Laser radar environment weather resistance test process monitoring system
By designing a lidar environmental weather resistance test process monitoring system, and using the upper computer to automatically acquire and process point cloud data, the problem of inefficient point cloud performance monitoring in the existing technology is solved, and automatic monitoring and efficient testing are realized.
Patent Information
- Application Number
- CN202421385009.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-18
- Publication Date
- 2025-06-20
- Estimated Expiration
- 2034-06-18
AI Technical Summary
The prior art failed to effectively monitor point cloud performance in lidar environmental weather resistance tests, resulting in inefficient testing.
A lidar environmental weather resistance test process monitoring system is designed, including radar devices, reflection devices and upper computers. Through the upper computer, point cloud data is automatically obtained and processed, point cloud performance parameters are calculated, and the position and reflectivity of the reflector plate are automatically adjusted during the test.
It realizes automatic acquisition of point cloud data and automatic monitoring of point cloud performance, reduces manual operations, improves testing efficiency, and can automatically monitor point cloud performance under different distances and reflectivity conditions.
Smart Images
Figure CN223006305U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of lidar testing, and particularly relates to a monitoring system for the process of lidar environmental weather resistance test. Background Technique
[0002] Lidar occupies a place in the field of intelligent driving perception with its high angular resolution and ranging accuracy. Vehicles often face various extreme environments during driving. Therefore, it is crucial to conduct environmental weather resistance tests on lidar. In the prior art, in order to simulate extreme environments, there are generally the following several solutions: 1) Use an isolation device to form an air curtain to control the temperature inside the box; 2) Heat or cool through a temperature control system; 3) Simulate various meteorological environments through a meteorological simulation device.
[0003] The above solutions simulate extreme environments, with controllable environmental factors, time-saving and convenient, but do not involve the monitoring of point cloud performance during the test. Environmental weather resistance tests usually require monitoring the functional state of the product during the test, and point cloud performance parameters, such as ranging accuracy, reflection characteristics, point frequency, and frame frequency, are an important indicator for considering the functional state of lidar.
[0004] Calculating the point cloud performance parameters of lidar is basically based on point cloud data. On the one hand, customers usually obtain real-time point cloud data through point cloud visualization software or Wireshark, but such software does not synchronously calculate point cloud performance parameters; on the other hand, lidar usually has hundreds of thousands or even tens of millions of points in one second. If calculated manually, it will be extremely cumbersome; moreover, the test duration of environmental weather resistance tests is often several hours or even days. If monitored manually, it will be time-consuming and laborious; therefore, there is an urgent need to provide a system that can automatically monitor the point cloud performance during the environmental weather resistance test, reduce manual operations, and improve test efficiency.
[0005] Therefore, based on the above technical problems, it is necessary to design a new monitoring system for the process of lidar environmental weather resistance test. Content of the Utility Model
[0006] The purpose of the utility model is to provide a monitoring system for the process of lidar environmental weather resistance test to solve the technical problems of monitoring the point cloud performance of lidar in various situations.
[0007] To solve the above technical problems, the utility model provides a monitoring system for the process of lidar environmental weather resistance test, including:
[0008] A radar device, a reflection device, and a host computer;
[0009] The reflection device and the radar device are electrically connected to the host computer;
[0010] The reflection device is arranged on one side of the radar device. The radar device is adapted to emit laser towards the reflection device, and the radar device is adapted to receive the echo;
[0011] The host computer is adapted to control the reflection device and the radar device according to requirements, and the host computer is adapted to receive the point cloud data of the radar device in various states of the reflection device.
[0012] Furthermore, the radar device includes: a lidar and a temperature chamber;
[0013] The lidar is arranged in the temperature chamber;
[0014] The lidar is connected to the host computer through a network cable;
[0015] The temperature chamber is adapted to adjust the internal temperature.
[0016] Furthermore, a light-transmitting window is arranged on the temperature chamber, and the lidar is adapted to emit laser and receive the echo through the light-transmitting window.
[0017] Furthermore, the reflection device includes: a reflector and a reflector control console;
[0018] The reflector is arranged on the reflector control console;
[0019] The reflector control console is adapted to drive the reflector to move and rotate.
[0020] Furthermore, the reflectivity of one side of the reflector is low reflection, and the reflectivity of the other side is high reflection.
[0021] Furthermore, the reflector control console includes: a controller and a turntable;
[0022] Communication is established between the controller and the host computer;
[0023] The controller is electrically connected to the turntable;
[0024] The reflector is arranged on the turntable, and the controller is adapted to control the turntable to drive the reflector to rotate.
[0025] Furthermore, the reflector control console further includes: a displacement stage;
[0026] The displacement stage is electrically connected to the controller, and the turntable is arranged on the displacement stage;
[0027] The controller is adapted to control the displacement stage to drive the turntable to move, so as to drive the reflector to move.
[0028] Furthermore, a limit mark is arranged on one side of the displacement stage.
[0029] Further, the host computer is electrically connected to an intelligent camera.
[0030] Further, the host computer includes: a main control module, a timing module, a reflector control module, a camera monitoring module, a point cloud processing module, and a data statistics module;
[0031] The main control module controls the interaction between each module;
[0032] The timing module determines whether the test duration or the interval time is reached;
[0033] The reflector control module adjusts the position of the reflector and switches the reflectivity based on the monitoring requirements for the point cloud performance in the environmental weather resistance test;
[0034] The camera monitoring module determines whether the test environment meets the preset state;
[0035] The point cloud processing module is responsible for acquiring and processing the point cloud data of the lidar;
[0036] The data statistics module is responsible for statistically calculating the point cloud performance parameters in each time period and drawing a fluctuation curve.
[0037] The beneficial effects of the present utility model are as follows. The present utility model includes a radar device, a reflection device, and a host computer; the reflection device and the radar device are electrically connected to the host computer; the reflection device is arranged on one side of the radar device, the radar device is adapted to emit laser light towards the reflection device, and the radar device is adapted to receive the echo; the host computer is adapted to control the reflection device and the radar device according to requirements, and the host computer is adapted to receive the point cloud data of the radar device in various states of the reflection device; realizing the acquisition of point cloud data and the monitoring of point cloud performance, and during the monitoring process, it can automatically monitor the point cloud performance of targets with different reflectivities at different distances according to requirements.
[0038] Other features and advantages of the present utility model will be described in the following description, and part of them will become obvious from the description, or be understood by implementing the present utility model. The objectives and other advantages of the present utility model are achieved and obtained by the structures specifically pointed out in the description and the drawings.
[0039] To make the above objectives, features, and advantages of the present utility model more obvious and understandable, the following specific preferred embodiments are given, and in conjunction with the accompanying drawings, the detailed description is as follows. Description of the Drawings
[0040] In order to more clearly illustrate the specific embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.
[0041] Figure 1 is a schematic structural diagram of a monitoring system for the environmental weather resistance test process of a lidar of the present utility model;
[0042] Figure 2 is a schematic structural diagram of a reflector console of the present utility model;
[0043] Figure 3 is a principle block diagram of a host computer of the present utility model;
[0044] Figure 4 is a monitoring flow chart of the present utility model.
[0045] In the figure:
[0046] Lidar 1, incubator 2, light-transmitting window 3, reflector 4, reflector console 5, controller 51, displacement table 52, limit mark 53, turntable 54, host computer 6, intelligent camera 7. Specific embodiments
[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the following will clearly and completely describe the technical solutions of the present utility model in conjunction with the drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts fall within the scope of protection of the present utility model.
[0048] Such as Figures 1 to 4As shown, in at least one embodiment, a monitoring system for the environmental weather resistance test process of a lidar is provided, including: a radar device, a reflection device, and a host computer 6; the reflection device and the radar device are electrically connected to the host computer 6; the reflection device is arranged on one side of the radar device, the radar device is adapted to emit laser light towards the reflection device, and the radar device is adapted to receive the echo; the host computer 6 is adapted to control the reflection device and the radar device according to requirements, and the host computer 6 is adapted to receive the point cloud data of the radar device in various states of the reflection device; the acquisition of point cloud data and the monitoring of point cloud performance are realized, and during the monitoring process, the point cloud performance of targets with different reflectivities at different distances can be automatically monitored according to requirements; during the environmental weather resistance test process, the test environment is monitored by an intelligent camera 7, the test scenario is adjusted by the host computer 6, and the point cloud data is automatically acquired and processed, and the point cloud performance parameters are automatically calculated and the change of point cloud performance is monitored, which is beneficial to reducing manual operation and improving the test efficiency.
[0049] The host computer 6 automatically calculates the point cloud performance parameters and monitors the change of point cloud performance. On the one hand, the host computer 6 acts as a server, and the lidar 1 acts as a client. The point cloud data is automatically acquired through socket communication, parsed based on the point cloud frame format, and data such as distance, echo intensity, number of points, and number of frames are obtained and calculated, so as to obtain point cloud performance parameters including but not limited to ranging accuracy, reflection characteristics, point frequency, and frame frequency, reducing manual operation and improving the test efficiency; on the other hand, the host computer 6 integrates and analyzes the point cloud performance parameters calculated in each time period, draws a fluctuation curve, monitors the change of point cloud performance in real time, and records abnormal point cloud data packets or relevant logs in time, which helps to analyze the reasons for the failure of the environmental weather resistance test.
[0050] The radar device includes: a lidar 1 and a temperature chamber 2; the lidar 1 is arranged in the temperature chamber 2; the lidar 1 is connected to the host computer 6 through a network cable; the temperature chamber 2 is adapted to adjust the internal temperature; placing the lidar 1 in the temperature chamber 2, the temperature and humidity of the temperature chamber 2 and their change curves can be set according to the requirements of the environmental weather resistance test to meet different test needs; the lidar 1 is connected to the host computer 6 through a network cable, and the host computer 6 can monitor the point cloud performance during the test.
[0051] A light-transmitting window 3 is arranged on the temperature chamber 2, and the lidar 1 is adapted to emit laser light and receive the echo through the light-transmitting window 3; the lidar 1 emits laser light and receives the echo through the light-transmitting window 3, and the transmittance of the light-transmitting window 3 for the wavelength of the lidar 1 (905 - 1550 nm band) needs to reach more than 97%, reducing the attenuation of point cloud performance caused by the reduction of echo energy due to low transmittance.
[0052] The reflection device includes: a reflector 4 and a reflector console 5; the reflector 4 is arranged on the reflector console 5; the reflector console 5 is adapted to drive the reflector 4 to move and rotate; the reflector 4 can be a Lambertian diffuser reflector 4; the reflector console 5 is connected to the host computer 6 through a serial port, and switches the position and reflectivity of the reflector 4 through translation and rotation; by adjusting the test scenario through the host computer 6, the point cloud performance of targets with different reflectivities at different distances can be monitored without manual operation.
[0053] Both sides of the reflector 4 can be used. The reflectivity of one side of the reflector 4 is low reflection, and the reflectivity of the other side is high reflection; for example, 10% and 90%.
[0054] The reflector console 5 includes: a controller 51, a displacement stage 52 and a turntable 54; communication is established between the controller 51 and the host computer 6; the controller 51 is electrically connected to the turntable 54; the reflector 4 is arranged on the turntable 54, and the controller 51 is adapted to control the turntable 54 to drive the reflector 4 to rotate; the displacement stage 52 is electrically connected to the controller 51, and the turntable 54 is arranged on the displacement stage 52; the controller 51 is adapted to control the displacement stage 52 to drive the turntable 54 to move, so as to drive the reflector 4 to move; the host computer 6 operates the displacement stage 52 and the turntable 54 through the controller 51. On the one hand, the reflector 4 can be translated to adjust the distance between the reflector 4 and the lidar 1. Among them, the limit mark 53 can be used to judge the current position of the reflector 4. On the other hand, the reflector 4 can be rotated to switch the reflector 4 with different reflectivities. Thus, the point cloud performance of targets with different reflectivities at different distances can be monitored.
[0055] A limit mark 53 is arranged on one side of the displacement stage 52, and the position of the reflector 4 is judged whether it is abnormal by the distance between the reflector 4 and the limit mark 53; the host computer 6 is electrically connected to an intelligent camera 7; the intelligent camera 7 is used to judge whether the distance between the reflector 4 and the limit mark 53 is abnormal; in order to avoid the change of the theoretical value due to the abnormal change of the preset test environment. For example, the movement of people within the field of view of the lidar 1 or the abnormal position of the reflector 4 may change the theoretical value of ranging or reflectivity. Therefore, an intelligent camera 7 can be added and connected to the host computer 6, and whether there is personnel movement is judged through moving target detection. If the above two situations occur, the calculation of the point cloud performance parameters will be suspended and a warning will be given until the test environment returns to the preset state; the intelligent camera 7 monitors the test environment to avoid the change of the theoretical value due to the abnormal change of the preset test environment, thus affecting the point cloud performance parameters. For example, the movement of people within the field of view of the lidar 1 or the abnormal position of the reflector 4 may change the theoretical value of ranging or reflectivity.
[0056] The host computer 6 includes: a main control module, a timing module, a reflector 4 control module, a camera monitoring module, a point cloud processing module, and a data statistics module; the main control module is responsible for controlling the interaction between each module; the timing module is responsible for determining whether the test duration or the interval time is reached; the reflector 4 control module switches the position and reflectivity of the reflector 4 based on the monitoring requirements for the point cloud performance in the environmental weathering test; the camera monitoring module is responsible for determining whether the test environment meets the preset state, that is, there is no personnel movement within the field of view of the lidar 1 and the position of the reflector 4 meets the expectation; the point cloud processing module is responsible for acquiring and processing the point cloud data of the lidar 1; the data statistics module is responsible for statistically calculating the point cloud performance parameters in each time period and drawing a fluctuation curve.
[0057] After arranging the test environment, power on the lidar 1 and turn on the host computer 6. Set the test duration and the interval time. The test duration is the requirement for the test duration in the environmental weather resistance test, such as 24 hours, 21 days, etc. The interval time is the interval time for acquiring and processing the point cloud data. For example, acquire and process the point cloud data every 10 minutes. The smaller the interval time is set, the more detailed the monitoring of the test process will be. When the interval time is reached, the host computer 6 automatically acquires the point cloud data of the lidar 1. Before that, programming can be carried out based on socket communication. The host computer 6 serves as the server, and the lidar 1 serves as the client. The point cloud data is acquired through a specific IP address and port number. Among them, the number of frames or the duration of the acquired point cloud data can be defined by oneself. For example, acquire point cloud data with no less than 100 frames or no less than 10 s. Based on the parsing of the point cloud frame format, data such as distance, echo intensity, number of points, and number of frames are obtained and the point cloud performance parameters are calculated. The point cloud performance parameters include but are not limited to ranging accuracy, reflection characteristics, point frequency, and frame frequency. In addition, since the field of view of the lidar 1 is generally about 120°×25°, the distance between the reflector 4 and the lidar 1 is generally required to be not less than 2 m, and the size of the reflector 4 is generally about 2 m×2 m. Therefore, under these conditions, the reflector 4 cannot cover the entire field of view of the lidar 1. Therefore, when monitoring the point cloud performance, points on the reflector 4 can be selected for processing in the central field of view, and for other fields of view, the change of ranging accuracy and reflection characteristics during the test process can be monitored based on the distance value and echo intensity value of the points in the initial state of the test as a reference. At the same time, if it is required to monitor the point cloud performance of targets with different reflectivities at different distances during the environmental weather resistance test, the host computer 6 can translate and rotate the reflector 4 through the reflector console 5 at the specified time to switch different distances and reflectivities. When the point cloud performance parameters do not meet the requirements, stop the test and record the current point cloud data packet or relevant logs. If it is required to continue the environmental weather resistance test when the point cloud performance parameters do not meet the requirements, it can be set not to automatically stop the test. Among them, whether the point cloud performance parameters meet the requirements can be judged by comparing the currently calculated point cloud performance parameters with the theoretical values in the preset test scenario or the initial values in the initial state of the test. When the test duration is reached and the test stops normally or the point cloud performance parameters do not meet the requirements and the test stops abnormally, the host computer 6 automatically counts the point cloud performance parameters calculated in each time period and draws a fluctuation curve. Through the above monitoring system, the automatic monitoring of the point cloud performance during the environmental weather resistance test can be realized, reducing manual operations and improving the test efficiency.
[0058] In summary, the present utility model includes a radar device, a reflection device, and a host computer 6; the reflection device and the radar device are electrically connected to the host computer 6; the reflection device is arranged on one side of the radar device, the radar device is adapted to emit laser light towards the reflection device, and the radar device is adapted to receive the echo; the host computer 6 is adapted to control the reflection device and the radar device according to requirements, and the host computer 6 is adapted to receive the point cloud data of the radar device in various states of the reflection device; thereby achieving the acquisition of point cloud data and the monitoring of point cloud performance, and during the monitoring process, it can automatically monitor the point cloud performance of targets with different reflectivities at different distances according to requirements.
[0059] All components selected in this application (components without specific structures described) are common standard components or components known to those skilled in the art, and their structures and principles can be known by those skilled in the art through technical manuals or through conventional experimental methods.
[0060] Taking the above-mentioned ideal embodiment of the present utility model as an inspiration, through the above description, relevant staff can completely make various changes and modifications within the scope not deviating from the technical idea of this utility model.
Claims
1. A laser radar environmental weathering test process monitoring system, characterized in that: include: Radar device, reflection device and host computer; The reflection device and the radar device are electrically connected to the host computer; The reflecting device is arranged at one side of the radar device, the radar device is adapted to emit laser light to the reflecting device, and the radar device is adapted to receive echoes; The host computer is suitable for controlling the reflection device and the radar device according to requirements, and the host computer is suitable for receiving point cloud data of the radar device in various states of the reflection device.
2. The laser radar environmental weathering test process monitoring system according to claim 1, characterized in that: The radar device comprises: a laser radar and a temperature box; The laser radar is arranged in the temperature box; The laser radar is connected to the host computer via a network cable; The thermostat is suitable for regulating the temperature inside.
3. The laser radar environmental weathering test process monitoring system according to claim 2, characterized in that: The temperature box is provided with a light-transmitting window, and the laser radar is suitable for emitting laser and receiving echo through the light-transmitting window.
4. The laser radar environmental weathering test process monitoring system according to claim 1, characterized in that: The reflecting device comprises: a reflecting plate and a reflecting plate console; The reflector is arranged on the reflector console; The reflecting plate control console is suitable for driving the reflecting plate to move and rotate.
5. The laser radar environmental weathering test process monitoring system as claimed in claim 4, characterized in that: The reflectivity of one side of the reflector is low reflectivity, and the reflectivity of the other side is high reflectivity.
6. The laser radar environmental weathering test process monitoring system according to claim 4, characterized in that: The reflector console comprises: a controller and a turntable; Establishing communication between the controller and the host computer; The controller is electrically connected to the turntable; The reflective plate is arranged on the turntable, and the controller is suitable for controlling the turntable to drive the reflective plate to rotate.
7. The laser radar environmental weathering test process monitoring system according to claim 6, characterized in that: The reflector console further comprises: a displacement stage; The displacement platform is electrically connected to the controller, and the turntable is arranged on the displacement platform; The controller is suitable for controlling the translation stage to drive the rotation stage to move, so as to drive the reflection plate to move.
8. The laser radar environmental weathering test process monitoring system according to claim 7, characterized in that: A limit mark is arranged on one side of the displacement platform.
9. The laser radar environmental weathering test process monitoring system according to claim 8, characterized in that: The host computer is electrically connected to a smart camera.
10. The laser radar environmental weathering test process monitoring system according to claim 1, characterized in that: The host computer includes: a main control module, a timing module, a reflector control module, a camera monitoring module, a point cloud processing module and a data statistics module; The main control module controls the interaction between various modules; The timing module determines whether the test duration or interval time has been reached; The reflector control module adjusts the reflector position and switches the reflectivity based on the monitoring requirements of the point cloud performance in the environmental weather resistance test; The camera monitoring module determines whether the test environment meets the preset state; The point cloud processing module is responsible for acquiring and processing the point cloud data of the laser radar; The data statistics module is responsible for counting the point cloud performance parameters calculated in each time period and drawing a fluctuation curve.