Vehicle laser radar distance reflectivity and angle test calibration equipment

Abstract

The invention discloses a vehicle laser radar distance reflectivity and angle test calibration device which comprises a feeding assembly, a main carrying assembly is arranged on one side of the feeding assembly, a distance and reflectivity test assembly is arranged on one side of the main carrying assembly, and a transfer assembly is arranged on one side of the distance and reflectivity test assembly. A transfer carrying assembly is arranged on the side, away from the distance and reflectivity testing assembly, of the transfer assembly, an angle testing assembly is arranged on the side, away from the transfer assembly, of the transfer carrying assembly, an angle measuring type target is arranged on the side, away from the transfer carrying assembly, of the angle testing assembly, and a distance and reflectivity testing target is arranged on the side, away from the distance and reflectivity testing assembly, of the distance and reflectivity testing assembly. The testing and calibrating device is ingenious in structural design, high in practicability and stable in work and operation, by means of the testing and calibrating device, testing and calibrating of the distance, the reflectivity and the angle of the laser radar are achieved, the testing and calibrating efficiency of the laser radar is effectively improved, and the accuracy of the testing and calibrating result of the laser radar is also improved.

Description

Technical Field

[0001] The invention relates to the technical field of laser radar test and calibration, and in particular to a vehicle laser radar distance reflectivity and angle test and calibration device. Background Art

[0002] LiDAR is a radar system that emits laser beams to detect the position, speed and other characteristic quantities of a target. Its working principle is to transmit a detection signal (laser beam) to the target, and then compare the received signal reflected from the target (target echo) with the transmitted signal. After appropriate processing, relevant information about the target can be obtained, such as target distance, direction, altitude, speed, attitude, and even shape parameters, thereby detecting, tracking and identifying targets such as aircraft and missiles.

[0003] The laser radar emits and receives laser beams, analyzes the return time of the laser beam after encountering the detection target, calculates the relative distance between the detection target and the location of the laser radar (such as vehicles, low-flying helicopters, fixed detection equipment, etc.), and collects the three-dimensional coordinates, reflectivity and other information of a large number of densely packed points on the surface of the detection target to reconstruct a three-dimensional model of the detection target. During the production process of automotive laser radar, it is necessary to test and calibrate the distance, reflectivity and angle. The existing test and calibration process is complicated, inconvenient to operate, and the test and calibration results are inaccurate, which seriously affects the test and calibration efficiency of the laser radar. Therefore, it is necessary to design a distance, reflectivity and angle test and calibration equipment for automotive laser radar. Summary of the invention

[0004] The purpose of the present invention is to solve the above problems and to design a vehicle laser radar distance reflectivity and angle testing and calibration equipment.

[0005] To achieve the above-mentioned purpose, the technical solution of the present invention is a vehicle-used laser radar distance, reflectivity and angle test and calibration equipment, including a loading component, a main transport component is arranged on one side of the loading component, a distance and reflectivity test component is arranged on one side of the main transport component, a transfer component is arranged on one side of the distance and reflectivity test component, a transfer transport component is arranged on the side of the transfer component away from the distance and reflectivity test component, an angle test component is arranged on the side of the transfer transport component away from the transfer component, an angle measurement target is arranged on the side of the angle test component away from the transfer transport component, and a distance reflectivity test target is arranged on one side of the distance and reflectivity test component.

[0006] As a further description of the technical solution, the loading assembly includes a loading platform, a top plate is arranged on the loading platform, and a transplanting cylinder is arranged on the top plate.

[0007] As a further description of the technical solution, a transplanting plate is provided on the transplanting cylinder, a safety grating is provided on the top plate, a product presence detection sensor is provided on the top plate, an indicator light is provided on the top plate on one side of the product presence detection sensor, and a start button is provided on the safety grating.

[0008] As a further description of the technical solution, the main transport assembly includes a main transport robot arranged on one side of the loading assembly, and the main transport robot is provided with a clamping assembly.

[0009] As a further description of the technical solution, the distance and reflectivity testing assembly includes an auxiliary stand arranged on one side of the main transport assembly, and a plurality of distance and reflectivity testing tables are arranged on the auxiliary stand.

[0010] As a further description of the present technical solution, the distance and reflectivity test bench includes a mounting frame, a height adjustment foot is provided at the bottom of the mounting frame, a rotary servo motor is provided on the mounting frame, a reducer is provided at the output end of the rotary servo motor, a flip frame is provided at the output end of the reducer, an Ingon probe and a high-frequency probe are provided on the flip frame, a rotary clamping cylinder is provided on the flip frame, and an origin sensor is provided on the mounting frame.

[0011] As a further description of the technical solution, an electric cylinder is provided on the flip frame, an attenuation sheet fixing fixture is provided on the flip frame, an attenuation sheet is provided on the attenuation sheet fixing fixture, an attenuation sheet is provided on the attenuation sheet replacement robot is provided on one side of the auxiliary stand, and an attenuation sheet storage table is provided on one side of the attenuation sheet replacement robot.

[0012] As a further description of the technical solution, the transfer component includes a transfer table arranged on one side of the distance and reflectivity testing component, and the transfer handling component includes a transfer handling robot arranged on the side of the transfer component away from the distance and reflectivity testing component.

[0013] As a further description of the present technical solution, the angle testing assembly includes an auxiliary frame arranged on the side of the transfer and handling assembly away from the transfer assembly, the auxiliary frame is provided with an electric cylinder, the auxiliary frame is provided with an Ingon probe and a high-frequency probe on one side of the electric cylinder, the auxiliary frame is provided with an attenuation plate fixing fixture, the attenuation plate fixing fixture is provided with an attenuation plate, the bottom of the auxiliary frame is provided with a height adjustment foot, and the auxiliary frame is provided with a rotating clamping cylinder.

[0014] The beneficial effect is that the test and calibration equipment of the technical solution has a clever structural design, strong practicality, and stable operation. By using this test and calibration equipment, the distance, reflectivity and angle test and calibration of the laser radar are realized, which effectively improves the efficiency of the laser radar test and calibration, and also improves the accuracy of the laser radar test and calibration results. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0016] Figure 2 It is a schematic diagram of the installation structure of the distance and reflectivity test assembly of the present invention;

[0017] Figure 3 It is a schematic diagram of the structure of the distance and reflectivity test assembly of the present invention;

[0018] Figure 4 It is a structural schematic diagram of the angle testing assembly of the present invention;

[0019] Figure 5 It is a structural schematic diagram of the feeding assembly of the present invention.

[0020] In the figure, 1. Loading assembly; 2. Main transport assembly; 3. Distance and reflectivity test assembly; 4. Transfer assembly; 5. Transfer transport assembly; 6. Angle test assembly; 7. Angle measurement target; 8. Distance reflectivity test target; 9. Loading stand; 10. Top plate; 11. Transplanting cylinder; 12. Transplanting plate; 13. Safety grating; 14. Product presence detection sensor; 15. Indicator light; 16. Main transport manipulator; 17. Clamping assembly; 18. Auxiliary stand; 19. Distance and reflectivity test bench; 20. Mounting frame; 21. Height adjustment foot; 22. Rotary servo motor; 23. Reducer; 24. Flip frame; 25. Ingon probe; 26. High-frequency probe; 27. Rotary clamping cylinder; 28. Origin sensor; 29. ​​Energizing cylinder; 30. Attenuation sheet fixing fixture; 31. Attenuation sheet; 32. Attenuation sheet replacement manipulator; 33. Attenuation sheet storage table; 34. Transfer table; 35. Transfer handling manipulator; 36. Auxiliary frame; 37. Start button. DETAILED DESCRIPTION

[0021] First of all, the design intention of the present invention is explained. During the production process of automotive laser radar, it is necessary to test and calibrate the distance, reflectivity and angle. The existing test and calibration process is complicated, inconvenient to operate, and the test and calibration results are inaccurate, which seriously affects the test and calibration efficiency of the laser radar. Therefore, the present invention designs a distance, reflectivity and angle test and calibration device for automotive laser radar.

[0022] The present invention will be described in detail below in conjunction with the accompanying drawings. Figure 1-Figure 5As shown, a vehicle laser radar distance reflectivity and angle test calibration equipment includes a loading component 1. The loading component 1 will be described in detail below. The loading component 1 includes a loading platform 9, a top plate 10 is arranged on the loading platform 9, and a transplanting cylinder 11 is arranged on the top plate 10.

[0023] The transplanting cylinder 11 is provided with a transplanting plate 12, the top plate 10 is provided with a safety grating 13, the top plate 10 is provided with a product presence detection sensor 14, the top plate 10 is provided with an indicator light 15 on one side of the product presence detection sensor 14, and the safety grating 13 is provided with a start button 37. When in use, the vehicle laser radar is placed on the transplanting plate 12, the vehicle laser radar is transferred and loaded by the transplanting cylinder 11, and the presence of the product is detected by the product presence detection sensor 14.

[0024] In order to facilitate the transportation of the automotive laser radar on the loading component 1, a main transport component 2 is arranged on one side of the loading component 1. The main transport component 2 will be described in detail below. The main transport component 2 includes a main transport robot 16 arranged on one side of the loading component 1, and a clamping component 17 is arranged on the main transport robot 16.

[0025] In order to facilitate the distance and reflectivity test component 3 of the automotive laser radar, a distance and reflectivity test component 3 is arranged on one side of the main transport component 2. The distance and reflectivity test component 3 will be described in detail below. The distance and reflectivity test component 3 includes an auxiliary stand 18 arranged on one side of the main transport component 2, and several groups of distance and reflectivity test benches 19 are arranged on the auxiliary stand 18.

[0026] The distance and reflectivity test bench 19 includes a mounting frame 20, a height adjustment foot 21 is provided at the bottom of the mounting frame 20, a rotary servo motor 22 is provided on the mounting frame 20, a reducer 23 is provided at the output end of the rotary servo motor 22, a flip frame 24 is provided at the output end of the reducer 23, an Ingon probe 25 and a high-frequency probe 26 are provided on the flip frame 24, a rotary clamping cylinder 27 is provided on the flip frame 24, and an origin sensor 28 is provided on the mounting frame 20.

[0027] The flip frame 24 is provided with an electric cylinder 29, the flip frame 24 is provided with an attenuation sheet fixing fixture 30, the attenuation sheet fixing fixture 30 is provided with an attenuation sheet 31, the auxiliary stand 18 is provided with an attenuation sheet replacement robot 32 on one side, and the attenuation sheet storage table 33 is provided on one side of the attenuation sheet replacement robot 32.

[0028] In order to facilitate transfer, a transfer component 4 is arranged on one side of the distance and reflectivity testing component 3. The transfer component 4 will be described in detail below. The transfer component 4 includes a transfer table 34 arranged on one side of the distance and reflectivity testing component 3.

[0029] In order to facilitate the transfer of the vehicle laser radar on the transfer component 4, a transfer transport component 5 is arranged on the side of the transfer component 4 away from the distance and reflectivity test component 3. The transfer transport component 5 will be described in detail below. The transfer transport component 5 includes a transfer transport robot 35 arranged on the side of the transfer component 4 away from the distance and reflectivity test component 3.

[0030] In order to facilitate the angle test of the automotive laser radar, an angle testing component 6 is arranged on the side of the transfer and transport component 5 away from the transfer component 4. The angle testing component 6 will be described in detail below. The angle testing component 6 includes an auxiliary frame 36 arranged on the side of the transfer and transport component 5 away from the transfer component 4, and an electric cylinder 29 is arranged on the auxiliary frame 36. An Ingon probe 25 and a high-frequency probe 26 are arranged on the auxiliary frame 36 on one side of the electric cylinder 29. An attenuation plate fixing fixture 30 is arranged on the auxiliary frame 36, and an attenuation plate 31 is arranged on the attenuation plate fixing fixture 30. A height adjustment foot 21 is arranged at the bottom of the auxiliary frame 36, and a rotating clamping cylinder 27 is arranged on the auxiliary frame 21.

[0031] In addition, an angle measuring target 7 is provided on the side of the angle testing component 6 away from the transfer and handling component 5 , and a distance and reflectivity testing target 8 is provided on the side of the distance and reflectivity testing component 3 .

[0032] The specific structure of the present invention is described in detail above. The working principle of the present invention will be described below: when in use, the height of the auxiliary frame 36 is adjusted by the height adjustment foot 21, so that the height of the auxiliary frame 36 is consistent with the center height of the angle test target, the vehicle laser radar is placed on the auxiliary frame 36, and the vehicle laser radar is pressed by rotating the pressing cylinder 27. The attenuation plate fixing fixture 30 can be rotated and adjusted forward and backward to be parallel to the radar window surface. The power cylinder 29 drives the Ingon probe 25 and the high-frequency probe 26 to power on and communicate with the radar. The radar scans the entire annular target and calibrates the radar angle.

[0033] When testing the distance and reflectivity, the height of the entire mounting frame 20 is adjusted by the height-adjusting foot 21 to make it consistent with the center height of the angle test target. The automotive laser radar is placed on the mounting frame 20 and clamped by rotating the clamping cylinder 27. The attenuation plate 31 fixing fixture 30 can be rotated and adjusted forward and backward to make it parallel to the radar window surface. The test platform is rotated to a specific angle by the servo motor, and the power-on cylinder 29 drives the probe and the high-frequency probe 26 to power on and communicate with the radar. The radar scans the entire target for testing. During the test, the attenuation plate 31 is replaced by the manipulator 32 to replace the specific attenuation plate 31 to meet different test requirements.

[0034] The test and calibration equipment of this technical solution has an ingenious structural design, strong practicality, and stable operation. By using this test and calibration equipment, the distance, reflectivity and angle test and calibration of the laser radar are realized, which effectively improves the efficiency of the laser radar test and calibration, and also improves the accuracy of the laser radar test and calibration results.

[0035] The above technical solutions only reflect the preferred technical solutions of the technical solutions of the present invention. Some changes that may be made to certain parts thereof by technicians in this technical field all reflect the principles of the present invention and fall within the protection scope of the present invention.

Claims

1. A vehicle laser radar distance reflectivity and angle test calibration equipment, characterized in that: The invention comprises a loading component (1), wherein a main transport component (2) is arranged on one side of the loading component (1), a distance and reflectivity test component (3) is arranged on one side of the main transport component (2), a transfer component (4) is arranged on one side of the distance and reflectivity test component (3), a transfer transport component (5) is arranged on the side of the transfer component (4) away from the distance and reflectivity test component (3), an angle test component (6) is arranged on the side of the transfer transport component (5) away from the transfer component (4), an angle measurement target (7) is arranged on the side of the angle test component (6) away from the transfer transport component (5), and a distance reflectivity test target (8) is arranged on one side of the distance and reflectivity test component (3).

2. The vehicle laser radar distance reflectivity and angle test calibration equipment according to claim 1, characterized in that: The loading assembly (1) comprises a loading platform (9), a top plate (10) is arranged on the loading platform (9), and a transplanting cylinder (11) is arranged on the top plate (10).

3. The vehicle laser radar distance reflectivity and angle test calibration equipment according to claim 2, characterized in that: The transplanting cylinder (11) is provided with a transplanting plate (12), the top plate (10) is provided with a safety grating (13), the top plate (10) is provided with a product presence detection sensor (14), the top plate (10) is provided with an indicator light (15) on one side of the product presence detection sensor (14), and the safety grating (13) is provided with a start button (37).

4. The vehicle laser radar distance reflectivity and angle test calibration equipment according to claim 1, characterized in that: The main transport component (2) comprises a main transport robot (16) arranged on one side of the loading component (1), and a clamping component (17) is arranged on the main transport robot (16).

5. The vehicle laser radar distance reflectivity and angle test calibration equipment according to claim 1, characterized in that: The distance and reflectivity testing assembly (3) comprises an auxiliary stand (18) arranged on one side of the main transport assembly (2), and a plurality of groups of distance and reflectivity testing tables (19) are arranged on the auxiliary stand (18).

6. The vehicle laser radar distance reflectivity and angle test calibration equipment according to claim 5, characterized in that: The distance and reflectivity test bench (19) comprises a mounting frame (20), the bottom of the mounting frame (20) is provided with a height adjustment foot (21), the mounting frame (20) is provided with a rotary servo motor (22), the output end of the rotary servo motor (22) is provided with a reducer (23), the output end of the reducer (23) is provided with a flip frame (24), the flip frame (24) is provided with an Ingon probe (25) and a high-frequency probe (26), the flip frame (24) is provided with a rotary pressing cylinder (27), and the mounting frame (20) is provided with an origin sensor (28).

7. The vehicle laser radar distance reflectivity and angle test calibration equipment according to claim 6, characterized in that: The flip frame (24) is provided with an electric cylinder (29), the flip frame (24) is provided with an attenuation sheet fixing fixture (30), the attenuation sheet fixing fixture (30) is provided with an attenuation sheet (31), one side of the auxiliary stand (18) is provided with an attenuation sheet replacement manipulator (32), and one side of the attenuation sheet replacement manipulator (32) is provided with an attenuation sheet storage table (33).

8. The vehicle laser radar distance reflectivity and angle test calibration equipment according to claim 1, characterized in that: The transfer component (4) comprises a transfer table (34) arranged on one side of the distance and reflectivity test component (3), and the transfer transport component (5) comprises a transfer transport robot (35) arranged on the side of the transfer component (4) away from the distance and reflectivity test component (3).

9. The vehicle laser radar distance reflectivity and angle test calibration equipment according to claim 1, characterized in that: The angle testing assembly (6) comprises an auxiliary frame (36) arranged on the side of the transfer and handling assembly (5) away from the transfer assembly (4); the auxiliary frame (36) is provided with an electric cylinder (29); the auxiliary frame (36) is provided with an Ingon probe (25) and a high-frequency probe (26) located on one side of the electric cylinder (29); the auxiliary frame (36) is provided with an attenuation sheet fixing fixture (30); the attenuation sheet fixing fixture (30) is provided with an attenuation sheet (31); the bottom of the auxiliary frame (36) is provided with a height adjustment foot (21); and the auxiliary frame (21) is provided with a rotary pressing cylinder (27).

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