Laser radar point cloud performance test system and test method

Abstract

The invention discloses a laser radar point cloud performance test system and a test method, through the design of a to-be-tested laser radar fixing platform and the design of a reflecting plate fixing platform, the automatic positioning test of the laser radar point cloud performance is realized, the repeatability test of the point cloud performance is realized, and the test efficiency is also improved. Through the adjustable design of the horizontal angle and the pitching angle of the radar to be tested, the flexible calibration design of the test point position and the flexible movement design of the reflecting plate fixing platform, the multi-scheme adaptability test of the point cloud performance test system is realized, and the utilization rate of the test system is improved.

Description

Technical Field

[0001] The present invention relates to intelligent network-connected vehicle environment perception information processing test technology, and in particular to a laser radar point cloud performance test system and test method. Background Art

[0002] With the development of intelligent connected vehicle technology, the intelligent and connected functions of automobiles are gradually being commercialized. Self-driving cars are also in a critical period of moving from L2+ to L3 and above, which will inevitably be accompanied by the coordinated development of the environmental perception system, decision-making system, and execution system of self-driving cars. As one of the high-precision components for environmental perception of intelligent connected vehicles, LiDAR realizes vehicle surrounding environment detection and information processing through the reflection of laser signals. Its accuracy and reliability directly affect the driving safety and driving experience of self-driving cars. How to objectively evaluate the performance of LiDAR point clouds has always been a difficult problem in the field of environmental perception and information processing of intelligent connected vehicles.

[0003] At present, there is no unified LiDAR point cloud performance test method on the market, and LiDAR testing is more dependent on the construction of real vehicle scenes, with poor test reproducibility and high test costs. Therefore, how to conduct LiDAR point cloud performance testing is an urgent problem that needs to be solved. Summary of the invention

[0004] In view of the above problems existing in the prior art, the main purpose of the present invention is to overcome the shortcomings of the prior art and disclose a laser radar point cloud performance testing system and testing method.

[0005] A laser radar point cloud performance test system, comprising a laser radar fixed platform, a target reflector, a reflector fixed platform and a point calibration component;

[0006] The laser radar fixing platform is provided with a laser radar fixing tooling, and is arranged opposite to the target reflection plate;

[0007] The reflector fixing platform is movable, the target reflector is fixed on the reflector fixing platform, and the reflector fixing platform can be moved to a specific distance and a specific angle from the laser radar fixing platform through the point calibration component.

[0008] Furthermore, the reflector fixing platform includes a movable chassis and a positioning turntable, the target reflector is fixed on the movable chassis through the positioning turntable, the axis of the positioning turntable is vertically arranged, and the target reflector can rotate around the axis of the positioning turntable.

[0009] Furthermore, the positioning turntable includes a turntable body and a turntable controller, and the turntable controller controls the turntable body to rotate around the axis.

[0010] Furthermore, the movable chassis includes a chassis body and a chassis controller, and the chassis controller controls the movement of the chassis body.

[0011] Furthermore, the movable chassis is an AGV trolley chassis, and the movement of the AGV trolley chassis can be controlled by a trolley controller thereon.

[0012] Furthermore, the point calibration component includes at least two QR code patches containing different information and a camera and a camera data processor that can identify the QR code patches accordingly; the QR code patches are pasted on the calibration points, and the camera is fixed on the lower end surface of the reflective plate fixing platform. When the reflective plate fixing platform moves to the calibration point, the camera identifies the QR code patch directly below it, and the camera data processor outputs the camera recognition result connected to its signal.

[0013] Furthermore, the positioning and calibration component also includes an alarm, and the camera processor is connected to the alarm signal. When all cameras in the point calibration component correctly identify their corresponding QR code patches, the camera processor outputs an alarm signal to the alarm, and the alarm sounds an alarm.

[0014] Furthermore, the camera processor is connected to the chassis controller signal. When a random camera recognizes other QR code patches in the point calibration component, the camera processor sends a relative position relationship signal between the QR code patch and the camera to the chassis controller, and the chassis controller controls the corresponding camera of the chassis body to move toward the QR code patch; when a random camera recognizes the corresponding QR code patch, the camera processor sends a point correct signal to the chassis controller, and the chassis controller controls the chassis body to rotate around the QR code patch as the axis, so that other cameras can recognize their corresponding QR code patches; when all cameras in the point calibration component recognize their QR code patches, the camera processor sends a chassis body position correct signal to the chassis controller, and the chassis controller controls the chassis body to be still.

[0015] Furthermore, the laser radar fixed platform includes a platform fixed support and a two-dimensional turntable, the two-dimensional turntable includes a horizontal rotating disk and a pitch rotation unit rotatably fixed above the horizontal rotating disk, and the laser radar fixed point is the intersection of the rotation axis of the horizontal rotating disk and the rotation axis of the pitch rotation unit.

[0016] A testing method based on the above-mentioned laser radar point cloud performance testing system comprises the following steps:

[0017] Step 1) Debug the laser radar display to be tested and output the point cloud data of the laser radar to be tested;

[0018] Step 2) Fix the laser radar to be tested on the laser radar fixing platform and place it opposite to the reflector fixing platform;

[0019] Step 3) Using the laser radar to be tested as the coordinate origin, and using the test distance and angle as calibration parameters, calibrate the target reflector test point in the test field, and paste at least two QR code patches;

[0020] Step 4) moving the movable chassis so that at least two cameras on the movable chassis correspond to and recognize the calibrated QR code patch, and fixing the position of the movable chassis;

[0021] Step 5) adjusting the angle of the target reflector by adjusting the positioning turntable;

[0022] Step 6) adjusting the fixed angle of the laser radar to be tested through the laser radar fixing platform;

[0023] Step 7) Start the laser radar to be tested, and the laser radar outputs the point cloud data of the target reflector it identifies, calculates the distance and angle parameters corresponding to the point cloud data output by the laser radar to be tested, and outputs the test results.

[0024] Furthermore, in step 3), there is at least one test point, and six is ​​a better choice. The number of test points can be adjusted according to test requirements.

[0025] Furthermore, in the step 3), each test point requires at least two QR code patches to locate the reflector fixing platform.

[0026] Furthermore, in the step 4), the movable chassis is moved, and the chassis body can be automatically controlled to find the correct position through the camera recognition signal output by the chassis controller and the camera processor.

[0027] Furthermore, in step 5), the angle of the target reflector can be automatically adjusted by the turntable controller.

[0028] Furthermore, in step 6), the laser radar to be tested can automatically adjust its horizontal and pitch angles.

[0029] Furthermore, step 4) to step 7) are repeated to implement testing of multiple test points.

[0030] The beneficial effects achieved by the present invention are:

[0031] The present invention provides a laser radar point cloud performance test system and test method. Through the design of the laser radar fixed platform to be tested and the design of the reflector fixed platform, the test of the laser radar point cloud performance automatic positioning is realized, the repeatability test of the point cloud performance is realized, and the test efficiency is improved. Through the adjustable design of the horizontal angle and pitch angle of the radar to be tested, the flexible calibration design of the test point, and the flexible movement design of the reflector fixed platform, the multi-scheme adaptability test of the point cloud performance test system is realized, and the utilization rate of the test system is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic diagram of the three-dimensional structure of a laser radar point cloud performance test system of the present invention;

[0033] Figure 2 It is a schematic diagram of the structure of the lower end surface of the reflector fixing platform;

[0034] Figure 3 This is the control principle block diagram of the lidar point cloud performance test system.

[0035] The reference numerals are as follows:

[0036] 1. LiDAR fixed platform, 2. Target reflector, 3. Reflector fixed platform, 31. Movable chassis, 311. Chassis body, 312. Chassis controller, 32. Positioning turntable, 321. Turntable body, 322. Turntable controller, 4. Point calibration component, 41. QR code patch, 42. Camera, 43. Camera data processor. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0038] A laser radar point cloud performance test system, such as Figure 1 to Figure 2 As shown, it includes a laser radar fixed platform 1, a target reflector 2, a reflector fixed platform 3 and a point calibration component 4;

[0039] A laser radar fixing tool is provided on the laser radar fixing platform 1 and is arranged opposite to the target reflection plate 2;

[0040] The reflector fixing platform 3 is movable, the target reflector 2 is fixed on the reflector fixing platform 3 , and the reflector fixing platform 3 can be moved to a specific distance from the laser radar fixing platform 1 through the point calibration component 4 .

[0041] The reflector fixing platform 3 includes a movable chassis 31 and a positioning turntable 32 . The target reflector 2 is fixed on the movable chassis 31 through the positioning turntable 32 . The axis of the positioning turntable 32 is vertically arranged, and the target reflector 2 can rotate around the axis of the positioning turntable 32 .

[0042] The positioning turntable 32 includes a turntable body 321 and a turntable controller 322 . The turntable controller 322 controls the turntable body 321 to rotate around an axis.

[0043] The movable chassis 31 includes a chassis body 311 and a chassis controller 312 , and the chassis controller 312 controls the movement of the chassis body 311 .

[0044] The movable chassis 31 is an AGV chassis, and the movement of the AGV chassis can be controlled by a trolley controller thereon.

[0045] The point calibration component 4 includes at least two two-dimensional code patches 41 containing different information, a camera 42 and a camera data processor 43 that can identify the two-dimensional code patches 41; the two-dimensional code patches 41 are pasted on the calibration point, and the camera 42 is fixed on the lower end surface of the reflector fixing platform 3. When the reflector fixing platform 3 moves to the calibration point, the camera 42 identifies the two-dimensional code patch 41 directly below it, and the camera data processor 43 outputs the recognition result of the camera 42 connected to its signal.

[0046] The positioning and calibration component 4 also includes an alarm, and the camera processor 43 is connected to the alarm signal. When all cameras 42 in the point calibration component 4 correctly identify their corresponding two-dimensional code patches 41, the camera processor 43 outputs an alarm signal to the alarm, and the alarm sounds an alarm.

[0047] The camera processor 43 is connected to the chassis controller 312 by signal. When a random camera 42 recognizes other two-dimensional code patches in the point calibration component 4, the camera processor 43 sends a relative position relationship signal between the two-dimensional code patch 41 and the camera 42 to the chassis controller 312, and the chassis controller 312 controls the corresponding camera 42 of the chassis body 311 to move toward the two-dimensional code patch 41; when a random camera 42 recognizes the corresponding two-dimensional code patch 41, the camera processor 43 sends a point correct signal to the chassis controller 312, and the chassis controller 312 controls the chassis body 311 to rotate with the two-dimensional code patch 41 as the axis, so that other cameras 42 can recognize their corresponding two-dimensional code patches 41; when all cameras 42 in the point calibration component 4 recognize their two-dimensional code patches 41, the camera processor 43 sends a chassis body 311 position correct signal to the chassis controller 312, and the chassis controller 312 controls the chassis body 311 to be still.

[0048] The laser radar fixed platform 1 includes a platform fixed support and a two-dimensional turntable, which includes a horizontal rotating disk and a pitch rotating unit rotatably fixed above the horizontal rotating disk, and the laser radar fixed point is the intersection of the rotation axis of the horizontal rotating disk and the rotation axis of the pitch rotating unit.

[0049] A testing method based on the above-mentioned laser radar point cloud performance testing system comprises the following steps:

[0050] Step 1) Debug the laser radar display to be tested and output the point cloud data of the laser radar to be tested;

[0051] Step 2) Fix the laser radar to be tested on the laser radar fixing platform 1, and place it opposite to the reflector fixing platform 3;

[0052] Step 3) Using the laser radar to be tested as the coordinate origin, and using the test distance and angle as calibration parameters, calibrate the test point of the target reflector 2 in the test field, and paste at least two QR code patches 41;

[0053] Step 4) moving the movable chassis 31 so that at least two cameras 42 on the movable chassis 31 correspond to and recognize the calibrated two-dimensional code patch 41, and fixing the position of the movable chassis 31;

[0054] Step 5) adjusting the angle of the target reflector 2 by adjusting the positioning turntable 32;

[0055] Step 6) adjusting the fixed angle of the laser radar to be tested through the laser radar fixing platform 1;

[0056] Step 7) Start the laser radar to be tested, and the laser radar outputs the point cloud data of the target reflector it identifies, calculates the distance and angle parameters corresponding to the point cloud data output by the laser radar to be tested, and outputs the test results.

[0057] In step 3), there is at least one test point, preferably six test points, and the number of test points can be adjusted according to test requirements.

[0058] In step 3), each test point requires at least two QR code patches to locate the reflector fixing platform.

[0059] In step 4), the movable chassis 31 is moved, and the chassis controller 312 and the camera 42 recognition signal output by the camera data processor 43 can automatically control the chassis body 311 to find the correct point.

[0060] In step 5), the angle of the target reflector 2 can be automatically adjusted by the turntable controller 322 .

[0061] In step 6), the laser radar to be tested can automatically adjust its horizontal and pitch angles.

[0062] Repeat steps 4) to 7) to implement testing of multiple test points.

[0063] Through the above test system, the laser radar fixed platform 1 can be fixed at a specific point, and multiple points calibrated for the target reflector 2 on the test field can be reused. At least two two-dimensional code patches 41 with different point information are pasted at each point, and the reflector fixed platform 3 is controlled to move toward the two-dimensional code patch 41; when the camera 42 on the reflector fixed platform 3 recognizes the two-dimensional code patch 41 at a certain point, the reflector fixed platform 3 can adaptively fine-tune its position and angle, so that all the two-dimensional code patches 41 at the point are correctly recognized by the corresponding camera 42, and the position of the reflector fixed platform 3 reaches the test point; then adjust the horizontal angle and pitch angle of the laser radar test and the horizontal angle of the target reflector 2 according to the requirements of the laser radar test outline, and start test data collection.

[0064] The above are only preferred embodiments of the present invention and are not intended to limit the scope of implementation of the present invention. If the present invention is modified or replaced by equivalents without departing from the spirit and scope of the present invention, they should all be included in the protection scope of the claims of the present invention.

Claims

1. A laser radar point cloud performance test system, characterized by: It comprises a laser radar fixed platform (1), a target reflector (2), a reflector fixed platform (3) and a point calibration component (4); The laser radar fixing platform (1) is provided with a laser radar fixing tool and is arranged opposite to the target reflection plate (2); The reflector fixing platform (3) is movable, the target reflector (2) is fixed on the reflector fixing platform (3), and the reflector fixing platform (3) can be moved to a specific distance from the laser radar fixing platform (1) through the point position calibration component (4).

2. The laser radar point cloud performance test system according to claim 1, characterized in that: The reflector fixing platform (3) comprises a movable chassis (31) and a positioning turntable (32); the target reflector (2) is fixed on the movable chassis (31) via the positioning turntable (32); the axis of the positioning turntable (32) is vertically arranged, and the target reflector (2) can rotate around the axis of the positioning turntable (32).

3. The laser radar point cloud performance test system according to claim 2, characterized in that: The positioning turntable (32) comprises a turntable body (321) and a turntable controller (322), and the turntable controller (322) controls the turntable body (321) to rotate around an axis.

4. The laser radar point cloud performance test system according to claim 2, characterized in that: The movable chassis (31) comprises a chassis body (311) and a chassis controller (312), and the chassis controller (312) controls the movement of the chassis body (311).

5. The laser radar point cloud performance test system according to claim 4, characterized in that: The point calibration component (4) comprises at least two two-dimensional code patches (41) containing different information, a camera (42) capable of correspondingly identifying the two-dimensional code patches (41), and a camera data processor (43); the two-dimensional code patches (41) are pasted on the calibration point, and the camera (42) is correspondingly fixed on the lower end surface of the reflector fixing platform (3); when the reflector fixing platform (3) moves to the calibration point, the camera (42) correspondingly identifies the two-dimensional code patch (41) directly below it, and the camera data processor (43) outputs the recognition result of the camera (42) connected to its signal.

6. The laser radar point cloud performance test system according to claim 5, characterized in that: The positioning and calibration component (4) also includes an alarm, and the camera processor (43) is connected to the alarm signal. When all cameras (42) in the point calibration component (4) correctly identify their corresponding two-dimensional code patches (41), the camera processor (43) outputs an alarm signal to the alarm, and the alarm sounds an alarm.

7. The laser radar point cloud performance test system according to claim 5, characterized in that: The camera processor (43) is connected to the chassis controller (312) by signal. When a random camera (42) recognizes other two-dimensional code patches in the point calibration component (4), the camera processor (43) sends a relative position relationship signal between the two-dimensional code patch (41) and the camera (42) to the chassis controller (312). The chassis controller (312) controls the corresponding camera (42) of the chassis body (311) to move toward the two-dimensional code patch (41). When a random camera (42) recognizes the corresponding two-dimensional code patch (41), the camera processor (43) sends a relative position relationship signal between the two-dimensional code patch (41) and the camera (42) to the chassis controller (312). The processor (43) sends a correct position signal to the chassis controller (312), and the chassis controller (312) controls the chassis body (311) to rotate with the two-dimensional code patch (41) as the axis, so that other cameras (42) can identify their corresponding two-dimensional code patches (41); when all cameras (42) in the point position calibration component (4) have identified their two-dimensional code patches (41), the camera processor (43) sends a correct position signal of the chassis body (311) to the chassis controller (312), and the chassis controller (312) controls the chassis body (311) to be stationary.

8. A laser radar point cloud performance testing method based on the above laser radar point cloud performance testing system, characterized in that: The following steps are involved: Step 1) Debug the laser radar display to be tested and output the point cloud data of the laser radar to be tested; Step 2) Fix the laser radar to be tested on the laser radar fixing platform (1), and place it opposite to the reflector fixing platform (3); Step 3) using the laser radar to be tested as the coordinate origin, using the test distance and angle as calibration parameters to calibrate the test point of the target reflector (2) in the test field, and pasting at least two two-dimensional code patches (41); Step 4) moving the movable chassis (31) so that at least two cameras (42) on the movable chassis (31) correspond to and recognize the calibrated two-dimensional code patch (41), and fixing the position of the movable chassis (31); Step 5) adjusting the angle of the target reflector (2) by adjusting the positioning turntable (32); Step 6) adjusting the fixed angle of the laser radar to be tested through the laser radar fixing platform (1); Step 7) Start the laser radar to be tested, and the laser radar outputs the point cloud data of the target reflector it identifies, calculates the distance and angle parameters corresponding to the point cloud data output by the laser radar to be tested, and outputs the test results.

9. The laser radar point cloud performance testing method according to claim 8, characterized in that: In the step 3), there is at least one test point, preferably six test points, and the number of test points can be adjusted according to test requirements.

10. The laser radar point cloud performance testing method according to claim 8, characterized in that: Repeat steps 4) to 7) to implement testing of multiple test points.

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