Front angle millimeter wave radar position calibration device

Abstract

The utility model discloses a front angle millimeter wave radar position calibration device which comprises a position fixing mechanism, a horizontal display mechanism and an angle radar calibration mechanism, and angle millimeter wave radars are arranged on the left side and the right side of the front portion of a tractor respectively. The position fixing mechanism is a wheel way for the tractor to run; the horizontal display mechanism is a gradienter for testing the horizontal state of the wheel track, and the gradienter is arranged at the upper part of the wheel track; the angle radar calibration mechanism comprises a laser combination instrument, the laser combination instrument is arranged at the front end of the angle millimeter wave radar, a coordinate reference relation is established between the laser combination instrument and the angle millimeter wave radar, and the calibration device is suitable for angle millimeter wave radar calibration of intelligent driving vehicles such as passenger vehicles and commercial vehicles and relates to positioning, calibration and installation of the angle millimeter wave radar. The angle and position of the diagonal millimeter wave radar can be conveniently detected and adjusted; and the calibration requirements of angular millimeter wave radars of different types, different structures and different brands are met, and the application range is wider.

Description

Technical Field

[0001] The utility model belongs to the technical field of intelligent driving sensors, relates to radar position calibration, and particularly relates to a front corner millimeter-wave radar position calibration device. Background Technique

[0002] During the intelligent driving process, the main function of the millimeter-wave radar at the upper corner of an intelligent driving vehicle is the ability to detect and sense medium- and short-distance targets, and to determine information such as the distance, relative speed, and azimuth of the target object. The target objects include various dynamic and static targets such as pedestrians, bicycles, vehicles, and bridges.

[0003] Currently, on intelligent driving vehicles of different levels, forward and corner millimeter-wave radars are widely used, mainly arranged in the exact middle of the front and rear bumpers of the vehicle, as well as on the left and right sides. Among them, the millimeter-wave radar arranged on the left and right sides of the bumper, presenting a certain yaw angle with the vehicle's forward direction, is the corner millimeter-wave radar. Intelligent driving vehicles are mainly divided into passenger vehicles and commercial vehicles. Due to the large differences in vehicle models and body structures, etc., after different types of corner millimeter-wave radars are installed, there are also certain differences in the installation position, angle, and height. Therefore, it is necessary to detect, evaluate, and adjust the yaw angle, horizontal angle, and pitch angle after the corner millimeter-wave radar is installed. If there is a deviation in the pitch angle of the corner millimeter-wave radar, it will cause a difference in the vertical FOV, resulting in a shortening of the radar detection distance, and at the same time increasing the blind area at close range of the radar. Or if there is a difference in the yaw angle of the corner millimeter-wave radar, it will cause a deviation in the horizontal FOV, and the detection distance will change accordingly, ultimately affecting the detection and perception ability of the vehicle. Therefore, high-quality detection and calibration after the corner millimeter-wave radar is installed are particularly important, which can provide installation guarantee for intelligent driving vehicles and improve the safety factor of the vehicle.

[0004] Currently, the corner millimeter-wave radar calibration devices or equipment on vehicles mainly have the following defects: 1. They are mainly arranged at the station where the overall installation is offline. The site is fixed and the equipment is fixed, which is not convenient for disassembly, installation, and moving, and does not meet the calibration requirements of the millimeter-wave radar of the vehicles that have been offline; 2. The existing corner millimeter-wave radar calibration devices are very expensive, with high procurement costs, and at the same time, specific calibration site construction is required, occupying a large amount of space; 3. The existing corner millimeter-wave radar calibration devices are relatively complex, with high maintenance and upkeep costs. Content of the Utility Model

[0005] In view of the above problems, the main purpose of the utility model is to design a front corner millimeter-wave radar position calibration device. By setting a position fixing mechanism, as well as a horizontal display mechanism and a corner radar calibration mechanism above the position fixing mechanism, the problems of application flexibility of the millimeter-wave radar calibration device, as well as technical problems such as large occupied space and high capital cost investment are solved.

[0006] To achieve the above object, the present utility model adopts the following technical solutions:

[0007] A front corner millimeter wave radar position calibration device includes a position fixing mechanism for limiting the tractor, and a horizontal display mechanism and an angular radar calibration mechanism arranged above the position fixing mechanism. The left and right sides of the front part of the tractor respectively include angular millimeter wave radars;

[0008] Among them, the position fixing mechanism is set as a wheel track for the tractor to travel;

[0009] The horizontal display mechanism is set as a level for testing the horizontal state of the wheel track, and the level is arranged on the upper part of the wheel track;

[0010] The angular radar calibration mechanism includes a laser combination instrument, and the laser combination instrument is arranged at the front end of the angular millimeter wave radar of the tractor and establishes a coordinate reference relationship with the angular millimeter wave radar at the front of the tractor.

[0011] As a further description of the present utility model, the wheel track includes an uphill section, a platform section, and a downhill section, and the horizontal display mechanism is arranged on the center line of the platform section.

[0012] As a further description of the present utility model, two sets of the horizontal display mechanism are arranged. One set is arranged at the middle position of the platform section, and the other set is arranged at the middle position of the platform section close to the downhill section, and the two levels of the horizontal display mechanism are located on the same horizontal plane.

[0013] As a further description of the present utility model, mounting bases for adjusting the height are arranged at the bottoms of the four corners of the wheel track. The mounting base includes a fixing bolt and an adjusting nut. The top end of the fixing bolt is fixed to the bottom of the wheel track, and the bottom end of the fixing bolt is threadedly connected to the adjusting nut.

[0014] As a further description of the present utility model, two sets of the angular radar calibration mechanism are arranged, respectively fixed on the upper part of the wheel track and located on both sides of the position of the platform section of the wheel track close to the downhill section.

[0015] As a further description of the present utility model, the angular radar calibration mechanism further includes a guide rail for adjusting the height of the laser combination instrument. The bottom of the guide rail is fixed to the upper part of the wheel track, and the laser combination instrument is arranged on the upper part of the guide rail.

[0016] As a further description of the present utility model, the laser combination instrument includes a scale and a pointer. The 0° scale of the scale is perpendicular to the outer side of the wheel track, the 90° scale of the scale is parallel to the center line of the wheel track, and the pointer is hinged to the outer circumference of the guide rail.

[0017] Compared with the prior art, the technical effects of the present utility model are as follows:

[0018] The present utility model provides a front corner millimeter-wave radar position calibration device, which includes a position fixing mechanism for limiting the tractor, and a horizontal display mechanism and a corner radar calibration mechanism arranged above the position fixing mechanism. The front left and right sides of the tractor respectively include corner millimeter-wave radars. Among them, the position fixing mechanism is a wheel track for the tractor to travel; the horizontal display mechanism is a level for testing the horizontal state of the wheel track, and the level is arranged on the upper part of the wheel track; the corner radar calibration mechanism includes a laser combination instrument, and the laser combination instrument is arranged at the front end of the corner millimeter-wave radar of the tractor and establishes a coordinate reference relationship with the corner millimeter-wave radar at the front of the tractor. This calibration device is applicable to the calibration of corner millimeter-wave radars of intelligent driving vehicle tractors such as passenger cars and commercial vehicles, and involves the positioning, calibration and installation of corner millimeter-wave radars, which is convenient for detecting and adjusting the angles and positions of corner millimeter-wave radars; and this calibration device is applicable to the calibration requirements of corner millimeter-wave radars of different types, different structures and different brands, and has a wider application range. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a top view of the overall structure of the present utility model;

[0020] Figure 2 is a side view of the overall structure of the present utility model;

[0021] Figure 3 is a view of the mounting base of the present utility model;

[0022] Figure 4 is a view of the corner radar calibration mechanism of the present utility model;

[0023] Figure 5 is a working schematic diagram of the calibration device of the present utility model.

[0024] In the figure, 1. Position fixing mechanism, 11. Uphill section, 12. Platform section, 13. Downhill section, 14. Horizontal plate, 2. Horizontal display mechanism, 3. Corner radar calibration mechanism, 31. Guide rail, 4. Corner millimeter-wave radar, 5. Laser combination instrument, 51. Dial, 52. Pointer, 6. Mounting base, 61. Fixing bolt, 62. Adjusting nut. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] The present utility model will be described in detail below with reference to the accompanying drawings:

[0026] In an embodiment of the present utility model, a front corner millimeter-wave radar position calibration device is disclosed, as Figures 1-5As shown in the figure, it includes a position fixing mechanism 1 for the tractor limit, and a horizontal display mechanism 2 and an angular radar calibration mechanism 3 arranged above the position fixing mechanism 1. The left and right fronts of the tractor respectively include angular millimeter-wave radars 4. Among them, the position fixing mechanism 1 is set as a wheel track for the tractor to travel; the horizontal display mechanism 2 is set as a level for testing the horizontal state of the wheel track, and the level is arranged on the upper part of the wheel track; the angular radar calibration mechanism 3 includes a laser combination instrument 5, and the laser combination instrument 5 is arranged at the front end of the angular millimeter-wave radar 4 of the tractor and establishes a coordinate reference relationship with the angular millimeter-wave radar 4 at the front of the tractor.

[0027] Specifically, in this embodiment, the above-mentioned position fixing mechanism 1, horizontal display mechanism 2, and angular radar calibration mechanism 3 are further described as follows:

[0028] In this embodiment, two such wheel tracks are provided. The size of each is set on the condition that it can bear the driving of the tractor, and the two wheel tracks are arranged in parallel. Each includes an uphill section 11, a platform section 12, and a downhill section 13. The middle position of the platform section 12 of the two wheel tracks and the position of the platform section 12 close to the downhill section 13 are both connected by a horizontal plate 14, and the horizontal display mechanism 2 is arranged on the center line of the platform section 12. Specifically, two sets of the above-mentioned horizontal display mechanisms 2 are provided. One set is arranged at the middle position of the horizontal plate 14 at the middle position of the platform section 12, and the other set is arranged at the middle position of the horizontal plate 14 of the platform section 12 close to the downhill section 13, and the two levels of the horizontal display mechanism 2 are located on the same horizontal plane. The level includes, but is not limited to, an inclination angle display + a water bubble display. When an angle inclination occurs, it can be seen in which direction the water bubble in the water inclines, and then the height of the corresponding side of the wheel track is adjusted accordingly.

[0029] In this embodiment, mounting bases 6 for adjusting the height are provided at the bottoms of the four corners of the wheel track. The mounting base 6 includes a fixing bolt 61 and an adjusting nut 62. The top end of the fixing bolt 61 is fixed to the bottom of the wheel track, and the bottom end of the fixing bolt 61 is threadedly connected to the adjusting nut 62. Specifically, the fixing bolt 61 has an external thread, and the adjusting nut 62 has an internal thread. During the adjustment process, when the adjusting nut 62 is adjusted counterclockwise, the fixing bolt 61 descends, and the corresponding side of the wheel track is lowered; when the adjusting nut 62 is adjusted clockwise, the fixing bolt 61 rises, and the corresponding side of the wheel track is raised.

[0030] It should be noted that before the tractor drives onto the wheel track, it is necessary to confirm whether the two levels are in a horizontal state at the same time. Specifically, the horizontal state of the position fixing mechanism 1 can be achieved by adjusting the mounting base 6 at the bottom of the wheel track, and then the tractor drives onto the position fixing mechanism 1.

[0031] In this embodiment, two sets of the above-mentioned corner radar calibration mechanisms are provided and fixed to the upper part of the wheel track, and are located on both sides of the platform section 12 of the wheel track near the downhill section 13, cooperating with the corner millimeter-wave radars 4 on the left and right sides of the front of the tractor, and facilitating the parking of the tractor. Specifically, the above-mentioned corner radar calibration mechanism 3 further includes a guide rail 31 for adjusting the height of the laser combination instrument 5. The guide rail 31 is set as a cylinder, the bottom of the guide rail 31 is fixed to the upper part of the wheel track, and the laser combination instrument 5 is arranged on the upper part of the guide rail 31. More specifically, the above-mentioned laser combination instrument 5 includes a scale disk 51 and a pointer 52. The 0° scale of the scale disk 51 is perpendicular to the outer side of the wheel track, that is, forms a 90° angle with the advancing direction of the vehicle head. The 90° scale of the scale disk 51 is parallel to the center line of the wheel track. One end of the pointer 52 is provided with a sleeve, and the sleeve is sleeved on the outer circumference of the guide rail 31. The pointer 52 is hinged to the outer circumference of the guide rail 31 through the sleeve.

[0032] It should be noted that when the tractor drives onto the platform section 12 of the position fixing mechanism 1 of this embodiment, a certain calibration distance needs to be left between the corner millimeter-wave radar 4 of the tractor and the corner radar calibration mechanism 3 on the position fixing mechanism 1. Usually, the calibration distance is not less than 20 cm, and at the same time, it can ensure that the corner millimeter-wave radar 4 on the tractor and the position fixing mechanism 1 are in the same coordinate system.

[0033] Through the above embodiment, the calibration device of the present invention is disclosed. Before the tractor drives onto the position fixing mechanism 1, the two spirit levels are leveled to the horizontal state, so that the corner millimeter-wave radar 4 of the tractor and the position fixing mechanism 1 are in the same coordinate system. Then, the laser combination instrument 5 is adjusted, and the guide rail 31 is moved up and down so that the laser combination instrument 5 is located in front of the corner millimeter-wave radar 4 to be measured. Then, according to the installation angle requirements of the corner millimeter-wave radar 4, for example, the designed installation horizontal angle of the corner millimeter-wave radar 4 is 45°, the laser combination instrument 5 is rotated, and according to the value of the pointer 52 on the scale disk 51, the laser combination instrument 5 is rotated to the corresponding designed installation angle of 45°.

[0034] In addition, in the specific calibration process of the calibration device of this embodiment, the laser combination instrument 5 is connected to the computer, the computer processing unit and the laser combination instrument 5 are turned on, and nine groups of laser beams (capable of covering the periphery and the center position of the outer surface of the angular millimeter-wave radar 4) are simultaneously emitted from the laser combination instrument 5 to different positions of the outer surface of the angular millimeter-wave radar 4 to be measured, and the distance information between the laser combination instrument 5 and different positions of the outer surface of the angular millimeter-wave radar 4 to be measured is calculated by recovering the nine groups of laser beams, and synchronously displayed on the display of the computer processing unit. Specifically, in this embodiment, after the calibration installation horizontal angle is adjusted to 45°, the nine groups of laser beams simultaneously reach the surface of the angular millimeter-wave radar 4, and the distances of the nine groups of beams reaching the angular millimeter-wave radar 4 are calculated by the reflected lasers, and the angular millimeter-wave radar 4 is adjusted so that the distances of the nine groups of laser beams reaching the surface of the angular millimeter-wave radar 4 are close, which indicates that the installation angle of the angular millimeter-wave radar 4 has been adjusted to the right position at 45°.

[0035] The nine sets of distance information between different positions of the outer surface of the angle millimeter-wave radar to be measured and the laser combiner are displayed in real time on the monitor. At the same time, the computer processing unit will calculate and display the horizontal angle, pitch angle and other angle information of the angle millimeter-wave radar to be measured based on these distance information, and can adjust the horizontal angle, pitch angle and other angles of the angle millimeter-wave radar to be measured accordingly until these angles are adjusted to the desired design and installation angle positions.

[0036] Through the above content, the technical solution of the utility model is disclosed. Compared with the prior art, the utility model has the following advantages:

[0037] 1. The utility model is applicable to the calibration of angular millimeter-wave radars of intelligent driving vehicles such as passenger cars and commercial vehicles, involving the positioning, calibration and installation of angular millimeter-wave radars. It is flexible in application and has a wide range of applications.

[0038] 2. The utility model is mainly for the detection and adjustment of the angle and position of the angular millimeter-wave radar in the intelligent driving vehicle during the installation and positioning process;

[0039] 3. The utility model is suitable for the calibration needs of angular millimeter-wave radars of different types, structures and brands. It is simple to operate and easy to use. It does not require the construction of professional sites and the purchase of professional calibration equipment, and the maintenance and maintenance costs are low.

[0040] The above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Other modifications or equivalent substitutions made to the technical solution of the utility model by ordinary technicians in this field should be included in the scope of the claims of the utility model as long as they do not depart from the spirit and scope of the technical solution of the utility model.

Claims

1. A front angle millimeter wave radar position calibration device, characterized in that: It includes a position fixing mechanism for limiting the position of the tractor, and a horizontal display mechanism and an angle radar calibration mechanism arranged above the position fixing mechanism, and the left and right sides of the front of the tractor respectively include an angle millimeter wave radar; Wherein, the position fixing mechanism is configured as a wheel track for the tractor to travel; The level display mechanism is configured as a level meter for testing the horizontal state of the wheel track, and the level meter is arranged on the upper part of the wheel track; The corner radar calibration mechanism includes a laser combiner, which is arranged at the front end of the corner millimeter-wave radar of the tractor and establishes a coordinate reference relationship with the corner millimeter-wave radar at the front of the tractor.

2. The front angle millimeter wave radar position calibration device according to claim 1, characterized in that: The wheel track comprises an uphill section, a platform section and a downhill section, and the horizontal display mechanism is arranged on the center line of the platform section.

3. The front angle millimeter wave radar position calibration device according to claim 2, characterized in that: The level display mechanism is provided in two groups, one group is provided in the middle position of the platform section, and the other group is provided in the middle position of the platform section close to the downhill section, and the two level gauges of the two groups of level display mechanisms are located in the same horizontal plane.

4. The front angle millimeter wave radar position calibration device according to claim 3, characterized in that: The bottom of the four corners of the wheel track is provided with a mounting base for adjusting the height, and the mounting base includes a fixing bolt and an adjusting nut, the top end of the fixing bolt is fixed to the bottom of the wheel track, and the bottom end of the fixing bolt is threadedly connected with the adjusting nut.

5. The front angle millimeter wave radar position calibration device according to claim 2, characterized in that: The corner radar calibration mechanism is provided in two groups, which are respectively fixed on the upper part of the wheel track and located on both sides of the platform section of the wheel track close to the downhill section.

6. The front angle millimeter wave radar position calibration device according to claim 5, characterized in that: The angle radar calibration mechanism also includes a guide rail for adjusting the height of the laser combination instrument. The bottom of the guide rail is fixed to the upper part of the wheel track, and the laser combination instrument is arranged on the upper part of the guide rail.

7. The front angle millimeter wave radar position calibration device according to claim 6, characterized in that: The laser combination instrument comprises a scale plate and a pointer, wherein the 0° scale of the scale plate is perpendicular to the outer side of the wheel track, the 90° scale of the scale plate is parallel to the center line of the wheel track, and the pointer is hinged on the outer periphery of the guide rail.

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