Laser radar calibration system and method

Abstract

The invention relates to the technical field of laser radar, and specifically discloses a laser radar calibration system and method. In the laser radar calibration system, a second slide rail can slide on a first slide rail, a slidable tooling table for installing the laser radar is arranged on the second slide rail, a plurality of target targets with different reflectivity are arranged at intervals along a first direction to form a target target array, a host computer can drive the second slide rail to move along the first slide rail so that the laser radar on the tooling table is aligned with the target target, and the tooling table can be driven to move along the second slide rail so that the distance between the laser radar and the target target can be adjusted, so that after the laser radar is installed on the tooling table, the host computer automatically controls the laser radar to align with the target targets with different reflectivity and adjusts the distance between the laser radar and the target target according to a calibration strategy, the distance is controlled by the host computer, human errors are avoided, the accuracy is high, and the laser radar can be installed once to realize calibration of different reflectivities and different distances, thereby improving the calibration efficiency of the laser radar.

Description

Technical Field

[0001] The present invention belongs to the field of laser radar technology, and in particular relates to a laser radar calibration system and method. Background Art

[0002] During the production process of LiDAR, the LiDAR distance measurement needs to be calibrated. Specifically, the LiDAR emits laser beams to targets with different reflectivity at different distances, and calculates the distance after receiving the laser beam reflected by the target. The calculated distance is compared with the standard distance to calibrate the LiDAR distance measurement.

[0003] In the existing technology, when calibrating the laser radar, targets with different reflectivity are usually placed manually at different distances. This calibration method has the following problems:

[0004] (1) The target is placed manually. The distance of the target introduces human error and low accuracy.

[0005] (2) When calibrating targets with different reflectivity and different distances, it is necessary to manually adjust the distance of the target frequently, which is time-consuming and has low calibration efficiency. Summary of the invention

[0006] The purpose of the embodiments of the present invention is to provide a laser radar calibration system and method, aiming to solve the problems of low accuracy and low calibration efficiency of manually placed targets in existing laser radar ranging calibration.

[0007] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0008] A laser radar calibration system, specifically comprising:

[0009] A first slide rail, wherein the first slide rail is arranged along a first direction;

[0010] a second slide rail, the second slide rail is arranged along a second direction, the second direction is orthogonal to the first direction, and the second slide rail is slidably connected to the first slide rail;

[0011] A tooling table, the tooling table is used to install the laser radar, and the tooling table is slidably connected to the second slide rail;

[0012] A target array, the target array comprising a plurality of target targets of different reflectivity arranged at intervals along the first direction, the target array being arranged at a distance from the first slide rail;

[0013] A driving mechanism, used for driving the second slide rail to slide on the first slide rail, and driving the tooling table to slide on the second slide rail;

[0014] A host computer, which is connected to the driving mechanism and the laser radar respectively, and is used for:

[0015] When a calibration instruction is received, a calibration strategy is obtained, and according to the calibration strategy, the driving mechanism is controlled to drive the second slide rail and the workbench to move, and the laser radar is controlled to emit a laser beam to the target, and the calibration data collected by the laser radar is received, and a calibration result is generated according to the calibration data.

[0016] As a further technical solution of the present invention, the number of the first slide rails is two, the two first slide rails are arranged in parallel and spaced apart, the second slide rail is slidably mounted on the two first slide rails, and the tooling table slides between the two parallel first slide rails.

[0017] As a further technical solution of the present invention, the target array includes a first array target and a second array target, and the first array target and the second array target are respectively located on both sides of the first slide rail.

[0018] As a further technical solution of the present invention, the reflectivity of multiple target targets in the first target array is not equal, and the reflectivity of multiple target targets in the second target array is not equal.

[0019] As a further technical solution of the present invention, the workbench includes a base and a beam arranged on the base, the base is slidably connected to the second slide rail, the beam is arranged along the first direction, and a plurality of radar mounting seats are arranged on the two sides of the beam facing the first array target and the second array target at intervals along the first direction.

[0020] As a further technical solution of the present invention, the workbench includes a base and a longitudinal beam arranged on the base, the base is slidably connected to the second slide rail, the longitudinal beam is arranged along a third direction, the third direction is a direction perpendicular to the two-dimensional plane where the first slide rail and the second slide rail are located, and multiple radar mounting seats are arranged at intervals along the third direction on two sides of the longitudinal beam facing the first array target target and the second array target target.

[0021] As a further technical solution of the present invention, the tooling table includes a base and a crossbeam and a longitudinal beam arranged on the base, the crossbeam is arranged along the first direction, and a plurality of radar mounting seats are arranged at intervals along the first direction on two sides of the crossbeam facing the first array target and the second array target;

[0022] The longitudinal beam is arranged along a third direction, which is a perpendicular direction to the two-dimensional plane where the first slide rail and the second slide rail are located. A plurality of radar mounting seats are arranged at intervals along the third direction on two sides of the longitudinal beam facing the first array target and the second array target.

[0023] As a further technical solution of the present invention, the width of the target is 10-500 mm.

[0024] As a further technical solution of the present invention, the height of the target is 10-2000 mm.

[0025] A laser radar calibration method, applied to the laser radar calibration system described in any one of the present invention, specifically comprises the following steps:

[0026] The laser radar is installed on the workbench;

[0027] Obtaining a calibration strategy upon receiving a calibration instruction;

[0028] Controlling the driving mechanism to drive the second slide rail and the tooling table to move according to the calibration strategy, and controlling the laser radar to emit a laser beam to the target;

[0029] Receive calibration data collected by the laser radar;

[0030] A calibration result is generated according to the calibration data.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] In the laser radar calibration system of the embodiment of the present invention, the first slide rail is arranged along the first direction, the second slide rail is arranged along the second direction, the first direction and the second direction are orthogonal, the second slide rail can slide on the first slide rail, a tooling table for installing the laser radar is arranged on the second slide rail, a plurality of target targets with different reflectivity are arranged at intervals along the first direction to form a target target array, the formed target target array is arranged at a distance from the first slide rail, and also includes a driving mechanism for driving the second slide rail and the tooling table to move. After the laser radar is installed on the tooling table, the upper computer can drive the second slide rail to move along the first slide rail according to the calibration strategy when receiving the calibration instruction, so that the target target array on the tooling table is The laser radar can be aimed at targets with different reflectivities, and when aimed at the same target, the tooling table can be driven to move along the second slide rail, so that the distance between the laser radar and the target target can be adjusted arbitrarily, and the calibration data of the laser radar can be received to generate a calibration result. After the laser radar is installed on the tooling table, the upper computer automatically controls the laser radar to aim at targets with different reflectivities and adjusts the distance between the laser radar and the target target according to the calibration strategy. The distance is controlled by the upper computer, which avoids human errors and has high accuracy. Moreover, the laser radar can be calibrated at different reflectivities and different distances by installing it once, which improves the calibration efficiency of the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention.

[0034] Figure 1 A schematic diagram of the structure of a laser radar calibration system provided by an embodiment of the present invention is shown;

[0035] Figure 2 A schematic diagram of the structure of a laser radar calibration system provided by another embodiment of the present invention is shown;

[0036] Figure 3 A schematic structural diagram of a laser radar calibration system provided by another embodiment of the present invention is shown;

[0037] Figure 4 A schematic diagram of the structure of a laser radar calibration system provided by another embodiment of the present invention is shown;

[0038] Figure 5 A flowchart of a laser radar calibration method provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0039] 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 intended to limit the present invention.

[0040] The laser radar calibration system of the embodiment of the present invention is used to calibrate the laser radar range measurement before the laser radar leaves the factory. Figure 1 As shown, the laser radar calibration system of the embodiment of the present invention specifically includes a first slide rail 1, a second slide rail 2, a workbench 3, a target array 4, a driving mechanism (not shown) and a host computer 6, wherein the first slide rail 1 can be set along a first direction F1, the second slide rail 2 can be set along a second direction F2, and the first direction F1 and the second direction F2 are two orthogonal directions, and the cross-section of the first slide rail 1 and the second slide rail 2 can be circular, square, I-shaped or polygonal, etc. This embodiment does not limit the cross-sectional shape of the first slide rail 1 and the second slide rail 2.

[0041] In this embodiment, the second slide rail 2 is slidably connected to the first slide rail 1, that is, the second slide rail 2 can reciprocate along the first direction F on the first slide rail 1. The second slide rail 2 can be slidably connected to the first slide rail 1 through any sliding connection structure in the mechanical field. This embodiment does not limit the way in which the second slide rail 2 is slidably connected to the first slide rail 1.

[0042] The workbench 3 can be a component for installing the laser radar 5 to be calibrated. The workbench 3 can install at least one laser radar. The workbench 3 is slidably connected to the second slide rail 2 so that the workbench 3 can slide on the second slide rail 2 along the second direction F2.

[0043] like Figure 1 As shown, in a preferred embodiment, the number of the first slide rails 1 can be two, the two first slide rails 1 are arranged in parallel and spaced apart, the second slide rail 2 is slidably mounted on the two first slide rails 1, and the workbench 3 slides between the two parallel first slide rails 1.

[0044] The target array 4 includes a plurality of target targets with different reflectivity, and the plurality of target targets with different reflectivity are arranged at intervals along the first direction, so that the target array 4 is arranged at a distance from the first slide rail 1. Preferably, as Figure 1 As shown, the target target array 4 includes a first array target target 41 and a second array target target 42, and the first array target target 41 and the second array target target 42 are respectively located on both sides of the first slide rail 1, for example, the first array target target 41 is located on one side of one first slide rail 1, and the second array target target 42 is located on the other side of another first slide rail 1. Among them, the reflectivity of multiple target targets in the first array target target 41 is not equal, and the reflectivity of multiple target targets in the second array target target 42 is also not equal. The reflectivity of the target targets at corresponding positions in the first array target target 41 and the second array target target 42 can be equal or unequal. Those skilled in the art can set target targets with different reflectivity according to calibration needs, and this embodiment does not limit this.

[0045] The driving mechanism of this embodiment may include a servo motor, through which the second slide rail 2 can be driven to slide on the first slide rail 1, and the tooling table 3 can be driven to slide on the second slide rail 2. The host computer 6 is connected to the driving mechanism and the laser radar respectively. When receiving the calibration instruction, the host computer 6 obtains the calibration strategy, controls the driving mechanism to drive the second slide rail and the tooling table to move according to the calibration strategy, controls the laser radar to emit a laser beam to the target, receives the calibration data collected by the laser radar, and generates the calibration result according to the calibration data.

[0046] Specifically, the working principle of the laser radar calibration system of this embodiment is as follows:

[0047] After setting target targets with different reflectivities in the first array target target 41 and the second array target target 42, the position of each target target is determined, for example, the position relative to the coordinate origin of the system (which can be a point in the two-dimensional plane formed by the first slide rail 1 and the second slide rail 2 as the coordinate origin) is fixed, and the laser radar 5 to be calibrated is installed on the workbench 3. The host computer 6 imports a pre-edited calibration strategy, which includes the position of the target targets with different reflectivities to be calibrated and the distance between the laser radar and the target targets with different reflectivities. After receiving the operation of starting calibration, the host computer 6 generates a motion command for controlling the second slide rail 2 to slide along the first slide rail 1 and sends it to the driving mechanism, and the driving mechanism drives the second slide rail 2 to slide so that the laser radar on the workbench 3 is aligned with the target target, and then generates a motion command for controlling the workbench 3 to slide along the second slide rail 2, and the driving mechanism drives the workbench 3 to slide along the second slide rail 2 to adjust the distance between the laser radar on the workbench 3 and the target target. After the laser radar is installed on the workbench, the host computer automatically controls the laser radar to aim at targets with different reflectivities and adjusts the distance between the laser radar and the target according to the calibration strategy. The distance is controlled by the host computer, which avoids human errors and has high accuracy. Moreover, the laser radar can be calibrated with different reflectivities and different distances by installing it once, which improves the calibration efficiency of the laser radar.

[0048] Figure 2 FIG. 1 is a schematic diagram of a laser radar calibration system according to another embodiment of the present invention. Figure 2 As shown, the workbench 3 may include a base 30 and a beam 31 arranged on the base 30, the base 30 is slidably connected to the second slide rail 2, the beam 31 is arranged along the first direction F1, and a plurality of radar mounting seats are arranged at intervals along the first direction F1 on two sides of the beam 31 facing the first array target 41 and the second array target 42. The number of laser radars arranged at intervals along the first direction F1 can be set according to actual conditions, so that a plurality of laser radars 5 to be calibrated can be installed in the first direction F1, and multiple laser radars can be calibrated in parallel after multiple laser radars are installed at one time, thereby improving the calibration efficiency of the laser radar. In addition, by installing multiple laser radars through the beam 31, the ranging performance of the laser radar for target targets with different reflectivities at the same distance can be calibrated.

[0049] Figure 3 FIG. 1 is a schematic diagram of a laser radar calibration system according to another embodiment of the present invention. Figure 3 As shown, the workbench 3 may include a base 30 and a longitudinal beam 32 arranged on the base 30, the base 30 is slidably connected to the second slide rail 2, and the longitudinal beam 32 is arranged along a third direction F3, and the third direction F3 is a direction perpendicular to the two-dimensional plane where the first slide rail 1 and the second slide rail 2 are located, such as Figure 3In the schematic diagram of the third direction F3, a plurality of radar mounting seats are arranged on the longitudinal beam 32 on two sides facing the first array target 41 and the second array target 42 at intervals along the third direction F3. The number of laser radars arranged at intervals along the third direction F3 can be set according to actual conditions, so that a plurality of laser radars 5 to be calibrated can be installed in the third direction F3. After installing a plurality of laser radars at one time, parallel calibration of a plurality of laser radars can be realized, thereby improving the calibration efficiency of the laser radars.

[0050] Figure 4 FIG. 1 is a schematic diagram of a laser radar calibration system according to another embodiment of the present invention. Figure 4 As shown, the workbench 3 includes a base 30 and a crossbeam 31 and a longitudinal beam 32 arranged on the base 30, the crossbeam 31 is arranged along a first direction F1, and a plurality of radar mounting seats are arranged along the first direction F1 at intervals on two sides of the first direction F1 facing the first array target target 41 and the second array target target 42 for installing the laser radar 5, the longitudinal beam 32 is arranged along a third direction F3, and the third direction F3 is a vertical direction of the two-dimensional plane where the first slide rail 1 and the second slide rail 2 are located, and a plurality of radar mounting seats are arranged along the third direction F3 at intervals on two sides of the longitudinal beam 32 facing the first array target target 41 and the second array target target 42 for installing the laser radar 5, thereby realizing the installation of multiple laser radars in the crossbeam and longitudinal directions for parallel calibration, improving the laser radar calibration efficiency, and being able to make full use of the three-dimensional space and reduce the footprint of the entire system.

[0051] In one embodiment, the width of the target can be determined according to the distance calibrated by the system, preferably, the width of the target can be 10-500 mm, wherein the width of the target can refer to the size of the target in the first direction F1. The height of the target can be determined according to the number of laser radars installed in the third direction F3, preferably, the height of the target can be 10-2000 mm, wherein the height of the target can refer to the size in the third direction F3.

[0052] In the laser radar calibration system of the embodiment of the present invention, after the laser radar is installed on the workbench, the host computer can drive the second slide rail to move along the first slide rail according to the calibration strategy when receiving the calibration instruction, so that the laser radar on the workbench is aimed at the target targets with different reflectivities, and when aiming at the same target target, the workbench can be driven to move along the second slide rail, so that the distance between the laser radar and the target target can be adjusted arbitrarily, and the calibration data of the laser radar can be received to generate a calibration result, so that after the laser radar is installed on the workbench, the host computer automatically controls the laser radar to aim at the target targets with different reflectivities and adjusts the distance between the laser radar and the target target according to the calibration strategy. The distance is controlled by the host computer, which avoids human errors and has high accuracy. The laser radar can be installed once to achieve calibration of different reflectivities and different distances, thereby improving the calibration efficiency of the laser radar.

[0053] Figure 5 The flowchart of the laser radar calibration method provided by the embodiment of the present invention is shown. Specifically, the laser radar test method of the embodiment of the present invention is applied to the laser radar calibration system of the embodiment of the present invention, and specifically includes the following steps:

[0054] Step S501: installing a laser radar on a workbench.

[0055] Specifically, Figure 1-4 As shown, the laser radar calibration system of an embodiment of the present invention specifically includes a first slide rail 1, a second slide rail 2, a tooling table 3, a target array 4, a driving mechanism (not shown) and a host computer 6, wherein the tooling table 3 can be equipped with at least one laser radar 5.

[0056] Step S502, obtaining a calibration strategy when receiving a calibration instruction.

[0057] A person skilled in the art can pre-edit the calibration strategy according to the calibration requirements, and the calibration strategy may include the reflectivity of one or more target targets, the position of the target target, the distance from the laser radar to the target target, the calibration order of target targets with different reflectivity, etc. After the tester installs the laser radar on the workbench, he can edit or import the calibration strategy on the host computer, for example, he can import the calibration strategy locally from the host computer.

[0058] Step S503, controlling the driving mechanism to drive the second slide rail and the tooling table to move according to the calibration strategy, and controlling the laser radar to emit a laser beam to the target.

[0059] Among them, the upper computer can generate driving instructions according to the calibration strategy, such as generating instructions for driving the second slide rail to move on the first slide rail according to the calibration sequence of the target targets with different reflectivity in the calibration strategy, generating instructions for driving the tooling table to move on the second slide rail according to the distance from the target target to the laser radar in the calibration strategy, and generating instructions for controlling the laser radar to emit a laser beam, and sending relevant instructions to the driving mechanism and the laser radar. The driving mechanism drives the second slide rail and the tooling table. Exemplarily, the driving mechanism can be a servo motor, and the second slide rail and the tooling table can be driven by the servo motor. Of course, the driving mechanism can also include a position sensor for detecting the position of the second slide rail and the tooling table and feeding it back to the driving mechanism, so that the second slide rail and the tooling table move to the specified position.

[0060] Step S504, receiving calibration data collected by the laser radar.

[0061] In this embodiment, the calibration data collected by the laser radar may include the time when the laser radar emits a laser beam and the time when the reflected laser beam is received.

[0062] Step S505: generating a calibration result according to the calibration data.

[0063] Specifically, the time difference can be calculated based on the time of receiving the reflected laser beam and the time of emitting the laser beam, the test distance can be calculated by the time difference and the speed of light, and the calibration result can be generated by comparing the test distance with the actual distance from the tooling platform to the target.

[0064] The laser radar calibration method of the embodiment of the present invention is applied to a laser radar calibration system, in which the second slide rail can move on the first slide rail, the tooling table can move on the second slide rail, and the host computer can drive the second slide rail to move along the first slide rail according to the calibration strategy, so that the laser radar on the tooling table is aimed at the target targets with different reflectivities, and when aiming at the same target target, the tooling table can be driven to move along the second slide rail, so that the distance between the laser radar and the target target can be adjusted arbitrarily, so that after the laser radar is installed on the tooling table, the host computer automatically controls the laser radar to aim at the target targets with different reflectivities and adjusts the distance between the laser radar and the target target according to the calibration strategy, and the distance is controlled by the host computer, thereby avoiding human errors and having high precision, and the laser radar can be calibrated with different reflectivities and different distances by installing it once, thereby improving the calibration efficiency of the laser radar.

[0065] It should be understood that, although each step in the flow chart of each embodiment of the present invention is shown in sequence according to the indication of the arrow, these steps are not necessarily performed in sequence according to the order indicated by the arrow. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be performed in other orders. Moreover, at least a portion of the steps in each embodiment may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps.

[0066] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0067] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0068] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the attached claims.

[0069] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A laser radar calibration system, characterized in that: Specifically include: A first slide rail, wherein the first slide rail is arranged along a first direction; a second slide rail, the second slide rail is arranged along a second direction, the second direction is orthogonal to the first direction, and the second slide rail is slidably connected to the first slide rail; A tooling table, the tooling table is used to install the laser radar, and the tooling table is slidably connected to the second slide rail; A target array, the target array comprising a plurality of target targets of different reflectivity arranged at intervals along the first direction, the target array being arranged at a distance from the first slide rail; A driving mechanism, used for driving the second slide rail to slide on the first slide rail, and driving the tooling table to slide on the second slide rail; A host computer, which is connected to the driving mechanism and the laser radar respectively, and is used for: When receiving the calibration instruction, a calibration strategy is acquired, and according to the calibration strategy, the driving mechanism is controlled to drive the second slide rail and the tooling table to move, and the laser radar is controlled to emit a laser beam to the target, and the calibration data collected by the laser radar is received, and a calibration result is generated according to the calibration data; There are two first slide rails, the two first slide rails are arranged in parallel and spaced apart, the second slide rail is slidably mounted on the two first slide rails, and the tooling table slides between the two parallel first slide rails; The target array includes a first array target and a second array target, and the first array target and the second array target are respectively located on both sides of the first slide rail; The tooling table includes a base and a crossbeam arranged on the base, the base is slidably connected to the second slide rail, the crossbeam is arranged along the first direction, and a plurality of radar mounting seats are arranged at intervals along the first direction on two sides of the crossbeam facing the first array target and the second array target; The workbench includes a base and a longitudinal beam arranged on the base, the base is slidably connected to the second slide rail, the longitudinal beam is arranged along a third direction, and the third direction is a direction perpendicular to the two-dimensional plane where the first slide rail and the second slide rail are located. A plurality of radar mounting seats are arranged at intervals along the third direction on two sides of the longitudinal beam facing the first array target and the second array target.

2. The laser radar calibration system according to claim 1, characterized in that: The reflectivity of the multiple targets in the first target array is not equal, and the reflectivity of the multiple targets in the second target array is not equal.

3. The laser radar calibration system according to claim 1, characterized in that: The tooling platform comprises a base and a crossbeam and a longitudinal beam arranged on the base, the crossbeam is arranged along the first direction, and a plurality of radar mounting seats are arranged at intervals along the first direction on two sides of the crossbeam facing the first array target and the second array target; The longitudinal beam is arranged along a third direction, which is a perpendicular direction to the two-dimensional plane where the first slide rail and the second slide rail are located. A plurality of radar mounting seats are arranged at intervals along the third direction on two sides of the longitudinal beam facing the first array target and the second array target.

4. The laser radar calibration system according to any one of claims 1 to 3, characterized in that: The width of the target is 10-500 mm.

5. The laser radar calibration system according to any one of claims 1 to 3, characterized in that: The height of the target is 10-2000 mm.

6. A laser radar calibration method, characterized in that: The laser radar calibration system applied to any one of claims 1 to 5 specifically comprises the following steps: The laser radar is installed on the workbench; Obtaining a calibration strategy upon receiving a calibration instruction; Controlling the driving mechanism to drive the second slide rail and the tooling table to move according to the calibration strategy, and controlling the laser radar to emit a laser beam to the target; Receive calibration data collected by the laser radar; A calibration result is generated according to the calibration data.

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