CN109100733B - Error detection equipment, method and device for laser radar equipment - Google Patents
Error detection equipment, method and device for laser radar equipment Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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Abstract
The technical field of laser radar, in particular to error detection equipment, method and device of laser radar equipment. The laser radar apparatus error detection apparatus includes: the reflection module is arranged at a position capable of reflecting the laser emitted by the laser emitting unit to the laser receiving unit when the equipment error of the laser radar is detected; the simulation light source is arranged in parallel with the reflection module, and is coaxial with the laser receiving unit when the error of the laser radar equipment is detected, and the reflection module is coaxial with the laser transmitting unit; and the control module is connected with the analog light source to control the analog light source. The device, the method and the device can realize the equipment error of the laser radar detection in the field through simple installation and debugging, and have simple implementation mode and high detection precision.
Description
Technical Field
The technical field of laser radar, in particular to error detection equipment, method and device of laser radar equipment.
Background
The laser radar generally has three basic functions of target observation, target tracking and target detection, the target observation is completed by utilizing a visible target sighting system, the target detection is completed by a laser transmitting and receiving system, and the target tracking is completed by a laser telescope tracking system. After the laser radar is produced and assembled, a laser emission optical axis, a visible target sight axis and a laser receiving optical axis are completely debugged and parallel, and theoretically, the three optical axes are parallel to each other in pairs, and the relative included angle is infinitely close to 0. However, in the field transportation and long-term use process of the laser radar, the three optical axes are deviated from a factory debugging state due to environmental influences such as mechanical vibration and temperature change, relative errors can occur in the optical axes, and even small angle deviation occurs among the three optical axes for the long-distance laser radar, particularly for the satellite ranging laser radar, the target detection result can be influenced.
Meanwhile, in the satellite ranging process, the satellite needs to be tracked in real time according to satellite orbit forecast data, the sighting axis of the laser radar telescope needs to be corrected in direction, namely, when the longitude and latitude of the geographic position of the laser radar are known, the observed azimuth angle and the pitch angle formed between the sighting axis and the target are theoretical fixed values, the direction precision and the stability completely depend on the mechanical precision of a laser radar direction mechanism, after the laser radar operates for a long time, the direction of the laser radar can deviate due to the influences of temperature change, mechanical abrasion, imbalance and the like, and the azimuth angle and the pitch angle of the laser radar when the laser radar aims at the target are required to be calibrated again. The laser radar pointing calibration generally uses observation of different fixed stars, and coordinate conversion is performed by using the positions of the fixed stars in a laser radar visible light CCD to obtain the laser radar pointing precision.
At present, the consistency detection of the optical axis is mainly carried out in an optical laboratory, and the consistency detection and debugging with higher precision can be realized by utilizing the large-caliber collimator, but under the field condition, the construction of a detection light path of the large-caliber collimator is not easy to realize. In China patent publication No. CN204461354U, the name is a laser range finder optical axis detection system, the patent technology is a method for carrying out optical axis consistency detection on a laser range finder in the open air, a calibration detection plate and a laser displacement sensor are utilized, the optical axis of the range finder is detected through a laser optical axis analyzer, but because the system depends on the influences of the working sizes and working distances of the calibration detection plate, the laser displacement sensor and the laser optical axis analyzer, the open air detection on a laser radar with a larger caliber cannot be carried out, and meanwhile, the patent technology cannot realize the pointing direction calibration on the laser radar.
Disclosure of Invention
The embodiment of the invention aims to provide error detection equipment, method and device for laser radar equipment, which can detect the equipment error of the laser radar in the field through simple installation and debugging, and have the advantages of simple implementation mode and high detection precision.
According to an aspect of the present invention, there is provided a laser radar apparatus error detection apparatus including a laser transmitting unit and a laser receiving unit, the apparatus including: the reflection module can be arranged at a position capable of reflecting the laser emitted by the laser emitting unit to the laser receiving unit when detecting the equipment error of the laser radar; a simulation light source which is arranged in parallel with the reflection module and can be coaxial with the laser receiving unit when detecting the error of the laser radar device, and the reflection module can be coaxial with the laser transmitting unit; and the control module is connected with the analog light source to control the analog light source.
Preferably, the apparatus further comprises a solar cell module connected to the analog light source and the control module to supply power to the analog module and the control module.
Preferably, the analog light source is a white light source, an infrared light source or a monochromatic light source of a specific wavelength.
According to another aspect of the present invention, there is also provided a laser radar apparatus error detection method using the detection apparatus, a laser receiving unit of the laser radar including an imaging module, the method including: the method comprises the steps that an analog light source signal sent by the analog light source is made to be incident on the imaging module, and a first imaging coordinate of the analog light signal on the imaging module is obtained; the laser echo signals generated by the laser signals sent by the laser emission module after being reflected by the reflection module are incident on the imaging module, and the second coordinates of imaging of the laser echo signals on the imaging module are obtained; and calculating parallelism error of the optical axis of the laser radar according to the first coordinate and the second coordinate.
Preferably, said calculating a parallelism error of an optical axis of said lidar based on said first coordinate and said second coordinate comprises calculating said parallelism error based on the following equation:
where Δθ is the parallelism error, (X1, Y1) is the first coordinate, (X2, Y2) is the second coordinate, and f is the focal length of the receiving optical component of the laser receiving unit.
Preferably, the method further comprises: acquiring a first pointing azimuth angle of the simulated light source observed by the laser radar at a first time point; acquiring a second directional azimuth angle of the laser radar observation simulation light source at a second time point; and determining the pointing accuracy error of the laser radar according to the first pointing azimuth angle and the second pointing azimuth angle.
Preferably, at least one of the analog light source signal and the laser echo signal is imaged at an imaging center of the imaging module.
According to another aspect of the present invention, there is also provided a laser radar apparatus error detection apparatus using the detection apparatus, a laser receiving unit of the laser radar including an imaging module, the apparatus including: the control module is used for enabling the analog light source signals sent by the analog light source to be incident on the imaging module, and enabling the laser echo signals generated after the laser signals sent by the laser emission module are reflected by the reflection module to be incident on the imaging module; the coordinate acquisition module is used for acquiring first coordinates of imaging of the analog optical signal on the imaging module and acquiring second coordinates of imaging of the laser echo signal on the imaging module; and the determining module is used for calculating the parallelism error of the optical axis of the laser radar according to the first coordinate and the second coordinate.
Preferably, said calculating a parallelism error of an optical axis of said lidar based on said first coordinate and said second coordinate comprises calculating said parallelism error based on the following equation:
where Δθ is the parallelism error, (X1, Y1) is the first coordinate, (X2, Y2) is the second coordinate, and f is the focal length of the receiving optical component of the laser receiving unit.
Preferably, the apparatus further comprises: the system comprises a pointing angle acquisition module, a control module and a control module, wherein the pointing angle acquisition module is used for acquiring a first pointing azimuth angle of the laser radar for observing the analog light source at a first time point and acquiring a second pointing azimuth angle of the laser radar for observing the analog light source at a second time point; and the pointing precision determining module is used for determining the pointing precision error of the laser radar according to the first pointing azimuth angle and the second pointing azimuth angle.
Preferably, the control module images at least one of the analog light source signal and the laser echo signal at an imaging center of the imaging module.
According to the technical scheme, the detection equipment is used as the ground target, the simulated light source is utilized to simulate the detection target of the laser radar, and the errors of parallelism and pointing accuracy of the optical axes of the laser radar transmitting optical axis, the receiving optical axis and the target sighting optical axis can be detected through the deviation between the laser echo signal and the light spot formed by the simulated light source on the imaging module in the laser radar transmitting module.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Description of the reference numerals
1: Photodetector 2: imaging module
3: The beam-splitting prism 4: laser reflector
5: Laser mirror 6: receiving telescope
7: Laser emission telescope 8: LED white light source
9: Corner reflector 10: wireless remote control switch
11: A storage battery: 12: solar cell panel
200: The detection device 210: control module
220: Coordinate acquisition module 230: determination module
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain, without limitation, the embodiments of the invention. In the drawings:
FIG. 1 is a schematic diagram of an application implementation of a lidar device error detection device according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for error detection of a lidar device according to an embodiment of the invention;
Fig. 3 and 4 are schematic diagrams of imaging spots of a laser echo signal and an analog optical signal on an imaging module in a laser radar apparatus error detection method according to an embodiment of the present invention;
Fig. 5 is a flowchart of a laser radar apparatus error detection method according to another embodiment of the present invention; and
Fig. 6 is a block diagram showing the structure of an error detecting apparatus of a lidar device according to an embodiment of the present invention.
Detailed Description
The following describes the detailed implementation of the embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
In order to more specifically explain the error detection device of the lidar device of the present invention, an application example given in connection with fig. 1 is explained as follows.
Fig. 1 is a schematic diagram of an application implementation of a lidar device error detection device according to an embodiment of the present invention. In fig. 1, an analog light source is illustrated as an LED white light source, but it should be understood by those skilled in the art that any other type of light source may be applied to the analog light source of the present invention.
As shown in fig. 1, the laser radar includes a laser transmitting unit and a laser receiving unit, wherein the laser receiving unit includes a receiving telescope 6, a beam splitting prism 3, an imaging module 2 (for example, an area camera), and a laser radar operating band signal photodetector 1, and the laser transmitting unit includes a laser transmitting telescope 7, a laser reflecting mirror 4 capable of adjusting laser pointing, a laser transmitting mirror 5, and a laser transmitter (not shown in fig. 1). The specific structure of the lidar is common knowledge in the art, and thus the present invention is not specifically described. Furthermore, fig. 1 shows only one example of application, and other types of lidar can be used.
In the embodiment shown in fig. 1, the detection device of the present invention comprises a corner reflector 9, an LED white light source 8 and a wireless remote control switch 10. The wireless remote control switch 10 is used for remotely controlling the LED white light source to emit white light signals. Other control devices may be applied, but in view of the working environment of the lidar and the actual situation when detecting the error, the present invention preferably uses a wireless remote control switch for more convenient operation by the staff.
Furthermore, as shown in fig. 1, the inspection apparatus may further include a solar cell module, which may include a battery pack 11 and a solar panel 12. The working environment of the laser radar is usually in open field or remote areas, so that the power supply is very inconvenient to replace, and the solar battery module is used for supplying power to the analog light source and the control module in the detection equipment, so that natural resources can be utilized, and huge workload of replacing the power supply is avoided.
The detection device can be used as a long-term permanent matching device to be fixed at a place far away from a laser radar, and the geographic parameters (such as longitude and latitude) of the place can be accurately measured. When an equipment error (such as an optical axis parallelism error and a directivity accuracy error) of the laser radar needs to be detected, as shown in fig. 1, the azimuth angle and the pitch angle of the laser radar can be adjusted so that the laser radar is aligned with the detection equipment. At this time, the laser transmitter is turned on, and the laser signal emitted by the laser transmitter is reflected by the transmitter 9 and then enters the laser receiving unit, that is, the laser signal and the white light signal emitted by the LED white light source are incident into the receiving telescope 6 and the beam splitting prism 3 together and then are incident into the imaging module 2, so as to form respective light spots, as shown in fig. 3 and 4.
Thus, the reflection module and the analog light source of the detection device may be fixed together and arranged in parallel, and the interval thereof should be such that the reflection module is coaxial with the laser transmitting unit and the analog light source module is coaxial with the laser receiving unit when detecting an error of the laser radar device. It should be noted that, when the reflection module may include a plurality of reflection elements or other optical elements, each element need not be coaxial with the laser emitting unit, as long as the laser light emitted from the laser emitting unit can be reflected by the reflection module and then incident on the laser receiving unit. Similarly, the analog light source may also include other optical elements, and the present invention does not need to make each element coaxial with the laser receiving element, but only needs to enable the light signal emitted by the analog light source to be incident on the laser receiving unit. Therefore, the above-mentioned modifications are reasonable modifications to the present invention, and all fall within the protection scope of the present invention.
A specific method of detecting the device error of the lidar is described below with reference to fig. 2 to 5.
Fig. 2 is a flowchart of a laser radar apparatus error detection method according to an embodiment of the present invention. The method comprises the following steps:
Step S310, making the analog light source signal sent by the analog light source incident on the imaging module, and obtaining the first coordinate of imaging of the analog light signal on the imaging module. As shown in fig. 3, the white light signal of the LED white light source is an imaging light spot on the imaging module.
Step S320, making the laser echo signal generated by the laser signal sent by the laser emitting module after being reflected by the reflecting module incident on the imaging module, and obtaining the imaging second coordinate of the laser echo signal on the imaging module. As shown in fig. 4, the LED white light source and the imaging spot of the laser echo signal on the imaging module are shown.
And step S330, calculating the parallelism error of the optical axis of the laser radar according to the first coordinate and the second coordinate. In an ideal case, the laser emission axis, the target viewing axis and the laser receiving axis should be such that the LED light source and the imaging spot of the laser echo signal on the imaging module shown in fig. 4 completely overlap. However, due to the wear of the device, the parallelism of the optical axis may be deteriorated, so that an error of the parallelism of the optical axis of the laser radar in the current device state may be calculated based on the first coordinate and the second coordinate.
In a specific operation, the radar software can be used to control the position of the receiving telescope to the detection device, at this time, the wireless remote control switch 10 is used to turn on the LED white light source 8, at this time, the receiving telescope 6 receives the analog light signal from the LED white light source 8 and images the analog light signal in the imaging module 2, and the azimuth angle and the pitch angle of the receiving telescope are finely adjusted, so that the imaging light spot is located at the center of the cross division of the camera, as shown in fig. 1. At this time, the line connecting the LED white light source 8, the receiving telescope 6 and the center of the area camera is used as a reference optical axis. In the present invention, for easier detection, the pointing angle of the lidar may be adjusted so that at least one of the analog light source signal and the laser echo signal is imaged at the imaging center of the imaging module.
The analog light source may be an infrared light source, a monochromatic light source with a specific wavelength, or the like, as required.
The laser radar is kept unchanged in pointing direction, a laser transmitter (not shown in the drawing) is turned on, a laser signal enters a laser transmitting telescope 7 through an adjustable laser reflecting mirror 4 and a laser transmitting mirror 5, the laser signal reaches a corner reflector 9 after being transmitted through the atmosphere and is reflected to generate a laser echo signal, the laser echo signal is received by a receiving telescope 6 and is split by a splitting prism 3, as shown in fig. 2, a small part of laser is received and imaged by an area array camera after being reflected, and meanwhile, most of laser is received by a photoelectric detector 1 after being transmitted.
In one embodiment, the parallelism error may be calculated according to the first coordinate and the second coordinate according to the following formula:
where Δθ is the parallelism error, (X1, Y1) is the first coordinate, (X2, Y2) is the second coordinate, and f is the focal length of the receiving optical component of the laser receiving unit.
The spot measurement can be carried out by utilizing a high-resolution area array camera, the detection precision of sub-pixel level can be obtained through the image centroid processing, the optical axis detection precision can at least reach 2.5 mu rad under the assumption that the pixel size of the area array camera is 5 mu m and the focal length of a receiving telescope is 2m, and the coaxial precision meets the detection requirement of the optical axis consistency (namely parallelism) of most laser radars at the present stage.
And whether the current optical axis parallelism meets the requirement can be known through the calculated parallelism error. If the parallelism error is out of the tolerable range, corresponding adjustment measures can be taken, for example by adjusting the laser mirror 4, the laser mirror 5 as shown in fig. 1 to adjust the laser emission angle, so as to compensate the parallelism error.
The detection device of the invention can also detect the directivity error of the laser radar. Fig. 5 is a flowchart of a laser radar apparatus error detection method according to another embodiment of the present invention. As shown in fig. 5, the method may further include:
step S640, obtaining a first pointing azimuth angle of the laser radar for observing the analog light source at a first time point. For example, in detecting an error in the parallelism of the optical axis of the lidar, the pointing azimuth angle of the lidar, e.g., azimuth angle, pitch angle, may be recorded at that point in time.
Step S650, obtaining a second directional azimuth angle of the laser radar for observing the analog light source at a second time point. Because the geographic longitude and latitude and the relative position of the detection equipment and the laser radar are known and fixed, the direction of the laser radar is always unchanged when the laser radar observes the detection equipment each time, namely the azimuth angle and the pitch angle of the laser radar are consistent with the initial installation or theoretical calculation values, the current azimuth angle and the pitch angle can be recorded and compared with the theoretical values when the equipment errors (such as the optical axis parallelism errors) are measured each time, and the pointing precision of the laser radar can be calibrated. Of course, the time point of the acquired pointing direction angle may be arbitrarily selected.
Step S660, determining an pointing accuracy error of the lidar according to the first pointing azimuth angle and the second pointing azimuth angle.
When the laser radar and the detection equipment are installed, the GPS equipment can be used for measuring the geographic longitude and latitude of two places respectively, or the photoelectric theodolite is used for directly measuring the azimuth angle A0 and the pitch angle Z0 of the detection equipment at the installation position of the laser radar, and the orientation angle (A0 and Z0) is the absolute orientation between two points. When the laser radar detects the consistency (parallelism) of the optical axis after long-term use, when the centroid of an imaging light spot of the LED white light source 8 in the imaging module 2 is positioned at the center of a camera target surface, the current pointing angle of the laser radar is (A1, Z1), and the error between the two pointing angles of (A0, Z0) and (A1, Z1) is the pointing precision error of the laser radar.
Through the above embodiments, the detection device is used as the ground target to simulate the observation target of the laser radar, so that the mode light source of the ground target (detection device) is imaged at the central position of the imaging module (such as an area array camera) of the laser radar, and a reference optical axis with the simulated light source, the central axis of the receiving telescope and the central point of the area array camera as connecting lines is established. And the verification of the laser optical axis is completed through the image comparison of the laser echo signal returned by the corner reflector on the ground target and the analog light source. The scheme is simple to operate, the problem of consistency detection and debugging of the laser radar in the field optical axis is effectively solved, and the laser radar can be used for a long time after detection equipment is installed once, so that the workload of repeatedly building a detection light path is greatly reduced; and the error between the optical axes can be corrected in real time by adjusting the angle of the reflecting mirror of the laser emission through the position of the laser spot in the area camera. In addition, the laser radar pointing precision can be calibrated according to the geographic longitude and latitude information of the detection equipment and the laser radar.
Fig. 6 is a block diagram showing the structure of an error detecting apparatus of a lidar device according to an embodiment of the present invention. The apparatus 200 comprises: the control module 210 is configured to make an analog light source signal sent by the analog light source incident on the imaging module, and make a laser echo signal generated by reflecting a laser signal sent by the laser sending module by the reflecting module incident on the imaging module; a coordinate acquisition module 220, configured to acquire a first coordinate of imaging of the analog optical signal on the imaging module, and acquire a second coordinate of imaging of the laser echo signal on the imaging module; and a determining module 230, configured to calculate a parallelism error of an optical axis of the lidar according to the first coordinate and the second coordinate.
Preferably, said calculating a parallelism error of an optical axis of said lidar based on said first coordinate and said second coordinate comprises calculating said parallelism error based on the following equation:
where Δθ is the parallelism error, (X1, Y1) is the first coordinate, (X2, Y2) is the second coordinate, and f is the focal length of the receiving optical component of the laser receiving unit.
Preferably, the apparatus further comprises: the system comprises a pointing angle acquisition module, a control module and a control module, wherein the pointing angle acquisition module is used for acquiring a first pointing azimuth angle of the laser radar for observing the analog light source at a first time point and acquiring a second pointing azimuth angle of the laser radar for observing the analog light source at a second time point; and the pointing precision determining module is used for determining the pointing precision error of the laser radar according to the first pointing azimuth angle and the second pointing azimuth angle.
Preferably, the control module images at least one of the analog light source signal and the laser echo signal at an imaging center of the imaging module.
The above specific details in the error detection method of the laser radar apparatus are also applicable to the detection apparatus of the present invention, and will not be described herein.
The foregoing details of the optional implementation of the embodiment of the present invention have been described in conjunction with the accompanying drawings, but the embodiment of the present invention is not limited to the specific details of the foregoing implementation, and various simple modifications may be made to the technical solution of the embodiment of the present invention within the scope of the technical concept of the embodiment of the present invention, where all the simple modifications belong to the protection scope of the embodiment of the present invention.
In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, various possible combinations of embodiments of the present invention are not described in detail.
Those skilled in the art will appreciate that all or part of the steps in implementing the methods of the embodiments described above may be implemented by a program stored in a storage medium, including instructions for causing a single-chip microcomputer, chip or processor (processor) to perform all or part of the steps of the methods of the embodiments described herein. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In addition, any combination of various embodiments of the present invention may be performed, so long as the concept of the embodiments of the present invention is not violated, and the disclosure of the embodiments of the present invention should also be considered.
Claims (9)
1. The utility model provides a laser radar equipment error detection equipment, this laser radar includes laser emission unit and laser receiving unit, wherein, laser receiving unit includes receiving telescope, beam splitting prism, imaging module, photoelectric detector, laser emission unit includes laser emission telescope, adjustable laser directional laser mirror, laser emission mirror, laser emitter, its characterized in that, this equipment includes:
The reflection module can be arranged at a position for reflecting the laser emitted by the laser emitting unit to the laser receiving unit when detecting the equipment error of the laser radar;
A simulation light source which is arranged in parallel with the reflection module and can be coaxial with the laser receiving unit when detecting the error of the laser radar device, and the reflection module can be coaxial with the laser transmitting unit; and
The control module is connected with the analog light source to control the analog light source;
Wherein the reflection module includes: a plurality of reflective elements, wherein the laser emitting unit is coaxial with at least one of the plurality of reflective elements.
2. The apparatus of claim 1, further comprising a solar module coupled to the analog light source and the control module to provide power to the analog module and the control module.
3. The apparatus according to claim 1 or 2, wherein the analog light source is a white light source, an infrared light source or a monochromatic light source of a specific wavelength.
4. A laser radar apparatus error detection method using the detection apparatus of any one of claims 1 to 3, a laser receiving unit of the laser radar including an imaging module, characterized in that the method includes:
The method comprises the steps that an analog light source signal sent by the analog light source is made to be incident on the imaging module, and a first imaging coordinate of the analog light signal on the imaging module is obtained;
the laser echo signals generated after the laser signals sent by the laser emitting unit are reflected by the reflecting module are made to be incident on the imaging module, and the second imaging coordinates of the laser echo signals on the imaging module are obtained; and
Calculating the parallelism error of the optical axis of the laser radar according to the first coordinate and the second coordinate;
Wherein the method further comprises:
acquiring a first pointing azimuth angle of the simulated light source observed by the laser radar at a first time point;
acquiring a second directional azimuth angle of the laser radar observation simulation light source at a second time point; and
And determining the pointing precision error of the laser radar according to the first pointing azimuth angle and the second pointing azimuth angle.
5. The method of claim 4, wherein calculating a parallelism error of an optical axis of the lidar based on the first coordinate and the second coordinate comprises:
Calculating the parallelism error according to the following formula:
，
where Δθ is the parallelism error, (X1, Y1) is the first coordinate, (X2, Y2) is the second coordinate, and f is the focal length of the receiving optical component of the laser receiving unit.
6. The method of claim 4 or 5, wherein at least one of the analog light source signal and the laser echo signal is imaged at an imaging center of the imaging module.
7. A laser radar apparatus error detection apparatus using the detection apparatus of any one of claims 1 to 3, a laser receiving unit of the laser radar including an imaging module, characterized in that the apparatus includes:
a control module for making the analog light source signal sent by the analog light source incident on the imaging module and making the laser echo signal generated by the laser signal sent by the laser emitting unit reflected by the reflecting module incident on the imaging module,
The coordinate acquisition module is used for acquiring first coordinates of imaging of the analog optical signal on the imaging module and second coordinates of imaging of the laser echo signal on the imaging module; and
The determining module is used for calculating the parallelism error of the optical axis of the laser radar according to the first coordinate and the second coordinate;
Wherein the apparatus further comprises:
The system comprises a pointing angle acquisition module, a control module and a control module, wherein the pointing angle acquisition module is used for acquiring a first pointing azimuth angle of the laser radar for observing the analog light source at a first time point and acquiring a second pointing azimuth angle of the laser radar for observing the analog light source at a second time point; and
And the pointing precision determining module is used for determining the pointing precision error of the laser radar according to the first pointing azimuth angle and the second pointing azimuth angle.
8. The apparatus of claim 7, wherein said calculating a parallelism error of an optical axis of the lidar based on the first coordinate and the second coordinate comprises:
Calculating the parallelism error according to the following formula:
，
where Δθ is the parallelism error, (X1, Y1) is the first coordinate, (X2, Y2) is the second coordinate, and f is the focal length of the receiving optical component of the laser receiving unit.
9. The apparatus of claim 7 or 8, wherein the control module images at least one of the analog light source signal and the laser echo signal at an imaging center of the imaging module.
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| CN201810730251.3A CN109100733B (en) | 2018-07-05 | 2018-07-05 | Error detection equipment, method and device for laser radar equipment |
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| CN201810730251.3A CN109100733B (en) | 2018-07-05 | 2018-07-05 | Error detection equipment, method and device for laser radar equipment |
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| CN109100733A CN109100733A (en) | 2018-12-28 |
| CN109100733B true CN109100733B (en) | 2024-07-23 |
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| CN110361706B (en) * | 2019-07-02 | 2021-03-12 | 中国人民解放军陆军炮兵防空兵学院郑州校区 | Radar antenna array surface normal azimuth angle measuring device and method |
| CN111123243A (en) * | 2019-12-13 | 2020-05-08 | 安徽皖仪科技股份有限公司 | Coaxial laser radar signal correction method |
| CN111505607B (en) * | 2020-04-28 | 2022-06-24 | 劢微机器人科技(深圳)有限公司 | Laser radar installation angle correction system and installation angle correction method thereof |
| CN113782375B (en) * | 2020-06-10 | 2024-05-10 | 华硕电脑股份有限公司 | Optical axis module and control method thereof |
| CN113759350B (en) * | 2021-09-29 | 2023-10-27 | 宁波未感半导体科技有限公司 | Laser radar debugging device and debugging method |
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| CN105137415A (en) * | 2015-05-25 | 2015-12-09 | 北京空间机电研究所 | Device and method for laser rangefinder receiving field-of-view calibration and optical axis parallelism measurement |
| CN208833907U (en) * | 2018-07-05 | 2019-05-07 | 南京先进激光技术研究院 | Laser radar apparatus error detecting facility |
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| US7064817B1 (en) * | 2003-11-04 | 2006-06-20 | Sandia Corporation | Method to determine and adjust the alignment of the transmitter and receiver fields of view of a LIDAR system |
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| CN102226689B (en) * | 2011-03-16 | 2012-11-14 | 中国科学院上海光学精密机械研究所 | Method for measuring coaxial error of correlation beam |
| CN102230962B (en) * | 2011-04-08 | 2012-11-28 | 哈尔滨工业大学 | Laser radar coaxial transmitting and receiving system and coaxial adjustment method thereof |
| CN105510899B (en) * | 2015-11-27 | 2018-01-16 | 皖江新兴产业技术发展中心 | A kind of coaxial detecting system of laser radar and its automatic calibrating method |
| CN206960658U (en) * | 2017-08-05 | 2018-02-02 | 广州市杜格数控设备有限公司 | A kind of two-dimension scanning laser radar of solid-state |
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| CN105137415A (en) * | 2015-05-25 | 2015-12-09 | 北京空间机电研究所 | Device and method for laser rangefinder receiving field-of-view calibration and optical axis parallelism measurement |
| CN208833907U (en) * | 2018-07-05 | 2019-05-07 | 南京先进激光技术研究院 | Laser radar apparatus error detecting facility |
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