Device, method and system for testing laser radar

Abstract

The invention relates to a device, a method and a system for testing lidar. The apparatus is configured to test whether the lidar is capable of detecting a reticle shield, comprising: a housing comprising an opening configured to take out or place the lidar and an actuatable cover plate mechanism, the opening being opened or closed by the cover plate mechanism; the fixing mechanism is located in the shell and is configured to fix the laser radar; and a shielding mechanism which is located in the housing and is configured to shield a detection field of view of the laser radar. According to the equipment, the method and the system, whether the laser radar can detect the mask shielding object or not can be automatically diagnosed, the consistency of laser radar testing is improved, the testing precision and the testing efficiency are remarkably improved, and the higher laser radar yield requirement can be better met.

Description

Technical Field

[0001] The present invention relates to the field of laser radar, and more specifically to a device, method and system for testing laser radar. Background Art

[0002] In recent years, LiDAR has been widely used in various fields due to its advantages such as high resolution, good concealment, strong anti-active interference ability, good detection performance, small size and light weight. In order to ensure the performance of LiDAR in actual use, it is necessary to test the performance of LiDAR in the production stage, such as calibration and diagnostic function testing of LiDAR.

[0003] In the existing technology, trained technicians are required to manually test the LiDARs one by one. This testing method is costly, inefficient and inaccurate, and there are test inconsistencies due to the introduction of manual operations. As the market demand for high-performance LiDARs increases, this traditional testing method is not suitable for mass testing of LiDARs and is obviously unable to meet market demand.

[0004] Therefore, there is an urgent need for a new technology that can automatically test lidar efficiently and with high precision. Summary of the invention

[0005] The present invention aims to overcome the above and / or other problems in the prior art. By using the device, method and system for testing laser radar provided by the present invention, the laser radar test can be automated without manual operation by technicians, thereby effectively reducing labor costs and improving test consistency, and at the same time significantly improving test accuracy and test efficiency to better meet the higher laser radar production requirements.

[0006] According to a first aspect of the present invention, a device for testing a laser radar is provided, wherein the device is configured to test whether the laser radar is capable of detecting a light shield obstruction, and comprises a housing, a fixing mechanism, and a shielding mechanism; the housing comprises an opening and an actuatable cover mechanism, and the opening is configured to take out or place the laser radar, wherein the opening is opened or closed by the cover mechanism; the fixing mechanism is located inside the housing and is configured to fix the laser radar; the shielding mechanism is located inside the housing and is configured to shield the detection field of view of the laser radar.

[0007] The present invention provides a dedicated automated testing device for testing whether the laser radar can detect light shield obstructions. The device can provide a stable and consistent testing environment, thereby ensuring high accuracy and consistency of the test results. Moreover, the various components in the above-mentioned device can cooperate with each other to automatically and efficiently complete the laser radar testing process, which is conducive to batch testing of laser radars, and while saving labor costs, it also avoids errors and inconsistencies caused by manual operations.

[0008] Optionally, when the opening is closed, the housing is sealed, thereby being able to provide a sealed test environment inside the device to eliminate the influence of the external environment on the test results.

[0009] Optionally, the shielding mechanism includes a baffle and a baffle actuator, and the baffle actuator is configured to cause the baffle to block the detection field of view of the laser radar at a position close to the laser radar, thereby simulating a situation where the laser radar's hood is blocked (i.e., there is a hood blocking object).

[0010] Optionally, the fixing mechanism includes a base and a clamping device. The laser radar is located on the base. The clamping device is configured to clamp the laser radar located on the base, thereby fixing the laser radar on the base. The base and the clamping device can be used to fix the laser radar in place to prevent the laser radar from moving unexpectedly during testing.

[0011] Optionally, the base includes a positioning member configured to position the laser radar on the base.

[0012] Optionally, the device further includes a connecting mechanism, which is located inside the housing and is configured to connect the laser radar to a connector.

[0013] Optionally, the device further includes a transmission mechanism, which is located inside the housing and coupled to the fixing mechanism, and the transmission mechanism is configured to change the posture of the fixing mechanism to adjust the position and angle of the laser radar in the device.

[0014] Optionally, the transport mechanism comprises a bracket configured to couple the fixing mechanism to the transport mechanism.

[0015] Optionally, the device further comprises an indicating device, which is arranged outside the housing and is configured to indicate a working status and / or a test result of the device.

[0016] Optionally, the device further includes an environmental simulation device, which is located inside the housing and is configured to simulate a test environment of the laser radar.

[0017] According to a second aspect of the present invention, a system for testing a laser radar is provided, comprising the device for testing a laser radar according to the present invention as described above and a control unit. The control unit is configured to: control the cover mechanism to open or close the opening; control the fixing mechanism to fix or release the laser radar; control the shielding mechanism to shield or not shield the detection field of view of the laser radar; calibrate the laser radar and obtain calibration data; and when the calibration data is within a first preset range, test whether the laser radar can detect a light shield shielding object.

[0018] According to a third aspect of the present invention, a method for testing a laser radar is provided, comprising the following steps: a. opening an opening on a shell of a laser radar testing device; b. fixing the laser radar by a fixing mechanism inside the shell; c. closing the opening to seal the shell; d. calibrating the laser radar and acquiring calibration data; and e. when the calibration data is within a first preset range, shielding the laser radar by a shielding mechanism inside the shell, and testing whether the laser radar can detect light shield obstructions.

[0019] Unlike the existing laser radar test that relies on manual operation by technicians, the above system and method of the present invention can automatically perform the test process of the laser radar, especially automatically complete the calibration of the laser radar and the test of the laser radar's light shield obstruction detection ability. The automated system and method of the present invention can quickly perform laser radar tests with consistent standards and specifications, greatly improving the efficiency of the test, and because it can eliminate various errors introduced by manual testing, it significantly improves the reliability and accuracy of the test results.

[0020] Optionally, the method further includes step f: releasing the fixation and shielding of the laser radar, and opening the opening to take out the laser radar, thereby preparing for the next laser radar test.

[0021] Optionally, the method further includes step g: repeating steps a to f for each of the multiple laser radars to calibrate each of the multiple laser radars and test whether it can detect light shield obstructions.

[0022] Optionally, when testing whether the laser radar can detect the light shield obstruction, detection data is obtained, and whether the laser radar can detect the light shield obstruction is determined by the calibration data and the detection data. When the difference between the detection data and the calibration data is within a second preset range, it is determined that the laser radar can detect the light shield obstruction; when the difference between the detection data and the calibration data is outside the second preset range, it is determined that the laser radar cannot detect the light shield obstruction.

[0023] Optionally, the detection data and the calibration data include data acquired by the laser radar and characterizing stray light inside the laser radar.

[0024] Optionally, the data characterizing the stray light inside the laser radar is obtained based on at least one of the peak value, pulse width and area of ​​the stray light echo waveform obtained after the laser radar emits detection light.

[0025] Optionally, when the cover mechanism closes the opening, the fixing mechanism fixes the laser radar, and the shielding mechanism does not shield the laser radar, the laser radar is calibrated and the calibration data is acquired.

[0026] Optionally, when the shielding mechanism blocks the laser radar, it is tested whether the laser radar can detect the light shield shielding object.

[0027] Optionally, a baffle actuator of the shielding mechanism is used to actuate the baffle of the shielding mechanism to block or unblock the detection field of view of the laser radar, thereby simulating the blocked and unblocked states of the laser radar's hood through the baffle.

[0028] Optionally, the pressing device is controlled to press the laser radar onto the base or release the pressing of the laser radar.

[0029] Optionally, in the above system, the connection mechanism is controlled to connect or disconnect the laser radar with the connector. Optionally, in the above method, in step b, the laser radar is connected to the connector through the connection mechanism inside the housing; and in step f, the connection between the laser radar and the connector is released.

[0030] Optionally, in the above system, the transmission mechanism is controlled to change the position of the fixing mechanism. Optionally, in the above method, in step b, the position of the fixing mechanism is adjusted by the transmission mechanism inside the housing; and in step f, the fixing mechanism is reset by the transmission mechanism.

[0031] Optionally, in the above system, the indicating device is controlled to indicate the working status and / or test result of the device. Optionally, in the above method, step e further includes: when the calibration data exceeds the first preset range, sending a corresponding indication to the user through the indicating device outside the housing; and optionally, step e further includes: when it is determined that the laser radar cannot detect the light shield obstruction, sending a corresponding indication to the user through the indicating device outside the housing.

[0032] Optionally, in the above system, the environmental simulation device is controlled to simulate or stop simulating the test environment. Optionally, in the above method, step c further includes simulating the test environment by the environmental simulation device inside the housing; and step f further includes releasing the simulated test environment.

[0033] Optionally, in the above method, step e further includes: outputting the test results.

[0034] According to a fourth aspect of the present invention, there is also provided a computer-readable storage medium having instructions stored thereon, which when executed implement the method for testing a laser radar according to the present invention as described above.

[0035] Other features and aspects of the present invention will become more apparent from the following detailed description in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present invention may be better understood by describing exemplary embodiments of the present invention in conjunction with the accompanying drawings, in which:

[0037] Figure 1 A schematic diagram of a device for testing a laser radar according to an embodiment of the present invention is shown;

[0038] Figure 2 Shows Figure 1 a schematic diagram of the interior of the device shown;

[0039] Figure 3 A schematic diagram showing a variant example of a device for testing a laser radar according to an embodiment of the present invention;

[0040] Figure 4 for Figure 3 a schematic diagram of the interior of the illustrated variant;

[0041] Figure 5 A flow chart of a method for testing a laser radar according to an embodiment of the present invention is shown;

[0042] Figure 6 A flowchart showing a variant embodiment of a method for testing a laser radar according to an embodiment of the present invention is shown;

[0043] Figure 7 A flowchart showing another variant embodiment of a method for testing a laser radar according to an embodiment of the present invention; and

[0044] Figure 8 A structural block diagram of a system for testing a laser radar according to the present invention is shown. DETAILED DESCRIPTION

[0045] The present invention will be further described below in conjunction with specific embodiments and drawings. More details are elaborated in the following description to facilitate a full understanding of the present invention. However, the present invention can obviously be implemented in a variety of other ways different from the description herein. Those skilled in the art can make similar generalizations and deductions based on actual application situations without violating the spirit of the present invention. Therefore, the scope of protection of the present invention should not be limited by the content of this specific embodiment.

[0046] Unless otherwise defined, the technical or scientific terms used in the claims and the specification shall have the usual meaning understood by persons with ordinary skills in the technical field to which the invention belongs. The words "first", "second" and similar words used in the specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "one" or "a" do not indicate a quantitative limitation, but rather indicate the presence of at least one. Words such as "include" or "comprise" and similar words mean that the elements or objects appearing before "include" or "comprises" cover the elements or objects listed after "include" or "comprises" and their equivalent elements, and do not exclude other elements or objects.

[0047] According to an embodiment of the present invention, a device for testing a laser radar is provided. The device is configured to test whether the laser radar can detect a light shield obstruction, and includes a housing, a fixing mechanism, and a shielding mechanism; the housing includes an opening and an actuable cover mechanism, and the opening is configured to take out or place the laser radar, wherein the opening is opened or closed by the cover mechanism; the fixing mechanism is located inside the housing and configured to fix the laser radar; the shielding mechanism is located inside the housing and configured to shield the detection field of view of the laser radar. In the present invention, a dedicated automated testing device is provided for testing whether the laser radar can detect a light shield obstruction. The device can provide a stable and consistent testing environment, thereby ensuring high accuracy and consistency of the test results, and the various components in the above-mentioned device can cooperate with each other to automatically and efficiently complete the testing process of the laser radar, which is conducive to batch testing of the laser radar, and while saving labor costs, it also avoids errors and inconsistencies caused by manual operations.

[0048] refer to Figure 1, which shows a schematic diagram of a device 100 for testing a laser radar according to the present invention, and refers to Figure 2 , which shows Figure 1 The internal schematic diagram of the device 100 is shown. In order to conveniently show the internal structure of the device 100, Figure 2 A portion of the housing of the device 100 is hidden in the figure. The device 100 includes a housing 110 , a fixing mechanism 120 and a shielding mechanism 130 .

[0049] like Figure 1 As shown, the housing 110 constitutes the outer shell of the device 100 and provides a test environment for the laser radar inside the housing 110. The housing 110 includes an opening 140 disposed thereon. Figure 2 It can be seen that an actuable cover mechanism 150 can be provided on the opening 140. The opening 140 can provide a space for removing the laser radar 102 from the device 100 or placing the laser radar 102 into the device 100. It should be noted that for illustration purposes only, Figure 1 and Figure 2 The opening 140 is shown as being disposed on one side of the housing 110, but the opening 140 may also be disposed on the top of the housing 110 or any other suitable location. In some embodiments, more than one opening 140 may be disposed on the housing 110, and an actuatable cover mechanism 150 may be disposed on each opening 140.

[0050] The cover mechanism 150 may be configured to open and close the opening 140 corresponding thereto. During the test, the external environment (such as ambient light) may have an impact on the test results of the laser radar. According to an embodiment of the present invention, during the test of the laser radar, the cover mechanism 150 may keep the opening 140 closed to achieve device sealing, thereby reducing or eliminating the impact of the external environment on the test environment inside the device 100 to ensure the reliability of the test results.

[0051] Continue to refer Figure 1 The fixing mechanism 120 may be disposed inside the housing 110 and may be configured to provide fixation for the laser radar 102, including but not limited to limiting one or more of the position and angle of the laser radar 102. According to an embodiment of the present invention, the fixing mechanism 120 may be used to secure the laser radar 102 during testing and release the laser radar 102 after the test is completed. According to an embodiment of the present invention, the fixing mechanism 120 may also be specifically configured to provide fixation for a specific type of laser radar, such as being configured to adapt to a laser radar having a specific shape, structure, and the like.

[0052] like Figure 2As shown, the shielding mechanism 130 may be disposed inside the housing 110 and may be configured to provide shielding for the laser radar field of view. According to an embodiment of the present invention, during the test, the shielding mechanism 130 may completely or partially shield the field of view of the laser radar 102 according to specific test requirements. For example, in one embodiment, the shielding mechanism 130 may completely shield the field of view of the laser radar 102 near the reticle of the laser radar 102 to simulate a state in which the reticle of the laser radar 102 is completely shielded by an obstruction (such as dirt).

[0053] The above-mentioned device of the present invention pioneers the provision of special equipment for the testing of laser radar. By using this device, it is possible to automatically complete laser radar performance tests such as calibration of laser radar and testing whether the laser radar can detect light shield obstructions. Compared with traditional tests that rely on manual completion, the automatic testing of laser radars completed by using the above-mentioned device of the present invention greatly improves the test quality and efficiency. At the same time, the above-mentioned device of the present invention can also provide a stable and controllable test environment, thereby ensuring the reliability of the test results.

[0054] The following will be combined Figure 3 and Figure 4 Various variations of device 100 are further described.

[0055] Optionally, the housing 110 may be sealable. For example, in some embodiments, when one or more openings 140 are closed, a sealed test environment may be formed inside the device 100. The sealed test environment may isolate the influence of the external environment on the test results, for example, eliminating the interference of the external ambient light on the test, thereby making the test results more reliable. In some embodiments, a test environment different from the external environment may be maintained in the device 100. In other embodiments, the test environment in the device 100 may also be similar to the external environment. It is understood that the housing 110 may also be unsealed when the test accuracy requirement is not too high.

[0056] Optionally, the cover mechanism 150 can be implemented as a manually actuated or automatically actuated. Figure 4 As shown, the automatically actuated cover mechanism 150 may include a cover 152 and a cover actuator 154, and the cover actuator 154 may actuate the cover 152 to close or open the opening 140. Figure 4 In the embodiment of the present invention, the cover actuator 154 is shown to be able to actuate the cover 152 in the vertical direction, but it should be understood that any other suitable cover mechanism design can be used to provide opening and closing control of the opening.

[0057] Optionally, the shielding mechanism 130 may include a shield and a shield actuator, for example, Figure 4The baffle 132 and baffle actuator 134 are shown. The baffle actuator 134 can move the baffle 132 to achieve different shielding modes for the laser radar 102, such as complete shielding, partial shielding, or no shielding. In some embodiments, the shielding mechanism 130 can be set to a test position close to the laser radar 102, so that a smaller baffle size can also achieve complete shielding of the laser radar field of view, which can reduce the footprint of the baffle and also reduce the travel of the baffle when changing the shielding mode. Figure 4 , the baffle actuator 134 is shown as being able to actuate the baffle 132 in a vertical direction, but it should be understood that any other suitable shielding mechanism design may be used to provide shielding for the laser radar 102.

[0058] Optionally, the fixing mechanism 120 may include a base and a clamping device, for example, Figure 3 and Figure 4 The base 122 and the clamping device 124 are shown. The base 122 and the clamping device 124 respectively provide fixation for the laser radar 102 from two directions to prevent the laser radar 102 from unexpectedly moving relative to the fixing mechanism 120 during testing.

[0059] The base 122 can be used to fix the laser radar 102 from the bottom. For example, in some embodiments, the base 122 can use electromagnetic force to absorb the laser radar 102, or in some embodiments, the base 122 may include a joint to fix the laser radar 102. Optionally, the base 122 may include a positioning member (not shown in the figure), which may be configured to have a shape that matches the laser radar 102 (such as a positioning groove that conforms to the laser radar 102), so that the laser radar 102 will not slide when placed in the positioning member. In such an embodiment, corresponding positioning members can be selected for different models of laser radars to adapt to different laser radar shapes.

[0060] The pressing device 124 can fix the laser radar 102 from above. For example, in some embodiments, when the laser radar 102 is placed in the base 122, the pressing device 124 can apply pressure to the laser radar 102 to press and fix the laser radar 102 on the base 122. Specifically, in some embodiments, the laser radar 102 can be pressed and fixed in the positioning groove on the base 122. Figure 3 and Figure 4 It is shown in the figure that a columnar structure is used to apply pressure to the laser radar 102, but it should be understood that any other suitable method such as pneumatic pressing and hydraulic pressure can be used to implement the clamping function of the clamping device 124. In some embodiments, after the test is completed, the clamping device 124 can release the fixation of the laser radar 102.

[0061] Optionally, the device 100 may further include a connection mechanism positioned inside the housing 110, such as Figure 3 and Figure 4 The connecting mechanism 160 shown in FIG. The connecting mechanism 160 can be configured to connect the laser radar 102 to the connector 162 to achieve data communication with the laser radar 102. For example, Figure 4 As shown, the connection mechanism 160 can be positioned on the same substrate as the fixing mechanism 120, and is configured to drive the connector 162 to move toward or away from the laser radar 102 fixed in the fixing mechanism 120 to connect to the laser radar 102, or disconnect from the laser radar 102. In some embodiments, the connection mechanism 160 can be set near the fixing mechanism 120 in other ways to facilitate connection to the laser radar 102. In some embodiments, the connection mechanism 160 can be configured to automatically connect to the laser radar 102. For example, when the laser radar 102 is fixed in the fixing mechanism 120, the connection mechanism 160 can automatically connect the connector 162 to the laser radar 102; and the connection mechanism 160 can automatically disconnect the connector 162 from the laser radar 102 after the test is completed. Using the connection mechanism 160 to connect the laser radar 102 with the connector can further improve the automation of the test, thereby improving the test efficiency. However, it should be understood that in some embodiments that do not have a connecting mechanism 160, the laser radar 102 and the connector 162 can be connected in other ways (for example, manually connecting the connector 162 before placing the laser radar 102 into the device 100), or data communication with the laser radar 102 can be achieved in other ways (for example, via a wireless connection, etc.).

[0062] Optionally, the device 100 may further include a delivery mechanism positioned within the housing 110, such as Figure 4 The conveying mechanism 170 shown. The conveying mechanism 170 can be coupled to the fixing mechanism 120 and can be configured to change the posture of the fixing mechanism 120, that is, to change the position (such as x, y, z axis spatial position) and / or angle (such as pitch angle, roll angle and yaw angle) of the fixing mechanism 120. In some embodiments, six-dimensional (that is, three-dimensional spatial position and pitch angle, roll angle and yaw angle) adjustment of the fixing mechanism 120 can be achieved. As an example, the conveying mechanism 170 can convey the fixing mechanism 120 to the vicinity of the opening 140 to facilitate the placement of the laser radar 102 on the fixing mechanism 120; the conveying mechanism 170 can also convey the fixing mechanism 120 to a test position in the device 100 to test the laser radar 102 at this position. Figure 4The conveying mechanism 170 is shown as a guide rail capable of conveying in the horizontal direction, but it should be understood that the conveying mechanism 170 may have any other suitable structure capable of realizing the conveying function. As required, the conveying mechanism 170 may be configured to convey in any one or more directions (such as horizontal, vertical, etc.). In an embodiment including the connecting mechanism 160, the conveying mechanism 170 may be configured to convey both the fixing mechanism 120 and the connecting mechanism 160 together.

[0063] Alternatively, if Figure 4 As shown, the transport mechanism 170 may include a bracket 172 for coupling the fixing mechanism 120 to the transport mechanism 170. In embodiments including the connecting mechanism 160, the bracket 172 may also be used to couple the connecting mechanism 160 to the transport mechanism 170.

[0064] Optionally, the device 100 may further include an indicating device, such as Figure 3 The indicating device 180 shown. The indicating device 180 can be arranged outside the housing 110, such as Figure 4 The indicator 180 may be configured to indicate the working status and / or test results of the device 100. For example, the indicator 180 may be configured to indicate one or more of the following: whether the device 100 is undergoing a test, whether the device 100 is ready for the next set of tests, the items and test results of the current test, the test results of multiple tests, etc. The indicator 180 may have various forms, including but not limited to optical indicators (such as Figure 3 ), acoustic indicators, graphic indicators, etc. In one embodiment, the indicator device 180 can light up an alarm light when the device 100 is abnormal or the test result is not passed, and the user can make corresponding responses accordingly, for example, terminating the test according to the indication of abnormality of the device 100, or judging the tested laser radar as unqualified according to the indication of test failure.

[0065] Optionally, the device 100 may further include an environment simulation device (not shown in the figure), which may be disposed inside the housing 110 and may be configured to simulate a test environment for the laser radar. In some embodiments, the environment simulation device may be configured to simulate a test environment under conditions such as strong light, rain, snow, fog, haze, sand and dust, etc., to test the performance of the laser radar under the corresponding environment.

[0066] Optionally, the device 100 may further include a feeding platform disposed at the opening 140, for example Figure 3 The feeding platform 142 is shown. The feeding platform 142 can be a platform extending from below the opening 140, which can reduce the possibility of the laser radar falling to the ground during the picking and placing process.

[0067] According to an embodiment of the present invention, a method for testing a laser radar is also provided.

[0068] refer to Figure 5 , which shows a method 500 for testing a laser radar according to the present invention. The method 500 includes steps 510 to 550.

[0069] In step 510, turn on the laser radar test equipment (e.g., Figures 1 to 4 The housing of the device 100 (eg, Figures 1 to 4 An opening (e.g., Figures 1 to 4 An opening 140 in the lidar test device is provided to provide space for placing the lidar in or taking it out of the lidar test device.

[0070] In step 520, the housing is secured by a fixing mechanism (e.g., Figures 1 to 4 The fixing mechanism 120 in the embodiment of the present invention is used for the laser radar (for example, Figures 1 to 4 The laser radar 102 in the apparatus is fixed to precisely control the position and / or angle of the laser radar during the test. According to an embodiment of the present invention, the laser radar can be fixed to the fixing mechanism manually or by a mechanical arm or in any other way.

[0071] In step 530 , the opening is closed to seal the enclosure, thereby providing a desired testing environment within the enclosure of the lidar test equipment.

[0072] In step 540, the laser radar is calibrated and calibration data is obtained. For example, the laser radar can be calibrated by measuring characteristic parameters, and the measured parameters are processed to generate calibration data. As an example, the characteristic parameter can be at least one of the peak value, pulse width and area of ​​the stray light echo waveform obtained by the laser radar when it is not blocked. According to actual needs, any other suitable characteristic parameters known to those skilled in the art can also be selected, and calibration data can be generated in any suitable data processing method.

[0073] In step 550, when the calibration data is within the first preset range, the shielding mechanism (eg, Figure 4 The shielding mechanism 130 in the laser radar is used to shield the laser radar and test whether the laser radar can detect the light shield shielding object. For example, the calibration data can be compared with a first preset range for the calibration data. If the calibration data is within the range, it can be determined that the laser radar meets the calibration standard. If the calibration data meets the standard, it can be further tested whether the laser radar's function of detecting the light shield shielding object is normal by shielding the laser radar. According to an embodiment of the present invention, if the calibration data exceeds the first preset range, it can be determined that the laser radar does not meet the calibration standard.

[0074] The above method for testing laser radar can automatically execute the test process of laser radar, especially automatically complete the calibration of laser radar and the test of the light shield obstruction detection ability of laser radar. Compared with the existing laser radar test method that relies on manual operation, the above method of the present invention can eliminate the errors introduced by manual testing, thereby significantly improving the consistency of test standards and specifications, and greatly improving the completion quality and efficiency of the test.

[0075] Optionally, the method 500 may further include a step 560 of removing the laser radar that has completed the test, such as Figure 6 In step 560, the fixation and shielding of the laser radar are released, and the opening is opened to take out the laser radar, so as to prepare for the next laser radar test.

[0076] Optionally, method 500 may further include the step of repeating the operation process of steps 510 to 560 for each of the plurality of laser radars to calibrate each of the plurality of laser radars and test whether the light shield obstruction can be detected. According to an embodiment of the present invention, the test process of steps 510 to 560 may be performed on any desired number of laser radars.

[0077] Optionally, step 550 may include sub-steps 552 to 556, such as Figure 7 As shown. In sub-step 552, when the shielding mechanism shields the laser radar, detection data is obtained from the laser radar. Subsequently, the difference between the detection data and the calibration data is compared with a second preset range for the difference. If the difference is within the second preset range, sub-step 554 is entered to determine that the laser radar is able to detect the light shield obstruction. If the difference is not within the second preset range, sub-step 556 is entered to determine that the laser radar is unable to detect the light shield obstruction. It should be understood that the second preset range depends on the selected calibration data and detection data type, and those skilled in the art can select a range of appropriate size according to actual needs.

[0078] Optionally, the detection data and calibration data may include data acquired by the laser radar that characterizes the stray light inside the laser radar. Optionally, the data that characterizes the stray light inside the laser radar can be obtained based on at least one of the peak value, pulse width and area of ​​the stray light echo waveform obtained after the laser radar emits the detection light. When the laser radar is not blocked, the value of at least one of the peak value, pulse width and area of ​​the stray light echo waveform inside the laser radar is low; and when the light shield of the laser radar is blocked, since the shielding mechanism is very close to the laser radar, the echo generated by the shielding mechanism reflecting back to the laser radar is superimposed on the stray light echo inside the laser radar, so the value of at least one of the peak value, pulse width and area of ​​the stray light echo waveform inside the laser radar will increase significantly. In an embodiment, it is possible to determine whether the laser radar can detect the light shield shielding object by calculating the difference between the data measured when it is not blocked and blocked and judging whether the difference is within the second preset range. Therefore, the performance of the laser radar can be detected based on the stray light data. It is to be understood that the stray light echo waveform may be processed in any other suitable manner to generate the stray light data.

[0079] Optionally, step 550 may further include outputting the test results. In some embodiments, the test results may be output in the form of data transmission, for example, transmitted to a graphical user interface for presentation to a user. In some embodiments, the test results may be output in the form of light, sound, image, or any other suitable form. In some embodiments where the output test results are presented to the user, the user may make an indication based on the current test results, for example, determining that the laser radar is defective based on a test result indicating that the laser radar is determined to be unable to detect a hood obstruction.

[0080] Optionally, in method 500, a shutter actuator (eg, Figure 4 The shutter actuator 134 in the embodiment of the present invention actuates the shutter of the shielding mechanism (e.g., Figure 4 The baffle 132 in the figure is used to block or unblock the detection field of view of the laser radar, thereby simulating the situation where the laser radar's light cover is blocked or not blocked by dirt.

[0081] Optionally, in step 520, the connection mechanism (e.g., Figure 3 and Figure 4 The connecting mechanism 160 in the laser radar is connected to the connector (for example, Figure 3 and Figure 4 The laser radar may be connected to the connector 162 in step 560, and the connection between the laser radar and the connector may be released in step 560. Thus, the laser radar and the connector may be connected automatically in method 500.

[0082] Optionally, in step 520, the Figure 3 and Figure 4 The transmission mechanism 170 in the fixing mechanism adjusts the posture of the fixing mechanism, thereby adjusting the position and angle of the laser radar to be tested fixed in the fixing mechanism, and in step 560, the fixing mechanism can be reset by the transmission mechanism.

[0083] Optionally, step 550 may further include: when the calibration data exceeds the first preset range, an indication device (eg, Figure 3 In some embodiments, the user may mark the currently tested laser radar as unqualified according to the instruction. Alternatively, in some embodiments, the user may decide to re-execute step 540 for the laser radar. In some embodiments, the user may decide to skip subsequent test steps for the laser radar, such as step 550, according to the instruction. It should be understood that the user may also perform any other suitable operation according to the instruction.

[0084] Optionally, step 550 may further include: when it is determined that the laser radar cannot detect the light shield obstruction, sending a corresponding instruction to the user through an instruction device outside the housing. In some embodiments, the user may mark the tested laser radar as unqualified according to the instruction. Alternatively, in some embodiments, the user may decide to re-execute step 550 for the laser radar. It should be understood that the user may also perform any other suitable operation according to the instruction.

[0085] Optionally, step 530 may further include simulating a test environment by an environment simulation device inside the housing, and step 560 may further include releasing the simulated test environment. In some embodiments, the simulated test environment may be any desired test environment, such as a strong light environment, a rainy and snowy environment, a foggy and hazy environment, a dusty and sandy environment, etc., and may be used to test the performance of the laser radar under various test environments.

[0086] According to an embodiment of the present invention, there is also provided a computer-readable storage medium having encoded instructions recorded thereon, which can implement the above-mentioned method for testing a laser radar when the instructions are executed. The computer-readable storage medium may include a hard disk drive, a floppy disk drive, a compact disk read / write (CD-R / W) drive, a digital versatile disk (DVD) drive, a flash drive and / or a solid-state storage device, etc. According to an embodiment of the present invention, there is also provided a system 800 for testing a laser radar. Figure 8 As schematically shown in FIG. 8 , the system 800 may include a device 810 for testing a laser radar and a control unit 820. The device 810 is similar to the device 810 described above with reference to FIG. Figures 1 to 4 The apparatus 100 described for testing a lidar is similar.

[0087] The control unit 820 may be configured to control the device 810 to perform a laser radar test. Specifically, the control unit 820 may be configured to: control the cover mechanism (e.g., Figure 2 and Figure 4 The cover mechanism 150 in the lid is used to open or close the opening to facilitate the placement of the laser radar to be tested; the fixing mechanism is controlled to fix or release the laser radar; the shielding mechanism is controlled to block or not block the detection field of view of the laser radar; the laser radar is calibrated and the calibration data is obtained; and when the calibration data is within the first preset range, the laser radar is tested whether it can detect the light shield shielding object.

[0088] Optionally, the control unit 820 may be further configured to: acquire detection data when testing whether the laser radar can detect the light shield obstruction; and determine whether the laser radar can detect the light shield obstruction through calibration data and detection data. When the difference between the detection data and the calibration data is within the second preset range, the control unit 820 may determine that the laser radar can detect the light shield obstruction; when the difference between the detection data and the calibration data is outside the second preset range, the control unit 820 may determine that the laser radar cannot detect the light shield obstruction.

[0089] Optionally, the detection data and calibration data may include data acquired by the laser radar that characterizes the stray light inside the laser radar. Optionally, the data that characterizes the stray light inside the laser radar may be obtained based on at least one of the peak value, pulse width, and area of ​​the stray light echo waveform obtained after the laser radar emits the detection light.

[0090] Optionally, the control unit 820 may be further configured to calibrate the laser radar and obtain calibration data when the cover mechanism closes the opening, the fixing mechanism fixes the laser radar, and the shielding mechanism does not shield the laser radar.

[0091] Optionally, the control unit 820 may be further configured to test whether the laser radar is able to detect the hood obstruction when the obstruction mechanism obstructs the laser radar.

[0092] Optionally, the control unit 820 may be further configured to control the baffle actuator to actuate the baffle to block or not block the detection field of view of the laser radar.

[0093] Optionally, the control unit 820 may be further configured to control the pressing device to press the laser radar onto the base or release the pressing of the laser radar.

[0094] Optionally, the control unit 820 may be further configured to control the connection mechanism to connect or disconnect the laser radar with the connector.

[0095] Optionally, the control unit 820 may be further configured to control the conveying mechanism to change the posture of the fixing mechanism.

[0096] Optionally, the control unit 820 may be further configured to control the indicating device to indicate the working status and / or test result of the device 810 .

[0097] Optionally, the control unit 820 may be further configured to control the environment simulation device to simulate or stop simulating the test environment.

[0098] The system 800 can implement the method for testing a laser radar according to the present invention as described above. Many design concepts and details applicable to the method for testing a laser radar according to the present invention are also applicable to the system 800, and the same beneficial technical effects can be obtained, which will not be repeated here.

[0099] Various aspects of the present invention have been described above through some exemplary embodiments. However, it should be understood that various modifications may be made to the above exemplary embodiments without departing from the spirit and scope of the present invention. For example, if the described techniques are performed in a different order and / or if the components in the described system, architecture, device or circuit are combined in different ways and / or replaced or supplemented by other components or their equivalents, suitable results may be achieved, and accordingly, these modified other embodiments also fall within the scope of protection of the claims.

Claims

1. A device for testing a laser radar, the device being configured to test whether the laser radar can detect a light shield obstruction, comprising: A housing, the housing comprising an opening and an actuatable cover mechanism, the opening being configured to take out or place the laser radar, wherein the opening is opened or closed by the cover mechanism; A fixing mechanism, the fixing mechanism is located inside the housing and is configured to fix the laser radar; as well as A shielding mechanism is located inside the housing and is configured to shield the detection field of view of the laser radar.

2. The device according to claim 1, characterized in that When the opening is closed, the housing is sealed.

3. The device according to claim 1, characterized in that The shielding mechanism includes a shield and a shield actuator, and the shield actuator is configured to cause the shield to shield the detection field of view of the laser radar at a position close to the laser radar.

4. The device according to claim 1, characterized in that The fixing mechanism comprises: a base, the laser radar being located on the base; and The clamping device is configured to clamp the laser radar located on the base to fix it.

5. The device according to claim 4, characterized in that The base includes a positioning member configured to position the laser radar on the base.

6. The device as described in any one of claims 1-5 further includes a connecting mechanism, which is located inside the housing and is configured to connect the laser radar to a connector.

7. The apparatus of any one of claims 1 to 5, further comprising: A transmission mechanism is located inside the housing and coupled to the fixing mechanism, wherein the transmission mechanism is configured to change the posture of the fixing mechanism.

8. The device according to claim 7, characterized in that The transport mechanism includes a bracket configured to couple the securing mechanism to the transport mechanism.

9. The apparatus of any one of claims 1 to 5, further comprising: An indicating device is arranged outside the housing and is configured to indicate a working state and / or a test result of the device.

10. The apparatus of any one of claims 1 to 5, further comprising: An environmental simulation device is located inside the housing and is configured to simulate a test environment for the laser radar.

11. A system for testing a laser radar, comprising: The device as claimed in any one of claims 1 to 10; as well as A control unit configured as follows: Controlling the cover mechanism to open or close the opening; Controlling the fixing mechanism to fix or release the laser radar; Controlling the shielding mechanism to shield or not shield the detection field of view of the laser radar; Calibrate the laser radar and obtain calibration data; and When the calibration data is within a first preset range, it is tested whether the laser radar can detect the light shield obstruction.

12. The system according to claim 11, characterized in that The control unit is further configured as: When testing whether the laser radar can detect the light shield obstruction, obtaining detection data; When the difference between the detection data and the calibration data is within a second preset range, it is determined that the laser radar is capable of detecting the light shield obstruction; and When the difference between the detection data and the calibration data is outside the second preset range, it is determined that the laser radar cannot detect the light shield obstruction.

13. The system of claim 12, wherein: The detection data and the calibration data include data acquired by the laser radar that characterizes the stray light inside the laser radar.

14. The system of claim 13, wherein: The data characterizing the stray light inside the laser radar is obtained based on at least one of the peak value, pulse width and area of ​​the stray light echo waveform obtained after the laser radar emits detection light.

15. The system according to any one of claims 11 to 14, characterized in that The control unit is further configured as: When the cover mechanism closes the opening, the fixing mechanism fixes the laser radar, and the shielding mechanism does not shield the laser radar, the laser radar is calibrated and the calibration data is acquired.

16. The system according to any one of claims 11 to 14, characterized in that The control unit is further configured as: In the case where the shielding mechanism shields the laser radar, it is tested whether the laser radar can detect the light shield shielding object.

17. The system according to any one of claims 11 to 14, characterized in that The device is the device according to claim 3, wherein the control unit is further configured as: The baffle actuator is controlled to actuate the baffle to block or not block the detection field of view of the laser radar.

18. The system according to any one of claims 11 to 14, characterized in that The device is a device according to claim 4 or 5, wherein the control unit is further configured as: The pressing device is controlled to press the laser radar onto the base or release the pressing of the laser radar.

19. The system according to any one of claims 11 to 14, characterized in that The device is the device according to claim 6, wherein the control unit is further configured as: Controlling the connection mechanism to connect or disconnect the laser radar with the connector; 20. The system according to any one of claims 11 to 14, characterized in that The device is a device according to claim 7 or 8, wherein the control unit is further configured as: The conveying mechanism is controlled to change the posture of the fixing mechanism.

21. The system according to any one of claims 11 to 14, characterized in that The device is the device according to claim 9, wherein the control unit is further configured as: The indicating device is controlled to indicate the working status and / or test result of the device.

22. The system according to any one of claims 11 to 14, characterized in that The device is the device according to claim 10, wherein the control unit is further configured as: The environment simulation device is controlled to simulate or stop simulating the test environment.

23. A method for testing a laser radar, comprising the following steps: a. Open the opening on the housing of the lidar test equipment; b. Fixing the laser radar by a fixing mechanism inside the housing; c. closing the opening to seal the housing; d. calibrating the laser radar and obtaining calibration data; and e. When the calibration data is within a first preset range, the laser radar is shielded by a shielding mechanism inside the housing, and the laser radar is tested to see whether it can detect the light shield shielding object.

24. The method of claim 23, further comprising the steps of: f. Release the fixation and shielding of the laser radar and open the opening to take out the laser radar.

25. The method of claim 24, further comprising the steps of: g. Repeat steps a to f for each of the multiple laser radars to calibrate each of the multiple laser radars and test whether it can detect the light shield obstruction.

26. The method according to any one of claims 23 to 25, characterized in that In step e: When the shielding mechanism shields the laser radar, acquiring detection data from the laser radar; When the difference between the detection data and the calibration data is within a second preset range, it is determined that the laser radar is capable of detecting the light shield obstruction; and When the difference between the detection data and the calibration data is outside the second preset range, it is determined that the laser radar cannot detect the light shield obstruction.

27. The method according to any one of claims 23 to 25, characterized in that The detection data and the calibration data include data acquired by the laser radar that characterizes the stray light inside the laser radar.

28. The method of claim 27, wherein: The data characterizing the stray light inside the laser radar is obtained based on at least one of the peak value, pulse width and area of ​​the stray light echo waveform obtained after the laser radar emits the detection light.

29. The method according to any one of claims 23 to 25, characterized in that The step e further includes: outputting the test results.

30. The method according to any one of claims 23 to 25, characterized in that The baffle actuator of the shielding mechanism is used to actuate the baffle of the shielding mechanism to shield or unblock the detection field of view of the laser radar.

31. The method according to claim 24 or 25, characterized in that In the step b, the position and posture of the fixing mechanism is adjusted by a transmission mechanism inside the housing; and, In the step f, the fixing mechanism is reset by the conveying mechanism.

32. The method according to claim 24 or 25, characterized in that In the step b, the laser radar is connected to the connector through the connecting mechanism inside the housing; and, In step f, the connection between the laser radar and the connector is released.

33. The method according to any one of claims 23 to 25, characterized in that The step e further comprises: When the calibration data exceeds the first preset range, a corresponding indication is sent to the user through an indication device outside the housing.

34. The method according to any one of claims 23 to 25, characterized in that The step e further comprises: When it is determined that the laser radar cannot detect the light shield obstruction, a corresponding indication is sent to the user through an indication device outside the shell.

35. The method according to claim 24 or 25, characterized in that The step c further comprises simulating a test environment by an environmental simulation device inside the housing; and, The step f further includes deactivating the simulated test environment.

36. A computer-readable storage medium having instructions stored thereon, which implement the method according to any one of claims 23 to 35 when the instructions are executed.

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