Target changing device for laser radar test
By designing an automated target replacement device for lidar testing, the automatic replacement and position maintenance of multiple sets of target plates with different reflectivity is achieved, and the problems of low testing efficiency and insufficient accuracy in the existing technology are solved, and the testing efficiency and accuracy are improved. .
Patent Information
- Application Number
- CN202420844355.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-23
- Publication Date
- 2025-01-03
- Estimated Expiration
- 2034-04-23
AI Technical Summary
In the prior art, the laser radar replaces target plates with different reflectances for calibration test efficiency, and the change in the target surface position or angle after changing the target affects the test accuracy.
A target replacement device for lidar testing is designed, including multiple sets of target plates with different surface reflectivity and automated driving modules. The automatic replacement and position maintenance of the target plates are achieved through fixed modules and driving modules to ensure each replacement. The position and angle of the target plate are consistent when the target is targeted.
It improves the testing efficiency and ranging accuracy, realizes automatic target replacement, reduces manual interference, and improves the accuracy and repeatability of the measurement results.
Smart Images
Figure CN222299783U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of laser radar testing, in particular to a target changing device for laser radar testing. Background Art
[0002] LiDAR is a radar system that emits laser beams to detect target position, speed and other characteristic quantities. It transmits a detection laser beam to the target, receives the signal reflected from the target, and obtains target-related information after comparing it with the transmitted signal. LiDAR is widely used in geographic surveying and mapping, autonomous driving and other fields due to its high precision and high resolution.
[0003] When testing or calibrating a laser radar, a target plate needs to be set as a target object to reflect the laser beam. However, the reflectivity of the reflective material layer coated on the surface of the target plate will also affect the ranging results of the laser radar. In order to calibrate the influence of target surfaces with different reflectivity on ranging, it is necessary to keep the relative distance between the laser radar and the target plate unchanged during calibration, and replace the target plate with different reflectivity parameters for testing. The existing technology lacks an automatic target changing device, and the long target changing time affects the test efficiency. After the target is changed, the position or angle of the target surface changes, which affects the test accuracy. Utility Model Content
[0004] To this end, the technical problem to be solved by the utility model is to overcome the technical difficulties in the prior art that the test efficiency is limited and the test result accuracy is insufficient when the laser radar replaces the target plate with different reflectivity for calibration, and to provide a target changing device for laser radar testing, which automatically realizes the target change and keeps the position of the reflective surface of the target plate unchanged.
[0005] In order to solve the above technical problems, the utility model provides a target changing device for laser radar testing, which comprises:
[0006] Target plates, the target plates having at least two groups, at least one side surface of each group of target plates in the thickness direction is set as a reflection surface, the reflection surface is coated with a reflection material, and the reflectivity of the reflection surface of each group of target plates is different;
[0007] A fixed module, the fixed module is used to fix the target plate;
[0008] A driving module is connected to the fixed module and is used to drive a single group of the target plates to move to a first position; when the target plates are driven to the first position, their reflective surfaces are arranged opposite to the laser radar in a first direction.
[0009] In one embodiment of the utility model, the fixed module includes a fixed box, at least two groups of target plates are stacked in the fixed box along the first direction, and the reflective surfaces of the target plates are oriented in the same direction and are perpendicular to the first direction; the top of the fixed box is open.
[0010] In one embodiment of the utility model, a guide member is provided on the inner wall of the fixed box, and the guide member extends along a second direction, and the second direction is perpendicular to the first direction; the two sides of each group of target plates along the third direction are respectively slidably connected to the guide member, and the third direction is perpendicular to the plane where the first direction and the second direction are located.
[0011] In one embodiment of the present invention, a plurality of groups of partition plates are arranged in the fixed box along the first direction, and each group of the partition plates is located between two adjacent groups of the target plates in the first direction.
[0012] In one embodiment of the utility model, the fixed module also includes a mounting frame and a top plate, the top plate is located on the top of the fixed box, and the driving module is fixed to the top plate; the driving module includes a first driving member and a second driving member, the first driving member is used to clamp the target plate and move it along the second direction, and the second driving member is used to drive the first driving member to move along the first direction.
[0013] In one embodiment of the present invention, one side of the first driving member for clamping the target plate is configured as an electric clamp or a pneumatic clamp.
[0014] In one embodiment of the utility model, the fixed module includes a turntable and a core shaft passing through the center of the turntable, and the driving module drives the turntable to rotate around the core shaft; the target plate is fixed to the outer edge of the turntable in turn.
[0015] In an embodiment of the present invention, the plane where the turntable is located is parallel to the first direction, the reflective surface of the target plate is parallel to the extension direction of the core axis, and the reflective surface is located on a side surface of the target plate away from the turntable.
[0016] In an embodiment of the present invention, the extension direction of the core axis is parallel to the first direction; the reflection surface of the target plate is parallel to the plane where the turntable is located, and perpendicular to the first direction.
[0017] In one embodiment of the utility model, at least two groups of target plates are arranged end to end, the arrangement direction of the target plates is perpendicular to the first direction and passes through the first position, and the reflective surfaces of the target plates are located on the same side of the arrangement direction; the driving module drives the target plates to move along the arrangement direction.
[0018] The above technical solution of the utility model has the following beneficial effects compared with the prior art:
[0019] The target changing device for laser radar testing of the utility model sets multiple groups of target plates with different surface reflectivity for laser radar measurement, which is more efficient than manual target changing, can realize continuous automatic target changing, has good repeatability, high degree of automation, and is easy to control costs;
[0020] The target changing device for laser radar testing of the utility model can keep the position and tilt angle of the target plate surface constant each time the target is changed, eliminate the interference factors of ranging, and make the result more accurate. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] In order to make the content of the utility model easier to understand, the utility model is further described in detail according to the specific embodiments of the utility model in combination with the accompanying drawings, wherein:
[0022] Figure 1 This is a schematic diagram of the structure of a target changing device for laser radar testing in Embodiment 1 of the utility model;
[0023] Figure 2 This is a top view of the target changing device for laser radar testing in the second embodiment of the utility model;
[0024] Figure 3 This is a front view of the target changing device for laser radar testing in the third embodiment of the utility model;
[0025] Figure 4 This is an axonometric diagram of the target changing device for laser radar testing in the fourth embodiment of the utility model.
[0026] Explanation of the reference numerals in the specification: 1. target plate; 11. reflecting surface; 2. fixed box; 3. mounting frame; 31. top plate; 4. driving module; 41. first driving member; 4101. clamping member; 42. second driving member; 5. turntable; 51. core shaft; 6. laser radar; 61. laser beam. DETAILED DESCRIPTION
[0027] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.
[0028] Embodiment 1
[0029] Reference Figure 1 As shown, Embodiment 1 of the utility model provides a target changing device for laser radar testing, which is used for automatically replacing target plates during laser radar ranging calibration. Compared with manual target changing, it has higher efficiency and can ensure that the angle and position of the target surface are fixed after the target is changed. When the reflectivity of the calibration material affects the laser ranging, the accuracy is higher and the result is more accurate.
[0030] Specifically, refer to Figure 1 As shown, the target changing device for laser radar test includes a target plate 1, a fixed module and a driving module 4; the target plate 1 has at least two groups, at least one side surface of each group of the target plates 1 in the thickness direction is set as a reflective surface 11, and the reflective surface 11 is coated with different reflective materials, so that the reflectivity of the reflective surface 11 of each group of the target plates 1 is different. When at least two groups of the target plates 1 are switched to participate in the laser radar ranging, the obtained results can fit the influence of the material reflectivity on the ranging results. In some embodiments, the reflectivity of multiple groups of the target plates 1 can be set to 10%, 30%, 50%, 80%, etc. according to the reflectivity range required for the actual test. The fixed module is used to fix the target plate 1, and the driving module 4 is connected to the fixed module and is used to drive the single group of the target plate 1 to move to the first position; when the target plate 1 is driven to the first position, its reflective surface 11 is arranged opposite to the laser radar 6 in the first direction.
[0031] It should be noted that the laser beam 61 emitted by the laser radar 6 reaches the reflective surface 11 of the target plate 1 and then reflects. The laser radar 6 performs measurement based on the reflected signal. Therefore, the relative position of the emitting surface and the laser radar 6 will directly affect the ranging result. In the embodiment of the utility model, when the target plate 1 is replaced, the target plate 1 to be measured is coordinated with the laser radar 6 at the first position through the setting of the driving module 4 and the fixed module. When the target plate 1 is at the first position, the plane where its reflective surface 11 is located is perpendicular to the first direction.
[0032] Specifically, refer to Figure 1 As shown, the fixed module includes a fixed box 2, the top of which is open, and the interior of which is used to accommodate the target plate 1. At least two groups of the target plates 1 are stacked along the first direction in the fixed box 2. In Example 1, the first direction is also set as the thickness direction of the target plate 1; the reflective surfaces 11 of the stacked target plates 1 are all perpendicular to the first direction and are all set toward the laser radar 6.
[0033] In some embodiments, several groups of partitions are arranged in the fixed box 2 along the first direction, and each group of the partitions is located between two adjacent groups of the target plates 1 in the first direction; the partitions are used to divide the fixed box 2 into several chambers, and each chamber is used to accommodate a group of the target plates 1 to avoid overall tipping over when stacking, and to avoid adjacent target plates being too close to each other when stacked, making it inconvenient to grab or reset.
[0034] Next, the inner wall of the fixed box 2 is also provided with a guide. In some embodiments, the guide extends along a second direction, which is perpendicular to the first direction; the guide is located on the two side walls of each chamber along a third direction, which is perpendicular to the plane where the first direction and the second direction are located. The guide is located on the two sides of each group of target plates 1 along the third direction and is slidably connected thereto, so that the drive module 4 can take the target plate 1 out of the fixed box 2 along the second direction; the guide can be set as a guide pulley or a slide rail to facilitate constraining the posture of the target plate 1 when it is taken out and placed.
[0035] Specifically, refer to Figure 1 As shown, the fixed module also includes a mounting frame 3 and a top plate 31, the top plate 31 is located on the top of the mounting frame 3 and is used to fix the driving module 4; the top plate 31 is located on the top of the fixed box 2 and has a certain interval with the fixed box 2, and the first position is located at the interval. After the driving module 4 grabs the target plate 1, it moves to the interval so that the reflective surface 11 of the target plate 1 is located at the first position.
[0036] Further, refer to Figure 1 As shown, the driving module 4 includes a first driving member 41 and a second driving member 42, the execution end of the first driving member 41 includes a connecting rod, the connecting rod extends along the third direction, and a clamping member 4101 is fixed to each of the two ends of the connecting rod in the extension direction, and the clamping member 4101 is configured as an electric clamp or a pneumatic clamp, and the clamping member 4101 is used to clamp the two side surfaces of the target plate in the thickness direction, and the first driving member 41 is used to clamp the target plate 1 and move it along the second direction to remove it from the fixed box 2; the second driving member 42 is used to drive the first driving member 41 to move along the first direction. In a preferred implementation manner of embodiment 1, when the second driving member 42 drives the first driving member 41 to move to the end of the stroke, the distance between the reflective surface 11 of the target plate 1 and the laser radar 6 in the first direction is the smallest, and the target plate 1 is located at the first position.
[0037] The working principle of the target changing device for laser radar testing described in the first embodiment of the utility model is as follows:
[0038] Determine the material reflectivity required for ranging, and then determine the required position of the target plate; the first driving member 41 passes through the opening of the fixed box 2 along the second direction, the clamping member 4101 clamps the target plate 1 in the thickness direction, and the first driving member 41 drives in reverse to lift the target plate 1; the guide member is used to provide guidance for the target plate 1 away from the clamping member 4101 to prevent it from deflecting or slipping.
[0039] After the first driving member 41 clamps the target plate 1 and takes it out of the fixed box 2, the second driving member 42 drives the first driving member 41 to move along the first direction, so that the target plate 1 is located in the first position. When the target plate 1 is located on one side of the stacking direction inside the fixed box 2 and is closest to the laser radar 6, the target plate 1 is in the first position when it is driven and lifted by the first driving member 41; if not, it is driven and lifted by the first driving member 41 and then driven by the second driving member 42 to move along the first direction toward the laser radar 6 to the end of the stroke, and is in the first position, so that the conditions other than the reflectivity of the reflecting surface 11 remain consistent when changing the target to measure the distance, thereby improving the accuracy.
[0040] After the distance measurement is completed, the target plate 1 is reset. Similarly, when the target plate 1 is located on one side of the stacking direction inside the fixed box 2 and is closest to the laser radar 6, it can be directly driven to reset by the first driving member 41; if not, the first driving member 41 is driven to reset by the second driving member 42, and then the target plate 1 is driven back to the chamber of the fixed box 2 by the first driving member 41, and the clamping member 4101 is released to complete a target plate placement. Repeating the above steps can continuously change targets, shorten waiting time and debugging time, and improve measurement efficiency.
[0041] Embodiment 2
[0042] Reference Figure 2 As shown, the second embodiment of the utility model provides a target changing device for laser radar testing. The difference between the second embodiment and the above-mentioned first embodiment lies in the arrangement of a driving module and a fixed module.
[0043] Specifically, refer to Figure 2 As shown, the fixed module includes a turntable 5 and a core shaft 51 passing through the center of the turntable 5; the plane where the turntable 5 is located is parallel to the first direction, the core shaft 51 extends along the second direction, and the driving module (not shown in the figure) drives the turntable 5 to rotate around the core shaft 51. One side surface of the target plate in the thickness direction is fixed to the outer edge of the turntable 5 in sequence, the reflection surface 11 of the target plate 1 is parallel to the extension direction of the core shaft 51, and the reflection surface 11 is located on the side surface of the target plate 1 away from the turntable 5.
[0044] Furthermore, in order to fix the outer edges of the target plate 1 and the turntable 5, in some embodiments, an angular reinforcement rib is provided for reinforcement, one end of the angular reinforcement rib is connected to the surface of the target plate facing away from the reflective surface 11 in the thickness direction, and a continuous section of the angular reinforcement rib is connected to the surface of the turntable 5.
[0045] In the second embodiment of the utility model, the outer edge of the turntable 5 is arranged opposite to the laser radar 6 in the first direction; the driving module can be set as a rotating motor, or can be set as a device capable of driving the turntable 5 to rotate according to actual needs. The driving module drives the turntable 5 to rotate, and when the target plate 1 required for the test is rotated to be arranged opposite to the laser radar 6, the target plate 1 is located in the first position. Compared with the first embodiment, on the one hand, the number of target plates that can be arranged in the second embodiment is limited. In order to enable all target plates 1 that meet a certain number of requirements to be fixed on the turntable 5, the radial size of the turntable 5 is large, and the required floor space in the plane where the turntable 5 is located is large when arranged in the production line for use; on the other hand, the target changing device in the first embodiment can arbitrarily select the target plate 1 used for ranging by grabbing the first driving member 41, while in the second embodiment, if the two groups of target plates required before and after the target change are not adjacent at the outer edge of the turntable 5, it is necessary to reciprocate the turntable 5 to achieve the target change.
[0046] Embodiment 3
[0047] Reference Figure 3 As shown, the third embodiment of the utility model provides a target changing device for laser radar testing. The difference between the third embodiment and the above-mentioned second embodiment is only the setting direction of the turntable 5 and the fixing direction of the target plate 1.
[0048] Specifically, refer to Figure 3 As shown, the plane where the turntable 5 is located is perpendicular to the first direction, and the extension direction of the core shaft 51 is parallel to the first direction. Multiple groups of sides of the target plates 1 are fixed to the outer edge of the turntable 5 in sequence, and the reflective surface 11 of the target plate 1 is parallel to the plane where the turntable 5 is located and perpendicular to the first direction. In some embodiments, the outer edge of the turntable 5 is provided with a plug-in slot to fix the side of the target plate 1.
[0049] In the third embodiment of the utility model, the driving module (not shown in the figure) can be set as a rotating motor, and can also be set as a device capable of driving the turntable 5 to rotate according to actual needs. The driving module drives the turntable 5 to rotate, and when the target plate 1 required for the test is rotated to be directly opposite to the laser radar 6, the target plate 1 is located in the first position. Compared with the first embodiment, there are still problems such as the limited number of target plates, the large space occupied, and the need for reciprocating rotation when changing targets, which will not be repeated here. Compared with the second embodiment, the third embodiment has a smaller space dimension requirement for the first direction when in use, but requires a larger dimension in the vertical direction to accommodate the turntable 5 and the target plate 1.
[0050] Embodiment 4
[0051] Reference Figure 4As shown, the fourth embodiment of the utility model provides a target changing device for laser radar testing. The difference between the fourth embodiment and the above embodiments lies in the arrangement of the target plate 1 and the setting of the driving module and the fixing module.
[0052] Specifically, refer to Figure 4 As shown, at least two groups of target plates 1 are arranged end to end on the fixed module, the arrangement direction of the target plates 1 passes through the first position facing the laser radar 6, the reflective surface 11 of the target plate 1 is located on the same side of the arrangement direction and is perpendicular to the first direction, and the drive module (not shown in the figure) drives the target plate 1 to move along its arrangement direction. When the drive module drives the target plate 1 required for the test to move to face the laser radar 6, it is located in the first position. It should be noted that the arrangement direction of the target plate 1 can be set arbitrarily in the plane where the reflective surface 11 is located. When the drive module is set as a linear guide rail, the arrangement direction is set as a straight line to facilitate the drive of the drive module; in other embodiments, the arrangement direction can be set as a curve, not limited to this. Embodiment 2, Embodiment 3 and Embodiment 4 Although the number of target plates is limited and the requirements for the plant space are high, compared with Embodiment 1, the position and angle of the target plates in Embodiments 2, 3 and 4 are relatively fixed, which can avoid tilting and mutual collision.
[0053] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention of the utility model.
Claims
1. A target changing device for laser radar testing, characterized in that: include, Target plates, the target plates having at least two groups, at least one side surface of each group of target plates in the thickness direction is set as a reflection surface, the reflection surface is coated with a reflection material, and the reflectivity of the reflection surface of each group of target plates is different; A fixed module, the fixed module is used to fix the target plate; A driving module is connected to the fixed module and is used to drive a single group of the target plates to move to a first position; when the target plates are driven to the first position, their reflective surfaces are arranged opposite to the laser radar in a first direction.
2. The target changing device for laser radar testing according to claim 1, characterized in that: The fixed module comprises a fixed box, in which at least two groups of target plates are stacked along the first direction, and the reflective surfaces of the target plates face the same direction and are perpendicular to the first direction; the top of the fixed box is open.
3. The target changing device for laser radar testing according to claim 2, characterized in that: A guide is provided on the inner wall of the fixed box, and the guide extends along a second direction, which is perpendicular to the first direction; two sides of each group of target plates along a third direction are respectively slidably connected to the guide, and the third direction is perpendicular to the plane where the first direction and the second direction are located.
4. The target changing device for laser radar testing according to claim 2, characterized in that: A plurality of groups of partition plates are arranged in the fixed box along the first direction, and each group of the partition plates is located between two adjacent groups of the target plates in the first direction.
5. The target changing device for laser radar testing according to any one of claims 2 to 4, characterized in that: The fixed module also includes a mounting frame and a top plate, the top plate is located on the top of the fixed box, and the driving module is fixed to the top plate; the driving module includes a first driving member and a second driving member, the first driving member is used to clamp the target plate and move it along the second direction, and the second driving member is used to drive the first driving member to move along the first direction.
6. The target changing device for laser radar testing according to claim 5, characterized in that: The first driving member is configured to clamp one side of the target plate with an electric clamp or a pneumatic clamp.
7. The target changing device for laser radar testing according to claim 1, characterized in that: The fixed module comprises a turntable and a core shaft passing through the center of the turntable, and the driving module drives the turntable to rotate around the core shaft; the target plates are fixed to the outer edge of the turntable in sequence.
8. The target changing device for laser radar testing according to claim 7, characterized in that: The plane where the turntable is located is parallel to the first direction, the reflection surface of the target plate is parallel to the extension direction of the core axis, and the reflection surface is located on a side surface of the target plate away from the turntable.
9. The target changing device for laser radar testing according to claim 7, characterized in that: The extension direction of the core axis is parallel to the first direction; the reflection surface of the target plate is parallel to the plane where the turntable is located, and is perpendicular to the first direction.
10. The target changing device for laser radar testing according to claim 1, characterized in that: At least two groups of target plates are arranged end to end, the arrangement direction of the target plates is perpendicular to the first direction and passes through the first position, and the reflective surfaces of the target plates are located on the same side of the arrangement direction; the driving module drives the target plates to move along the arrangement direction.