Radar reflector angle detection method and device

Abstract

The invention discloses an angle detection method and device for a radar reflector, and relates to the technical field of laser radars. The radar reflector angle detection method comprises the steps that a projection area is set, and the projection area and a detection table are arranged according to a first preset distance; defining a reference area: defining an original point, and defining an area which is not more than a second preset distance away from the original point as the reference area based on the original point; fixing a reflecting mirror on the detection table; and an angle detection step of defining the reflector: defining a reflection point, enabling the light beam to reach the projection area through the reflection of the reflector, forming the reflection point in the projection area, and judging whether the angle of the reflector is qualified or not based on whether the reflection point falls in the reference area or not. According to the angle detection method of the radar reflector, the angle detection efficiency of the radar reflector can be improved.

Description

Technical Field

[0001] The present application relates to the field of laser radar technology, and in particular to a method and device for detecting the angle of a radar reflector. Background Art

[0002] At present, the field of view (vertical field of view angle, horizontal field of view angle) and ranging capability of the laser radar scanning system are important parameters that reflect the performance of the laser radar. The ranging capability has high requirements on the vertical angle of the optical reflective surface. For the detection of the vertical angle of the radar reflector, the industry currently generally adopts the following methods to detect the vertical angle of the radar reflector:

[0003] First, the receiving main body reflector is transported from the production workshop to the three-dimensional inspection workshop in a turnover box; then the vertical angle of the receiving main body reflector is detected by three-dimensional equipment, and its value is recorded and OK and NG products are distinguished; finally, the detected receiving main body reflector is returned to the production workshop, and the OK products are transferred to the next process, and the NG products are reworked.

[0004] This detection method requires going back and forth between two workshops, which wastes transportation time and reduces the detection efficiency of the reflector angle. Summary of the invention

[0005] In view of this, the purpose of this application is to overcome the deficiencies in the prior art and to provide a method and device for detecting the angle of a radar reflector to solve the technical problems in the prior art.

[0006] This application provides:

[0007] A method for detecting an angle of a radar reflector, comprising:

[0008] Setting a projection area, wherein the projection area and the detection platform are set at a first preset distance;

[0009] Defining a reference area includes: defining an origin, and based on the origin, defining an area that is no more than a second preset distance from the origin as the reference area;

[0010] fixing the reflector to the detection platform;

[0011] The step of defining the angle detection of the reflector includes: defining a reflection point, the light beam is reflected by the reflector to reach the projection area, and the reflection point is formed in the projection area, and whether the angle of the reflector is qualified is judged based on whether the reflection point falls within the reference area.

[0012] In addition, the angle detection method of the radar reflector according to the present application may also have the following additional technical features:

[0013] In some embodiments of the present application, the method for obtaining the origin includes: obtaining a reference point of a mirror, including:

[0014] Define the actual angle and the designed angle of a mirror, measure the actual angle of the mirror, and based on this actual angle, obtain the deviation angle between the actual angle and the designed angle;

[0015] Based on the deviation angle, obtain the displacement generated by the deviation angle in the projection area at the first preset distance;

[0016] Fix the mirror on the detection table;

[0017] The light beam is reflected by the mirror and reaches the projection area, and a reflection point is formed in the projection area. Based on the displacement, move the reflection point backward by the distance of the displacement to obtain a reference point of a mirror.

[0018] In some embodiments of the present application, the method for obtaining the origin further includes obtaining the average value of the reference points of N mirrors, where N is a positive integer not less than 3, including:

[0019] Obtain N mirrors, and repeat the steps of obtaining the reference point of a single mirror for each mirror to obtain N reference points corresponding to the N mirrors respectively;

[0020] Obtain the average value point of the N reference points, and the average value point is the origin.

[0021] In some embodiments of the present application, the obtaining of the reference point of a single mirror includes:

[0022] Define the actual vertical angle / actual horizontal angle and the designed vertical angle / designed horizontal angle of a mirror, measure the actual vertical angle / actual horizontal angle of the mirror, and based on this actual vertical angle / actual horizontal angle, obtain the vertical deviation angle / horizontal deviation angle between the actual vertical angle / actual horizontal angle and the designed vertical angle / designed horizontal angle;

[0023] Based on the vertical deviation angle / horizontal deviation angle, obtain the vertical displacement / horizontal displacement generated by the vertical deviation angle / horizontal deviation angle in the projection area at the first preset distance;

[0024] Fix the mirror on the detection table;

[0025] The light beam is reflected by the mirror and reaches the projection area, and a reflection point is formed in the projection area. Based on the vertical displacement / horizontal displacement, move the reflection point backward by the distance of the vertical displacement / horizontal displacement to obtain a vertical reference point / horizontal reference point of a mirror.

[0026] In some embodiments of the present application, obtaining the reference point of a mirror further includes:

[0027] Define a vertical line / horizontal line, where the vertical line / horizontal line is the line where the vertical reference point / horizontal reference point is located, and the point where the vertical line and the horizontal line intersect perpendicularly is the reference point of the mirror.

[0028] In some embodiments of the present application, the method for obtaining the origin includes:

[0029] Define a standard mirror, where the deviation value between the actual angle and the designed angle of the standard mirror is less than a preset value;

[0030] Fix the standard mirror on the detection table;

[0031] The light beam is reflected by the standard mirror and reaches the projection area, and a reflection point is formed in the projection area, and the reflection point is the origin.

[0032] In some embodiments of the present application, defining the reference area includes: defining a horizontal reference area:

[0033] Based on the origin, define an area that does not exceed a second preset distance in the positive horizontal direction and / or negative horizontal direction from the origin as the horizontal reference area.

[0034] In some embodiments of the present application, defining the reference area includes: defining a vertical reference area:

[0035] Based on the origin, define an area that does not exceed a second preset distance in the positive vertical direction and / or negative vertical direction from the origin as the vertical reference area.

[0036] In some embodiments of the present application, determining whether the angle of the mirror is qualified based on whether the reflection point falls within the reference area includes:

[0037] When the reflection point falls within the horizontal reference area / vertical reference area, the vertical angle / horizontal angle of the mirror is qualified;

[0038] When the reflection point falls within both the horizontal reference area and the vertical reference area, both the vertical angle and the horizontal angle of the mirror are qualified;

[0039] Otherwise, the angle of the mirror is unqualified.

[0040] The present application also provides an angle detection device for a radar mirror, including:

[0041] A light source module for emitting a light beam;

[0042] A clamping module for fixing the reflector of the radar;

[0043] An imaging module is provided with a reference area, and the light beam irradiates the reflector to form a reflection point on the imaging module;

[0044] A detection module determines whether the angle of the reflector is qualified based on whether the reflection point falls within the reference area.

[0045] Compared with the prior art, the beneficial effects of the present application are as follows: The present application proposes a method for detecting the angle of a radar reflector. By setting a projection area and setting the projection area and the detection table at a first preset distance, in this way, by setting the detection table and the projection area near the radar to be detected, there is no need to transfer the radar to be detected between the production workshop and the coordinate measuring machine workshop, improving the detection efficiency of the angle of the radar reflector; In addition, the reflector is fixed to the detection table; Define the steps for detecting the angle of the reflector, including: defining a reflection point, the light beam is reflected by the reflector and reaches the projection area, and the reflection point is formed in the projection area. Based on whether the reflection point falls within the reference area, it is determined whether the angle of the reflector is qualified. In this way, when detecting the angle of each reflector, the operator only needs to fix the reflector on the detection table, irradiate the reflector with the light beam, and the operator can visually judge whether the reflection point falls within the reference area to know whether the vertical field of view angle and / or the horizontal field of view angle of the reflector is qualified. Such a detection method has few operation steps and high judgment efficiency of the result, and can improve the detection efficiency of the angle of the reflector.

[0046] In addition, the present application also provides an apparatus for detecting the angle of a radar reflector. The apparatus integrates a light source module, a clamping module, an imaging module and a detection module. Among them, the clamping module is used to fix the reflector, and the detection module is used to determine whether the angle of the reflector is qualified. In this way, the step of transferring the radar to be detected between two workshops in the related art can be omitted, improving the detection efficiency of the angle of the radar reflector. Description of the Drawings

[0047] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0048] Figure 1 Shows one of the schematic diagrams of the method for detecting the angle of a radar reflector in some embodiments of the present application;

[0049] Figure 2Shows the second schematic diagram of the angle detection method of the radar mirror in some embodiments of the present application;

[0050] Figure 3 Shows the third schematic diagram of the angle detection method of the radar mirror in some embodiments of the present application;

[0051] Figure 4 Shows the flowchart of the angle detection method of the radar mirror in some embodiments of the present application;

[0052] Figure 5 Shows the structural schematic diagram of the angle detection device of the radar mirror in some embodiments of the present application.

[0053] Main element symbol description: 1000 - Angle detection device of the radar mirror;

[0054] 100 - Radar; 110 - Mirror; 200 - Light source; 300 - Projection area; 310 - Reference area; 210 - Light beam; 320 - Reflection point. Detailed implementation manners

[0055] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application and should not be construed as a limitation to the present application.

[0056] The terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features.

[0057] In the present application, unless otherwise clearly defined and limited, the terms "connected", "fixed", etc. should be understood in a broad sense. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0058] As Figure 1 and Figure 4 shown, the embodiments of the present application provide an angle detection method for a radar mirror, which is mainly used for detecting the field of view angle of a lidar mirror. The angle detection method of the radar mirror includes the following steps:

[0059] Step S10, set a projection area, and the projection area is set at a first preset distance from the detection table. In this way, by setting the detection table and the projection area near the radar to be detected, it is not necessary to transfer the radar to be detected between the production workshop and the coordinate measuring machine workshop, improving the angle detection efficiency of the radar mirror.

[0060] As Figure 1As shown, specifically, the projection area 300 is a projection plane, which is set on any one of a projection board, a projection cloth, and white paper, so that the light beam can be visually presented on the projection plane.

[0061] Continue to refer to Figure 1 , fix the radar 100 on the detection table to determine the position of the mirror 110 at the angle to be detected, so that the position between the mirror 110 and the projection area 300 is relatively fixed.

[0062] The first preset distance between the projection area 300 and the mirror 110 is the optical path of the reflected light beam from the mirror 110 to the projection area 300, and this optical path can be set according to actual needs.

[0063] In this embodiment, the optical path is set to 8000mm. In other embodiments, the optical path is any one of 8500mm, 9000mm, 9500mm, 10000mm, 10500mm, 11000mm, 11500mm, and 12000mm.

[0064] Step S20, define a reference area, including: define an origin, and based on the origin, define the area within a second preset distance from the origin as the reference area.

[0065] Among them, the method for obtaining the origin includes:

[0066] Step S21, obtain a reference point of a mirror. Specifically, it includes:

[0067] Define the actual angle and the designed angle of a mirror 110, measure the actual angle of the mirror 110, and based on this actual angle, obtain the deviation angle between the actual angle and the designed angle;

[0068] Based on the deviation angle, obtain the displacement generated by the deviation angle in the projection area 300 at the first preset distance;

[0069] Fix the mirror 110 on the detection table;

[0070] The light beam is reflected by the mirror 110 and reaches the projection area 300, and a reflection point 320 is formed in the projection area 300. Based on the displacement, move the reflection point 320 backward by the distance of the displacement to obtain a reference point of a mirror 110.

[0071] It should be noted that in the specific implementation, according to the type of the field of view angle to be detected by the mirror 110, the corresponding method for obtaining the reference point of the mirror 110 can be selected.

[0072] In one embodiment, if only the horizontal field of view angle of the mirror 110 needs to be detected, a horizontal reference point of the mirror 110 needs to be obtained. The specific obtaining method is as follows:

[0073] Obtaining a horizontal reference point of the mirror 110 includes:

[0074] Define the actual horizontal angle and the designed horizontal angle of the mirror 110, measure the actual horizontal angle of the mirror 110, and based on this actual horizontal angle, obtain the horizontal deviation angle between the actual horizontal angle and the designed horizontal angle;

[0075] Based on the horizontal deviation angle, obtain the horizontal displacement generated by the horizontal deviation angle in the projection area 300 at the first preset distance;

[0076] Fix the mirror 110 on the detection table;

[0077] The light beam is reflected by the mirror 110 and reaches the projection area 300, and a reflection point 320 is formed in the projection area 300. Based on the horizontal displacement, move the reflection point 320 backward by the distance of the horizontal displacement to obtain a horizontal reference point of the mirror 110.

[0078] In one embodiment, if only the vertical field of view angle of the mirror 110 needs to be detected, a vertical reference point of the mirror 110 needs to be obtained. The specific obtaining method is as follows:

[0079] Obtaining a vertical reference point of the mirror 110 includes:

[0080] Define the actual vertical angle and the designed vertical angle of the mirror 110, measure the actual vertical angle of the mirror 110, and based on this actual vertical angle, obtain the vertical deviation angle between the actual vertical angle and the designed vertical angle;

[0081] Based on the vertical deviation angle, obtain the vertical displacement generated by the vertical deviation angle in the projection area 300 at the first preset distance;

[0082] Fix the mirror 110 on the detection table;

[0083] The light beam is reflected by the mirror 110 and reaches the projection area 300, and a reflection point 320 is formed in the projection area 300. Based on the vertical displacement, move the reflection point 320 backward by the distance of the vertical displacement to obtain a vertical reference point of the mirror 110.

[0084] In one embodiment, when it is necessary to detect both the horizontal field of view angle and the vertical field of view angle of the mirror 110, it is necessary to obtain both the vertical reference point and the horizontal reference point of one mirror 110 at the same time, and based on the vertical reference point and the horizontal reference point, obtain the reference point of one mirror 110. The specific acquisition method is as follows:

[0085] The steps for obtaining the vertical reference point of one mirror 110 are as described above, and will not be elaborated here one by one.

[0086] Exemplarily, the first preset distance between the projection area 300 and the mirror 110 is set to 8000 mm. The vertical deviation angle α between the actual vertical angle and the designed vertical angle is ±0.04°, and the vertical displacement is calculated to be ±3 mm according to the calculation. After the mirror 110 is fixed on the detection table, the light beam is reflected by the mirror 110 and reaches the projection area 300, and a reflection point 320 is formed in the projection area 300. The reflection point 320 is moved backward by 3 mm to obtain the vertical reference point of one mirror 110.

[0087] The steps for obtaining the horizontal reference point of one mirror 110 are as described above, and will not be elaborated here one by one.

[0088] Exemplarily, the first preset distance between the projection area 300 and the mirror 110 is set to 8000 mm. The horizontal deviation angle α between the actual horizontal angle and the designed horizontal angle is ±0.04°, and the horizontal displacement is calculated to be ±3 mm according to the calculation. After the mirror 110 is fixed on the detection table, the light beam is reflected by the mirror 110 and reaches the projection area 300, and a reflection point 320 is formed in the projection area 300. The reflection point 320 is moved backward by 3 mm to obtain the horizontal reference point of one mirror 110.

[0089] In some embodiments of the present application, the obtaining of the reference point of one mirror 110 further includes:

[0090] Define a vertical line and a horizontal line. The vertical line and the horizontal line are respectively the lines where the vertical reference point and the horizontal reference point are located. The point where the vertical line and the horizontal line intersect perpendicularly is the reference point of one mirror 110.

[0091] It should be noted that the method for measuring the actual vertical angle and / or the actual horizontal angle of the mirror 110 is to transfer the radar 100 to the CMM inspection workshop and use the CMM equipment to detect the specific values of the actual vertical angle and / or the actual horizontal angle of the mirror 110.

[0092] In this embodiment, the method for obtaining the origin further includes:

[0093] Step S22, obtaining the mean value of the reference points of N reflectors, where N is a positive integer not less than 3, including:

[0094] Obtain N reflectors 110, and repeat the step of obtaining the reference point of one reflector 110 for each reflector 110 to obtain N reference points corresponding to the N reflectors 110 respectively;

[0095] Obtain the mean value point of the N reference points, and the mean value point is the origin.

[0096] It can be understood that as described above, when only the horizontal reference points of each reflector 110 are obtained as the reference points of each reflector 110, the mean value point of the N horizontal reference points is the origin.

[0097] As described above, when only the vertical reference points of each reflector 110 are obtained as the reference points of each reflector 110, the mean value point of the N vertical reference points is the origin.

[0098] As described above, when the horizontal reference points and vertical reference points of each reflector 110 are obtained simultaneously, and the reference points are obtained based on the horizontal reference points and vertical reference points, the mean value point of the N reference points is the origin.

[0099] It should be noted that in the specific operation steps of obtaining the reference point of one reflector 110, there are steps of measuring the actual vertical angle and actual horizontal angle of the reflector 110. Such steps have slight errors. By taking the mean value of the reference points of multiple reflectors 110, the actual origin position can be closer to the theoretical origin position. On this basis, the range of the reference area 310 set based on the origin is more accurate, improving the accuracy of the angle detection of the reflector 110 of the radar 100.

[0100] In one embodiment, the method for obtaining the origin includes:

[0101] Define a standard reflector, and the deviation value between the actual angle and the designed angle of the standard reflector is less than a preset value;

[0102] Fix the standard reflector on the detection table;

[0103] The light beam is reflected by the standard reflector and reaches the projection area, and a reflection point is formed in the projection area, and the reflection point is the origin. Such a method for obtaining the origin is more efficient, but it improves the accuracy requirements for the standard reflector. In the actual production process, it can be selected according to requirements.

[0104] Step S30, fixing the reflector to the detection table.

[0105] In this step S30, set the light source 200.

[0106] It should be noted that the light source 200 in the step of obtaining the origin and the light source 200 used to subsequently detect whether the angle of the reflector 110 is qualified may or may not be the same.

[0107] It can be understood that in the subsequent detection of whether the angle of the reflector 110 is qualified, it is based on whether the reflection point 320 falls within the reference area 310. On this basis, it is preferable that the light spot of the reflection point 320 is a dot-shaped light spot, making the judgment process simpler and more accurate.

[0108] In the step of obtaining the origin, specifically in the step of fixing the reflector 110 on the detection table, the light beam is reflected by the reflector 110 and reaches the projection area 300, and a reflection point 320 is formed in the projection area 300. The reflection point 320 is a linear light spot or a dot-shaped light spot.

[0109] When it is a linear light spot, the reference point of one reflector 110 obtained is a vertical reference line or a horizontal reference line. In this way, when determining the reference area 310 subsequently, defining it centered on the vertical reference line or the horizontal reference line can make the reference area 310 more obvious. In addition, when both the vertical reference line and the horizontal reference line are obtained simultaneously, the intersection point of the two lines can be directly found, and this intersection point is the reference point of one reflector 110, making the method for obtaining the reference point of one reflector 110 simpler and improving the efficiency of obtaining the origin.

[0110] When it is a circular light spot, the light source 200 in the step of obtaining the origin and the light source 200 used to subsequently detect whether the angle of the reflector 110 is qualified are the same, reducing the cost of the angle detection process of the reflector 110.

[0111] It should be noted that after the position of the light source 200 used to subsequently detect whether the angle of the reflector 110 is qualified is determined, during the detection process of each reflector 110, the position of the light source 200 remains fixed, and the positions of the projection area 300 and the central axis of the reflector 110 also remain fixed. In this way, the detection steps of the reflector 110 are simplified, the detection efficiency of each reflector 110 is improved, and the production cost is reduced.

[0112] Step S40, defining the angle detection step of the reflector, includes: defining the reflection point, the light beam 210 is reflected by the reflector and reaches the projection area, and the reflection point is formed in the projection area. Based on whether the reflection point falls within the reference area, it is judged whether the angle of the reflector is qualified.

[0113] When detecting the angle of each mirror 110, the operator only needs to fix the mirror 110 on the detection table, irradiate the mirror 110 with the light beam 210, and the operator can visually judge whether the reflection point 320 falls within the reference area 310, so as to know whether the vertical field of view angle and / or the horizontal field of view angle of the mirror 110 is qualified. Such a detection method has few operation steps and high judgment efficiency of the result, and can improve the angle detection efficiency of the mirror 110.

[0114] In this embodiment, the defining of the reference area includes:

[0115] As Figure 2 shown, step S41, defining a horizontal reference area. Specifically, it includes:

[0116] Based on the origin, define an area that does not exceed a second preset distance in the positive horizontal direction and / or the negative horizontal direction from the origin as the horizontal reference area.

[0117] It should be noted that the values of the first preset distance and the second preset distance are interrelated.

[0118] As Figure 3 shown, the defining of the reference area further includes:

[0119] Step S42, defining a vertical reference area. Specifically, it includes:

[0120] Based on the origin, define an area that does not exceed a second preset distance in the positive vertical direction and / or the negative vertical direction from the origin as the vertical reference area.

[0121] Exemplarily, set the qualified standard for each mirror 110 as: the qualified deviation value between the actual vertical / horizontal angle and the designed vertical / horizontal angle is ±0.03°. Taking this qualified standard as the reference, when the first preset distance is 9000 mm, the calculated second preset distance is 4.7 mm. Translate the origin along the horizontal direction or the vertical direction by the second preset distance to obtain the reference area 310.

[0122] It can be understood that under the condition of the same qualified deviation value, the larger the first preset distance, the larger the second preset distance, satisfying: the second preset distance = the first preset distance * tan( deviation value). For example, when the first preset distance is 8000 mm, the calculated second distance is 2.6 mm.

[0123] Judging whether the angle of the mirror is qualified based on whether the reflection point falls within the reference area includes:

[0124] When the reflection point 320 falls within the horizontal reference area 310 / the vertical reference area 310, the vertical angle / the horizontal angle of the mirror 110 is qualified;

[0125] When the reflection point 320 falls within both the horizontal reference area 310 and the vertical reference area 310 simultaneously, both the vertical angle and the horizontal angle of the mirror 110 are qualified;

[0126] Otherwise, the angle of the mirror 110 is unqualified.

[0127] As Figure 1 shown, in one embodiment, when defining the horizontal reference area 310 and the vertical reference area 310 simultaneously, the reference area 310 is rectangular. When the reference point falls within the rectangular reference area 310, it indicates that the angles of the horizontal field of view and the vertical field of view of the surface mirror 110 meet the qualified standards. When the reference point falls outside the rectangular reference area 310, it indicates that the angles of the horizontal field of view and the vertical field of view of the surface mirror 110 do not meet the qualified standards.

[0128] For the qualified mirror 110, wipe the surface of the mirror 110 clean with a lint-free cloth dipped in alcohol to prevent impurities and fingerprints from remaining. Then install the pressure plate of the mirror 110 and lock the screws to fix it. Apply glue at the position of the glue application groove around the mirror 110, and irradiate it with an ultraviolet lamp and bake it in an incubator to solidify the glue. In this way, the position of the mirror 110 can be well fixed to prevent it from moving.

[0129] For the unqualified mirror 110, readjust the angle of the mirror 110 and perform the detection again until it is determined that the angle of the mirror 110 is qualified.

[0130] Please refer to Figure 5 , in this application, an angle detection device 1000 for a radar mirror is further provided, including: a light source module, a clamping module, an imaging module, and a detection module.

[0131] Among them, the light source module is used to emit a light beam 210 to cooperate with the steps of obtaining the origin and detecting the angle of the mirror 110.

[0132] The clamping module is used to fix the mirror 110 of the radar 100. Each mirror 110 to be detected is fixed at the same position, so that the detection standards for each mirror 110 are the same, improving production efficiency.

[0133] The imaging module is provided with a reference area 310. The light beam 210 irradiates the mirror 110 to form a reflection point 320 on the imaging module.

[0134] The detection module determines whether the angle of the mirror 110 is qualified based on whether the reflection point 320 falls within the reference area 310. In this way, the step of transporting the radar 100 to be detected between two workshops in the related art can be omitted, improving the detection efficiency of the angle of the mirror 110 of the radar 100.

[0135] Steps S10 to S40 provide a new, low-cost method that can effectively improve the detection efficiency of the angle of the mirror 110 of the radar 100, providing a technical basis for the rapid mass production of the radar 100.

[0136] In the related art, it takes about 6 minutes per trip to transport the radar 100 to be detected back and forth between the production workshop and the three-dimensional detection workshop. The detection method of the mirror 110 of the radar 100 in this solution does not require back-and-forth transportation between the two workshops, saving transportation time.

[0137] At the same time, in the related art, through three-dimensional detection, the specific vertical field of view angle and horizontal field of view angle of the mirror 110 can be obtained, and then based on the specific angles, it is determined whether the mirror 110 is qualified. Such a detection process takes a long time, about 3 minutes per unit.

[0138] This solution also provides an angle detection device 1000 for a radar mirror, including: a light source module for emitting a light beam 210; a clamping module for fixing the mirror 110; an imaging module provided with a reference area 310, the light beam 210 irradiates the mirror 110 to form a reflection point 320 on the imaging module; a detection module for determining whether the angle of the mirror 110 is qualified based on whether the reflection point 320 falls within the reference area 310.

[0139] Using the above-mentioned angle detection device 1000 for a radar mirror, it is not necessary to measure the specific vertical field of view angle and horizontal field of view angle of the mirror to determine whether the angle of each mirror is within the preset range, saving time, about 1 minute per unit, improving the detection efficiency of the radar mirror, greatly increasing the production efficiency and turnover efficiency, and ensuring the production rhythm.

[0140] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0141] Although the embodiments of this application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting this application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. An angle detection method for a radar mirror, characterized in that, it includes: Set a projection area, and set the projection area at a first preset distance from the detection table; Define a reference area, including: define an origin, and based on the origin, define an area within a second preset distance from the origin as the reference area; Fix the mirror to the detection table; Define the angle detection steps of the mirror, including: define a reflection point, the light beam is reflected by the mirror and reaches the projection area, and the reflection point is formed in the projection area. Based on whether the reflection point falls within the reference area, determine whether the angle of the mirror is qualified.

2. The angle detection method for a radar mirror according to claim 1, characterized in that, The method for obtaining the origin includes: obtaining a reference point of a mirror, including: Define an actual angle and a designed angle of a mirror, measure the actual angle of the mirror, and based on the actual angle, obtain the deviation angle between the actual angle and the designed angle; Based on the deviation angle, obtain the displacement generated in the projection area by the deviation angle at the first preset distance; Fix the mirror on the detection table; The light beam is reflected by the mirror and reaches the projection area, and a reflection point is formed in the projection area. Based on the displacement, move the reflection point backward by the distance of the displacement to obtain a reference point of a mirror.

3. The angle detection method for a radar mirror according to claim 2, characterized in that, The method for obtaining the origin further includes obtaining the mean value of the reference points of N mirrors, where N is a positive integer not less than 3, including: Obtain N mirrors, and repeat the steps of obtaining the reference point of a mirror for each mirror to obtain N reference points corresponding to the N mirrors respectively; Obtain the mean value point of the N reference points, and the mean value point is the origin.

4. The angle detection method for a radar mirror according to claim 2 or 3, characterized in that, The obtaining of the reference point of a mirror includes: Define an actual vertical angle / actual horizontal angle and a designed vertical angle / designed horizontal angle of a mirror, measure the actual vertical angle / actual horizontal angle of the mirror, and based on the actual vertical angle / actual horizontal angle, obtain the vertical deviation angle / horizontal deviation angle between the actual vertical angle / actual horizontal angle and the designed vertical angle / designed horizontal angle; Based on the vertical deviation angle / horizontal deviation angle, obtain the vertical displacement / horizontal displacement generated in the projection area by the vertical deviation angle / horizontal deviation angle at the first preset distance; Fix the mirror on the detection table; The light beam is reflected by the mirror and reaches the projection area, and a reflection point is formed in the projection area. Based on the vertical displacement / horizontal displacement, move the reflection point backward by the distance of the vertical displacement / horizontal displacement to obtain a vertical reference point / horizontal reference point of a mirror.

5. The angle detection method for a radar mirror according to claim 4, characterized in that, The obtaining of the reference point of a mirror further includes: Define a vertical line / horizontal line, where the vertical line / horizontal line is the line on which the vertical reference point / horizontal reference point lies, and the point where the vertical line and the horizontal line intersect perpendicularly is the reference point of the reflector.

6. The method for detecting the angle of a radar reflector according to claim 1, wherein, the method for obtaining the origin includes: Define a standard reflector, and the deviation value between the actual angle and the designed angle of the standard reflector is less than a preset value; Fix the standard reflector on the detection table; The light beam is reflected by the standard reflector and reaches the projection area, and a reflection point is formed in the projection area, and the reflection point is the origin.

7. The method for detecting the angle of a radar reflector according to claim 1, 2 or 3, wherein, the defining of the reference area includes: defining a horizontal reference area: Based on the origin, define an area that does not exceed a second preset distance in the positive horizontal direction and / or negative horizontal direction from the origin as the horizontal reference area.

8. The method for detecting the angle of a radar reflector according to claim 7, wherein, the defining of the reference area includes: defining a vertical reference area: Based on the origin, define an area that does not exceed a second preset distance in the positive vertical direction and / or negative vertical direction from the origin as the vertical reference area.

9. The method for detecting the angle of a radar reflector according to claim 8, wherein, the judging whether the angle of the reflector is qualified based on whether the reflection point falls within the reference area includes: When the reflection point falls within the horizontal reference area / vertical reference area, the vertical angle / horizontal angle of the reflector is qualified; When the reflection point falls within both the horizontal reference area and the vertical reference area, both the vertical angle and the horizontal angle of the reflector are qualified; Otherwise, the angle of the reflector is unqualified.

10. An angle detection device for a radar reflector, wherein, it includes: A light source module for emitting a light beam; A clamping module for fixing the reflector of the radar; An imaging module provided with a reference area, and the light beam irradiates the reflector to form a reflection point on the imaging module; A detection module for judging whether the angle of the reflector is qualified based on whether the reflection point falls within the reference area.

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