《智能传感器装调与测试（双语）》课件-9.激光雷达装调及测试

激光雷达装调及测试Installation,CommissioningandTestingofLiDAR自动驾驶的安全守望者SafetyWatcherforAutonomousDriving如何通过标准化检测判断激光雷达品质合格？怎样精准完成装调确保探测无偏差？又如何读取数据验证装调效果？HowtojudgethequalityofLiDARthroughstandardizedtesting?Howtoaccuratelycompletetheinstallationandcommissioningtoensurethatthereisnodeviationindetection?Howtoreadthedatatoverifytheinstallationandcommissioningeffect?PART01品质检测三维度ThreeDimensionsforQualityInspection外观与硬件完整性检测与基础性能参数检测AppearanceandHardwareIntegrityDetectionandBasicPerformanceParameterDetection1.检查雷达外壳无破损、裂纹，激光发射/接收面无划痕、污渍。Checkthattheradarhousingisneitherdamagednorcracked,andthatthereareneitherscratchesnorstainsonthelasertransmitter/receiversurface.2.核对接口引脚无弯曲、氧化，线束无破损。Checkthattheinterfacepinsareneitherbentnoroxidized,andthattheharnessisnotdamaged.3.确认雷达型号与实训需求匹配，铭牌参数清晰可辨。Confirmthattheradarmodelmatchesthepracticerequirementsandthatthenameplateparametersareclearlyidentifiable.外观检查AppearanceInspection外观与硬件完整性检测与基础性能参数检测AppearanceandHardwareIntegrityDetectionandBasicPerformanceParameterDetection1探测距离与点云密度DetectionRangeandPointCloudDensity短距样机0.5-50m、长距样机≥150m回波强度≥阈值，点云密度≥100万点/秒。Echointensity≥thresholdforshort-rangeprototypes(0.5–50m)andlong-rangeprototypes(≥150m),pointclouddensity≥1millionpoints/second.2测距精度Rangingprecision测距误差≤±2cm，测角误差≤±0.1°，一次性通过即可进入环境适应性测试。Rangingerror≤±2cm,andanglemeasurementerror≤±0.1°.Theenvironmentaladaptabilitytestcanbeperformediftheaboverequirementsaremet.3通电测试Power-ontest标称12VDC，实测波动≤±0.5V，防反接保护正常，避免上电瞬间烧毁激光器。Nominal:12VDC,measuredfluctuation:≤±0.5V,andnormalanti-reverseconnectionprotectiontoavoidlaserburningatthemomentofpower-on.环境适应性预检测Environmentaladaptabilitypre-inspection模拟强光、小雨环境，检测雷达点云输出是否稳定，无大量噪点。Simulatestronglightandlightrainenvironmentstodetectwhethertheradarpointcloudoutputisstablewithoutalargeamountofnoise测试抗干扰能力：在雷达附近开启2.4G无线设备，观察数据无丢失、误报，确保不受电磁干扰。Testofanti-interferenceability:Turnonthe2.4Gwirelessequipmentneartheradar,observethatthereisneitherdatalossnorfalsealarm,andensurethatitisnotaffectedbyelectromagneticinterference.判定标准：所有参数在产品技术手册允许误差范围内，无硬件破损、功能异常，即为品质合格，可进入装调环节。udgmentcriteria:Ifallparametersarewithintheallowableerrorrangeoftheproducttechnicalmanual,andthereisneitherhardwaredamagenorabnormalfunction,thequalityrequirementsaremetandtheinstallationandcommissioningstagecanbeinitiated.PART02精准装调五步法Five-stepMethodforAccurateInstallationandCommissioning基准校准与安装固定BenchmarkCalibration,InstallationandFixation装调前准备Preparationbeforeinstallationandcommissioning工具：扭矩扳手、水平仪、激光测距仪、安装支架、网线检测仪、万用表、诊断电脑。Tools:torquewrench,levelgauge,laserrangefinder,mountingbracket,networkcabletester,multimeteranddiagnosticcomputer.基准校准Benchmarkcalibration激光测距仪辅助，雷达中心与车身中轴线偏差≤0.5mm，安装面俯仰≤0.3°，建立零点坐标系。Withtheassistanceofalaserrangefinder,thedeviationbetweentheradarcenterandthecentralaxisofthevehiclebodyshallbe≤0.5mm,thepitchoftheinstallationsurfaceshallbe≤0.3°,andazeropointcoordinatesystemshallbeestablished.固定力矩FixingtorqueM6不锈钢螺栓，扭矩5-8N·m，对角锁紧，防止壳体变形导致光轴偏移。ForM6stainlesssteelbolts,thetorqueshallbe5–8N·m,andtheboltsshalldiagonallylockedtopreventtheshellfromdeformingandcausingtheopticalaxistoshift.姿态调试与紧固验证PostureCommissioningandFasteningVerification角度设定Anglesetting验证闭环Closed-loopverification俯仰0-1°向下，水平0°，使用水平仪实时读取，防止地面杂点过多或远场盲区扩大。Pitch0–1°downward,horizontal0°;usealeveltoreadinrealtimetopreventexcessivegroundnoiseandexpansionoffar-fieldblindspots.复核螺栓扭矩，确保无松动；启动车辆，雷达工作状态正常。连续30s点云无丢帧，确认装调有效。Checkthebolttorquetoensurethatthereisnolooseness;startthevehicle,afterwhichtheradarshallworknormally.Ifthepointcloudhasnoframelossfor30consecutiveseconds,theinstallationandcommissioningareeffective.PART03数据读取与判读DataReadingandInterpretation读取准备与协议配置Readpreparationandprotocolconfiguration1读取准备Readingpreparation设备连接：以太网接口接入电脑接口，激光雷达与电脑建立通信，打开数据采集软件。Equipmentconnection:TheEthernetinterfaceisconnectedtothecomputerinterface,theLiDARestablishescommunicationwiththecomputer,andthedataacquisitionsoftwareisopened.2核心数据读取Coredatareading读取三维点云图，观察点云密度均匀、无缺失，能清晰识别周围静态目标（如墙体、标杆）的轮廓。Readthe3Dpointcloudmap,observethatthepointclouddensityisuniformandwithoutmissingpoints,andensurethecontoursofsurroundingstatictargets(suchaswallsandbenchmarks)areclearlyidentified.读取准备与协议配置Readpreparationandprotocolconfiguration3数据验证与问题排查Dataverificationandtroubleshooting连续采集10组数据，点云无波动、参数误差在允许范围，判定装调合格。Continuouslycollect10setsofdata.Ifthepointcloudhasnofluctuationandtheparametererroriswithintheallowablerange,itisjudgedthattheinstallationandcommissioningareacceptable.若出现点云缺失：检查光学窗口是否清洁、安装角度是否偏移。Missingpointcloud:Checkwhethertheopticalwindowiscleanandwhethertheinstallationanglehasoffset.若数据通信失败：排查线路连接、协议匹配或雷达供电问题，重新装调后再次测试。Datacommunicationfailure:Checkthelineconnection,protocolmatching,orradarpowersupplyproblems,performtheinstallationandcommissioningagain,andperformthetestsagain.本讲小结SummaryofThisLecture黄金口诀GoldenRules▶品质三步：外观性能环境Threestepsforquality:appearance,performanceandenvironment.▶装调五序：基准安装调试验