LiDAR test device, system and method

Abstract

The present invention discloses a laser radar test device, system, and method. The laser radar test device includes a test box and a wind tunnel device. The test box includes a box body and at least one working condition simulation device installed in the box body. A transmissive area is provided on one side of the box body, serving as an exit window for the laser beam of the laser radar to be tested. The wind tunnel device includes a cave body, a drive device, and an aerosol generator. The test box is installed in the cave body. The drive device is used to simulate a preset wind speed value, and the aerosol generator is used to simulate a preset aerosol concentration value. By adopting the technical solution in the embodiment of the present invention, it is possible to conduct online reliability tests on the laser radar based on its actual operating conditions, thereby improving the accuracy of the laser radar reliability test.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power generation, and in particular to a laser radar test device, system and method. Background Art

[0002] Compared to traditional wind measurement equipment (anemometers and cup winds) used in wind turbines, lidar offers higher wind measurement accuracy. Lidar operates on the principle that a laser beam is emitted from a laser, which is reflected by aerosols in the air. Wind speed information is then derived from the reflected laser beam. Combining lidar with wind turbine control strategies can effectively reduce wind turbine loads and improve wind turbine operational reliability, making lidar reliability testing essential.

[0003] Currently, lidar reliability testing primarily involves offline testing, which involves placing the lidar in a sealed test chamber and testing it based on simulated environmental conditions. However, this offline testing only tests the reliability of the lidar's mechanical components and does not reflect the reliability of the lidar's actual wind measurement performance under real-world operating conditions. Summary of the Invention

[0004] The embodiments of the present invention provide a laser radar test device, system and method, which can carry out online reliability testing of the laser radar based on the actual operating conditions of the laser radar, thereby improving the accuracy of the reliability test of the laser radar.

[0005] In a first aspect, an embodiment of the present invention provides a laser radar test device, the laser radar test device comprising:

[0006] The test box includes a box body and at least one working condition simulation device installed in the box body. A transmissive area is provided on one side of the box body, serving as an exit window for the laser beam of the laser radar to be tested;

[0007] The wind tunnel device includes a tunnel body, a driving device and an aerosol generating device. The test chamber is installed in the tunnel body. The driving device is used to simulate a preset wind speed value, and the aerosol generating device is used to simulate a preset aerosol concentration value.

[0008] In a possible implementation manner of the first aspect, the operating condition simulation device includes one or more of the following devices: a temperature and humidity generator, a vibration generator, and an electromagnetic transmitter.

[0009] In a possible implementation of the first aspect, the wind tunnel device includes a direct current wind tunnel, the tunnel body of the direct current wind tunnel includes a stable section, a contraction section, and a test section arranged in sequence along the airflow direction; and the test box is fixed to the test section.

[0010] In a second aspect, an embodiment of the present invention provides a laser radar test system, which includes: a laser radar to be tested, a data receiving and processing device, and the laser radar test device as described above; wherein, the laser radar to be tested is arranged in a box body of a test box, and the laser beam is emitted from the window mirror of the laser radar to be tested and passes through the transmissive area of the test box; the data receiving and processing device is respectively connected to the laser radar to be tested and the wind tunnel device for signal reception, and is used to receive and process data generated during the test.

[0011] In a possible implementation of the second aspect, the working condition simulation device includes a vibration generator, the vibration generator is signal-connected to the data receiving and processing device, and the laser radar to be tested is fixedly connected to the vibration generator.

[0012] In a possible implementation manner of the second aspect, the geometric center of the window mirror and the geometric center of the transmissive area are on a horizontal line.

[0013] In a possible implementation of the second aspect, the laser radar test system further includes a temperature and humidity sensor disposed inside the laser radar to be tested, and the temperature and humidity sensor is signal-connected to the data receiving and processing device.

[0014] In a third aspect, an embodiment of the present invention provides a laser radar test method for use in the laser radar test system described above, the laser radar test method comprising:

[0015] The laser radar to be tested is placed in the box of the test box, and the test box is placed in the hole of the wind tunnel device;

[0016] A wind tunnel device is used to simulate a preset wind speed value and a preset aerosol concentration value, and a test chamber is used to simulate a preset environmental condition; the laser radar to be tested is controlled to emit a laser beam so that the laser beam is emitted from a transmissive area of the test chamber; wind speed measurement data measured by the laser radar to be tested under the preset wind speed value, the preset aerosol concentration value and the preset environmental condition is received; and the measured wind speed measurement data is analyzed to obtain a test result.

[0017] In a possible implementation of the third aspect, analyzing the measured wind speed measurement data to obtain a test result includes: performing a linear regression on the average wind speed within a predetermined time period in the wind speed measurement data, and calculating the wind speed deviation between the wind speed measurement data and a preset wind speed value; judging whether both the linear regression result and the wind speed deviation satisfy corresponding preset conditions; if both the linear regression result and the wind speed deviation satisfy the corresponding preset conditions, the test result is normal; if either the linear regression result or the wind speed deviation does not satisfy the corresponding preset condition, the test result is abnormal.

[0018] In a possible implementation of the third aspect, after analyzing the wind speed measurement data and the preset wind speed value to obtain the test result, the lidar test method further includes: if the test result is abnormal, controlling the test box to stop working.

[0019] In a possible implementation of the third aspect, after analyzing the wind speed measurement data and the preset wind speed value to obtain the test results, the lidar test method also includes: resetting the aerosol concentration value in the cave multiple times, controlling the lidar to be tested to perform multiple wind speed measurements, and obtaining multiple wind speed measurement data corresponding to the multiple aerosol concentration values; and establishing a prediction relationship model for predicting the lidar measured wind speed based on the multiple aerosol concentration values and the corresponding multiple wind speed measurement data.

[0020] Compared with the prior art which can only perform offline reliability tests on the laser radar after it is powered off and shut down, the embodiment of the present invention provides a transmissive area for the laser beam of the laser radar to be tested on one side of the box, and utilizes a wind tunnel device to provide and simulate the wind speed value and aerosol concentration value during actual operation for the laser radar to be tested, thereby enabling online reliability tests of the laser radar based on its actual operating conditions, thereby improving the accuracy of the reliability test of the laser radar from the perspective of the wind measurement performance of the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention can be better understood from the following description of specific embodiments of the present invention in conjunction with the accompanying drawings, wherein the same or similar reference numerals represent the same or similar features.

[0022] Figure 1 A schematic structural diagram of a laser radar test device provided in a first embodiment of the present invention;

[0023] Figure 2 A schematic structural diagram of a laser radar test system provided in accordance with a second embodiment of the present invention;

[0024] Figure 3 A schematic structural diagram of a laser radar test system provided in a third embodiment of the present invention;

[0025] Figure 4 A schematic flow chart of a laser radar test method according to a fourth embodiment of the present invention;

[0026] Figure 5 A schematic flow chart of a laser radar test method according to the fifth embodiment of the present invention.

[0027] 101 - box; 102 - transmissive area; 103 - cavity; 104 - driving device;

[0028] 105-aerosol generating equipment; 201-lidar to be tested;

[0029] 202-Data receiving and processing device. DETAILED DESCRIPTION

[0030] The features and exemplary embodiments of various aspects of the present invention will be described in detail below.In the following detailed description, numerous specific details are set forth in order to provide a comprehensive understanding of the embodiments of the present invention.

[0031] Currently, LiDAR reliability testing remains limited to laboratory verification tests. These tests do not consider the LiDAR's actual operating conditions (such as wind conditions and measurement accuracy). Instead, they are conducted offline with the LiDAR powered off. Even if the LiDAR is powered on, it cannot measure effective wind speed information due to the sealed, light-tight test chamber.

[0032] Therefore, the embodiments of the present invention provide a laser radar test device, system and method, which can carry out online reliability testing of the laser radar based on the actual operating conditions of the laser radar, thereby improving the accuracy of the laser radar reliability test from the perspective of the laser radar's wind measurement performance.

[0033] Figure 1 This is a schematic diagram of the structure of the laser radar test device provided by the first embodiment of the present invention. Figure 1 As shown, the laser radar test device includes a test box and a wind tunnel device.

[0034] like Figure 1 As shown, the test box includes a box body 101 and at least one working condition simulation device (not shown in the figure) installed in the box body 101. A transmissive area 102 is provided on one side of the box body 101, which serves as an exit window for the laser beam of the laser radar to be tested.

[0035] Transmissive region 102 can be made of a material with high laser beam transmittance, such as quartz glass. To facilitate installation and fixation of the laser radar under test within housing 101, transmissive region 102 can be located in the center of the corresponding side. Transmissive region 102 can be of any size, and its shape includes, but is not limited to, circular or rectangular. Those skilled in the art can select the desired shape based on their specific needs.

[0036] In conjunction with the content of the lidar reliability test, the working condition simulation equipment includes one or more of the following devices: temperature and humidity generator, vibration generator and electromagnetic transmitter.

[0037] Among them, the temperature and humidity generator is mainly used to simulate preset temperature and humidity conditions in the box 101, such as: high temperature and high humidity, high temperature and low humidity, low temperature and high humidity, low temperature and low humidity or alternating temperature and humidity conditions, to support reliability tests in temperature and humidity.

[0038] The vibration generator is primarily used to simulate the amplitude and frequency of the wind turbine generator at different wind speeds within enclosure 101 to support vibration reliability testing. For example, if the wind tunnel is configured for a wind speed of 10 m / s, the vibration generator can be configured to simulate the amplitude and frequency of the wind turbine generator operating at a wind speed of 10 m / s, thereby simulating real-world operating conditions.

[0039] The electromagnetic transmitter is mainly used to simulate electromagnetic radiation conditions under different conditions in the box 101 to support reliability tests in terms of electromagnetic compatibility.

[0040] like Figure 1 As shown, the wind tunnel device includes a tunnel body 103, a driving device 104 and an aerosol generating device 105. The test box is installed in the tunnel body 103, the driving device 104 is used to simulate a preset wind speed value, and the aerosol generating device 105 is used to simulate a preset aerosol concentration value.

[0041] An aerosol is a colloidal dispersion system consisting of small solid or liquid particles dispersed and suspended in a gaseous medium. The dispersed phase is the solid or liquid particles, and the dispersion medium is the gas. Liquid aerosols are often called mist, while solid aerosols are often called fog and smoke.

[0042] In an optional embodiment, the wind tunnel device includes a direct current wind tunnel, and the tunnel body 103 of the direct current wind tunnel includes a stable section, a contraction section, and a test section sequentially arranged along the airflow direction.

[0043] When in use, a direct-flow wind tunnel uses a fan to blow air toward the right end, forcing air from the outside on the left into the stabilizing section. The honeycomb and damping mesh in the stabilizing section organize and even the airflow. The converging section then accelerates the airflow, creating a stable airflow with a consistent flow direction and uniform velocity in the test section. Those skilled in the art will appreciate that, in addition to direct-flow wind tunnels, any other type of wind tunnel, such as a recirculating wind tunnel, is also suitable for providing stable airflow for laser mine testing equipment. This is not a limitation of the present invention.

[0044] Preferably, in order to further improve the accuracy of the laser radar reliability test, the test box is usually fixed at a central position of the test section away from the stable section, so that the airflow flowing through the box body 101 remains sufficiently stable.

[0045] According to an embodiment of the present invention, when reliability testing of a LiDAR under test is required, a wind tunnel apparatus can be used to simulate preset wind speed values and preset aerosol concentration values, and a test chamber can be used to simulate preset environmental conditions. The LiDAR under test can then be placed within the chamber of the test chamber, which in turn can be placed within the wind tunnel apparatus. With this setup, the LiDAR under test only needs to emit a laser beam from its exit window to obtain wind speed measurement data based on the laser beam reflected by the aerosol. The reliability test results of the LiDAR under test can then be obtained by analyzing the wind speed measurement data and the preset wind speed values.

[0046] Compared with the prior art which can only perform offline reliability tests on the laser radar after it is powered off and shut down, the embodiment of the present invention provides a transmissive area for the laser beam of the laser radar to be tested on one side of the box, and utilizes a wind tunnel device to provide and simulate the wind speed value and aerosol concentration value during actual operation for the laser radar to be tested, thereby enabling online reliability tests of the laser radar based on its actual operating conditions, thereby improving the accuracy of the reliability test of the laser radar.

[0047] In addition, since the wind speed in the wind tunnel tends to be stable, the use of a wind tunnel can prevent the lidar from being interfered with by external factors during reliability tests, thereby improving the credibility of the test data.

[0048] In addition, since the working condition simulation equipment in the test box can simulate various extreme conditions and complex environments, based on the wind tunnel device, the laser radar test device in the embodiment of the present invention can test the wind measurement performance of the laser radar under extreme conditions and various complex environments, not just the reliability of the mechanical structure, and has broad application prospects.

[0049] Figure 2 A schematic structural diagram of a laser radar test system provided in the second embodiment of the present invention. Figure 2 and Figure 1 The difference is that Figure 2 The laser radar test system further includes a laser radar to be tested 201 and a data receiving and processing device 202.

[0050] like Figure 2 As shown, the laser radar 201 to be tested is set in the box 101, and the laser beam is emitted from the window mirror of the laser radar 201 to be tested and passes through the exit window.

[0051] In one example, the laser radar window is 20 cm long and 15 cm wide, made of quartz glass. The transmissive region 102 is 60 cm long and 45 cm wide, located at the center of the surface. The remainder of the surface is made of metal. The laser beam can pass through quartz glass, thus resolving the issue of laser beams being unable to be projected in traditional test chambers.

[0052] In combination with the reliability test content of the laser radar, when the reliability test involves vibration, the laser radar 201 to be tested can be fixed above the vibration generator.

[0053] Furthermore, taking into account the vibration influence of the actual installation position of the laser radar 201 to be tested under different wind speed values, the geometric center of the window mirror of the laser radar 201 to be tested is on a horizontal line with the geometric center of the transmissive area 102.

[0054] like Figure 2 As shown, data receiving and processing device 202 is located outside the wind tunnel and connected to the laser radar 201 under test and the wind tunnel. Data receiving and processing device 202 analyzes wind tunnel wind speed data, test chamber data, and wind speed measurement data, monitors the radar's operating status in real time, and controls the test progress in real time.

[0055] When reliability testing of the laser radar 201 under test is required, a wind tunnel is used to simulate preset wind speed and aerosol concentration values, and a test chamber is used to simulate preset environmental conditions. The laser radar 201 under test is then placed within the chamber 101 of the test chamber, which is then placed within the chamber 103 of the wind tunnel. The laser beam of the laser radar 201 under test is emitted from the transmissive region 102. The laser radar 201 under test obtains wind speed measurement data based on the laser beam reflected back by the aerosol within the chamber 103. The data receiving and processing device 202 analyzes the wind speed measurement data and the preset wind speed value to obtain the reliability test results of the laser radar 201 under test.

[0056] In an optional embodiment, the data receiving and processing device 202 specifically compares and analyzes the wind speed measurement data of the laser radar 201 under test with the wind speed value of the wind tunnel. If the absolute value of the difference between the two is greater than a preset threshold (e.g., 0.1), it is considered that the laser radar 201 under test is operating abnormally.

[0057] Figure 3 This is a schematic structural diagram of a laser radar test system provided in the third embodiment of the present invention. Figure 3 and Figure 2 The difference is that Figure 3 The data receiving and processing device 202 is also connected to the test box, and is used to provide feedback to the test box when the laser radar 201 to be tested works abnormally, shut down the simulation equipment in the test box, and stop the test.

[0058] Furthermore, the laser radar test system also includes a temperature and humidity sensor (not shown in the figure) arranged inside the laser radar 201 to be tested, which is used to send the temperature data and humidity data inside the radar during the test to the data receiving and processing device 202, so as to analyze the cause of the abnormal operation of the laser radar 201 to be tested.

[0059] The following combination Figure 3 , the reliability test process of the laser radar test system in the embodiment of the present invention is described in detail.

[0060] First, check whether the laser radar 201 to be tested is working properly, then set the wind speed in the wind tunnel to 10m / s, the aerosol concentration to A, and put the laser radar 201 to be tested into the box 101 without packaging and after powering on.

[0061] Next, the laser radar 201 to be tested is subjected to a 12h+12h alternating test and a vibration test, and the temperature and humidity values inside the laser radar 201 to be tested are transmitted to the data receiving and processing device 202 in real time.

[0062] The 12h+12h alternating test is specifically as follows: the relative humidity in the box 101 is set to (93±2)%, then the temperature is raised from room temperature to 60°C, maintained at 60°C for 12 hours, then lowered to room temperature and maintained for 12 hours, and a 12h+12h alternating test is performed;

[0063] The vibration test is specifically as follows: the vibration amplitude and frequency are set according to the vibration amplitude and frequency of the cabin when the wind speed is 10m / s, and the vibration directions are x, y, and z directions.

[0064] Finally, the wind speed values measured by the radar under test were compared with those from the wind tunnel. A linear regression was performed on the 10-minute average wind speeds for the radar under test and the wind tunnel over the same time period. The wind speed deviation between the wind speed values provided by the radar under test and the wind tunnel was calculated.

[0065] If the linear regression results meet the following parameter ranges: data volume ≥ 48 hours, that is, 10-minute sample points ≥ 288; slope range: 1 ± 0.015; intercept range: ± 0.2 m / s; regression coefficient: R 2 >0.99. Moreover, if the average value of the wind speed deviation satisfies ±0.1 m / s and the standard deviation of the wind speed deviation is less than 0.15 m / s, the reliability test result of the laser radar 201 to be tested is normal. Otherwise, it is considered to be abnormal and the feedback is sent to the data receiving and processing device 202, and the test is stopped and the cause of the abnormality is analyzed.

[0066] Figure 4 This is a flow chart of a laser radar test method provided in a fourth embodiment of the present invention, which is used in the laser radar test system as described above. The laser radar test method includes steps 401 to 404.

[0067] In step 401, the laser radar to be tested is placed in a box of a test box, and the test box is placed in a hole of a wind tunnel device.

[0068] In step 402, a wind tunnel device is used to simulate a preset wind speed value and a preset aerosol concentration value, and a test box is used to simulate a preset environmental condition, and the laser radar to be tested is controlled to emit a laser beam so that the laser beam is emitted from a transmissive area of the test box.

[0069] In step 403, wind speed measurement data measured by the laser radar to be measured under a preset wind speed value, a preset aerosol concentration value and a preset environmental condition is received.

[0070] In step 404, the measured wind speed data is analyzed to obtain a test result.

[0071] Figure 5 This is a flow chart of a laser radar test method provided in the fifth embodiment of the present invention. Figure 5 and Figure 4 The difference is that Figure 4 Step 404 in the above example can be broken down into Figure 5 Steps 4041 to 4044 are applicable to, but not limited to, analysis of reliability test results based on the "12h+12h alternating test" and the "vibration test."

[0072] In step 4041, a linear regression is performed on the average wind speed in the predetermined time period in the wind speed measurement data, and the wind speed deviation between the wind speed measurement data and the preset wind speed value is calculated.

[0073] In step 4042, it is determined whether the linear regression result and the wind speed deviation both meet corresponding preset conditions.

[0074] In step 4043, if the linear regression result and the wind speed deviation both meet corresponding preset conditions, the test result is normal.

[0075] In step 4044, if either the linear regression result or the wind speed deviation does not meet the corresponding preset condition, the test result is considered abnormal.

[0076] In an optional embodiment, if the test result is abnormal, the test box is controlled to stop working, and the cause of the abnormality is analyzed based on the temperature data and humidity data inside the laser radar to be tested.

[0077] In an optional embodiment, since the aerosol concentration in the air will affect the wind measurement accuracy of the laser radar, after step 404, the laser radar test method may also include: resetting the aerosol concentration value in the cave multiple times, controlling the laser radar to be tested to perform multiple wind speed measurements, and obtaining multiple wind speed measurement data corresponding to the multiple aerosol concentration values; then establishing a prediction relationship model for predicting the wind speed measured by the laser radar based on the multiple aerosol concentration values and the corresponding multiple wind speed measurement data, so as to correct the wind speed information measured by the radar under actual working conditions, thereby effectively improving the wind measurement accuracy and reliability of the laser radar.

[0078] Specifically, to verify the impact of different aerosol concentrations on radar wind measurement accuracy under the same experimental conditions, the aerosol concentration in the wind tunnel can be set to multiple different values. After the current test is completed, the test is repeated according to the multiple different aerosol concentration values set previously, while other experimental conditions remain unchanged, to obtain the lidar wind speed measurement data under multiple different aerosol concentration conditions. These multiple different aerosol concentration preset values and the corresponding wind speed measurement data are then used as the basic data for establishing a predictive relationship model. Various model training methods can be used to train the predictive relationship model based on this basic data. For example, a nonlinear regression algorithm can be used to construct a relationship model to establish a corresponding relationship between aerosol concentration values and lidar measured wind speed.

[0079] In addition, the above-mentioned basic data can be used as model training samples, and a neural network algorithm can be used to establish a predictive relationship model in a machine learning manner. Specifically, multiple aerosol concentration values can be used as input, and the corresponding multiple lidar measured wind speeds can be used as outputs to perform machine learning using a neural network algorithm, and finally a predictive relationship model can be trained. In this regard, the present invention does not impose any restrictions. It can be understood that with the accumulation of training samples, the prediction accuracy of the predictive relationship model will become higher and higher, which will make the subsequent real-time measured wind speed data corrected based on the predicted measured wind speed data more and more accurate. On the basis of the predictive relationship model, the aerosol concentration in the atmosphere can be monitored in real time, and then the measured wind speed data of the lidar can be predicted in real time. The real-time predicted wind measurement data can be used to correct the actual measured wind speed data of the lidar to improve the accuracy of the lidar wind speed measurement.

[0080] It should be noted that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. For the device embodiment, the relevant parts can refer to the description part of the method embodiment. The embodiments of the present invention are not limited to the specific steps and structures described above and shown in the figures. Those skilled in the art can make various changes, modifications and additions, or change the order of the steps after understanding the spirit of the embodiments of the present invention. In addition, for the sake of brevity, a detailed description of known method technologies is omitted here.

[0081] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of the embodiments of the present invention are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or communication link via a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0082] The embodiments of the present invention may be implemented in other specific forms without departing from the spirit and essential characteristics thereof. For example, the algorithms described in a particular embodiment may be modified without departing from the basic spirit of the embodiments of the present invention. Therefore, the present embodiments are to be considered in all respects as illustrative and not restrictive, and the scope of the embodiments of the present invention is defined by the appended claims rather than the foregoing description, and all modifications that come within the meaning and scope of equivalents of the claims are thereby included within the scope of the embodiments of the present invention.

Claims

1. A laser radar test device, characterized in that: include: A test box, comprising a box body and a working condition simulation device installed in the box body, wherein a transmissive area is provided on one side of the box body, serving as an exit window for the laser beam of the laser radar to be tested; A wind tunnel device, comprising a tunnel body, a driving device, and an aerosol generating device, wherein the test box is installed in the tunnel body, the driving device is used to simulate a preset wind speed value, and the aerosol generating device is used to simulate a preset aerosol concentration value; The working condition simulation device includes one or more of the following devices: a temperature and humidity generator, a vibration generator, and an electromagnetic transmitter.

2. The device according to claim 1, characterized in that The wind tunnel device comprises a stabilizing section, a contracting section and a testing section arranged in sequence along the airflow direction; the testing box is fixed to the testing section.

3. A laser radar test system, characterized in that: include: A laser radar to be tested, a data receiving and processing device, and a laser radar test device as described in any one of claims 1 to 2; wherein, The laser radar to be tested is arranged in the box body of the test box, and the laser beam is emitted from the window mirror of the laser radar to be tested and passes through the transmissive area of the test box; The data receiving and processing device is respectively connected to the laser radar to be tested and the wind tunnel device for signal reception, and is used to receive and process data generated during the test.

4. The laser radar test system according to claim 3, characterized in that: The working condition simulation device includes a vibration generator, which is signal-connected to the data receiving and processing device, and the laser radar to be tested is fixedly connected to the vibration generator.

5. The laser radar test system according to claim 3, characterized in that: The geometric center of the window mirror and the geometric center of the transmissive area are on a horizontal line; The window mirror material is quartz glass.

6. The laser radar test system according to claim 3, characterized in that: The laser radar test system also includes a temperature and humidity sensor arranged inside the laser radar to be tested, and the temperature and humidity sensor is signal-connected to the data receiving and processing device.

7. A laser radar test method, characterized in that: For use in a laser radar test system according to any one of claims 3 to 6, the method comprising: The laser radar to be tested is placed in the box body of the test box, and the test box is placed in the hole body of the wind tunnel device; Using the wind tunnel device to simulate a preset wind speed value and a preset aerosol concentration value, and using the test box to simulate a preset environmental condition, controlling the laser radar to be tested to emit a laser beam so that the laser beam is emitted from a transmissive area of the test box; Receiving wind speed measurement data measured by the laser radar to be measured under the preset wind speed value, the preset aerosol concentration value and the preset environmental conditions; The measured wind speed measurement data is analyzed to obtain test results.

8. The method according to claim 7, characterized in that The analyzing the measured wind speed measurement data to obtain the test results includes: Performing a linear regression on the average wind speed within a predetermined time period in the wind speed measurement data, and calculating a wind speed deviation between the wind speed measurement data and a preset wind speed value; Determine whether the linear regression result and the wind speed deviation both meet corresponding preset conditions; If the linear regression result and the wind speed deviation both meet corresponding preset conditions, the test result is normal; If any one of the linear regression result and the wind speed deviation does not meet the corresponding preset condition, the test result is obtained as abnormal.

9. The method according to claim 7, characterized in that After analyzing the measured wind speed data to obtain test results, the method further includes: If the test result is abnormal, the test box is controlled to stop working, and the cause of the abnormality is analyzed based on the temperature data and humidity data inside the laser radar to be tested.

10. The method according to claim 9, characterized in that The method further comprises: resetting the aerosol concentration value in the cave body multiple times, controlling the laser radar to be measured to perform multiple wind speed measurements, and obtaining multiple wind speed measurement data corresponding to the multiple aerosol concentration values; A prediction relationship model for predicting the wind speed measured by the lidar is established based on the multiple aerosol concentration values and the corresponding multiple wind speed measurement data.

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