Laser radar testing device and laser radar testing method

Abstract

The invention relates to the technical field of radar testing, and provides a laser radar testing device and a laser radar testing method. The laser radar testing device comprises a first sliding mechanism, a mounting mechanism, a second sliding mechanism, a reflecting plate and a first position detection device, the first sliding mechanism comprises a first sliding rail and a first sliding table, and the first sliding table is slidably arranged on the first sliding rail; the mounting mechanism comprises a supporting rod and a rotary mounting table, the supporting rod is mounted on the first sliding table, the rotary mounting table is rotatably mounted on the supporting rod in the third direction, and the second sliding mechanism comprises a second sliding rail and a second sliding table; the reflecting plate is vertically arranged on the second sliding table. The first position detection device confirms that the to-be-tested laser radar moves in place, the rotary mounting table drives the to-be-tested laser radar to rotate around the third direction until the detection probability reaches the preset probability, the detection probability can be objectively and accurately measured, angle testing of the to-be-tested laser radar is completed, and objectivity and accuracy of angle testing of the laser radar are improved.

Description

Technical Field

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

[0002] LiDAR automated testing is a crucial technology in the field of LiDAR testing. LiDAR needs to be tested in a variety of scenarios. For example, during the development of any model of LiDAR, the whole machine verification of LiDAR is required; for example, when any model of LiDAR is mass-produced, it is necessary to test whether each key parameter meets the standard; for example, when automobile OEMs select LiDAR, they need to conduct comparative tests to obtain the key performance parameters of different models of LiDAR.

[0003] However, existing LiDAR angle tests are generally performed manually, resulting in large test errors and a certain degree of subjectivity in manually recording data during the test, all of which can lead to inaccurate test results. Summary of the invention

[0004] The purpose of the present invention is to provide a laser radar testing device and a laser radar testing method, aiming to solve the technical problem that the existing laser radar angle test results are not accurate enough.

[0005] In a first aspect, the present application provides a laser radar test device, wherein the laser radar test device has a first direction, a second direction, and a third direction that are perpendicular to each other, and the laser radar test device comprises:

[0006] A first sliding mechanism, the first sliding mechanism comprising a first sliding rail and a first sliding platform, the first sliding rail extending along the first direction, the first sliding platform being slidably disposed on the first sliding rail;

[0007] A mounting mechanism, the mounting mechanism comprising a support rod and a rotating mounting platform, the support rod being mounted on the first sliding platform, the support rod extending along the third direction, the rotating mounting platform being rotatably mounted on the support rod around the third direction, and the rotating mounting platform being used to mount the laser radar to be tested;

[0008] a second sliding mechanism, the second sliding mechanism comprising a second sliding rail and a second sliding platform, the second sliding rail extending along the second direction, the second sliding platform being slidably disposed on the second sliding rail;

[0009] a reflective plate, the reflective plate being vertically arranged on the second sliding platform, the reflective plate being perpendicular to the second direction, and the reflective plate having two opposite first edges in the first direction;

[0010] A first position detection device, wherein the first position detection device is used to detect whether a line connecting a distance measurement center of the laser radar to be tested and one of the first edges is perpendicular to the reflector.

[0011] In one embodiment, there are multiple first position detection devices, and the multiple first position detection devices are installed on the first slide rail at preset intervals along the first direction.

[0012] In one of the embodiments, the first sliding platform is connected to a first stopper, and the first stopper cooperates with the first position detection device to detect whether the first sliding platform is located at the corresponding first position detection device.

[0013] In one embodiment, the rotating mounting platform is slidably disposed on the supporting rod via a lifting platform.

[0014] In one of the embodiments, the reflective plate has two opposite second edges in the third direction, and the laser radar testing device also includes a second position detection device, which is used to detect whether a line connecting the ranging center of the laser radar to be tested and the midpoint of one of the second edges is perpendicular to the reflective plate, and the rotating mounting platform can also be rotatably mounted on the lifting platform around the first direction.

[0015] In one embodiment, the number of the second position detection devices is at least two, the second position detection devices are mounted on the support rod, and the second position detection devices are used to detect whether the rotating mounting platform is located at a preset position of the support rod;

[0016] The rotating mounting platform or the lifting platform is connected to a second stopper, and the second stopper cooperates with the second position detection device to detect whether the rotating mounting platform is located at the corresponding second position detection device.

[0017] In one of the embodiments, the laser radar testing device further includes at least two third position detection devices, the third position detection devices are mounted on the second slide rail, and the third position detection devices are used to detect whether the second slide platform is located at a preset position of the second slide rail;

[0018] The second sliding platform is connected to a third stopper, and the third stopper cooperates with the third position detection device to detect whether the second sliding platform is located at the corresponding third position detection device.

[0019] In one embodiment, the laser radar testing device also includes a third sliding table, which is slidably mounted on the second sliding table along the second direction, and the reflective plate is mounted on the third sliding table. The third sliding table is connected to a fourth stopper, and the fourth stopper cooperates with the third position detection device to detect whether the third sliding table is located at the corresponding third position detection device.

[0020] In one of the embodiments, the laser radar testing device further includes a host computer, which is electrically connected to the first sliding table, the second sliding table, the rotating mounting table and the first position detection device respectively.

[0021] In a second aspect, the present application provides a laser radar testing method, which is applied to the laser radar testing device, and the laser radar testing method comprises the following steps:

[0022] S100: Install the laser radar to be tested on a rotating mounting table;

[0023] S200: moving the first sliding platform along a first direction until the first position detection device detects that a line connecting the distance measurement center of the laser radar to be tested and a first edge of the reflective plate is perpendicular to the reflective plate;

[0024] S300: Rotate the rotating mounting platform around a third direction until the detection probability of the laser radar to be tested reaches a preset probability, and obtain first rotation angle information of the rotating mounting platform.

[0025] In one embodiment, the method further includes: moving the second sliding platform to a plurality of positions along the second direction respectively, and acquiring first rotation angle information of the corresponding rotating mounting platform.

[0026] In one embodiment, the method further comprises:

[0027] S400: moving the rotating mounting table along the third direction until a line connecting the ranging center of the laser radar to be tested and the midpoint of a second edge of the reflector is perpendicular to the reflector; wherein the second edge is an edge of the reflector in the third direction;

[0028] S500: Rotate the rotating mounting platform around the first direction until the detection probability of the laser radar to be tested reaches a preset probability, and obtain second rotation angle information of the rotating mounting platform.

[0029] In one embodiment, the method further includes: moving the second sliding platform to a plurality of positions along the second direction respectively, and acquiring the corresponding second rotation angle information of the rotating mounting platform.

[0030] In one embodiment, the method further comprises:

[0031] S600: moving the first sliding platform along the first direction and the third direction until a line connecting the ranging center of the laser radar to be tested and the center of the reflector is perpendicular to the reflector;

[0032] S700: Detecting, by a third position detection device, that the second sliding platform is located at a marked position of the second sliding rail;

[0033] S800: The laser radar to be tested measures the distance information between itself and the reflector to obtain first distance information.

[0034] In one of the embodiments, the method further includes: moving the second sliding platform to a plurality of calibration positions along the second direction respectively to obtain the corresponding first distance information.

[0035] The beneficial effects of the laser radar testing device and the laser radar testing method provided by the present invention are as follows: the second sliding platform drives the reflecting plate to move along the second direction to a certain distance from the laser radar to be tested, the first sliding platform drives the laser radar to be tested to move along the first direction until the line connecting the ranging center of the laser radar to be tested and the first edge of the reflecting plate is perpendicular to the reflecting plate, the first position detection device confirms that the laser radar to be tested has moved into place, the rotating mounting platform drives the laser radar to be tested to rotate around the third direction until the detection probability reaches the preset probability, the detection probability can be measured objectively and accurately, the first rotation angle of the rotating mounting platform at this time is obtained, and the angle test of the laser radar to be tested is completed, which solves the technical problem that the existing laser radar angle test results are not accurate enough, thereby improving the objectivity and accuracy of the laser radar angle test. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0037] Figure 1 A schematic diagram of the structure of a laser radar testing device provided in an embodiment of the present invention;

[0038] Figure 2 Another structural schematic diagram of a laser radar testing device provided by an embodiment of the present invention;

[0039] Figure 3 for Figure 2 A top view of the lidar test setup in FIG.

[0040] Figure 4 for Figure 2 A front view of the lidar test device in FIG.

[0041] Figure 5 for Figure 2 Right view of the lidar test device in FIG.

[0042] Figure 6 for Figure 2 Left view of the lidar test device in FIG.

[0043] Figure 7 Schematic diagram of the process of the laser radar testing method in the embodiment.

[0044] Among them, the reference numerals in the figure are:

[0045] X, first direction; Y, second direction; Z, third direction;

[0046] 10. LiDAR to be tested;

[0047] 100, first sliding mechanism; 110, first sliding rail; 120, first sliding platform;

[0048] 200, mounting mechanism; 210, support rod; 220, rotating mounting platform; 230, lifting platform;

[0049] 300, second sliding mechanism; 310, second slide rail; 320, second sliding platform; 330, third sliding platform;

[0050] 400, reflecting plate; 401, first edge; 402, second edge;

[0051] 510, first position detection device; 520, first stopper; 530, second position detection device; 540, second stopper; 550, third position detection device; 560, third stopper; 570, fourth stopper;

[0052] 600. Host computer. DETAILED DESCRIPTION

[0053] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0054] Reference throughout the specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, when the phrases "in one embodiment" or "in some embodiments" appear in various places throughout the specification, not all references are to the same embodiment. Furthermore, in one or more embodiments, the particular features, structures, or characteristics may be combined in any suitable manner.

[0055] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0056] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0057] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] Embodiment 1

[0059] Please refer to Figure 1 and Figure 2, the laser radar test device provided in the present application has a first direction X, a second direction Y and a third direction Z which are perpendicular to each other. The laser radar test device includes a first sliding mechanism 100, a mounting mechanism 200, a second sliding mechanism 300, a reflector 400 and a first position detection device 510. The first sliding mechanism 100 includes a first slide rail 110 and a first sliding table 120, the first slide rail 110 extends along the first direction X, and the first sliding table 120 is slidably disposed on the first slide rail 110. The mounting mechanism 200 includes a support rod 210 and a rotating mounting table 220, the support rod 210 is mounted on the first sliding table 120, the support rod 210 extends along the third direction Z, the rotating mounting table 220 can be rotatably mounted on the support rod 210 around the third direction Z, and the rotating mounting table 220 is used to install the laser radar 10 to be tested. The second sliding mechanism 300 includes a second slide rail 310 and a second slide table 320, the second slide rail 310 extends along the second direction Y, and the second slide table 320 is slidably disposed on the second slide rail 310. The reflector 400 is vertically disposed on the second sliding platform 320 , and the reflector 400 is perpendicular to the second direction Y. The reflector 400 has two opposite first edges 401 in the first direction X. The first position detection device 510 is used to detect whether the line connecting the distance measurement center of the laser radar 10 to be tested and one of the first edges 401 is perpendicular to the reflector 400 .

[0060] Among them, the second sliding platform 320 drives the reflector 400 to move along the second direction Y to a certain distance from the laser radar 10 to be tested (for example, 3m to 8m), and the first sliding platform 120 drives the laser radar 10 to be tested to move along the first direction X until the line connecting the ranging center of the laser radar 10 to be tested and the first edge 401 of the reflector 400 (that is, a straight line passing through the ranging center and perpendicular to the first edge 401, such as a line connecting the ranging center of the laser radar 10 to be tested and the midpoint of the first edge 401 of the reflector 400) is perpendicular to the reflector 400, the first position detection device 510 confirms that the laser radar 10 to be tested has moved into place, and the rotating mounting platform 220 drives the laser radar 10 to be tested to rotate around the third direction Z until the detection probability (probablity The detection probability can be measured objectively and accurately when the preset probability (for example, 40% to 60%) of detection is reached, and the test error caused by human subjective initiative is eliminated, making the test result more accurate and fair, thereby obtaining the first rotation angle of the rotating mounting table 220 at this time, obtaining key parameters such as the horizontal field of view angle and the horizontal angle resolution of the laser radar 10 to be tested, completing the angle test of the laser radar 10 to be tested, solving the technical problem that the existing laser radar angle test results are not accurate enough, and improving the objectivity and accuracy of the laser radar angle test.

[0061] In a specific embodiment, the corresponding position true value calibration is performed before the test starts. After the test starts, the second sliding table 320 slides along the second slide rail 310 to the calibration distance of 5m. At this time, the second sliding table 320 stops moving, that is, the reflector 400 stops moving, and the distance between the reflector 400 and the laser radar 10 to be tested in the second direction Y is 5m. The first sliding table 120 slides along the first slide rail 110 until the first position detection device 510 detects that the line connecting the distance measurement center of the laser radar 10 to be tested and the first edge 401 on the left is perpendicular to the reflector 400, and the first sliding table 120 stops sliding. The rotating mounting table 220 rotates around the third direction Z to move the measuring point toward the first edge 401 on the left side of the reflector 400, and starts to measure the distance of the measuring point at the same time. When the POD is closest to 50%, the current first rotation angle of the rotating mounting table 220 is recorded.

[0062] If only the horizontal angle resolution and horizontal field of view angle of one side need to be tested, the test of the current calibration distance is completed. If the horizontal angle resolution and horizontal field of view angle of both sides need to be tested, the first sliding platform 120 slides along the first slide rail 110 until the first position detection device 510 detects that the line connecting the distance measurement center of the laser radar 10 to be tested and the first edge 401 on the right side is perpendicular to the reflector 400, and the first sliding platform 120 stops sliding. The rotating mounting table 220 rotates around the third direction Z to move the measuring point toward the first edge 401 on the right side of the reflector 400, and starts to measure the distance of the measuring point at the same time. When the POD is closest to 50%, the current first rotation angle of the rotating mounting table 220 is recorded.

[0063] Combination Figure 3 If there is only one calibration distance, the horizontal angle resolution and horizontal field of view angle test of the current calibration distance are completed. If there are multiple calibration distances, the second slide table 320 is slid along the second slide rail 310 to different calibration positions in sequence, for example, 0.1m, 0.2m, 0.3m, ..., 2.4m, 2.5m, 3m, 10m, 20m, 30m, 40m, 50m, and the first rotation angle of all calibration positions is obtained, so as to realize the automatic test of the horizontal angle of the laser radar 10 to be tested.

[0064] Specifically, the length of the first slide rail 110 is greater than or equal to 2 m, for example, the length of the first slide rail 110 is 2 m, 3 m, 5 m, 8 m, 10 m, 15 m or 20 m. Optionally, the length of the first slide rail 110 is 2 m to 5 m.

[0065] Specifically, the sliding accuracy of the first sliding table 120 on the first slide rail 110 is 0.1 mm to 10 mm. For example, the sliding accuracy of the first sliding table 120 on the first slide rail 110 is 0.1 mm, 0.2 mm, 0.5 mm, 1 mm, 2 mm, 5 mm or 10 mm.

[0066] Specifically, the length of the second slide rail 310 is greater than or equal to 20 m, for example, the length of the second slide rail 310 is 20 m, 30 m, 50 m, 80 m, 100 m, 150 m or 200 m. Optionally, the length of the second slide rail 310 is 50 m to 300 m.

[0067] Specifically, the sliding accuracy of the second sliding table 320 on the second slide rail 310 is 5 mm to 10 mm. For example, the sliding accuracy of the second sliding table 320 on the second slide rail 310 is 5 mm, 6 mm, 7 mm, 8 mm, 9 mm or 10 mm.

[0068] Specifically, the length of the reflector 400 is 0.5m to 3m, for example, the length of the reflector 400 is 0.5m, 1m, 2m or 3m. The width of the reflector 400 is 0.5m to 3m, for example, the width of the reflector 400 is 0.5m, 1m, 2m or 3m. Optionally, the length and width of the reflector 400 are equal. For example, the size of the reflector 400 is 1m*1m.

[0069] Specifically, the reflectivity of the reflective plate 400 is 5% to 300%. For example, the reflectivity of the reflective plate 400 is 5%, 10%, 50%, 100%, 200% or 300%.

[0070] In some embodiments, in combination Figure 1 The laser radar testing device also includes a host computer 600, which is electrically connected to the first sliding table 120, the second sliding table 320, the rotating mounting table 220 and the first position detection device 510 respectively.

[0071] Specifically, the host computer 600 is electrically connected to the first slide table 120, and can automatically obtain the position of the first slide table 120 to determine whether the first slide table 120 moves in place on the first slide rail 110. Optionally, the first slide table 120 is configured with a first driving member, and the host computer 600 is electrically connected to the first driving member to control the first slide table 120 to automatically slide on the first slide rail 110. The first driving member can optionally drive a motor or a driving cylinder. For example, the first driving member is a servo motor.

[0072] Specifically, the host computer 600 is electrically connected to the second slide table 320, and can automatically obtain the position of the second slide table 320 to determine whether the second slide table 320 moves in place on the second slide rail 310. Optionally, the second slide table 320 is configured with a second drive member, and the host computer 600 is electrically connected to the second drive member to control the second slide table 320 to automatically slide on the second slide rail 310. The second drive member can optionally drive a motor or a drive cylinder. For example, the second drive member is a stepping motor.

[0073] Specifically, the host computer 600 is electrically connected to the rotating mounting table 220, and can automatically obtain the horizontal rotation angle information of the rotating mounting table 220 to automatically record the first rotation angle. Optionally, the rotating mounting table 220 is configured with a third driving member, and the host computer 600 is electrically connected to the third driving member to control the rotating mounting table 220 to automatically rotate around the third direction Z. The third driving member can optionally drive a motor or a driving cylinder. For example, the third driving member is a servo motor.

[0074] In one embodiment, the first position detection device 510 is a limit sensor. Compared with the traditional method of manually using a rangefinder to obtain the true value of the distance, adding a limit sensor to the device to calibrate the true value of the distance can efficiently and accurately calibrate the distance.

[0075] Specifically, the host computer 600 is electrically connected to the first position detection device 510 and can automatically obtain detection information of the first position detection device 510 to automatically control whether the first sliding platform 120 stops moving.

[0076] Specifically, the host computer 600 is electrically connected to the laser radar 10 to be tested, so as to obtain the measurement points, ranging data and POD of the laser radar 10 to be tested, and automatically compare the key performance parameters of the laser radar 10 to be tested.

[0077] In one embodiment, in combination Figure 4 , the number of the first position detection devices 510 is multiple, and the multiple first position detection devices 510 are installed on the first slide rail 110 at preset intervals along the first direction X. In this way, according to the distance of the laser radar 10 to be tested relative to the first sliding platform 120 in the first direction X, and the distance of the first edge 401 of the reflector 400 relative to the first slide rail 110 in the first direction X, the multiple first position detection devices 510 are used to calibrate when the line connecting the center of the laser radar 10 to be tested and the first edge 401 is located in the second direction Y, so as to accurately and objectively detect whether the line connecting the ranging center of the laser radar 10 to be tested and the first edge 401 is perpendicular to the reflector 400.

[0078] For example, one of the first position detection devices 510 is used to detect whether the line connecting the center of the laser radar 10 to be tested and the center of the reflective plate 400 is perpendicular to the reflective plate 400, and the other two first position detection devices 510 are used to detect whether the line connecting the center of the laser radar 10 to be tested and the first edge 401 is perpendicular to the reflective plate 400. The other first position detection devices 510 can meet the alignment detection of the first edge 401 of reflective plates 400 of different specifications and sizes.

[0079] In one embodiment, the first slide table 120 is connected to a first stopper 520, and the first stopper 520 cooperates with the first position detection device 510 to detect whether the first slide table 120 is located at the corresponding first position detection device 510. Through the cooperation between the first stopper 520 and the first position detection device 510, it is possible to accurately detect whether the first slide table 120 is located at the corresponding first position detection device 510, improve the precise control and accurate reading of the position of the first slide table 120, avoid the accumulation of position errors, and realize automatic control.

[0080] In one embodiment, in combination Figure 1 and Figure 4 The rotating mounting platform 220 is slidably arranged on the support rod 210 through the lifting platform 230, so that the rotating mounting platform 220 and the laser radar 10 to be tested can move along the third direction Z, thereby increasing the moving range of the laser radar 10 to be tested, obtaining test data at different positions in the third direction Z, and improving the comprehensiveness and accuracy of the test. For example, when obtaining the horizontal field of view angle, the line connecting the distance measurement center of the laser radar 10 to be tested and the midpoint of one of the first edges 401 is adjusted to be perpendicular to the reflector 400.

[0081] Specifically, the host computer 600 is electrically connected to the lifting platform 230, and can automatically obtain the position of the lifting platform 230 to determine whether the lifting platform 230 moves on the support rod 210. Optionally, the lifting platform 230 is equipped with a fourth driving member, and the host computer 600 is electrically connected to the fourth driving member to control the lifting platform 230 to automatically slide on the support rod 210. The fourth driving member can optionally drive a motor or a driving cylinder. For example, the fourth driving member is a servo motor.

[0082] In one of the embodiments, the reflective plate 400 has two opposite second edges 402 in the third direction Z, and the laser radar testing device also includes a second position detection device 530, which is used to detect whether the line connecting the ranging center of the laser radar 10 to be tested and the midpoint of one of the second edges 402 is perpendicular to the reflective plate 400, and the rotating mounting platform 220 can also be rotatably mounted on the lifting platform 230 around the first direction X.

[0083] Among them, the second sliding platform 320 drives the reflector 400 to move along the second direction Y to a certain distance from the laser radar 10 to be tested (for example, 3m~8m), the lifting platform 230 drives the laser radar 10 to be tested to move along the third direction Z until the line connecting the ranging center of the laser radar 10 to be tested and the second edge 402 of the reflector 400 is perpendicular to the reflector 400, and the rotating mounting platform 220 drives the laser radar 10 to be tested to rotate around the first direction X until the detection probability (probablity of detection, POD) reaches a preset probability (for example, 40%~60%). The detection probability can be measured objectively and accurately, eliminating the test error caused by human subjective initiative, making the test result more accurate and fair, thereby obtaining the second rotation angle of the rotating mounting platform 220 at this time, and obtaining key parameters such as the vertical field of view angle and vertical angle resolution of the laser radar 10 to be tested, thereby improving the objectivity and accuracy of the laser radar angle test.

[0084] Specifically, the host computer 600 is electrically connected to the second position detection device 530 and can automatically obtain detection information of the second position detection device 530 to automatically control whether the lifting platform 230 stops moving.

[0085] Specifically, the host computer 600 is electrically connected to the rotating mounting table 220, and can automatically obtain the pitch angle information of the rotating mounting table 220 to automatically record the second angle. Optionally, the rotating mounting table 220 is configured with a fifth driving member, and the host computer 600 is electrically connected to the fifth driving member to control the rotating mounting table 220 to automatically rotate around the first direction X. The fifth driving member can optionally drive a motor or a driving cylinder. For example, the fifth driving member is a servo motor.

[0086] In one embodiment, in combination Figure 4 There are at least two second position detection devices 530 , and the second position detection devices 530 are installed on the support rod 210 . The second position detection devices 530 are used to detect whether the rotating mounting platform 220 is located at a preset position of the support rod 210 .

[0087] In this way, according to the distance of the laser radar 10 to be tested relative to the first sliding platform 120 in the third direction Z, and the distance of the second edge 402 of the reflecting plate 400 relative to the first sliding rail 110 in the third direction Z, calibration is performed with the help of multiple second position detection devices 530 when the line connecting the center of the laser radar 10 to be tested and the second edge 402 is located in the second direction Y, so as to accurately and objectively detect whether the line connecting the ranging center of the laser radar 10 to be tested and the second edge 402 is perpendicular to the reflecting plate 400.

[0088] For example, one of the second position detection devices 530 is used to detect whether the line connecting the center of the laser radar 10 to be tested and the center of the reflective plate 400 is perpendicular to the reflective plate 400, and the other two second position detection devices 530 are used to detect whether the line connecting the center of the laser radar 10 to be tested and the second edge 402 is perpendicular to the reflective plate 400. The other second position detection devices 530 can meet the alignment detection of the second edge 402 of reflective plates 400 of different specifications and sizes.

[0089] In one embodiment, in combination Figure 1 The rotating mounting platform 220 or the lifting platform 230 is connected with a second stopper 540, and the second stopper 540 cooperates with the second position detection device 530 to detect whether the rotating mounting platform 220 is located at the corresponding second position detection device 530. Through the cooperation between the second stopper 540 and the second position detection device 530, it is possible to accurately detect whether the rotating mounting platform 220 or the lifting platform 230 is located at the corresponding second position detection device 530, thereby improving the precise control and accurate reading of the position of the laser radar 10 to be tested in the third direction Z, avoiding the accumulation of position errors, and realizing automatic control.

[0090] In one embodiment, in combination Figure 1 , Figure 5 and Figure 6 The laser radar test device further includes at least two third position detection devices 550, which are mounted on the second slide rail 310 and are used to detect whether the second slide table 320 is located at a preset position of the second slide rail 310. In this way, the second slide table 320 is controlled to be accurately positioned on the second slide rail 310 by means of at least two third position detection devices 550, so as to accurately and objectively detect the ranging parameters of the laser radar 10 to be tested.

[0091] Specifically, before the test starts, the third position detection device 550 performs the corresponding position true value calibration. After the test starts, the first sliding table 120 slides along the first direction X, so that the line connecting the distance measurement center of the laser radar 10 to be tested and the center of the reflector 400 is perpendicular to the reflector 400, triggering the corresponding first position detection device 510. The second sliding table 320 slides along the second slide rail 310 to a specific distance, triggering the third position detection device 550. At this time, the second sliding table 320 stops sliding, and the laser radar 10 to be tested automatically measures the distance to the measurement point. After the distance measurement is completed, the data is recorded, and the above process is repeated to measure the distance at the next calibration distance, thereby realizing the automatic distance measurement of the laser radar, and the key parameters such as the distance blind area, the proximity measurement capability, the minimum measurement range, the distance measurement accuracy, and the plane accuracy of the laser radar 10 to be tested can be automatically tested.

[0092] For example, there can be multiple calibration distances, then at least two third position detection devices 550 are arranged along the second slide rail 310 at different calibration positions from the rotating mounting table 220 (i.e., the laser radar 10 to be tested), for example, 0.1m, 0.2m, 0.3m, ..., 2.4m, 2.5m, 3m, 10m, 20m, 30m, 40m, 50m, to obtain the first angle, second angle or first distance information at multiple sets of calibration distances, thereby improving the comprehensiveness and accuracy of the test.

[0093] Specifically, the second sliding table 320 is connected to a third stopper 560, and the third stopper 560 cooperates with the third position detection device 550 to detect whether the second sliding table 320 is located at the corresponding third position detection device 550. Through the cooperation between the third stopper 560 and the third position detection device 550, it is possible to accurately detect whether the second sliding table 320 is located at the corresponding third position detection device 550, thereby improving the precise control and accurate reading of the position of the laser radar 10 to be tested in the second direction Y, avoiding the accumulation of position errors, and realizing automatic control.

[0094] In one embodiment, in combination Figure 1 , Figure 5 and Figure 6 The laser radar test device further includes a third sliding table 330, which is slidably mounted on the second sliding table 320 along the second direction Y, and the reflector 400 is mounted on the third sliding table 330. The second sliding table 320 can realize the rapid movement of the reflector 400 in the second direction Y, and the third sliding table 330 can realize the precise movement of the reflector 400 in the second direction Y. The second sliding table 320 and the third sliding table 330 are combined to move the reflector 400 in the form of secondary positioning, and the reflective surface can be automatically moved to the position of the specified distance without manual distance measurement, and the distance calibration of the test is also more efficient and accurate.

[0095] Specifically, the third sliding platform 330 is connected to a fourth stopper 570, and the fourth stopper 570 cooperates with the third position detection device 550 to detect whether the third sliding platform 330 is located at the corresponding third position detection device 550. Through the cooperation of the fourth stopper 570 and the third position detection device 550, it is possible to accurately detect whether the third sliding platform 330 is located at the corresponding third position detection device 550, thereby improving the precise control and accurate reading of the position of the laser radar 10 to be tested in the second direction Y, avoiding the accumulation of position errors, and realizing automatic control.

[0096] Specifically, the sliding accuracy of the third sliding table 330 on the second sliding table 320 is 0.1 mm to 3 mm. For example, the sliding accuracy of the third sliding table 330 on the second sliding table 320 is 0.1 mm, 0.5 mm, 0.8 mm, 1 mm, 2 mm or 3 mm.

[0097] Specifically, the host computer 600 is electrically connected to the third slide table 330, and can automatically obtain the position of the third slide table 330 to determine whether the third slide table 330 moves on the second slide rail 310. Optionally, the third slide table 330 is configured with a sixth drive member, and the host computer 600 is electrically connected to the sixth drive member to control the third slide table 330 to automatically slide on the second slide table 320. The sixth drive member can optionally drive a motor or a drive cylinder. For example, the sixth drive member is a servo motor.

[0098] Combination Figure 1 , the following introduces the detailed test process of the laser radar test device with specific structure:

[0099] First, automatic distance measurement. Before the test starts, the corresponding position true value calibration is done, the distance parameters to be measured are input into the host computer 600, the laser radar 10 to be tested establishes a communication connection with the host computer 600, and the information of the point to be measured is input into the host computer 600. After the test starts, the host computer 600 simultaneously sends a signal to the first driving member driving the first sliding platform 120 and the fourth driving member driving the lifting platform 230, so that the first driving member and the fourth driving member move the laser radar 10 to be tested to the position where "the line connecting its distance measurement center and the center of the reflector 400 is perpendicular to the reflector 400" (this position is calibrated in advance), and successively trigger the corresponding first position detection device 510 and the second position detection device 530, the first position detection device 510 and the second position detection device 530 feedback signals to the host computer 600, and send corresponding stop signals to the first driving member and the fourth driving member, and the laser radar 10 to be tested stops moving. Then, the host computer 600 sends a signal to the second driving member driving the second sliding table 320, so that the second driving member moves the second sliding table 320 to a specific distance, triggering the third position detection device 550, and the third position detection device 550 feedbacks a signal to the host computer 600, and the host computer 600 sends a stop signal to the second driving member, and then sends a signal to the sixth driving member driving the third sliding table 330, so that the third sliding table 330 moves the secondary positioning device, triggering the third position detection device 550, and the third position detection device 550 feedbacks a signal to the host computer 600, and the host computer 600 records the distance corresponding to the third position detection device 550 and sends a stop signal to the sixth drive component. At this time, the reflector 400 stops moving, and then the host computer 600 starts to automatically measure the distance of the measuring point. After the distance measurement is completed, the data is recorded and the sixth drive component is driven to automatically reset to the initial position. Then the host computer 600 sends a drive signal to the second drive component, and the above process is repeated for the next distance measurement, thereby realizing the automatic distance measurement of the laser radar, and automatically testing key parameters such as distance blind area, proximity measurement capability, minimum measurement range, distance measurement accuracy, and plane accuracy.

[0100] Second, automatic angle measurement. Before the test starts, the corresponding position true value calibration is done, the angle parameters to be measured are input into the host computer 600, the laser radar 10 to be tested establishes a communication connection with the host computer 600, and the information of the point to be measured is input into the host computer 600. After the test starts, the host computer 600 sends a signal to the second driving member, so that the second sliding table 320 moves the sliding table to a specific distance (5m), triggers the third position detection device 550, and the third position detection device 550 feedbacks a signal to the host computer 600. The host computer 600 sends a stop signal to the second driving member, and then sends a signal to the sixth driving member, so that the third sliding table 330 moves the secondary positioning device, triggers the third position detection device 550, and the third position detection device 550 feedbacks a signal to the host computer 600. The host computer 600 records the distance corresponding to the sensor and sends a stop signal to the motor 3. At this time, the reflector 400 stops moving. Then the host computer 600 simultaneously sends a signal to the first driving member and the fourth driving member respectively, so that the first sliding platform 120 and the lifting platform 230 work together to move the laser radar 10 to be tested to the position where "the line connecting its ranging center and the midpoint of the first edge 401 of the reflecting plate 400 is perpendicular to the reflecting plate 400" (this position is calibrated in advance), and then the host computer 600 sends a signal to the third driving member to make it rotate horizontally, so that the measuring point moves toward the first edge 401 of the reflecting plate 400. At the same time, the host computer 600 starts to automatically measure the distance to the measuring point. When the POD is closest to 50%, the first angle of the current third driving member is automatically recorded, and the automatic ranging of the next adjacent measuring point is started, and the first angle is automatically recorded, so as to realize the automatic test of the horizontal angle of the laser radar 10 to be tested. The host computer 600 again simultaneously sends a signal to the first driving member and the fourth driving member respectively, so that the first sliding platform 120 and the lifting platform 230 work together to move the laser radar 10 to be tested to the position where "the line connecting its ranging center and the midpoint of the second edge 402 of the reflecting plate 400 is perpendicular to the reflecting plate 400" (this position is calibrated in advance), and then the host computer 600 sends a signal to the fifth driving member to make it pitch and rotate, so that the measuring point moves toward the second edge 402 of the reflecting plate 400. At the same time, the host computer 600 starts to automatically measure the distance of the measuring point. When the POD is closest to 50%, the second angle of the current electric turntable is automatically recorded, and the automatic ranging of the next adjacent measuring point is started, and the second angle is automatically recorded, so as to realize the automatic test of the vertical angle of the laser radar 10 to be tested, and the key parameters such as horizontal / vertical angle resolution and horizontal / vertical field of view can be automatically tested.

[0101] Third, full automation. The above key performance parameter test items are sorted in order, and some logical judgments are added in the host computer 600 so that the test completion signal of the previous key parameter automatically triggers the test start signal of the next key parameter, thereby achieving full automation of the above key parameters.

[0102] Therefore, the laser radar testing device provided in Example 1 first replaces the traditional manual testing with automated testing, thereby saving a lot of testing time and greatly improving testing efficiency; secondly, it automatically calibrates the distance and angle, replacing the traditional manual calibration, reducing the testing errors caused by human subjectivity and making the test results more accurate.

[0103] Embodiment 2

[0104] Combination Figure 7 The laser radar test method provided in this application is applied to the laser radar test device in Example 1. The laser radar test method includes the following steps:

[0105] S100: Install the laser radar 10 to be tested on the rotating mounting platform 220 .

[0106] S200 : Move the first sliding platform 120 along the first direction X until the first position detection device 510 detects that a line connecting the distance measurement center of the laser radar 10 to be tested and a first edge 401 of the reflective plate 400 is perpendicular to the reflective plate 400 .

[0107] S300: Rotate the rotating mounting platform 220 around the third direction Z until the detection probability of the laser radar 10 to be tested reaches a preset probability, and obtain first rotation angle information of the rotating mounting platform 220.

[0108] In this way, the first rotation angle of the rotating mounting table 220 is automatically obtained, and key parameters such as the horizontal field of view angle and horizontal angle resolution of the laser radar 10 to be tested are obtained, so that the angle test of the laser radar 10 to be tested is completed, thereby improving the objectivity and accuracy of the laser radar angle test.

[0109] In one embodiment, the method further includes: moving the second sliding table 320 to a plurality of positions along the second direction Y respectively, and obtaining the first rotation angle information of the corresponding rotating mounting table 220. For example, the second sliding table 320 is slid to different calibration positions along the second slide rail 310 in sequence, and the first rotation angles of all calibration positions are obtained, so as to realize the automatic test of the horizontal angle of the laser radar 10 to be tested, and improve the comprehensiveness and accuracy of the test.

[0110] In one embodiment, the method further comprises:

[0111] S400: Move the rotating mounting platform 220 along the third direction Z until the line connecting the distance measurement center of the laser radar 10 to be tested and the midpoint of a second edge 402 of the reflector 400 is perpendicular to the reflector 400. The second edge 402 is the edge of the reflector 400 in the third direction Z.

[0112] S500: Rotate the rotating mounting platform 220 around the first direction X until the detection probability of the laser radar 10 to be tested reaches a preset probability, and obtain second rotation angle information of the rotating mounting platform 220.

[0113] In this way, the second sliding platform 320 drives the reflector 400 to move along the second direction Y to a certain distance from the laser radar 10 to be tested (for example, 3m to 8m), and the lifting platform 230 drives the laser radar 10 to be tested to move along the third direction Z until the line connecting the ranging center of the laser radar 10 to be tested and the second edge 402 of the reflector 400 is perpendicular to the reflector 400, and the rotating mounting platform 220 drives the laser radar 10 to be tested to rotate around the first direction X until the probability of detection (POD) reaches a preset probability (for example, 40% to 60%). The detection probability can be measured objectively and accurately, eliminating the test error caused by human subjective initiative, making the test result more accurate and fair, thereby obtaining the second rotation angle of the rotating mounting platform 220 at this time, and obtaining key parameters such as the vertical field of view angle and vertical angle resolution of the laser radar 10 to be tested, thereby improving the objectivity and accuracy of the laser radar angle test.

[0114] In one embodiment, the method further includes: moving the second sliding platform 320 to a plurality of positions along the second direction Y respectively, and acquiring the second rotation angle information of the corresponding rotating mounting platform 220 to improve the comprehensiveness and accuracy of the test.

[0115] In one embodiment, the method further comprises:

[0116] S600: moving the first sliding platform 120 along the first direction X and the third direction Z until the line connecting the distance measurement center of the laser radar 10 to be tested and the center of the reflector 400 is perpendicular to the reflector 400;

[0117] S700: Detecting that the second sliding platform 320 is located at a marked position of the second sliding rail 310 by the third position detection device 550;

[0118] S800: The laser radar 10 to be tested measures the distance information between itself and the reflector 400 to obtain first distance information.

[0119] In this way, the third position detection device 550 performs the corresponding position true value calibration before the test starts. After the test starts, the first sliding platform 120 slides along the first direction X to achieve that the line connecting the distance measurement center of the laser radar 10 to be tested and the center of the reflector 400 is perpendicular to the reflector 400, triggering the corresponding first position detection device 510. The second sliding platform 320 slides along the second slide rail 310 to a specific distance, triggering the third position detection device 550. At this time, the second sliding platform 320 stops sliding, and the laser radar 10 to be tested automatically measures the distance to the measurement point. After the distance measurement is completed, the data is recorded, and the above process is repeated to measure the distance at the next calibration distance, thereby realizing the automatic distance measurement of the laser radar, and the key parameters such as the distance blind area, the proximity measurement capability, the minimum measurement range, the distance measurement accuracy, and the plane accuracy of the laser radar 10 to be tested can be automatically tested.

[0120] In one embodiment, the method further includes: moving the second sliding platform 320 to a plurality of calibration positions along the second direction Y respectively to obtain corresponding first distance information to improve the comprehensiveness and accuracy of the test.

[0121] In addition, the laser radar testing method in Example 2 includes the technical solutions of any one of the laser radar testing devices in Example 1, which will not be described one by one here.

[0122] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A laser radar test device, It is characterized in that The laser radar test device has a first direction, a second direction and a third direction which are perpendicular to each other, and the laser radar test device comprises: A first sliding mechanism, the first sliding mechanism comprising a first sliding rail and a first sliding platform, the first sliding rail extending along the first direction, the first sliding platform being slidably disposed on the first sliding rail; A mounting mechanism, the mounting mechanism comprising a support rod and a rotating mounting platform, the support rod being mounted on the first sliding platform, the support rod extending along the third direction, the rotating mounting platform being rotatably mounted on the support rod around the third direction, and the rotating mounting platform being used to mount the laser radar to be tested; a second sliding mechanism, the second sliding mechanism comprising a second sliding rail and a second sliding platform, the second sliding rail extending along the second direction, the second sliding platform being slidably disposed on the second sliding rail; a reflective plate, the reflective plate being vertically arranged on the second sliding platform, the reflective plate being perpendicular to the second direction, and the reflective plate having two opposite first edges in the first direction; A first position detection device, wherein the first position detection device is used to detect whether a line connecting a distance measurement center of the laser radar to be tested and one of the first edges is perpendicular to the reflector.

2. The laser radar testing device according to claim 1, Features: There are multiple first position detection devices, and the multiple first position detection devices are installed on the first slide rail at preset intervals along the first direction.

3. The laser radar testing device according to claim 1, Features: The first sliding platform is connected to a first stopper, and the first stopper cooperates with the first position detection device to detect whether the first sliding platform is located at the corresponding first position detection device.

4. The laser radar testing device according to claim 1, Features: The rotating mounting platform is slidably arranged on the supporting rod via a lifting platform.

5. The laser radar testing device according to claim 4, Features: The reflecting plate has two opposite second edges in the third direction. The laser radar testing device also includes a second position detection device, which is used to detect whether the line connecting the ranging center of the laser radar to be tested and the midpoint of one of the second edges is perpendicular to the reflecting plate. The rotating mounting platform can also be rotatably mounted on the lifting platform around the first direction.

6. The laser radar testing device according to claim 5, Features: The number of the second position detection devices is at least two, the second position detection devices are mounted on the support rod, and the second position detection devices are used to detect whether the rotating mounting platform is located at a preset position of the support rod; The lifting platform or the rotating mounting platform is connected to a second stopper, and the second stopper cooperates with the second position detection device to detect whether the rotating mounting platform is located at the corresponding second position detection device.

7. The laser radar testing device according to claim 1, Features: The laser radar testing device further includes at least two third position detection devices, which are mounted on the second slide rail and are used to detect whether the second slide platform is located at a preset position of the second slide rail; The second sliding platform is connected to a third stopper, and the third stopper cooperates with the third position detection device to detect whether the second sliding platform is located at the corresponding third position detection device.

8. The laser radar testing device according to claim 7, Features: The laser radar testing device also includes a third sliding table, which is slidably mounted on the second sliding table along the second direction, and the reflecting plate is mounted on the third sliding table. The third sliding table is connected to a fourth stopper, and the fourth stopper cooperates with the third position detection device to detect whether the third sliding table is located at the corresponding third position detection device.

9. The laser radar testing device according to any one of claims 1 to 8, Features: The laser radar testing device also includes a host computer, which is electrically connected to the first sliding table, the second sliding table, the rotating mounting table and the first position detection device respectively.

10. A laser radar testing method, applied to the laser radar testing device according to claim 1, It is characterized in that The laser radar testing method comprises the following steps: S100: Install the laser radar to be tested on a rotating mounting table; S200: moving the first sliding platform along a first direction until the first position detection device detects that a line connecting the distance measurement center of the laser radar to be tested and a first edge of the reflective plate is perpendicular to the reflective plate; S300: Rotate the rotating mounting platform around a third direction until the detection probability of the laser radar to be tested reaches a preset probability, and obtain first rotation angle information of the rotating mounting platform.

11. The laser radar testing method according to claim 10, It is characterized in that The method further includes: moving the second sliding platform to a plurality of positions along the second direction respectively, and acquiring first rotation angle information of the corresponding rotating mounting platform.

12. The laser radar testing method according to claim 10, It is characterized in that The method further comprises: S400: moving the rotating mounting table along the third direction until a line connecting the ranging center of the laser radar to be tested and the midpoint of a second edge of the reflector is perpendicular to the reflector; wherein the second edge is an edge of the reflector in the third direction; S500: Rotate the rotating mounting platform around the first direction until the detection probability of the laser radar to be tested reaches a preset probability, and obtain second rotation angle information of the rotating mounting platform.

13. The laser radar testing method according to claim 12, It is characterized in that The method further includes: moving the second sliding platform to a plurality of positions along the second direction respectively, and acquiring the corresponding second rotation angle information of the rotating mounting platform.

14. The laser radar testing method according to claim 10, It is characterized in that The method further comprises: S600: moving the first sliding platform along the first direction and the third direction until a line connecting the ranging center of the laser radar to be tested and the center of the reflector is perpendicular to the reflector; S700: Detecting, by a third position detection device, that the second sliding platform is located at a marked position of the second sliding rail; S800: The laser radar to be tested measures the distance information between itself and the reflector to obtain first distance information.

15. The laser radar testing method according to claim 14, It is characterized in that The method further includes: moving the second sliding platform to a plurality of calibrated positions along the second direction respectively to obtain the corresponding first distance information.

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