A LiDAR multi-target recognition test turntable

Abstract

This utility model relates to the field of lidar testing technology, and more particularly to a lidar multi-target recognition test turntable, including a base frame, a test platform mounted on top of the base frame, and multiple parallel linear grooves on the top of the test platform. By setting multiple linear grooves on the test platform and equipping them with independently driven first electric push rods, multiple signal reflection modules can be controlled to reciprocate linearly along the linear grooves, simulating complex interactive behaviors of vehicles such as parallel driving and overtaking under different distances, speeds, and accelerations. This realistically recreates the dynamic environment of multiple targets in urban roads and highway scenarios. In addition, by using an n-shaped groove in conjunction with a second electric push rod and a connecting rod, the target is driven to move along a curved path, which can effectively simulate nonlinear driving behaviors such as vehicle turning, lane changing, and intersection crossing, significantly improving the richness of the test scenario and realizing high-precision, repeatable, and automated testing of the lidar's multi-target recognition performance in complex traffic scenarios.

Description

Technical Field

[0001] This utility model relates to the field of lidar testing technology, and in particular to a lidar multi-target recognition testing turntable. Background Technology

[0002] With the rapid development of technologies such as autonomous driving, intelligent connected vehicles, unmanned delivery robots, and advanced driver assistance systems, the performance of environmental perception sensors has become a key factor determining the safety and reliability of systems. LiDAR, with its high-precision ranging, strong spatial resolution, and all-weather operation capabilities, has become one of the core sensors for achieving three-dimensional environmental perception. It emits laser beams and receives reflected signals from targets, constructing high-density point cloud data in real time to accurately identify the distance, orientation, speed, and contours of surrounding objects. In actual road environments, LiDAR needs to simultaneously detect, distinguish, and track multiple targets in complex dynamic scenarios. Therefore, its multi-target recognition capability, including target separation accuracy, tracking stability, anti-interference ability, and response performance under different relative motion states, has become an important indicator for measuring its comprehensive performance. To ensure the reliability of LiDAR in real-world applications, systematic and standardized performance testing must be conducted during the R&D, production, and certification stages.

[0003] Currently, traditional testing methods mainly rely on static reflective targets, manual moving devices, or simple linear guide platforms, which have many limitations: the above devices can only simulate the fixed position or uniform linear motion of a single target, and it is difficult to reproduce the complex relative motion relationships of multiple targets under different lanes, different speeds, and different accelerations. In addition, they lack the ability to simulate non-linear paths and cannot cover typical urban traffic conditions.

[0004] Therefore, there is an urgent need to develop a LiDAR multi-target recognition test turntable. Utility Model Content

[0005] In order to overcome the shortcomings of traditional lidar testing devices in terms of multi-target dynamic simulation and motion trajectory flexibility, this utility model provides a lidar multi-target recognition testing turntable.

[0006] To address the aforementioned problems, this utility model adopts the following technical solution: a laser radar multi-target recognition test turntable, comprising a base frame, a test platform mounted on the top of the base frame, multiple straight grooves on the top of the test platform, an n-shaped groove at the center of the test platform, a control box mounted on the lower side of the base frame, a first slider slidably mounted inside each straight groove and at one end of the n-shaped groove, a first mounting plate fixedly mounted on the top of the first slider, a first electric push rod mounted below each straight groove, the movable rod of the first electric push rod connected to the first slider, and a signal... The reflective module has a connecting seat fixedly mounted on the side of the first slider on the n-shaped slide groove. A second electric push rod is installed below the n-shaped slide groove. One end of the connecting rod is hinged to the movable rod of the second electric push rod, and the other end of the connecting rod is hinged to the connecting seat, forming a crank-connecting rod structure. A second slider is slidably mounted inside the other end of the n-shaped slide groove. A second mounting plate is fixedly mounted on the top of the second slider. A mounting seat is provided at the bottom of the second slider. A servo motor is installed inside the mounting seat. The output shaft of the servo motor is fixedly connected to the bottom end of the second slider. The lidar body is mounted on the top of the second mounting plate.

[0007] As an improvement to the above solution, a screw is provided below the n-shaped groove. One end of the screw is threaded through the side of the test bench, and the other end is rotatably connected to the mounting base.

[0008] As an improvement to the above solution, an electrical contact piece is provided on the side of the lidar body, a limiting plate is provided on one side of the top of the second mounting plate, a metal contact seat is provided on the side of the limiting plate near the lidar body, a guide rod is slidably provided on the other side of the top of the second mounting plate, a clamping plate is provided on the guide rod, and an elastic element is sleeved on the guide rod, with both ends of the elastic element connected to the guide rod and the second mounting plate respectively.

[0009] As an improvement to the above solution, a support base is fixedly installed on the top of the test bench, an electric slide rail is installed on the upper part of the support base, an electric slider is slidably installed on the electric slide rail, and a test block is installed at the bottom of the electric slider.

[0010] As an improvement to the above solution, the test block and the electric slider are assembled by a threaded connection.

[0011] As an improvement to the above solution, a handwheel is fixedly installed on the operating end of the screw located outside the test bench.

[0012] Compared with the prior art, the present invention has the following technical effects: 1. By setting multiple straight grooves on the test bench and equipping them with independently driven first electric push rods, multiple signal reflection modules can be controlled to move in a straight line along the straight grooves, simulating complex interactive behaviors such as parallel driving and overtaking of vehicles at different distances, speeds, and accelerations, and realistically reproducing the dynamic environment of multiple targets in urban roads and highway scenarios. In addition, by using n-shaped grooves in conjunction with second electric push rods and connecting rods to drive the target to move along a curved path, it can effectively simulate nonlinear driving behaviors such as vehicle turning, lane changing, and intersection crossing, significantly improving the richness of the test scenario and realizing high-precision, repeatable, and automated testing of the multi-target recognition performance of lidar in complex traffic scenarios.

[0013] 2. By setting up a clamping mechanism consisting of guide rods, clamping plates and elastic elements, as well as setting up electrical contact pieces and metal contact seats, the laser radar body can be quickly installed and automatically connected to the communication, eliminating the need for manual wiring, reducing operational complexity, avoiding interface wear, and supporting high-frequency, batch testing requirements.

[0014] 3. By adding an electric sliding rail and a replaceable test block structure, simulated pedestrians, roadblocks, non-motorized vehicles and other sudden obstacles can be introduced above any lane to evaluate the lidar's ability to identify unstructured targets, emergency response speed and anti-false detection performance. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0016] Figure 2 This is a three-dimensional cross-sectional view of the test platform, the first slider, and the first mounting plate of this utility model.

[0017] Figure 3 This is a three-dimensional sectional view of the second mounting plate, mounting base, and limiting plate of this utility model.

[0018] Figure 4 This is an exploded view of the second slider, mounting base, and servo motor of this utility model.

[0019] Figure 5 This is a three-dimensional sectional view of the first electric push rod, the second electric push rod, and the connecting rod of this utility model.

[0020] Figure 6 This is a three-dimensional structural diagram of the connector, connecting rod, and signal reflection module of this utility model.

[0021] Figure 7 This is a three-dimensional cross-sectional view of the lidar body, electrical contact plate, and clamping plate of this utility model.

[0022] Figure 8This is a three-dimensional cross-sectional view of the electric slider and test block of this utility model.

[0023] The labels in the diagram are as follows: 1: Base frame, 2: Test platform, 3: Straight slide rail, 4: N-shaped slide rail, 5: Control box, 6: First slider, 7: First mounting plate, 8: First electric push rod, 9: Signal reflection module, 10: Connecting seat, 11: Second electric push rod, 1101: Connecting rod, 12: Second slider, 13: Second mounting plate, 14: Mounting seat, 15: Servo motor, 16: LiDAR body, 1601: Screw, 17: Electrical contact piece, 18: Limiting plate, 19: Metal contact seat, 20: Guide rod, 21: Clamping plate, 22: Elastic element, 23: Support seat, 24: Electric slide rail, 25: Electric slider, 26: Test block, 27: Handwheel. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] Example 1: Please refer to Figures 1-6A multi-target recognition test turntable for lidar includes a base frame 1, a test platform 2 mounted on top of the base frame 1, three parallel straight grooves 3 on the top of the test platform 2 for simulating a vehicle's straight-line driving trajectory, and an n-shaped groove 4 at the center of the test platform 2 for simulating non-straight-line driving trajectories such as lane changes and turns. A control box 5 is mounted on the lower side of the base frame 1 for coordinating the actions of various actuators and automating the testing process. A first slider 6 is slidably mounted inside each of the straight grooves 3 and at one end of the n-shaped groove 4. The top of the first slider 6 is fixed. A first mounting plate 7 is fixedly installed. A first electric push rod 8 is installed below each of the straight slide grooves 3. The movable rod of the first electric push rod 8 is connected to the first slider 6, driving the first slider 6 to perform linear reciprocating motion along the straight slide groove 3. A signal reflection module 9 is installed on the top of the first mounting plate 7 to simulate the laser reflection characteristics of different traffic targets. A connecting seat 10 is fixedly installed on the side of the first slider 6 on the n-shaped slide groove 4. A second electric push rod 11 is installed below the n-shaped slide groove 4. One end of a connecting rod 1101 is hinged to the movable rod of the second electric push rod 11. The other end of 01 is hinged to the connecting seat 10, forming a crank-connecting rod structure, used to drive the first slider 6 to move along the trajectory of the n-shaped slide groove 4. A second slider 12 is slidably disposed inside the other end of the n-shaped slide groove 4. A second mounting plate 13 is fixedly disposed on the top of the second slider 12, and a mounting seat 14 is disposed on the bottom of the second slider 12. A servo motor 15 is installed inside the mounting seat 14, and the output shaft of the servo motor 15 is fixedly connected to the bottom end of the second slider 12. A laser radar body 16 is mounted on the top of the second mounting plate 13. When the servo motor 15 operates, it can drive the laser radar body 16 to achieve… The laser radar body 16 performs a 360° horizontal rotation scan. A screw 1601 is installed below the n-shaped groove 4. One end of the screw 1601 is threaded through the side of the test platform 2, and the other end is rotatably connected to the mounting base 14. By rotating the screw 1601, the mounting base 14 can be moved, thereby fine-tuning the initial position of the second slider 12 and the second mounting plate 13 connected to it in the n-shaped groove 4. This ensures that the scanning center of the laser radar body 16 maintains the best relative relationship with the target movement area. A handwheel 27 is fixedly installed on the operating end of the screw 1601 located on the outside of the test platform 2, so as to facilitate manual rotation and adjustment of the screw 1601.

[0026] When this device is in use, the control box 5 independently controls the extension and retraction of multiple first electric push rods 8 and second electric push rods 11 according to a preset test scenario. This drives each first slider 6 to reciprocate linearly along the straight groove 3. Each first slider 6 moves its first mounting plate 7 and signal reflection module 9, simulating the state of vehicles traveling at different distances, speeds, and accelerations in different lanes. Furthermore, by adjusting the motion parameters of each electric push rod, complex relative movements such as approaching, moving away from, paralleling, and overtaking multiple targets can be achieved. The second electric push rod 11 is connected to the connecting rod 1101. The connecting seat 10 is hinged, pushing the first slider 6 to move along the n-shaped groove 4, which can simulate the behavior of a vehicle turning at an intersection, changing lanes, or driving on a complex path, enhancing the realism of the test. At this time, the lidar body 16 is driven by the servo motor 15 through the rotating platform to achieve continuous or fixed-point rotational scanning in the horizontal direction of 360°. The lidar emits a laser beam and receives echo signals from each signal reflection module 9. In this way, the detection range, angular resolution, target separation capability, tracking continuity, response speed to sudden changes in motion state, and recognition accuracy of the lidar body 16 for multiple targets are tested.

[0027] Example 2: Based on Example 1, please refer to... Figure 7 An electrical contact piece 17 is provided on the right side of the lidar body 16. A limiting plate 18 is provided on the right side of the top of the second mounting plate 13. A metal contact seat 19 is provided on the side of the limiting plate 18 near the lidar body 16. The elastic end face of the metal contact seat 19 makes point contact with the contact piece on the lidar body 16, forming a stable electrical connection with the control box 5. A guide rod 20 is slidably provided on the left side of the top of the second mounting plate 13. A clamping plate 21 is provided on the guide rod 20. An elastic element 22 is sleeved on the guide rod 20. The two ends of the elastic element 22 are respectively connected to the guide rod 20 and the second mounting plate 13.

[0028] When installing the lidar body 16 under test, the operator pulls the guide rod 20 outward, causing the clamping plate 21 to move synchronously and compress the elastic reset member, thus expanding the clamping space between the clamping plate 21 and the limiting plate 18 to form a sufficient insertion gap. Then, the lidar body 16 is placed into the clamping space, aligning its side contact pieces with and approaching the metal contact seat 19 on the limiting plate 18. After releasing the guide rod 20, under the restoring force of the elastic reset member, the clamping plate 21 slides inward, pushing the lidar body 16 towards the limiting plate 18 until its side is completely in contact with the limiting plate 18. At this time, the contact pieces on the lidar body 16 are in close contact with the metal contact seat 19, achieving a reliable electrical connection. At the same time, the clamping plate 21 and the limiting plate 18 together form a double-sided clamping structure, firmly clamping the lidar body 16 onto the second mounting plate 13, effectively preventing it from loosening or falling off during servo rotation due to centrifugal force, vibration, or acceleration changes.

[0029] Please see Figure 1 and Figure 8 The test bench 2 is fixedly provided with a support base 23 on the top. An electric slide rail 24 is installed on the upper part of the support base 23. An electric slider 25 is slidably provided on the electric slide rail 24. A test block 26 is provided at the bottom of the electric slider 25. The test block 26 and the electric slider 25 are assembled by a threaded connection for easy disassembly, so as to configure simulation objects with different geometric shapes, sizes and laser reflection characteristics according to test requirements.

[0030] During the test, the control box 5 sends motion control signals to the electric slide rail 24 according to the preset scenario instructions, driving the electric slider 25 to move precisely to the left of any one-line slide groove 3 along the electric slide rail 24, forming a temporary obstacle. This simulates traffic events such as pedestrians suddenly crossing the road, temporary construction roadblocks appearing in the lane, non-motorized vehicles cutting in from the side, parked vehicles, or falling objects. At this time, the lidar under test body 16 detects the signal of the test block 26 in real time using the signal reflection module 9 during the 360° rotation scan. The system evaluates the performance of the lidar in terms of sudden obstacle recognition, emergency braking triggering capability, and target classification accuracy by analyzing the target appearance timing, contour recognition accuracy, distance judgment deviation, tracking establishment speed, and alarm response time in the point cloud data.

[0031] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made using the content of this utility model specification, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A laser radar multi-target recognition test turntable, comprising a base frame (1), wherein a test platform (2) is disposed on the top of the base frame (1), characterized in that: The test bench (2) has multiple straight grooves (3) on its top, and an n-shaped groove (4) is provided at the center of the test bench (2). A control box (5) is installed on the lower side of the base frame (1). A first slider (6) is slidably provided inside each straight groove (3) and at one end of the n-shaped groove (4). A first mounting plate (7) is fixedly provided on the top of the first slider (6). A first electric push rod (8) is installed below each straight groove (3). The movable rod of the first electric push rod (8) is connected to the first slider (6). A signal reflection module (9) is installed on the top of the first mounting plate (7). A connecting seat (10) is fixedly provided on the side of the first slider (6) on the n-shaped groove (4). A second electric push rod (11) is installed below the slide groove (4). One end of a connecting rod (1101) is hinged to the movable rod of the second electric push rod (11). The other end of the connecting rod (1101) is hinged to the connecting seat (10) to form a crank-connecting rod structure. A second slider (12) is slidably arranged inside the other end of the n-shaped slide groove (4). A second mounting plate (13) is fixedly arranged on the top of the second slider (12). A mounting seat (14) is arranged at the bottom of the second slider (12). A servo motor (15) is installed inside the mounting seat (14). The output shaft of the servo motor (15) is fixedly connected to the bottom end of the second slider (12). A laser radar body (16) is installed on the top of the second mounting plate (13).

2. The lidar multi-target recognition test turntable as described in claim 1, characterized in that: A screw (1601) is provided below the n-shaped groove (4). One end of the screw (1601) is threaded through the side of the test bench (2), and the other end is rotatably connected to the mounting base (14).

3. A laser radar multi-target discrimination test turntable as in claim 2, characterized by: The lidar body (16) has an electrical contact piece (17) on its side. A limiting plate (18) is provided on one side of the top of the second mounting plate (13). A metal contact seat (19) is provided on the side of the limiting plate (18) near the lidar body (16). A guide rod (20) is slidably provided on the other side of the top of the second mounting plate (13). A clamping plate (21) is provided on the guide rod (20). An elastic element (22) is sleeved on the guide rod (20). The two ends of the elastic element (22) are respectively connected to the guide rod (20) and the second mounting plate (13).

4. A laser radar multi-target discrimination test turntable as in claim 3, characterized by: The test bench (2) is fixedly provided with a support base (23) on the top. An electric slide rail (24) is installed on the upper part of the support base (23). An electric slider (25) is slidably provided on the electric slide rail (24). A test block (26) is provided at the bottom of the electric slider (25).

5. A laser radar multi-target discrimination test turntable as in claim 4, wherein: The test block (26) and the electric slider (25) are assembled by a threaded connection.

6. A laser radar multi-target discrimination test turntable as in claim 5, characterized by: A handwheel (27) is fixedly installed on the operating end of the screw (1601) located outside the test bench (2).

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