Unmanned vehicle for radar calibration

Abstract

The utility model belongs to the technical field of radar calibration, and discloses an unmanned vehicle for radar calibration, which comprises a host unit and a chassis vehicle body unit, the functional load comprises an RCS corner reflector, a Beidou high-precision positioning orientator, a video collector, an obstacle avoidance device, a wireless communicator, an information processor and a first power manager; the chassis vehicle body unit comprises a storage battery, a driving device, a wheel assembly, a second power manager and an electric control device; the host unit is connected with the chassis body unit through screws, a data line and a power line are arranged between the host unit and the chassis body unit, and the chassis body is used for driving the host unit to move. The RCS corner reflector is integrated on the unmanned vehicle, radar calibration is carried out through advancing of the unmanned aerial vehicle, the occupied area is small, the position and the testing direction can be adjusted in real time according to the high-precision Beidou positioning and GNSS double-antenna direction finding technology, and therefore the accuracy and the working efficiency are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of radar calibration, and in particular relates to an unmanned vehicle for radar calibration. Background Art

[0002] Radar performance calibration has always been a challenge for radar manufacturers and users. Currently, common radar calibration methods include static calibration tests using reflection signals from ground-based towers or balloons, dynamic calibration tests using manned or unmanned aerial vehicles, or analog calibration using pre-calibrated radars. These calibration methods are complex and costly to implement.

[0003] With the advancement of technology, unmanned vehicles have become increasingly popular in recent years. Their mobility, intelligence, and real-time capabilities can enhance and enrich existing radar calibration methods. Furthermore, customized upgrades tailored to specific scenarios can address the shortcomings of existing calibration methods. Traditional radar calibration methods, such as ground-based towers or balloon reflections, are costly and require significant space. Calibration using manned or unmanned aircraft is risky, time-consuming, and expensive. Analog calibration using pre-calibrated radars is complex and limited in scope. Other methods require custom development, lack repeatability, and have limited coverage. Utility Model Content

[0004] The purpose of the invention of the utility model is to provide an unmanned vehicle for radar calibration in order to solve the above-mentioned problems, so as to improve the existing problems of radar calibration, such as high construction cost, large space occupation, complicated operation and lack of repeatability.

[0005] The technical solution adopted by the present invention is as follows: an unmanned vehicle for radar calibration, the unmanned vehicle comprising a main unit and a chassis body unit, the main unit being used to carry various functional payloads, the functional payloads comprising one or more of an RCS corner reflector, a Beidou high-precision positioning and directing device, a video collector, an obstacle avoider, a wireless communicator, an information processor and a first power manager, and the functional payloads are installed on the main unit; the chassis body unit comprises a battery, a drive device, a wheel assembly, a second power manager and an electronic control device; the main unit is connected to the chassis body unit by screws, and the main unit and the chassis body unit are connected by data lines and power lines, and the chassis body is used to drive the main unit to move.

[0006] Furthermore, the video collector in the host unit is arranged at the front and rear ends of the unmanned vehicle, and the video collector is used to obtain real-time images of the environment around the unmanned vehicle; the obstacle avoider is arranged at the four corners of the unmanned vehicle, and the obstacle avoider is used to obtain and identify obstacle information around the unmanned vehicle; the Beidou high-precision positioning and orientation device is arranged on the top of the unmanned vehicle, and the Beidou high-precision positioning and orientation device is used to obtain the position and azimuth information of the unmanned vehicle; the RCS corner reflector is arranged on a retractable bracket, wherein the retractable bracket includes a first end and an opposite second end, and the first end is used for extension and retraction; the first end is connected to the RCS corner reflector, and the second end is connected to the host unit, and the RCS corner reflector is used to reflect radar electromagnetic waves; the wireless communicator is arranged on the host unit, and the wireless communicator is used to transmit data.

[0007] Furthermore, the electronic control device in the chassis body unit is connected to the information processor of the host unit through a serial port line, and the electronic control device is used to exchange data with the information processor, receive motion instructions and report feedback information; the drive device includes a servo motor, a reducer and a reducer shaft, and the drive device is connected to the electronic control device signal through a CAN bus. The drive device is connected to the wheel assembly through the reducer shaft and the steering bearing, and the drive device is used to transmit power and direction to the wheel assembly; the second power manager and the battery are used to supply power to all chassis body unit components, and also supply power to the host unit.

[0008] Furthermore, the first power manager and the second power manager are connected via a power cord, and the first power manager is used to supply power to the host unit; the second power manager is connected to the battery via a power cord; and the second power manager is connected to an external charging port, and the charging port is used to charge the second power manager.

[0009] Furthermore, the Beidou high-precision positioning and direction finder in the host unit is provided with two Beidou antennas, which are connected to the Beidou high-precision positioning and direction finder through radio frequency lines, and the Beidou antennas are arranged on the top of the host unit near the front and rear ends of the unmanned vehicle.

[0010] Furthermore, the wireless communicator is equipped with a wireless communication antenna, which is connected to the wireless communicator via a radio frequency cable and is located in the center of the top of the host unit. The wireless communicator is electrically connected to the information processor and the backend data processing center. The wireless communicator is used to transmit data from the information processor to the backend data processing center. The information processor is connected to the data port via a network cable for transmitting data outside the unmanned vehicle.

[0011] Furthermore, the wheel assembly is a driven sprocket assembly, and the wheel assembly includes a front driven sprocket device and a rear driven sprocket device, and the front driven sprocket device and the rear driven sprocket device are used for wheel rotation and steering.

[0012] Furthermore, the information processor is connected to the obstacle avoider via an SPI line, and the obstacle avoider is used to transmit obstacle information to the information processor, and the information processor is connected to the electronic control device via a serial port line, and the information processor transmits the obstacle information to the electronic control device.

[0013] Furthermore, the RCS corner reflector includes multiple sets of corner reflectors with different RCS values.

[0014] Furthermore, the main unit is an integrated structure of a fiberglass shell, and the internal circuit interface is isolated by a waterproof rubber ring; the chassis body unit is a stainless steel shell, and the chain of the wheel assembly is made of aluminum alloy.

[0015] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are as follows:

[0016] This utility model integrates the RCS corner reflector into the unmanned vehicle and performs radar calibration while the unmanned vehicle is moving. It occupies a small area and can adjust the position and test direction in real time based on high-precision Beidou positioning and GNSS dual-antenna direction-finding technology, thereby improving accuracy and work efficiency.

[0017] The utility model performs radar calibration by controlling an unmanned vehicle, which is simple to operate and can be repeated, and can cover a wider area to be tested and more types of radars to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the hardware structure of the device of the present utility model;

[0019] Figure 2 A schematic diagram of the overall structure of the unmanned vehicle of the present utility model;

[0020] Figure 3 This is a schematic diagram of the structure of the unmanned vehicle host unit and chassis body unit of the utility model;

[0021] Figure 4 Schematic diagram of the use scenario of the present invention.

[0022] Description of labels: 1. Main unit; 2. Chassis body unit; 3. RCS corner reflector; 31. Retractable bracket; 4. Wireless communicator; 5. Beidou high-precision positioning and orientation device; 6. Video collector; 7. Obstacle avoider; 8. Wheel assembly; 9. First power manager; 10. Second power manager; 11. Drive unit; 12. Electronic control unit; 13. Information processor; 14. Battery. DETAILED DESCRIPTION

[0023] The present invention will be described in detail below with reference to the accompanying drawings.

[0024] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0025] Example 1

[0026] like Figure 1 As shown, one embodiment of the present invention is an unmanned vehicle for radar calibration, comprising a host unit 1 and a chassis unit 2. The host unit 1 is connected to the chassis unit 2 by screws to ensure structural stability and reliability even in complex environments. Data and power lines are also provided between the host unit 1 to achieve real-time information transmission and energy supply. The chassis unit is used to drive the host unit 1. The host unit 1 is used to carry various functional payloads, including an RCS corner reflector 3, a Beidou high-precision positioning and orientation device 5, a video collector 6, an obstacle avoider 7, a wireless communicator 4, an information processor 13, and a first power manager 9. These functional payloads are mounted on the host unit 1. The chassis unit 2 comprises a battery 14, a drive unit 11, a wheel assembly 8, a second power manager 10, and an electronic control device 12.

[0027] The battery 14 provides continuous power support for the entire unmanned vehicle system, ensuring that the unmanned vehicle can perform radar calibration tasks for a long time and over long distances. The first power manager 9 and the second power manager 10 are responsible for detecting and managing the power of each unit, ensuring timely alarms when power is low and taking energy-saving measures to extend the operating time of the unmanned vehicle.

[0028] The RCS corner reflector 3 is used to stably reflect radar signals to assist in radar system calibration and testing; the Beidou high-precision positioning and direction finder 5 ensures accurate radar calibration even in complex environments; the video collector 6 collects real-time video information of the unmanned vehicle's surroundings, providing operators with monitoring images so that potential risks can be promptly detected and addressed; the obstacle avoider 7 ensures the safety of the unmanned vehicle during movement by sensing obstacles in the surrounding environment and issuing alarms or taking avoidance measures; the wireless communicator 4 realizes data communication between the unmanned vehicle and the remote operation platform, including issuing commands and uploading data; the information processor 13 is responsible for processing data and information from various functional payloads and making decisions or issuing control commands based on preset algorithms.

[0029] Its working principle is as follows: During the radar calibration task, the unmanned vehicle first determines its precise position and direction through the Beidou high-precision positioning and orientation device 5 on the host unit 1; then, based on the preset route or the operator's instructions, the information processor 13 calculates the target position and path that the unmanned vehicle needs to move. Next, the control signal is sent to the drive device 11 of the chassis body unit 2 through the data line, driving the wheel assembly 8 to move according to the predetermined trajectory. During the movement, the video collector 6 and the obstacle avoider 7 monitor the surrounding environment in real time to ensure the safety of the unmanned vehicle. At the same time, the RCS corner reflector 3 stably reflects the radar signal for detection and identification by the radar system. Finally, the collected data and information are uploaded to the remote operation platform through the wireless communicator 4 for the operator to view and store.

[0030] This embodiment integrates multiple means on the unmanned vehicle to replace the existing radar calibration method, thereby reducing construction costs to a certain extent, while also reducing operational difficulty. The automated setting of integrated recognition and control can improve data accuracy.

[0031] Example 2

[0032] like Figure 2As shown, another embodiment of the present invention is that the video collector 6 in the host unit 1 is arranged at the front and rear ends of the unmanned vehicle to capture environmental images during the movement of the unmanned vehicle. The video collector 6 is used to obtain environmental images around the unmanned vehicle in real time, which is convenient for monitoring the operating status of the unmanned vehicle and changes in the surrounding environment; there are four obstacle avoiders 7, which are arranged at the four corners of the unmanned vehicle for all-round obstacle detection. The obstacle avoiders 7 are used to obtain and identify obstacle information around the unmanned vehicle, and issue an alarm or take avoidance measures when necessary to ensure the safe operation of the unmanned vehicle in a complex environment; the Beidou high-precision positioning and orientation device 5 is arranged on the top of the unmanned vehicle to minimize the impact of obstructions on signal reception. The Beidou high-precision positioning and orientation device 5 is used to obtain the position and azimuth information of the unmanned vehicle; The RCS corner reflector 3 is mounted on a retractable bracket 31. The height of the RCS corner reflector 3 is adjusted via the retractable bracket 31 to adapt it to the target standard of the radar. The retractable bracket 31 includes a first end and an opposite second end, wherein the first end is configured to be retractable. The first end is connected to the RCS corner reflector 3, and the second end is connected to the host unit 1. The RCS corner reflector 3 is configured to reflect electromagnetic waves. By adjusting the height of the retractable bracket 31, the RCS corner reflector 3 can adapt to the target standards of different radar systems, ensuring the accuracy and effectiveness of radar calibration. The RCS corner reflector 3 can efficiently reflect radar electromagnetic waves, providing a stable calibration signal for the radar system. The wireless communicator 4 is mounted on the host unit 1 and is configured to transmit data.

[0033] The operating principle is as follows: During radar calibration, the unmanned vehicle first obtains its precise position and azimuth information using the Beidou high-precision positioning and orientation device 5. The vehicle then begins to move according to a pre-set route or operator instructions. During this movement, the video capture device 6 captures real-time images of the environment in front of and behind the vehicle, while the obstacle avoidance device 7 detects obstacles from all directions and issues alerts or takes evasive action. Simultaneously, the operator can monitor the vehicle's operating status and surrounding changes in real time using the wireless communication device 4, allowing remote control as needed.

[0034] When radar calibration is required, the operator adjusts the height of the retractable bracket 31 to ensure that the RCS corner reflector 3 reaches the required height for radar system calibration. The radar system then operates normally, with the RCS corner reflector reflecting radar electromagnetic waves. The radar generates detection data based on the reflected signals, and the unmanned vehicle transmits its precise position, velocity, and azimuth data to the remote operation platform via the wireless communicator 4 for analysis and processing.

[0035] This embodiment provides an unmanned vehicle for radar calibration with all-round environmental perception and flexible calibration capabilities. By integrating multiple high-precision sensors and intelligent control systems, the unmanned vehicle achieves real-time monitoring and precise positioning of the surrounding environment. At the same time, it can flexibly adjust the height of the RCS corner reflector 3 according to the radar calibration needs to meet the calibration requirements of different radar systems.

[0036] This embodiment uses high-precision Beidou positioning technology to obtain high-precision vehicle position and azimuth angle information. This allows for real-time correction and adjustment of the vehicle's direction, aligning the RCS corner reflector 3 with the radar. This solves the problem of large echo intensity fluctuations during radar performance calibration.

[0037] Example 3

[0038] like Figure 1 As shown, another embodiment of the present invention is that the electronic control device 12 in the chassis body unit 2 is connected to the information processor 13 of the host unit 1 via a serial port line. The information processor 13 transmits movement information to the electronic control device 12. The electronic control device 12 is used to exchange data with the information processor 13, receive motion instructions, and report feedback information. The drive device 11 includes a servo motor, a reducer, and a reducer shaft. The drive device 11 can be an existing device, and the drive device 11 drives the wheel to move. The servo motor serves as a power source and provides stable torque output. The reducer transmits the servo motor's power to the reducer shaft by reducing speed and increasing torque, thereby driving the wheel assembly 8 to move. This drive device 11 not only has the characteristics of high precision and high efficiency, but also can adapt to various complex environments and road conditions. The drive device 11 is connected to the electronic control device 12 via a CAN bus signal, ensuring the accurate transmission and real-time execution of instructions. The drive device 11 is connected to the wheel assembly 8 via a reducer shaft and a steering bearing, and drives the wheel assembly 8 to steer and move through the bearing. The drive device 11 is used to transmit power and direction to the wheel assembly 8; the second power manager 10 and the battery 14 are used to supply power to all components of the chassis body unit 2, and also to the host unit 1.

[0039] The operating principle is as follows: During a radar calibration task, the unmanned vehicle first receives operator instructions or preset route information via the information processor 13 of the host unit 1. The information processor 13 then transmits these instructions to the electronic control unit 12 of the chassis body unit 2 via a serial port line. After receiving the instructions, the electronic control unit 12 parses and processes them and sends motion instructions to the drive unit 11 via the CAN bus. Upon receiving the instructions, the drive unit 11 transmits power to the wheel assembly 8 through the coordinated operation of the servo motor and reducer, realizing the movement of the unmanned vehicle.

[0040] During the movement, the electronic control device 12 is also responsible for real-time monitoring of the unmanned vehicle's operating status and changes in the surrounding environment, and reporting this information to the information processor 13 of the host unit 1. The information processor 13 then adjusts and optimizes the unmanned vehicle's movement in real time based on this information, ensuring that the unmanned vehicle can move according to the predetermined trajectory and speed.

[0041] Meanwhile, the second power manager 10 continuously monitors the charge level of the battery 14 and issues an alarm or implements energy-saving measures when the battery is low, thereby extending the vehicle's operating time. This efficient power management mechanism ensures the vehicle's stable operation and long-term endurance throughout the radar calibration mission.

[0042] This embodiment provides an unmanned vehicle for radar calibration with efficient data interaction and stable driving capabilities, which can meet the needs of radar calibration in complex environments.

[0043] Example 4

[0044] like Figure 1 As shown, another embodiment of the present invention is that the first power manager 9 and the second power manager 10 are connected by a power cord, and the first power manager 9 is used to supply power to the host unit; the second power manager 10 is connected to the battery 14 by a power cord; and the second power manager 10 is externally connected to a charging port, and the charging port is used to charge the second power manager 10.

[0045] The second power manager 10 is tightly connected to the battery 14 via a power cable, forming an independent power supply system for the chassis unit 2. The second power manager 10 is responsible for supplying power to the components of the chassis unit 2 (such as the electronic control unit 12 and the drive unit 11). It also provides safety functions such as power monitoring, power balancing, and overcurrent protection. It intelligently allocates power resources based on the power requirements of the various components of the chassis unit 2, ensuring stable operation of the unmanned vehicle in complex environments.

[0046] Battery 14 boasts high capacity and a long lifespan, enabling it to provide a continuous power supply during extended periods of operation. It also features intelligent charging management, automatically adjusting charging current and voltage based on the battery's state of charge, ensuring safe and long-lasting battery operation.

[0047] To facilitate charging of the battery 14, the second power manager 10 is connected to an external charging port. This port supports multiple charging modes and protocols, adapting to different charger models and power sources. Through this external charging port, operators can conveniently charge the battery 14, ensuring the unmanned vehicle can be quickly operational when needed.

[0048] Its operating principle is as follows: the first power manager 9 provides stable power support to the host unit 1, ensuring the normal operation of all components in the host unit 1. At the same time, the second power manager 10 intelligently allocates power resources based on the power requirements of the components of the chassis unit 2, ensuring the stable operation of the unmanned vehicle in complex environments.

[0049] When battery 14 is low on power, the operator can recharge it through the external charging port. During the charging process, the second power manager 10 intelligently monitors the charging current and voltage to ensure safe and efficient charging. Once battery 14 is fully charged, the unmanned vehicle can resume operation and complete radar calibration.

[0050] The radar calibration unmanned vehicle of this embodiment features a dual power management system that independently supplies power to the main unit 1 and chassis unit 2, and also provides an external charging function. This improves the stability and safety of the unmanned vehicle and facilitates maintenance and management by operators.

[0051] Example 5

[0052] like Figure 3 As shown, another embodiment of the present invention is that the Beidou high-precision positioning and orienting device 5 in the host unit is provided with two Beidou antennas, which are connected to the Beidou high-precision positioning and orienting device 5 through a radio frequency line, and the Beidou antennas are arranged on the top of the host unit 1 near the front and rear ends of the unmanned vehicle.

[0053] The vehicle's azimuth angle information is obtained through Beidou GNSS dual-antenna direction-finding technology, and the data is processed by the information processor 13 and transmitted to the backend data center via the wireless communicator 4. The backend data processing center calculates the distance, angle and speed of the unmanned vehicle relative to the radar in real time based on the Beidou data, stores them, and later compares and calibrates them with the radar's detection values; the information processor 13 uses the position and direction information to determine in real time whether the vehicle is moving in a circle. If the vehicle's trajectory deviates or the direction and attitude change, it will issue instructions in real time to adjust and modify the four-wheel power parameters to achieve direction correction and ensure that the RCS corner reflector 3 is always aligned with the radar direction;

[0054] By acquiring data information through Beidou GNSS dual-antenna direction-finding technology, high-precision vehicle position and direction angle information is obtained, so that the vehicle's driving direction can be corrected and adjusted in real time, so that the RCS corner reflector 3 is aligned with the radar direction, thus solving the problem of large fluctuations in echo intensity during radar performance calibration to a certain extent.

[0055] Example 6

[0056] like Figure 2As shown, another embodiment of the present invention is that the wireless communicator 4 is equipped with a wireless communication antenna, which is connected to the wireless communicator 4 via a radio frequency cable and is located in the center of the top of the host unit. The wireless communicator 4 is electrically connected to the information processor 13 and the backend data processing center. The wireless communicator 4 is used to transmit data from the information processor 13 to the backend data processing center. The information processor 13 is connected to the data port via a network cable for transmitting data outside the unmanned vehicle.

[0057] To maximize wireless signal coverage and transmission efficiency, the wireless communication antenna is located in the center of the top of the main unit. This placement not only prevents interference with other components but also ensures that the antenna can receive wireless signals from all directions. Meanwhile, wireless communicator 4 is responsible for transmitting data from information processor 13 to the backend data processing center in real time. It supports a variety of wireless communication protocols and frequency bands, enabling the selection of appropriate communication methods based on different scenarios and needs, ensuring stable data transmission. The information processor 13 and wireless communicator 4 are connected via electrical signals, ensuring real-time and accurate data transmission from the information processor 13 to the wireless communicator 4 and ultimately to the backend data processing center.

[0058] Unmanned vehicles require collaboration with a backend data processing center. Backend operators can view various data uploaded by the device on the operating platform and remotely control the vehicle's trajectory and modify module parameters. After the device completes a calibration, it imports the raw radar detection information into the backend data processing center. The data center's analysis software compares the radar detection data with the data collected by the unmanned vehicle and calculates the root mean square error (RMS) to obtain calibration results for the radar's range, angle, and speed measurements.

[0059] By optimizing the wireless communicator 4 and the information processor 13, high-speed and stable data transmission is achieved between the vehicle and the background data processing center, thereby improving the data transmission capability of the unmanned vehicle and providing more accurate and reliable data support for the radar calibration task.

[0060] Example 7

[0061] Another embodiment of the present invention is that the wheel assembly 8 is a driven sprocket assembly, and the wheel assembly 8 includes a front driven sprocket device and a rear driven sprocket device, and the front driven sprocket device and the rear driven sprocket device are used for wheel rotation and steering.

[0062] The front driven sprocket assembly is primarily responsible for the forward and reverse movement of the unmanned vehicle. When the drive motor is activated, power is transmitted to the sprocket via a chain, driving the wheels and enabling the vehicle to move. The rear driven sprocket assembly not only enables the vehicle's movement but also enables flexible steering of the wheels through the steering mechanism. The steering mechanism adjusts the sprocket angle according to control commands, thereby changing the direction of travel and enabling the vehicle to steer. The eight wheel assemblies utilize a chain drive, offering advantages such as high transmission efficiency, strong load-bearing capacity, and smooth operation. The steering mechanism integrated into the rear driven sprocket assembly enables the vehicle to achieve flexible steering maneuvers. Whether in confined spaces or on complex roads, the vehicle can quickly and accurately adjust its direction according to control commands.

[0063] The unmanned vehicle used for radar calibration uses eight wheel assemblies to achieve efficient wheel rotation and flexible steering.

[0064] Example 8

[0065] like Figure 1 As shown, another embodiment of the present invention is that the information processor 13 is connected to the obstacle avoider 7 via an SPI line, and the obstacle avoider 7 is used to transmit obstacle information to the information processor 13, and the information processor 13 is connected to the electronic control device 12 via a serial port line, and the information processor 13 transmits the obstacle information to the electronic control device 12.

[0066] The obstacle avoider 7 detects obstacles on the path of the unmanned vehicle and converts the obstacle information into electrical signals, which are connected to the information processor 13 via the SPI line. The SPI line is a high-speed, full-duplex synchronous serial communication bus that supports the connection between multiple slave devices (such as the obstacle avoider 7) and a master device (such as the information processor 13), enabling efficient data transmission.

[0067] The information processor 13 receives the obstacle information transmitted by the obstacle avoider 7, performs preliminary processing (such as filtering, denoising, etc.), and sends the processed information to the electronic control device 12 through the serial port line.

[0068] The electronic control device 12 controls the motion state of the unmanned vehicle (such as forward, backward, turning, etc.) according to the obstacle information sent by the information processor 13 to achieve the obstacle avoidance function.

[0069] The SPI line is a high-speed, full-duplex synchronous serial communication bus that ensures efficient data transmission between the obstacle avoider 7 and the information processor 13. The serial port line has the advantages of being simple to use and easy to connect, which reduces the complexity and cost of the system.

[0070] Example 9

[0071] Another embodiment of the present invention is that the RCS corner reflector 3 includes multiple sets of corner reflectors with different RCS values.

[0072] This embodiment is equipped with multiple sets of corner reflectors with different RCS values. Before starting calibration, the standard RCS value of the radar target and the radar antenna height are determined, so as to select the corner reflector with the corresponding RCS value and adjust the retractable bracket 31 to the corresponding height to ensure that the corner reflector is facing the radar and the plane is parallel to the side plane of the vehicle body.

[0073] Example 10

[0074] Another embodiment of the present invention is that the main unit 1 is an integrated structure of a fiberglass shell, the overall structure is a three-proof structure, and the internal circuit interface is isolated by a waterproof rubber ring; the chassis body unit 2 is a stainless steel shell, and the chain of the wheel assembly 8 is cast from aluminum alloy.

[0075] The main unit 1 utilizes an integrated fiberglass housing, boasting high strength and lightweight construction. Its overall design offers triple protection (dustproof, waterproof, and corrosion-resistant), significantly enhancing the autonomous vehicle's adaptability and service life in harsh environments. Internal wiring interfaces are isolated with waterproof rubber gaskets to effectively prevent moisture and dust intrusion, ensuring the safe operation of the internal electronic components.

[0076] The chassis body unit 2 uses a stainless steel shell. Stainless steel has excellent corrosion resistance and mechanical strength, and can effectively resist erosion and physical impact from the external environment, providing a solid support platform for the unmanned vehicle and ensuring stable operation in complex terrain and harsh conditions.

[0077] Example 11

[0078] The working principle of this embodiment is as follows: Multiple sets of corner reflectors with different RCS values are equipped. Before calibration begins, the radar's target standard RCS value and radar antenna height are determined, and then the corner reflector with the corresponding RCS value is selected. The retractable bracket 31 is adjusted to the corresponding height to ensure that the corner reflector faces the radar and its plane is parallel to the side plane of the vehicle body. After the device is turned on, the information processor 13 of the host unit 1 drives each connected module to perform a power-on self-test, including battery level. The information processor 13 reports the self-test results to the background data processing center via the wireless communicator 4. The background center decides whether to initiate calibration based on the self-test results. If calibration is started, the radar to be tested will be turned on and run, and the background center will formulate a driving route (with the radar to be tested as the center of the circle, determining the driving radius and driving speed). The information processor 13 will issue a power instruction to the chassis body unit 2 according to the driving instruction issued by the background center, and the chassis will drive in a circle with the radar as the center. The transmission signal of the radar to be tested will be transmitted back to the radar receiver through the corner reflector, and the radar will form the distance, angle and speed information of the target object based on this. The Beidou high-precision positioning and orientation module will obtain the vehicle position information in real time, and the vehicle azimuth information will be obtained through the Beidou GNSS dual-antenna direction finding technology. The above information will enter the information processor 1 3 is processed and transmitted to the background data center through the wireless communication device 4; the background data processing center calculates the distance, angle and speed of the unmanned vehicle relative to the radar in real time based on the Beidou data, and stores it, and later compares and calibrates it with the detection value of the radar; the information processor 13 uses the position and direction information to determine in real time whether the vehicle is moving in a circle. If the vehicle trajectory deviates or the direction and posture change, it will issue instructions in real time to adjust and modify the four-wheel power parameters to achieve direction correction and ensure that the RCS corner reflector 3 is always aligned with the radar direction; the video acquisition module and the obstacle avoidance module obtain the environmental image and obstacle situation around the vehicle in real time, and the information processor 13 transmits the video information and obstacle information to the backend data center through the wireless communicator 4. The backend data center can view the video image situation around the vehicle body in real time. If an obstacle is encountered, the information processor 13 controls the vehicle drive device 11 to pause, and the backend personnel adjust the vehicle steering according to the actual situation; the chassis body unit 2 receives the motion instructions of the information processor 13, and the electronic control device 12 and the drive device 11 jointly drive the wheel assembly 8 to work; the second power manager 10 regularly reports the battery 14 power to the information processor 13; the information processor 13 chooses whether to report the battery replacement / charging information according to the battery power situation.

[0079] Backstage operators can view various data information uploaded by the device on the operating platform, and can also remotely control the vehicle's running trajectory, remotely modify certain module parameters, and other functions.

[0080] After the equipment completes a calibration operation, the original radar detection information is imported into the background data processing center. The data center analysis software compares the radar detection data with the data collected by the unmanned vehicle to calculate the root mean square error, and the calibration results of the radar ranging, angle measurement, and speed measurement can be obtained.

[0081] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An unmanned vehicle for radar calibration, comprising a host unit and a chassis unit, characterized in that: The host unit is used to carry functional payloads, which include: one or more of an RCS corner reflector, a Beidou high-precision positioning and direction finder, a video collector, an obstacle avoider, a wireless communicator, an information processor, and a first power manager, and the functional payloads are installed on the host unit; The chassis body unit includes a battery, a drive device, a wheel assembly, a second power manager and an electronic control device; The host unit is connected to the chassis body unit through screws, and the host unit and the chassis body unit are connected through data lines and power lines. The chassis body is used to drive the host unit to move.

2. The radar calibration unmanned vehicle according to claim 1, characterized in that: The video collectors in the host unit are arranged at the front and rear ends of the unmanned vehicle, and are used to obtain real-time images of the environment around the unmanned vehicle; the obstacle avoiders are arranged at the four corners of the unmanned vehicle, and are used to obtain and identify obstacle information around the unmanned vehicle; The Beidou high-precision positioning and orienting device is arranged on the top of the unmanned vehicle, and the Beidou high-precision positioning and orienting device is used to obtain the position and azimuth information of the unmanned vehicle; The RCS corner reflector is disposed on a retractable bracket, wherein the retractable bracket includes a first end and an opposite second end, the first end being configured to be retractable; the first end being connected to the RCS corner reflector, and the second end being connected to the host unit, and the RCS corner reflector being configured to reflect radar electromagnetic waves; The wireless communicator is provided on the host unit and is used for transmitting data.

3. The radar calibration unmanned vehicle according to claim 1, characterized in that: The electronic control device in the chassis body unit is connected to the information processor of the host unit via a serial port line, and the electronic control device is used to exchange data with the information processor, receive motion instructions and report feedback information; The drive device includes a servo motor, a reducer and a reducer shaft. The drive device is connected to the electronic control device via a CAN bus signal. The drive device is connected to the wheel assembly via the reducer shaft and the steering bearing. The drive device is used to transmit power and direction to the wheel assembly. The second power manager and the battery are used to supply power to all chassis body unit components and also to the main unit.

4. The radar calibration unmanned vehicle according to claim 1, characterized in that: The first power manager and the second power manager are connected via a power cord, and the first power manager is used to supply power to the host unit; the second power manager is connected to the battery via a power cord; and the second power manager is externally connected to a charging port, and the charging port is used to charge the second power manager.

5. The radar calibration unmanned vehicle according to claim 1, characterized in that: The Beidou high-precision positioning and direction finder in the host unit is provided with two Beidou antennas, which are connected to the Beidou high-precision positioning and direction finder via radio frequency lines, and are arranged on the top of the host unit near the front and rear ends of the unmanned vehicle.

6. The radar calibration unmanned vehicle according to claim 1, characterized in that: The wireless communicator is provided with a wireless communication antenna, the wireless communication antenna is connected to the wireless communicator via a radio frequency line, and the wireless communication antenna is arranged in the middle of the top of the host unit; The wireless communicator is electrically connected to the information processor and the background data processing center. The wireless communicator is used to transmit data from the information processor to the background data processing center, and the information processor is connected to the data port via a network cable to transmit data outside the unmanned vehicle.

7. The radar calibration unmanned vehicle according to claim 3, characterized in that: The wheel assembly is a driven sprocket assembly, and the wheel assembly includes a front driven sprocket device and a rear driven sprocket device. The front driven sprocket device and the rear driven sprocket device are used for wheel rotation and steering.

8. The radar calibration unmanned vehicle according to claim 1, characterized in that: The information processor is connected to the obstacle avoider via an SPI line, and the obstacle avoider is used to transmit obstacle information to the information processor. The information processor is connected to the electronic control device via a serial port line, and the information processor transmits the obstacle information to the electronic control device.

9. The radar calibration unmanned vehicle according to claim 2, characterized in that: The RCS corner reflector includes multiple sets of corner reflectors with different RCS values.

10. The radar calibration unmanned vehicle according to claim 1, characterized in that: The main unit is an integrated structure of a fiberglass shell, and the internal circuit interface is isolated by a waterproof rubber ring; the chassis body unit is a stainless steel shell, and the chain of the wheel assembly is made of aluminum alloy.

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