Performance test system of laser radar

Abstract

The utility model provides a performance test system of a laser radar. The performance test system comprises an environment simulation device and a target object. The environment simulation device is suitable for accommodating a to-be-tested laser radar, and comprises a displacement unit and a window. The displacement unit is suitable for fixing and adjusting the pose of the to-be-measured laser radar, the displacement unit comprises a heating assembly, and the heating assembly is suitable for heating at least part of assemblies of the displacement unit. And the window is suitable for transmitting light in a preset wavelength range. And the target object is located outside the environment simulation device and is suitable for reflecting the detection light beam emitted by the to-be-detected laser radar.

Description

Technical Field

[0001] The present disclosure relates to the technical field of laser radar performance testing, and in particular to a laser radar performance testing system. Background Art

[0002] In actual use, LiDAR needs to adapt to a wide range of ambient temperature. In order to ensure the stability of LiDAR performance at different temperatures, it is necessary to perform performance tests on LiDAR in high or low temperature environments.

[0003] However, the test equipment currently used to test the performance of LiDAR usually finds it difficult to meet multiple test requirements at the same time and is unable to fully test the performance of LiDAR. Utility Model Content

[0004] In response to the above technical problems, the present disclosure provides a performance testing system for a laser radar that can meet a variety of testing requirements so as to fully test the performance of the laser radar at different temperatures.

[0005] An embodiment of the present disclosure provides a performance test system for a laser radar, comprising: an environment simulation device and a target object. The environment simulation device is suitable for accommodating the laser radar to be tested, and the environment simulation device includes a displacement unit and a window. The displacement unit is suitable for fixing and adjusting the posture of the laser radar to be tested, and the displacement unit includes a heating component, and the heating component is suitable for heating at least part of the components of the displacement unit. The window is suitable for transmitting light within a preset wavelength range. The target object is located outside the environment simulation device, and is suitable for reflecting the detection light beam emitted by the laser radar to be tested.

[0006] Optionally, a transmittance of the window to light within the preset wavelength range is greater than a first threshold.

[0007] Optionally, the displacement unit further comprises a first displacement assembly and a second displacement assembly. The first displacement assembly is adapted to rotate in a horizontal direction, and the second displacement assembly is adapted to rotate in a pitch direction.

[0008] Optionally, the first displacement assembly comprises a first turntable, the first turntable comprises a first bearing, and the second displacement assembly comprises a second turntable, the second turntable comprises a second bearing.

[0009] Optionally, the second turntable further includes a fixing component, which is connected to the second bearing and is suitable for fixing the laser radar to be tested and rotating with the second bearing.

[0010] Optionally, the heating assembly includes a first heating component and a second heating component. The first heating component is located in the first turntable, close to the first bearing, and is configured to heat the first bearing. The second heating component is located in the second turntable, close to the second bearing, and is configured to heat the second bearing.

[0011] Optionally, the environment simulation device further comprises a carrier, and the carrier is suitable for carrying a plurality of the displacement units.

[0012] Optionally, the environmental simulation device includes at least one independent environmental simulation space.

[0013] Optionally, the independent environment simulation space is suitable for accommodating at least one of the displacement units.

[0014] Optionally, the environment simulation device further comprises a shell, and the shell comprises a heat insulation unit.

[0015] Optionally, the environment simulation device further comprises a temperature control unit, and the temperature control unit is suitable for adjusting the temperature inside the environment simulation device.

[0016] Optionally, the temperature control unit includes an air inlet and an air outlet.

[0017] Optionally, the air inlet is configured to be close to an upper portion of the environment simulation device, and the air outlet is configured to be close to a lower portion of the environment simulation device.

[0018] Optionally, the temperature control unit includes a refrigeration component and a heating component.

[0019] Optionally, the temperature control unit further comprises a control component, wherein the control component comprises a temperature sensor and a controller. The temperature sensor is adapted to monitor the temperature inside the environment simulation device. The controller is adapted to adjust at least one of the refrigeration component and the heating component based on the monitoring result of the temperature sensor.

[0020] Optionally, the environmental simulation device is provided with a wiring hole.

[0021] The performance test system of the laser radar provided by the embodiment of the present disclosure includes an environmental simulation device and a target object, wherein the environmental simulation device is suitable for accommodating the laser radar to be tested, and the target object is suitable for reflecting the detection light beam emitted by the laser radar to be tested; the environmental simulation device may include a displacement unit and a window, firstly, by fixing and adjusting the posture of the laser radar to be tested by the displacement unit, each detection channel of the laser radar to be tested can be fully tested, and the test requirements of the laser radar can be fully met; secondly, the displacement unit may also include a heating component, and by heating at least part of the components of the displacement unit by the heating component, it can be ensured that the performance test system can work normally at different test temperatures, and the influence of the failure of the displacement unit in a low temperature environment on the laser radar test can be reduced or avoided; thirdly, since the window can transmit light within a preset wavelength range, the target object can be set outside the environmental simulation device, so that when the performance test of the laser radar to be tested is performed, it can be not restricted by the internal structure of the environmental simulation device, so that the performance of the laser radar to be tested can be fully tested. In addition, since the target object is set outside the environmental simulation device, its reflectivity is not affected by the temperature changes inside the environmental simulation device, thereby improving the accuracy of the test results of the laser radar performance to be tested. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, 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 merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0023] Figure 1 A schematic diagram of the structure of a performance test system for a laser radar in some embodiments of the present disclosure is shown;

[0024] Figure 2 A schematic structural diagram of a shift unit in some embodiments of the present disclosure is shown;

[0025] Figure 3 A partial structural schematic diagram of an environment simulation device in some embodiments of the present disclosure is shown;

[0026] Figure 4 A schematic side view of an environment simulation device in some embodiments of the present disclosure is shown;

[0027] Figure 5 A schematic front view of an environment simulation device in some embodiments of the present disclosure is shown;

[0028] Figure 6A schematic diagram of the structure of a performance testing system for a laser radar in some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0029] As described in the background technology, the test equipment currently used to test the performance of LiDAR in high or low temperature environments is usually difficult to meet multiple test requirements at the same time and cannot fully test the performance of LiDAR.

[0030] In view of the above problems, the embodiment of the present disclosure provides a performance test system of a laser radar, including an environmental simulation device and a target object, wherein the environmental simulation device is suitable for accommodating the laser radar to be tested, and the target object is suitable for reflecting the detection beam emitted by the laser radar to be tested. The environmental simulation device may include a displacement unit and a window. First, by fixing and adjusting the posture of the laser radar to be tested by the displacement unit, each detection channel of the laser radar to be tested can be fully tested, fully meeting the test requirements of the laser radar; secondly, the displacement unit may also include a heating component, and by heating at least part of the components of the displacement unit by the heating component, it can be ensured that the performance test system can work normally at different test temperatures, reducing or avoiding the influence of the failure of the displacement unit in a low temperature environment on the laser radar test; thirdly, since the window can transmit light within a preset wavelength range, the target object can be set outside the environmental simulation device, so that when the performance test of the laser radar to be tested is performed, it can be free from the internal structure of the environmental simulation device (such as the size of the internal space of the environmental simulation device), so that the performance of the laser radar to be tested can be fully tested. In addition, since the target object is set outside the environmental simulation device, the performance parameters of the target plate (such as reflectivity, shape of the target plate, etc.) are not affected by the temperature changes inside the environmental simulation device, thereby improving the accuracy of the test results of the laser radar performance to be tested.

[0031] In order to enable those skilled in the art to better understand and implement the embodiments of the present disclosure, the concepts, schemes, principles and advantages of the embodiments of the present disclosure are described in detail below with reference to the accompanying drawings and through specific application examples.

[0032] First, an embodiment of the present disclosure provides a performance testing system for a laser radar. Figure 1 FIG. 1 is a schematic diagram showing a structure of a performance test system for a laser radar in some embodiments of the present disclosure. Figure 1 As shown, the performance testing system T may include an environment simulation device T1 and a target T2.

[0033] The environment simulation device T1 is suitable for accommodating the laser radar to be tested. The target object T2 is located outside the environment simulation device T1, and is suitable for reflecting the detection beam emitted by the laser radar to be tested. The environment simulation device T1 may include a displacement unit T11 and a window T12. The displacement unit T11 is suitable for fixing and adjusting the posture of the laser radar to be tested, and the displacement unit T11 may include a heating component T111, and the heating component T111 is suitable for heating at least part of the components of the displacement unit T11. The window T12 is suitable for transmitting light within a preset wavelength range.

[0034] In some embodiments, the working wavelength of the laser radar to be tested is within a preset wavelength range, so that the performance test system of the laser radar can meet the test requirements of the laser radar to be tested, and can provide a relatively closed environment for the laser radar to be tested to isolate the interference of the external environment. The detection beam emitted by the laser radar to be tested can pass through the window T12, and after being reflected by the target T2, the reflected beam can pass through the window T12 and reach the laser radar to be tested.

[0035] In some embodiments, the predetermined wavelength range may include an infrared band.

[0036] In existing solutions, the lidar to be tested and the target object are usually placed together in a test space. When the lidar performance test is carried out in a high or low temperature environment, one possible situation is that the increase or decrease in temperature may cause the material of the target object to expand or contract, which may change the microstructure of the material surface and thus affect the reflectivity of the target object; another possible situation is that the temperature change may cause a chemical reaction or a change in the material properties, affecting the optical properties and thus affecting the reflectivity of the target object.

[0037] In some embodiments of the present disclosure, by placing the target object outside the environmental simulation device, not only can the reflectivity of the target object be prevented from changing due to temperature, but the test distance between the target object and the laser radar to be tested will not be limited by the internal structure of the environmental simulation device (such as the size of the internal space of the environmental simulation device).

[0038] In some embodiments of the present disclosure, the target may include a Lambertian body. It is to be understood that the present disclosure does not impose any specific restrictions on the target, and those skilled in the art may select the target according to the actual test requirements of the laser radar to be tested. In other embodiments of the present disclosure, the target may also be a diffuse reflection target plate or an angular reflection target.

[0039] In some embodiments of the present disclosure, the transmittance of the window to light within the preset wavelength range is greater than a first threshold. When the performance test system of the laser radar of the present disclosure is used to perform a performance test on the laser radar, the transmittance of the detection beam emitted by the laser radar to be tested by the window has a certain influence on the performance test results of the laser radar to be tested. For example, after the test system has been used for a period of time, the transmittance of the window may be reduced due to problems such as wiping and aging, thereby affecting the performance test results of the laser radar to be tested. In order to ensure the normal progress of the test, the working wavelength of the laser radar to be tested can be within the preset wavelength range. In order to further improve the accuracy of the test, the transmittance of the window to light within the preset wavelength range is greater than a first threshold. In some embodiments, the transmittance of the window can be detected regularly. When the transmittance of the window is less than the first threshold, the window is replaced in time to ensure that the transmittance of the window is always greater than the first threshold during the test.

[0040] By adopting the above embodiment, by selecting a window whose transmittance to light within the preset wavelength range is greater than a first threshold, the influence of the window on the test results can be reduced, thereby further improving the accuracy of the test results of the laser radar performance to be tested.

[0041] In some embodiments of the present disclosure, the window may specifically include high-transmittance glass.

[0042] In some embodiments of the present disclosure, the size of the first threshold is set based on experimental verification. For example, by designing an experiment, the performance test results when the window is set and when the window is not set can be compared, so as to obtain the influence of setting the window on the performance test results, and then the transmittance of the window corresponding to the maximum acceptable influence can be set as the first threshold. For example, the first threshold can be any value greater than or equal to 70%, such as 70%, 72%, 75%, 77%, 80%, 82%, 85%, 87%, 90%, 93%, 95% or 97%. For another example, when the ranging performance test of the laser radar to be tested is performed, the window will affect the ranging accuracy of the laser radar to be tested. Based on the performance requirements of the laser radar to be tested, when the influence of the window on the ranging accuracy is within 5%, it is the acceptable influence degree of the ranging performance test. When the transmittance of the window to light within the preset wavelength range is greater than or equal to 75%, it can be ensured that the influence on the ranging accuracy is within 5%, and 75% can be set as the first threshold.

[0043] It can be understood that the above examples are only for illustrative purposes. The embodiments of the present disclosure do not impose specific restrictions on the material of the window and the setting of the first threshold. Those skilled in the art can select the material of the window and design relevant experiments to set the first threshold according to the actual test requirements of the laser radar to be tested.

[0044] In some embodiments of the present disclosure, the displacement unit may further include a first displacement component and a second displacement component. The first displacement component is suitable for rotating in the horizontal direction. The second displacement component is suitable for rotating in the pitch direction. Since the first displacement component can rotate in the horizontal direction and the second displacement component can rotate in the pitch direction, the performance test system can adjust the posture of the laser radar to be tested in the horizontal direction and the vertical direction, so that the performance of the laser radar to be tested can be fully tested to meet the requirements of various performance tests of the laser radar to be tested.

[0045] For example, Figure 2 FIG. 2 shows a schematic diagram of the structure of a shift unit in some embodiments of the present disclosure. Figure 2 , the shift unit T11 may include a first shift assembly Y1 and a second shift assembly Y2. The first shift assembly Y1 may include a first turntable Y11, and the first turntable Y11 may include a first bearing (not shown in the figure). The second shift assembly Y2 may include a second turntable Y21, and the second turntable Y21 may include a second bearing (not shown in the figure).

[0046] In some embodiments of the present disclosure, the second turntable may further include a fixing component, which is connected to the second bearing and is suitable for fixing the laser radar to be tested and rotating with the second bearing. By connecting the fixing component to the second bearing, not only the laser radar to be tested can be fixed, but also the posture of the laser radar to be tested can be adjusted. The structure is simple and easy to implement. For example, continue to refer to Figure 2 The second turntable Y21 may further include a fixing component Y211, which is connected to the second bearing and is suitable for fixing the laser radar to be tested and rotating with the second bearing.

[0047] It is understandable that the embodiment of the present disclosure does not impose any specific limitation on the structure of the fixing component. Figure 2 The fixing components shown are only for illustrative purposes and do not constitute any limitation to the embodiments of the present disclosure.

[0048] In some embodiments of the present disclosure, the heating assembly may include a first heating component and a second heating component. The first heating component is located in the first turntable, close to the first bearing, and is configured to heat the first bearing. The second heating component is located in the second turntable, close to the second bearing, and is configured to heat the second bearing. By heating the first bearing by the first heating component and heating the second bearing by the second heating component, the first bearing and the second bearing can still normally adjust the posture of the laser radar to be tested in a low temperature environment, reduce or avoid the failure of the first bearing or the second bearing in a low temperature environment (for example, the rotational resistance of the bearing increases in a low temperature environment, causing the bearing to be unable to rotate), so that the performance test system of the laser radar can still meet the requirements of various tests of the laser radar in a low temperature environment.

[0049] For example, continue to refer to Figure 2 The first heating component Y111 is located in the first turntable Y11, close to the first bearing, and is configured to heat the first bearing; the second heating component Y212 is located in the second turntable Y21, close to the second bearing, and is configured to heat the second bearing. Figure 2 As shown, the first bearing (not shown in the figure) is located on the upper side of the first heating component Y111, and the second bearing (not shown in the figure) is located on the left side of the second heating component Y212. When the performance test of the laser radar to be tested is carried out at low temperature, the rotation resistance of the first bearing and the second bearing will be increased, which may easily cause the first bearing and the second bearing to stop running. By heating the first bearing and the second bearing respectively at low temperature by the first heating component Y111 and the second heating component Y212, it can be ensured that the first bearing and the second bearing can still rotate normally in a low temperature environment, that is, the normal operation of the first turntable and the second turntable is guaranteed.

[0050] In some embodiments of the present disclosure, the first heating component and the second heating component may include heating sheets.

[0051] It is understandable that the embodiment of the present disclosure does not impose any specific limitation on the structure and position of the first heating component and the second heating component. Figure 2 The positions and structures shown are for exemplary purposes only and do not constitute any limitation to the embodiments of the present disclosure.

[0052] In some embodiments of the present disclosure, the environment simulation device may further include a carrier, which is suitable for carrying a plurality of the displacement units. By carrying a plurality of displacement units on the carrier, a plurality of laser radars to be tested may be arranged in the environment simulation device for simultaneous testing, thereby improving test efficiency.

[0053] For example, Figure 3 shows a partial structural schematic diagram of an environment simulation device in some embodiments of the present disclosure, Figure 4 FIG. 2 shows a schematic side view of an environmental simulation device in some embodiments of the present disclosure. Figure 3 As shown, the environment simulation device T1 may include stages Z1, Z2 and Z3, and each stage may carry a plurality of displacement units T11.

[0054] It is understandable that the embodiments of the present disclosure do not impose any specific restrictions on the number and position of the carrier and the shift unit. Figure 3 The structure shown is only for illustrative purposes and does not constitute any limitation to the embodiments of the present disclosure.

[0055] In some embodiments of the present disclosure, the environment simulation device may include at least one independent environment simulation space.

[0056] For example, the environmental simulation device may include an independent environmental simulation space. Figure 4 , the environmental simulation device T1 may include an independent environmental simulation space SA, and the temperature range and heating and cooling speed in the independent environmental simulation space SA may be adjusted according to actual test requirements. Optionally, a plurality of shift units may be accommodated in the independent environmental simulation space SA, so that when the performance of multiple laser radars to be tested is tested simultaneously, the temperature consistency in the independent environmental simulation space SA is high (for example, the temperature difference at each location in the independent simulation space is less than or equal to 1°C), so the environmental temperature consistency of each laser radar to be tested is good, thereby improving the accuracy of the performance test.

[0057] For another example, the environmental simulation device may include multiple independent environmental simulation spaces. The multiple independent environmental simulation spaces are independent of each other, and the temperature in each independent environmental simulation space can be adjusted separately. On the one hand, the flexibility of the test system can be improved; on the other hand, performance tests at different temperatures can be performed simultaneously, which can further improve the efficiency of the performance test.

[0058] In some embodiments of the present disclosure, the independent environment simulation space can accommodate at least one shift unit to meet the need of simultaneously performing performance tests on multiple laser radars to be tested, thereby improving the efficiency of the performance tests.

[0059] Figure 5 Schematic diagram of the front view of the environment simulation device in some embodiments of the present disclosure is shown. Figure 5 The window T12 may include multiple independent windows TS, each of which may correspond to a detection beam of a laser radar to be tested, or may correspond to detection beams of multiple laser radars to be tested. By setting an independent window in the area corresponding to the laser radar to be tested, the area of ​​the window can be reduced, thereby reducing the cost of the entire performance test system.

[0060] In some embodiments of the present disclosure, the window may also include an integral window, which can not only ensure that all detection beams within the field of view of the laser radar to be tested are fully transmitted, but also simplify the structure of the performance test system, thereby facilitating system maintenance.

[0061] In some embodiments of the present disclosure, the environmental simulation device further includes a shell, and the shell may include a heat insulation unit. By adding a heat insulation unit to the shell of the environmental simulation device, the heat loss of the environmental simulation device can be reduced, thereby reducing the amount of energy used during the heating or cooling process, saving energy, and reducing testing costs. For example, the heat insulation unit may include rock wool or phenolic board, or other materials with heat insulation effects. It is understandable that the embodiments of the present disclosure do not specifically limit the material of the heat insulation unit.

[0062] In some embodiments of the present disclosure, the housing of the environment simulation device may include two structural layers, and a heat insulation unit may be included between the two structural layers. For example, the structural layer is made of stainless steel, and the heat insulation unit is made of phenolic board, forming a structure of stainless steel + phenolic board + stainless steel.

[0063] In some other embodiments of the present disclosure, the shell of the environmental simulation device may include more than two structural layers and more than one thermal insulation unit, and the structural layers are spaced apart from the thermal insulation units.

[0064] It is understandable that the embodiments of the present disclosure do not impose specific restrictions on the structure (such as shape, size, etc.) of the shell of the environmental simulation device, nor do they impose specific restrictions on the number and position of the thermal insulation units.

[0065] In some embodiments of the present disclosure, continue to refer to Figure 1 The environment simulation device T1 may further include a temperature control unit T13, which is suitable for adjusting the temperature inside the environment simulation device T1. By adjusting the temperature inside the environment simulation device by the temperature control unit, the performance of the laser radar can be fully tested at different temperatures.

[0066] In some embodiments of the present disclosure, the temperature control unit may include an air inlet and an air outlet. For example, by delivering hot air or cold air to the air inlet, the temperature inside the environmental simulation device can be increased or decreased. By delivering hot air or cold air to the air inlet, the temperature inside the environmental simulation device can be increased or decreased, and the local temperature inside the environmental simulation device can be prevented from being too high, thereby improving the safety performance of the performance testing system. By delivering hot air or cold air to the air inlet, the temperature consistency inside the environmental simulation device can be better (for example, the temperature difference at various locations inside the environmental simulation device is less than or equal to 1°C), thereby improving the accuracy of the lidar test.

[0067] In some embodiments of the present disclosure, the air inlet is arranged at the upper part of the environment simulation device, and the air outlet is arranged at the lower part of the environment simulation device. The position arrangement of the air inlet and the air outlet can make the temperature inside the environment simulation device uniform, thereby further improving the accuracy of the performance test results. For example, continue to refer to Figure 4 The environment simulation device T1 further includes a temperature control unit T13. The temperature control unit T13 includes an air inlet IN and an air outlet OUT. The air inlet IN is arranged at the upper part of the environment simulation device T1, and the air outlet OUT is arranged at the lower part of the environment simulation device T1.

[0068] In some embodiments of the present disclosure, the temperature control unit may include: a refrigeration component and a heating component. By performing temperature control by the refrigeration component and the heating component, the environmental simulation device can be closed, thereby improving the speed of heating or cooling and the temperature control ability. In addition, the amount of energy used in the heating or cooling process can be reduced, saving energy and reducing testing costs.

[0069] For example, the refrigeration components may mainly include: a compressor, which is suitable for compressing low-pressure gas into high-pressure gas; a condenser, which is suitable for cooling and condensing high-pressure gaseous refrigerant into liquid; an expansion valve, which is suitable for controlling the amount of refrigerant flowing into the evaporator; a heat exchanger, which is suitable for assisting air flow and heat transfer. The heating components may mainly include: a heater, which is suitable for generating heat, such as a resistance wire; and a heat exchanger, which is suitable for transferring heat to air or other media.

[0070] In some other embodiments of the present disclosure, the temperature control unit may further include a control component, which includes: a temperature sensor, adapted to monitor the temperature inside the environment simulation device; and a controller, adapted to adjust at least one of the refrigeration component and the heating component based on the monitoring result of the temperature sensor. By monitoring the temperature inside the environment simulation device through the temperature sensor, and then adjusting at least one of the refrigeration component and the heating component through the controller based on the monitoring result of the temperature sensor, it is possible to ensure that the performance test system operates stably within a preset temperature range, thereby ensuring the accuracy of the performance test results.

[0071] In some embodiments of the present disclosure, the environment simulation device is provided with wiring holes. Orderly wiring can be carried out through the wiring holes. Orderly wiring arrangement is not only conducive to the stable operation of the system, but also convenient for the maintenance of the lines. For example, continue to refer to Figure 4 , wiring holes K are respectively set near the shift unit T11 to facilitate the routing of the shift unit and the laser radar fixed thereto.

[0072] In some other embodiments of the present disclosure, the wiring hole may further include a sealing ring. By providing a sealing ring at the wiring hole, the heat loss of the environmental simulation device during the heating or cooling process can be reduced, thereby reducing energy usage, saving energy, and reducing testing costs.

[0073] It is understandable that the embodiments of the present disclosure do not impose any specific restrictions on the number, arrangement, shape, etc. of the wiring holes. The above embodiments are only for illustrative purposes, and those skilled in the art can make settings according to actual testing needs.

[0074] The following is a specific example to illustrate the method of testing using the performance testing system of the laser radar described in the embodiment of the present disclosure.

[0075] Figure 6 FIG. 1 is a schematic diagram showing a structure of a performance test system for a laser radar in some embodiments of the present disclosure. Figure 6 Combined with Figures 2 to 5 The performance test system T includes an environmental simulation device T1 and a target object T2, wherein the structure of the environmental simulation device T1 is as shown in FIG. Figures 2 to 5 The related descriptions will not be repeated here.

[0076] During the test, the laser radar to be tested is first fixed on the displacement unit T11 in the independent environment simulation space SA, and the performance of multiple laser radars to be tested can be tested at the same time, such as Figure 3 As shown, the performance tests of 6 laser radars to be tested can be carried out at the same time. Secondly, the posture of the laser radar to be tested can be adjusted in the horizontal and vertical directions by the first turntable Y11 and the second turntable Y21 in the shift unit T11 to test different detection channels of the laser radar to be tested. Thirdly, adjust the temperature inside the environmental simulation device T1 to test the laser radar to be tested again. Thirdly, after obtaining the test results of the laser radar to be tested at high or low temperature, determine whether the test results meet the requirements, for example, whether the test results are within the preset range. If they meet the requirements, it is considered to have passed the high and low temperature tests. If they do not meet the requirements, it is considered to have failed the high and low temperature tests.

[0077] When conducting low temperature tests, refer to Figure 2, the first heating component Y111 and the second heating component Y212 in the shift unit T11 can be started to heat the first bearing and the second bearing to ensure the normal operation of the first turntable Y11 and the second turntable Y21. Furthermore, the temperature control range and the heating / cooling rate in the independent environment simulation space can be adjusted according to the actual test requirements. For example, the temperature control range can be set to -50℃~+150℃, and the temperature control range can also be set to other ranges. For another example, the heating / cooling rate can be controlled at 5℃ / min, and the heating / cooling rate can also be controlled at other rates. The faster the heating / cooling rate, the shorter the test cycle, but the faster the adjustable maximum speed, the higher the test cost. The heating / cooling rate can be set according to the test requirements, and is not limited here.

[0078] The test can be conducted at the same temperature for a long time, for example, testing once every day at -40°C; it can also be conducted to test the performance of the lidar at different temperatures, for example, testing every 5°C during a temperature change from 50°C to 100°C.

[0079] In some embodiments of the present disclosure, Figure 6 As shown, since the target object T2 is set outside the environmental simulation device T1, the distance between it and the laser radar to be tested can be adjusted arbitrarily, and the performance test of the laser radar at different distances can be carried out.

[0080] It should be noted that the above embodiments can be implemented individually or in combination.

[0081] It should be noted that the terms "first", "second", etc. in the embodiments of the present disclosure are only used to distinguish different shifting components, turntables, heating components or bearings, and are not used to make any limitations on them.

[0082] Although the embodiments of the present disclosure are disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A laser radar performance test system, characterized in that: include: Environmental simulation device and target, where: The environment simulation device is suitable for accommodating the laser radar to be tested, and the environment simulation device includes: A displacement unit, adapted to fix and adjust the posture of the laser radar to be measured, the displacement unit comprising: a heating component, adapted to heat at least part of the components of the displacement unit; A window adapted to transmit light within a predetermined wavelength range; The target object is located outside the environment simulation device and is suitable for reflecting the detection light beam emitted by the laser radar to be tested.

2. The performance testing system according to claim 1, characterized in that: The transmittance of the window to light within the preset wavelength range is greater than a first threshold.

3. The performance testing system according to claim 1, characterized in that: The shift unit also includes: A first shifting assembly, adapted to rotate in a horizontal direction; The second displacement assembly is adapted to rotate in the pitch direction.

4. The performance testing system according to claim 3, characterized in that: The first shifting assembly includes: a first turntable, and the first turntable includes: a first bearing; The second shifting assembly includes: a second turntable, and the second turntable includes: a second bearing.

5. The performance testing system according to claim 4, characterized in that: The second turntable also includes: a fixing component connected to the second bearing, suitable for fixing the laser radar to be tested and rotating with the second bearing.

6. The performance testing system according to claim 5, characterized in that: The heating assembly includes: a first heating component and a second heating component, wherein the first heating component is located in the first turntable, close to the first bearing, and is configured to heat the first bearing; The second heating component is located in the second turntable, close to the second bearing, and is configured to heat the second bearing.

7. The performance testing system according to claim 6, characterized in that: The environment simulation device further comprises: a carrier suitable for carrying a plurality of the displacement units.

8. The performance testing system according to claim 1, characterized in that: The environment simulation device includes at least one independent environment simulation space.

9. The performance testing system according to claim 8, characterized in that: The independent environment simulation space is suitable for accommodating at least one of the displacement units.

10. The performance testing system according to claim 1, characterized in that: The environment simulation device further comprises: a shell, and the shell comprises: a heat insulation unit.

11. The performance testing system according to claim 1, characterized in that: The environment simulation device further comprises: a temperature control unit, which is suitable for adjusting the temperature inside the environment simulation device.

12. The performance testing system according to claim 11, characterized in that: The temperature control unit comprises an air inlet and an air outlet.

13. The performance testing system according to claim 12, characterized in that: The air inlet is configured to be close to an upper portion of the environment simulation device, and the air outlet is configured to be close to a lower portion of the environment simulation device.

14. The performance testing system according to claim 11, characterized in that: The temperature control unit includes a refrigeration component and a heating component.

15. The performance testing system according to claim 14, characterized in that: The temperature control unit further includes: a control component, the control component including: A temperature sensor, adapted to monitor the temperature inside the environmental simulation device; The controller is adapted to adjust at least one of the refrigeration component and the heating component based on the monitoring result of the temperature sensor.

16. The performance testing system according to any one of claims 1 to 15, characterized in that: The environment simulation device is provided with a wiring hole.

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