Test system and test method for laser radar

Abstract

The invention provides a test system and a test method for a laser radar. The test system comprises a box body, a temperature control device and an isolation device. The laser radar can be contained in the box body, an open window is formed in the wall of the box body, and detection light beams emitted by the laser radar and echoes formed by reflection of obstacles can penetrate through the window. The temperature control device is configured to be capable of adjusting the temperature in the box body. The isolation device can form an air curtain covering the window. According to the embodiment of the invention, the isolation device forms the air curtain at the position of the window, the air curtain is used for limiting or blocking heat exchange inside and outside the box body, the temperature in the box body is kept at the set test temperature, and an optical transparent window does not need to be arranged at the position of the window; and the test accuracy of the laser radar is prevented from being influenced by the refractive index difference between the optical lens window and the air. According to the test system in the embodiment, accurate test temperature can be kept in the box body, the influence of environment temperature is reduced, and more accurate test data of the laser radar can be obtained.

Description

Technical Field

[0001] The present invention relates to the field of detection technology, and in particular to a testing system for a laser radar and a testing method for a laser radar. Background Art

[0002] LiDAR is a sensor that uses laser as a detection beam and obtains information about the reflecting object based on the reflected echo. In recent years, it has been widely used in fields such as autonomous driving and ADAS (Advanced Driving Assistance System). In practical applications, LiDAR needs to maintain stable working performance in different temperature environments. Therefore, the evaluation and detection process of LiDAR includes testing the performance of LiDAR in high and low temperature environments, or testing the performance changes of LiDAR under high and low temperature cycle conditions. The above detection process requires the LiDAR to be installed in the test equipment and use the test equipment to form a high or low temperature environment.

[0003] Some LiDAR test equipment usually includes a cavity that can accommodate LiDAR and a heat source. The temperature inside the cavity is controlled by the heat source to reach the required test temperature. At the test temperature, the LiDAR is controlled to emit a detection beam to a reflector in the environment to test the performance of the LiDAR. Since LiDAR is an active light-emitting device, it is necessary to set a light-through opening on the side of the cavity facing the reflector at the position corresponding to the laser emission for the detection beam and echo to pass through. However, the light-through opening connects the internal space of the cavity with the external environment space, which is not conducive to accurately controlling the temperature inside the cavity.

[0004] To solve this problem, some LiDAR test equipment sets an optically transparent window at the position of the light-transmitting opening in the cavity, for example, by adding a glass cover to re-form a sealed space. However, there is a certain refractive index difference between the material of the optically transparent window and the air. The detection beam and echo will be refracted and reflected when passing through the optically transparent window, which will affect the accuracy of the LiDAR performance test. In addition, under low temperature conditions, the LiDAR window may become foggy and frosted due to the influence of ambient humidity.

[0005] The contents of the background technology section are merely the technologies known to the inventors and do not necessarily represent the prior art in the field. Summary of the invention

[0006] In view of one or more defects in the prior art, the present invention provides a test system for laser radar, comprising:

[0007] A box body, wherein the box body is configured to accommodate a laser radar therein, and an open window is provided on a wall of the box body, and an echo formed by a detection beam emitted by the laser radar and a reflection of an obstacle can pass through the window;

[0008] a temperature control device configured to adjust the temperature within the box; and

[0009] The insulating device is configured to form an air curtain covering the viewing window.

[0010] According to one aspect of the present invention, the temperature control device comprises:

[0011] heat pumps; and

[0012] The temperature regulating component is arranged inside the box, and the heat pump controls the refrigerant to circulate between the heat pump and the temperature regulating component to control the temperature inside the box.

[0013] According to one aspect of the present invention, the heat pump is connected to the temperature control component through an inlet pipe and an outlet pipe, and the heat pump pumps refrigerant into the temperature control component through the inlet pipe, so that the refrigerant flows through the temperature control component and then returns to the heat pump through the outlet pipe.

[0014] According to one aspect of the present invention, the temperature adjustment component comprises a microchannel plate, and the microchannel plate comprises:

[0015] an inlet, the inflow pipe is connected to the inlet, and a flow dividing device is provided at the inlet;

[0016] an outlet, the outflow conduit being connected to the outlet; and

[0017] A plurality of microchannels are arranged between the inlet and the outlet, the refrigerant enters the inlet along the inlet pipe, flows along the plurality of microchannels to the outlet after being diverted by the diverter device, and merges into the outflow pipe at the outlet.

[0018] According to one aspect of the present invention, the temperature regulating component includes at least one microchannel plate, and each microchannel plate of the at least one microchannel plate is configured to fit with the top surface and / or the bottom surface of the laser radar.

[0019] According to one aspect of the present invention, the temperature adjustment component further comprises:

[0020] A heat exchanger is disposed inside the box and connected to the heat pump, and the heat exchanger is configured to perform heat exchange with the air inside the box.

[0021] According to one aspect of the present invention, the temperature adjustment component includes a plurality of microchannel plates, and the heat exchanger is connected between two of the microchannel plates.

[0022] According to one aspect of the present invention, the heat exchanger is a tube-fin heat exchanger.

[0023] According to one aspect of the present invention, the testing system further comprises:

[0024] A mounting bracket is disposed inside the box and is used to mount the laser radar. The mounting bracket is configured to be rotatable to change the direction of a detection beam emitted by the laser radar.

[0025] According to one aspect of the present invention, the testing system further comprises:

[0026] The rotation driving unit is connected to the mounting bracket and can drive the mounting bracket to rotate.

[0027] According to one aspect of the present invention, the box body is made of a heat-insulating material, and the isolation device is arranged outside and / or inside the box body.

[0028] According to one aspect of the present invention, the isolation device is a cross-flow blower.

[0029] According to one aspect of the present invention, the testing system further comprises:

[0030] a control module, the control module being in communication with the temperature control device and being configured to control the temperature control device to change the temperature inside the box; and

[0031] A data acquisition module, wherein the data acquisition module communicates with the laser radar and is configured to acquire detection data of the laser radar; the data acquisition module also communicates with the temperature control device or the control module to acquire temperature data inside the box.

[0032] According to one aspect of the present invention, the present invention also includes a test method for a laser radar, the test method comprising:

[0033] The laser radar is arranged in a box, wherein an open window is provided on a wall of the box;

[0034] forming an air curtain near the viewing window to cover the viewing window;

[0035] The temperature in the box is adjusted to control the laser radar to emit a detection beam and receive an echo under the temperature condition to be measured, and the detection beam and the echo pass through the window.

[0036] According to one aspect of the present invention, the testing method further comprises:

[0037] The angle of the laser radar is adjusted so that the detection beam to be tested passes through the viewing window.

[0038] According to one aspect of the present invention, the testing method is implemented by the testing system as described above.

[0039] Compared with the prior art, the embodiment of the present invention provides a test system for laser radar. When testing, the laser radar is installed in a box, the temperature in the box is adjusted to the test temperature by a temperature control device, and an isolation device forms an air curtain at the window position. The air curtain is used to limit or block the heat exchange between the inside and outside of the box, and the temperature in the box is maintained at the set test temperature. There is no need to set an optically transparent window at the window position, so as to avoid the refractive index difference between the optically transparent window and the air affecting the test accuracy of the laser radar and the fogging and frosting phenomenon that may occur when the optically transparent window changes in temperature. The test system in this embodiment can maintain an accurate test temperature in the box, reduce the influence of the ambient temperature, and obtain more accurate test data of the laser radar. The present invention also includes a test method for laser radar, in which an air curtain covering the window is formed near the window, which is conducive to maintaining the test temperature of the laser radar and obtaining accurate test data of the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0041] Figure 1 is a schematic structural diagram of a test system for a laser radar in one embodiment of the present invention;

[0042] Figure 2 is an exploded schematic diagram of a box body in one embodiment of the present invention;

[0043] Figure 3 is a schematic diagram of the structure inside the box in one embodiment of the present invention;

[0044] Figure 4 is a schematic structural diagram of a microchannel plate in one embodiment of the present invention;

[0045] Figure 5 is a schematic diagram of a mounting bracket driving a laser radar to rotate in one embodiment of the present invention;

[0046] Figure 6 is a structural block diagram of a test system in one embodiment of the present invention;

[0047] Figure 7is a flow chart of a testing method for a laser radar in one embodiment of the present invention;

[0048] Figure 8 It is a flowchart of a testing method including adjusting the laser radar angle in one embodiment of the present invention. DETAILED DESCRIPTION

[0049] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0050] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0051] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0053] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0054] The embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0055] In order to accurately control the test environment temperature of the laser radar and eliminate or reduce the influence on the detection beam and echo, the present invention provides a test system for the laser radar, including a box, a temperature control device and an isolation device, wherein an open window is provided on the wall of the box for passing the detection beam emitted by the laser radar and the echo formed by the reflection of the obstacle, the temperature control device can adjust the temperature in the box, and the isolation device forms an air curtain covering the window, thereby reducing the heat exchange between the inside and outside of the box, and basically not affecting the detection beam and echo. The following is a detailed description.

[0056] Figure 1 The specific structure of a test system 100 for a laser radar according to an embodiment of the present invention is shown, wherein the test system 100 includes a box 110, a temperature control device 120 and an isolation device 130. Figure 2 The exploded schematic diagram of the box body 110 is shown. Figure 1 and Figure 2 The test system 100 will be described.

[0057] In the test system 100, the box 110 is configured to accommodate the laser radar 2 (such as Figure 2As shown in , during the test, the laser radar 2 is placed in the box 110, and the box 110 forms a semi-enclosed cavity, which can control and maintain the temperature inside the box 110 to a certain extent, and provide a stable test environment for the laser radar 2. Preferably, the box 110 can be made of heat-insulating materials. An open window 111 is provided on one side of the box 110, and no other transparent structure or component is provided at the position of the open window 111, but it remains open, that is, the internal and external environments of the box 110 are connected to each other at the position of the open window 111.

[0058] The laser radar 2 can be controlled to emit a detection beam. After the detection beam is reflected by an obstacle, the reflected echo generated can be obtained by the receiving unit in the laser radar 2, and the receiving unit converts the obtained echo into an electrical signal. By processing and analyzing the electrical signal, information about the obstacle, such as the distance and / or reflectivity of the obstacle, can be obtained. The laser radar can be a scanning laser radar using a galvanometer / oscillating mirror, a solid-state laser radar, or a mechanical rotating laser radar.

[0059] During the test, the laser radar 2 installed inside the box 110 emits a detection beam, which passes through the window 111 and irradiates the external environment. The echo formed after the detection beam is reflected by an obstacle (such as a reflector) can also pass through the window 111 and be obtained by the laser radar 2. The detector in the laser radar 2 is converted into an electrical signal and used for analysis to obtain specific information of the obstacle, including information such as the distance and reflectivity of the obstacle. The obstacle used in the test is calibrated, that is, the distance between the obstacle and the installation position of the laser radar 2 is known, or the surface optical properties (such as reflectivity) are known. The actual detection results of the laser radar 2 can be compared with the calibrated values, and then the accuracy of the detection results of the laser radar 2 under the preset ambient temperature can be determined. By controlling the internal temperature of the box 110, the performance and stability of the laser radar 2 under different environmental conditions can be simulated and evaluated.

[0060] Specifically, Figure 1 and Figure 2 As shown, the box 110 can be set as an upper and lower structure that are interlocked, including an upper shell 110U and a lower shell 110B, wherein the upper shell 110U and the lower shell 110B are detachably connected together, and the upper shell 110U can be removed when the laser radar 2 needs to be installed and placed or the laser radar 2 needs to be taken out. In different embodiments of the present invention, the box 110 can also be set in other forms, such as push-pull closure or rotation buckle structure. .

[0061] The temperature control device 120 is used to adjust the temperature in the box 110, so as to place the laser radar 2 at different test temperatures. The temperature control device 120 can be in different forms, which will be described in detail below.

[0062] like Figure 1 As shown, the test system 100 also includes an isolation device 130, which is used to form an air curtain covering the window 111. Specifically, the isolation device 130 can be arranged outside the box 110, or inside the box 110, or the isolation device 130 can be arranged inside and outside the box 110. The isolation device 130 can be arranged around the window 111, preferably above or below the window 111, such as an air pump or a cross-flow fan, to form an air curtain covering the range of the window 111, wherein the air curtain is an airflow moving in one direction. Preferably, the direction of the air curtain is parallel to the direction of the surface of the box 110 with the window 111, and the airflow fits the surface of the box 110 to cover the range of the window 111. Figure 2 The direction of the air curtain is schematically shown by a dotted arrow near the isolation device 130 .

[0063] The air curtain in this embodiment is used to weaken or isolate the heat convection outside and inside the box 110 at the window 111. Since air is a poor conductor of heat and the air flow direction at the window is limited by the air curtain, the air curtain covering the window 111 will eliminate or reduce the convection of hot and cold air inside and outside the window 111, and keep the temperature inside the box 110 from being affected by the external ambient temperature. The test system 100 in this embodiment is used to detect the detection data of the laser radar 2 at different temperatures, and can provide a stable test environment for the laser radar 2. At the same time, the refractive index change of the air curtain relative to the air outside the box 110 can be ignored, and the refraction and reflection phenomena of the transmitted light beam and the echo light beam when passing through the air curtain can also be ignored. Therefore, the air curtain will not affect the accuracy of the laser radar 2 test. In addition, there is no need to set an optically transparent window at the position of the window 111 to seal the box 110. This can also keep the interior of the box 110 from being affected by the external ambient temperature and reduce the flow of external air into the box 110, which can effectively prevent the optically transparent window of the laser radar 2 from fogging or frosting in a low temperature environment or when the temperature changes.

[0064] According to one embodiment of the present invention, the temperature control device 120 may include a fan disposed inside the housing 110, and the speed of the fan is adjustable. The laser radar itself emits heat when working, and the temperature around the laser radar can be quickly reduced by the fan. By adjusting the fan speed, the temperature around the laser radar can be maintained at a preset test temperature.

[0065] According to another embodiment of the present invention, Figure 1 and Figure 2As shown, the temperature control device 120 includes a heat pump 121 and a temperature adjustment component 122, wherein the heat pump 121 can be arranged outside the box 110, and the temperature adjustment component 122 is arranged inside the box 110. Figure 1 and Figure 2 As shown, the heat pump 121 and the thermostat 122 are connected to each other through a pipeline, and the heat pump 121 controls the refrigerant to circulate between the heat pump 121 and the thermostat 122 to control the temperature in the box 110. For example, the refrigerant in this embodiment refers to a heat-conducting medium, such as a traditional refrigerant, such as air, water, ammonia, carbon dioxide, Freon, etc., which can control the temperature inside the box 110 at a set value through heat exchange, and test the working performance of the laser radar 2 at the set temperature.

[0066] Specifically, Figure 2 As shown, a through hole is provided on the side of the box 110, and the pipe between the heat pump 121 and the temperature adjustment component 122 passes through the through hole. The temperature adjustment component 122 is arranged in the box 110, and is used to dissipate heat into the box 10 or absorb heat, so that the temperature inside the box 110 is quickly adjusted and maintained at the set test value. The position of the temperature adjustment component 122 is distributed as evenly as possible, so that the temperature at different positions in the box 110 is relatively uniform. The temperature adjustment component 122 can also be arranged at a position close to the laser radar 2 to directly act on the laser radar 2 and directly adjust the actual working temperature of the laser radar 2.

[0067] In a preferred embodiment of the present invention, the pipeline includes an inflow pipeline and an outflow pipeline, and the heat pump 121 and the thermostat 122 are connected through the inflow pipeline and the outflow pipeline. The heat pump 121 pumps refrigerant into the thermostat 122 through the inflow pipeline, drives the refrigerant to flow through the thermostat 122, and then returns to the heat pump 121 through the outflow pipeline, that is, in this embodiment, the refrigerant flows in one direction to complete a cycle. In this embodiment, a unidirectional refrigerant circulation path is set, which enables the temperature control device 120 to quickly adjust the temperature in the box 110. Furthermore, multiple groups of outflow pipelines and inflow pipelines can be set between the heat pump 121 and the thermostat 122 to form multiple independent refrigerant circulation processes, thereby improving the heat exchange speed between the heat pump 121 and the internal temperature of the box 110.

[0068] According to a preferred embodiment of the present invention, Figure 2 As shown, the temperature adjustment component 122 includes a microchannel plate 10, wherein the structure of the microchannel plate 10 is as shown in FIG. Figure 4As shown, the microchannel plate 10 includes an inlet 11, an outlet 12 and a plurality of microchannels 13. The inlet 11 is connected to the inflow pipe, that is, the refrigerant enters the microchannel plate 10 from the inlet 11, and a flow divider 14 is provided at the position of the inlet 11. The outlet 12 is connected to the outflow pipe, and the refrigerant flows out of the microchannel plate 10 from the outlet 12. Inside the microchannel plate 10, a plurality of microchannels 13 are provided between the inlet 11 and the outlet 12. After being divided by the flow divider 14, the refrigerant flows into the plurality of microchannels 13, flows along the plurality of microchannels 13 toward the outlet 12, and finally flows out of the microchannel plate 10 from the outlet 12, completing the flow process of the refrigerant in the microchannel plate 10. The flow divider 14 is used to disperse the refrigerant into the plurality of microchannels 13, so as to increase the flow range of the refrigerant, increase the area through which it flows, and enhance the temperature regulation effect.

[0069] In this embodiment, the refrigerant is dispersed in a larger range by the multiple microchannels 13 in the microchannel plate 10. The microchannel plate 10 can increase the contact area between the refrigerant and the internal environment of the box, and improve the efficiency of regulating the temperature in the box 110. Specifically, the microchannel plate 10 can be set in a flat plate shape, and the multiple microchannels 13 therein can be arranged in parallel to make full use of the space in the microchannel plate 10. Further, the microchannel plate 10 can be provided with a connecting area 15, such as Figure 4 As shown, the refrigerant enters the interconnecting area 15 after passing through a part of the microchannel 13, and turns in the interconnecting area 15, flows into another part of the microchannel 13, and continues to flow toward the outlet 12. The interconnecting area 15 is provided in the microchannel plate 10 to optimize the arrangement of the microchannels 13, so as to make full use of the space of the microchannel plate 10 and improve the temperature regulation efficiency of the microchannel plate 10.

[0070] According to a preferred embodiment of the present invention, the temperature adjustment component 122 includes at least one microchannel plate 10, and Figure 2 and Figure 3 As shown, each microchannel plate 10 is configured to fit the top surface and / or bottom surface of the laser radar 2, so that the temperature of the microchannel plate 10 can directly act on the laser radar 2, so that the actual working temperature of the laser radar 2 is closer to the test temperature set by the temperature control device 120, and more accurate test data of the laser radar 2 is obtained. Preferably, the microchannel plate 10 on the top surface of the laser radar 2 is configured in a detachable connection form to facilitate the installation and removal of the laser radar 2.

[0071] like Figure 2 and Figure 3As shown, in a preferred embodiment of the present invention, the temperature control component 122 also includes a heat exchanger 20, wherein the heat exchanger 20 is arranged inside the box 110 and connected to the heat pump 121, and the heat exchanger 20 is used to perform heat exchange with the air inside the box 110. The heat exchanger 20 is, for example, a heat exchange tube that can be passed through by a refrigerant, and specifically can be a tube-fin heat exchanger. The heat exchanger 20 is used to adjust the air temperature inside the box 110, and keep the temperature inside the box 110 at a set test temperature. Further, the heat exchanger 20 can be arranged in series with the microchannel plate 10, and the refrigerant flows through the microchannel plate 10 and the heat exchanger 20 in sequence, and the heat exchanger 20 and the microchannel plate 10 jointly maintain the temperature inside the box 110. In an embodiment in which a microchannel plate and a heat exchanger are provided at the same time, the microchannel plate can directly act on the laser radar 2, and the heat exchanger is used to adjust the air temperature inside the box 110, and jointly realize rapid temperature adjustment.

[0072] According to a preferred embodiment of the present invention, the temperature adjustment component 122 includes a plurality of microchannel plates 10, and the heat exchanger 20 is connected between two of the microchannel plates 10. Figure 2 As shown, the temperature control component 122 includes two microchannel plates 10, which are respectively arranged on the top and bottom surfaces of the laser radar 2 and fit with the surface of the laser radar 2. The heat exchanger 20 is connected between the two microchannel plates 10. For example, the refrigerant is pumped into the inflow pipe by the heat pump 121, first enters the microchannel plate 10 arranged on the bottom surface of the laser radar 2, and flows out from the outlet 12 of the microchannel plate 10, enters the heat exchanger 20, flows through the heat exchanger 20, enters the microchannel plate 10 arranged on the top surface of the laser radar 2, and finally flows out of the microchannel plate 10 and returns to the heat pump 121. The above is only a preferred embodiment of the present invention, and the temperature control component 122 can also adopt other structures or other arrangements, such as only setting the heat exchanger 20, or only setting the microchannel plate 10, or setting another refrigerant flow route, etc.

[0073] Furthermore, the heat exchanger 20 is preferably arranged near a position corresponding to the window 111. The impact of the external environment on the box 110 mainly comes from the heat convection through the open window 111. The heat exchanger 20 is arranged near the window 111 to reduce the impact of the external environment on the temperature inside the box 110, which helps to maintain the temperature inside the box 110.

[0074] like Figure 2 and Figure 3As shown, in a preferred embodiment of the present invention, the test system 100 also includes a mounting bracket 140, which is arranged inside the box 110 and is used to install and fix the laser radar 2. For example, a structure matching the shape and interface of the laser radar 2 to be tested is arranged on the mounting bracket 140, so that the laser radar 2 can be installed on the mounting bracket 140. In this embodiment, the mounting bracket 140 can rotate, thereby changing the direction of the detection beam emitted by the laser radar 2. Driven by the mounting bracket 140, the laser radar 2 can rotate within a certain angle range to change the emission angle of the detection beam to meet the test requirements of the laser radar 2 at different emission angles. For example, the mounting bracket 140 can provide a change in the pitch angle. By adjusting the rotation angle of the mounting bracket 140, the test data of the laser radar 2 at different pitch angles can be collected. Similarly, the size of the window 111 matches the angle at which the laser radar 2 rotates with the mounting bracket 140.

[0075] In practical applications, the laser radar to be tested usually has multiple detection channels, that is, the direction of the detection beam emitted by the laser radar can cover a certain field of view angle range, for example, multiple lasers are provided therein, or there are multiple light-emitting points in the laser array, which can emit detection beams in different detection directions. In the test system 100, since the window 111 is an open window, the smaller the size of the window 111, the smaller the impact of the external environment of the box 110 on the laser radar 2. Therefore, preferably, the size of the window 111 in the box 110 is set to at least enable the detection beam and echo of at least one detection channel of the laser radar 2 to pass through the window 111. The laser radar 2 is driven to rotate by the mounting bracket 140 so that the detection beams emitted in different directions in the laser radar 2 can all pass through the window 111. In this embodiment, a mounting bracket 140 is provided, and the directions of different detection channels in the laser radar 2 are changed by controlling the rotation of the laser radar 2, so that the direction of the detection channel being tested corresponds to the position of the window 111, and the testing of all detection channels in the laser radar 2 can be completed in sequence. The technical solution of this embodiment can further reduce the size of the window 111. For a laser radar 2 with multiple detection channels, the size of the window 111 can also be set to allow the detection beam and echo of one detection channel to pass through.

[0076] Specifically, Figure 5 As shown, when the laser radar 2 is maintained in a vertical position ( Figure 5 The detection beam emitted by some detection channels is blocked by the box 110 (as shown by the detection beam L1 in the figure), that is, the detection channel cannot complete the detection process and cannot obtain test data. In this embodiment, the mounting bracket 140 drives the laser radar 2 to rotate a certain angle (as shown in the figure). Figure 5The detection light beam emitted by the detection channel can pass through the window 111 (as shown by the detection light beam L1' in the figure), so that the corresponding test data can be obtained. By adjusting the mounting bracket 140 to rotate to different angles, the detection of all detection channels of the laser radar 2 can be completed. The mounting bracket 140 that can drive the laser radar 2 to rotate in this embodiment is provided, which is beneficial to reducing the size of the window 111. There is no need to set the window 111 to cover all detection channels of the laser radar 2. Reducing the size of the window 111 can further reduce the impact of the external environment on the internal temperature of the box 110, thereby improving the accuracy of the laser radar 2 test.

[0077] Furthermore, in order to ensure that the temperature control component 122 can maintain the temperature of the laser radar 2 when the laser radar 2 rotates, the microchannel plate 10 attached to the top and / or bottom surface of the laser radar 2 can be configured to rotate synchronously with the laser radar 2, for example, a microchannel plate bracket that is linked or fixedly connected to the mounting bracket 140 is provided, and the microchannel plate 10 is fixedly provided on the microchannel plate bracket.

[0078] According to a specific embodiment of the present invention, Figure 2 and Figure 3 As shown, the test system 100 further includes a rotation driving unit 150, wherein the rotation driving unit 150 is connected to the mounting bracket 140 and drives the mounting bracket 140 to rotate. Figure 2 and Figure 3 As shown, a support structure and a bearing are arranged on the outside of the box 110 (they can also be arranged inside the side of the box 110. Arranging them on the outside of the box 110 helps to control the volume of the box 110, and can also prevent the heat generated during the operation of the driving unit 150 from affecting the test temperature of the laser radar 2). The mounting bracket 140 is connected to the bearing through a rotating shaft, and the mounting bracket 140 is driven to rotate by rotating the driving unit 150, such as a driving motor. Figure 2 and Figure 3 The mounting bracket 140 shown in the figure has only one degree of rotational freedom. In different embodiments of the present invention, different forms of rotational drive units 150 can also be designed to enable the mounting bracket 140 to have multiple degrees of rotational freedom in multiple directions, such as adjusting the pitch angle and horizontal angle of the laser radar 2, so that all detection channels of the laser radar 2 can be tested in multiple working modes during the test.

[0079] Figure 6 FIG. 4 shows a structural block diagram of a test system according to another embodiment of the present invention. Figure 6 As shown, in addition to the above reference Figure 1-Figure 5In addition to the described box 110 and temperature control device 120, the test system 100 also includes a control module 160 and a data acquisition module 170, wherein the control module 160 communicates with the temperature control device 120, and the control module 160 can control the temperature control device 120, thereby changing the temperature in the box 110. For example, the user can input a temperature value through the control module 160, and the temperature control device 120 adjusts the temperature in the box 110 to the input temperature value after receiving the signal, so that the laser radar 2 works at the temperature value. Specifically, the temperature control device 120 can obtain the current temperature in the box 110, compare the temperature with the temperature value set by the user, and then adjust the temperature in the box 110 by controlling the temperature of the refrigerant to make it close to and meet the temperature value set by the user.

[0080] The data acquisition module 170 communicates with the laser radar 2 to obtain detection data of the laser radar 2 , and the data acquisition module 170 also communicates with the temperature control device 120 or the control module 160 to obtain temperature data inside the box 110 . Figure 6 Although the data acquisition module 170 is shown to be coupled and communicated with the temperature control device 120 and the control module 160, it is easy for those skilled in the art to understand that the data acquisition module 170 can communicate only with the temperature control device 120, or only with the control module 160, as long as the test temperature of the laser radar 2 can be obtained. Specifically, the temperature data is matched with the detection data of the laser radar 2 at the temperature, compared with the theoretical detection data or normal temperature detection data of the laser radar 2, or compared with the test parameters (such as a reflector with a preset distance from the laser radar), which can be used to evaluate and determine the working state of the laser radar 2 at the current temperature. Furthermore, the data acquisition module 170 can also be configured to obtain the working parameters of the laser radar 2.

[0081] Figure 7 The specific process of the test method S100 for laser radar according to an embodiment of the present invention is shown. The test method S100 is used to test the working state of the laser radar at different temperatures. Figure 7 A test method S100 for a laser radar is described.

[0082] In step S101, a laser radar is set in a box, wherein an open window is opened on the wall of the box, and the detection beam emitted by the laser radar can pass through the window position and irradiate the outside of the box. Specifically, a reflector can be set on the outside of the box as a calibration object. The parameters such as the distance angle between the laser radar and the calibration object are known and can be compared with the data measured by the laser radar. The box can be made of heat-insulating material and have an opening at the position of the window to reduce the influence of ambient temperature on the laser radar test temperature.

[0083] In step S102, an air curtain covering the window is formed near the window. The air curtain in this embodiment is used to reduce the impact of the external environment on the temperature inside the box. This embodiment is used to test the working conditions of the laser radar at different working temperatures, so it is necessary to change the working temperature of the laser radar. However, changing the temperature of the entire test space requires a great deal of cost. Therefore, the laser radar is installed in the box, and only the temperature inside the box is changed to meet the test environment of the laser radar.

[0084] The window in this embodiment is an open structure, that is, the box body does not have a transparent plate at the window position to isolate the external environment and the heat convection inside the box body, so as to avoid the test accuracy of the laser radar being affected by the change in refractive index. The air curtain covering the window can block heat convection to a certain extent, which is conducive to maintaining the temperature inside the box, and will not affect the test accuracy of the laser radar due to the difference in refractive index. Specifically, this embodiment can use the isolation device in the previous embodiment, such as a cross-flow fan to form an air curtain covering the window.

[0085] In step S103, the temperature in the box is adjusted, and the laser radar is controlled to emit a detection beam under the temperature to be tested and receive an echo, wherein both the detection beam and the echo pass through the window. For example, the temperature in the box is adjusted to the test temperature through the test system described in the above embodiment, and the laser radar is controlled to operate to obtain the detection result and operating status of the laser radar at the temperature.

[0086] Further, according to a preferred embodiment of the present invention, Figure 8 As shown, the test method S100 also includes step S104, adjusting the angle of the laser radar so that the detection beam to be tested can pass through the window, that is, the detection channel to be tested is aligned with the window. For a laser radar with multiple detection channels, the window can be set to cover all detection channels of the laser radar. Preferably, it can also be set so that the laser radar can rotate in the box so that the detection beam emitted by the detection channel to be tested can pass through the window position. In this embodiment, the angle of the laser radar is adjusted, and a smaller window size can be selected, which is conducive to maintaining the temperature in the box. After the test of one detection channel in the laser radar is completed, the angle of the laser radar is adjusted to adjust the direction of another detection channel to align with the position of the window, and return to step S103 to test the detection results and working status of the detection channel at different temperatures.

[0087] The test method S100 can be obtained by referring to the above Figure 1-Figure 6 The test setup described was implemented.

[0088] Finally, it should be noted that the above description is only an embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A test system for laser radar, comprising: A box body, wherein the box body is configured to accommodate a laser radar therein, and an open window is provided on a wall of the box body, and an echo formed by a detection beam emitted by the laser radar and a reflection of an obstacle can pass through the window; a temperature control device, the temperature control device being configured to adjust the temperature inside the box; and The insulating device is configured to form an air curtain covering the viewing window.

2. The test system according to claim 1, wherein the temperature control device comprises: Heat pumps; and The temperature regulating component is arranged inside the box, and the heat pump controls the refrigerant to circulate between the heat pump and the temperature regulating component to control the temperature inside the box.

3. The testing system according to claim 2, wherein the heat pump is connected to the temperature control component through an inlet pipe and an outlet pipe, and the heat pump pumps refrigerant into the temperature control component through the inlet pipe, so that the refrigerant flows through the temperature control component and then returns to the heat pump through the outlet pipe.

4. The test system according to claim 3, wherein the temperature adjustment component comprises a microchannel plate, and the microchannel plate comprises: an inlet, the inflow pipe is connected to the inlet, and a flow dividing device is provided at the inlet; an outlet, the outflow pipe being connected to the outlet; and A plurality of microchannels are arranged between the inlet and the outlet, the refrigerant enters the inlet along the inlet pipe, flows along the plurality of microchannels to the outlet after being diverted by the diverter device, and merges into the outflow pipe at the outlet.

5. The testing system according to claim 4, wherein the temperature control component comprises at least one microchannel plate, and each of the at least one microchannel plate is configured to fit with the top surface and / or the bottom surface of the laser radar.

6. The test system according to claim 4, wherein the temperature adjustment component further comprises: A heat exchanger is disposed inside the box and connected to the heat pump, and the heat exchanger is configured to perform heat exchange with the air inside the box. 7 . The testing system according to claim 6 , wherein the temperature regulating assembly comprises a plurality of microchannel plates, and the heat exchanger is connected between two of the microchannel plates.

8. The testing system of claim 6, wherein the heat exchanger is a tube-fin heat exchanger.

9. The test system according to any one of claims 1 to 4, further comprising: A mounting bracket is disposed inside the box and is used to mount the laser radar. The mounting bracket is configured to be rotatable to change the direction of a detection beam emitted by the laser radar.

10. The test system according to claim 9, further comprising: The rotation driving unit is connected to the mounting bracket and can drive the mounting bracket to rotate.

11. The test system according to any one of claims 1 to 4, wherein the box is made of a heat-insulating material, and the isolation device is arranged outside and / or inside the box.

12. The test system according to any one of claims 1 to 4, wherein the isolation device is a crossflow blower.

13. The test system according to any one of claims 1 to 4, further comprising: a control module, the control module being in communication with the temperature control device and being configured to control the temperature control device to change the temperature inside the box; and A data acquisition module, wherein the data acquisition module communicates with the laser radar and is configured to acquire detection data of the laser radar; the data acquisition module also communicates with the temperature control device or the control module to acquire temperature data inside the box.

14. A testing method for laser radar, comprising: The laser radar is arranged in a box, wherein an open window is provided on a wall of the box; forming an air curtain near the viewing window to cover the viewing window; The temperature in the box is adjusted to control the laser radar to emit a detection beam and receive an echo under the temperature condition to be measured, and the detection beam and the echo pass through the window.

15. The testing method according to claim 14, further comprising: The angle of the laser radar is adjusted so that the detection beam to be tested passes through the viewing window.

16. The test method according to claim 14 or 15, wherein the test method is implemented by a test system according to any one of claims 1 to 13.

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