Test tool
By designing a test fixture that includes a fixed base and a movable shield, the problem of evaluating the detection performance of lidar under obstructed field of view was solved, achieving high-precision testing and consistent results.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- HESAI TECH CO LTD
- Filing Date
- 2025-03-26
- Publication Date
- 2026-05-12
AI Technical Summary
There is a lack of testing equipment to evaluate the detection performance of lidar when the field of view is obstructed, especially in outdoor environments or when the window of a vehicle-mounted lidar is contaminated, which affects detection accuracy.
A test fixture was designed, including a fixed base and a shield that can move along a first direction, for blocking part or all of the field of view of the lidar, collecting detection data of the lidar under different blocking conditions, and evaluating its performance.
By controlling the movement of the obstruction plate, accurate obstruction control of the lidar's field of view was achieved, improving the testing accuracy of detection performance and ensuring the consistency of test results.
Smart Images
Figure CN224231967U_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of lidar testing technology, and in particular to a testing fixture. Background Technology
[0002] LiDAR boasts high detection accuracy and is minimally affected by weather and ambient light, enabling all-weather, all-time high-precision detection. It has wide applications in autonomous driving, field surveying, and drone detection. However, in some application scenarios, the operating environment of LiDAR is harsh. For example, some LiDAR systems are used outdoors, or the windows or windshields of vehicle-mounted LiDAR systems may be contaminated, obstructing the LiDAR's field of view and affecting its detection accuracy. Currently, however, there is a lack of corresponding testing equipment to test the detection performance of LiDAR under obstructed field of view conditions. Utility Model Content
[0003] To address one or more deficiencies in the prior art, this disclosure provides a test fixture for testing the detection performance of a lidar. The test fixture includes a mounting base and a first shielding plate, wherein...
[0004] The mounting bracket secures the lidar in a preset position.
[0005] The first shield is movable in a first direction. The first shield is disposed on one side near the window of the lidar. The first shield is configured to block part or all of the field of view of the lidar when it moves in the first direction.
[0006] When the first shielding plate blocks part or all of the field of view of the lidar, a portion of the first shielding plate blocks at least a portion of the detection beam emitted by the lidar.
[0007] Optionally, the first direction is a vertical direction, and the first shield is configured to block part or all of the vertical field of view of the lidar.
[0008] Optionally, the first direction is horizontal, and the first shield is configured to block part or all of the horizontal field of view of the lidar.
[0009] Optionally, the first shielding plate includes a first light-blocking part, a second light-blocking part, and a light-transmitting part, wherein,
[0010] Along the first direction, the light-transmitting part is located between the first light-shielding part and the second light-shielding part. During the movement of the first shielding plate along the first direction, the first light-shielding part or the second light-shielding part blocks part or all of the field of view of the lidar.
[0011] Optionally, the light-transmitting part includes a void structure or a light-transmitting material; the size of the light-transmitting part can completely cover the field of view of the lidar.
[0012] Optionally, the test fixture further includes a positioning element configured to keep the position of the first shield fixed in the first direction.
[0013] Optionally, the test fixture further includes a guide rail disposed along the first direction, and the first shield is configured to move along the guide rail relative to the fixed base.
[0014] Optionally, the positioning element includes at least one of a positioning block or a positioning pin; the two ends of the positioning block in the first direction respectively abut against the lower edge of the fixing seat and the first baffle; or the positioning pin is configured to keep the first baffle fixed to the guide rail.
[0015] Optionally, the fixing base includes a base and at least one adapter block; wherein,
[0016] The adapter block is detachably mounted on the base, and the side of the adapter block connected to the base is matched with the base; the lidar is mounted on the adapter block, and the side of the adapter block connected to the lidar is matched with the lidar.
[0017] Optionally, the adapter block includes multiple adapter blocks of different sizes, which are adapted to different models of the lidar, so that when different models of lidar are fixed on the mounting base, the optical axes of the different models of lidar are located on the same horizontal plane.
[0018] Optionally, the test fixture further includes a second shielding plate, which is movable relative to the fixed base in a second direction. The second shielding plate is disposed on one side near the window of the lidar. The second shielding plate is configured to block part or all of the field of view of the lidar when moving in the second direction. The second direction is perpendicular to the first direction.
[0019] When the second shielding plate blocks part or all of the field of view of the lidar, a portion of the second shielding plate blocks at least a portion of the detection beam emitted by the lidar.
[0020] Compared with existing technologies, the embodiments of this disclosure provide a testing fixture. A fixed base holds the lidar in a preset pose, and a first blocking plate moves relative to the fixed base along a first direction, blocking part or all of the lidar's field of view, thus blocking at least a portion of the detection beam emitted by the lidar. The collected detection data from the lidar can be used to evaluate its detection performance under varying degrees of field-of-view obstruction. This embodiment, by controlling the movement of the first blocking plate along the first direction, facilitates accurate control of the obstruction range of the lidar's field of view, improves the testing accuracy of the lidar's detection performance, and ensures consistency of test results when multiple tests are performed on the same lidar or different lidars. Attached Figure Description
[0021] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the embodiments of the present disclosure to explain the disclosure and do not constitute a limitation thereof. In the drawings:
[0022] Figure 1 A schematic diagram of the structure of an exemplary test fixture consistent with some embodiments of the present disclosure is shown;
[0023] Figure 2 A schematic diagram of an exemplary first shielding plate consistent with some embodiments according to this disclosure is shown;
[0024] Figures 3A-3C A schematic diagram illustrating the relative relationship between an exemplary first shield and the field of view of a lidar consistent with some embodiments of the present disclosure is shown;
[0025] Figure 4 A schematic diagram of an exemplary connection portion consistent with some embodiments of the present disclosure is shown;
[0026] Figure 5 A schematic diagram of an exemplary connecting portion and positioning block consistent with some embodiments according to this disclosure is shown;
[0027] Figure 6 A schematic diagram of an exemplary mounting base consistent with some embodiments of the present disclosure is shown. Detailed Implementation
[0028] In the following description, only certain exemplary embodiments are shown. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this disclosure. Therefore, the drawings and description are to be considered exemplary in nature and not restrictive.
[0029] In the description of this disclosure, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this disclosure, "a plurality of" means two or more, unless otherwise explicitly and specifically defined.
[0030] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joint" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or connections that allow for communication; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.
[0031] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0032] The following disclosure provides numerous different embodiments or examples for implementing various structures of this disclosure. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this disclosure. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this disclosure, but those skilled in the art will recognize the application of other processes and / or the use of other materials.
[0033] The embodiments of this disclosure are described below with reference to the accompanying drawings. It should be understood that the embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.
[0034] This disclosure relates to a testing fixture for testing the detection performance of a lidar. The testing fixture includes a mounting base and a first shielding plate. The mounting base secures the lidar in a preset position. The first shielding plate is movable along a first direction. The first shielding plate is positioned on one side near the lidar's viewing window. The first shielding plate is configured to block part or all of the lidar's field of view when moving along the first direction. When the first shielding plate blocks part or all of the lidar's field of view, a portion of the first shielding plate can block at least a portion of the detection beam emitted by the lidar.
[0035] In the embodiments of this disclosure, the mounting base can keep the position of the lidar fixed. A first blocking plate is located on the side near the lidar's viewing window. Optionally, the first blocking plate can be mounted on the mounting base, or it can be separated from the mounting base. The first blocking plate can move along a first direction. During its movement along the first direction, the first blocking plate can change the degree to which it blocks the lidar's field of view. For example, it can block at least a portion of the detection beam emitted by the lidar, leave the detection beam unblocked, or completely block the detection beam. By controlling the movement of the first blocking plate relative to the mounting base along the first direction, the blocked field of view of the lidar can be controlled. Detection data acquired by the lidar when its field of view is blocked can be collected and used to test the lidar's detection performance. The testing fixture in this embodiment helps improve the testing accuracy of the lidar's detection performance and ensures the consistency of test results when multiple tests are performed on the same lidar or different lidars.
[0036] Figure 1 A schematic diagram of an exemplary test fixture 100 consistent with some embodiments of this disclosure is shown. The test fixture 100 in this embodiment is used to test the detection performance of the lidar 200. See also... Figure 1The test fixture 100 includes a fixed base 102 and a first shield 104.
[0037] In some embodiments, the mounting base 102 secures the lidar 200 in a preset pose. For example, the mounting base 102 includes a connecting structure that can match the lidar 200 and secure it to maintain the preset pose. For example, the preset pose may allow the lidar's main optical axis to be parallel to a horizontal plane, or to have a certain angle between the lidar's main optical axis and the horizontal plane, such as the main optical axis tilting upwards or downwards. For example, the preset pose may allow the lidar's base to be parallel to a horizontal plane, or to have a certain angle between the lidar's base and the horizontal plane. The lidar can be detachably connected to the mounting base.
[0038] In some embodiments, the first shielding plate 104 is located near the viewing window of the lidar 200. Figure 1 The side facing away from the paper. The mounting bracket 102 ensures the relative position of the first shielding plate 104 and the lidar. The first shielding plate 104 can be positioned along a first direction (e.g., the side facing away from the paper). Figure 1 The first shield 104 moves in the first direction (up and down). When the first shield 104 moves in the first direction, it can block part or all of the field of view of the lidar 200. See also Figure 1 When the first blocking plate 104 moves along the first direction, a portion of its structure overlaps with the field of view of the lidar 200. For example, in some embodiments, the first blocking plate 104 may be located directly in front of, to the side in front of, diagonally above, or diagonally below the viewing window of the lidar 200. As the first blocking plate 104 moves along the first direction, it moves and blocks different fields of view of the lidar 200.
[0039] In some embodiments, the LiDAR 200 is fixed to the mounting base 102 in a preset pose. The distance and orientation of the first shielding plate 104 relative to the LiDAR 200 can be determined according to the actual application scenario of the LiDAR 200. For example, the LiDAR 200 is used in the field of autonomous driving and is installed inside the windshield of a vehicle. The distance and orientation of the first shielding plate 104 relative to the LiDAR 200 can be determined based on the distance and orientation of the windshield relative to the LiDAR 200. The first shielding plate 104 can be used to simulate the impact on the detection performance of the LiDAR 200 when a part of the windshield is dirty or obstructed. For example, the LiDAR 200 can be installed on the upper part of the windshield, inside the headlights, in the radiator grille, on the side of the vehicle body, etc. The distance and orientation of the first shielding plate 104 relative to the LiDAR 104 can be determined according to the connection structure between the LiDAR 200 and the vehicle at different locations on the vehicle.
[0040] In some embodiments, when the first shielding plate 104 blocks part or all of the field of view of the lidar 200, a portion of the first shielding plate 104 may block at least a portion of the detection beam emitted by the lidar 200. For example, within the wavelength band of the detection beam emitted by the lidar 200, a portion of the first shielding plate 104 may be an opaque structure, or a portion of the first shielding plate 104 may absorb the detection beam emitted by the lidar 200.
[0041] By controlling the position of the first blocking plate 104 along the first direction, the first blocking plate 104 can be positioned at different locations within the field of view of the lidar 200. By collecting the detection data from the lidar 200, the detection performance can be obtained when the field of view of the lidar 200 is partially or completely blocked. In some embodiments, by accurately controlling the position of the first blocking plate 104 in the first direction, the detection performance when a preset area or preset angle within the field of view of the lidar 200 is blocked can be obtained, which helps to improve testing accuracy.
[0042] In some embodiments, the correspondence between the detection performance of the lidar 200 and the proportion of the lidar 200's field of view obstructed by the first obstruction plate 104 in the first direction can be determined based on the position of the first obstruction plate 104. This can be used to determine the obstruction status of the lidar 200's field of view based on the lidar 200's detection results. For example, in autonomous driving applications, the detection results of the lidar 200 can be used to determine whether the vehicle's windshield is obstructed or dirty.
[0043] In some embodiments, the first direction is vertical, and the first shielding plate 104 can block part or all of the vertical field of view of the lidar 200. The first shielding plate 104 can block part or all of the horizontal field of view of the lidar 200. Alternatively, the first shielding plate 104 can completely leave the horizontal field of view of the lidar unobstructed.
[0044] In some embodiments, the first direction may be horizontal, and the first shielding plate 104 may block part or all of the horizontal field of view of the lidar 200. The first shielding plate 104 may block part or all of the vertical field of view of the lidar. Alternatively, the first shielding plate 104 may not block the vertical field of view of the lidar at all.
[0045] In some embodiments, the field of view of the lidar 200 can be determined based on the emission angle of the detection beam emitted by the lidar 200. The field of view of the lidar 200 can be represented by mutually perpendicular vertical and horizontal fields of view. The vertical field of view of the lidar 200 represents the detectable range in the vertical direction under the actual pose of the lidar 200 in the actual application, and the horizontal field of view of the lidar 200 represents the detectable range in the horizontal direction under the actual pose of the lidar 200 in the actual application. The pose of the lidar 200 in the actual application can be the same as or different from the preset pose of the lidar 200 on the mounting base 102.
[0046] See Figure 2 In some embodiments, the first shielding plate 204 includes a first light-blocking portion 242, a second light-blocking portion 244, and a light-transmitting portion 246. The first shielding plate 204 may be the same as or similar to the first shielding plate 104 in the foregoing embodiments. Along a first direction, the light-transmitting portion 246 is located between the first light-blocking portion 242 and the second light-blocking portion 244.
[0047] The light-transmitting portion 246 includes a void structure or a light-transmitting material. For example, the two ends of the first light-shielding portion 242 and the second light-shielding portion 244 are connected, and a void structure is formed at the middle position of the first light-shielding portion 242 and the second light-shielding portion 244. Alternatively, a light-transmitting material can be embedded at the middle position of the first light-shielding portion 242 and the second light-shielding portion 244 to form the light-transmitting portion 246. The detection beam emitted by the lidar 200 and the echo generated after the detection beam is reflected can pass through the light-transmitting portion 246. In some embodiments, the size of the light-transmitting portion 246 can completely cover the field of view of the lidar 200. For example, when the first shielding plate 204 moves along the first direction to a position where the position of the light-transmitting portion 246 is directly opposite the position of the window of the lidar 200, the field of view of the lidar 200 is unobstructed and can be used to obtain the detection performance of the lidar 200 when the field of view is unobstructed. In some embodiments, the size of the light-transmitting portion 246 can be such that the non-transparent area of the first shielding plate partially obstructs the field of view of the lidar. For example, the shape and size of the first light-shielding part 242, the second light-shielding part 244, and the light-transmitting part 246 can simulate the installation conditions of the lidar on vehicles, robots, and other equipment. This can simulate the situation where the lidar's field of view is partially blocked when it is installed on the equipment, in order to verify whether the lidar's detection performance meets the requirements for safe driving.
[0048] In some embodiments, the light-transmitting portion 246 includes a light-transmitting material, and the light-transmitting material between the first light-shielding portion 242 and the second light-shielding portion 244 is replaceable. For example, the test fixture includes multiple light-transmitting materials of similar size but different transmittances. By changing the light-transmitting material, the detection performance of the lidar 200 under the influence of light-transmitting portions 246 with different transmittances can be tested. Alternatively, in some embodiments, the transmittance of the light-transmitting material of the light-transmitting portion 246 is not uniform at different positions. The light-transmitting portion 246 can be used to simulate the condition of a dirty window surface of the lidar 200, and the detection performance of the lidar 200 when the window is dirty can be tested.
[0049] In some embodiments, when the first shielding plate 204 moves along the first direction, the first light-shielding part 242 or the second light-shielding part 244 blocks part or all of the field of view of the lidar 200. For example, the structural dimensions of the first light-shielding part 242 and the second light-shielding part 244 in the first direction are greater than or equal to the field of view range of the lidar 200 in the first direction, so that the first light-shielding part 242 or the second light-shielding part 244 can completely block the entire field of view of the lidar 200 in the first direction. When the first shielding plate 204 moves along the first direction, the positions of the first light-shielding part 242 and the second light-shielding part 244 relative to the lidar 200 change, and the first light-shielding part 242 or the second light-shielding part 244 can partially block the field of view of the lidar 200 in the first direction.
[0050] Figure 3A A schematic diagram of the position of an exemplary first shield 304, consistent with some embodiments of the present disclosure, when it does not obstruct the field of view of the lidar 200 is shown. Figure 3B A schematic diagram of the position of an exemplary first shielding plate 304 partially obstructing the field of view of a lidar 200, consistent with some embodiments of the present disclosure. Figure 3C A schematic diagram showing the position of an exemplary first shielding plate 304 completely blocking the field of view of the lidar 200, consistent with some embodiments of the present disclosure, is illustrated below. Figures 3A-3C The relative positional relationship between the first shielding plate 304 and the lidar 200 is explained. Figures 3A-3C The first shielding plate 304 in the above embodiment is the same as or similar to the first shielding plate 104 or the first shielding plate 204 in the previous embodiment. Figures 3A-3C The first light-shielding part 342 in the above embodiment is the same as or similar to the first light-shielding part 242 in the previous embodiment. Figures 3A-3C The second light-shielding part 344 in the above embodiment is the same as or similar to the second light-shielding part 244 in the previous embodiment. Figures 3A-3C The light-transmitting portion 346 in the above embodiment is the same as or similar to the light-transmitting portion 246 in the previous embodiment.
[0051] See Figure 3AIn some embodiments, the first shielding plate 304 is in Figure 3A The position shown can be the initial position. At this time, the first light-shielding part 342 of the first shielding plate 304 does not coincide with the field of view of the lidar 200, and the first shielding plate 304 does not block the field of view of the lidar 200. When the first shielding plate 304 is in Figure 3A At the indicated position, the detection data acquired by the lidar 200 can be used as the baseline detection data when the lidar 200's field of view is unobstructed. Comparing the detection data when the lidar 200's field of view is obstructed with the baseline detection data can be used to evaluate the lidar 200's detection performance when its field of view is obstructed, such as the rate of performance attenuation.
[0052] See Figure 3B The first shielding plate 304 moves along the first direction, and the first light-shielding part 342 partially blocks the field of view of the lidar 200. The first shielding plate 304 moves to different positions along the first direction, so that the first light-shielding part 342 or the second light-shielding part 344 can block different field of view ranges of the lidar 200. For example, the first shielding plate 304 is composed of... Figure 3A The position shown moves to Figure 3B During the process shown in the figure, the first light-shielding part 342 moves from top to bottom ( Figure 3A and Figure 3B The vertical field of view of the lidar 200 is blocked by the first light-blocking part 342 in the up-down direction (as shown), and the blocking range of the vertical field of view of the lidar 200 by the first light-blocking part 342 gradually increases.
[0053] In some embodiments, as the first shielding plate 304 moves along the first direction, the second light-shielding part 344 moves to block part or all of the field of view of the lidar 200. For example, the stroke of the first shielding plate 304 moving along the first direction may be such that the first shielding plate 304 moves to below the lidar 200. By controlling the direction of the first shielding plate 304 moving along the first direction, the second light-shielding part 344 can block the vertical field of view of the lidar 200 from bottom to top.
[0054] See Figure 3C The first light-shielding part 342 in the first shielding plate 304 completely blocks the view of the lidar. The detection beam emitted by the lidar is completely blocked by the first light-shielding part 342. The detection beam is reflected from the surface of the first light-shielding part 342 and other surfaces in the test environment, and the lidar may still receive some echoes and obtain a detection signal. By using the first shielding plate 304 to completely block the field of view of the lidar, it can be used to test the lidar's ability to distinguish received echoes when the field of view is completely blocked, and can be used to correct the lidar's noise reduction processing.
[0055] In some embodiments, see Figure 1 The vertical distance between the first shielding plate 104 and the lidar 200, for example Figure 1 The distance perpendicular to the plane of the paper affects the field of view of the lidar 200 blocked by the first shielding plate 104. The field of view of the lidar 200 diverges outwards. When the first shielding plate 104 moves away from the lidar 200, the obstruction range of the lidar 200's field of view by the first shielding plate 104 decreases accordingly; when the first shielding plate 104 moves closer to the lidar 200, the obstruction range of the lidar 200's field of view by the first shielding plate 104 increases accordingly. In some embodiments, the vertical distance between the first shielding plate 104 and the lidar 200 can be set according to the actual application scenario of the lidar 200. For example, when the lidar 200 is used inside the driver's cabin of a vehicle, located behind the windshield, the vertical distance between the first shielding plate 104 and the lidar 200 can be similar to or equal to the vertical distance between the lidar 200 and the windshield. In some embodiments, the vertical distance between the first shielding plate 104 and the lidar can be changed.
[0056] In some embodiments, the test fixture further includes a positioning element that can fix the position of the first shielding plate in a first direction. The position of the first shielding plate in the first direction affects the extent to which the first shielding plate blocks the field of view of the lidar. The positioning element helps improve the accuracy of testing the detection performance of the lidar and reduces the risk that the field of view of the lidar blocked by the first shielding plate may change during the test. In some embodiments, the positioning element may include a pad, a pin, a clip, etc.
[0057] See Figure 1 In some embodiments, the test fixture 100 further includes a guide rail 106. The guide rail 106 is disposed along a first direction, and the first shielding plate 104 can move relative to the fixed base 102 along the guide rail 106. In some embodiments, the guide rail 106 is disposed on both sides of the fixed base 102, and the two ends of the first shielding plate 104 are slidably connected to the guide rails on both sides of the fixed base 102, which helps to improve the stability of the first shielding plate 104 moving along the first direction. In some embodiments, the positions of the two sides of the first shielding plate 104 connected to the guide rails 106 on both sides in the first direction can be controlled individually, so that the first shielding plate 104 can tilt in the plane of the first direction. The first shielding plate 104 tilts to block the field of view of the lidar 200, which is suitable for different test requirements and expands the test range of the test fixture 100.
[0058] In some embodiments, see Figure 4The testing fixture also includes a connecting portion 408. The connecting portion 408 includes a first mating surface 482 and a second mating surface 484. The first mating surface 482 can be fixedly connected to the first shielding plate 404. For example, the first mating surface 482 and the first shielding plate 404 can be fixedly connected by bolts. The first shielding plate 404 is similar to or the same as the first shielding plate 104, first shielding plate 204, or first shielding plate 304 in the foregoing embodiments. The second mating surface 484 can be slidably connected to a guide rail 406, which is similar to or the same as the guide rail 106 in the foregoing embodiments. The guide rail 406 may include a groove, and the second mating surface 484 may include a slider. The slider can be embedded inside the groove and can slide along the groove. In some embodiments, the first mating surface 482 and the second mating surface 484 can be substantially perpendicular.
[0059] In some embodiments, see Figure 4 The connecting portion 408 also includes a third mating surface 486. The third mating surface 486 may be perpendicular to the first direction. The third mating surface 486 can cooperate with a positioning element to keep the position of the first baffle 404 fixed in the first direction. For example, in some embodiments, the position of the third mating surface 486 in the first direction can be fixed by abutment, padding, snap-fit, etc. The first mating surface 482, the second mating surface 484, and the third mating surface 486 in the connecting portion 408 can be integrally formed, which helps to improve the structural stability of the connecting portion 408.
[0060] Figure 5 A schematic diagram showing the interaction between an exemplary connecting portion 508 and a positioning member 510 consistent with some embodiments of the present disclosure is provided below. Figure 5 Explanation will be provided. In Figure 5 In this embodiment, the fixing seat 502 is similar to or the same as the fixing seat 102 in the previous embodiment; the first baffle 504 is similar to or the same as the first baffle 104 or the first baffle 404 in the previous embodiment; the guide rail 506 is similar to or the same as the guide rail 406 in the previous embodiment; the connecting part 508 is similar to or the same as the connecting part 408 in the previous embodiment, and the first mating surface 582, the second mating surface 584 and the third mating surface 586 in the connecting part 508 are similar to or the same as the first mating surface 482, the second mating surface 484 and the third mating surface 486 in the previous embodiment, respectively.
[0061] See Figure 5 In some embodiments, the positioning member 510 includes a positioning block 512. The two ends of the positioning block 512 in the first direction abut against the third mating surface 586 in the fixing seat 502 and the connecting portion 508, respectively. The structural dimensions of the positioning block 512 in the first direction define the position of the connecting portion 508 in the first direction, thereby keeping the position of the first baffle 504 fixed in the first direction.
[0062] In some embodiments, the two ends of the first baffle 504 can be slidably connected to the guide rails 506 on both sides of the fixed base 502 via two connecting parts 508. The two connecting parts 508 can cooperate with two positioning blocks 512 of the same size in the first direction to keep the two ends of the first baffle 504 balanced, which helps to improve stability and reduce the risk of deformation of the first baffle 504 under the action of gravity.
[0063] In some embodiments, the positioning member 510 includes a plurality of positioning blocks 512. The structural dimensions of the plurality of positioning blocks 512 in the first direction may be different. The positioning blocks 512 can be detached from the fixed base 502. In some embodiments, the structural dimensions of the positioning blocks 512 in the first direction can be adjusted, for example, by telescoping. By replacing the positioning blocks 512 or adjusting their structural dimensions in the first direction, the position of the first shielding plate 504 in the first direction can be changed, thereby changing the obstruction range of the lidar's field of view by the first shielding plate 504. In some embodiments, the two end faces of the positioning blocks 512 in the first direction may include machined surfaces, improving the flatness of the two end faces of the positioning blocks 512 in the first direction and the accuracy of the structural dimensions of the positioning blocks 512 in the first direction. This is beneficial for improving the accuracy of the position of the first shielding plate 504 in the first direction and improving the testing accuracy of the testing fixture.
[0064] In some embodiments, the structural dimensions of the positioning block 512 in the first direction can be preset, such as according to the field of view angle of the lidar and the test items. For example, the test items of the test fixture include testing the detection performance of the lidar when the vertical field of view angle of the lidar is blocked by 5°, 7°, and 10° from top to bottom, respectively. The lidar maintains a preset pose on the mounting base 502. Through geometric calculation, the position of the first blocking plate 504 blocking the vertical field of view angle of the lidar by 5°, 7°, and 10° from top to bottom in the first direction is determined, and the positioning block 512 is processed according to the position. In some embodiments, the positioning block 512 can be approximately cuboid in shape, for example, by high-precision cutting on a strip of raw material. This can obtain a positioning block 512 with preset dimensions in the first direction, which is beneficial for ensuring test accuracy and reducing processing difficulty and cost.
[0065] In some embodiments, through holes are provided at corresponding positions of the third mating surface 586 and the fixing seat 502, and the positioning block 512 has through holes or a clearance structure. The connecting part 508 and the fixing seat 502 can be fixedly connected by bolts, which helps to improve the stability when testing the lidar and reduces the risk of the first shielding plate 504 changing its position relative to the lidar.
[0066] In some embodiments, the first baffle can be directly slidably connected to the guide rail. The two ends of the positioning block in the first direction can respectively abut against the lower edge of the fixed base and the first baffle, which helps to simplify the structure of the test fixture.
[0067] In some embodiments, the positioning element includes a positioning pin. The positioning pin can hold the first baffle and the guide rail in place. For example, one or more through holes are provided on the guide rail, one end of the positioning pin is fixed in the through hole, and the other end of the positioning pin abuts against or cushions the third mating surface or the lower edge of the first baffle, so that the first baffle is held in place by the guide rail. The positioning pin may include an elbow clamp, which is movable relative to the guide rail and the first baffle. For example, the elbow clamp may extend relative to the guide rail toward the first baffle and abut against the lower edge of the third mating surface or the lower edge of the first baffle, thereby fixing the position of the first baffle. The elbow clamp may retract relative to the guide rail to release the restriction on the first baffle, allowing the first baffle to move in a first direction.
[0068] In some embodiments, the positioning element includes a positioning block and a positioning pin. The positioning block can abut against the third mating surface or the lower edge of the first baffle plate to keep the position of the first baffle plate fixed in the first direction. The positioning pin can keep the position of the first baffle plate relative to the guide rail fixed, for example, by holding the first baffle plate in place. Figure 3A The location shown.
[0069] Figure 6 The structure of an exemplary mounting base 602 consistent with some embodiments according to this disclosure is shown. The mounting base 602 may be similar to or identical to the mounting base 102 in the foregoing embodiments. See also Figure 6 In some embodiments, the mounting base 602 includes a base 622 and at least one adapter block 624.
[0070] In some embodiments, the adapter block 624 is detachably disposed on the base 622. The side of the adapter block 624 connected to the base 622 matches the shape of the base 622. For example, one or more grooves 626 are provided on one side of the base 622, and the shape and size of the adapter block 624 match the shape and size of the grooves 626, so that the adapter block 624 can be embedded in the grooves 626.
[0071] The lidar is mounted on the adapter block 624, and the side of the adapter block 624 that connects to the lidar is matched to the lidar. For example, there is a mounting structure on the lower side of the lidar for mounting and fixing the lidar in the actual application scenario. The shape and structure of the side of the adapter block 624 that connects to the lidar can match the mounting structure of the lidar to ensure a stable connection between the lidar and the adapter block 624.
[0072] In some embodiments, the mounting base 602 includes a plurality of adapter blocks 624, for example Figure 6 As shown, the mounting base 602 includes three adapter blocks 624. The three adapter blocks 624 do not need to be collinear, and the lidar is connected to the mounting base 602 through three points, which helps to improve the stability of the connection between the lidar and the mounting base 602.
[0073] In some embodiments, the mounting base 602 includes a plurality of adapter blocks 624. Different adapter blocks 624 can be adapted to different models of LiDAR. For example, when testing multiple different models of LiDAR using a test fixture, the adapter blocks 624 in the mounting base 602 can be changed or replaced to make the test fixture applicable to different models of LiDAR, thereby reducing the difficulty of replacement and simplifying the testing process.
[0074] In some embodiments, multiple adapter blocks 624 are adapted to different models of lidar, and the multiple adapter blocks 624 include adapter blocks 624 of different sizes. For example, the multiple adapter blocks 624 have different dimensions in a first direction. The dimensions of the multiple adapter blocks 624 can be adjusted according to the adapted lidar so that after different models of lidar are mounted on the mounting base 602, the optical axes of the different models of lidar are located in the same plane. The optical axis of the lidar can represent the central axis of the multi-channel detection beam emitted by the lidar. Having the optical axes of different models of lidar located in the same plane can keep the field of view of different models of lidar within a relatively fixed range, which helps to simplify the process of adjusting the position of the first shielding plate and make the first shielding plate suitable for different models of lidar.
[0075] In some embodiments, the base 622 can be integrally formed. A groove 626 can be machined on the base 622 to cooperate with the adapter block 624. A positioning groove can also be machined on the base 622, which can cooperate with the positioning block in the aforementioned embodiments to improve the accuracy of positioning the first shielding plate in the first direction. In some embodiments, a bracket can be installed on the side of the base 622 away from the adapter block 624 to support the test fixture. The bracket includes, for example, a triangular bracket. By moving the bracket, the detection performance of the lidar can be tested in different environments, such as outdoor environments, environments with strong or weak natural light.
[0076] In some embodiments, the test fixture further includes a second baffle (not shown in the figures). The second baffle is movable relative to the fixed base along a second direction. The second direction is perpendicular to the first direction; for example, the first direction is vertical and the second direction is horizontal. Optionally, the second baffle may be disposed on the fixed base, or the second baffle may be disposed separately from the fixed base.
[0077] A second obstruction plate is positioned on one side near the viewport of the lidar. As the second obstruction plate moves along a second direction, it can block part or all of the lidar's field of view. When the second obstruction plate blocks part or all of the lidar's field of view, a portion of the second obstruction plate blocks at least a portion of the detection beam emitted by the lidar. By using the second obstruction plate to block the detection beam emitted by the lidar along the second direction, the detection performance of the lidar is tested when its field of view is partially or completely blocked.
[0078] In some embodiments, the movement of the first shielding plate along the first direction and the movement of the second shielding plate along the second direction are relatively independent. By using the cooperation of the first and second shielding plates, different areas and ranges of the lidar's field of view can be blocked, which is beneficial to improving the degree of freedom in lidar performance testing.
[0079] In some embodiments, the first baffle plate may move relative to the fixed base in a second direction. For example, the first baffle plate may move relative to the fixed base in a first direction and may also move in a second direction. The second direction is perpendicular to the first direction. For example, the first direction is a vertical direction and the second direction is a horizontal direction.
[0080] Finally, it should be noted that the above descriptions are merely embodiments of this disclosure and are not intended to limit this disclosure. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.
Claims
1. A testing fixture, characterized in that, The testing fixture, used for testing the detection performance of a lidar, includes a fixed base and a first shielding plate. The mounting bracket secures the lidar in a preset position. The first shield is movable in a first direction. The first shield is disposed on one side near the window of the lidar. The first shield is configured to block part or all of the field of view of the lidar when it moves in the first direction. When the first shielding plate blocks part or all of the field of view of the lidar, a portion of the first shielding plate blocks at least a portion of the detection beam emitted by the lidar.
2. The test fixture according to claim 1, characterized in that, The first direction is the vertical direction, and the first shield is configured to block part or all of the vertical field of view of the lidar.
3. The testing fixture according to claim 1, characterized in that, The first direction is horizontal, and the first shield is configured to block part or all of the horizontal field of view of the lidar.
4. The test fixture according to any one of claims 1-3, characterized in that, The first shielding plate includes a first light-blocking part, a second light-blocking part, and a light-transmitting part, wherein, Along the first direction, the light-transmitting part is located between the first light-shielding part and the second light-shielding part. During the movement of the first shielding plate along the first direction, the first light-shielding part or the second light-shielding part blocks part or all of the field of view of the lidar.
5. The testing fixture according to claim 4, characterized in that, The light-transmitting part includes a void structure or a light-transmitting material; the size of the light-transmitting part can completely cover the field of view of the lidar.
6. The test fixture according to any one of claims 1-3, characterized in that, The test fixture also includes a positioning element configured to keep the position of the first shield fixed in the first direction.
7. The test fixture according to claim 6, characterized in that, The test fixture also includes a guide rail arranged along the first direction, and the first shield is configured to move along the guide rail relative to the fixed base.
8. The test fixture according to claim 7, characterized in that, The positioning element includes at least one of a positioning block or a positioning pin; the two ends of the positioning block in the first direction respectively abut against the lower edges of the fixing seat and the first baffle plate; or The positioning pin is configured to keep the first baffle plate fixed to the guide rail.
9. The test fixture according to any one of claims 1-3, characterized in that, The fixing base includes a base and at least one adapter block; wherein... The adapter block is detachably mounted on the base, and the side of the adapter block connected to the base is matched with the base; the lidar is mounted on the adapter block, and the side of the adapter block connected to the lidar is matched with the lidar.
10. The test fixture according to claim 9, characterized in that, The adapter block includes multiple adapter blocks of different sizes, which are adapted to different models of lidar, so that when different models of lidar are fixed on the mounting base, the optical axes of the different models of lidar are located on the same horizontal plane.
11. The test fixture according to any one of claims 1-3, characterized in that, The test fixture also includes a second shielding plate, which is movable relative to the fixed base in a second direction. The second shielding plate is disposed on one side near the window of the lidar. The second shielding plate is configured to block part or all of the field of view of the lidar when moving in the second direction. The second direction is perpendicular to the first direction. When the second shielding plate blocks part or all of the field of view of the lidar, a portion of the second shielding plate blocks at least a portion of the detection beam emitted by the lidar.