and are arranged on the top surface of the rotating platform (102d).

4. The split-type lidar calibration test bench according to claim 1, characterized in that: The calibration target mounting platform (200) also includes a calibration plate bracket (204), which is slidably disposed on the target end base (201), and the calibration plate (205) is disposed on the calibration plate bracket (204).

5. The split-type lidar calibration test bench according to claim 4, characterized in that: The calibration target mounting platform (200) also includes a linear slide rail module (203), which is disposed on the top surface of the target end platform (201). The calibration plate bracket (204) is mounted on the slider of the linear slide rail module (203). The calibration plate (205) is fixed to the calibration plate bracket (204) and slides on the linear slide rail module (203).

6. The split-type lidar calibration test bench according to claim 1, characterized in that: The calibration target mounting platform (200) also includes a third level (206) and a fourth level (207); the third level (206) and the fourth level (207) are set perpendicularly to each other on the target end pedestal (201).

7. A method for aligning a split-type lidar calibration test bench as described in any one of claims 1-6, characterized in that, Perform the following steps: 1) Place the calibration target mounting platform (200) in the test site, adjust the target end platform (201) so that the top surface is horizontal, and the three-dimensional alignment plate (202) faces the position where the object to be tested is to be placed; 2) According to the distance requirements of the calibration task, the laser radar mounting platform (100) to be tested is placed on the opposite side of the calibration target mounting platform (200), and the measured end platform (101) is adjusted so that the top surface is horizontal. At this time, the working surface of the multi-point laser ranging panel (103) is opposite to the working surface of the three-dimensional alignment plate (202). 3) Adjust the alignment and movement module (102) so that the visible light laser (103b) irradiates the three-dimensional alignment plate (202), at which time all visible laser points irradiate the working surface of the three-dimensional alignment plate (202); 4) Record the ranging value of the laser ranging module (103c) at this time; 5) The distance difference between the two points of the laser ranging module (103c) illuminating the parallel alignment working surface (202a) represents the angle between the working surface of the multi-point laser ranging panel (103) and the parallel alignment working surface (202a). The alignment moving module (102) is adjusted to make the multi-point laser ranging panel (103) and the parallel alignment working surface (202a) parallel. 6) The difference between the distance between the working surface of the multi-point laser ranging panel (103) and the parallel alignment working surface (202a) and the distance between the laser ranging module (103c) and the vertical alignment working surface (202b) indicates the vertical relative position between the working surface of the multi-point laser ranging panel (103) and the vertical alignment working surface (202b). Adjust the alignment moving module (102) to vertically center. 7) The difference between the distance between the working surface of the multi-point laser ranging panel (103) and the parallel alignment working surface (202a) and the distance between the laser ranging module (103c) and the horizontal alignment working surface (202c) indicates the horizontal relative position between the working surface of the multi-point laser ranging panel (103) and the horizontal alignment working surface (202c). Adjust the alignment moving module (102) to horizontal center, and at this time the alignment of the relative positions of the laser radar mounting platform (100) under test and the calibration target mounting platform (200) is completed.

8. The alignment method according to claim 7, characterized in that, The target end platform is provided with a third horizontal ruler (206) and a fourth horizontal ruler (207) that are perpendicular to each other. The target end platform (201) is adjusted by referring to the third horizontal ruler (206) and the fourth horizontal ruler (207) to make the top surface horizontal.

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