LiDAR Channel Angle Calibration Using Target Spot Offsets
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Solution Overview
Problem
LiDAR systems suffer from manufacturing errors that cause deviations between actual and pre-designed channel positions, leading to inaccuracies in point cloud detection and measurement results.
Innovation Solution
A calibration method and device that utilize a moving component and controller to align LiDAR channels with a calibration target, acquiring images to determine vertical and horizontal offset angles, and calibrate channels based on these angles to improve accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If LiDAR channels are manufactured according to pre-designed positions, then manufacturing efficiency is maintained, but manufacturing precision deteriorates due to production errors causing channel position deviations
Solution Approach 1:
The patent applies preliminary action by performing calibration measurements before final LiDAR operation. A calibration target with known reference spot positions is used to pre-determine the actual positions of LiDAR channels. The controller calculates position deviations between actual channel positions and pre-designed positions, and stores compensation data that is applied during actual LiDAR operation to correct the deviations.
Solution Approach 2:
The patent uses a calibration target as an intermediary object with predetermined reference spots. This calibration target serves as a mediator between the LiDAR channels and the measurement system. The image acquisition device captures images of the calibration target, and the controller uses the known reference spot positions to calculate channel position deviations, enabling indirect measurement of channel positions with high precision.
2Manufacturing precision
If manual calibration methods are used to correct channel position deviations, then manufacturing precision improves, but productivity deteriorates due to time-consuming individual channel adjustment
Solution Approach 1:
The patent merges multiple calibration operations into a single automated process. Instead of calibrating each channel individually through manual adjustment, the system captures an image containing all channel projections simultaneously, processes all position deviations through automated calculations, and applies comprehensive corrections in one operation, significantly improving calibration efficiency while maintaining high precision.
Solution Approach 2:
The patent implements feedback by using the image acquisition device to capture actual channel positions, comparing them with pre-designed positions through the controller, calculating deviations, and applying compensation data to correct the deviations. This closed-loop feedback mechanism automates the calibration process, eliminating manual intervention and大幅提升 calibration productivity.
3Ease of manufacture
If LiDAR channels are installed without calibration, then ease of manufacture improves, but measurement precision deteriorates due to accumulated position deviations affecting point cloud accuracy
Solution Approach 1:
The patent replaces mechanical alignment methods with an optical measurement and computational correction system. Instead of relying on precise mechanical positioning during assembly, the system uses an image acquisition device to optically measure actual channel positions, and the controller computationally calculates and applies position corrections, maintaining ease of assembly while achieving high measurement precision.
Solution Approach 2:
The patent changes the approach from physically adjusting channel positions during assembly to modifying detection parameters through software compensation. The controller stores and applies compensation data that adjusts the interpreted positions of channels based on measured deviations, allowing easy assembly while maintaining high measurement precision through parameter correction rather than physical repositioning.
Data Source
AI summary
A calibration method for LiDAR channel angular error is applied to a calibration device with a controller and a moving component. The LiDAR optical engine on the moving component is controlled by the controller to deflect. The method includes: aligning the LiDAR's detection center with the calibration-target center; selecting channels to be calibrated; controlling the selected channels to project onto the target based on their positional relationship; acquiring an image of the target to get real and reference spots; determining vertical and horizontal offset angles according to the spot positions; and calibrating the channels using these offset angles.