CN115407316A

CN115407316A - Test equipment

Info

Publication number: CN115407316A
Application number: CN202211063088.2A
Authority: CN
Inventors: 孙辉; 侯衍汝; 李效文
Original assignee: Goertek Techology Co Ltd
Current assignee: Goertek Techology Co Ltd
Priority date: 2022-08-31
Filing date: 2022-08-31
Publication date: 2022-11-29

Abstract

The invention discloses a test device for testing a laser radar. The device comprises a shell, a driving mechanism and a reflection chart card, wherein the shell is covered on a machine table and forms a closed test space with the machine table in a surrounding manner; the driving mechanism comprises a rotating mechanism and a carrier which are arranged in the testing space, and the carrier is arranged at the output end of the rotating mechanism and used for installing and fixing the laser radar; each reflection chart card is arranged in the test space and is arranged around the carrier at intervals; the distances between the at least partial reflection graphic card and the carrier are different; the driving mechanism drives the carrier to drive the laser radar to rotate, and the laser radar emits laser to each reflection graphic card and receives optical signals reflected by the reflection graphic cards. The test equipment provided by the invention can realize more reliable test of the laser radar ranging function.

Description

Test equipment

Technical Field

The invention relates to the technical field of product testing, in particular to testing equipment.

Background

The laser radar is a radar system that detects characteristic quantities such as a position and a velocity of an object by emitting a laser beam. The working principle is that a laser detection signal is emitted to a target object, then a received reflected echo signal reflected from the target object is compared with the emitted laser signal, and after appropriate signal processing and analysis, parameter information such as distance, direction, height, speed, posture and even shape of the target object is obtained. The laser radar can be divided into pulse type laser radar and continuous wave type laser radar according to working modes, and the pulse type laser radar mainly comprises a photoelectric emitter, a photoelectric receiver and a data processing module. The pulse type laser radar adopts the technical principle that after short pulse light is emitted, the time required for returning the emitted light is measured to detect the distance between a laser emission position and an object, the laser range finding scanning of 360 degrees is carried out on the surrounding environment to generate point cloud information, and the point cloud information is widely applied to positioning and scene mapping of products such as unmanned planes, automobiles and robots, and participates in route planning, navigation and intelligent obstacle avoidance of related products.

In the correlation technique, for realizing the detection of 360 laser rangefinder function of lidar, place lidar in spacious test chamber, paste the reflection sticker of high reflectivity on the wall of test chamber, the laser reaches and reflects the distance between the sticker and obtains through laser range finder measurement, lidar launches laser signal to the reflection sticker and receives the laser signal that the reflection sticker reflects back, with this acquisition test distance, compare this test distance and laser range finder measuring result, see whether in anticipated error range, whether reach standard with the laser rangefinder function of verifying lidar. The test scheme of the laser radar has high requirements on space of a field and needs wider space; the relative position between the reflective sticker and the laser radar is fixed, so that the detection reaction of the laser radar to objects with different distances under different scenes cannot be verified, and the verification result of the 360-degree distance measurement function of the laser radar is not reliable enough.

Disclosure of Invention

The invention mainly aims to provide a test device, aiming at improving the detection reliability of the laser radar ranging function.

In order to achieve the above object, the present invention provides a testing apparatus for testing a laser radar, the testing apparatus comprising:

a machine platform;

the shell is covered on the machine table and forms a closed test space with the machine table in an enclosing manner;

the driving mechanism comprises a rotating mechanism and a carrier which are arranged in the test space, and the carrier is arranged at the output end of the rotating mechanism and used for installing and fixing the laser radar; and

the reflection graphic cards are arranged in the test space and surround the carrier at intervals; the distances between at least part of the reflection graphic cards and the carriers are different;

the driving mechanism drives the carrier to drive the laser radar to rotate, the laser radar emits laser to each reflection graphic card and receives optical signals reflected by the reflection graphic cards.

In an embodiment of the present invention, the testing apparatus further includes a plurality of adjusting brackets disposed in the testing space, the plurality of adjusting brackets are disposed around the carrier, and each of the adjusting brackets includes:

the base is connected with the machine table;

the supporting piece is movably connected with the base and can be fixed when moving to any position along a first linear direction relative to the base; and

the telescopic piece is movably connected with the supporting piece and can be fixed when moving to any position along a second linear direction relative to the supporting piece; each reflection graphic card is connected with one telescopic piece;

the second linear direction is a direction towards or away from the carrier, and the second linear direction is perpendicular to the first linear direction.

In an embodiment of the present invention, one of the base and the supporting member is provided with a sliding groove and a first screw hole communicated with the sliding groove, and the other of the base and the supporting member is provided with a sliding block, and the sliding block is slidably limited in the sliding groove;

the adjusting bracket further comprises a first locking piece in threaded fit with the first screw hole, and the first locking piece is used for enabling the sliding block to be fixed in the sliding groove.

In an embodiment of the invention, the supporting member is provided with a limiting through hole and a second screw hole communicated with the limiting through hole;

the telescopic piece penetrates through the limiting through hole and is in sliding abutting joint with the inner wall of the limiting through hole;

the adjusting support further comprises a second locking piece matched with the second screw hole in a threaded mode, and the second locking piece is used for enabling the telescopic piece to be fixed with the adjusting support.

In an embodiment of the present invention, the testing apparatus further includes a laser calibration assembly and a calibration member, the calibration member is detachably connected to any one of the reflection cards, and when the calibration member is connected to one of the reflection cards, the calibration member is located between the carrier and the reflection card;

the laser correction assembly is detachably arranged in the test space and can emit laser parallel to the laser beam emitted by the laser radar;

and one side of the correcting piece facing the carrier is provided with a correcting groove, and the correcting groove is used for receiving laser emitted by the laser correcting component so as to correct the posture of the reflection chart card according to the relative position of the laser and the correcting groove.

In an embodiment of the present invention, the laser calibration assembly includes:

the first supporting seat is detachably connected with the machine table;

the first mounting seat is rotatably connected with the first supporting seat and can horizontally rotate relative to the first supporting seat; the first mounting seat is provided with a first identification part; and

the laser device is arranged on the first mounting seat, and laser emitted by the laser device is emitted into the correction groove through the first identification part.

In an embodiment of the present invention, the testing apparatus further includes a laser ranging assembly, and the laser ranging assembly includes:

the second supporting seat is detachably connected with the machine table;

the second mounting seat is rotatably connected with the second supporting seat and can horizontally rotate relative to the second supporting seat; and

the laser range finder is movably arranged on the second mounting seat and can move relative to the second mounting seat along the direction vertical to the direction of a laser light path emitted by the laser range finder; the laser range finder is located right above the laser radar on the carrier and used for measuring the distance between the laser radar and the reflection graphic card.

In an embodiment of the present invention, the testing apparatus further includes a light source, which is disposed in the testing space and is configured to provide illumination for the laser radar;

and/or the reflectivity of at least part of the surface of the reflection chart facing the carrier is different.

In an embodiment of the present invention, the driving mechanism further includes a mounting frame and a driving member;

the mounting frame is arranged at the output end of the rotating mechanism, the driving piece is arranged on the mounting frame, two ends of the carrier are respectively and rotatably connected with the mounting frame and the output end of the driving piece, and the driving piece drives the carrier to drive the laser radar to rotate relative to the mounting frame so as to adjust the laser emission angle of the laser radar;

the machine table is provided with a plurality of testing stations, each testing station is arranged around the carrier, at least two reflection graphic cards are arranged in each testing station, and part of the reflection graphic cards are arranged in an inclined mode.

In an embodiment of the present invention, the driving mechanism further includes a transmission device disposed on the machine platform, and the rotating mechanism is disposed at an output end of the transmission device;

the shell is provided with an opening communicated with the test space and a door plate used for opening or closing the opening, and the transmission device can drive the rotating mechanism to drive the carrier and the laser radar to move between the opening and the test space.

According to the technical scheme, the laser radar to be tested is placed in the closed testing space formed by enclosing the machine table and the shell, so that a closed dark light environment is provided for the test of the laser radar, the interference of external environment light on the propagation of the light signals of the laser radar can be avoided, and the accuracy and the reliability of the test of the laser radar are ensured. And when the illumination environment needs to be simulated, a light source is added into the test space to provide illumination conditions for the laser radar, so that the test of the laser radar under different illumination conditions is realized. Therefore, the test equipment has a basic dark light environment due to the test space, so that the test equipment has an environment basis for simulating various illumination conditions with different intensities, and can acquire test data close to the laser radar in actual application by simulating the illumination conditions of the laser radar in actual application, thereby being beneficial to improving the reliability of the laser radar test. Moreover, the function test of the laser radar is realized in a whole machine equipment mode, and the cost of site space can be saved. The technical scheme of the invention also includes that a rotating mechanism, a carrier and a plurality of reflection graphic cards are arranged in the test space of the test equipment, so that the rotating mechanism drives the carrier to drive the laser radar fixed by the carrier to rotate, the laser radar is sequentially opposite to different reflection graphic cards, and the laser is transmitted to the reflection graphic cards and the optical signals reflected by the reflection graphic cards are received, thereby being capable of simulating the scene of detecting objects in the environment when the laser radar is actually applied; by arranging each reflection graphic card at the periphery of the carrier, the detection scene of the laser radar to objects within 360 degrees in the environment in actual application can be simulated; by setting at least part of the reflection graphic cards to be inconsistent with the distance between the carriers, the detection scene of the laser radar to different distant and close objects in the surrounding environment can be simulated in the actual application. Therefore, the testing equipment provided by the invention not only can obtain the ranging data of the laser radar to the surrounding 360-degree range, but also can obtain the ranging data of the laser radar to different distant and close objects in the surrounding 360-degree range, so that the testing data of the laser radar ranging is closer to the data of the laser radar when the laser radar is used for 360-degree laser ranging in practical application, and the detection reliability of the laser radar ranging function is improved.

Drawings

In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the embodiments or technical solutions of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic diagram of a testing apparatus according to the present invention;

FIG. 2 is a schematic structural diagram of the testing apparatus of FIG. 1 from another perspective;

FIG. 3 is a schematic view of the reflection card, the calibration member and the adjustment bracket of FIG. 1;

FIG. 4 is a schematic diagram of the structure of FIG. 3 from another perspective;

FIG. 5 is a schematic structural diagram of a laser calibration assembly in the testing apparatus of the present invention;

FIG. 6 is a schematic structural diagram of the laser ranging assembly of FIG. 1;

FIG. 7 is a schematic view of the adjustment bracket of FIG. 1 engaged with a reflection card;

FIG. 8 is a schematic structural view of the drive mechanism of FIG. 1;

fig. 9 is a schematic structural diagram of the driving mechanism in fig. 8 from another viewing angle.

The reference numbers illustrate:

the implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all directional indicators (such as up, down, left, right, front, back \8230;) in the embodiments of the present invention are only used to explain the relative positional relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. The meaning of "and/or" appearing throughout is the same and is meant to encompass three juxtapositions, exemplified by "A and/or B" and including either scheme A, scheme B, or both schemes A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The embodiment of the invention provides a test device, which is used for a distance measurement function test of a laser radar and is shown in a combined figure 1 and a figure 2, and comprises a machine table 1, a shell, a driving mechanism 2 and a plurality of reflection graphic cards 3; the outer shell is arranged on the machine table 1 and encloses with the machine table 1 to form a closed test space; the driving mechanism 2 comprises a rotating mechanism 21 and a carrier 22 which are arranged in the test space, and the carrier 22 is arranged at the output end of the rotating mechanism 21 and used for installing and fixing a laser radar; each reflection chart 3 is arranged in the test space and is arranged around the carrier 22 at intervals; the spacing between at least part of the reflection chart 3 and the carrier 22 is different; the driving mechanism 2 drives the carrier 22 to drive the laser radar to rotate, and the laser radar emits laser to each reflection chart 3 and receives the optical signal reflected by the reflection chart 3.

In this embodiment, the machine table 1 is used for installing the driving mechanism 2 and the reflection chart 3, the housing is disposed on a table top of the machine table 1 and encloses with the table top to form a closed testing space, and the laser radar to be tested is fixedly installed in the testing space through the carrier 22. The closed test space provides a closed dark light environment for the test of the laser radar, the interference of external environment light to the propagation of the laser radar light signals can be avoided, and the accuracy and the reliability of the laser radar test are ensured. And when the illumination environment needs to be simulated, a light source is added into the test space to provide illumination conditions for the laser radar, so that the test of the laser radar under different illumination conditions is realized. Therefore, the test equipment in this embodiment has the dim light environment of basis because test space for this test equipment has possessed the environment basis of the illumination condition of simulation multiple different intensity, through the illumination condition of simulation laser radar when practical application, can acquire the test data with being close of laser radar when practical application, thereby is favorable to promoting the reliability of laser radar test.

Actuating mechanism 2 is used for driving the laser radar that awaits measuring to do horizontal circular rotation to the state of simulation laser radar when carrying out 360 scene scans of level obtains laser radar and installs the relevant parameter when carrying out diversified laser ranging on products such as unmanned aerial vehicle, robot in practical application, thereby judges whether laser radar is qualified and can actually put into use. The rotary mechanism 21 in the driving mechanism 2 is installed and fixed on the table top of the machine table 1 in a screwing mode, a sliding connection mode and the like, and the rotary mechanism 21 is used for driving the carrier 22 to drive the laser radar fixed by the carrier 22 to horizontally rotate so that the laser radar can emit laser in different directions and test the distance measuring function of the laser radar in a horizontal 360-degree range. The carrier 22 in the driving mechanism 2 is used for installing and fixing the laser radar so as to prevent the laser radar from swinging in the test process and ensure the working stability of the laser radar and the test reliability. Wherein, rotary mechanism 21 can be for dripping the motor, revolving cylinder etc, carrier 22 can be for can cup jointing the installation and making the fixed elasticity bundle cover of laser radar with laser radar, perhaps carrier 22 can be including rotating epitheca and the inferior valve of connecting, the free end of epitheca and the free end of inferior valve pass through modes such as buckle and buckle joint and be connected with separable, the epitheca is connected with the inferior valve and is fixed to enclose when closing and form logical chamber, laser radar is spacing in this leads to the intracavity, and through the opening transmission and the receiving laser signal who leads to the chamber.

Reflection chart 3 is the platy structure of shape such as square or circular, can be provided with the support that is used for installing fixed reflection chart 3 on board 1, in order to fix each reflection chart 3 in the periphery of carrier 22, can set up each reflection chart 3 respectively in the different horizontal position of carrier 22, can pass through each reflection chart 3 in proper order when making the lidar that awaits measuring rotate, so, this test equipment realizes the test of 360 range finding functions of lidar level with the mode of complete machine equipment, can save the spending of space, can also install the assembly pulley in the bottom of board 1, so that the equipment removes. In order to further save the cost of the test equipment on the site space, each reflection chart card 3 can be arranged in a 180-degree sector area on one side of the carrier 22, and at the moment, the rotating mechanism 21 drives the carrier 22 to drive the laser radar to be tested to horizontally rotate 180 degrees clockwise first, so that the unidirectional 180-degree test is completed; and the two-time unidirectional 360-degree tests are superposed and the scene of the 360-degree distance measurement test of the laser radar is simulated by rotating 180 degrees anticlockwise, so that all the reflection graphic cards 3 can be arranged on the same side of the carrier 22 without being arranged on two sides of the carrier 22 at the same time, the space overhead of the machine table 1 can be saved, and the volumes of the machine table 1 and the test equipment are reduced. Of course, the two unidirectional 180 ° tests of the laser radar may also be implemented by rotating the laser radar first by 180 ° counterclockwise and then by 180 ° clockwise.

When the test equipment is in actual use, a laser radar to be tested is installed and fixed on a carrier 22, each reflection graphic card 3 is arranged facing the carrier 22, a control module in the test equipment controls a rotating mechanism 21 to drive the carrier 22 and the laser radar to rotate, the laser radar sequentially passes through each reflection graphic card 3, laser emitted by the laser radar is reflected back to a laser wave after irradiating the surface of the reflection graphic card 3, the laser wave is received by a single photon receiving unit of the laser radar, the time difference between the emitting time of the laser and the time when the single photon receiving unit receives the laser wave is the propagation time of the laser, the propagation time is multiplied by the light speed, the test distance between the laser radar and the reflection graphic card 3 can be calculated, the test distance is compared with the actual distance between the laser radar and the reflection graphic card 3, and if the error is within an expected range, the ranging function of the laser radar is qualified; otherwise, the ranging function of the laser radar is unqualified. The laser radar to be tested is driven to rotate to be opposite to a reflection graphic card 3, the rotation mechanism 21 stays for a certain time, the laser radar transmits multiple laser pulses to the reflection graphic card 3 to obtain multiple ranging results, and whether the ranging function of the laser radar is stable and accurate is evaluated according to ranging data of the multiple testing results.

In the embodiment, the rotating mechanism 21, the carrier 22 and the plurality of reflection graphic cards 3 are arranged in the test space of the test equipment, so that the rotating mechanism 21 drives the carrier 22 to drive the laser radar fixed by the carrier 22 to rotate, the laser radar is sequentially opposite to different reflection graphic cards 3, and the laser is emitted to the reflection graphic cards 3 and the optical signals reflected by the reflection graphic cards 3 are received, so that the scene of detecting objects in the environment by the laser radar in actual application can be simulated; by arranging each reflection graphic card 3 at the periphery of the carrier 22, the detection scene of the laser radar to objects within 360 degrees in the environment in actual application can be simulated; by arranging at least part of the reflection chart 3 to be inconsistent with the distance between the carriers 22, the detection scene of the laser radar to different distant and close objects in the surrounding environment can also be simulated in practical application. Therefore, the testing equipment provided by the invention not only can obtain the ranging data of the laser radar to the surrounding 360-degree range, but also can obtain the ranging data of the laser radar to different distant and close objects in the surrounding 360-degree range, so that the testing data of the laser radar ranging is closer to the data of the laser radar when the laser radar is used for carrying out 360-degree laser ranging in practical application, and the detection reliability of the laser radar ranging function is improved. This embodiment except setting up at least part of reflection graphic card 3 to with carry 22 utensil and laser radar between the distance different, can also set up at least part of reflection graphic card 3 to have different reflectivity to the laser to the reflection state of different object surfaces to laser signal is simulated, obtains laser radar when in actual application to the environment in 360 different object's of within range detection scenes, promotes the reliability of laser radar test.

In an embodiment of the present invention, as shown in fig. 1, fig. 3 and fig. 4, the testing apparatus further includes a plurality of adjusting brackets 4 disposed in the testing space, the adjusting brackets 4 are disposed around the carrier 22, each adjusting bracket 4 includes a base 41, a supporting member 42 and an expansion member 43, the base 41 is connected to the machine 1; the supporting member 42 is movably connected with the base 41 and can be fixed when moving to any position along a first linear direction relative to the base 41; the telescopic piece 43 is movably connected with the supporting piece 42 and can be fixed when moving to any position along the second linear direction relative to the supporting piece 42; each reflection chart 3 is connected with an expansion piece 43; the second linear direction is a direction toward or away from the carrier 22, and the second linear direction is perpendicular to the first linear direction.

In this embodiment, the adjusting bracket 4 is used for installing and fixing the reflection chart card 3, the base 41 of the adjusting bracket 4 can be installed and fixed on the table top of the machine table 1 in a screwing manner, an inserting manner, a welding manner and the like, the supporting member 42 of the adjusting bracket 4 is movably connected with the base 41 in a rail groove matching manner, a screw rod and a screw nut matching manner and the like, so that the supporting member 42 can move along a first linear direction relative to the base 41, the position of the reflection chart card 3 in the first linear direction is adjusted, thereby the relative position of the reflection chart card 3 and the carrier 22 is adjusted, laser emitted by the laser radar to be tested can irradiate on the surface of the reflection chart card 3 in a more collimated manner, and the reflection chart cards 3 with different areas can be adapted to the test requirements of the corresponding laser radar through the position adjustment. Adjusting modes such as the extensible member 43 accessible rail groove cooperation of support 4, lead screw and screw-nut cooperation and support piece 42 swing joint to make extensible member 43 can move along the second linear direction for support piece 42, adjust the position of reflection graphic card 3 on the second linear direction, thereby adjust the distance between reflection graphic card 3 and carrier 22, make this test equipment can realize the functional test of laser radar under the scene of the different distance measurement demands of more kinds. The first linear direction and the second linear direction are both linear directions, for example, the first linear direction is an X-axis direction in a planar rectangular coordinate system, and the second linear profile is a Y-axis direction in the planar rectangular coordinate system, so that the position of the reflection chart card 3 in two dimension directions is adjusted. Because the height of the supporting piece 42 and the base 41 of the adjusting support 4 can be preset according to the height of the carrier 22, when the laser radar is mounted on the carrier 22, the laser emitted by the laser radar is not higher or lower than the position of the reflection chart card 3 on the adjusting support 4, so that the adjusting support 4 can omit the height adjusting function of the reflection chart card 3, simplify the structure of the adjusting support 4, and reduce the material cost of the adjusting support 4. Both the support member 42 and the telescoping member 43 may be rod-like or plate-like structures.

In an embodiment of the present invention, as shown in fig. 3, 4 and 7, one of the base 41 and the supporting member 42 is provided with a sliding slot 41a and a first screw hole communicated with the sliding slot 41a, and the other of the base 41 and the supporting member 42 is provided with a sliding block 421, wherein the sliding block 421 is slidably retained in the sliding slot 41 a; the adjusting bracket 4 further comprises a first locking member 44 threadedly engaged with the first screw hole, and the first locking member 44 is used for fixing the sliding block 421 in the sliding groove 41 a.

In this embodiment, the sliding block 421 is in sliding limit fit with the sliding groove 41a, wherein the sliding groove 41a is extended along the first linear direction and may be a through groove structure, any side wall of the sliding groove 41a or two opposite side walls may be provided with at least one layer of first step structure, one end of the sliding block 421 facing the sliding groove 41a is correspondingly provided with at least one layer of second step structure, when the sliding block 421 is limited in the sliding groove 41a, each first step structure is abutted with one second step structure for limiting, so that the tightness of the fit between the sliding block 421 and the sliding groove 41a can be improved, the vertical state of the supporting member 42 is maintained, and the position adjustment accuracy of the reflection diagram card 3 in the first linear direction is improved.

First screw intercommunication spout 41a and the external world, the inner wall of first screw is formed with the internal thread, and the periphery wall of first retaining member 44 is formed with the external screw thread, and first retaining member 44 passes through the cooperation of external screw thread and internal thread and first screw spiro union. By loosening the first locking member 44, the supporting member 42 is moved in the first linear direction with respect to the base 41, and the position of the reflection chart 3 in the first linear direction is adjusted; after the position of reflection graphic card 3 is adjusted, through screwing up first retaining member 44, accessible first retaining member 44 is fixed support member 42 and base 41, and support member 42 can not remove for base 41 this moment, so can maintain reflection graphic card 3's current position, guarantee the reliability of follow-up laser radar test link. Wherein, the first fastening member 44 can be a screw, a bolt, etc., the first fastening member 44 includes a rod portion provided with the above-mentioned external thread and a cap portion at one end of the rod portion, and when the first fastening member 44 is screwed and fixed with the first screw hole, the cap portion of the first fastening member 44 abuts against and limits the periphery of the opening of the first screw hole facing away from the sliding groove 41 a.

In an embodiment of the present invention, as shown in fig. 3, 4 and 7, the supporting member 42 is provided with a limiting through hole 42a and a second screw hole communicated with the limiting through hole 42 a; the telescopic piece 43 penetrates through the limiting through hole 42a and is in sliding abutting joint with the inner wall of the limiting through hole 42 a; the adjusting bracket 4 further comprises a second locking member 45 in threaded engagement with the second threaded hole, the second locking member 45 being used to secure the telescopic member 43 to the adjusting bracket 4.

In this embodiment, the shape of the opening of the limiting through hole 42a may be a polygon shape such as a square shape and a diamond shape, or an oval shape, and the shape of the telescopic member 43 is adapted to the shape of the limiting through hole 42a, so that it is possible to effectively avoid the problems that when the cross-sectional shapes of the limiting through hole 42a and the telescopic member 43 are circular, the telescopic member 43 is easily rotated relative to the support member 42, which results in a change in the posture of the reflection chart card 3 connected to the telescopic member 43, a position deviation occurs, and the position of the reflection chart card 3 is not easily and accurately adjusted. Second screw intercommunication limiting through hole 42a and external world, the inner wall of second screw is formed with the internal thread, and the periphery wall of second retaining member 45 is formed with the external screw thread, and second retaining member 45 passes through external screw thread and internal screw thread cooperation and second screw spiro union. By loosening the second locking member 45, the telescopic member 43 can be pushed to move in the second linear direction relative to the support member 42, and the position of the reflection chart 3 in the second linear direction can be adjusted; after the position adjustment of reflection graphic card 3 finishes, through screwing up second retaining member 45, accessible second retaining member 45 is fixed extensible member 43 and support piece 42, and extensible member 43 can not remove for support piece 42 this moment, so can maintain reflection graphic card 3's current position, makes the distance between reflection graphic card 3 and the laser radar invariable, guarantees the reliability of follow-up laser radar test link. Wherein, the second retaining member 45 can be screw, screw etc. and the second retaining member 45 is including the pole portion that is equipped with above-mentioned external screw thread and the cap portion that is located pole portion one end, and when second retaining member 45 and second screw spiro union and fixed, the cap portion of second retaining member 45 and the open-ended periphery butt of second screw dorsad spacing through-hole 42a are spacing.

In an embodiment of the present invention, as shown in fig. 3 to 5, the testing apparatus further includes a laser calibration assembly 5 and a calibration member 6, the calibration member 6 can be detachably connected to any reflection chart 3, when the calibration member 6 is connected to a reflection chart 3, the calibration member 6 is located between the carrier 22 and the reflection chart 3; the laser correction assembly 5 is detachably arranged in the test space and can emit laser parallel to a laser beam emitted by the laser radar; the side of the correcting element 6 facing the carrier 22 is provided with a correcting groove 6a, and the correcting groove 6a is used for receiving the laser emitted by the laser correcting component 5 so as to correct the posture of the reflection chart 3 according to the relative position of the laser and the correcting groove 6 a.

In this embodiment, before carrying out the function test to laser radar, need rectify reflection graphic card 3's gesture and position, guarantee that laser beam that laser radar sent can shine reflection graphic card 3's surface with collimating, make laser beam and reflection graphic card 3's surface perpendicular, avoid reflection graphic card 3 crooked for laser beam to guarantee the accuracy of laser radar range finding function test. Therefore, the embodiment provides two components for realizing the posture and position correction of the reflection chart 3, namely a laser correction component 5 and a correction piece 6, wherein the laser correction component 5 is detachably connected with the machine table 1 in an inserting and screwing manner, and the correction piece 6 is detachably connected with any reflection chart 3 in an inserting and screwing manner, which means that when the position of the reflection chart 3 needs to be corrected, the laser correction component 5 can be installed on the machine table 1, and the correction piece 6 can be installed on the reflection chart 3; after the posture and the position of the reflection chart card 3 are corrected, the laser correction assembly 5 and the correction piece 6 can be detached from the test equipment, and part of test space in the test equipment is vacated, so that the interference of the laser correction assembly 5 and the correction piece 6 on the laser radar test is avoided. When installing on board 1, laser correcting unit 5 can launch the laser with the laser radar transmission syntropy to simulation laser radar's emergent laser, and correcting element 6 is then installed on the reflection graphic card 3 just to setting up with laser radar mutually, because laser radar can be in fact rotated by rotary mechanism 21 drive, consequently every reflection graphic card 3 all can realize gesture and position correction through correcting element 6 when the front face is facing laser radar. When the correcting element 6 is mounted on the reflection chart 3, the surface of the correcting element 6 facing the carrier 22 is parallel to the surface of the reflection chart 3 facing the carrier 22, and the parallel can be realized by matching design and processing of the structures of the correcting element 6 and the reflection chart 3. The correction groove 6a is positioned on the surface of the correction piece 6 facing the carrier 22, the cross section of the correction groove 6a can be trapezoidal, and at the moment, the correction groove has a circular bottom wall, laser emitted by the laser radar is projected into the correction groove 6a to form a light spot, when the light spot is superposed with the circular bottom wall of the correction groove 6a, the surface of the reflection panel facing the carrier 22 can be determined to be perpendicular to a laser beam emitted by the laser radar, and at the moment, the posture and the position of the reflection panel are determined to be correct; otherwise, the attitude and position of the reflecting panel need to be corrected, and the attitude and position of the reflecting panel are adjusted until the light spot coincides with the circular bottom wall of the correction groove 6 a.

Optionally, as shown in fig. 3, the correction groove 6a of the correction piece 6 is a cross-shaped groove body structure, the laser beam emitted by the laser correction assembly 5 is a cross-shaped beam, which is projected on the correction piece 6 to form a cross-shaped light spot, and the position of the reflection panel is determined to be correct only when the cross-shaped light spot is overlapped and matched with the cross-shaped correction groove 6 a. This scheme can judge reflection chart 3's current position in two looks vertical directions, is favorable to promoting the precision of 3 position control of reflection chart, promotes the reliability of laser radar range finding function test.

Alternatively, as shown in fig. 3 and 7, the correcting member 6 has at least two extending portions 62 of the main body portion 61 provided to the outer peripheral wall of the main body portion 61, each extending portion 62 being provided with an insertion hole 62a; the edge of the reflection chart 3 is provided with at least two projections 31, and the projections 31 are provided with inserting columns 32 matched with the inserting holes 62a; each plug-in post 32 is plugged in a plug-in hole 62a, and the correcting element 6 is detachably connected with the reflection chart card 3 through the plugging fit of the plug-in post 32 and the plug-in hole 62 a. So, can easily realize the installation of correcting element 6 on reflection image card 3 fixed with dismantle to can set up above-mentioned lug 31 and insert post 32 on each reflection image card 3, just so only need design a correcting element 6, just can realize the gesture and the position correction of each reflection image card 3 through assembling correcting element 6 with different reflection image cards 3, promote the convenience and the efficiency of reflection image card 3 gesture and position correction.

In an embodiment of the present invention, referring to fig. 3 to 5, the laser calibration assembly 5 includes a first supporting base 51, a first mounting base 52 and a laser, wherein the first supporting base 51 is detachably connected to the machine 1; the first mounting seat 52 is rotatably connected with the first support seat 51 and can horizontally rotate relative to the first support seat 51; the first mounting seat 52 is provided with a first identification portion 521; the laser is disposed on the first mounting seat 52, and laser light emitted from the laser is emitted into the calibration groove 6a through the first identification portion 521.

In this embodiment, the first supporting base 51 can be detachably connected to the machine platform 1 by means of inserting, screwing, and the like, for example, the first supporting base 51 includes a platform deck and at least two support legs disposed on one side of the platform deck, the machine platform 1 is provided with a limit groove corresponding to each support leg, each support leg is inserted into and fixed to one limit groove, the driving mechanism 2 is located between the two support legs, and the platform deck is located above the driving mechanism 2. The first mounting seat 52 can be rotationally connected with the first supporting seat 51 through hole-shaft matching and the like, the first mounting seat 52 can be manually shifted to rotate relative to the first supporting seat 51, and can also be driven by a driving device such as a rotary cylinder or a motor to rotate, and at the moment, the driving device is fixedly mounted on the first supporting seat 51 or the first mounting seat 52. In the embodiment, the first supporting seat 51 is detachably connected with the machine table 1, so that when the posture and the position of the reflection graphic card 3 need to be corrected, the first supporting seat 51 is assembled with the machine table 1, and the laser correction assembly 5 is fixedly installed on the machine table 1; also can finish the posture and the position correction of reflection chart card 3 after, dismantle first supporting seat 51 from board 1, make laser correction subassembly 5 demolish from test equipment, vacate the test space of the part in the test equipment, avoid laser correction subassembly 5 and correcting part 6 to cause the interference to laser radar's functional test, guarantee laser radar functional test's reliability.

The first identification portion 521 is used for correcting the position of the laser, the first identification portion 521 may be a linear extending elongated structure, a dot-shaped or circular or triangular protruding structure, etc., when the laser is correctly installed, the laser beam emitted by the laser should pass through the center of the first identification portion 521, and when the laser emitted by the laser does not pass through the center of the first identification portion 521, it is determined that the position of the laser needs to be corrected. The first identification 521 can be designed in the following way: set up positioning column 523 and locating piece 522 of setting up the relative setting on first mount pad 52, wherein positioning column 523 is equipped with the trompil that can supply the laser emission head part of laser instrument to stretch into, when the laser instrument is installed fixedly on first mount pad 52, the one end that the laser instrument kept away from its laser emission head is spacing with positioning column 523 butt, the laser emission head part holds and spacing in the trompil of positioning column 523, the laser that the laser emission head sent passes the trompil and shines on reflection graph card 3, the extending direction of trompil is perpendicular with the contact surface of positioning column 523 and laser instrument. The first identification portion 521 is disposed right above or right below an extension line of a connection line between the center of the positioning column 523 and the center of the positioning block 522, so that when the laser is correctly installed, a laser beam emitted by the laser necessarily passes through the center of the first identification portion 521.

In an embodiment of the present invention, as shown in fig. 6, the testing apparatus further includes a laser ranging assembly 7, the laser ranging assembly 7 includes a second supporting seat 71, a second mounting seat 72 and a laser range finder 73; the second supporting seat 71 is detachably connected with the machine table 1; the second mounting seat 72 is rotatably connected with the second support seat 71 and can horizontally rotate relative to the second support seat 71; the laser range finder 73 is movably arranged on the second mounting seat 72 and can move relative to the second mounting seat 72 along the direction vertical to the optical path direction of the laser emitted by the laser range finder 73; laser range finder 73 is located directly above the lidar on carrier 22 and is used to measure the distance between the lidar and reflection card 3.

In this embodiment, the second supporting seat 71 can be detachably connected to the machine platform 1 by inserting, screwing, etc., for example, the second supporting seat 71 includes a bearing platform and at least two supporting legs disposed on one side of the bearing platform, the machine platform 1 is provided with an inserting groove corresponding to each supporting leg, each supporting leg is inserted into and fixed to one inserting groove, the driving mechanism 2 is located between the two supporting legs, and the bearing platform is located above the driving mechanism 2. The second mounting seat 72 can be rotatably connected with the second supporting seat 71 through hole-shaft matching and other modes, the second mounting seat 72 can be manually shifted to rotate relative to the second supporting seat 71, and can also be driven by a driving device such as a rotary cylinder or a motor to rotate, and at the moment, the driving device is fixedly mounted on the second supporting seat 71 or the second mounting seat 72. In this embodiment, the second support seat 71 is detachably connected to the machine 1, so that when the reflection card 3 needs to be accurately measured, the second support seat 71 is assembled with the machine 1, and the laser distance measuring assembly 7 is fixedly mounted on the machine 1; also can be after the distance test between reflection map card 3 and the laser radar finishes, dismantle second supporting seat 71 from board 1, make laser rangefinder subassembly 7 demolish from test equipment, vacate the test space of the part in the test equipment, avoid laser rangefinder subassembly 7 to cause the interference to laser radar's functional test, guarantee laser radar functional test's reliability.

Laser range finder 73 adopts the same laser rangefinder principle to realize the range finding of reflection map card 3 with above-mentioned laser radar, and it is unnecessary here to describe repeatedly, and laser range finder 73 general range finding precision will be higher than laser radar, consequently can judge whether laser radar range finding is accurate enough for the contrast as laser radar range finding result. The laser range finder 73 can be slidably connected with the second mounting base 72 by way of rail-groove fit, lead screw-nut fit, etc., so that the laser range finder 73 can move relative to the second mounting base 72 in a direction perpendicular to the optical path direction of the laser emitted by the laser range finder 73. Further, as shown in fig. 7, after the posture and position of the reflection chart 3 are corrected by the laser correction assembly 5 and the correction member 6, the surface of the reflection chart 3 facing the carrier 22 should be perpendicular to the laser beam horizontally emitted by the laser radar, at this time, the laser range finder 73 is translated in the direction perpendicular to the laser beam emitted by the laser range finder, and when the laser emitted by the laser range finder 73 irradiates different parts of the reflection chart 3 (for example, four points a, b, c, and d which are horizontally collinear as shown in fig. 7), the range finding results obtained by the laser range finder 73 should be the same, and if the laser range finding results obtained by the laser range finder 73 are different, it indicates that the surface of the current reflection chart 3 facing the carrier 22 cannot be perpendicular to the laser beam horizontally emitted by the laser radar, and the posture of the reflection chart 3 should be continuously corrected. In an embodiment, the reflection chart 3 is connected with the telescopic member 43 through a universal rotation connection structure such as a universal shaft or a universal joint with a damping function, so that the reflection chart 3 can be fixed when rotating to any posture relative to the telescopic member 43; the reflection chart 3 can also be provided with a shaft hole, the telescopic piece 43 is provided with a rotating shaft penetrating through the shaft hole, the rotating shaft is internally screwed with a screw, and when the screw is unscrewed, the reflection chart 3 can rotate relative to the telescopic piece 43 through the matching of the shaft hole and the shaft hole of the rotating shaft, so that the posture of the reflection chart 3 can be adjusted; when the screw is tightened, the screw cooperates with the rotating shaft to fix the reflection chart 3 and the telescopic member 43.

Optionally, the second mounting seat 72 is provided with a second mark, and the second mark portion 721 is used for correcting the position of the laser distance meter 73, so as to improve the accuracy of distance measurement of the laser distance meter 73. The second mark portion 721 may be a linear extending elongated structure, a dot or circular or triangular protruding structure, etc., and when the laser range finder 73 is correctly installed, the laser beam emitted from the laser range finder 73 should pass through the center of the second mark portion 721, and when the laser beam emitted from the laser range finder 73 does not pass through the center of the second mark portion 721, it is determined that the position of the laser range finder 73 needs to be corrected. The second identifier 721 may be designed in the following manner: the first limiting plate 74 and the second limiting plate 75 are arranged on the second mounting seat 72 in an opposite and parallel manner, wherein the second limiting plate 75 is provided with a guide groove 75a into which a laser emitting part of the laser range finder 73 can partially extend, the guide groove 75a is arranged in a direction perpendicular to a light path direction of laser emitted by the laser range finder 73, and the laser emitting part is in sliding abutting contact with an inner wall of the guide groove 75a and can slide along the guide groove 75 a. When the laser range finder 73 is fixedly mounted on the second mounting seat 72, the two opposite ends of the laser range finder 73 are respectively abutted against the first limiting plate 74 and the second limiting plate 75 for limitation, the laser range finder 73 is located between the first limiting plate 74 and the second limiting plate 75, the laser emitting part is partially accommodated and limited in the guide groove 75a of the second limiting plate 75, and laser emitted by the laser emitting part penetrates through the guide groove 75a and irradiates on the reflection chart card 3. The second identification part 721 is disposed directly above or below an extension line of a line connecting the center of the second limiting plate 75 and the center of the first limiting plate 74, so that when the laser range finder 73 is correctly installed, a laser beam emitted by the laser range finder 73 inevitably passes through the center of the second identification part 721.

In an embodiment of the present invention, as shown in fig. 1 and fig. 2, the testing apparatus further includes a light source disposed in the testing space and configured to provide illumination for the laser radar.

In this embodiment, the light source is used for providing the illumination environment for laser radar, be applied to products such as unmanned aerial vehicle at laser radar, robot and car, laser radar can be in external illumination environment usually and receive the light wave interference of different intensity in the external environment, these light wave interferences can influence the accuracy of laser radar range finding, consequently set up the illumination condition that the light source can simulate in the external environment in test space, test data when obtaining more to be close to laser radar actual application, promote accuracy and the reliability of this test equipment to laser radar range finding functional test. The light source can be set with different powers and different luminous intensities or the electric power input to the light source is changed to regulate the luminous intensity of the light source, so that the light source can simulate and provide natural light illumination conditions with different intensities.

In an embodiment of the present invention, as shown in fig. 1, fig. 8 and fig. 9, the driving mechanism 2 further includes a mounting frame 23 and a driving member 24; the mounting frame 23 is arranged at the output end of the rotating mechanism 21, the driving part 24 is arranged on the mounting frame 23, two ends of the carrier 22 are respectively and rotatably connected with the mounting frame 23 and the output end of the driving part 24, and the driving part 24 drives the carrier 22 to drive the laser radar to rotate relative to the mounting frame 23 so as to adjust the laser emission angle of the laser radar; the machine table 1 is provided with a plurality of test stations 1a, each test station 1a is arranged around the carrier 22, at least two reflection graphic cards 3 are arranged in each test station 1a, and the partial reflection graphic cards 3 are arranged in an inclined mode.

In this embodiment, mounting bracket 23 accessible spiro union, welded etc. mode is connected with rotary mechanism 21, carrier 22 accessible hole axle cooperation etc. mode is rotated with mounting bracket 23 and driving piece 24's output and is connected, driving piece 24 can be the cylinder, linear electric motor etc. driving piece 24 accessible spiro union, welding etc. mode is connected with mounting bracket 23, drive carrier 22 rotates for mounting bracket 23, thereby can adjust the laser reflection direction of the laser radar on the carrier 22, the laser beam who makes the laser radar send can make progress or the downward sloping. When the laser beam that sends at laser radar shines reflection graphic card 3 of slope setting and the reflection graphic card 3 through above-mentioned gesture and position correction in same test station 1a with the mode of slope outgoing, laser radar will obtain two kinds of different range finding results, can obtain the inclination of laser radar for the surface of water correspondingly according to the difference of this range finding result, gesture when so can testing laser radar is rectified, avoid laser radar to test with the gesture of slope, accuracy and reliability that test with this promotion laser radar.

In an embodiment of the present invention, the driving mechanism 2 further includes a transmission device 25 disposed on the machine platform 1, and the rotating mechanism 21 is disposed at an output end of the transmission device 25; the shell is provided with an opening communicated with the test space and a door plate for opening or closing the opening, and the transmission device 25 can drive the rotating mechanism 21 to drive the carrier 22 and the laser radar to move between the opening and the test space.

In this embodiment, one end of the door panel may be rotatably connected to the periphery of one side of the opening, and the other end of the door panel may be detachably connected to the periphery of the other side of the opening, such as plugging or clamping; the door plate can also be a lifting pull-down door driven by electric power, and the like. When the door plate is opened, the opening is opened, and at the moment, the transmission device 25 can transmit the tested laser radar to the opening or the outer side of the shell, so that the tested laser radar can be taken away, and meanwhile, the laser radar to be tested can be placed and fixed on the carrier 22; in transmission device 25 sent into the test space with the good lidar that awaits measuring of fixing on carrier 22, the door plant was closed this moment, and the opening is closed, made the test space become with external environment isolated airtight space mutually, avoided external light to the interference of lidar functional test, promoted this test equipment to the reliability of lidar test.

The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A test apparatus for testing a lidar, the test apparatus comprising:

a machine platform;

the reflection graphic cards are arranged in the test space and are arranged around the carrier at intervals; the distances between at least part of the reflection chart cards and the carriers are different;

the driving mechanism drives the carrier to drive the laser radar to rotate, and the laser radar emits laser to each reflection graphic card and receives optical signals reflected by the reflection graphic cards.

2. The testing apparatus of claim 1, further comprising a plurality of adjustment brackets disposed within the test space, the plurality of adjustment brackets disposed around the carrier, each adjustment bracket comprising:

the base is connected with the machine table;

3. The test apparatus as claimed in claim 2, wherein one of the base and the support is provided with a sliding groove and a first screw hole communicated with the sliding groove, and the other of the base and the support is provided with a sliding block, and the sliding block is slidably retained in the sliding groove;

4. The test apparatus of claim 2, wherein the support member is provided with a limit through hole and a second screw hole communicating with the limit through hole;

the adjusting bracket further comprises a second locking piece matched with the second screw hole in a threaded mode, and the second locking piece is used for enabling the telescopic piece to be fixed with the adjusting bracket.

5. The test apparatus of any one of claims 1 to 4, further comprising a laser alignment assembly and an alignment member, wherein the alignment member is detachably connectable to any one of the reflection cards, and wherein when the alignment member is connected to one of the reflection cards, the alignment member is located between the carrier and the reflection card;

6. The test apparatus of claim 5, wherein the laser calibration assembly comprises:

the first supporting seat is detachably connected with the machine table;

7. The test device of any one of claims 1 to 4, wherein the test device further comprises a laser ranging assembly comprising:

the second supporting seat is detachably connected with the machine table;

the laser range finder is movably arranged on the second mounting seat and can move relative to the second mounting seat along the direction vertical to the direction of a laser light path emitted by the laser range finder; the laser range finder is located right above the laser radar on the carrier and used for measuring the distance between the laser radar and the reflection chart card.

8. The test apparatus of any one of claims 1 to 4, further comprising a light source disposed in the test space and configured to provide illumination to the lidar;

and/or the reflectivity of at least part of the surfaces of the reflection graphic cards facing the carrier is different.

9. The test apparatus of any one of claims 1 to 4, wherein the drive mechanism further comprises a mounting frame and a drive member;

10. The testing apparatus of any one of claims 1 to 4, wherein the driving mechanism further comprises a transmission device disposed on the machine platform, and the rotating mechanism is disposed at an output end of the transmission device;