A millimeter wave radar calibration device based on environment

Abstract

The present invention discloses a millimeter wave radar calibration device based on environment, including a rain and fog environment simulation system, a radar detection system and a calibration target mobile platform, wherein the rain and fog environment simulation system is composed of a plurality of groups of evenly arranged drainage pipes, the surface of the drainage pipe is fixedly connected with a plurality of equally distributed rain injection pipes and mist injection pipes, the rain injection pipes and mist injection pipes are both vertically connected to the drainage pipe, the radar detection system includes a fixed bracket, a three-dimensional turntable and a millimeter wave radar, and the calibration target mobile platform includes a calibration target, a base, a linear guide rail, a driving mechanism and a motion platform. The present invention simulates rainy or foggy days by using a rain and fog environment simulation system, cooperates with a movable calibration target, facilitates the testing of the accuracy of the detection data of the millimeter wave radar on rainy or foggy days, simplifies the matching vehicle test equipment and related professionals, reduces the occupancy rate of various resources, saves time and reduces costs.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to an environment-based millimeter-wave radar calibration device. Background Art

[0002] The research and development of smart vehicles is a strategic development direction for all automakers. With the implementation of supporting technologies, laws and regulations, the mass production of smart vehicles is just around the corner, and they will gradually enter people's daily lives, ultimately achieving highly safe, intelligent transportation without human intervention.

[0003] During the development stage of intelligent vehicles, testing of the entire vehicle and its systems is very necessary. In a closed test site or indoors, various test tools and test benches, as well as relevant traffic object simulators, are used to build a real traffic scene, and then the tested vehicle is driven to complete the driving actions required for the unmanned driving test. This will obtain a large amount of test data and complete the relevant tests of the entire vehicle for research and development use;

[0004] However, for the calibration test of millimeter-wave radar in intelligent vehicle perception system, if the calibration is carried out in a good environment of the laboratory, the calibration results will be greatly limited. In the rain, fog and other specific environments that have strong interference to millimeter-wave radar, the reliability of radar data will be questioned. If it is carried out in an outdoor environment, it is also restricted by the weather and cannot achieve accurate calibration. Moreover, a large number of supporting vehicle test equipment and related professionals are required, resulting in a very high occupancy rate of various resources, wasting time and increasing costs. Therefore, a new technical solution needs to be designed to solve the problem. Summary of the invention

[0005] The purpose of the present invention is to provide an environment-based millimeter-wave radar calibration device, which solves the problem in the prior art of testing the accuracy of millimeter-wave radar detection in rainy and foggy environments outdoors, and requiring a large number of supporting vehicle testing equipment and related professionals.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an environment-based millimeter-wave radar calibration device, comprising a rain and fog environment simulation system, a radar detection system and a calibration target mobile platform, wherein the rain and fog environment simulation system is composed of a plurality of groups of evenly arranged drainage pipes, the surface of the drainage pipes is fixedly connected with a plurality of equally distributed rain spray pipes and mist spray pipes, the rain spray pipes and mist spray pipes are both vertically connected to the drainage pipes, the surface of the rain spray pipes is fixedly connected with a shower nozzle, the surface of the mist spray pipes is fixedly connected with a mist nozzle, and the radar detection system comprises A fixed bracket, a three-dimensional turntable and a millimeter-wave radar, wherein the three-dimensional turntable is located at the end of the fixed bracket and is rigidly connected to the fixed bracket, the surface of the three-dimensional turntable is mounted and connected with the millimeter-wave radar, the calibration target moving platform comprises a calibration target, a base, a linear guide, a driving mechanism and a motion platform, the upper surface of the base is provided with a slidingly connected motion platform, the upper surface of the motion platform is fixedly connected with the calibration target, the lower surface of the motion platform is fixedly connected with a sliding seat, the surface of the sliding seat is fixedly connected with the driving mechanism, and the connection between the sliding seat and the base is fixedly connected with a linear guide.

[0007] As an improvement of the above technical solution, the rain spray pipes and the mist spray pipes are evenly spaced from each other.

[0008] As an improvement of the above technical solution, the fixed bracket includes a vertical pole, a horizontal pole and a fixed sleeve. The surface of the vertical pole is sleeved with the fixed sleeve. The side wall of the vertical pole is provided with evenly distributed teeth and grooves. The surface of the fixed sleeve is provided with a rotatably connected damping knob. The inner side of the damping knob is meshed with the teeth and groove. The horizontal pole is vertically distributed with the vertical pole and fixedly connected with the fixed sleeve.

[0009] As an improvement of the above technical solution, the driving mechanism includes a gear, a servo motor and a reducer, the output end of the servo motor is connected to the reducer, and the output end of the reducer is fixedly connected to the gear.

[0010] As an improvement of the above technical solution, the driving mechanism can also select synchronous toothed belt drive, ball screw drive or linear motor direct drive according to speed and stroke requirements.

[0011] As an improvement of the above technical solution, a rack is fixedly connected to the inner surface of the base, and the rack is distributed parallel to the linear guide rail and meshed with the gear.

[0012] As an improvement of the above technical solution, a sliding block is fixedly connected to the bottom of the sliding seat, and the sliding block is slidably connected to the linear guide rail.

[0013] As an improvement of the above technical solution, a grating ruler is fixedly connected to the interior of the base, and the grating ruler is located at the edge of the linear guide rail and is distributed parallel to the linear guide rail.

[0014] As an improvement of the above technical solution, the calibration target and the motion platform may be fixed by a magnetic seat.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The present invention uses a rain and fog environment simulation system to simulate rainy or foggy days, and cooperates with a movable calibration target to facilitate testing the accuracy of millimeter-wave radar detection data in rainy or foggy days, simplify supporting vehicle testing equipment and related professionals, reduce the occupancy rate of various resources, save time, and reduce costs.

[0017] 2. The present invention provides tooth grooves on the side wall of the vertical pole, and cooperates with a fixed sleeve with a damping knob to facilitate the height adjustment of the millimeter-wave radar on the surface of the crossbar, thereby simulating vehicles of different heights and improving the versatility of the detection equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of the environment-based millimeter-wave radar calibration device of the present invention;

[0019] Figure 2 This is a schematic diagram of the structure of the radar detection system of the present invention;

[0020] Figure 3 This is a schematic diagram of the structure of the calibration target mobile platform of the present invention;

[0021] Figure 4 This is a schematic diagram of the structure of the rain and fog environment simulation system of the present invention.

[0022] In the figure: rain and fog environment simulation system-1, radar detection system-2, calibration target moving platform-3, drainage pipe-4, rainfall injection pipe-5, mist injection pipe-6, shower nozzle-7, mist nozzle-8, fixed bracket-9, three-dimensional turntable-10, millimeter wave radar-11, calibration target-12, base-13, linear guide-14, drive mechanism-15, motion platform-16, sliding seat-17, vertical rod-18, cross rod-19, fixed sleeve-20, tooth groove-21, damping knob-22, gear-23, servo motor-24, reducer-25, rack-26, slider-27, grating ruler-28. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0024] See also Figure 1-4The present invention provides a technical solution: an environment-based millimeter wave radar calibration device, including a rain and fog environment simulation system 1, a radar detection system 2 and a calibration target 12 mobile platform 3, the rain and fog environment simulation system 1 is composed of a plurality of groups of evenly arranged drainage pipes 4, the surface of the drainage pipe 4 is fixedly connected with a plurality of equally distributed rain spray pipes 5 and mist spray pipes 6, the rain spray pipes 5 and mist spray pipes 6 are both vertically connected to the drainage pipe 4, the surface of the rain spray pipe 5 is fixedly connected with a shower nozzle 7, the surface of the mist spray pipe 6 is fixedly connected with a mist nozzle 8, the radar detection system 2 includes a fixed bracket 9, a three-dimensional turntable 10 and a millimeter wave radar 11, the three-dimensional turntable 10 is located at the end of the fixed bracket 9 and is rigidly connected to the fixed bracket 9, the surface of the three-dimensional turntable 10 is mounted with a millimeter wave radar 11, the calibration target 12 mobile platform 3 includes a calibration target 12, a base 13, a linear guide 14, a driving mechanism 15 and a motion platform 16, the upper surface of the base 13 is provided with a slidingly connected motion platform 16, the upper surface of the motion platform 16 is fixedly connected with the calibration target 12, the lower surface of the motion platform 16 is fixedly connected with a sliding seat 17, the surface of the sliding seat 17 is fixedly connected with the driving mechanism 15, and the connection between the sliding seat 17 and the base 13 is fixedly connected with a linear guide 14.

[0025] As a further improvement, the rain spray pipes 5 and the mist spray pipes 6 are evenly spaced apart from each other. By distributing the rain spray pipes 5 and the mist spray pipes 6 at intervals, it is convenient to simulate the rainfall environment and the fog environment, thereby improving the convenience of operation.

[0026] Further improved, the fixed bracket 9 includes a vertical pole 18, a cross bar 19 and a fixed sleeve 20, the surface of the vertical pole 18 is sleeved with the fixed sleeve 20, the side wall of the vertical pole 18 is provided with evenly distributed tooth grooves 21, the surface of the fixed sleeve 20 is provided with a rotatably connected damping knob 22, the inner side of the damping knob 22 is meshed with the tooth grooves 21, the cross bar 19 is vertically distributed with the vertical pole 18 and fixedly connected with the fixed sleeve 20, by providing evenly distributed tooth grooves 21 on the side wall of the vertical pole 18, in combination with the fixed sleeve 20 with the damping knob 22, it is convenient to adjust the height of the cross bar 19 along the surface of the vertical pole 18, thereby improving the convenience of use.

[0027] Further improved, the driving mechanism 15 includes a gear 23, a servo motor 24 and a reducer 25, the output end of the servo motor 24 is connected to the reducer 25, and the output end of the reducer 25 is fixedly connected to the gear 23. By fixing the reducer 25 at the output end of the servo motor 24, it is convenient to increase the output end torque of the servo motor 24, thereby slowly driving the calibration target 12 to move slowly along the linear guide rail 14.

[0028] As a further improvement, the drive mechanism 15 can also select synchronous toothed belt drive, ball screw drive or linear motor direct drive according to speed and stroke requirements. The appropriate drive mechanism 15 can be selected according to different usage requirements, which makes it more convenient and flexible to use.

[0029] As a further improvement, a rack 26 is fixedly connected to the inner surface of the base 13, and the rack 26 is distributed parallel to the linear guide 14 and meshed with the gear 23. By fixing the rack 26 on the inner surface of the base 13, the gear 23 can be rotated to drive the moving platform to move.

[0030] As a further improvement, a slider 27 is fixedly connected to the bottom of the sliding seat 17, and the slider 27 is slidably connected to the linear guide rail 14. By fixing the slider 27 to the bottom of the sliding seat 17, the smoothness of the sliding of the sliding seat 17 along the linear guide rail 14 is improved.

[0031] As a further improvement, a grating ruler 28 is fixedly connected inside the base 13, and the grating ruler 28 is located at the edge of the linear guide rail 14 and is distributed parallel to the linear guide rail 14. By fixing the grating ruler 28 at the edge of the linear guide rail 14, the displacement can be measured more accurately, thereby improving the accuracy of the measurement.

[0032] Specifically, the calibration target 12 and the motion platform 16 may be fixed with a magnetic base, and the calibration target 12 may be flexibly installed and connected through different installation methods, thereby improving the convenience of installation.

[0033] The present invention uses the rain and fog environment simulation system 1 to simulate rainy or foggy days, and cooperates with the movable calibration target 12 to facilitate testing the accuracy of detection data of the millimeter wave radar 11 in rainy or foggy days, simplify the supporting vehicle testing equipment and related professionals, reduce the occupancy rate of various resources, save time, and reduce costs.

[0034] Embodiment 1

[0035] When the present invention is tested in a simulated rainy environment, the millimeter-wave radar 11 to be tested is installed on the three-dimensional turntable 10, and the measurement center of the millimeter-wave radar 11 is ensured to be parallel to the movement axis of the calibration target 12. A water pump is used to pump water into the drainage pipe 4 equipped with a rain injection pipe 5. The water flows through the shower nozzle 7 on the surface of the rain injection pipe 5 to spray water droplets. The water supply pressure of the water pump is adjusted according to the amount of simulated rainfall, thereby simulating the environment of light rain, moderate rain and heavy rain. After reaching the set index, the motion platform 16 is started. Under the drive of the servo motor 24, the motion platform 16 drives the calibration target 12 to move at a certain speed along the linear guide rail 14, and at the same time, the test results of the millimeter-wave radar 11 and the movement state of the motion platform 16 are collected, and the angle of the radar is adjusted, and the above actions are repeated.

[0036] Embodiment 2

[0037] When the present invention simulates a foggy environment for testing, the millimeter-wave radar 11 to be tested is installed on a three-dimensional turntable 10, and the measurement center of the millimeter-wave radar 11 is ensured to be parallel to the movement axis of the calibration target 12. A water pump is used to pump water into a drainage pipe 4 equipped with a mist injection pipe 6. The water flows through a mist nozzle 8 on the surface of the mist injection pipe 6 to spray water mist. The water supply pressure of the water pump is adjusted according to the size of the simulated fog, thereby simulating a foggy environment with different visibility. After reaching the set index, the motion platform 16 is started. Under the drive of the servo motor 24, the motion platform 16 drives the calibration target 12 to move at a certain speed along the linear guide rail 14, and at the same time, the test results of the millimeter-wave radar 11 and the movement state of the motion platform 16 are collected, the angle of the radar is adjusted, and the above actions are repeated.

[0038] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0039] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An environment-based millimeter wave radar calibration device, comprising a rain and fog environment simulation system (1), a radar detection system (2) and a calibration target (12) mobile platform (3), characterized in that: The rain and fog environment simulation system (1) is composed of a plurality of evenly arranged drainage pipes (4); the surface of the drainage pipes (4) is fixedly connected with a plurality of equally spaced rain spray pipes (5) and mist spray pipes (6); the rain spray pipes (5) and mist spray pipes (6) are both vertically connected to the drainage pipes (4); the surface of the rain spray pipes (5) is fixedly connected with a shower nozzle (7); the surface of the mist spray pipes (6) is fixedly connected with a mist nozzle (8); the radar detection system (2) comprises a fixed bracket (9), a three-dimensional turntable (10) and a millimeter wave radar (11); the three-dimensional turntable (10) is located at the end of the fixed bracket (9) and is rigidly connected to the fixed bracket (9). The surface of the three-dimensional turntable (10) is connected to a millimeter wave radar (11), and the calibration target (12) mobile platform (3) comprises a calibration target (12), a base (13), a linear guide rail (14), a driving mechanism (15) and a motion platform (16). The upper surface of the base (13) is provided with a slidably connected motion platform (16), the upper surface of the motion platform (16) is fixedly connected to the calibration target (12), the lower surface of the motion platform (16) is fixedly connected to a sliding seat (17), the surface of the sliding seat (17) is fixedly connected to the driving mechanism (15), and the connection between the sliding seat (17) and the base (13) is fixedly connected to the linear guide rail (14).

2. The environment-based millimeter-wave radar calibration device according to claim 1, characterized in that: The rain spray pipes (5) and the mist spray pipes (6) are evenly spaced from each other.

3. The environment-based millimeter-wave radar calibration device according to claim 1, characterized in that: The fixed bracket (9) comprises a vertical pole (18), a horizontal pole (19) and a fixed sleeve (20); the surface of the vertical pole (18) is sleeve-connected with the fixed sleeve (20); the side wall of the vertical pole (18) is provided with evenly distributed tooth grooves (21); the surface of the fixed sleeve (20) is provided with a rotatably connected damping knob (22); the inner side of the damping knob (22) is meshedly connected with the tooth groove (21); the horizontal pole (19) is vertically distributed with the vertical pole (18) and fixedly connected with the fixed sleeve (20).

4. The environment-based millimeter-wave radar calibration device according to claim 1, characterized in that: The driving mechanism (15) comprises a gear (23), a servo motor (24) and a reducer (25); the output end of the servo motor (24) is connected to the reducer (25), and the output end of the reducer (25) is fixedly connected to the gear (23).

5. The environment-based millimeter wave radar calibration device according to claim 4, characterized in that: The driving mechanism (15) is selected to be a synchronous toothed belt drive, a ball screw drive or a linear motor direct drive according to speed and travel requirements.

6. The environment-based millimeter wave radar calibration device according to claim 1, characterized in that: A rack (26) is fixedly connected to the inner surface of the base (13); the rack (26) is distributed parallel to the linear guide rail (14) and is meshingly connected to the gear (23).

7. The environment-based millimeter wave radar calibration device according to claim 6, characterized in that: A sliding block (27) is fixedly connected to the bottom of the sliding seat (17), and the sliding block (27) is slidably connected to the linear guide rail (14).

8. The environment-based millimeter wave radar calibration device according to claim 1, characterized in that: A grating ruler (28) is fixedly connected inside the base (13), and the grating ruler (28) is located at the edge of the linear guide rail (14) and is distributed in parallel along the linear guide rail (14).

9. The environment-based millimeter wave radar calibration device according to claim 1, characterized in that: The calibration target (12) and the motion platform (16) are fixed by a magnetic seat.

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