Quality inspection clamp and laser radar quality inspection method

Abstract

The invention provides a quality inspection clamp and a laser radar quality inspection method, and relates to the technical field of laser radars. The quality inspection clamp comprises a communication interface; the control unit is used for acquiring measurement data acquired by the to-be-tested laser radar through the communication interface, performing quality inspection on the to-be-tested laser radar based on the measurement data, and sending a quality inspection result to the upper computer; and the upper computer is used for displaying the quality inspection result. According to the invention, through the quality inspection clamp, the measurement data collected by the to-be-detected laser radar is automatically obtained, the measurement data is automatically analyzed, and the quality inspection result of the to-be-detected laser radar is obtained, so that the detection efficiency is greatly improved, the problem of low manual detection efficiency is reduced, and meanwhile, the human input cost is also reduced. Besides, the automatic detection mode can systematize and standardize the detection process, manual participation is not needed in the whole detection process, and the quality inspection result is automatically generated, so that the occurrence rate of human errors is reduced, and the accuracy and reliability of quality inspection are improved.

Description

Technical Field

[0001] The present application relates to the field of laser radar technology, and in particular to a quality inspection fixture and a laser radar quality inspection method. Background Art

[0002] In the rapid development of autonomous driving technology, LiDAR, as a key sensor, plays an indispensable role. By emitting laser beams and receiving reflected signals, LiDAR can accurately measure the position, attitude, height, speed and other information of the target object, thereby providing high-precision environmental perception capabilities for the autonomous driving system. At present, before integrating LiDAR into the vehicle, the OEM must conduct strict quality inspections on the purchased LiDAR to ensure its performance and reliability; in addition, quality inspections are also required for LiDARs returned after sales to preliminarily identify the cause of the failure and ensure that it can work normally after repair.

[0003] In the related art, quality inspection of LiDAR is usually done manually, and the quality inspectors need to check the power-on status, data collection, point cloud projection, etc. However, this manual inspection method has the problems of low efficiency and low accuracy. Summary of the invention

[0004] The present application provides a quality inspection fixture and a laser radar quality inspection method, which are used to reduce the problem of low efficiency and low accuracy of manual inspection when relying on manual quality inspection of laser radar in related technologies.

[0005] In a first aspect, the present application provides a quality inspection fixture, comprising:

[0006] Communication interface;

[0007] A control unit is used to obtain the measurement data collected by the laser radar to be tested through the communication interface, perform quality inspection on the laser radar to be tested based on the measurement data, and send the quality inspection result to the upper computer;

[0008] Host computer, used to display quality inspection results.

[0009] In a possible implementation, the communication interface is an Ethernet interface; the quality inspection fixture is connected to the laser radar to be tested via the Ethernet interface.

[0010] In one possible implementation, the quality inspection fixture further includes: a power supply component, a clock component and a storage component: the power supply component is used to provide power to the quality inspection fixture; the clock component is used to provide a clock source for the quality inspection fixture; the storage component is used to store measurement data, calibration measurement data and calibration point cloud projection; the control unit is also used to determine the quality inspection results of the laser radar to be tested based on the measurement data, calibration measurement data and calibration point cloud projection.

[0011] In a second aspect, the present application provides a laser radar quality inspection method, which is applied to the control unit described in any one of the first aspects, and the laser radar quality inspection method includes:

[0012] Acquire the measurement data collected by the laser radar to be tested through the communication interface;

[0013] Perform quality inspection on the laser radar to be tested based on the measurement data to obtain the quality inspection result of the laser radar to be tested;

[0014] Send quality inspection results to the host computer.

[0015] In one possible implementation, a quality inspection is performed on the laser radar to be tested based on the measurement data to obtain a quality inspection result of the laser radar to be tested: including: for each of the multiple functions to be tested of the laser radar to be tested, based on the measurement data and a preset target corresponding to the function to be tested, determining a test result of the function to be tested; according to the test result corresponding to each function to be tested, determining the quality inspection result of the laser radar to be tested, and the quality inspection result includes the test results corresponding to the multiple functions to be tested.

[0016] In one possible implementation, if the target function to be tested is in a power-on state, the preset target is a first set value that characterizes the power-on state of the laser radar to be tested; based on the measurement data and the preset target corresponding to the function to be tested, the test result of the function to be tested is determined, including: obtaining first target test data associated with the power-on state in the measurement data; based on the first target test data and the first set value, determining the test result of the target function to be tested.

[0017] In one possible implementation, if the target function to be tested is to collect data, the preset target is the calibration measurement data of the target reference object, and the calibration measurement data includes the calibration position, calibration angle and calibration speed; based on the measurement data and the preset target corresponding to the function to be tested, the test result of the function to be tested is determined, including: obtaining second target test data associated with the target reference object in the measurement data, the second target test data includes the measured position, measured angle and measured speed; based on the numerical relationship between the measured position and the calibrated position, the measured angle and the calibrated angle, and the measured speed and the calibrated speed, respectively, the test result of the target function to be tested is determined.

[0018] In one possible implementation, if the target function to be tested is a point cloud projection, the preset target is a calibrated point cloud projection of a target reference object; based on the measurement data and the preset target corresponding to the function to be tested, the test result of the function to be tested is determined, including: obtaining third target test data associated with the target reference object in the measurement data, the third target test data including the direction, color, classification and intensity of the target reference object; based on the third target test data, generating a point cloud projection of the third target test data; based on the point cloud projection and the calibrated point cloud projection, determining the test result of the target function to be tested.

[0019] In one possible implementation, based on the point cloud projection and the calibrated point cloud projection, determining the test result of the target function to be tested includes: aligning the point cloud projection with the calibrated point cloud projection; calculating the similarity measure value between the point cloud projection and the calibrated point cloud projection; and determining the test result of the function to be tested based on the similarity measure value and a second set value.

[0020] In a third aspect, the present application provides a laser radar quality inspection device, applied to the control unit described in any one of the first aspects, the laser radar quality inspection device comprising:

[0021] An acquisition module is used to acquire the measurement data collected by the laser radar to be tested through a communication interface;

[0022] A processing module is used to perform quality inspection on the laser radar to be tested based on the measurement data to obtain the quality inspection result of the laser radar to be tested;

[0023] The sending module is used to send the quality inspection results to the host computer.

[0024] In a fourth aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0025] Memory for storing computer-executable instructions;

[0026] A processor, configured to execute computer-executable instructions stored in a memory to implement any one of the methods described in the first aspect.

[0027] In a fifth aspect, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed, they are used to implement the methods described in any two of the second aspect.

[0028] In a sixth aspect, the present application provides a computer program product, including a computer program, which implements any method in the second aspect when executed.

[0029] The quality inspection fixture and laser radar quality inspection method provided by the present application, wherein the quality inspection fixture includes: a communication interface; a control unit, which is used to obtain the measurement data collected by the laser radar to be tested through the communication interface, and to perform quality inspection on the laser radar to be tested based on the measurement data, and to send the quality inspection results to the host computer; a host computer, which is used to display the quality inspection results. The present application automatically obtains the measurement data collected by the laser radar to be tested through the quality inspection fixture, and automatically analyzes the measurement data to obtain the quality inspection results of the laser radar to be tested, thereby greatly improving the detection efficiency, reducing the problem of low efficiency of manual detection, and reducing the cost of manpower input. In addition, the automated detection method can systematize and standardize the detection process. The entire detection process does not require human participation and automatically generates quality inspection results, reducing the reliance on manual operations, thereby reducing the incidence of human errors, and thus improving the accuracy and reliability of quality inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0031] Figure 1 A schematic diagram of an application scenario of a quality inspection fixture provided for an exemplary embodiment of the present application;

[0032] Figure 2 A structural schematic diagram of a quality inspection fixture provided for an exemplary embodiment of the present application;

[0033] Figure 3 Another structural schematic diagram of a quality inspection fixture provided for an exemplary embodiment of the present application;

[0034] Figure 4 A schematic diagram of a process flow of a laser radar quality inspection method provided for an exemplary embodiment of the present application;

[0035] Figure 5 A schematic diagram of a structure of a laser radar quality inspection system provided for an exemplary embodiment of the present application;

[0036] Figure 6 A schematic diagram of a structure of a laser radar quality inspection device provided for an exemplary embodiment of the present application;

[0037] Figure 7 A schematic diagram of the structure of an electronic device provided for an exemplary embodiment of the present application.

[0038] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0039] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0040] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and need not be used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable in appropriate circumstances, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, the process, system, product or equipment comprising a series of steps or units need not be limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, products or equipment.

[0041] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0042] In the related art, when relying on manual quality inspection of laser radar, the quality inspectors usually check the power-on status, collected data, point cloud projection and other aspects of the laser radar in turn according to the inspection requirements, and rely on manual work to determine whether each aspect meets the inspection requirements and manually record the quality inspection results. However, since the process is cumbersome and time-consuming, especially in mass production, the efficiency is extremely low and the manpower input cost is high. In addition, due to the different experience and skill levels of different inspectors during manual inspection, and the large amount of repetitive work in manual inspection, it is easy to cause fatigue and decreased concentration of inspectors, making manual inspection prone to errors, which in turn affects the performance and reliability of the product. Moreover, manual inspection relies on the subjective judgment of the inspectors, and there may be differences in the inspection results, which makes it difficult to ensure the consistency and reliability of the inspection results, further reducing the inspection efficiency and the accuracy of the inspection results.

[0043] In order to solve the above problems, the embodiment of the present application provides a quality inspection solution for laser radars. By designing a quality inspection fixture with an automated detection function, the measurement data collected by the laser radar to be tested is automatically obtained, and the laser radar to be tested is automatically inspected based on the measurement data and the quality inspection results are automatically generated, and the quality inspection results are sent to the host computer to realize the automated inspection of the laser radar to be tested, thereby greatly improving the inspection efficiency, reducing the problem of low efficiency of manual inspection, and reducing the cost of manpower input. In addition, automated inspection can systematize and standardize the inspection process, reduce the dependence on manual operation, thereby reducing the incidence of human errors, and thus improving the accuracy and reliability of quality inspection.

[0044] Figure 1 Schematic diagram of application scenarios of the quality inspection fixture provided by the exemplary embodiment of the present application. Figure 1 As shown in the figure, the application scenario includes a quality inspection fixture, a laser radar to be tested, a target reference object and a power supply, wherein the power supply is used to power the laser radar to be tested. In actual applications, when performing quality inspection on the laser radar to be tested, the laser radar to be tested uses a laser beam to scan the target reference object, and the quality inspection fixture analyzes the measurement data of the laser radar to be tested, thereby obtaining the quality inspection result for the laser radar to be tested. Among them, the distance between the target reference object and the laser radar to be tested remains unchanged.

[0045] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0046] Figure 2 A structural schematic diagram of a quality inspection fixture provided by an exemplary embodiment of the present application. Figure 2 As shown, the quality inspection fixture 20 includes:

[0047] Communication interface 21;

[0048] The control unit 22 is used to obtain the measurement data collected by the laser radar to be tested through the communication interface 21, and perform quality inspection on the laser radar to be tested based on the measurement data, and send the quality inspection result to the upper computer 23;

[0049] The host computer 23 is used to display the quality inspection results.

[0050] Optionally, the communication interface 21 is a wired interface or a wireless interface, wherein the wired interface includes but is not limited to Universal Serial Bus (USB) and Ethernet, etc., and the wireless interface includes but is not limited to Wi-Fi and Bluetooth, etc. It should be noted that in actual applications, the communication interface 21 can be specifically selected according to the interface type of the laser radar to be tested; the control unit 22 can be specifically a micro control unit (MCU), etc.

[0051] Correspondingly, the communication interface 21 in the quality inspection fixture 20 is connected Figure 1 The laser radar to be tested is placed in front of the laser radar to be tested, and the laser radar to be tested uses a laser beam to perform a scanning test on the target reference object, wherein the scanning test includes but is not limited to the position, intensity and posture of the target reference object. Correspondingly, the control unit 22 obtains the measurement data collected by the laser radar to be tested through the communication interface 21.

[0052] For example, Table 1 is an example of the data format of measurement data provided by an exemplary embodiment of the present application.

[0053] Table 1

[0054]

[0055] As shown in Table 1, the measurement data is stored in different fields according to the data format. Among them, each of the 12 groups of data packets is 100 bytes, totaling 1200 bytes. For example, Table 2 is an example of the data format of the data packet provided by the exemplary embodiment of the present application.

[0056] Table 2

[0057]

[0058] Among them, each group of 100 bytes in Table 1 includes the starting identifier of the 2-byte data packet in Table 2 (i.e., "0xFFEE"), a 2-byte rotation angle (i.e., current angle) value, and continuous 32*(2-byte distance value + 1-byte reflection intensity value) bytes of distance information, of which 32*3 bytes are the detection information obtained twice by the laser radar to be tested.

[0059] It should be noted that, for the 12 groups of data packets in Table 1, the 12 groups of data packets can also be divided into 10 groups of data packets, that is, each group of data packets is 120 bytes. The definition of the data format shown in Table 1 and Table 2 is only an example, and there is no limit on the number of packets with 1200 bytes of data content.

[0060] Furthermore, the control unit 22 parses the measurement data according to the data format shown in Table 1 and Table 2, and analyzes it according to preset rules, so as to obtain the quality inspection result for the laser radar to be tested, and sends the quality inspection result to the host computer 23.

[0061] Correspondingly, the host computer 23 displays the status of quality inspection passing or quality inspection failing, and related detailed information, such as the reason for quality inspection failure, according to the quality inspection result. The host computer 23 can be connected to the control unit 22 in the quality inspection fixture 20 through a Universal Asynchronous Receiver-Transmitter (UART) serial port.

[0062] The quality inspection fixture provided in the embodiment of the present application automatically obtains the measurement data collected by the laser radar to be tested, and automatically analyzes the measurement data to obtain the quality inspection results of the laser radar to be tested, thereby greatly improving the detection efficiency, reducing the problem of low efficiency of manual detection, and reducing the cost of manpower input. In addition, the automated detection method can systematize and standardize the detection process. The entire detection process does not require human participation and automatically generates quality inspection results, reducing the influence and limitations of factors such as the difficulty of detection, the experience, skill level, subjective judgment, human eye fatigue and attention of the detection personnel, thereby reducing the incidence of human errors and improving the accuracy and reliability of quality inspection.

[0063] In some embodiments, the communication interface is an Ethernet interface; the quality inspection fixture is connected to the laser radar to be tested via the Ethernet interface.

[0064] For example, the Ethernet interface is an RJ45 interface, which is used to connect to the laser radar to be tested through an Ethernet cable, ensuring that the Internet Protocol (IP) addresses of the quality inspection fixture and the laser radar to be tested are in the same network segment, and is responsible for transmitting electrical signals to the Ethernet chip set in the quality inspection fixture. The Ethernet chip is connected to the Ethernet interface, and the Ethernet chip is responsible for processing the conversion of electrical signals and the processing of data packets. Among them, the Ethernet chip usually includes a physical layer (PHY) and a media access control layer (MAC).

[0065] Correspondingly, when the quality inspection fixture needs to send data, the control unit passes the data to the Ethernet chip, the MAC layer encapsulates the data into Ethernet frames, and converts them into electrical signals through the PHY layer, and sends them to, for example, the laser radar to be tested through the Ethernet interface; when the quality inspection fixture receives data, the electrical signal enters the Ethernet chip through the Ethernet interface, the PHY layer converts the signal into digital data, the MAC layer decapsulates and detects errors in the data, and passes valid data such as measurement data to the control unit.

[0066] In the embodiment of the present application, stable and efficient data communication can be achieved through the Ethernet interface, providing a reliable basis for the communication between the quality inspection fixture and the laser radar, thereby improving the reliability of the quality inspection results; in addition, the Ethernet interface is a widely used standardized interface that is compatible with a variety of devices and systems, making it easy for the quality inspection fixture to connect and communicate with different models of laser radars to be tested.

[0067] In some embodiments, the quality inspection fixture also includes: a power supply component, a clock component and a storage component: the power supply component is used to provide power to the quality inspection fixture; the clock component is used to provide a clock source for the quality inspection fixture; the storage component is used to store measurement data, calibrated measurement data and calibrated point cloud projections; the control unit is also used to determine the quality inspection results of the laser radar to be tested based on the measurement data, calibrated measurement data and calibrated point cloud projections.

[0068] For example, Figure 3 Another structural schematic diagram of the quality inspection fixture provided by the exemplary embodiment of the present application. Figure 3 As shown, the quality inspection fixture 20 also includes: a power supply component 24 , a clock component 25 and a storage component 26 .

[0069] Among them, the power supply component 24 is used to provide a stable power supply for the entire quality inspection fixture system. Optionally, the power supply component 24 can use a rechargeable battery or an external power adapter to ensure that continuous power support can be provided in different working environments; the clock component 25 is used to provide an accurate time reference for the quality inspection fixture. This component can use, for example, a high-precision real-time clock chip to ensure that the timestamp of the measurement data is accurate, thereby improving the reliability and traceability of the measurement data; the storage component 26 is used to store measurement data, calibrated measurement data, and calibrated point cloud projections, etc. This component can use a non-volatile memory, such as Flash Memory (Flash for short) or a solid state drive (SSD for short) to ensure data security and reliability.

[0070] For example, before the quality inspection of the laser radar to be tested, the laser radar that has passed the quality inspection is calibrated. Figure 1 The connection method and Figure 3The quality inspection fixture 20 in the calibration is connected to ensure that the IP addresses of the laser radar that has passed the calibration quality inspection and the quality inspection fixture 20 are in the same network segment, and the distance, angle, etc. between the target reference object and the laser radar that has passed the calibration quality inspection are set according to the preset requirements; the laser radar that has passed the calibration quality inspection uses a laser beam to scan the target reference object, and transmits the measurement data such as the position, intensity and posture of the target reference object to the quality inspection fixture 20 through the Ethernet transmission channel, and stores it in the storage component 26 as calibration measurement data; in addition, point cloud playback software is also deployed on the quality inspection fixture 20, and the quality inspection fixture 20 plays the image of the point cloud through the point cloud playback software, and stores the corresponding point cloud projection as the calibration point cloud projection in the storage component 26.

[0071] Correspondingly, when performing the quality inspection of the laser radar to be tested, the control unit 22 is used to determine the quality inspection result of the laser radar to be tested based on the measurement data of the laser radar to be tested, the calibration measurement data of the laser radar that has passed the calibration quality inspection, and the calibration point cloud projection stored in the storage component 26. For example, the control unit 22 compares the rotation angle, distance, reflection intensity and other values ​​in the measurement data with the rotation angle, distance, reflection intensity and other values ​​in the calibration measurement data; if the comparison result is within the error range, it is considered that the quality inspection has passed; if the comparison result exceeds the error range, it is considered that the quality inspection has failed; the error range is, for example, -3% to 3%.

[0072] It should be noted that Figure 3 The power supply component 24, clock component 25 and storage component 26 shown can be set in the quality inspection fixture 20 independently of the control unit 22, or can be integrated in the control unit 22. The setting position of each component in the quality inspection fixture 20 is not limited here.

[0073] In the embodiment of the present application, by setting a power supply component, a clock component and a storage component in the quality inspection fixture, and by the coordinated work of each component, the stability, accuracy and efficiency of the laser radar quality inspection process are significantly improved, providing a strong guarantee for ensuring the measurement performance and quality of the laser radar. In addition, the quality inspection fixture is simple in design and easy to operate, thereby further improving the efficiency of quality inspection.

[0074] Figure 4 A schematic diagram of a process flow of a laser radar quality inspection method provided by an exemplary embodiment of the present application. The laser radar quality inspection method provided by the embodiment of the present application is applied to a control unit described in any of the above embodiments. Figure 4 As shown, the laser radar quality inspection method includes the following steps:

[0075] S401. Acquire measurement data collected by the laser radar to be tested through a communication interface.

[0076] For example, Figure 5A schematic diagram of a structure of a laser radar quality inspection system provided by an exemplary embodiment of the present application. Figure 5 As shown, the communication interface in the quality inspection fixture is connected to the laser radar to be tested, the target reference object is placed in front of the laser radar to be tested, and the laser radar to be tested uses a laser beam to perform a scanning test on the target reference object, wherein the scanning test includes but is not limited to the position, intensity and posture of the target reference object. Correspondingly, the control unit obtains the measurement data collected by the laser radar to be tested through the communication interface.

[0077] S402: Perform quality inspection on the laser radar to be tested based on the measurement data to obtain a quality inspection result of the laser radar to be tested.

[0078] For example, the control unit parses the measurement data according to the data formats shown in Table 1 and Table 2, and analyzes it according to preset rules to obtain the quality inspection results for the laser radar to be tested.

[0079] S403: Send the quality inspection result to the host computer.

[0080] Correspondingly, the host computer displays the status of quality inspection qualified or unqualified according to the quality inspection result, as well as relevant detailed information, such as the reason for the quality inspection failure.

[0081] The embodiment of the present application automatically obtains the measurement data collected by the laser radar to be tested, and automatically analyzes the measurement data to obtain the quality inspection result of the laser radar to be tested, thereby greatly improving the detection efficiency, reducing the problem of low efficiency of manual detection, and reducing the cost of manpower input. In addition, the entire detection process does not require human participation and automatically generates quality inspection results, which can reduce the incidence of human errors and thus improve the accuracy and reliability of quality inspection.

[0082] In some embodiments, a quality inspection is performed on the laser radar to be tested based on the measurement data to obtain a quality inspection result of the laser radar to be tested: including: for each of the multiple functions to be tested of the laser radar to be tested, based on the measurement data and the preset target corresponding to the function to be tested, determining the test result of the function to be tested; according to the test result corresponding to each function to be tested, determining the quality inspection result of the laser radar to be tested, and the quality inspection result includes the test results corresponding to the multiple functions to be tested.

[0083] For example, the multiple functions to be tested include power-on status, data collection, and point cloud projection. The following are the specific implementation methods for testing the multiple functions to be tested of the laser radar to be tested:

[0084] In one implementation, multiple functions to be tested of the laser radar to be tested are tested simultaneously, and a preset target corresponding to each of the multiple functions to be tested is obtained. At the same time, based on the measurement data and the preset target corresponding to each function to be tested, the test result of each function to be tested is determined, and the test results include test pass and test fail; and based on the test result corresponding to each function to be tested, the quality inspection result of the laser radar to be tested is determined, and the quality inspection result includes the test results corresponding to the multiple functions to be tested.

[0085] In another implementation method, quality inspection tests are performed in sequence on multiple functions to be tested of the laser radar to be tested according to a preset test order. For each function to be tested, the test result of the function to be tested is determined based on the measurement data and the preset target corresponding to each function to be tested. If the test of the target function to be tested fails, the quality inspection of the laser radar to be tested is terminated, and the function to be tested that failed the test and the error message of the test failure are displayed on the host computer. If the test of the target function to be tested passes, the test of the next function to be tested of the laser radar to be tested is continued. When multiple functions to be tested are tested, the quality inspection result of the laser radar to be tested is displayed on the host computer, and the quality inspection result includes the test results corresponding to the multiple functions to be tested.

[0086] In some embodiments, if the target function to be tested is in a power-on state, the preset target is a first set value that characterizes the power-on state of the laser radar to be tested; based on the measurement data and the preset target corresponding to the function to be tested, the test result of the function to be tested is determined, including: obtaining first target test data associated with the power-on state in the measurement data; based on the first target test data and the first set value, determining the test result of the target function to be tested.

[0087] For example, if the target function to be tested is in the power-on state, the preset target is the first set value that characterizes the power-on state of the laser radar to be tested, for example, "0x20". Correspondingly, according to the data format example of the measurement data shown in Table 1, the measurement data is parsed to obtain the first target test data associated with the power-on state in the measurement data (i.e., the field where the 1-byte power-on indication in Table 1 is located); if the first target test data is "0x20", the first target test data is consistent with the first set value, indicating that the power-on state test has passed; if the first target test data is not "0x20", the first target test data is inconsistent with the first set value, indicating that the power-on state test has failed, and the quality inspection of the laser radar to be tested is terminated, and the error message of the power-on state test failure is displayed on the host computer. Furthermore, the quality inspector can further analyze the reason for the failure of the power-on state test based on the error message.

[0088] In the embodiment of the present application, by acquiring the target test data associated with the power-on status in the measurement data, it is possible to determine whether the power-on status test of the laser radar to be tested has passed only through simple comparison, thereby simplifying the processing process and improving the detection efficiency.

[0089] In some embodiments, if the target function to be tested is to collect data, the preset target is the calibration measurement data of the target reference object, and the calibration measurement data includes the calibration position, calibration angle and calibration speed; based on the measurement data and the preset target corresponding to the function to be tested, the test result of the function to be tested is determined, including: obtaining second target test data associated with the target reference object in the measurement data, the second target test data includes the measured position, measured angle and measured speed; based on the numerical relationship between the measured position and the calibrated position, the measured angle and the calibrated angle, and the measured speed and the calibrated speed, respectively, the test result of the target function to be tested is determined.

[0090] For example, still refer to Figure 5 The control unit in the quality inspection fixture compares the measurement data of the target reference object stored in the storage component with the calibration measurement data, and identifies the measured position, measured angle and measured speed of the target reference object in the measurement data, as well as the calibrated position, calibrated angle and calibrated speed of the target reference object in the calibration measurement data according to the data format shown in Table 1; further compares the measured position with the calibrated position, the measured angle with the calibrated angle, the measured speed with the calibrated speed, etc.; if the comparison results corresponding to the measured position and the calibrated position, the measured angle with the calibrated angle, the measured speed with the calibrated speed, etc. are all within the preset error range, it is considered that the target function test has passed; if any comparison result of the measured position and the calibrated position, the measured angle with the calibrated angle, the measured speed with the calibrated speed, etc. exceeds the error range, it is considered that the target function test has failed; wherein the error range is, for example, -3%~3%. Correspondingly, the test results corresponding to the target function to be tested are displayed on the host computer. If the angle test fails, the angle test fails or "FAIL" is printed; if the angle test passes, the angle test passes or "SUCCESS" is printed.

[0091] In the embodiment of the present application, by comparing the actual measurement data of the laser radar to be tested with the calibrated measurement data of the laser radar that has passed the calibration quality inspection, not only the position but also the data of multiple dimensions such as angle and speed are considered, thereby ensuring a comprehensive analysis of the performance of the laser radar to be tested. This comparison can identify slight deviations and can accurately determine whether the measurement data collected by the laser radar to be tested is lost, whether the values ​​such as position, angle and speed in the measurement data are accurate, etc., thereby improving the efficiency and accuracy of quality inspection.

[0092] In some embodiments, if the target function to be tested is a point cloud projection, the preset target is a calibrated point cloud projection of the target reference object; based on the measurement data and the preset target corresponding to the function to be tested, the test result of the function to be tested is determined, including: obtaining third target test data associated with the target reference object in the measurement data, the third target test data including the direction, color, classification and intensity of the target reference object; based on the third target test data, generating a point cloud projection of the third target test data; based on the point cloud projection and the calibrated point cloud projection, determining the test result of the target function to be tested.

[0093] For example, the third target test data associated with the target reference object in the measurement data is identified according to the data format shown in Table 1, and the point cloud projection of the third target test data is generated by the point cloud playback software deployed on the quality inspection fixture, wherein the third target test data includes the direction, color, classification value, intensity value and time of the X / Y / Z axis, and the corresponding point cloud projection is, for example, -0.41025 -2.0806 8.00981 55 52 44 65; further, the point cloud projection is compared with the calibration point cloud projection, and the point cloud projection is judged according to the preset rules whether there are noise points, whether the point cloud image is clear, etc., so as to obtain the test result corresponding to the target function to be tested. Accordingly, the test result corresponding to the target function to be tested is displayed on the host computer, and if the point cloud projection test fails, the point cloud projection test fails or "FAIL" is printed; if the point cloud projection test passes, the point cloud projection test passes or "SUCCESS" is printed.

[0094] In the embodiment of the present application, by comparing the point cloud projection obtained by actual measurement with the calibration point cloud projection, the quality of the laser radar to be tested in point cloud generation and projection can be accurately evaluated. This comparison can identify subtle deviations in the point cloud data, thereby improving the accuracy of quality inspection. In addition, through multi-dimensional analysis, not only the spatial position of the point cloud is considered, but also multiple attributes such as direction, color, classification and intensity, ensuring a comprehensive evaluation of the quality of the point cloud data, further improving the accuracy and reliability of quality inspection.

[0095] Based on the above embodiments, in some embodiments, the test result of the target function to be tested is determined based on the point cloud projection and the calibrated point cloud projection, including: aligning the point cloud projection with the calibrated point cloud projection; calculating the similarity measure value between the point cloud projection and the calibrated point cloud projection; and determining the test result of the function to be tested based on the similarity measure value and a second set value.

[0096] For example, the Iterative Closest Point (ICP) algorithm or other suitable point cloud registration algorithm is used to align the point cloud projection generated by the laser radar to be tested with the calibration point cloud projection, so that the two point clouds are aligned and overlapped as much as possible in space; and the similarity metric between the point cloud projection and the calibration point cloud projection is calculated, and the similarity metric can be obtained by calculating the Euclidean distance between the two point clouds, the proportion of overlapping points, or other suitable similarity indicators. The similarity metric is used to quantify the similarity between the two point clouds.

[0097] Furthermore, the calculated similarity metric value is compared with a preset second setting value (e.g., 95%); if the similarity metric value is greater than or equal to 95%, it is considered that the similarity and alignment between the point cloud projection and the calibration point cloud projection are sufficiently high, and the test result of the function to be tested is passed; if the similarity metric value is less than 95%, it is considered that the similarity between the point cloud projection and the calibration point cloud projection is insufficient, and the test result of the function to be tested is failed. It should be noted that the second setting value can be set according to quality inspection requirements or industry standards, and the above 95% is only an example, and the specific value corresponding to the second setting value is not limited here.

[0098] In the embodiment of the present application, by calculating the similarity measure value, the similarity between two point clouds can be quantified. The similarity measure value can provide an objective evaluation standard to evaluate the performance of the laser radar to be tested, so that the quality inspection results of the laser radar to be tested are more reliable and repeatable, thereby improving the accuracy and reliability of the quality inspection.

[0099] In summary, this application has at least the following advantages:

[0100] 1. By automatically acquiring the measurement data collected by the laser radar to be tested and automatically analyzing the measurement data, the quality inspection results of the laser radar to be tested are obtained, thereby greatly improving the inspection efficiency, reducing the problem of low efficiency of manual inspection, and reducing the cost of manpower input. In addition, the automated inspection method can systematize and standardize the inspection process. The entire inspection process does not require human participation and automatically generates quality inspection results, reducing the influence and limitations of factors such as the difficulty of inspection, the experience, skill level, subjective judgment, human eye fatigue and attention of the inspectors, thereby reducing the incidence of human errors and improving the accuracy and reliability of quality inspection.

[0101] 2. By setting up power supply components, clock components and storage components in the quality inspection fixture and through the coordinated work of various components, the stability, accuracy and efficiency of the laser radar quality inspection process are significantly improved, providing a strong guarantee for ensuring the measurement performance and quality of the laser radar.

[0102] 3. By automatically comparing the actual measurement data of the laser radar to be tested with the calibration measurement data of the laser radar that has passed the calibration quality inspection, and comparing the point cloud projection obtained by the actual measurement with the calibration point cloud projection, etc., a comprehensive analysis of the performance of the laser radar to be tested is ensured. This comparison can identify tiny deviations and can accurately and comprehensively determine whether the laser radar to be tested meets the quality inspection requirements, thereby improving the efficiency and accuracy of quality inspection.

[0103] Figure 6 A schematic diagram of a structure of a laser radar quality inspection device provided by an exemplary embodiment of the present application. Figure 6 As shown, the laser radar quality inspection device 60 includes an acquisition module 61, a processing module 62 and a sending module 63, wherein:

[0104] An acquisition module 61 is used to acquire measurement data collected by the laser radar to be tested through a communication interface;

[0105] A processing module 62 is used to perform quality inspection on the laser radar to be tested based on the measurement data to obtain a quality inspection result of the laser radar to be tested;

[0106] The sending module 63 is used to send the quality inspection result to the host computer.

[0107] In a possible implementation, the processing module 62 can be specifically used to: determine the test result of each of the multiple functions to be tested of the laser radar to be tested based on the measurement data and the preset target corresponding to the function to be tested; determine the quality inspection result of the laser radar to be tested according to the test result corresponding to each function to be tested, and the quality inspection result includes the test results corresponding to the multiple functions to be tested.

[0108] In one possible implementation, if the target function to be tested is in a power-on state, the preset target is a first set value that characterizes the power-on state of the laser radar to be tested; the processing module 62 can also be used to: obtain first target test data associated with the power-on state in the measurement data; and determine the test result of the target function to be tested based on the first target test data and the first set value.

[0109] In one possible implementation, if the target function to be tested is to collect data, the preset target is the calibration measurement data of the target reference object, and the calibration measurement data includes the calibration position, calibration angle and calibration speed; the processing module 62 can also be used to: obtain second target test data associated with the target reference object in the measurement data, and the second target test data includes the measured position, measured angle and measured speed; based on the numerical relationship between the measured position and the calibrated position, the measured angle and the calibrated angle, and the measured speed and the calibrated speed, respectively, determine the test result of the target function to be tested.

[0110] In one possible implementation, if the target function to be tested is a point cloud projection, the preset target is a calibrated point cloud projection of a target reference object; the processing module 62 can also be used to: obtain third target test data associated with the target reference object in the measurement data, the third target test data including the direction, color, classification and intensity of the target reference object; based on the third target test data, generate a point cloud projection of the third target test data; based on the point cloud projection and the calibrated point cloud projection, determine the test result of the target function to be tested.

[0111] In a possible implementation, the processing module 62 may also be used to: align the point cloud projection with the calibration point cloud projection; calculate a similarity measure between the point cloud projection and the calibration point cloud projection; and determine a test result of the function to be tested based on the similarity measure and a second set value.

[0112] The laser radar quality inspection device provided in the embodiment of the present application can execute the technical solution shown in the above-mentioned laser radar quality inspection method embodiment. Its implementation principle and beneficial effects are similar and will not be repeated here.

[0113] It should be noted that it should be understood that the division of the various modules of the above device is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. And these modules can all be implemented in the form of software called by processing elements; they can also be all implemented in the form of hardware; some modules can also be implemented in the form of software called by processing elements, and some modules can be implemented in the form of hardware. For example, the processing module can be a separately established processing element, or it can be integrated in a chip of the above device. In addition, it can also be stored in the memory of the above device in the form of program code, and called and executed by a processing element of the above device. The implementation of other modules is similar. In addition, these modules can be fully or partially integrated together, or they can be implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each module above can be completed by an integrated logic circuit of hardware in the processor element or instructions in the form of software.

[0114] For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as one or more application specific integrated circuits (ASIC), or one or more microprocessors (DSP), or one or more field programmable gate arrays (FPGA). For another example, when a module above is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0115] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loading and executing computer instructions on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (Digital Subscriber Line, referred to as DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, Digital Video Discs (DVDs)), or semiconductor media (eg, solid state disks (SSDs)).

[0116] Figure 7 The schematic diagram of the structure of the electronic device provided by the exemplary embodiment of the present application. Figure 7 As shown, the electronic device 70 of this embodiment includes:

[0117] At least one processor 71; and a memory 72 communicatively connected to the at least one processor;

[0118] The memory 72 stores instructions that can be executed by the at least one processor 71, and the instructions are executed by the at least one processor 71 to enable the electronic device to execute the method described in any of the above embodiments.

[0119] Optionally, the memory 72 may be independent or integrated with the processor 71 .

[0120] The memory 72 may include a high-speed random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0121] The processor 71 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. Specifically, when implementing the laser radar quality inspection method described in the aforementioned method embodiment, the electronic device may be, for example, an electronic device with processing functions such as a server.

[0122] Optionally, the electronic device may further include a communication interface 73. In a specific implementation, if the communication interface 73, the memory 72 and the processor 71 are implemented independently, the communication interface 73, the memory 72 and the processor 71 may be interconnected through a bus and communicate with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc., but it does not mean that there is only one bus or one type of bus.

[0123] Optionally, in a specific implementation, if the communication interface 73, the memory 72 and the processor 71 are integrated on a chip, the communication interface 73, the memory 72 and the processor 71 can communicate through an internal interface.

[0124] The implementation principle and technical effects of the electronic device provided in this embodiment can be found in the aforementioned embodiments and will not be described in detail here.

[0125] An embodiment of the present application also provides a computer-readable storage medium, in which computer execution instructions are stored. When the computer execution instructions are executed, they are used to implement the method steps in the above method embodiment. The specific implementation method and technical effect are similar and will not be repeated here.

[0126] The above-mentioned computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable programmable read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0127] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in a dedicated integrated circuit. Of course, the processor and the readable storage medium can also exist as discrete components in the laser radar quality inspection device.

[0128] The embodiment of the present application also provides a computer program product, including a computer program. When the computer program is executed, the method steps in the above method embodiment are implemented. The specific implementation method and technical effect are similar and will not be repeated here.

[0129] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0130] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A quality inspection fixture, characterized in that: include: Communication interface; A control unit, configured to obtain measurement data collected by the laser radar to be tested through the communication interface, perform quality inspection on the laser radar to be tested based on the measurement data, and send the quality inspection result to the upper computer; The host computer is used to display the quality inspection results.

2. The quality inspection fixture according to claim 1, characterized in that: The communication interface is an Ethernet interface; the quality inspection fixture is connected to the laser radar to be tested through the Ethernet interface.

3. The quality inspection fixture according to claim 1 or 2, characterized in that: The quality inspection fixture also includes: Power supply components, clock components and storage components: The power supply component is used to provide power to the quality inspection fixture; The clock component is used to provide a clock source for the quality inspection fixture; The storage component is used to store the measurement data, calibration measurement data and calibration point cloud projection; The control unit is also used to determine the quality inspection result of the laser radar to be tested based on the measurement data, the calibration measurement data and the calibration point cloud projection.

4. A laser radar quality inspection method, characterized in that: Applied to the control unit according to any one of claims 1 to 3, the laser radar quality inspection method comprises: Acquire measurement data collected by the laser radar to be tested through the communication interface; Performing quality inspection on the laser radar to be tested based on the measurement data to obtain a quality inspection result of the laser radar to be tested; Send the quality inspection result to the host computer.

5. The laser radar quality inspection method according to claim 4, characterized in that: The quality inspection of the laser radar to be tested based on the measurement data to obtain the quality inspection result of the laser radar to be tested includes: For each function to be tested among the multiple functions to be tested of the laser radar to be tested, based on the measurement data and a preset target corresponding to the function to be tested, determining a test result of the function to be tested; According to the test result corresponding to each function to be tested, the quality inspection result of the laser radar to be tested is determined, and the quality inspection result includes the test results corresponding to the multiple functions to be tested.

6. The laser radar quality inspection method according to claim 5, characterized in that: If the target function to be tested is in a power-on state, the preset target is a first set value representing the power-on state of the laser radar to be tested; The determining a test result of the function to be tested based on the measurement data and a preset target corresponding to the function to be tested includes: Acquire first target test data associated with the power-on state in the measurement data; A test result of the target function to be tested is determined based on the first target test data and the first setting value.

7. The laser radar quality inspection method according to claim 5, characterized in that: If the function of the target to be tested is to collect data, the preset target is the calibration measurement data of the target reference object, and the calibration measurement data includes a calibration position, a calibration angle and a calibration speed; The determining, based on the measurement data and a preset target corresponding to the function to be tested, a test result of the function to be tested, comprises: Acquire second target test data associated with the target reference object in the measurement data, wherein the second target test data includes a measured position, a measured angle, and a measured speed; The test result of the target function to be tested is determined based on the numerical relationships respectively corresponding to the measured position and the calibrated position, the measured angle and the calibrated angle, and the measured speed and the calibrated speed.

8. The laser radar quality inspection method according to claim 5, characterized in that: If the target function to be tested is a point cloud projection, the preset target is a calibrated point cloud projection of a target reference object; and determining a test result of the function to be tested based on the measurement data and the preset target corresponding to the function to be tested includes: Acquire third target test data associated with the target reference object in the measurement data, wherein the third target test data includes direction, color, classification and intensity of the target reference object; Based on the third target test data, generating a point cloud projection of the third target test data; Based on the point cloud projection and the calibration point cloud projection, a test result of the target function to be tested is determined.

9. The laser radar quality inspection method according to claim 8, characterized in that: The step of determining the test result of the target function to be tested based on the point cloud projection and the calibration point cloud projection includes: Aligning the point cloud projection with the calibration point cloud projection; Calculating a similarity measure between the point cloud projection and the calibration point cloud projection; Based on the similarity measurement value and a second set value, a test result of the function to be tested is determined.

10. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory is used to store computer-executable instructions; The processor is used to execute the computer-executable instructions to implement the method according to any one of claims 4 to 9.

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