Multi-distance laser radar illumination compensation calibration device

Abstract

The utility model relates to a multi-distance laser radar illumination compensation calibration device, and the device comprises a radar installation platform which is used for fixing a to-be-measured laser radar and can rotate in the horizontal and pitching directions; a plurality of targets, wherein each target is provided with a light source with controllable light intensity and incident angle and a reflecting plate; the targets are deployed with the radar installation platform as the center, and the distances between the targets and the to-be-measured laser radar are different; the visual identification camera is used for acquiring the position of a radar laser spot; and the upper computer reads image data of the visual identification camera, controls the rotation of the radar installation platform in the horizontal and pitching directions and the light intensity and the incident angle of the light source on the target, and completes illumination compensation calibration and test of the laser radar under multiple distances. Compared with the prior art, the device can accurately obtain an illumination intensity compensation table of laser radar ranging values under different distances and different illumination environments, and can effectively improve the ranging precision under different illumination intensities by adopting the illumination intensity compensation table for compensation.

Description

TECHNICAL FIELD

[0001] The utility model relates to laser radar compensation calibration technical field especially is a kind of multi-distance laser radar light compensation calibration device. BACKGROUND

[0002] With the rapid development of intelligent equipment in recent years, as a kind of application simple, cost controllable sensor scheme, its application range has changed from indoor simple environment to outdoor complex environment, and the subsequent scene change also puts forward higher requirements for the related performance of laser radar. Among them, the anti-light interference ability as the problem that cannot be avoided in outdoor scene application becomes the important index for laser radar to go to outdoor application.

[0003] At present, laser radar increases the anti-light interference ability mainly from the optimization of hardware, fundamentally improves the anti-light performance, but the cost is higher, and it is not easy to further reduce the ranging error. INVENTION CONTENTS

[0004] The utility model aims at overcoming the defects of prior art and providing a ranging value compensation device for different distances and different environmental illuminance conditions in the production process of laser radar.

[0005] The purpose of the utility model can be realized by the following technical solutions:

[0006] As the first aspect of the utility model, a multi-distance laser radar light compensation calibration device is provided, which comprises:

[0007] A radar mounting platform is used to fix the laser radar to be measured, and can rotate in horizontal and pitch directions;

[0008] A plurality of targets are provided with light sources and reflection plates with controllable light intensity and incident angle on each target; the plurality of targets are arranged around the radar mounting platform, and the distance between each target and the laser radar to be measured is different; the plane of the reflection plate of each target is perpendicular to the line connecting the center of the reflection plate and the horizontal rotation axis of the radar mounting platform;

[0009] A visual recognition camera is installed on the radar mounting platform and moves synchronously with the laser radar to be measured, and is used to obtain the position of the laser spot of the radar;

[0010] An upper computer is signal-connected with the radar mounting platform, each target and the visual recognition camera, and is used to read the image data of the visual recognition camera, control the rotation of the radar mounting platform in horizontal and pitch directions and the light intensity and incident angle of the light source on the target, complete the light compensation calibration and test of the laser radar under multiple distances.

[0011] As a preferred technical scheme, the radar mounting platform comprises a radar fixing tool, a pitch rotating mechanism and a horizontal rotating mechanism.

[0012] The pitch rotating mechanism comprises a horizontally arranged pitch rotating motor, and the output end of the pitch rotating motor is connected with the radar fixing tool.

[0013] The horizontal rotating mechanism comprises a vertically arranged horizontal rotating motor, and the output end of the horizontal rotating motor is connected with the pitch rotating mechanism.

[0014] As a preferred technical scheme, the radar fixing tool is provided with a quick release mechanism for fixing and mounting the laser radar to be measured.

[0015] As a preferred technical scheme, the visual recognition camera is mounted on the radar fixing tool.

[0016] As a preferred technical scheme, the light source with controllable light intensity and incident angle on the target comprises a halogen lamp arranged on the target and an illumination pitch motor for controlling the rotation of the halogen lamp.

[0017] As a preferred technical scheme, the target further comprises a voltage regulating module for adjusting the brightness of the halogen lamp.

[0018] As a preferred technical scheme, the target is further provided with a Bluetooth module and is wirelessly connected with the upper computer through the Bluetooth module.

[0019] Compared with the prior art, the utility model has the following beneficial effects:

[0020] The utility model discloses a kind of laser radar illumination compensation calibration devices under multiple distances, the rotation of halogen lamp is simulated different light incident angles, and different light intensity is simulated by voltage regulator control halogen lamp to change bright and dark. Laser radar is placed on rotating platform simultaneously, the rotation of rotating platform is rotated to measure target at different distances, then, visual recognition camera is guaranteed to be in target correct position with radar ranging spot. By the above mode, laser radar ranging value and real distance value deviation under different distances, different illumination environment can be accurately collected, and illumination intensity compensation table is generated using software to fit, and then ranging value is compensated to obtain high-precision ranging data. It can be realized that ranging value is fine-tuned after reading illumination intensity, and ranging precision under different illumination intensity can be effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is the structure schematic diagram of the utility model multiple distance laser radar illumination compensation calibration device;

[0022] Figure 2 It is the structure top view of the multi-distance laser radar light compensation calibration device of the utility model;

[0023] Figure 3 It is the structure perspective view of the radar installation platform of the utility model;

[0024] Figure 4 It is the schematic view of the multi-distance laser radar light compensation calibration device of the utility model;

[0025] Figure 5 It is the work flow chart of the multi-distance laser radar light compensation calibration device of the utility model;

[0026] The figure mark shows: 1, workbench, 2, radar installation platform, 3, target, 4, light pitch motor, 5, halogen lamp, 6, reflector plate, 7, multi-target deployment position, 8, quick release mechanism, 9, visual identification camera, 10, radar fixing tool, 11, pitch rotation motor, 12, horizontal rotation motor. DETAILED DESCRIPTION

[0027] The utility model will be described in detail below in combination with the drawings and specific embodiments. The embodiment is implemented on the premise of the technical scheme of the utility model, and gives detailed implementation mode and specific operation process, but the protection scope of the utility model is not limited to the following examples.

[0028] Embodiment 1

[0029] The utility model discloses a kind of multi-distance laser radar light compensation calibration devices, for the ranging value light compensation and ranging accuracy test of different distance, different environmental illumination in laser radar production process condition. It simulates different light incidence angles using the rotation of halogen lamp, and different light intensity is simulated by adjusting the halogen lamp to change light and dark through voltage regulator. Laser radar is placed on rotating platform simultaneously, and the target of different distance is determined by the rotation of rotating platform, then visual identification device is guaranteed to be in target correct position with radar ranging spot. By the above mode, laser radar ranging value and real distance value deviation under different distance, different light environment can be accurately collected, and light intensity compensation table is generated using software to fit, and then ranging value is compensated to obtain high-precision ranging data.

[0030] As shown in Figure 1 The utility model includes a workbench 1, a radar installation platform 2, a plurality of targets 3 and host computer, wherein radar installation platform 2 is installed and fixed on the upper portion of workbench 1, target 3 is deployed in sequence on the periphery of workbench 1, and the number is increased or decreased according to demand.

[0031] Radar installation platform 2 is installed on the upper portion of workbench 1, for fixing laser radar to be determined;Workbench 1 periphery is according toFigure 2 The deployment of several targets 3 is shown, each group of targets 3 is different from the laser radar distance to be determined, so as to obtain radar ranging data at different distances; a reflecting plate 6 is installed on the target 3, the rotation of the halogen lamp 5 in the elevation direction is controlled by the light elevation motor 4 to simulate different light incidence angles, and the brightness of the halogen lamp 5 is controlled to simulate different light intensities.

[0032] The specific deployment mode of the plurality of targets 3 is referred to Figure 2 As shown, the plane of the reflecting plate 6 on each target 3 needs to be perpendicular to the line connecting the center of the plate and the horizontal rotation axis of the radar installation platform, and the length of the line is used as the actual distance from the target 3 at this position to the laser radar to be determined.

[0033] The schematic diagram of the radar installation platform 2 is shown in Figure 3 As shown, it includes a quick release mechanism 8 and a radar fixing tool 10 for fixing the laser radar to be determined. The visual recognition camera 9 is installed above the radar fixing tool 10, which is used to obtain the position of the laser spot. The horizontal rotation motor 12 can adjust the horizontal direction of the entire radar installation platform 2, so that it faces different position targets 3, and can also be combined with the visual acquisition information to adjust the position of the radar laser spot on the reflecting plate 6 together with the elevation rotation motor 11. The radar installation platform 2 can rotate in the horizontal and elevation directions, and can adjust the spot to the center of the reflecting plate 6 in cooperation with the visual recognition camera 9, and ensure that the spot is shot to targets at different distances according to the test requirements.

[0034] As shown in Figure 4 The light elevation motor 4 can drive the halogen lamp 5 to rotate, so that the light of the halogen lamp 5 can hit the reflecting plate 6 at different incidence angles. The Bluetooth module is connected with the controller of the light elevation motor 4 and the voltage regulating module of the halogen lamp 5 through serial communication connection respectively, and is connected with the host computer Bluetooth wireless communication connection.

[0035] As shown in Figure 5 The specific working principle of the device provided by the utility model is as follows:

[0036] First, the related self-checking is carried out, including the brightness control of the halogen lamp, the light incidence angle control of the halogen lamp, the horizontal and elevation direction movement self-checking of the radar installation platform, etc., to ensure that the entire device is not limited during the movement process.

[0037] After self-checking, the laser radar to be measured is installed on the radar fixing tool 10 to perform spot calibration: after setting the target 3 to be measured, the radar installation platform 2 horizontal rotation motor 12 is rotated to the target target of the laser radar to be measured, then the image data of the visual recognition camera 9 is read by the upper computer, the position of the spot relative to the center of the target reflection plate is obtained, then the horizontal and pitch motors are adjusted to make the spot fall on the center of the reflection plate 3, the position information is recorded, and then the spot calibration of the next target 3 is performed.

[0038] After completing the target spot calibration of all positions, the formal calibration procedure is entered, the spot is controlled to fall on the target target according to the calibration position in turn, and the ranging data and light intensity are collected, at the same time, the light intensity change and incident angle change instructions are issued by the upper computer, the pressure regulating module starts to adjust the brightness of the halogen lamp 5, the light pitch motor 4 controls the halogen lamp 5 to perform the cyclic up-down pitch movement, when the position data collection is completed, the data collection of the next position target is entered. When all the target data collection is completed, the collected data is processed, and the present calibration or test process is ended.

[0039] Through the above mode, the radar measurement data under different light intensities, different light incident angles and different distances can be obtained, and the light compensation and precision test of the laser radar are realized in combination with the actual distance information.

[0040] The above describes the preferred embodiments of the present application in detail. It should be understood that those skilled in the art can make many modifications and changes without creative labor according to the concept of the present application. Therefore, any technical solution obtained by logical analysis, reasoning or limited experiment on the basis of the prior art according to the concept of the present application shall be within the protection scope defined by the claims.

Claims

1. A multi-range lidar illumination compensation calibration device, characterized in that, The device comprises: a radar mounting platform (2) for fixing a laser radar to be measured, capable of rotating in horizontal and pitch directions; a plurality of targets (3), each target (3) being provided with a light source and a reflecting plate (6) with controllable light intensity and incident angle; the plurality of targets (3) are arranged around the radar mounting platform (2) as a center, each target (3) being different in distance from the laser radar to be measured, and the reflecting plate plane of each target (3) being perpendicular to the line connecting the center of the reflecting plate (6) and the horizontal rotation axis of the radar mounting platform (2); a visual recognition camera (9) mounted on the radar mounting platform (2) and moving synchronously with the laser radar to be measured; a host computer connected in signal with the radar mounting platform (2), each target (3) and the visual recognition camera (9).

2. A multi-range lidar illumination compensation calibration device according to claim 1, wherein, The radar mounting platform (2) comprises a radar fixing tool (10), a pitch rotating mechanism and a horizontal rotating mechanism. The pitch rotating mechanism comprises a horizontally arranged pitch rotating motor (11), and the output end of the pitch rotating motor (11) is connected with the radar fixing tool (10). The horizontal rotating mechanism comprises a vertically arranged horizontal rotating motor (12), and the output end of the horizontal rotating motor (12) is connected with the pitch rotating mechanism.

3. A multi-range lidar illumination compensation calibration device according to claim 2, wherein, The radar fixing tool (10) is provided with a quick release mechanism (8) for fixing and mounting the laser radar to be measured.

4. The multi-range lidar irradiance compensation calibration device of claim 2, wherein, The visual recognition camera (9) is mounted on the radar fixing tool (10).

5. The multi-range lidar irradiance compensation calibration device of claim 1, wherein, The light source with controllable light intensity and incident angle on the target (3) comprises a halogen lamp (5) arranged on the target (3) and an illumination pitch motor (4) for controlling the rotation of the halogen lamp (5).

6. A multi-range lidar illumination compensation calibration device according to claim 5, wherein, The target (3) further comprises a voltage regulating module connected with the halogen lamp (5) and a controller connected in signal with the illumination pitch motor (4).

7. A multi-range lidar illumination compensation calibration device according to claim 6, wherein, The target (3) is further provided with a Bluetooth module, which is connected in serial communication with the voltage regulating module and the controller, and is connected in wireless communication with the host computer.

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