Laser radar integrated preparation device

Abstract

The utility model discloses a laser radar integrated preparation device, which comprises an optical platform, a first slide way, a first reflecting plate and a clamping device, the first reflecting plate is provided with a plurality of reflecting surfaces with different reflectivity; the clamping device is arranged on the optical platform, the first reflecting plate is arranged on the first slide way, and the first slide way is in butt joint with one side of the optical platform; the clamping device is used for clamping an emitter and a detector of the laser radar and supporting adjustment of relative positions of the emitter and the detector; the first reflecting plate can be close to or away from the optical platform along the first slideway; and the first reflecting plate can switch different reflecting surfaces and receive the laser emitted by the emitter at any position of the first slideway. Based on the preparation device, integrated preparation of the opposite excitation radar in the same device is effectively realized.

Description

Technical Field

[0001] The utility model relates to the technical field of laser radar, and in particular to an integrated laser radar preparation device. Background Art

[0002] At present, laser radar is mainly composed of components such as transmitters, detectors, functional circuits, collimating lenses, and receiving lenses. Its main working principle is to use the transmitter to emit laser, which is reflected by the object and received by the detector. After the chip is processed and calculated, the distance is obtained, thereby realizing the ranging function. Since the photosensitive surface size of the detector used in the laser radar is sub-millimeter, any small deviation may cause measurement errors, thereby affecting the overall performance of the laser radar. Therefore, during the assembly process, the relative positions of the transmitter, detector, collimating lens, and receiving lens directly affect the ranging capability and ranging effect of the laser radar. In order to prepare a high-precision laser radar, the laser radar needs to be debugged and calibrated in the laser optical path. Generally speaking, the debugging process mainly adjusts the position of the laser radar's transmitter and detector, and the calibration process mainly calibrates the distance measured by the laser radar.

[0003] In this regard, in the prior art, the general technical solution is to use different equipment to debug and calibrate the lidar separately. This approach requires a lot of manual participation and can only be semi-automated. Not only is the work efficiency low, but the consistency of the prepared lidar is not high and errors are prone to occur. Summary of the invention

[0004] The purpose of the utility model is to provide an integrated laser radar preparation device which can realize the preparation of laser radar in an integrated manner in the same device and effectively improve the preparation efficiency and consistency of the laser radar.

[0005] In order to achieve the above-mentioned purpose, the utility model discloses an integrated laser radar preparation device, including: an optical platform, a first slide, a first reflector and a clamping device; the first reflector has a plurality of reflective surfaces with different reflectivities; the clamping device is arranged on the optical platform, the first reflector is arranged on the first slide, and the first slide is docked with one side of the optical platform; the clamping device is used to clamp the transmitter and detector of the laser radar, and supports the adjustment of the relative positions of the transmitter and the detector; the first reflector can approach or move away from the optical platform along the first slide; the first reflector can switch different reflective surfaces and receive the laser emitted by the transmitter at any position of the first slide.

[0006] Preferably, a controller is further included, wherein the controller is electrically connected to a transmission driver of the first slideway, and the controller is used to control the first slideway to drive the first reflection plate to move.

[0007] Preferably, it also includes a second slide and a second reflective plate, the second slide is connected to the other side of the optical platform; the second reflective plate has a reflective surface with a single specific reflectivity, the second reflective plate is arranged on the second slide, and the second reflective plate can approach or move away from the optical platform along the second slide.

[0008] Preferably, it further comprises a controller, wherein the controller is electrically connected to a transmission driver of the second slideway, and the controller is used for controlling the second slideway to drive the second reflection plate to move.

[0009] Preferably, a high-precision distance meter is further included, and the high-precision distance meter is used to measure the actual distance between the detector and the first reflecting plate or the second reflecting plate.

[0010] Preferably, it further comprises a supporting device, the first reflecting plate is arranged on the supporting device, the supporting device is arranged on the first slideway, and the supporting device is used to switch the reflecting surfaces of the first reflecting plate with different reflectivity.

[0011] Preferably, a background light device is further included, wherein the background light device is disposed between the optical platform and the first reflective plate, and the background light device is used to emit interfering light to the first reflective plate.

[0012] Preferably, a temperature control device is also included, and the temperature control device is used to adjust the temperature of the environment surrounding the laser radar.

[0013] Preferably, an optical isolation device is provided between the first slideway and the second slideway.

[0014] Compared with the prior art, in the above-mentioned preparation device disclosed by the utility model, the clamping device clamps the emitter and detector of the laser radar on the optical platform. During the debugging process of the laser radar, the first reflector can be moved to the specified position along the first slideway and receive the laser emitted by the emitter. After each movement of the first reflector, the relative position of the emitter and the detector is adjusted; in addition, the first reflector can also switch the reflective surface with different reflectivity at any position of the first slideway, and receive the laser emitted by the emitter, and finally complete the calibration of the laser radar. It can be seen that the device proposed in this application can both debug and calibrate the laser radar, so that it can finally achieve the effect of accurate ranging, and the whole process is based on the same device, which effectively improves the preparation efficiency and consistency of the laser radar, reduces the circulation links, and saves resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the integrated laser radar preparation device in the embodiment of the utility model.

[0016] Figure 2 This is a schematic structural diagram of a laser radar integrated preparation device in another embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to explain the technical content, structural features, achieved objectives and effects of the present invention in detail, the following is a detailed description in conjunction with the implementation modes and the accompanying drawings.

[0018] This embodiment discloses an integrated laser radar preparation device, so that the prepared laser radar can achieve accurate distance measurement. Figure 1 As shown, the preparation device in this embodiment includes: an optical platform 101, a clamping device 103, a first slide 105 and a first reflector 106. The first reflector 106 has a plurality of reflective surfaces with different reflectivities. The clamping device 103 is arranged on the optical platform 101, and the first reflector 106 is arranged on the first slide 105. The first slide 105 is docked with one side of the optical platform 101. The clamping device 103 is used to clamp the transmitter (not shown) and the detector (not shown) of the laser radar to be tested, and supports the adjustment of the relative positions of the detector and the transmitter of the laser radar to be tested. The first reflector 106 can approach or move away from the optical platform 101 along the first slide 105; the first reflector 106 can switch different reflective surfaces at any position of the first slide 105 to receive the laser emitted by the transmitter.

[0019] Specifically, the first reflector 106 is a cylindrical polyhedron reflector, and the reflectivities of different reflective surfaces thereof are different; the first reflector 106 is arranged on a supporting device 107, and the supporting device 107 is arranged on the first slide 105, and the supporting device 107 is an electric turntable, which is used to switch the reflective surfaces of different reflectivities on the first reflector 106 by driving the first reflector 106 to rotate around its central axis. The laser radar to be tested includes: a PCBA (printed circuit board), a detector, a transmitter, and a lens. The detector is fixed on the PCBA, and the PCBA is electrically connected to the auxiliary circuit board through a pogo-pin (spring pin), and the transmitter is electrically connected to the auxiliary circuit through a jumper. The transmitter and the detector are turned on at the same time, and the transmitter emits laser light through the lens to irradiate the first reflector 106, and the detector receives the reflected laser reflected back by the first reflector 106. In addition, the preparation device further includes a controller 102, which is electrically connected to the transmission driver of the first slide 105 and is used to control the movement of the transmission device on the first slide 105 to drive the first reflection plate 106 to move to a specified position through the support device 107. In addition, the controller 102 also obtains and processes data information related to the reflected laser.

[0020] Furthermore, in this embodiment, the preparation of the laser radar is divided into a debugging process and a calibration process. The preparation device of this embodiment can automatically implement the above two processes, thereby improving the efficiency and consistency of the laser radar preparation and reducing the participation of manual assistance.

[0021] The principle of debugging is to achieve coupling between the emitter and the detector, that is, after the emitter emits laser light to the first reflector 106, the detector can accurately receive the reflected laser light output by the first reflector 106, and the spot data of the reflected laser light should meet the corresponding expected value. Figure 1 As shown, the debugging process is: the controller 102 controls the first slide 105 to drive the first reflector 106 to move to the specified position according to the preset distance. It should be noted that in the debugging process, only one of the reflective surfaces with a specific reflectivity of the first reflector 106 is used, and the reflective surface is used to receive the laser emitted by the transmitter. The controller 102 obtains the spot data of the reflected laser and compares it with the expected value of the spot data, and then adjusts the relative position of the detector and the transmitter of the laser radar to be tested so that the spot data meets the expected value.

[0022] Specifically, the spot data includes the spot position, spot intensity and spot focus of the reflected laser. The above three data are required to meet the corresponding expected values ​​at the same time during the debugging process. The controller 102 has a visual interface for displaying the center position, spot intensity and spot size of the reflected laser spot. When the detector receives the reflected laser, the controller 102 determines whether the spot position, spot intensity and spot focus of the reflected laser reach the corresponding expected values ​​through the visual interface. If not, the relative position between the detector and the emitter is adjusted in a multi-axial manner in a three-dimensional space by manual or automatic control until the spot data reaches the expected value, and then the first reflector 106 moves to the next designated position. After each movement, the controller 102 judges the spot data of the reflected laser. If it reaches the corresponding expected value, the first reflector 106 continues to move to the next designated position. If not, the relative position of the emitter and the detector is adjusted according to the above process. Taking the spot intensity as an example, some of the spot data are shown in Table 1.

[0023] Preset distance Expected value of light spot intensity The intensity of the reflected laser spot Light spot intensity after debugging 100mm 1900-2000 1800 1950 1000mm 1400-1500 1350 1480 10000mm 600-800 400 720

[0024] Table 1

[0025] Furthermore, after the laser radar to be tested is debugged, the detector, the transmitter, the lens and the PCBA are fixed as a whole as a debugged laser radar through a fixing device, such as a glue dispenser, and then the debugged laser radar is calibrated.

[0026] The purpose of calibration is to enable the laser radar to accurately measure the distance. The calibration process is as follows: the controller 102 controls the first slide 105 to drive the first reflector 106 to move to the specified position, one of the reflective surfaces of the first reflector 106 receives the transmitted laser emitted by the transmitter and outputs the reflected laser; the detector measures the distance between it and the current reflective surface according to the received reflected laser, and then the support device 107 switches the reflective surfaces of the first reflector 106 with different reflectivity, and the detector sequentially receives the reflected laser output by different reflective surfaces and measures the distance between it and the different reflective surfaces; then the first reflector 106 moves to the next specified position and repeats the above process; finally, the detector receives the reflected laser output by different reflective surfaces at each position, and obtains the corresponding measured distance according to the reflected laser. Part of the data is shown in Table 2, where after the controller 102 controls the first reflector 106 to move to the specified position, the distance between the specified position and the detector is the actual distance; the distance between the detector and the first reflector 106 measured by the reflected laser is the measured distance.

[0027]

[0028] Table 2

[0029] The controller 102 determines the calibration parameters according to the functional relationship between the actual distance and the measured distance and the refractive index, and the functional relationship is: RX+RY+C=T. Among them, R is a matrix composed of the measured distance, T is a matrix composed of the preset distance and the reflectivity of the first reflector 106, X is a distance calibration parameter matrix, Y is a reflectivity calibration parameter matrix, and C is a constant. By solving the transformation relationship between the matrix R and the matrix T, the values ​​of X, Y, and C are obtained as the calibration parameters of the laser radar to be tested, which are input into the laser radar to be tested to complete the calibration of the laser radar to be tested, so that it can achieve accurate distance measurement. The above calculation comprehensively considers the relationship between distance and reflectivity. The controller 102 generates calibration parameters based on multiple sets of the above data and inputs them into the laser radar to be tested, thereby improving the accuracy of the laser radar distance calibration.

[0030] Furthermore, in order to ensure that the position of the first reflector 106 is accurate, Figure 1 In the figure, the high-precision rangefinder 110 is electrically connected to the controller 102. When the controller 102 controls the first reflector 106 to move a preset distance, such as 5 cm, the high-precision rangefinder 110 checks the distance between the detector and the first reflector 106. If the distance measured by the high-precision rangefinder is 4.9 cm, the result is fed back to the controller 102, so that the controller 102 fine-tunes the first reflector 106 to place it at a position of 5 cm.

[0031] Furthermore, in order to better simulate the impact of temperature changes and light changes in the real environment on the lidar, Figure 1 In the embodiment, the preparation device also includes a temperature control device 108, which is used to adjust the temperature of the environment around the laser radar; and also includes a background light device 109, which is an independent light source and is arranged between the optical platform 101 and the first reflector 106, and is used to emit interference light to the first reflector 106. That is to say, during the calibration process, in addition to the emission laser emitted by the transmitter of the laser radar to be tested, there are other interference lights on the first reflector 106, which affects the reflected laser reflected from the first reflector 106. In this case, the laser radar to be tested is calibrated by the preparation device in this embodiment, so that the calibrated laser radar has a strong anti-interference ability.

[0032] In another embodiment, if Figure 2 As shown, the preparation device includes an optical platform 201, a controller 202, a clamping device 203, a high-precision rangefinder 204, a temperature control device 205, a background light device 206, a first slide 207, a first reflector 208, a second slide 210 and a second reflector 212. The first slide 207 is docked with one side of the optical platform 201, the second slide 210 is docked with the other side of the optical platform 201, the first reflector 208 can approach or move away from the optical platform 201 along the first slide 207, and the first reflector 208 can switch different reflective surfaces at any position of the first slide 207 and receive the laser emitted by the transmitter; the second reflector 212 can approach or move away from the optical platform 201 along the second slide 210 and receive the laser emitted by the transmitter. Specifically, the first reflector 208 is arranged on the support device 209, the support device 209 is arranged on the first slide 207, the support device 209 includes an electric turntable, the first reflector 208 is a columnar polyhedron reflector, which has a plurality of reflective surfaces with different reflectivities; the second reflector 212 is arranged on the second slide 210, and the second reflector 212 is a plane reflector with a single specific reflectivity. The controller 202 is electrically connected to the transmission driver of the first slide 207 and the transmission driver of the second slide 210, and the controller 202 is used to control the action of the transmission device on the first slide 207 to drive the first reflector 208 to move to a specified position through the support device 209; the controller 202 is also used to control the action of the transmission device on the second slide 210 to drive the second reflector 212 to move to a specified position.

[0033] On the optical platform 201, the clamping device 203 clamps the transmitter and detector of the laser radar to be tested, and supports the adjustment of the relative position of the transmitter and the detector. During the debugging process, the second reflector 212 moves to the specified position along the second slide 210 and receives the laser emitted by the transmitter. After the debugging is completed, the laser radar to be tested is fixed as a whole, and the clamping device 203 clamps the laser radar to be tested and rotates a certain angle to dock with the first slide 207. Figure 2 At the dotted line, the laser radar to be tested is removed manually or automatically and placed on the optical platform 201, and then the first reflector 208 is moved to the specified position along the first slide 207, and different reflective surfaces are switched to receive the laser emitted by the transmitter to calibrate the laser radar to be tested. The debugging and calibration process in this embodiment is the same as that in the above embodiment. In addition, the first slide 207 and the second slide 210 of the preparation device in this embodiment are isolated by an optical isolation device 211, so that optical interference is avoided between the debugging and calibration processes. After the current laser radar to be tested is debugged using the second reflector 212, the clamping device 203 rotates a certain angle to dock with the first slide 207, and the current laser radar to be tested is removed to prepare for the next calibration process; on the other hand, the clamping device 203 rotates back to the original position and still docks with the second slide 210. At this time, another new laser radar to be tested can be clamped, and the new laser radar to be tested can be debugged using the second reflector 212. It can be seen that the entire process realizes the automated preparation of the laser radar, and the debugging and calibration are completed separately in one device, which improves work efficiency.

[0034] Furthermore, in order to improve the accuracy, Figure 2 In the figure, there is also a high-precision rangefinder 204 electrically connected to the controller 202. The high-precision rangefinder 204 is used to measure the actual distance between the detector of the laser radar to be tested and the first reflector 208 or the second reflector 212, and feed back the actual distance to the controller 202, so as to ensure that the moving distance of the first reflector 208 or the second reflector 212 is accurate. It should be noted that when two different laser radars are debugged and calibrated separately, two high-precision rangefinders can be used to meet the needs.

[0035] In summary, the above embodiment of the utility model discloses an integrated preparation device for a laser radar, which integrates a clamping device, a first slide and a first reflector, wherein the clamping device clamps the emitter and detector of the laser radar and supports the adjustment of the relative positions of the emitter and the detector, and the first reflector can be moved to multiple specified positions along the first slide, and can switch between reflective surfaces with different reflectivities, and receive the laser emitted by the transmitter to complete the preparation of the laser radar. In addition, the device in this embodiment can also use two different reflectors, including a plane reflector with a single specific reflectivity and a reflector with multiple reflective surfaces with different reflectivities, and the two reflectors are respectively arranged on two slides. The above preparation device realizes the integrated preparation of the laser radar based on the same device, reduces the intervention of manual assistance, and can not only automatically realize the integrated preparation of the same laser radar, but also can debug and calibrate two different laser radars separately, thereby improving the preparation efficiency of the laser radar.

[0036] The above disclosure is only the preferred embodiment of the present invention, which certainly cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the scope of the patent application of the present invention are still within the scope covered by the present invention.

Claims

1. A laser radar integrated preparation device, characterized in that: include: An optical platform, a first slideway, a first reflector and a clamping device; The first reflector has a plurality of reflective surfaces with different reflectivities; The clamping device is arranged on the optical platform, the first reflector is arranged on the first slideway, and the first slideway is butted against one side of the optical platform; The clamping device is used to clamp the emitter and the detector of the laser radar, and supports the adjustment of the relative position of the emitter and the detector; The first reflective plate can approach or move away from the optical platform along the first slideway; the first reflective plate can switch between different reflective surfaces and receive the laser emitted by the transmitter at any position of the first slideway.

2. The integrated laser radar preparation device according to claim 1, characterized in that: It also includes a controller, which is electrically connected to the transmission driver of the first slideway, and is used to control the first slideway to drive the first reflection plate to move.

3. The integrated laser radar preparation device according to claim 1, characterized in that: It also includes a second slide and a second reflective plate, the second slide is connected to the other side of the optical platform; the second reflective plate has a reflective surface with a single specific reflectivity, the second reflective plate is arranged on the second slide, and the second reflective plate can approach or move away from the optical platform along the second slide.

4. The integrated laser radar preparation device according to claim 3, characterized in that: It also includes a controller, which is electrically connected to the transmission driver of the second slide, and is used to control the second slide to drive the second reflection plate to move.

5. The integrated laser radar preparation device according to claim 3, characterized in that: It also includes a high-precision distance meter, which is used to measure the actual distance between the detector and the first reflecting plate or the second reflecting plate.

6. The integrated laser radar manufacturing device according to claim 1, characterized in that: It also includes a supporting device, the first reflecting plate is arranged on the supporting device, the supporting device is arranged on the first slide, and the supporting device is used to switch the reflecting surface of the first reflecting plate with different reflectivity.

7. The integrated laser radar manufacturing device according to claim 1, characterized in that: It also includes a background light device, which is arranged between the optical platform and the first reflective plate and is used to emit interference light to the first reflective plate.

8. The integrated laser radar manufacturing device according to claim 1, characterized in that: It also includes a temperature control device, which is used to adjust the temperature of the environment around the laser radar.

9. The laser radar integrated preparation device according to claim 3, characterized in that: An optical isolation device is provided between the first slideway and the second slideway.

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