Rotary table device and laser radar calibration equipment

Abstract

The utility model discloses a rotary table device and laser radar calibration equipment, and relates to the technical field of laser radar calibration. The rotary table device comprises a support, a first rotating assembly and a second rotating assembly, the first rotating assembly is connected with the support, the first rotating assembly is used for installing equipment to be calibrated and driving the equipment to be calibrated to rotate around the rotating axis of the first rotating assembly, and the first rotating assembly comprises a first driving part; the second rotating assembly is arranged on the side, away from the first rotating assembly, of the support, the rotating axis of the second rotating assembly is perpendicular to the rotating axis of the first rotating assembly, the second rotating assembly is used for rotating the support so as to drive the to-be-calibrated equipment to rotate around the rotating axis of the second rotating assembly, and the second rotating assembly comprises a second driving part. According to the invention, the accuracy of testing and calibration can be improved, and the efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of laser radar calibration, and in particular to a turntable device and a laser radar calibration device. Background Art

[0002] With the continuous development and popularization of technology, the application fields of LiDAR are becoming more and more extensive, and it can be seen in many scenarios such as autonomous driving, artificial intelligence, surveying and mapping, 3D printing, etc. Therefore, the calibration and testing of LiDAR are becoming more and more important. Before LiDAR leaves the factory, it must be calibrated and angle tested to ensure that the LiDAR meets the performance requirements.

[0003] Currently, the only tools for rotating LiDAR angle testing and calibration are manual two-dimensional tripods with scales and small elevation angles. Manual rotation has large angle errors, and the pitch rotation angle cannot cover the vertical field of view. In addition, the method of rotating according to the scale lines is inefficient and labor-intensive. Utility Model Content

[0004] In view of this, the purpose of this application is to provide a turntable device and a laser radar calibration device, aiming to solve the technical problems in the prior art.

[0005] To achieve the above objectives, the technical solutions adopted in this application are as follows:

[0006] In a first aspect, an embodiment of the present application provides a turntable device, comprising:

[0007] Bracket;

[0008] a first rotating assembly, the first rotating assembly being arranged at one side of the bracket, the first rotating assembly being connected to the bracket, the first rotating assembly being used to install the device to be calibrated, and driving the device to be calibrated to rotate around a rotation axis of the first rotating assembly, the first rotating assembly comprising a first driving member;

[0009] The second rotating assembly is arranged on the side of the bracket away from the first rotating assembly, the second rotating assembly is rotatably connected to the bracket, the rotation axis of the second rotating assembly is perpendicular to the rotation axis of the first rotating assembly, the second rotating assembly is used to rotate the bracket to drive the device to be calibrated to rotate around the rotation axis of the second rotating assembly, and the second rotating assembly includes a second driving member.

[0010] In one embodiment of the first aspect, the support comprises:

[0011] A first support plate, the first support plate is arranged on a side of the bracket close to the second rotating assembly, and the first support plate is rotatably connected to the second rotating assembly;

[0012] A second support plate, the second support plate is arranged on a side of the first support plate away from the second rotating assembly, the second support plate is fixedly connected to the first support plate, and the first rotating assembly is connected to the second support plate;

[0013] A third support plate, the third support plate is arranged on a side of the first support plate away from the second rotating assembly, the third support plate is arranged opposite to the second support plate, and the first rotating assembly is rotatably connected to the third support plate;

[0014] The first support plate, the second support plate and the third support plate together form a first accommodating groove, and the first rotating assembly is disposed in the first accommodating groove.

[0015] In one embodiment of the first aspect, the first support plate has a first mounting hole, and the second rotating assembly is inserted through the first mounting hole so that the second rotating assembly is rotatably connected to the bracket;

[0016] The second supporting plate has a second mounting hole, the axis of the second mounting hole is parallel to the rotation axis of the first rotating assembly, and the second mounting hole is used to mount the first rotating assembly;

[0017] The third support plate has a third mounting hole, the axis of the third mounting hole is parallel to the rotation axis of the first rotating assembly, and the third mounting hole is used to mount the first rotating assembly.

[0018] In one embodiment of the first aspect, the bracket further includes a reinforcing rib plate, which is disposed on a side of the second support plate away from the first rotating assembly, and the reinforcing rib plate is used to support the second support plate.

[0019] In one embodiment of the first aspect, the first rotating assembly comprises:

[0020] A workbench, the workbench is arranged in the first containing groove, the workbench is used to install the device to be calibrated, and drives the device to be calibrated to rotate;

[0021] A first rotating part, the first rotating part is arranged on one end of the workbench close to the second supporting plate;

[0022] A second rotating part, the second rotating part is arranged on an end of the workbench away from the first rotating part, the second rotating part is used to rotationally connect the third support plate and the workbench, and the first rotating part is used to rotationally connect the second support plate and the workbench, so that the workbench rotates relative to the bracket.

[0023] In one embodiment of the first aspect, the workbench comprises:

[0024] A first mounting plate, the first mounting plate is arranged on a side of the workbench close to the first supporting plate, and the first mounting plate is used to mount the device to be calibrated;

[0025] A first connecting plate, the first connecting plate is arranged on a side of the first mounting plate away from the first supporting plate, and the first connecting plate is located at an end of the first mounting plate close to the second supporting plate, and the first connecting plate is used to be rotatably connected to the first rotating part;

[0026] The second connecting plate is arranged on a side of the first mounting plate away from the first supporting plate, and the second connecting plate is arranged at an end of the first mounting plate away from the first connecting plate, and the second connecting plate is used for rotationally connecting with the second rotating part.

[0027] In one embodiment of the first aspect, the first mounting plate has a fourth mounting hole, and the fourth mounting hole is used to mount the device to be calibrated.

[0028] In one embodiment of the first aspect, the first connecting plate has a first connecting hole, the axis of the first connecting hole coincides with the rotation axis of the first rotating part, and the first rotating part is inserted into the first connecting hole so that the first rotating part is connected to the first connecting plate;

[0029] The second connecting plate has a second connecting hole, the axis of the second connecting hole coincides with the rotation axis of the second rotating part, and the second rotating part is inserted into the second connecting hole so that the second rotating part is connected to the second connecting plate.

[0030] In one embodiment of the first aspect, the first rotating part includes:

[0031] a first reducer, wherein the first reducer is disposed between the second supporting plate and the first connecting plate, the first reducer is connected to the second supporting plate, and the first reducer is rotatably connected to the first connecting plate;

[0032] The first driving member is arranged on a side of the first reducer close to the first supporting plate, and is used to drive the first reducer and drive the workbench to rotate.

[0033] In one embodiment of the first aspect, the second rotating part includes a first bearing, the first bearing is passed through the third support plate and the second connecting plate, the first bearing is rotatably connected to the second connecting plate, the first bearing is fixedly connected to the third support plate, and the first bearing is used to rotate the workbench relative to the third support plate.

[0034] In one embodiment of the first aspect, the second rotating part includes:

[0035] a second reducer, the second reducer being arranged on a side of the first support plate away from the first rotating assembly, and the second reducer being rotatably connected to the first support plate;

[0036] The second driving member is arranged on a side of the second reducer adjacent to the first supporting plate, and is used to drive the second reducer and drive the bracket to rotate.

[0037] In a second aspect, an embodiment of the present application provides a laser radar calibration device, including the turntable device described in any of the above embodiments.

[0038] Compared with the prior art, the beneficial effects of the present application are as follows: the present application proposes a turntable device and a laser radar calibration device. The turntable device includes a bracket, a first rotating assembly and a second rotating assembly. The present application sets the rotation axis of the first rotating assembly and the rotation axis of the second rotating assembly to be perpendicular to each other, so that the device to be calibrated installed on the first rotating assembly can cover the vertical field of view, thereby expanding its field of view range. The present application automatically controls the rotation of the device to be calibrated through the first driving member and the second driving member, thereby avoiding the influence of human factors on the test and calibration, improving the accuracy of the test and calibration, and reducing the cost and improving its work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 A schematic diagram of the three-dimensional structure of the turntable device in the present application is shown;

[0041] Figure 2 Another schematic diagram of the three-dimensional structure of the turntable device in the present application is shown;

[0042] Figure 3Another three-dimensional structural schematic diagram of the transfer table device in the present application is shown;

[0043] Figure 4 A schematic diagram of the structure of the transfer table device from one perspective in the present application is shown;

[0044] Figure 5 Another structural diagram of the turntable device in the present application is shown;

[0045] Figure 6 Another perspective structural schematic diagram of the transfer table device in the present application is shown.

[0046] Description of main component symbols:

[0047] 100-turntable device; 110-bracket; 111-first support plate; 1111-first mounting hole; 112-second support plate; 113-third support plate; 114-reinforcing rib plate; 115-first accommodating groove; 120-first rotating assembly; 121-workbench; 1211-first mounting plate; 1211a-fourth mounting hole; 1212-first connecting plate; 1213-second connecting plate; 122-first rotating part; 1221-first reducer; 1222-first driving member; 1223-second bearing; 123-second rotating part; 1231-first bearing; 130-second rotating assembly; 131-second reducer; 132-second driving member; 133-third bearing. DETAILED DESCRIPTION

[0048] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0049] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0050] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0051] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0052] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0053] like Figure 1 , Figure 2 and Figure 3 As shown, an embodiment of the present application provides a turntable device 100. The turntable device 100 includes a bracket 110, a first rotating assembly 120 and a second rotating assembly 130.

[0054] The first rotating assembly 120 is disposed on one side of the bracket 110 , and the first rotating assembly 120 is connected to the bracket 110 .

[0055] The first rotating assembly 120 is used to install the device to be calibrated, and drives the device to be calibrated to rotate around the rotation axis of the first rotating assembly 120, so as to realize 360° rotation of the device to be calibrated around the rotation axis of the first rotating assembly 120. The first rotating assembly 120 includes a first driving member 1222, and the first driving member 1222 is used to provide a driving force for the first rotating assembly 120 to drive the device to be calibrated to rotate around the rotation axis of the first rotating assembly 120.

[0056] In this embodiment, the device to be calibrated is, for example, a laser radar.

[0057] In addition, the second rotating assembly 130 is disposed on a side of the bracket 110 away from the first rotating assembly 120, and the second rotating assembly 130 is rotatably connected to the bracket 110. The rotation axis of the second rotating assembly 130 is perpendicular to the rotation axis of the first rotating assembly 120.

[0058] Specifically, the second rotating assembly 130 includes a second driving member 132 , and the second driving member 132 is used to provide a driving force for the second rotating assembly 130 to drive the device to be calibrated to rotate around the rotation axis of the second rotating assembly 130 .

[0059] In this embodiment, the second rotating component 130 drives the bracket 110 to rotate through the second driving member 132, thereby driving the first rotating component 120 and the device to be calibrated on the bracket 110 to rotate around the rotation axis of the second rotating component 130 at the same time, thereby realizing a 360° rotation of the device to be calibrated around the rotation axis of the second rotating component 130.

[0060] In the related technology, the current tools for rotating laser radar angle testing and calibration are generally only manual two-dimensional tripods with scales and small elevation angles. The manual rotation angle error is large, and the pitch rotation angle cannot cover the vertical field of view. In addition, the method of rotating according to the scale lines is inefficient and labor-intensive.

[0061] In this embodiment, the turntable device 100 includes a bracket 110, a first rotating component 120 and a second rotating component 130, wherein in this embodiment, the rotation axis of the first rotating component 120 and the rotation axis of the second rotating component 130 are perpendicular to each other, so that the device to be calibrated installed on the first rotating component 120 can cover the vertical field of view, and the rotation of the device to be calibrated is automatically controlled by the first driving member 1222 in the first rotating component 120 and the second driving member 132 in the second rotating component 130, thereby avoiding the influence of human factors in the test, reducing labor costs and time costs, and improving the efficiency of testing and calibration.

[0062] Alternatively, if Figure 2 As shown, the bracket 110 includes a first support plate 111 , a second support plate 112 and a third support plate 113 .

[0063] The first support plate 111 is disposed on one side of the bracket 110 close to the second rotating assembly 130, and the first support plate 111 is rotatably connected to the second rotating assembly 130. Specifically, in this embodiment, the second rotating assembly 130 drives the first support plate 111 to rotate, thereby driving the entire bracket 110 and the first rotating assembly 120 installed on the bracket 110 and the device to be calibrated to rotate.

[0064] Alternatively, if Figure 4 As shown, the first support plate 111 has a first mounting hole 1111, and the second rotating component 130 is passed through the first mounting hole 1111 so that the second rotating component 130 is rotatably connected to the bracket 110, that is, the bracket 110 is driven to rotate around the rotation axis of the second rotating component 130 through the second rotating component 130.

[0065] In addition, the second supporting plate 112 is disposed on a side of the first supporting plate 111 away from the second rotating assembly 130 .

[0066] The second support plate 112 is fixedly connected to the first support plate 111 by, for example, welding, and the first rotating assembly 120 is connected to the second support plate 112 by, for example, bolting.

[0067] Optionally, the second support plate 112 has a second mounting hole, and the axis of the second mounting hole is parallel to the rotation axis of the first rotating assembly 120. Preferably, the axis of the second mounting hole coincides with the rotation axis of the first rotating assembly 120.

[0068] The second mounting hole is used to mount the first rotating assembly 120 , that is, a side of the first rotating assembly 120 close to the second supporting plate 112 is fixedly connected to the second supporting plate 112 , for example, by screws.

[0069] Optionally, the bracket 110 also includes a reinforcing rib 114, which is arranged on the side of the second support plate 112 away from the first rotating assembly 120, and the reinforcing rib 114 is used to support the second support plate 112, that is, to strengthen the supporting force of the second support plate 112 on the first rotating assembly 120.

[0070] Specifically, the third support plate 113 is disposed on a side of the first support plate 111 away from the second rotating assembly 130 , and the third support plate 113 is disposed opposite to the second support plate 112 .

[0071] The end of the third support plate 113 close to the first support plate 111 is fixedly connected to the first support plate 111 by welding, for example. The first rotating assembly 120 is fixedly connected to the third support plate 113 by bolts, for example.

[0072] Optionally, the third support plate 113 has a third mounting hole, and the axis of the third mounting hole is parallel to the rotation axis of the first rotating assembly. The third mounting hole is used to mount the first rotating assembly 120, that is, the first rotating assembly 120 is mounted between the second support plate 112 and the third support plate 113 through the second mounting hole and the third mounting hole on both sides thereof.

[0073] Alternatively, if Figure 4 As shown, the first support plate 111 , the second support plate 112 and the third support plate 113 enclose a first receiving groove 115 . The first rotating assembly 120 is disposed in the first receiving groove 115 .

[0074] Specifically, the first rotating component 120 is suspended in the first accommodating groove 115, that is, through the support of the second support plate 112 and the third support plate 113, there is a certain distance between the first rotating component 120 and the first support plate 111, so that the first rotating component 120 can rotate 360° around its own rotation axis in the first accommodating groove 115.

[0075] Alternatively, if Figure 2 As shown, the first rotating assembly 120 includes a workbench 121 , a first rotating portion 122 and a second rotating portion 123 .

[0076] The workbench 121 is disposed in the first receiving groove 115. Optionally, the workbench 121 is used to install the device to be calibrated and drive the device to be calibrated to rotate.

[0077] Specifically, in this embodiment, the device to be calibrated is installed on the side of the workbench 121 away from the first support plate 111 by using a fixture, and then the rotation of the device to be calibrated is driven by the rotation of the workbench 121 .

[0078] The first rotating portion 122 is disposed at one end of the workbench 121 close to the second supporting plate 112 , and the second rotating portion 123 is disposed at one end of the workbench 121 away from the first rotating portion 122 , that is, the first rotating portion 122 and the second rotating portion 123 are disposed on opposite sides of the workbench 121 .

[0079] Specifically, the second rotating part 123 makes the third support plate 113 rotatably connected to the workbench 121, that is, drives the workbench 121 to rotate relative to the third support plate 113. And the first rotating part 122 is used to make the second support plate 112 rotatably connected to the workbench 121, that is, drives the workbench 121 to rotate relative to the second support plate 112, so that the workbench 121 rotates relative to the bracket 110, realizing a 360° pitch rotation of the device to be calibrated.

[0080] Optionally, the first rotating portion 122 and the second rotating portion 123 rotate synchronously, that is, the second rotating portion 123 rotates along with the rotation of the first rotating portion 122 .

[0081] Alternatively, if Figure 3 As shown, the workbench 121 includes a first mounting plate 1211 , a first connecting plate 1212 and a second connecting plate 1213 .

[0082] The first mounting plate 1211 is disposed on a side of the workbench 121 close to the first supporting plate 111 , and the first mounting plate 1211 is used for mounting the device to be calibrated.

[0083] Alternatively, if Figure 4 As shown, the first mounting plate 1211 has a fourth mounting hole 1211a. In this embodiment, for example, a bolt is passed through the fourth mounting hole 1211a, so that the fixture with the device to be calibrated is mounted on the first mounting plate 1211.

[0084] The first connecting plate 1212 is disposed on a side of the first mounting plate 1211 away from the first supporting plate 111 , and the first connecting plate 1212 is located at an end of the first mounting plate 1211 close to the second supporting plate 112 .

[0085] Optionally, the first connecting plate 1212 has a first connecting hole, wherein the axis of the first connecting hole coincides with the rotation axis of the first rotating portion 122. In this embodiment, the first rotating portion 122 is inserted into the first connecting hole, so that the first rotating portion 122 is rotatably connected to the first connecting plate 1212.

[0086] In addition, the second connecting plate 1213 is disposed on a side of the first mounting plate 1211 away from the first supporting plate 111 , and the second connecting plate 1213 is disposed on an end of the first mounting plate 1211 away from the first connecting plate 1212 .

[0087] Optionally, the second connecting plate 1213 has a second connecting hole, and the axis of the second connecting hole coincides with the rotation axis of the second rotating portion 123. In this embodiment, the second rotating portion 123 is inserted into the second connecting hole so that the second rotating portion 123 is rotatably connected to the second connecting plate 1213.

[0088] In this embodiment, the first connecting plate 1212 is rotatably connected to the first rotating part 122 , and the second connecting plate 1213 is rotatably connected to the second rotating part 123 , so that the workbench 121 is rotatably connected to both the first rotating part 122 and the second rotating part 123 .

[0089] Alternatively, if Figure 3 As shown, the first rotating portion 122 includes a first reducer 1221 and the first driving member 1222 .

[0090] The first reducer 1221 is disposed between the second support plate 112 and the first connecting plate 1212 , the first reducer 1221 is fixedly connected to the second support plate 112 , the fixed connection method is, for example, screw connection, and the first reducer 1221 is rotatably connected to the first connecting plate 1212 .

[0091] Optionally, the first reducer 1221 is, for example, a worm gear combination structure.

[0092] In addition, the first driving member 1222 is disposed on a side of the first reducer 1221 close to the first supporting plate 111 , and the first driving member 1222 is used to drive the first reducer 1221 and drive the workbench 121 to rotate.

[0093] Optionally, the first driving member 1222 is, for example, a driving motor.

[0094] Alternatively, if Figure 3 and Figure 6 As shown, the first rotating part 122 also includes a second bearing 1223, and the second bearing 1223 is penetrated through the first reducer 1221 and the first connecting plate 1212 in sequence, that is, the end of the second bearing 1223 close to the first reducer 1221 is transmission connected to the first reducer 1221, and the end of the second bearing 1223 close to the first connecting plate 1212 is penetrated through the first connecting hole and fixedly connected to the first connecting plate 1212.

[0095] Among them, the axis of the second bearing 1223 coincides with the axis of the first connecting hole. In this embodiment, the second bearing 1223 is driven to rotate by the first reducer 1221, and then the workbench 121 is driven to rotate by the first bearing 1231, so that the workbench 121 drives the device to be calibrated to rotate 360° in pitch.

[0096] Alternatively, if Figure 4 and Figure 6 As shown, the second rotating part 123 includes a first bearing 1231, the first bearing 1231 is passed through the third support plate 113 and the second connecting plate 1213, the first bearing 1231 is rotatably connected to the second connecting plate 1213, the first bearing 1231 is fixedly connected to the third support plate 113, and the first bearing 1231 is used to rotate the workbench 121 relative to the third support plate 113.

[0097] The axis of the first bearing 1231 coincides with the axis of the second bearing 1223 .

[0098] Alternatively, if Figure 2 , Figure 5 and Figure 6 As shown, the second rotating portion 123 includes a second reducer 131 and the second driving member 132 .

[0099] The second reducer 131 is disposed on a side of the first support plate 111 away from the first rotating assembly 120 , and the second reducer 131 is rotatably connected to the first support plate 111 .

[0100] In addition, the second driving member 132 is disposed on a side of the second reducer 131 adjacent to the first supporting plate 111 , and the second driving member 132 is used to drive the second reducer 131 and drive the bracket 110 to rotate.

[0101] Optionally, the second driving member 132 is, for example, a driving motor.

[0102] Alternatively, if Figure 4 As shown, the second rotating part 123 further includes a third bearing 133 , and the third bearing 133 is disposed through the second reducer 131 and the first support plate 111 , and the axis of the third bearing 133 is perpendicular to the axis of the first bearing 1231 .

[0103] Specifically, one end of the third bearing 133 close to the second reducer 131 is transmission-connected to the second reducer 131 , and one end of the third bearing 133 close to the first support plate 111 is fixedly connected to the first support plate 111 .

[0104] In this embodiment, the third bearing 133 is driven to rotate by the second reducer 131, and the bracket 110 is then driven to rotate by the third bearing 133, so that the device to be calibrated can rotate 360° around the axis of the third bearing 133, thereby improving its efficiency and reducing labor and time costs.

[0105] Optionally, the turntable device 100 further includes a control component, which is electrically connected to the first driving member 1222 and the second driving member 132 respectively, and is used to control the working states of the first driving member 1222 and the second driving member 132 .

[0106] Optionally, the first driving member 1222 has a first control serial port, and the second driving member 132 has a second control serial port.

[0107] Specifically, the control component includes a controller and control software, wherein the output end of the controller is electrically connected to the first control serial port and the second control serial port, respectively. In this embodiment, the controller is operated by the control software to control the rotation of the first drive member 1222 and the second drive member 132, thereby controlling the rotation speed of the device to be calibrated.

[0108] Specifically, the controller sends a pulse to the second driving member 132 to drive the second reducer 131, and the second reducer 131 drives the third bearing 133 to rotate, thereby driving the first support plate 111 and the device to be calibrated to rotate, and the device to be calibrated can be rotated 360° clockwise or counterclockwise in a horizontal rotation angle of 0.005° step, and the light emitting center of the device to be calibrated remains unchanged during the rotation process, thereby satisfying the test of the horizontal angle of the device to be calibrated and the data collection and analysis of different modules in the horizontal direction during calibration.

[0109] In addition, in this embodiment, the controller sends pulses to the first driving member 1222 to drive the first reducer 1221, thereby causing the workbench 121 to rotate at a certain angle, so that the pitch rotation angle of the device to be calibrated can be rotated 360° clockwise or counterclockwise around the axis of the first bearing 1231 in steps of 0.005°, and the light emitting center of the device to be calibrated remains unchanged during the rotation process, so as to meet the data collection and analysis of different modules in the pitch direction during the test and calibration of the pitch angle of the device to be calibrated.

[0110] The turntable device 100 of this embodiment improves the work efficiency and test accuracy of the angular resolution and angular accuracy of the device to be calibrated and the calibration of the device to be calibrated by simultaneously controlling the rotation of the horizontal and pitch angles, thereby reducing the labor cost and time cost.

[0111] This embodiment provides a laser radar calibration device, which has the turntable device 100 described in any of the above embodiments, and therefore has all the beneficial effects of the turntable device 100, which will not be described here one by one.

[0112] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0113] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A turntable device, characterized in that: include: Bracket; a first rotating assembly, the first rotating assembly being arranged at one side of the bracket, the first rotating assembly being connected to the bracket, the first rotating assembly being used to install the device to be calibrated, and driving the device to be calibrated to rotate around a rotation axis of the first rotating assembly, the first rotating assembly comprising a first driving member; The second rotating assembly is arranged on the side of the bracket away from the first rotating assembly, the second rotating assembly is rotatably connected to the bracket, the rotation axis of the second rotating assembly is perpendicular to the rotation axis of the first rotating assembly, the second rotating assembly is used to rotate the bracket to drive the device to be calibrated to rotate around the rotation axis of the second rotating assembly, and the second rotating assembly includes a second driving member.

2. The turntable device according to claim 1, characterized in that: The support comprises: A first support plate, the first support plate is arranged on a side of the bracket close to the second rotating assembly, and the first support plate is rotatably connected to the second rotating assembly; A second support plate, the second support plate is arranged on a side of the first support plate away from the second rotating assembly, the second support plate is fixedly connected to the first support plate, and the first rotating assembly is connected to the second support plate; A third support plate, the third support plate is arranged on a side of the first support plate away from the second rotating assembly, the third support plate is arranged opposite to the second support plate, and the first rotating assembly is rotatably connected to the third support plate; The first support plate, the second support plate and the third support plate together form a first accommodating groove, and the first rotating assembly is disposed in the first accommodating groove.

3. The turntable device according to claim 2, characterized in that: The first support plate has a first mounting hole, and the second rotating assembly is inserted through the first mounting hole so that the second rotating assembly is rotatably connected to the bracket; The second supporting plate has a second mounting hole, the axis of the second mounting hole is parallel to the rotation axis of the first rotating assembly, and the second mounting hole is used to mount the first rotating assembly; The third support plate has a third mounting hole, the axis of the third mounting hole is parallel to the rotation axis of the first rotating assembly, and the third mounting hole is used to mount the first rotating assembly.

4. The turntable device according to claim 2, characterized in that: The bracket further includes a reinforcing rib plate, which is disposed on a side of the second support plate away from the first rotating assembly, and is used to support the second support plate.

5. The turntable device according to claim 2, characterized in that: The first rotating assembly comprises: A workbench, the workbench is arranged in the first containing groove, the workbench is used to install the device to be calibrated, and drives the device to be calibrated to rotate; A first rotating part, the first rotating part is arranged on one end of the workbench close to the second supporting plate; A second rotating part, the second rotating part is arranged on an end of the workbench away from the first rotating part, the second rotating part is used to rotationally connect the third support plate and the workbench, and the first rotating part is used to rotationally connect the second support plate and the workbench, so that the workbench rotates relative to the bracket.

6. The turntable device according to claim 5, characterized in that: The workbench comprises: A first mounting plate, the first mounting plate is arranged on a side of the workbench close to the first supporting plate, and the first mounting plate is used to mount the device to be calibrated; A first connecting plate, the first connecting plate is arranged on a side of the first mounting plate away from the first supporting plate, and the first connecting plate is located at an end of the first mounting plate close to the second supporting plate, and the first connecting plate is used to be rotatably connected to the first rotating part; The second connecting plate is arranged on a side of the first mounting plate away from the first supporting plate, and the second connecting plate is arranged at an end of the first mounting plate away from the first connecting plate, and the second connecting plate is used for rotationally connecting with the second rotating part.

7. The turntable device according to claim 6, characterized in that: The first mounting plate has a fourth mounting hole, and the fourth mounting hole is used to mount the device to be calibrated.

8. The turntable device according to claim 6, characterized in that: The first connecting plate has a first connecting hole, the axis of the first connecting hole coincides with the rotation axis of the first rotating part, and the first rotating part is inserted into the first connecting hole so that the first rotating part is connected to the first connecting plate; The second connecting plate has a second connecting hole, the axis of the second connecting hole coincides with the rotation axis of the second rotating part, and the second rotating part is inserted into the second connecting hole so that the second rotating part is connected to the second connecting plate.

9. The turntable device according to claim 6, characterized in that: The first rotating part comprises: a first reducer, wherein the first reducer is disposed between the second supporting plate and the first connecting plate, the first reducer is connected to the second supporting plate, and the first reducer is rotatably connected to the first connecting plate; The first driving member is arranged on a side of the first reducer close to the first supporting plate, and is used to drive the first reducer and drive the workbench to rotate.

10. The turntable device according to claim 6, characterized in that: The second rotating part includes a first bearing, which is inserted through the third support plate and the second connecting plate, the first bearing is rotatably connected to the second connecting plate, the first bearing is fixedly connected to the third support plate, and the first bearing is used to rotate the workbench relative to the third support plate.

11. The turntable device according to claim 5, characterized in that: The second rotating part comprises: a second reducer, the second reducer being arranged on a side of the first support plate away from the first rotating assembly, and the second reducer being rotatably connected to the first support plate; The second driving member is arranged on a side of the second reducer adjacent to the first supporting plate, and is used to drive the second reducer and drive the bracket to rotate.

12. A laser radar calibration device, characterized in that: A turntable device comprising the turntable device according to any one of claims 1 to 11.

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