Calibration device

Abstract

The embodiment of the present application provides a kind of calibration equipment, to improve the detection accuracy of laser radar.The calibration equipment provided in the embodiment of the present application, rotating mechanism is used to install laser radar, and is used to drive laser radar to rotate around preset axis;Laser emitter is arranged facing mirror, and the detection light emitted by laser emitter is vertically downward;Multiple autocollimators are arranged at intervals around rotating mechanism, multiple autocollimators are located in the preset plane perpendicular to detection light, and the entrance window of autocollimator is arranged facing mirror;Multiple autocollimators are configured to receive the detection light reflected by mirror.According to the detection image formed on autocollimator by laser emitter reflected to autocollimator through mirror, and reference line on autocollimator, the assembly angle between mirror and laser radar is adjusted until detection image and reference line coincide, high-precision alignment and assembly of mirror and laser radar are realized, and then the angle of laser exit is adjusted, to improve the detection accuracy of laser radar.

Description

Technical Field

[0001] This application relates to the field of lidar technology, specifically to a calibration device. Background Technology

[0002] The lidar emits a laser beam, which is reflected by a mirror and then emitted. However, there may be errors in the assembly process between the mirror and the lidar. During the lidar's rotational scanning process, the detection scanning surface presented by the laser beam will not be a plane, but will be a conical "hat-shaped surface", which will affect the detection accuracy of the lidar. Utility Model Content

[0003] This application provides a calibration device designed to improve the detection accuracy of lidar.

[0004] To achieve the above objectives, the embodiments of this application adopt the following technical solutions:

[0005] On one hand, this application provides a calibration device for adjusting the assembly angle between a reflector and a lidar. The reflector is connected to the lidar via an adjustment device. The calibration device includes a rotating mechanism, a laser emitter, and multiple autocollimators. The rotating mechanism is used to mount the lidar and drive it to rotate around a preset axis. The laser emitter faces the reflector, and the detection light emitted by the laser emitter is vertically positioned. The multiple autocollimators are spaced apart around the rotating mechanism and are located in a preset plane perpendicular to the detection light. The incident window of the autocollimators faces the reflector. The multiple autocollimators are configured to receive the detection light reflected by the reflector.

[0006] In the calibration device provided in this embodiment, a rotating mechanism is used to mount the lidar and drive it to rotate around a preset axis. A laser emitter faces a reflector, and the detection light emitted by the laser emitter is vertically downward. Multiple autocollimators are spaced apart around the rotating mechanism, located in a preset plane perpendicular to the detection light, with their entrance windows facing the reflector. The autocollimators are configured to receive the detection light reflected from the reflector. Based on the detection image formed by the laser emitter reflected by the reflector onto the autocollimator, and the reference line on the autocollimator, the assembly angle between the reflector and the lidar is adjusted until the detection image coincides with the reference line. This achieves high-precision alignment and assembly of the reflector and the lidar, thereby adjusting the laser emission angle and improving the detection accuracy of the lidar.

[0007] In some embodiments, the calibration device further includes an alignment prism detachably connected to a rotation mechanism, the alignment prism being configured to reflect a detection ray to form a first ray perpendicular to a preset axis, the first ray being used to calibrate a respective collimator.

[0008] With the above setup, the detection light beam, after being reflected by the alignment prism, forms a first light beam. As the rotating mechanism rotates, the first light beam forms a reference scanning plane, which is parallel to the upper surface of the mounting platform. Adjusting the pitch angle of the autocollimators according to the reference scanning plane means adjusting the incident direction of each autocollimator to point towards the rotating mechanism, and ensuring that the incident direction of each autocollimator is horizontal to the upper surface of the mounting platform. Adjusting the height of the autocollimators according to the reference scanning plane means adjusting the distance between the autocollimators and the mounting platform so that multiple autocollimators are located on the same plane, and that the plane containing the multiple autocollimators is parallel to the upper surface of the mounting platform.

[0009] In some embodiments, the alignment prism includes a pentaprism, which includes a first transmission surface, a second transmission surface, a first reflection surface, and a second reflection surface. The first transmission surface is connected to both the second transmission surface and the first reflection surface, and the second transmission surface is connected to both the first transmission surface and the second reflection surface. The first transmission surface and the second transmission surface are arranged perpendicularly, with the first transmission surface facing the laser emitter and the second transmission surface facing any autocollimator.

[0010] With the above setup, utilizing the reflection principle of a pentaprism, the laser emitter projects detection light from the first transmission surface. The detection light is reflected by the first and second reflection surfaces and then exits from the second transmission surface, forming the first ray. Since the first and second transmission surfaces are perpendicular to each other, the first ray is always perpendicular to the detection light. Based on the fact that the detection light is perpendicular to the upper surface of the mounting platform, it can be ensured that the first ray is always parallel to the upper surface of the mounting platform, so that the reference scanning plane formed by the first ray is parallel to the upper surface of the mounting platform.

[0011] In some embodiments, the calibration device includes a plurality of first adjustment mechanisms, each autocollimator being connected to a corresponding first adjustment mechanism, the first adjustment mechanism being used to adjust the pitch angle and altitude of the autocollimator.

[0012] In some embodiments, the first adjustment mechanism includes a first fixed plate, a first mounting plate, and a plurality of first support rods. The first support rods are disposed between the first fixed plate and the first mounting plate. One end of the first support rod is connected to the edge of the first fixed plate, and the other end of the first support rod is connected to the edge of the first mounting plate. The length of the first support rod is adjustable. The autocollimator is disposed on the side of the first mounting plate opposite to the first fixed plate.

[0013] With the above settings, the angle between the plane of the first mounting plate and the plane of the first fixed plate can be adjusted by adjusting the length of one or more first support rods, thereby adjusting the pitch angle of the autocollimator mounted on the first mounting plate; and the distance between the first mounting plate and the first fixed plate can be adjusted by adjusting the length of all the first support rods, thereby adjusting the height of the autocollimator mounted on the first mounting plate.

[0014] In some embodiments, the calibration device further includes a second adjustment mechanism connected to the rotation mechanism; the second adjustment mechanism is used to adjust the position of a preset axis.

[0015] In some embodiments, the second adjustment mechanism includes a second fixed plate, a second mounting plate, and a plurality of second support rods, the second support rods being disposed between the second fixed plate and the second mounting plate; one end of the second support rod is connected to the edge of the second fixed plate, the other end of the second support rod is connected to the edge of the second mounting plate, and the length of the second support rod is adjustable; a rotation mechanism is disposed on the side of the second mounting plate opposite to the second fixed plate.

[0016] With the above settings, the angle between the plane of the second mounting plate and the plane of the second fixed plate can be adjusted by adjusting the length of one or more second support rods, thereby adjusting the preset axis of the rotating mechanism mounted on the second mounting plate. The preset axis of the rotating mechanism is collinear with the central axis of symmetry of the detection scanning surface.

[0017] On the other hand, this application embodiment also provides another calibration device for adjusting the assembly angle between the reflector and the lidar. The reflector is connected to the lidar through an adjustment device. The calibration device includes a rotating mechanism, a laser emitter, and a laser acquisition component. The rotating mechanism is used to install the lidar and drive the lidar to rotate around a preset axis. The laser emitter is positioned facing the reflector, and the detection light emitted by the laser emitter is parallel to the preset axis. The laser acquisition component is located on one side of the rotating mechanism and is configured to acquire the detection light reflected by the reflector to form a target curve in a target plane parallel to the preset axis.

[0018] The calibration equipment provided in this application includes a rotating mechanism, a laser emitter, and a laser acquisition component. The rotating mechanism is used to mount the lidar and drive it to rotate around a preset axis. The laser emitter faces the reflector, and the detection light emitted by the laser emitter is parallel to the preset axis. The laser acquisition component is located on one side of the rotating mechanism and is configured to acquire the detection light reflected by the reflector to form a target curve in a target plane parallel to the preset axis. Based on the size of the target curve and the relative position of the target plane and the rotation center of the rotating mechanism, the required assembly angle between the reflector and the lidar is directly calculated. Then, based on the fact that the incident angle of the reflector is equal to the reflection angle, the reflector is rotated by half the assembly angle using an adjustment device. This achieves high-precision alignment and assembly between the reflector and the lidar, thereby adjusting the laser emission angle and improving the detection accuracy of the lidar. The detection accuracy of the lidar can include the laser pointing accuracy and the laser scanning trajectory accuracy.

[0019] In some embodiments, the laser acquisition component includes a receiving screen located in the target plane. The receiving screen has a first scale line and a second scale line. The first scale line is parallel to a preset axis, and the second scale line is perpendicular to the preset axis.

[0020] With the above settings, the first and second scale lines facilitate the measurement of the minimum distance from the line connecting the first and second points to the extreme point.

[0021] In some embodiments, the laser acquisition assembly further includes a camera, with the camera and rotation mechanism located on the same side of the receiving screen. With this configuration, the camera is used to capture the target curve presented on the target plane, facilitating subsequent measurement of various parameters of the target curve.

[0022] In some embodiments, the laser acquisition component includes a camera and a displacement mechanism. The camera is mounted on the displacement mechanism and located within a target plane. The displacement mechanism drives the camera to move within the target plane in a direction perpendicular to a preset axis. With this configuration, during the camera's movement, the camera continuously acquires second light rays from different positions, and then forms a target curve based on the acquired discrete second light rays.

[0023] In some embodiments, the laser acquisition assembly further includes a rotation mechanism disposed between the camera and the displacement mechanism. The rotation mechanism drives the camera to rotate about a rotation axis parallel to a preset axis, ensuring that the camera lens always faces the preset axis. This configuration ensures the camera always faces the second light ray, improving the accuracy of the second light ray acquired by the camera, thereby increasing the accuracy of the formed target curve.

[0024] In some embodiments, the laser acquisition component includes multiple cameras positioned within the target plane, spaced apart along a straight line perpendicular to a preset axis, with each camera facing the preset axis. Through this configuration, the multiple cameras acquire second light rays from different positions, and then a target curve is formed based on the acquired discrete second light rays. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in this application, the accompanying drawings used in some embodiments of this application will be briefly described below. Obviously, the drawings described below are only drawings of some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings. In addition, the drawings described below can be regarded as schematic diagrams and are not intended to limit the actual size of the product, the actual flow of the method, the actual timing of the signals, etc. involved in the embodiments of this application.

[0026] Figure 1 This is a schematic diagram of the calibration device in the embodiments of this application. Figure 1 ;

[0027] Figure 2 This is a schematic diagram of the structure with an assembly angle between the reflector and the lidar in an embodiment of this application;

[0028] Figure 3 This is a schematic diagram of the detection scanning plane and the reference scanning plane in the embodiments of this application. Figure 1 ;

[0029] Figure 4 This is a schematic diagram of the alignment prism and rotation mechanism in the embodiments of this application;

[0030] Figure 5 This is a schematic diagram of the imaging area in an embodiment of this application;

[0031] Figure 6 This is a schematic diagram of the structure of the first adjustment mechanism in the embodiments of this application;

[0032] Figure 7 This is a schematic diagram of the structure in this application embodiment where the rotating mechanism and the mounting platform have an included angle;

[0033] Figure 8 This is a schematic diagram of the detection image and baseline in the embodiments of this application. Figure 1 ;

[0034] Figure 9 This is a schematic diagram of the detection scanning plane and the reference scanning plane in the embodiments of this application. Figure 2 ;

[0035] Figure 10 This is a schematic diagram of the detection image and baseline in the embodiments of this application. Figure 2 ;

[0036] Figure 11 This is a schematic diagram of the detection image and baseline in the embodiments of this application. Figure 3 ;

[0037] Figure 12 This is a schematic diagram of the detection scanning plane and the reference scanning plane in the embodiments of this application. Figure 3 ;

[0038] Figure 13 This is a schematic diagram of the detection image and baseline in the embodiments of this application. Figure 4 ;

[0039] Figure 14 This is a schematic diagram of the structure of the second adjustment mechanism in the embodiments of this application;

[0040] Figure 15 This is a schematic diagram of the calibration device in the embodiments of this application. Figure 2 ;

[0041] Figure 16 This is a schematic diagram of the target plane, detection scanning plane, and reference scanning plane in an embodiment of this application;

[0042] Figure 17 This is an auxiliary schematic diagram used for calculating assembly angles in the embodiments of this application;

[0043] Figure 18 This is a schematic diagram of the structure of the laser acquisition component including the receiving screen in the embodiments of this application;

[0044] Figure 19 This is a schematic diagram of the structure of the laser acquisition component, including a camera and a displacement mechanism, in an embodiment of this application.

[0045] Figure 20 This is a schematic diagram of the structure of the laser acquisition component, which includes multiple cameras, in an embodiment of this application.

[0046] Explanation of reference numerals in the attached drawings: 01, Detection scanning surface; 02, Reference scanning plane; 100, Calibration equipment; 200, LiDAR; 300, Reflector; 10, Rotation mechanism; 11, Preset axis; 20, Mounting platform; 30, Alignment prism; 31, First transmission surface; 32, Second transmission surface; 33, First reflection surface; 34, Second reflection surface; 40, Detection ray; 41, First ray; 42, Second ray; 50, Autocollimator; 51, Imaging area; 501, Reference line; 502 61. Image detection; 611. First adjustment mechanism; 612. First fixing plate; 613. First mounting plate; 614. First support rod; 62. Second adjustment mechanism; 621. Second fixing plate; 622. Second mounting plate; 623. Second support rod; 70. Laser acquisition component; 700. Target plane; 701. First line segment; 702. Second line segment; 703. Third line segment; 704. Fourth line segment; 71. Receiving screen; 72. Camera; 73. Displacement mechanism; 80. Target curve. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0048] Hereinafter, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature.

[0049] Furthermore, in the embodiments of this application, directional terms such as "up," "down," "left," "right," "horizontal," and "vertical" are defined relative to the orientation of the components shown in the accompanying drawings. It should be understood that these directional terms are relative concepts, used for relative description and clarification, and can change accordingly depending on the orientation of the components in the accompanying drawings.

[0050] In the embodiments of this application, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a direct connection or an indirect connection through an intermediate medium.

[0051] It should be noted that, in the description of the embodiments of this application, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection or an integral connection; they can also refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; or they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0052] Reference Figure 1 and Figure 2 This application provides a calibration device 100 for calibrating the relative positions of a lidar 200 and a reflector 300 that cooperates with the lidar 200. The reflector 300 is connected to the lidar 200 through an adjustment device. The assembly angle between the reflector 300 and the lidar 200 can be adjusted by the adjustment device to achieve high-precision alignment and assembly of the reflector 300 and the lidar 200. This adjusts the angle of the laser emitted by the lidar after reflection by the reflector, thereby improving the detection accuracy of the lidar 200. The detection accuracy of the lidar 200 can include the pointing accuracy of the laser and the trajectory accuracy of the laser scanning.

[0053] In some embodiments, refer to Figure 2 and Figure 3 If the assembly angle between the reflector 300 and the lidar 200 deviates, the detection scanning surface 01 presented by the laser beam will not be a plane during the rotation scanning process of the lidar 200, but will be presented as a "hat-shaped" surface.

[0054] To address the aforementioned problems, this application provides a calibration device 100, which includes a rotating mechanism 10 and a mounting platform 20, wherein the rotating mechanism 10 is disposed on the mounting platform 20. (See reference...) Figure 4 The calibration device 100 also includes an alignment prism 30, and a rotating mechanism 10 for mounting the alignment prism 30. The alignment prism 30 is detachably connected to the rotating mechanism 10. The calibration device 100 also includes a laser emitter (not shown), which is spaced apart from the rotating mechanism 10. The detection light beam 40 emitted by the laser emitter is perpendicular to the upper surface of the mounting platform 20, and the exit port of the laser emitter faces the alignment prism 30 on the rotating mechanism 10. After being reflected by the alignment prism 30, the detection light beam 40 forms a first light beam 41. As the rotating mechanism 10 rotates, the first light beam 41 forms a reference scanning plane 02. The reference scanning plane 02 (e.g., ...) Figure 3 (As shown) is parallel to the upper surface of the mounting platform 20.

[0055] Reference Figure 1 and Figure 3The calibration device 100 also includes multiple autocollimators 50, which are spaced apart around the rotation mechanism 10. Each autocollimator 50 is equidistant from the rotation mechanism 10. Each autocollimator 50 is calibrated according to the first ray 41 forming the reference scanning plane 02, ensuring that its pitch angle and height are identical. Adjusting the pitch angle of the autocollimator 50 according to the reference scanning plane 02 involves adjusting the incident direction of each autocollimator 50 to point towards the rotation mechanism 10, and ensuring that the incident direction of each autocollimator 50 is horizontal to the upper surface of the mounting platform 20. Adjusting the height of the autocollimator 50 according to the reference scanning plane 02 involves adjusting the distance between the autocollimator 50 and the mounting platform 20, so that the multiple autocollimators 50 are located on the same plane, and that the plane containing the multiple autocollimators 50 is parallel to the upper surface of the mounting plane.

[0056] For example, refer to Figure 3 and Figure 5 Each collimator 50 has an imaging area 51 that is circular or elliptical, and each imaging area 51 has a reference line 501. In the embodiment where the imaging area 51 of the autocollimator 50 is circular, the reference line 501 of the imaging area 51 is a diameter parallel to the upper surface of the mounting platform, and the image of the reference scanning plane 02 in the imaging area 51 coincides with the reference line 501; in the embodiment where the imaging area 51 of the autocollimator 50 is elliptical, the reference line 501 on the imaging area 51 can be a minor axis or a major axis parallel to the upper surface of the mounting platform 20, and the image of the reference scanning plane 02 in the imaging area 51 coincides with the reference line 501. Figure 5 Taking the baseline 501 on the imaging area 51 as an example, which is parallel to the short axis of the upper surface of the mounting platform 20, the purpose of adjusting the assembly angle between the reflector 300 and the lidar 200 is to adjust the detection scanning surface 01 to be coplanar with the reference scanning plane 02.

[0057] In the above embodiments, referring to Figure 6The calibration device 100 includes multiple first adjustment mechanisms 61, which are mounted on the mounting platform 20 and arranged around the rotating mechanism, with each first adjustment mechanism 61 equidistant from the rotating mechanism. Each first adjustment mechanism 61 is connected to a corresponding autocollimator 50, and the first adjustment mechanism 61 is used to adjust the pitch angle and altitude of the autocollimator 50. For example, the first adjustment mechanism 61 includes a first fixing plate 611, a first mounting plate 612, and multiple first support rods 613. The first fixing plate 611 is connected to the upper surface of the mounting platform 20, and the first mounting plate 612 is located on the side of the first fixing plate 611 facing away from the mounting platform 20. The autocollimator 50 is located on the side of the first mounting plate 612 facing away from the first fixing plate 611. The multiple first support rods 613 are located between the first fixing plate 611 and the first mounting plate 612, and the length of each first support rod 613 is adjustable. In some embodiments, one end of the first support rod 613 is rotatably connected to the edge of the first fixed plate 611, and the other end of the first support rod 613 is rotatably connected to the edge of the first mounting plate 612. Multiple first support rods 613 are spaced apart along the edges of the first fixed plate 611 and the first mounting plate 612. In the above embodiments, two first support rods 613 are connected to one edge of the first fixed plate 611. These two first support rods 613 can be arranged parallel to each other or intersecting. With this arrangement, the angle between the plane of the first mounting plate 612 and the plane of the first fixed plate 611 can be adjusted by adjusting the length of one or more first support rods 613, thereby adjusting the pitch angle of the autocollimator 50 mounted on the first mounting plate 612; and the distance between the first mounting plate 612 and the first fixed plate 611 can be adjusted by adjusting the length of all the first support rods 613, thereby adjusting the height of the autocollimator 50 mounted on the first mounting plate 612.

[0058] In some embodiments, refer to Figure 7 The rotating mechanism 10, mounted on the mounting platform 20, has a preset axis 11. When the rotating mechanism 10 is mounted on the mounting platform 20, the preset axis 11 of the rotating mechanism 10 can form an angle with the upper surface of the mounting platform 20, that is, the preset axis 11 of the rotating mechanism 10 is inclined relative to the upper surface of the mounting platform 20. To avoid the inclined preset axis 11 of the rotating mechanism 10 affecting the formation of the reference scanning plane, refer to... Figure 1 , Figure 3 and Figure 4The alignment prism 30 may include a pentaprism, which includes a first transmission surface 31, a second transmission surface 32, a first reflection surface 33, and a second reflection surface 34. The first transmission surface 31 is connected to both the second transmission surface 32 and the first reflection surface 33, and the second transmission surface 32 is connected to both the first transmission surface 31 and the second reflection surface 34. The first transmission surface 31 and the second transmission surface 32 are arranged perpendicularly, with the first transmission surface 31 facing the laser emitter and the second transmission surface 32 facing any autocollimator 50. Utilizing the reflection principle of the pentaprism, the laser emitter projects a detection light 40 through the first transmission surface 31. The detection light 40 is reflected by the first reflection surface 33 and the second reflection surface 34 and then exits through the second transmission surface 32, forming the first light 41. Since the first transmission surface 31 and the second transmission surface 32 are perpendicular to each other, the first ray 41 is always perpendicular to the detection ray 40. Based on the fact that the detection ray 40 is perpendicular to the upper surface of the mounting platform 20, it can be ensured that the first ray 41 is always parallel to the upper surface of the mounting platform 20, so that the reference scanning plane 02 formed by the first ray 41 is parallel to the upper surface of the mounting platform 20.

[0059] In some embodiments, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 After fixing the positions of multiple autocollimators 50, the multiple autocollimators 50 are spaced apart around the rotating mechanism 10, and all of the multiple autocollimators 50 are located in a preset plane perpendicular to the detection light 40. The aforementioned rotating mechanism 10 is also used to install the lidar 200 and drive the lidar 200 to rotate around a preset axis 11. For example, the lidar 200 and the rotating mechanism 10 are detachably connected. After disassembling the alignment prism 30 from the rotating mechanism 10, the lidar 200 is installed in the original position of the alignment prism 30, with the laser emitter's outlet facing the reflector 300 connected to the lidar 200. The detection light 40 emitted by the laser emitter is reflected by the reflector 300 to form a second light 42. As the rotating mechanism 10 rotates, the second light 42 forms the detection scanning surface 01. Due to the assembly angle between the reflector 300 and the lidar 200, the detection scanning surface 01 is a "hat-shaped" surface, wherein the opening of the "hat" can be away from or towards the mounting platform 20.

[0060] During the process of adjusting the assembly angle between the reflector 300 and the lidar 200, there may be an angle between the preset axis 11 of the rotating mechanism 10 and the upper surface of the mounting platform 20, that is, the preset axis 11 of the rotating mechanism 10 is inclined relative to the upper surface of the mounting platform 20; or the preset axis 11 of the rotating mechanism 10 is perpendicular to the upper surface of the mounting platform 20.

[0061] Reference Figure 2 , Figure 3 , Figure 8 In an embodiment where the preset axis 11 of the rotating mechanism 10 is perpendicular to the upper surface of the mounting platform 20, the central axis of symmetry of the detection scanning surface 01 (hat surface) is collinear with the central axis of symmetry of the reference scanning plane 02. The detection image 502 formed by the detection scanning surface 01 in the imaging area 51 of the autocollimator 50 is a straight line. In an embodiment where the imaging area 51 of the autocollimator 50 is elliptical, the straight detection image 502 is parallel to the reference line 501 of the imaging area 51. It can be understood that in an embodiment where the opening of the "hat" is away from the mounting platform 20, the detection image 502 is located above the reference line 501; in an embodiment where the opening of the "hat" faces the mounting platform 20, the detection image 502 is located below the reference line 501. Since multiple autocollimators 50 (such as...) Figure 1 Since the distances between each of the detection images 502 on each imaging area 51 and the rotation mechanism 10 are the same, the distances between the detection images 502 on each imaging area 51 and the reference line 501 on that imaging area 51 are also the same. The assembly angle between the reflector 300 and the lidar 200 is adjusted according to the distance between the detection images 502 on the imaging area 51 of the same autocollimator 50 until the detection images 502 coincide with the reference line 501. This achieves high-precision alignment and assembly of the reflector 300 and the lidar 200, thereby adjusting the laser emission angle and improving the detection accuracy of the lidar 200.

[0062] Reference Figure 7 , Figure 9 as well as Figure 10 In an embodiment where the preset axis 11 of the rotating mechanism 10 is inclined relative to the upper surface of the mounting platform 20, the central axis of symmetry of the detection scanning surface 01 (hat surface) and the central axis of symmetry of the reference scanning plane 02 form an angle. The detection image 502 formed by the detection scanning surface 01 in the imaging area 51 of the autocollimator 50 is a curve, which can be considered as part of a sine curve or a cosine curve. The multiple detection images 502 formed on the imaging areas 51 of the multiple autocollimators 50 can be considered as discrete sine curves or cosine curves. Since there is an angle between the central axis of symmetry of the "hat surface" and the central axis of symmetry of the reference scanning plane 02, among the multiple detection images 502 formed on the multiple imaging areas 51, the multiple detection images 502 can all be located above the reference line 501, or all be located below the reference line 501, or some of the multiple detection images 502 can be located above the reference line 501 and the other multiple detection images 502 can be located below the reference line 501. Meanwhile, within the same detection image 502, the entire detection image 502 can be completely above the baseline 501, or completely below the baseline 501, or part of the detection image 502 can be above the baseline 501 and another part can be below the baseline 501.

[0063] The process of adjusting the reflector 300 and the lidar 200 based on the detection image 502 and the reference line 501 includes two relatively independent steps: adjusting the angle between the central axis of symmetry of the detection scanning surface 01 and the central axis of symmetry of the reference scanning plane 02, and adjusting the assembly angle between the reflector 300 and the lidar 200. This ensures that the preset axis 11 of the rotating mechanism 10 (i.e., the centerline symmetry axis of the detection scanning surface 01) is collinear with the centerline symmetry axis of the reference scanning plane 02; and that the detection scanning surface 01 and the reference scanning plane 02 are coplanar.

[0064] In some implementations, refer to Figure 7 , Figure 9 as well as Figure 11 First, adjust the angle between the central axis of symmetry of the detection scanning surface 01 and the central axis of symmetry of the reference scanning plane 02. Then, adjust the assembly angle between the reflector 300 and the lidar 200. For example, adjusting the angle between the central axis of symmetry of the detection scanning surface 01 and the central axis of symmetry of the reference scanning plane 02 can adjust the detection image 502 from a sine or cosine curve to a straight line, which is parallel to the reference line 501 of the imaging area 51. Then, based on the distance between the linear detection image 502 and the reference line 501 on the imaging area 51 of the same autocollimator 50, adjust the assembly angle between the reflector 300 and the lidar 200 until the detection image 502 coincides with the reference line 501. This achieves high-precision alignment and assembly of the reflector 300 and the lidar 200, thereby adjusting the laser emission angle and improving the detection accuracy of the lidar 200.

[0065] In other embodiments, reference is made to... Figure 7 , Figure 9 , Figure 12 as well as Figure 13 First, adjust the assembly angle between the reflector 300 and the lidar 200, then adjust the angle between the central axis of symmetry of the detection scanning surface 01 and the central axis of symmetry of the reference scanning plane 02. For example, adjusting the assembly angle between the reflector 300 and the lidar 200 can adjust the detection scanning surface 01 from a "hat-shaped" surface to a plane, the center of which coincides with the center of the reference scanning plane 02. Since the center of the planar detection scanning surface 01 coincides with the center of the reference scanning plane 02, the multiple detection images 502 formed by the detection scanning surface 01 on multiple imaging areas 51 are evenly distributed on both sides of the reference line 501. For example, referring to… Figure 13In an embodiment with four autocollimators 50, the detection images 502 in the imaging areas 51 of two autocollimators 50 are located above the baseline 501, and the detection images 502 in the imaging areas 51 of the two autocollimators 50 are located below the baseline 501. Alternatively, in an embodiment with five autocollimators 50, the detection images 502 in the imaging areas 51 of two autocollimators 50 are located above the baseline 501, the detection images 502 in the imaging areas 51 of two autocollimators 50 are located below the baseline 501, and the remaining detection images 502 in the imaging areas 51 of the middle autocollimator 50 are half above the baseline 501 and the other half below the baseline 501. Then, by adjusting the angle between the central axis of symmetry of the detection scanning surface 01 and the central axis of symmetry of the reference scanning surface 02, the detection image 502 can be adjusted from a sine curve or a cosine curve into a straight line. This straight line coincides with the reference line 501 of the imaging area 51, realizing high-precision alignment and assembly of the reflector 300 and the lidar 200, thereby adjusting the laser emission angle and improving the detection accuracy of the lidar 200.

[0066] In the calibration device 100 provided in this embodiment, a rotating mechanism 10 is used to mount a lidar 200 and drive the lidar 200 to rotate around a preset axis 11; a laser emitter is positioned facing a reflector 300, and the detection light 40 emitted by the laser emitter is vertically downward; multiple autocollimators 50 are spaced apart around the rotating mechanism 10, and the multiple autocollimators 50 are located in a preset plane perpendicular to the detection light 40, with the incident window of the autocollimator 50 facing the reflector 300; the multiple autocollimators 50 are configured to receive the detection light 40 reflected by the reflector 300. Based on the detection image 502 formed by the laser emitter reflected by the reflector 300 onto the autocollimator 50, and the reference line 501 on the autocollimator 50, the assembly angle between the reflector 300 and the lidar 200 is adjusted until the detection image 502 coincides with the reference line 501, thereby achieving high-precision alignment and assembly of the reflector 300 and the lidar 200, and thus adjusting the laser emission angle to improve the detection accuracy of the lidar 200.

[0067] In an embodiment where the angle between the central axis of symmetry of the detection scanning surface 01 and the central axis of symmetry of the reference scanning plane 02 is adjusted, the calibration device 100 further includes a second adjustment mechanism 62, which is connected to the rotation mechanism 10; the second adjustment mechanism 62 is used to adjust the position of the preset axis 11.

[0068] In some embodiments, refer to Figure 14The second adjustment mechanism 62 includes a second fixing plate 621, a second mounting plate 622, and a plurality of second support rods 623. The second fixing plate 621 is connected to the upper surface of the mounting platform 20, and the second mounting plate 622 is located on the side of the second fixing plate 621 facing away from the mounting platform 20. The rotating mechanism 10 is disposed on the side of the second mounting plate 622 facing away from the second fixing plate 621. The plurality of second support rods 623 are located between the second fixing plate 621 and the second mounting plate 622, and the length of each second support rod 623 is adjustable. In some embodiments, one end of the second support rod 623 is rotatably connected to the edge of the second fixing plate 621, and the other end of the second support rod 623 is rotatably connected to the edge of the second mounting plate 622. The plurality of second support rods 623 are spaced apart along the edges of the second fixing plate 621 and the edges of the second mounting plate 622. In the above embodiments, two second support rods 623 are connected to one edge of the second fixing plate 621, and these two second support rods 623 can be arranged in parallel or intersecting. With the above settings, the angle between the plane of the second mounting plate 622 and the plane of the second fixed plate 621 can be adjusted by adjusting the length of one or more second support rods 623, thereby adjusting the preset axis 11 of the rotating mechanism 10 set on the second mounting plate 622. The preset axis 11 of the rotating mechanism 10 is collinear with the central symmetry axis of the detection scanning surface 01.

[0069] In other embodiments, the second adjustment mechanism 62 is a multi-axis adjustment platform, such as a five-axis adjustment platform or a six-axis adjustment platform. The multi-axis adjustment platform is mounted on the mounting platform 20, and the rotation mechanism 10 is mounted on the multi-axis adjustment platform. The multi-axis adjustment platform can adjust multiple degrees of freedom.

[0070] Similarly, in order to solve the above problems, refer to Figure 2 and Figure 3 This application also provides another calibration device 100, which is used to calibrate the relative position of the lidar 200 and the reflector 300 that cooperates with the lidar 200. The reflector 300 is connected to the lidar 200 through an adjustment device. The assembly angle between the reflector 300 and the lidar 200 can be adjusted by the adjustment device to achieve high-precision alignment and assembly of the reflector 300 and the lidar 200, thereby adjusting the laser emission angle and improving the detection accuracy of the lidar 200. The detection accuracy of the lidar 200 may include the laser pointing accuracy and the laser scanning trajectory accuracy.

[0071] The calibration device 100 includes a rotating mechanism 10 and a mounting platform 20, with the rotating mechanism 10 mounted on the mounting platform 20. The rotating mechanism 10 is used to mount a lidar 200 and to drive the lidar 200 to rotate around a preset axis 11. The calibration device 100 also includes a laser emitter (not shown), which is spaced apart from the rotating mechanism 10. The detection light 40 emitted by the laser emitter is perpendicular to the upper surface of the mounting platform 20, and the exit port of the laser emitter faces the reflector 300 connected to the lidar 200. The detection light 40 emitted by the laser emitter is reflected by the reflector 300 to form a second light 42. As the rotating mechanism 10 rotates, the second light 42 forms a detection scanning surface 01. Due to the assembly angle between the reflector 300 and the lidar 200, the detection scanning surface 01 is a "hat-shaped" surface, wherein the opening of the "hat" can be away from or towards the mounting platform 20.

[0072] Reference Figure 15 , Figure 16 , Figure 17 The calibration device 100 also includes a laser acquisition component 70, which is located on one side of the rotating mechanism 10. The laser acquisition component 70 is configured to acquire the detection light reflected by the reflector 300 to form a target curve 80 in a target plane 700 parallel to a preset axis. In other words, the laser acquisition component 70 is used to present the target curve 80 of the detection light on the target plane 700. The target plane 700 of the laser acquisition component 70 is perpendicular to the upper surface of the mounting platform 20. The target plane 700 will intercept the detection scanning surface 01 to present the target curve 80 on the target plane 700. The target curve 80 has a first point and a second point at one end of the target plane 700. The target curve 80 between the first point and the second point can bend upward or downward. The target curve 80 between the first point and the second point has an extreme point. The line connecting the extreme point and the rotation center is the first line segment 701. The rotation center is located in a reference plane parallel to the upper surface of the mounting platform 20. The projection of the extreme point on the reference plane is the third point. The line connecting the third point and the rotation center is the second line segment 702. The included angle between the first line segment 701 and the second line segment 702 is α. Angle α is the assembly angle that needs to be adjusted between the reflector 300 and the laser radar 200. Wherein, the length of the second line segment 702 is L; the projection of the first point onto the reference plane is the fourth point, the line connecting the fourth point and the center of rotation is the third line segment 703, and the angle between the second line segment 702 and the third line segment 703 is β; the line connecting the first point and the center of rotation is the fourth line segment 704, and the angle between the fourth line segment 704 and the third line segment 703 is also α. Let the distance between the extreme point and the third point be x, and the minimum distance from the line connecting the first point and the second point to the extreme point be h. Based on the above parameters, the formula can be formed. After derivation Since the incident angle of the reflector 300 is equal to the reflection angle, if the assembly angle α between the reflector 300 and the lidar 200 needs to be adjusted, the reflector 300 can be rotated by α / 2 using the adjustment device to improve the detection accuracy of the lidar 200. The detection accuracy of the lidar 200 can include the pointing accuracy of the laser and the trajectory accuracy of the laser scan.

[0073] The calibration device 100 provided in this application includes a rotating mechanism 10, a laser emitter, and a laser acquisition component 70. The rotating mechanism 10 is used to mount a lidar 200 and to drive the lidar 200 to rotate around a preset axis 11. The laser emitter is positioned facing a reflector 300, and the detection light 40 emitted by the laser emitter is parallel to the preset axis 11. The laser acquisition component 70 is located on one side of the rotating mechanism 10 and is configured to acquire the detection light 40 reflected by the reflector 300 to form a target curve 80 in a target plane 700 parallel to the preset axis 11. Based on the dimensions of the target curve 80 and the relative positional relationship between the target plane 700 and the rotation center of the rotating mechanism 10, the assembly angle that needs to be adjusted between the reflector 300 and the lidar 200 is directly calculated. Then, based on the fact that the incident angle of the reflector 300 is equal to the reflection angle, the reflector 300 is rotated by half the assembly angle through the adjustment device to achieve high-precision alignment and assembly between the reflector 300 and the lidar 200. This adjusts the laser emission angle and improves the detection accuracy of the lidar 200. The detection accuracy of the lidar 200 can include the laser pointing accuracy and the laser scanning trajectory accuracy.

[0074] In some embodiments, refer to Figure 17 , Figure 18 The laser acquisition component 70 includes a receiving screen 71 located within a target plane 700. The receiving screen 71 has a first scale line and a second scale line. The first scale line is parallel to a preset axis 11, and the second scale line is perpendicular to the preset axis 11. The receiving screen 71 is mounted on a mounting platform 20. The target plane 700 on which the receiving screen 71 is located is perpendicular to the upper surface of the mounting platform 20. The first scale line on the receiving screen 71 is parallel to the upper surface of the mounting platform 20, and the second scale line is perpendicular to the upper surface of the mounting platform 20. The detection scanning surface 01 forms a target curve 80 on the receiving screen 71. Through this configuration, the first and second scale lines facilitate the measurement of the minimum distance from the line connecting the first and second points to the extreme point.

[0075] In the above embodiment, the laser acquisition component 70 also includes a camera 72. The camera 72 and the rotating mechanism 10 are located on the same side of the receiving screen 71. With the above configuration, the camera 72 is used to capture the target curve 80 presented on the target plane 700, so as to facilitate the subsequent measurement of various parameters of the target curve 80.

[0076] In other embodiments, reference is made to Figure 17 , Figure 19 The laser acquisition component 70 includes a camera 72 and a displacement mechanism 73. The camera 72 is mounted on the displacement mechanism 73 and is located within the target plane 700. The displacement mechanism 73 drives the camera 72 to move within the target plane 700 in a direction perpendicular to the preset axis 11. With this configuration, during the movement of the camera 72, the camera 72 continuously acquires second light rays 42 from different positions, and then forms a target curve 80 based on the acquired discrete second light rays 42. For example, the displacement mechanism 73 may include a slide rail and a slider. The slide rail is mounted on the mounting platform 20, and its extension direction is perpendicular to the preset axis 11 of the rotation mechanism 10. The slider is mounted on the slide rail and can move along the slide rail. The camera 72 moves on the slide rail via the slider, thereby enabling the camera 72 to move within the target plane 700.

[0077] In the above embodiment, the laser acquisition component 70 further includes a rotation mechanism, which is disposed between the camera 72 and the displacement mechanism 73. The rotation mechanism is used to drive the camera 72 to rotate around the rotation axis, which is parallel to the preset axis 11. The rotation mechanism ensures that the lens of the camera 72 is always facing the preset axis 11. Through the above arrangement, the camera 72 is always facing the second light 42, thereby improving the accuracy of the second light 42 acquired by the camera 72 and thus improving the accuracy of the formed target curve 80.

[0078] In yet other embodiments, reference is made to Figure 17 , Figure 20 The laser acquisition component 70 includes multiple cameras 72 located within the target plane 700. These cameras 72 are spaced apart along a straight line perpendicular to a preset axis 11, with each camera 72 facing the preset axis 11. Through this arrangement, the multiple cameras 72 acquire second light rays 42 from different positions, and then a target curve 80 is formed based on the acquired discrete second light rays 42.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of this application, and are not intended to limit them; although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A calibration device for adjusting the assembly angle between a reflector and a lidar, wherein the reflector is connected to the lidar via an adjustment device, characterized in that, include: A rotating mechanism is used to mount the lidar and to drive the lidar to rotate around a preset axis. A laser emitter is positioned facing the reflector, and the detection beam emitted by the laser emitter is vertically positioned. Multiple autocollimators are arranged at intervals around the rotating mechanism, and the multiple autocollimators are located in a preset plane perpendicular to the detection light. The incident window of the autocollimator is arranged facing the reflector. The multiple autocollimators are configured to receive the detection light reflected by the reflector.

2. The calibration device according to claim 1, characterized in that, The calibration device further includes an alignment prism detachably connected to the rotation mechanism. The alignment prism is configured to reflect the detection light to form a first ray perpendicular to the preset axis. The first ray is used to calibrate each of the autocollimators.

3. The calibration device according to claim 2, characterized in that, The alignment prism includes a pentaprism, which includes a first transmission surface, a second transmission surface, a first reflection surface, and a second reflection surface. The first transmission surface is connected to both the second transmission surface and the first reflection surface, and the second transmission surface is connected to both the first transmission surface and the second reflection surface. The first transmission surface and the second transmission surface are arranged perpendicularly, with the first transmission surface facing the laser emitter and the second transmission surface facing any of the autocollimators.

4. The calibration device according to claim 2, characterized in that, The calibration device includes multiple first adjustment mechanisms, with each autocollimator connected to one of the first adjustment mechanisms. The first adjustment mechanism is used to adjust the pitch angle and altitude of the autocollimator.

5. The calibration device according to claim 4, characterized in that, The first adjustment mechanism includes a first fixed plate, a first mounting plate, and a plurality of first support rods. The first support rods are disposed between the first fixed plate and the first mounting plate. One end of the first support rod is connected to the edge of the first fixed plate, and the other end of the first support rod is connected to the edge of the first mounting plate. The length of the first support rod is adjustable. The autocollimator is disposed on the side of the first mounting plate opposite to the first fixed plate.

6. The calibration device according to any one of claims 1-5, characterized in that, The calibration device further includes a second adjustment mechanism, which is connected to the rotation mechanism; the second adjustment mechanism is used to adjust the position of the preset axis.

7. The calibration device according to claim 6, characterized in that, The second adjustment mechanism includes a second fixed plate, a second mounting plate, and a plurality of second support rods. The second support rods are disposed between the second fixed plate and the second mounting plate. One end of the second support rod is connected to the edge of the second fixed plate, and the other end of the second support rod is connected to the edge of the second mounting plate. The length of the second support rod is adjustable. The rotation mechanism is disposed on the side of the second mounting plate opposite to the second fixed plate.

8. A calibration device for adjusting the assembly angle between a reflector and a lidar, wherein the reflector is connected to the lidar via an adjustment device, characterized in that, include: A rotating mechanism is used to mount the lidar and to drive the lidar to rotate around a preset axis. A laser emitter is positioned facing the reflector, and the detection beam emitted by the laser emitter is parallel to the preset axis. A laser acquisition component is located on one side of the rotating mechanism and is configured to acquire the detection light reflected by the reflector to form a target curve in a target plane parallel to the preset axis.

9. The calibration device according to claim 8, characterized in that, The laser acquisition component includes a receiving screen located in the target plane. The receiving screen has a first scale line and a second scale line, and the first scale line is parallel to the preset axis. The second scale line is perpendicular to the preset axis.

10. The calibration device according to claim 9, characterized in that, The laser acquisition component also includes a camera, and the camera and the rotating mechanism are located on the same side of the receiving screen.

11. The calibration device according to claim 8, characterized in that, The laser acquisition component includes a camera and a displacement mechanism. The camera is mounted on the displacement mechanism and is located in the target plane. The displacement mechanism is used to drive the camera to move in the target plane in a direction perpendicular to the preset axis.

12. The calibration device according to claim 11, characterized in that, The laser acquisition component also includes a rotation mechanism, which is disposed between the camera and the displacement mechanism. The rotation mechanism is used to drive the camera to rotate around a rotation axis, which is parallel to the preset axis, so that the lens of the camera always faces the preset axis.

13. The calibration device according to claim 8, characterized in that, The laser acquisition component includes multiple cameras, which are located in the target plane and are spaced apart along a straight line perpendicular to the preset axis. Each camera faces the preset axis.

Images