Comprehensive test work station

Abstract

The invention provides a comprehensive test work station, and relates to the technical field of laser radars. A target board; the target plate is arranged on the guide rail through the displacement module, so that the target plate can move along the guide rail; and the radar mounting table is arranged on one side of the guide rail in the width direction, a preset distance is reserved between the radar mounting table and the guide rail, and the radar mounting table is configured to mount the laser radar. The comprehensive test work station can quickly complete switching of various test scenes, so that the test efficiency is improved, and the occupied area of various test work stations is reduced.

Description

Technical Field

[0001] The present application relates to the field of laser radar technology, and in particular to a laser radar comprehensive testing station. Background Art

[0002] LiDAR is a radar system that emits laser beams to detect the position, speed and other characteristic quantities of a target. LiDAR has the advantages of long detection distance and strong detection capability. Some LiDARs also have the function of obtaining the reflectivity of the target.

[0003] After the laser radar is assembled, it needs to undergo multiple performance tests, such as TOF (Time of flight) calibration, reflectivity calibration, reflectivity retest, distance measurement performance, and distance measurement accuracy. Different test items have different test requirements, and different types of laser radars may have different test requirements for the same test items. For example, different types of laser radars have different requirements for distance measurement performance, and their corresponding test environment requirements are also different. Therefore, an efficient test station is needed to meet the various test requirements of the laser radar. Summary of the invention

[0004] The present application provides a comprehensive test station that can quickly complete switching between multiple test scenarios, improve the versatility of the test station, and enable one test station to complete multiple tests, thereby improving test efficiency and reducing the floor space occupied by various test stations.

[0005] To achieve the above objectives, the embodiments of the present application adopt the following technical solutions:

[0006] A comprehensive testing station, comprising:

[0007] guide;

[0008] Target board;

[0009] A displacement module, wherein the target plate is disposed on the guide rail through the displacement module so that the target plate can move along the guide rail;

[0010] The radar mounting platform is arranged on one side of the guide rail in the width direction and is spaced apart from the guide rail by a preset distance. The radar mounting platform is configured to carry the laser radar.

[0011] The comprehensive test station provided by the present disclosure is provided with a guide rail, and the target plate is arranged on the guide rail through the displacement module, so that the target plate can move along the guide rail. Among them, the target plate is used to simulate the target object scanned by the radar, and the laser radar scans the target plate to test the performance of the laser radar. Therefore, when the target plate is movable, the relative position relationship between the target plate and the laser radar can be changed, so as to meet the different requirements for the relative position of the target plate and the laser radar during the laser radar test, increase the versatility of the test station, improve the test efficiency, and reduce the floor space required for various test stations.

[0012] According to some embodiments of the present application, there are multiple guide rails, and the multiple guide rails are arranged in sequence along the width direction of the guide rails. There is a preset distance between two adjacent guide rails, and the target board is provided on each guide rail.

[0013] According to some embodiments of the present application, the plurality of guide rails are parallel to each other.

[0014] According to some embodiments of the present application, the plurality of guide rails are all linear guide rails, or the plurality of guide rails are all arc-shaped guide rails.

[0015] According to some embodiments of the present application, when the plurality of arc-shaped guide rails are all circular arc-shaped guide rails, the centers of the plurality of circular arc-shaped guide rails are all located at the radar mounting platform.

[0016] According to some embodiments of the present application, the farther the arc-shaped guide rail is from the radar installation platform, the longer the length of the arc-shaped guide rail is.

[0017] According to some embodiments of the present application, the lengths of the plurality of guide rails are the same or the lengths of at least two of the plurality of guide rails are different.

[0018] According to some embodiments of the present application, among the at least two guide rails of different lengths, the guide rail that is farther away from the radar installation platform is longer.

[0019] According to some embodiments of the present application, when the lengths of the plurality of guide rails are the same, the ends of the plurality of guide rails are staggered.

[0020] According to some embodiments of the present application, the displacement module includes: a slider, which is slidably matched with the guide rail; and a rotating table, which is disposed on the slider and can rotate horizontally relative to the slider, and the target plate is disposed on the rotating table.

[0021] According to some embodiments of the present application, the slider is connected to a driving device, and the driving device is configured to drive the slider and the target board to slide along the guide rail.

[0022] According to some embodiments of the present application, the target board is connected to an angular displacement detection device, and the angular displacement detection device is configured to detect a rotation angle of the target board.

[0023] According to some embodiments of the present application, the integrated testing station further includes a distance detection device, which is configured to measure a moving distance of the target board.

[0024] According to some embodiments of the present application, the distance detection device includes a displacement sensor and / or a position scale.

[0025] According to some embodiments of the present application, the radar mounting station includes: a first rotating unit configured to be able to rotate the laser radar in a horizontal direction, and / or a second rotating unit configured to be able to rotate the laser radar in a pitch direction.

[0026] According to some embodiments of the present application, the radar mounting platform is provided with a plurality of mounting seats for mounting the laser radar, and the plurality of mounting seats are arranged in the horizontal direction to form a horizontal line array, or the plurality of mounting seats are arranged in the vertical direction to form a vertical line array, or the plurality of mounting seats are arranged in the horizontal and vertical directions to form a two-dimensional array.

[0027] According to some embodiments of the present application, there are multiple target plates, and at least two of the multiple target plates have different reflectivities.

[0028] According to some embodiments of the present application, the target board on the guide rail that is farther away from the radar installation platform has a larger size.

[0029] According to some embodiments of the present application, the radar mounting platform is arranged on the central axis of the integrated test station site in the width direction, and the width direction of the integrated test station site is defined by the length of the guide rail.

[0030] This application sets up multiple guide rails, and each guide rail is provided with a target board, so that the workstation can adapt to various laser radar test items, and can complete multiple types of tests at the same time, improve test efficiency, and reduce the space required for testing. The radar mounting platform is provided with multiple mounting seats, so that multiple laser radars can be tested at the same time, improving test efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of this specification, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 One of the structural schematic diagrams of the comprehensive test station provided in the embodiment of the present application;

[0033] Figure 2 The second structural diagram of the integrated test station provided in the embodiment of the present application;

[0034] Figure 3 The third structural diagram of the comprehensive test station provided in the embodiment of the present application;

[0035] Figure 4 A fourth structural diagram of a comprehensive test station provided in an embodiment of the present application;

[0036] Figure 5 A fifth structural diagram of a comprehensive test station provided in an embodiment of the present application;

[0037] Figure 6 A schematic diagram of a structure in which a target board is arranged above a guide rail in a comprehensive test station provided in an embodiment of the present application;

[0038] Figure 7 A schematic diagram of a structure in which a target board is arranged below a guide rail in a comprehensive test station provided in an embodiment of the present application;

[0039] Figure 8 A schematic diagram of the structure of a radar installation station in a comprehensive test station provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] The following description provides specific application scenarios and requirements of this specification, with the purpose of enabling those skilled in the art to make and use the contents of this specification. Various local modifications to the disclosed embodiments will be apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of this specification. Therefore, this specification is not limited to the embodiments shown, but to the widest scope consistent with the claims.

[0041] The terms used herein are only used for the purpose of describing specific example embodiments and are not restrictive. For example, unless the context clearly indicates otherwise, as used herein, the singular forms "a", "an" and "the" may also include plural forms. When used in this specification, the terms "include", "comprise" and / or "contain" mean that the associated integers, steps, operations, elements and / or components exist, but do not exclude the existence of one or more other features, integers, steps, operations, elements, components and / or groups or that other features, integers, steps, operations, elements, components and / or groups may be added in the system / method.

[0042] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0043] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0044] In addition, the terms "installed", "set", "provided with", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0045] In view of the following description, these and other features of the present specification, as well as the operation and function of the related elements of the structure, and the economy of the combination and manufacture of the parts can be significantly improved. Reference is made to the accompanying drawings, all of which form a part of this specification. However, it should be clearly understood that the drawings are for illustration and description purposes only and are not intended to limit the scope of this specification. It should also be understood that the drawings are not drawn to scale.

[0046] When performing performance testing on a laser radar, a test station is usually used. The test station can simulate a test scenario to facilitate testing of a certain performance of the laser radar. However, the test station of the prior art has poor versatility. Usually, a test station can only be used to measure one performance of the laser radar, and the test efficiency is low. In addition, for different types of laser radars, the requirements for the test station under the same test item are also different. For example, for the far-range performance of the laser radar, laser radars of different ranges (long-range laser radar, medium-range laser radar, short-range laser radar, etc.) have different distance requirements for the target board during testing. Therefore, for the same test item, the test station also needs to be adjusted for different types of laser radars. The inconvenience of adjusting the test hardware in the existing test station also leads to reduced test efficiency. In order to complete multiple test requirements and meet the test requirements of various types of laser radars, multiple test stations are usually built, which results in the station occupying too much space, and the laser radar is moved to different stations for testing, which also leads to low overall test efficiency.

[0047] The present application is described in detail below through specific embodiments:

[0048] like Figure 1 , Figure 6 As shown, an embodiment of the present application provides a comprehensive test station, which includes a guide rail 1, a target board 2, a displacement module 3 and a radar mounting platform 4. The target board 2 is arranged on the guide rail 1 through the displacement module 3, so that the target board 2 can move along the length direction X of the guide rail 1; the radar mounting platform 4 is arranged on one side of the guide rail 1 along the width direction Y, and is spaced from the guide rail 1 by a preset distance, and the radar mounting platform 4 is configured to carry the laser radar 100 to be tested.

[0049] In the comprehensive test station provided in the embodiment of the present application, since the guide rail 1 is provided, and the target plate 2 is provided on the guide rail 1 through the displacement module 3, the target plate 2 can move along the guide rail 1. The laser radar 100 on the radar mounting platform 4 tests the performance of the laser radar 100 by scanning the target plate 2. Therefore, by adjusting the position of the target plate 2 on the guide rail 1, the relative position relationship between the target plate 2 and the laser radar 100 can be changed, thereby meeting different requirements for the relative position of the target plate 2 and the laser radar 100 during the laser radar 100 test, increasing the versatility of the test station and improving the test efficiency.

[0050] It should be noted that the above-mentioned target plate 2 can simulate the target object scanned by radar, and the number of target plates 2 and reflectivity parameters can be selected according to the test requirements. For example, multiple target plates 2 with different reflectivity can be set on the guide rail 1. When conducting a test, the target plates 2 that are needed are moved to the test area, and the target plates 2 that are not needed are moved to the storage area.

[0051] In addition, the reflectivity of each area on a target plate 2 may be the same or different. For example, in a possible implementation of the target plate 2, the target plate 2 has a high reflectivity area and a low reflectivity area, and the high reflectivity area and the low reflectivity area may be arranged at intervals or adjacent to each other. When the target plate 2 has a plurality of high reflectivity areas and a plurality of low reflectivity areas, the plurality of high reflectivity areas and the plurality of low reflectivity areas may also be arranged alternately, that is, a low reflectivity area is arranged between every two high reflectivity areas.

[0052] In order to achieve different reflectivities on the surface of the target plate 2 , the target plate 2 may be made of materials with different reflectivities, or the target plate 2 may be made of the same material and layers with different reflectivities may be coated on the target plate 2 .

[0053] The guide rail 1 can be provided with one or more. When the number of guide rails 1 is more than one, as shown in FIG. Figure 1 , Figure 2 , Figure 3 As shown, a plurality of guide rails 1 are arranged in sequence along the width direction Y of the guide rails 1, and there is a preset spacing between two adjacent guide rails 1, and the target plate 2 can be set on each of the guide rails 1. As a result, the distances between different guide rails 1 and the radar mounting platform 4 are different, so that the requirements for different test distances during testing can be met, making the test station more versatile. In addition, a plurality of guide rails 1 can be arranged parallel to each other or not parallel to each other, and some guide rails 1 can be parallel to each other and some guide rails 1 can be not parallel to each other. When a plurality of guide rails 1 are arranged parallel to each other, it is convenient to calibrate the coordinate position relationship between each target plate 2 on the guide rail 1 and the radar mounting platform 4.

[0054] The shape of the guide rail 1 can be a straight line, an arc or other curved lines. Figure 1 to Figure 3 As shown in FIG. 1 , the plurality of guide rails 1 are all linear guide rails 1, and the moving track of the target board 2 on the guide rails 1 is also a straight line. Figure 4 As shown, the plurality of guide rails 1 are all arc-shaped guide rails 1, and the moving track of the target board 2 on the guide rail 1 is an arc. The specific selection can be made according to different test requirements. When the plurality of arc-shaped guide rails 1 are all circular-arc-shaped guide rails 1, the plurality of circular-arc-shaped guide rails 1 are concentrically arranged, and the radar mounting platform 4 can be arranged at the center of the plurality of circular-arc-shaped guide rails 1. As a result, the distance between each target board 2 and the radar mounting platform 4 on the same guide rail 1 is equal, thereby meeting the test scenario requirements of constant distance parameters.

[0055] The lengths of the multiple guide rails 1 may be the same, or may be different or partially different, and may be selected according to actual test requirements. When at least two of the multiple guide rails 1 have different lengths, the length of the guide rail 1 farther from the radar mounting platform 4 may be set longer. This can prevent the target plates 2 at both ends of the guide rail 1 in the front from blocking the target plates 2 at both ends of the guide rail 1 in the back. In addition, since there is an angle between the emission directions of each laser, the farther the guide rail 1 is from the laser radar 100, the sparser the beam when the laser beam emitted by the laser radar 100 scans the target plate 2 on the guide rail 1. At this time, the size of the target plate 2 on the guide rail 1 farther from the radar mounting platform 4 can be designed to be larger to ensure that there are enough points incident on the target plate 2 at different distances, thereby meeting the needs of various tests. The larger the target plate 2, the larger the space occupied. Therefore, the longer the length of the guide rail 1 farther from the radar mounting platform 4 is set, the larger the layout space can be provided for the target plate 2 with a larger size.

[0056] For example, Figure 4 As shown, the plurality of guide rails 1 are all arc-shaped guide rails 1, and the lengths of the plurality of arc-shaped guide rails 1 gradually increase in the direction away from the radar installation platform 4, that is, the farther the arc-shaped guide rail 1 is from the radar installation platform 4, the longer the length is. Figure 2 As shown, the plurality of guide rails 1 are all linear guide rails 1, specifically including guide rails 1a, 1b, 1c and 1d arranged in sequence in a direction away from the laser radar 100, wherein the lengths of the guide rails 1a, 1b, 1c and 1d increase in sequence. Figure 3 As shown, when the lengths of the plurality of guide rails 1 are the same, the ends of the plurality of guide rails 1 may be staggered.

[0057] When specifically setting the position of the target plate 2 on each guide rail 1, the target plate 2 of the track closer to the front can be preferentially set at both ends, thereby reducing the impact of the target plate 2 on the front track on the rear track.

[0058] like Figure 6 As shown, the displacement module 3 may specifically include a slider 31 and a rotating table 32 arranged on the slider 31, wherein the slider 31 is slidably matched with the guide rail 1, and the target plate 2 is arranged on the rotating table 32, and the rotating table 32 can rotate, so that while the target plate 2 slides along the guide rail 1, the horizontal viewing angle of the target plate 2 can be adjusted, so that each target plate 2 on the guide rail 1 can be set toward the laser radar 100.

[0059] The movement of the slider 31 on the guide rail 1 can be pushed manually or automatically driven by a driving device. Specifically, a driving device can be connected to the slider 31, and the slider 31 and the target plate 2 can be driven to slide along the guide rail 1 by the driving device. There are many ways to implement the driving device. In one possible implementation, a rack can be set along the extension direction of the guide rail 1, and a motor can be set on the slider 31 or the rotating table 32, and a gear can be set on the output shaft of the motor, and the gear and the rack are meshed with each other. Therefore, when the motor rotates, it drives the gear to rotate, and because the gear and the rack are meshed, the slider 31 and the rotating table 32 can slide along the guide rail 1.

[0060] It should be noted that the implementation method of the above-mentioned driving device is only an example. The driving device only needs to be able to drive the slider 31 to move on the guide rail 1. For example, when the guide rail 1 is a linear guide rail 1, the driving device can also be implemented using structures such as a linear motor and a lead screw nut.

[0061] In addition, in order to adjust the pitch angle of the target board 2, as shown in FIG. Figure 6 As shown, a support frame 33 can be provided on the rotating platform 32, and the target board 2 can be rotatably connected to the support frame 33, so that the target board 2 can be rotated in the pitch direction, thereby adjusting the pitch angle of the target board 2. When rotating the target board 2, the target board 2 can be rotated to a preset angle manually, or it can be automatically driven by a driving device such as a motor.

[0062] like Figure 6 As shown, the guide rail 1 can be installed on the ground or a fixed platform, and the target board 2 is installed above the guide rail 1 through the displacement module 3. Figure 7 As shown, the guide rail 1 can also be installed on a top fixed surface (such as a ceiling) or a top bracket, and the target board 2 can be suspended below the guide rail 1 through the displacement module 3.

[0063] In order to accurately adjust the angle of the target plate 2, an angular displacement detection device may be provided on the target plate 2 or on the rotating platform 32, and the rotation angle of the target plate 2 may be detected by the angular displacement detection device. Thus, the orientation of the target plate 2 may be accurately adjusted. Specifically, the angular displacement detection device may be an angular displacement sensor.

[0064] In order to obtain the position coordinates of the target plate 2 and then determine the positional relationship (distance, angle, etc.) between the laser radar 100 and the target plate 2, a distance detection device may also be provided, and the distance detection device is used to measure the moving distance of the target plate 2. Specifically, the distance detection device may include a position scale, and thus, the moving distance of the target plate 2 may be obtained by reading the position scale. There are many specific implementation methods of the position scale, for example, scale lines may be directly made on the guide rail 1, a scale may be provided on the guide rail 1, or scale lines or a scale may be provided on the base of the fixed guide rail 1.

[0065] In addition, the distance detection device can also be implemented by using a displacement sensor, which can detect the distance moved by the target board 2 in real time, and then obtain the current coordinates of the target board 2.

[0066] The structure of the radar installation platform 4 is as follows Figure 8 As shown, the radar mounting platform 4 includes a first rotating unit 41, which can rotate the laser radar 100 in the horizontal direction to adjust the laser emission angle of the laser radar 100 in the horizontal direction. In addition, the radar mounting platform 4 can also include a second rotating unit 42, which can rotate the laser radar 100 in the pitch direction to adjust the laser emission angle of the laser radar 100 in the pitch direction.

[0067] Specifically, the first rotating unit 41 and the second rotating unit 42 can be implemented in the following manner: the first rotating unit 41 includes a rotating platform 411, a first rotating shaft 412 and a first rotating motor 413, and the second rotating unit 42 includes an articulated seat 421, a second rotating shaft 422 and a second rotating motor (not shown in the figure), wherein the first rotating motor 413 drives the first rotating shaft 412 to rotate, thereby driving the rotating platform 411 to rotate horizontally, the articulated seat 421 is arranged on the rotating platform 411, the laser radar 100 is rotationally connected to the articulated seat 421 through the second rotating shaft 422, so that the laser radar 100 can rotate in the pitch direction relative to the articulated seat 421, and the second rotating motor is connected to the second rotating shaft 422 to drive the laser radar 100 to rotate in pitch. In this way, the laser radar 100 can be rotated in the horizontal direction and the pitch direction.

[0068] like Figure 1 As shown, one measuring point or multiple measuring points (such as TP1, TP2, TP3, TP4) can be set on the radar mounting platform 4, and a laser radar 100 is placed corresponding to each measuring point. When multiple laser radars 100 are set on the radar mounting platform 4, multiple laser radars 100 can be tested, thereby improving the test efficiency. Specifically, the radar mounting platform 4 can be provided with multiple mounting seats for mounting the laser radar 100, and the multiple mounting seats can be arranged in the horizontal direction to form a horizontal line array, and the multiple mounting seats can also be arranged in the vertical direction (i.e., the direction perpendicular to the upper surface of the radar mounting platform 4) to form a vertical line array, or the multiple mounting seats are arranged in the horizontal direction and the vertical direction to form a two-dimensional array. In this way, the comprehensive test station can support the simultaneous testing of multiple laser radars 100, thereby improving the test efficiency.

[0069] When setting the position of the radar installation platform 4, the radar installation platform 4 is set on the central axis of the width direction of the integrated test station site. The width direction of the integrated test station site is limited by the length of the guide rail 2, that is, the radar installation platform 4 can be set close to the center of the guide rail 1, so that the laser radar 100 can have a larger FOV (Field of View) relative to the guide rail 1, so that the laser radar 100 can measure more target plates 2 at the same time. Figure 5 As shown in FIG. 1 , when the laser radar 100 is arranged on the central axis in the width direction of the integrated test station site, that is, when it is arranged close to the center of the guide rail 1, the field of view angle of the laser radar 100 is FOV1. When the laser radar 100 deviates from the central axis, the field of view angle of the laser radar 100 is FOV2. Figure 5 It can be seen that FOV1 is larger than FOV2.

[0070] The steps for testing the radar using the above-mentioned integrated test station are as follows:

[0071] The positional relationship between each measuring point on the radar installation platform 4, the track distance, and the track transverse coordinate is calibrated in advance.

[0072] Then, a measurement point is selected. One or more measurement points may be selected, and the laser radar 100 is installed at the selected measurement points. For example, Figure 1 The TP1 measuring point is selected.

[0073] Select a target plate 2 with a specific reflectivity on each track, move the selected target plate 2 to a preset position along the length of the track, and rotate the target plate 2 to a desired angle. For example, multiple horizontal viewing angle regions can be divided on each track, and a target plate 2 can be set correspondingly in each angle region. The unselected target plate 2 can be moved to one end of the track, and the target plate 2 can be rotated to be perpendicular to the track (such as Figure 6 , Figure 7 As shown in FIG. 1 , the track space occupied by the unselected target plate 2 can be reduced. When the angle of the target plate 2 is rotated, the laser radar 100 can be vertically incident or obliquely incident according to the test requirements. Figure 1 As shown, select target plate 2a on track 1a, and the corresponding width of target plate 2a is F1; select target plate 2b on track 1b, and the corresponding width of target plate 2b is F2; ​​and select target plate 2c on track 1c, and the corresponding width of target plate 2c is F3. Among them, F3>F2>F1, to ensure that there are enough laser beams to be incident on the distant target plate 2 during the test, so as to meet the requirements of various tests and ensure the accuracy of the test. Finally, the selected measurement point, the selected target plate 2 type, and the horizontal coordinates of the target plate 2 on the track are input into the test program for testing.

[0074] The above is a description of a specific embodiment of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require a specific order or a continuous order to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0075] In summary, after reading this detailed disclosure, those skilled in the art will appreciate that the foregoing detailed disclosure may be presented only by way of example and may not be limiting. Although not explicitly stated herein, those skilled in the art will appreciate that this specification requires various reasonable changes, improvements and modifications to the embodiments. These changes, improvements and modifications are intended to be proposed by this specification and are within the spirit and scope of the exemplary embodiments of this specification.

[0076] In addition, certain terms in this specification have been used to describe embodiments of this specification. For example, "one embodiment", "an embodiment" and / or "some embodiments" mean that a particular feature, structure or characteristic described in conjunction with the embodiment may be included in at least one embodiment of this specification. Therefore, it can be emphasized and should be understood that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various parts of this specification do not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics may be appropriately combined in one or more embodiments of this specification.

[0077] It should be understood that in the foregoing description of the embodiments of this specification, in order to help understand a feature and for the purpose of simplifying this specification, this specification combines various features in a single embodiment, drawing or its description. However, this does not mean that the combination of these features is necessary. When reading this specification, it is entirely possible for a person skilled in the art to extract some of the features and understand them as separate embodiments. In other words, the embodiments in this specification can also be understood as the integration of multiple secondary embodiments. This is also true when the content of each secondary embodiment is less than all the features of a single aforementioned disclosed embodiment.

[0078] Each patent, patent application, patent application publication, and other materials, such as articles, books, specifications, publications, documents, articles, etc., cited herein may be incorporated herein by reference in its entirety for all purposes, except for any prosecution document history related thereto, any equivalent that may be inconsistent or conflicting with this document, or any equivalent prosecution document history that may have a limiting effect on the broadest scope of the claims now or later associated with this document. For example, if there is any inconsistency or conflict between the description, definition, and / or use of a term associated with any of the incorporated materials and the term, description, definition, and / or use associated with this document, the term in this document shall control.

[0079] It should also be noted that the content of the background technology section is only the information known to the inventor personally, and does not mean that the above information has entered the public domain before the application date of this disclosure, nor does it mean that it can become the prior art of the present disclosure.

[0080] Finally, it should be understood that the embodiments of the application disclosed herein are explanations of the principles of the embodiments of this specification. Other modified embodiments are also within the scope of this specification. Therefore, the embodiments disclosed in this specification are only used as examples and not as limitations. Those skilled in the art can adopt alternative configurations according to the embodiments in this specification to implement the applications in this specification. Therefore, the embodiments of this specification are not limited to the embodiments accurately described in the application.

Claims

1. A comprehensive test station for testing laser radar, characterized in that: include: guide; Target board; A displacement module, wherein the target plate is disposed on the guide rail through the displacement module so that the target plate can move along the guide rail; as well as The radar mounting platform is arranged on one side of the guide rail in the width direction and is spaced apart from the guide rail by a preset distance. The radar mounting platform is configured to carry the laser radar.

2. The integrated testing station according to claim 1, characterized in that: There are a plurality of guide rails, which are arranged in sequence along the width direction of the guide rails, with a preset spacing between two adjacent guide rails, and each guide rail is provided with the target board.

3. The integrated testing station according to claim 2, characterized in that: The plurality of guide rails are parallel to each other.

4. The integrated testing station according to claim 3, characterized in that: The plurality of guide rails are all linear guide rails, or the plurality of guide rails are all arc guide rails.

5. The integrated testing station according to claim 4, characterized in that: When the plurality of arc-shaped guide rails are all circular-arc guide rails, the centers of the plurality of circular-arc guide rails are all located at the radar installation platform.

6. The integrated testing station according to claim 5, characterized in that: The farther the arc-shaped guide rail is from the radar installation platform, the longer the length of the arc-shaped guide rail is.

7. The integrated testing station according to claim 2, characterized in that: The lengths of the plurality of guide rails are the same or the lengths of at least two of the plurality of guide rails are different.

8. The integrated testing station according to claim 7, characterized in that: Among the at least two guide rails of different lengths, the guide rail that is farther away from the radar installation platform has a longer length.

9. The integrated testing station according to claim 7, characterized in that: When the lengths of the plurality of guide rails are the same, the ends of the plurality of guide rails are staggered.

10. The integrated testing station according to claim 1, characterized in that: The displacement module comprises: a slider, the slider being slidably engaged with the guide rail; and The rotating platform is arranged on the slider and can rotate horizontally relative to the slider. The target plate is arranged on the rotating platform.

11. The integrated testing station according to claim 10, characterized in that: The slider is connected to a driving device, and the driving device is configured to drive the slider and the target board to slide along the guide rail.

12. The integrated testing station according to claim 10, characterized in that: The target plate is connected to an angular displacement detection device, and the angular displacement detection device is configured to detect the rotation angle of the target plate.

13. The integrated testing station according to claim 1, characterized in that: The integrated testing station further comprises a distance detection device, which is configured to measure the moving distance of the target board.

14. The integrated testing station according to claim 13, characterized in that: The distance detection device includes a displacement sensor and / or a position scale.

15. The integrated testing station according to claim 1, characterized in that: The radar installation station comprises: A first rotating unit is configured to rotate the laser radar in a horizontal direction, and / or The second rotating unit is configured to be able to rotate the laser radar in the pitch direction.

16. The integrated testing station according to claim 1, characterized in that: The radar mounting platform is provided with a plurality of mounting seats for mounting the laser radar, wherein the plurality of mounting seats are arranged in the horizontal direction to form a horizontal line array, or the plurality of mounting seats are arranged in the vertical direction to form a vertical line array, or the plurality of mounting seats are arranged in the horizontal direction and the vertical direction to form a two-dimensional array.

17. The integrated testing station according to claim 1, characterized in that: There are multiple target plates, and at least two of the multiple target plates have different reflectivities.

18. The integrated testing station according to claim 2, characterized in that: The size of the target plate on the guide rail that is farther away from the radar installation platform is larger.

19. The integrated testing station according to claim 1, characterized in that: The radar installation platform is arranged on the central axis of the site of the integrated test station in the width direction, and the width direction of the site of the integrated test station is defined by the length of the guide rail.

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