Data acquisition device for constructing laser radar point cloud simulation material library

Abstract

The invention relates to a data acquisition device for constructing a laser radar point cloud simulation material library, which comprises an acquisition module and a target platform module, and is characterized in that the acquisition module comprises a laser radar device assembly and a first movable protective cover; the laser radar device assembly comprises a first profile base, a horizontal adjustment mounting plate, an electric lifting platform, a variable speed holder, a laser radar fixing bracket and a laser radar which are connected in sequence; the target table module comprises a target plate device assembly and a second movable protective cover. The target plate device assembly comprises a second profile base, a servo synchronous belt sliding block module, an electric rotating table, a material target plate fixing frame and a material target plate which are sequentially connected. The laser radar and the material target plate are located on the same straight line, and the first movable protective cover and the second movable protective cover are each of a semi-closed structure. Compared with the prior art, all-parameter automatic cooperative control is achieved, and meanwhile the material target plate is rapidly replaced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of simulation material data acquisition, in particular to a data acquisition device for constructing a laser radar point cloud simulation material library. BACKGROUND

[0002] With the rapid development of automatic driving, robot navigation and other fields, laser radar as an important environmental perception sensor has been widely used. In order to realize more accurate environmental modeling and target recognition, it is necessary to construct a high-precision laser radar point cloud simulation material library. In the field of laser radar point cloud simulation, a precise and rich material library is the key foundation for realizing high-fidelity simulation. When constructing the material library, the data acquisition device plays an indispensable role.

[0003] The existing laser radar material data acquisition equipment has many limitations, such as the high-tact data acquisition system and method for laser radar simulation disclosed in the invention with publication number CN115015890A.

[0004] From the perspective of adjustment function, the angle adjustment of part of the device depends on manual knob, the adjustment precision is low, it is difficult to accurately control the laser incidence angle, resulting in large data acquisition error, which cannot meet the demand of high-precision simulation; in terms of distance adjustment, there is lack of precise scale mark and feedback mechanism, the distance consistency is poor during different batches of acquisition, which affects the accuracy and comparability of the reflection intensity data.

[0005] In terms of material plate replacement efficiency, the traditional equipment adopts screw to fix the material plate, which needs to be disassembled and installed with the help of tools, the operation is complicated and time-consuming, and it often takes more than 10 minutes for single replacement, which greatly limits the efficiency of multi-material batch acquisition, and cannot meet the requirements of rapid construction of large-scale material library.

[0006] From the degree of automation, the parameter adjustment of most existing acquisition devices needs manual operation, the parameter adjustment functions are independent of each other, lack of cooperative control mechanism, it is difficult to realize the synchronous automatic adjustment of multiple parameters, and it is difficult to complete the material data acquisition under complex working conditions efficiently, and it is difficult to adapt to diversified simulation application scenarios.

[0007] In addition, in the structural design of the existing acquisition equipment, the module integration degree is low, and the layout of each functional component is scattered, resulting in large equipment volume, difficult maintenance, and poor compatibility and interchangeability between different equipment, which cannot meet the standardized and automated material library construction requirements.

[0008] Therefore, it is urgent to develop a data acquisition device that can overcome the above-mentioned defects, to realize multi-angle, high-precision automatic parameter adjustment, support rapid replacement of material target plate, improve acquisition efficiency and data quality, and provide strong support for constructing high-quality laser radar point cloud simulation material library. SUMMARY

[0009] The present application aims to overcome the defects of the prior art and provide a data acquisition device for constructing a laser radar point cloud simulation material library to realize multi-angle and high-precision automatic parameter adjustment and improve acquisition efficiency and data quality.

[0010] The object of the present application can be achieved by the following technical solutions:

[0011] A data acquisition device for constructing a laser radar point cloud simulation material library, comprising: an acquisition module and a target table module, the acquisition module comprising a laser radar device assembly and a first movable protective cover, the laser radar device assembly comprising a first profile base, a horizontal adjustment mounting plate, an electric lifting platform, a variable speed holder, a laser radar fixing support and a laser radar connected in sequence, the first movable protective cover being movable and covering the laser radar device assembly;

[0012] The target table module comprises a target plate device assembly and a second movable protective cover, the target plate device assembly comprising a second profile base, a servo synchronous belt slider module, an electric rotating platform, a material target plate fixing frame and a material target plate connected in sequence, the servo synchronous belt slider module being installed on the second profile base and used to drive the electric rotating platform to move horizontally, and the second movable protective cover being movable and covering the target plate device assembly;

[0013] The laser radar and the material target plate are located on the same straight line, and the first movable protective cover and the second movable protective cover are both semi-closed structures for the laser radar to acquire point cloud data of the material target plate.

[0014] Further, the horizontal adjustment mounting plate is arranged above the first profile base and used to adjust the levelness of the upper surface of the horizontal adjustment mounting plate.

[0015] The electric lifting platform is installed on the horizontal adjustment mounting plate and used to control the vertical height of the laser radar.

[0016] The variable speed holder is arranged on the top of the electric lifting platform and used to drive the laser radar to perform horizontal rotation scanning.

[0017] The laser radar fixing support is installed on the variable speed holder and used to fix the laser radar.

[0018] Further, the first profile base and the second profile base are located on the same straight line and have a spacing within 1-10 meters.

[0019] Further, the bottom of the first profile base is calibrated in levelness by cooperating with a level.

[0020] Further, the servo synchronous belt slider module is arranged on the second profile base, and is used for realizing horizontal displacement.

[0021] The electric rotating table is installed on the slider of the servo synchronous belt slider module, and is used for controlling the rotating angle of the material target plate fixing frame.

[0022] The material target plate fixing frame is installed on the rotating platform of the electric rotating table, and is used for replacing and installing material target plates of different materials.

[0023] Further, the first movable protective cover and the second movable protective cover are both semi-closed structures with open front and rear ends, and the inner walls of the first movable protective cover and the second movable protective cover are both provided with black matt cotton, and the bottoms of the first movable protective cover and the second movable protective cover are both provided with universal wheels.

[0024] Further, the first profile base and the second profile base are both aluminum profile frame structures, and aluminum alloy corner connecting pieces are used as connecting pieces, and the bottoms of the first profile base and the second profile base are both provided with horizontal adjusting supporting legs.

[0025] Further, the material target plate fixing frame is connected with the material target plate by using a magnetic attraction type connecting mechanism or a buckle type connecting mechanism.

[0026] The material target plate is a metal material plate, a plastic material plate, a glass material plate or a ceramic material plate.

[0027] Further, the device further comprises a distributed control system, and the distributed control system comprises a central control unit and a distributed node cooperative control module which are connected with each other, and the distributed node cooperative control module is connected with the electric lifting table, the variable speed holder, the laser radar, the servo synchronous belt slider module and the electric rotating table respectively.

[0028] Further, the lifting stroke of the electric lifting table is 100 mm, and the positioning accuracy is ±0.015 mm.

[0029] The rotating angle range of the variable speed holder is 0-360°, the angle positioning accuracy is ±0.1 degree, and the rotating speed adjustable range is horizontal 0.1-20° / s and vertical 0.1-5° / s.

[0030] The servo synchronous belt slider module comprises a double guide rail installed on the second profile base and a slider slidably connected with the double guide rail, and the slider is driven by a servo motor.

[0031] The horizontal stroke of the servo synchronous belt slider module is 3000 mm, and the positioning accuracy is ±0.05 mm.

[0032] Compared with the prior art, the present application has the following advantages:

[0033] (1) The present application realizes the vertical height and horizontal rotation scanning of the laser radar by setting the electric lifting platform and variable speed holder in the collection module; realizes the horizontal displacement and rotation angle control of the material target plate, and realizes the full-parameter accurate and reliable automatic collaborative control, by setting the servo synchronous belt slider module and electric rotating table in the target table module.

[0034] By setting corresponding movable protective covers for the laser radar device assembly and the target plate device assembly, and setting black light-absorbing cotton on the inner wall, part of the light can be blocked, the influence of external light source on the collected data can be reduced, and the movable area outside all profile bases can be covered to realize comprehensive coverage.

[0035] By adopting the quick-release type material target plate fixing frame, the magnetic type connection structure or the buckle type connection mechanism, the material plate can be replaced within 30 seconds, and the problem of low replacement efficiency of the traditional screw fixing mode is solved. DETAILED DESCRIPTION

[0036] Figure 1 A module schematic view of a data collection device for constructing a laser radar point cloud simulation material library provided in the embodiment of the present application;

[0037] Figure 2 A schematic view of the overall structure of a data collection device for constructing a laser radar point cloud simulation material library provided in the embodiment of the present application;

[0038] In the figure, 1 is a collection module; 2 is a laser radar device assembly; 3 is a first movable protective cover; 4 is a target table module; 5 is a target device plate assembly; 6 is a second movable protective cover; 7 is a first profile base; 8 is a horizontal adjustment mounting plate; 9 is an electric lifting platform; 10 is a variable speed holder; 11 is a laser radar fixing bracket; 12 is a laser radar; 13 is a second profile base; 14 is a servo synchronous belt slider module; 15 is an electric rotating table; 16 is a material target plate fixing frame; 17 is a material target plate. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0040] Therefore, the following detailed description of the embodiments of the application provided in the drawings is not intended to limit the scope of the application claimed, but merely represents selected embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the application.

[0041] It should be noted that similar reference numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

[0042] In the description of the application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the application is usually placed, and are merely for the convenience of describing the application and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0043] It should be noted that the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0044] In addition, the terms "horizontal", "vertical", and the like do not mean that the components must be absolutely horizontal or vertical, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0045] Example 1

[0046] As shown in Figure 1 and Figure 2 The present embodiment provides a data acquisition device for constructing a laser radar point cloud simulation material library, which comprises: an acquisition module 1 and a target table module 4, the acquisition module 1 comprises a laser radar device assembly 2 and a first movable protective cover 3, the laser radar device assembly 2 comprises a first profile base 7, a horizontal adjustment mounting plate 8, an electric lifting platform 9, a variable speed cloud platform 10, a laser radar fixing support 11 and a laser radar 12 connected in sequence, and the first movable protective cover 3 is movable and covers the laser radar device assembly 2.

[0047] The target table module 4 comprises a target plate device assembly 5 and a second movable protective cover 6, the target plate device assembly 5 comprises a second profile base 13, a servo synchronous belt slider module 14, an electric rotating table 15, a material target plate fixing frame 16 and a material target plate 17 connected in sequence, the servo synchronous belt slider module 14 is installed on the second profile base 13 and used to drive the electric rotating table 15 to move horizontally, and the second movable protective cover 6 is movable and covers the target plate device assembly 5.

[0048] The laser radar 12 and the material target plate 17 are located on the same straight line, and the first movable protective cover 3 and the second movable protective cover 6 are both semi-closed structures, so as to collect point cloud data of the material target plate 17 by the laser radar 12.

[0049] Specifically, in the collecting module 1, the bottom of the first profile base 7 is calibrated in levelness by cooperating with a level meter through leveling foot bolts;

[0050] The horizontal adjustment mounting plate 8 is arranged above the first profile base 7 and used to adjust the levelness of the upper surface of the horizontal adjustment mounting plate 8;

[0051] The electric lifting table 9 is installed on the horizontal adjustment mounting plate 8 and used to control the vertical height of the laser radar 12; the lifting stroke of the electric lifting table 9 is 100 mm, and the positioning accuracy is ±0.015 mm;

[0052] The variable speed holder 10 is arranged on the top of the electric lifting table 9 and used to drive the laser radar 12 to perform horizontal rotation scanning; the rotation angle range of the variable speed holder 10 is 0-360°, the angle positioning accuracy is ±0.1°, and the rotation speed is adjustable in the range of 0.1-20° / s horizontally and 0.1-5° / s vertically;

[0053] The laser radar fixing support 11 is installed on the variable speed holder 10 and used to fix the laser radar 12.

[0054] Specifically, in the embodiment, the first profile base 7 is provided with horizontal adjustment feet at the bottom, the horizontal adjustment mounting plate 8 is provided with fine adjustment bolts and a level meter, the electric lifting table 9 utilizes a stepping motor and a ball screw to achieve a lifting stroke of 100 mm and vertical adjustment accuracy of ±0.015 mm, the variable speed holder 10 realizes 0-360° rotation and ±0.1° horizontal rotation accuracy through a servo motor and a harmonic gear transmission, and the laser radar fixing support 11 is internally provided with multiple mounting holes and is suitable for multiple laser radars; the inner wall of the first movable protective cover 3 is provided with a layer of black light-absorbing cotton, which can block part of light and reduce the influence of external light sources on collected data.

[0055] The first profile base 7 and the second profile base 13 are located on the same straight line and have a spacing within the range of 1-10 meters.

[0056] In the target table module 4, the servo synchronous belt slider module 14 is arranged on the second profile base 13 for horizontal displacement; the servo synchronous belt slider module 14 includes a double guide rail mounted on the second profile base 13 and a slider slidably connected to the double guide rail, which is driven by a servo motor; the horizontal stroke of the servo synchronous belt slider module 14 is 3000mm, and the positioning accuracy is ±0.05mm;

[0057] The electric rotating table 15 is installed on the slider of the servo synchronous belt slider module 14 for controlling the rotation angle of the material target plate fixing frame 16.

[0058] The material target plate fixing frame 16 is installed on the rotating platform of the electric rotating table 15 for replacing and installing material target plates 17 of different materials.

[0059] The quick-release material target plate fixing frame 16 includes a magnetic attraction type connecting mechanism or a buckle type connecting mechanism, which can complete the replacement operation of the material target plate 17 within 30 seconds.

[0060] The material target plate 17 includes but is not limited to one or more of metal material plates, plastic material plates, glass material plates, and ceramic material plates.

[0061] In this embodiment, the first profile base 13 also has horizontal adjustment feet, the servo synchronous belt slider module 14 uses a double guide rail and a servo motor for driving, achieving a horizontal stroke of 3000mm and a horizontal distance adjustment accuracy of ±0.05mm, the electric rotating table 15 realizes ±0.01° angle control by means of a stepping motor, the quick-release fixing frame 16 adopts a magnetic attraction type connecting structure or a buckle type connecting mechanism, and the material plate can be replaced within 30 seconds, and the inner wall of the second movable protective cover 6 is also provided with a layer of black matting cotton.

[0062] In addition, the device is equipped with a distributed control system based on industrial Ethernet, and the central control unit cooperates with the distributed nodes to control the two modules to run automatically, realizes accurate parameter adjustment and efficient cooperation, and the distributed node cooperative control module is connected with the electric lifting table 9, the variable speed pan-tilt head 10, the laser radar 12, the servo synchronous belt slider module 14 and the electric rotating table 15. The high-precision adjustment components ensure that the data acquisition error is extremely small, the quick replacement structure improves the batch acquisition efficiency, the reliability design of each component guarantees long-term stable work, and the automatic control system meets the intelligent acquisition demand under complex working conditions, provides strong support for building a high-fidelity laser radar point cloud simulation material library.

[0063] A specific implementation process of the above scheme is introduced as follows:

[0064] Place the first profile base 7 and the second profile base 13 on the flat ground, and adjust the distance between them to 3 meters (which can be adjusted within the range of 1-10 meters according to the model of the laser radar and the collection requirements). Adjust the levelness of the first profile base 7 to within ±1° by using the leveling foot bolts at the bottom and cooperating with the level.

[0065] Bolt the horizontal adjustment mounting plate 8 above the first profile base 7, fine-tune the adjustment bolts on the horizontal adjustment mounting plate 8, and adjust the levelness of the upper plane of the horizontal adjustment mounting plate 8 to within ±0.1° to ensure the vertical stability of the laser radar device assembly 2; fix the precision electric lifting platform 9 to the center of the horizontal adjustment mounting plate 8 through the bottom mounting hole, continue to fix the high-precision variable speed gimbal 10 above the electric lifting platform 9 through the bottom mounting hole, continue to fix the laser radar fixing bracket 11 above the variable speed gimbal 10 through the bottom mounting hole, and finally place the laser radar 12 in the laser radar fixing bracket 11 and fasten it with screws.

[0066] Bolt the servo synchronous belt slider module 14 above the second profile base 13, fix the compact electric rotating platform 15 to the mounting plane on the servo synchronous belt slider module 14 through the bottom mounting hole, continue to bolt the quick-release material target plate fixing bracket 16 to the mounting surface above the compact electric rotating platform 15, and finally fix the material target plate 17 in the quick-release material target plate fixing bracket 16 through the magnetic attraction type connection mechanism or the buckle type connection mechanism.

[0067] Move the first movable protective cover 3 and the second movable protective cover 6 to cover the laser radar device assembly 2 and the target plate device assembly 5, respectively.

[0068] The above describes the preferred embodiments of the present application in detail. It should be understood that those skilled in the art can make many modifications and changes to the present application without creative labor based on the concept of the present application. Therefore, any technical solutions obtained by logical analysis, reasoning or limited experiments based on the prior art according to the concept of the present application should be within the protection scope determined by the claims.

Claims

1. A data acquisition device for constructing a simulated material library for lidar point clouds, characterized in that, include: The acquisition module (1) and the target platform module (4) are provided. The acquisition module (1) includes a laser radar device assembly (2) and a first movable protective cover (3). The laser radar device assembly (2) includes a first profile base (7), a horizontal adjustment mounting plate (8), an electric lifting platform (9), a variable speed gimbal (10), a laser radar fixing bracket (11), and a laser radar (12) connected in sequence. The first movable protective cover (3) is movable and covers the laser radar device assembly (2). The target platform module (4) includes a target plate assembly (5) and a second movable protective cover (6). The target plate assembly (5) includes a second profile base (13), a servo synchronous belt slider module (14), an electric rotary table (15), a material target plate fixing frame (16), and a material target plate (17) connected in sequence. The servo synchronous belt slider module (14) is installed on the second profile base (13) and is used to drive the electric rotary table (15) to move horizontally. The second movable protective cover (6) is movable and covers the target plate assembly (5). The lidar (12) and the material target plate (17) are located on the same straight line. The first movable protective cover (3) and the second movable protective cover (6) are both semi-enclosed structures so that the lidar (12) can collect point cloud data of the material target plate (17).

2. The data acquisition device for constructing a laser radar point cloud simulation material library according to claim 1, characterized in that, The horizontal adjustment mounting plate (8) is located above the first profile base (7) and is used to adjust the levelness of the upper surface of the horizontal adjustment mounting plate (8); The electric lifting platform (9) is installed on the horizontal adjustment mounting plate (8) and is used to control the vertical height of the lidar (12); The variable speed gimbal (10) is set on top of the electric lifting platform (9) and is used to drive the lidar (12) to perform horizontal rotation scanning. The lidar mounting bracket (11) is installed on the variable speed gimbal (10) and is used to fix the lidar (12).

3. The data acquisition device for constructing a laser radar point cloud simulation material library according to claim 1, characterized in that, The first profile base (7) and the second profile base (13) are located on the same straight line, and the distance between them is within the range of 1-10 meters.

4. The data acquisition device for constructing a laser radar point cloud simulation material library according to claim 1, characterized in that, The bottom of the first profile base (7) is leveled by using a leveling anchor bolt and a level instrument.

5. A data acquisition device for constructing a laser radar point cloud simulation material library according to claim 1, characterized in that, The servo synchronous belt slider module (14) is mounted on the second profile base (13) to achieve horizontal displacement; The electric rotary table (15) is mounted on the slider of the servo synchronous belt slider module (14) and is used to control the rotation angle of the material target plate fixing frame (16). The material target plate holder (16) is installed on the rotating platform of the electric rotary table (15) and is used to replace and install material target plates (17) of different materials.

6. The data acquisition device for constructing a laser radar point cloud simulation material library according to claim 1, characterized in that, Both the first movable protective cover (3) and the second movable protective cover (6) are semi-enclosed structures with open front and rear ends, and both have black matte cotton on the inner wall and universal wheels at the bottom.

7. A data acquisition device for constructing a laser radar point cloud simulation material library according to claim 1, characterized in that, Both the first profile base (7) and the second profile base (13) adopt aluminum profile frame structure, use aluminum alloy corner joints as connectors, and are equipped with horizontal adjustment feet at the bottom.

8. A data acquisition device for constructing a laser radar point cloud simulation material library according to claim 1, characterized in that, The material target plate fixing frame (16) is connected to the material target plate (17) by a magnetic connection mechanism or a snap-on connection mechanism; The target material plate (17) is a metal plate, a plastic plate, a glass plate, or a ceramic plate.

9. A data acquisition device for constructing a laser radar point cloud simulation material library according to claim 1, characterized in that, The device also includes a distributed control system, which includes a central control unit and a distributed node collaborative control module connected to each other. The distributed node collaborative control module is connected to the electric lifting platform (9), the variable speed gimbal (10), the lidar (12), the servo synchronous belt slider module (14), and the electric rotary table (15).

10. A data acquisition device for constructing a laser radar point cloud simulation material library according to claim 1, characterized in that, The electric lifting platform (9) has a lifting stroke of 100 mm and a positioning accuracy of ±0.015 mm. The rotation angle range of the variable speed gimbal (10) is 0-360°, the angle positioning accuracy is ±0.1 degrees, and the adjustable rotation speed range is 0.1-20° / second horizontally and 0.1-5° / second vertically. The servo synchronous belt slider module (14) includes a double guide rail mounted on a second profile base (13) and a slider slidably connected to the double guide rail, which is driven by a servo motor; The horizontal stroke of the servo synchronous belt slider module (14) is 3000 mm, and the positioning accuracy is ±0.05 mm.

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