CN113359093A - Radar testing method and device - Google Patents

Radar testing method and device Download PDF

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Publication number
CN113359093A
CN113359093A CN202010147583.6A CN202010147583A CN113359093A CN 113359093 A CN113359093 A CN 113359093A CN 202010147583 A CN202010147583 A CN 202010147583A CN 113359093 A CN113359093 A CN 113359093A
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China
Prior art keywords
radar
shielding
shelter
angle
shielding object
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Granted
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CN202010147583.6A
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Chinese (zh)
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CN113359093B (en
Inventor
侯强
潘卫
薛甬申
王辉
王仁文
李博达
王浩华
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Huawei Technologies Co Ltd
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Huawei Technologies Co Ltd
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Priority to CN202010147583.6A priority Critical patent/CN113359093B/en
Priority to PCT/CN2021/078866 priority patent/WO2021175248A1/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The embodiment of the application provides a radar testing method and a device, wherein in the radar testing method, a target object is placed on a normal line of a radar scanning range; adjusting a horizontal deflection angle and a pitching deflection angle of the radar according to a preset angle; carrying out calibration compensation through the calibration function of the radar; testing the position of the target object through the radar; and if the position of the target object meets the preset standard, determining that the radar passes the test, and determining that the radar is accepted. The embodiment of the application provides a set of standardized shielding and radar calibration radar testing method, provides a radar calibration testing method under a shielding scene, increases the coverage of calibration and shielding testing, and improves the radar testing efficiency.

Description

Radar testing method and device
Technical Field
The embodiment of the application relates to the field of electronic equipment testing, in particular to a radar testing method and device.
Background
With the development of modern technologies, the technology of automatically driving automobiles becomes more mature. Among them, many modern automobiles are equipped with Advanced Driver Assistance Systems (ADAS). Millimeter wave Radar (Radar) is one of the most prominent sensors of the ADAS system. The calibration and shielding characteristics of the radar are two important characteristics which an ADAS vehicle should have in an actual scene, and are key test items for radar research and development.
Fig. 1 shows a scenario of a radar test. The radar 2 is mounted on a vehicle 1, and a calibration panel 3 is provided in front of or laterally in front of the vehicle. The installation position relationship between the radar 2 and the vehicle 1 has a direct relationship to the reported position/speed accuracy of the original detection point. For example, the radar 2 may be mounted directly in front of the vehicle 1, may be mounted laterally in front of the vehicle 1, or may be mounted at another position of the vehicle 1. The staff can measure the error angle of mechanical installation through the calibration function of radar 2, provides the parameter for follow-up compensation, and this function can show the measurement accuracy who improves the radar to reduce the requirement to mechanical installation accuracy.
However, at present, there is no standardized radar test method, and there is no professional device to perform the test, which not only has low efficiency, but also may have larger error.
Disclosure of Invention
The embodiment of the application provides a radar test method and a radar test device, which are used for performing professional radar test and improving test efficiency.
In a first aspect, an embodiment of the present application provides a radar testing method, including:
placing the target object on a normal line of a radar scanning range;
adjusting a horizontal deflection angle and a pitching deflection angle of the radar according to a preset angle;
carrying out calibration compensation through the calibration function of the radar;
testing the position of the target object through the radar;
and if the position of the target object meets a preset standard, determining that the radar passes the test.
In a possible implementation manner, after the target object is placed on the normal line of the radar scanning range and before the calibration compensation is performed by the calibration function of the radar, the method further includes:
a shield is disposed between the radar and the target.
In a possible implementation manner, after the target object is placed on the normal line of the radar scanning range and before the calibration compensation is performed by the calibration function of the radar, the method further includes:
and adjusting the distance between the radar and the target object according to a preset distance or adjusting the distance between the radar and the shielding object according to a preset distance.
In a possible implementation manner, after the target object is placed on the normal line of the radar scanning range and before the calibration compensation is performed by the calibration function of the radar, the method further includes:
and carrying out radar movement through a mobile platform.
In a possible implementation manner, the preset angle includes a calibration precision range limit deflection angle, a calibration function support limit deflection angle, and the radar installation maximum deflection angle.
In a second aspect, an embodiment of the present application provides a radar testing method, including:
arranging a shelter corresponding to a preset shelter degree between a radar and a target object, wherein the shelter is determined according to a scene use case database, the scene use case database is established according to radar shelter medium influence factors, and the radar shelter medium influence factors comprise structural shelter, close-fitting shelter and weather shelter;
testing the position of the target object through the radar;
and determining the scanning range and the scanning precision of the radar according to the position of the target object.
In one possible implementation, after the position of the target object is tested by the radar, the method further includes:
acquiring alarm information of the radar;
and if the alarm information meets a preset design index, determining that the radar passes the shielding degree alarm test.
In a possible implementation manner, the alarm information includes an alarm reporting time of the radar;
the alarm information meets the preset design index, and the alarm reporting time of the radar is smaller than the preset time threshold.
In one possible implementation, the warning information includes a warning degree of the radar;
the alarm information meeting the preset design index comprises that the alarm degree corresponds to the preset shielding degree.
In a third aspect, an embodiment of the present application provides a radar testing apparatus, including: the device comprises a first angle adjusting mechanism, a second angle adjusting mechanism and a distance adjusting mechanism;
the first angle adjusting mechanism comprises a first rotating plate, a base, a first adjusting knob and a first gear reducer;
the first rotating plate is connected to the base through a first rotating shaft;
the first adjusting knob is connected with the first rotating shaft through a first gear reducer and used for controlling the first rotating plate to rotate;
the distance adjusting mechanism comprises a supporting frame, a distance adjusting guide column and a distance adjusting knob;
the support frame is arranged on the first rotating plate in a sliding mode through the distance adjusting guide column;
one end of the distance adjusting knob is a nut, a through hole is sleeved on the first rotating plate, and the other end of the distance adjusting knob is connected with the supporting frame through threads and used for adjusting the supporting frame to move;
the second angle adjusting mechanism comprises a second rotating plate, a second gear reducer and a second adjusting knob;
the second rotating plate is connected to the supporting frame through a second rotating shaft and used for mounting a radar;
the second adjusting knob is connected with the second rotating shaft through the second gear reducer and used for controlling the second rotating plate to rotate.
In one possible implementation, the first angle adjustment mechanism further includes a first pointer and a first dial;
the first pointer is fixed on the first rotating plate and used for rotating together with the first rotating plate;
the base is provided with the first dial matched with the first pointer and used for displaying the rotating angle of the first rotating plate.
In one possible implementation manner, the first angle adjusting mechanism further includes an angle pre-tightening knob;
the angle pre-tightening knob is arranged on the base and props against the first rotating shaft to fix the first rotating plate.
In one possible implementation, the distance adjustment mechanism further comprises a level bubble;
the level bubble is arranged on the plane of the support frame.
In one possible implementation, the distance adjusting mechanism further comprises a distance pre-tightening screw;
the distance pre-tightening screw penetrates through the support frame to abut against the first rotating plate and is used for fixing the support frame.
In one possible implementation, the second angle adjustment mechanism further includes a second angle dial, a second pointer;
the second pointer is fixed on the second rotating shaft, and the second angle dial is fixed on the support frame;
the second angle dial is matched with the second pointer and used for displaying the rotation angle of the second rotating plate.
In one possible implementation, the second angle adjusting mechanism further includes an angle pre-tightening screw;
the angle pre-tightening screw is arranged on the support frame to abut against the second rotating shaft and used for fixing the second rotating plate.
In a possible implementation manner, the radar testing device further comprises a shielding tool, and the first angle adjusting mechanism further comprises a shielding tool guide pillar;
the shielding tool guide column is arranged on the base, and the shielding tool is arranged on the shielding tool guide column;
shelter from the frock and include: the device comprises a shelter tooling base, a shelter first angle adjusting mechanism, a shelter second angle adjusting mechanism and a shelter distance adjusting mechanism;
the shielding object tool base is arranged on the base in a sliding mode through the shielding tool guide pillar;
the shielding object distance adjusting mechanism comprises a shielding object distance pre-tightening screw;
the shielding object distance pre-tightening screw penetrates through the shielding object tooling base to abut against the base or the shielding tooling guide column and is used for fixing the shielding object tooling base;
the first angle adjusting mechanism of the shielding object comprises a first rotating frame of the shielding object and a first pre-tightening knob of the shielding object;
the first rotating frame of the shielding object is arranged on the base of the shielding object tool through a first rotating shaft of the shielding object;
the first pre-tightening knob of the shielding object props against the first rotating shaft of the shielding object and is used for fixing the first rotating frame of the shielding object;
the second angle adjusting mechanism of the shelter comprises a second rotating frame of the shelter and a shelter angle adjusting knob;
the second rotating frame of the shelter is arranged on the first rotating frame of the shelter through a second rotating shaft of the shelter;
the shielding object angle adjusting knob is connected with the shielding object second rotating shaft and used for controlling the shielding object second rotating frame to rotate;
the second rotating frame of the shelter is used for arranging the shelter.
In a possible implementation manner, the shielding tool further comprises a liquid supply mechanism;
the liquid supply mechanism comprises at least one liquid container, at least one liquid conveying pipe and a spray head;
the liquid container is arranged on the shelter tooling base, the liquid conveying pipe is connected with the spray head, and the spray head is arranged on the shelter second rotating frame and is used for spraying liquid to form a water film on the shelter second rotating frame.
In one possible implementation, a liquid pump is arranged between the liquid container and the liquid conveying pipe and used for conveying liquid;
the liquid pump is provided with a speed regulating button for regulating the speed of conveying liquid.
In one possible implementation, the first angle adjusting mechanism of the shade further includes: a first pointer and a first dial of a shelter;
the first pointer of the shielding object is arranged on the first rotating frame of the shielding object and rotates together with the first rotating frame of the shielding object;
the first dial of the shielding object is arranged on the tooling base of the shielding object, is matched with the first pointer of the shielding object and is used for displaying the rotation angle of the first rotating frame of the shielding object.
In one possible implementation, the second angle adjusting mechanism for the shade further includes: a second pointer and a second dial of the shelter;
the second shielding object pointer is fixed on the second shielding object rotating shaft, and the second shielding object dial is fixed on the first shielding object rotating frame;
the second pointer of the shielding object is matched with the second dial of the shielding object and used for displaying the rotation angle of the second rotating frame of the shielding object.
According to the technical scheme, the embodiment of the application has the following advantages:
the embodiment of the application provides a radar testing method and a device, wherein in the radar testing method, a target object is placed on a normal line of a radar scanning range; adjusting a horizontal deflection angle and a pitching deflection angle of the radar according to a preset angle; carrying out calibration compensation through the calibration function of the radar; testing the position of the target object through the radar; and if the position of the target object meets the preset standard, determining that the radar passes the test, and determining that the radar is accepted. The embodiment of the application provides a set of standardized shielding and radar calibration radar testing method, provides a radar calibration testing method under a shielding scene, increases the coverage of calibration and shielding testing, and improves the radar testing efficiency.
Drawings
FIG. 1 is a scenario of a radar test;
fig. 2 is an exemplary diagram of a radar testing method according to an embodiment of the present application;
FIG. 3 is a schematic top view of a radar test in an embodiment of the present application;
FIG. 4 is a schematic side view of a radar test in an embodiment of the present application;
FIG. 5 is a diagram of an example of a radar test with an obstruction in an embodiment of the present application;
FIG. 6 is a schematic diagram of another radar testing method provided in the embodiments of the present application;
FIG. 7 is an exemplary diagram of radar blocking medium impact factor classification in an embodiment of the present application;
FIG. 8 is a classification diagram of the occlusion degree warning test in the embodiment of the present application;
FIG. 9 is a first diagram illustrating an example of a radar testing apparatus according to an embodiment of the present application;
FIG. 10 is a second exemplary diagram of a radar testing device in an embodiment of the present application;
FIG. 11 is a third exemplary diagram of a radar testing device in an embodiment of the present application;
FIG. 12 is a fourth exemplary diagram of a radar testing device in an embodiment of the present application;
FIG. 13 is a fifth exemplary diagram of a radar testing device in an embodiment of the present application;
FIG. 14 is a sixth exemplary view of a radar testing device in an embodiment of the present application;
fig. 15 is a seventh exemplary view of a radar testing apparatus in the embodiment of the present application.
Detailed Description
The embodiment of the application provides a radar test method and a radar test device, which are used for performing professional radar test and improving test efficiency.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "corresponding" and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the embodiments of the present application, words such as "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.
Radar testing generally includes calibration testing and occlusion testing. The calibration test can measure the accuracy of the radar and also calibrate the radar. In the calibration test, a worker generally needs to complete the static calibration of the horizontal angle and the pitch angle of the radar and can also perform the dynamic calibration test on the radar. The dynamic calibration test is to test the dynamic calibration characteristics of the radar in the vehicle running process, detect whether the accuracy of the radar in the vehicle running process meets the requirement, and calibrate the radar, so that the radar is more accurate.
The shielding test is used for testing whether the radar can have higher accuracy when shielded by the obstacle, and the radar can be debugged, screened, calibrated and the like according to a test result. The obstacle may be a body periphery, water mist, water film, or the like.
Currently, when a worker carries out calibration test of a radar, the radar is generally manually deflected by a certain angle in the horizontal direction and the vertical direction, then calibration compensation test is carried out, and a relevant angle measuring instrument is required to be used for measuring the horizontal deflection angle and the pitching deflection angle of the radar. The method for measuring by using the measuring instrument cannot accurately measure the horizontal deflection angle and the pitching deflection angle of the radar, and has low efficiency.
When the staff carries out the sheltering from of radar test at present, generally at the certain angle of horizontal direction and vertical direction with the radar people ground deflection to set up the barrier in radar place ahead, then carry out the radar test. Such testing is inefficient and not accurate enough. When the water film shielding test is performed, the worker needs to drive the vehicle to a rainy area for testing, or cover the surface of the radar with a wet tissue for testing. This test method requires proper weather and harsh conditions. And the different sizes of the rain can also influence the test result. The wet tissues are easily dried gradually with time, and air bubbles are easily generated during the running of the vehicle.
In order to solve the above technical problem, an embodiment of the present application provides a radar testing method, which performs a professional radar test and improves testing efficiency.
Fig. 2 is an exemplary diagram of a radar testing method according to an embodiment of the present application. The radar testing method may include:
201. placing the target object on a normal line of a radar scanning range;
in the embodiment of the application, the target object is an object for radar calibration, and a signal sent by the radar returns to the target object to obtain the radar, so that the radar can detect the target object. The target may be, for example, a truck, a car, a pedestrian, or a corner cube (corner reflector), a calibration board, a target simulator, a fence, a wall surface, etc. The embodiment of the present application does not limit what kind of target is specifically adopted.
FIG. 3 is a schematic top view of a radar test in an embodiment of the present application. As shown in fig. 3, a target (a triangle in fig. 3) is provided on the normal line of the radar. FIG. 4 is a schematic side view of a radar test in an embodiment of the present application. As shown in fig. 4, a target (a triangle in fig. 3) is provided on the normal line of the radar.
In the embodiment of the present application, the distance between the target object and the radar may be specifically set according to actual conditions.
202. Adjusting a horizontal deflection angle and a pitching deflection angle of the radar according to a preset angle;
as shown in fig. 3, the horizontal declination of the radar includes: limiting value-theta of leftward deviation angle within horizontal calibration precision guarantee rangeH1Within the horizontal calibration precision guarantee range, the limit value of the right deflection angle + thetaH1Limited left declination angle-theta supported by horizontal calibration functionH2Right deflection limit angle + θ supportable by horizontal calibration functionH2Maximum left-hand declination angle theta of radar module mounted on vehicleH3Maximum yaw angle to the right + theta of the vehicle-mounted radar moduleH3。
As shown in fig. 4, the pitch angles of the radar include: limiting value-theta of downward deflection angle in pitch calibration precision guarantee rangeV1And the limiting value of the upward deflection angle within the range of ensuring the pitching calibration precision + thetaV1Limited left declination angle-theta supported by pitching calibration functionV2Right yaw angle limit angle + theta, supportable by pitch calibration functionV2Maximum upward deflection angle-theta of vehicle-mounted radar moduleV3Maximum right yaw angle + theta of vehicle-mounted radar moduleV3。
In the embodiment of the application, the horizontal deflection angle and the pitching deflection angle of the radar can be adjusted according to the angle.
In some embodiments, prior to step 203, embodiments of the present application may also be applied to radar and targetA shelter is arranged between the objects. The sheltering object can be a water film, a skin, an iron sheet, a bumper and the like, and the embodiment of the application does not limit the purposes. FIG. 5 is a diagram of an example of radar testing with an obstruction in an embodiment of the present application. L is1The distance from an obstacle in front of the radar to the center of the radar antenna is shown, and the delta L is the distance from a calibration zero point in front of the radar to the obstacle; l is2The distance from the target object to the center of the radar itself. In the embodiment of the application, L can be determined according to1、ΔL、L2An obstacle is provided between the radar and the target. After the obstacle is set, a calibration test with the obstacle can be performed.
203. Calibrating and compensating through the calibration function of the radar;
in the embodiment of the application, the radar has a calibration function. The calibration function refers to that the radar sends out signals to detect a target object, and the accuracy error of the radar is determined according to the obtained detection result. In practical applications, the radar will generally correct its own error according to the error, i.e. perform calibration (calibration compensation).
204. Testing the position of a target object through a radar;
in the embodiment of the application, after calibration compensation is performed, the radar can detect the target object again to obtain the position of the target object. The position of the target generally refers to an angle, distance, etc. of the target with respect to the radar.
205. And if the position of the target object meets the preset standard, determining that the radar passes the test.
In the embodiment of the application, when the position of the target object meets the preset standard, the radar is determined to pass the test, and the radar acceptance is completed. When the position of the target does not meet the preset standard, the radar is determined not to pass the test, and the radar can be marked as a failure or return goods, and the like.
Table 1 shows examples of preset standards for radar testing in the embodiments of the present application. Illustratively, according to the example of table 1, the embodiment of the present application first deflects the radar to the left by a preset angle, so that the radar deflection angle is within the calibration accuracy range (0 to- θ)H1) After the radar calibration compensation is completed, testing the detection effect of the radar, and if the reported angle of the target object is detectedThe degree is equal to 0 degree (in practical application, the angle is within a certain preset range), which indicates that the radar accurately identifies the target object on the normal line, and then the radar can be calibrated to compensate after deflecting the preset angle, and the compensated effect is better, so that the radar can be determined to pass the test. Other testing methods are similar and are not described in detail herein.
TABLE 1
Figure BDA0002401301950000061
Figure BDA0002401301950000071
The above embodiment is a description of a static calibration test, i.e. a test in which the radar is in a static state. In some embodiments, the radar may be mounted on a vehicle, and the vehicle is then driven forward to test the radar for conditions while in motion. In practical application, the radar can also be installed on a test trolley, a suspension cable and other mobile platforms, and the embodiment of the application does not limit the radar. In the dynamic calibration test of the radar, except for the radar motion, other conditions are similar to the static calibration test of the radar in the foregoing embodiment, and details are not repeated here.
In some embodiments, a shielding object is arranged between the radar and the target object, and then the radar static calibration test and the radar dynamic calibration test with the shielding object can be carried out. The shielding degree of different shielding objects can be classified into mild shielding, moderate shielding and severe shielding. And the non-shielding object is the non-shielding object. Table 2 shows examples of radar tests in the embodiments of the present application.
TABLE 2
Figure BDA0002401301950000072
Figure BDA0002401301950000081
Figure BDA0002401301950000091
In the embodiment of the present application, according to the example of table 2, when the preset angle is set for adjusting the yaw angle and the pitch angle of the radar, the preset angle may be set to the upper point, the departure point, and the inner point of the boundary of the yaw angle range of the radar in fig. 3, or the upper point, the departure point, and the inner point of the boundary of the pitch angle range of the radar in fig. 4.
Fig. 6 is a schematic diagram of another radar testing method according to an embodiment of the present disclosure. The method comprises the following steps:
601. placing a target object in front of the radar;
in the embodiment of the present application, the target is similar to that of the previous embodiment, and is not described herein again. In the embodiment of the application, the scanning range of the radar can be determined according to the index of the radar.
In the embodiment of the application, the distance between the target object and the radar is placed according to the preset distance. For example, if the preset distance is 1m, the target object may be placed 1m in front of the radar.
602. Arranging a shelter corresponding to a preset shelter degree between a radar and a target object;
in the embodiment of the application, the shielding degree can be divided into mild shielding, moderate shielding and severe shielding according to the loss degree of the shielding medium to the working frequency band of the radar to be detected.
As shown in fig. 7, according to the type of the shielding medium of the vehicle in practical application, the type of the shielding object can be classified into three items, namely structural type shielding, close-fitting type shielding, and weather type shielding. The structural shielding is divided into a front structural part and a rear structural part; the impact factors of the close type shielding include types, thickness and position of a covering; the influence factors of the weather type occlusion are different weather scenes. Combining the installation and application scenes of the radar to be detected in the actual vehicle, combining the parameters according to different influence factors as shown in fig. 7, and forming a scene case database. After the scene case database is sorted according to the test priority, the cases in the scene case database can be extracted according to the test priority to be made into corresponding shelters. The occlusion degree of the occlusion object can be obtained from a scene use case database.
603. Testing the position of a target object through a radar;
in the embodiment of the application, the target object can be located through a test function of the radar, and then the radar can obtain the distance and the angle (horizontal angle and pitch angle) of the target object, so as to determine the position of the target object.
604. And determining the scanning range and the scanning precision of the radar according to the position of the target object.
In the embodiment of the application, the position of the target object is repeatedly tested by the radar, the position where the target object can be located and the position where the target object cannot be located can be obtained, and then the radar can determine the range where the target object can be measured, namely the scanning range. The position where the target is placed is known, and the accuracy of the radar can be obtained compared with the position of the target tested by the radar. And (5) carrying out test for many times, and obtaining the scanning precision of the radar by taking the average value.
Table 3 is an example of radar occlusion testing in the embodiment of the present application.
TABLE 3
Figure BDA0002401301950000101
In some embodiments, the method further comprises obtaining alarm information of the radar; and if the alarm information meets the preset design index, determining that the radar passes the shielding degree alarm test.
The alarm information of the radar can comprise the alarm reporting time, the alarm degree and the like of the radar. In the preset design index, the radar alarm reporting time needs to be smaller than a preset time threshold, and the alarm degree needs to correspond to the shielding degree of the shielding object. For example, if the shielding degree of the shielding object is light shielding, the warning degree should be light shielding. In practical application, for the shielding degree alarm test: in each shielding medium combination (shielding objects of different medium combinations), relevant parameters are changed, the shielding degree is continuously increased to cover light, medium and heavy three grades, whether the radar alarm reporting time meets design indexes is checked, and whether the alarm degree of the radar on different medium combinations meets design expectations is checked.
FIG. 8 is a classification diagram of the occlusion degree warning test in the embodiment of the present application. The shielding degree alarm test is divided into a simulation test and an actual drive test. The test was performed by providing different shades. And is divided into a shielding degree alarm test and a shielding effect test on performance. Finally, whether the radar can normally carry out the positioning of the target object under the influence of the shielding object can be obtained by combining the tests.
Fig. 9 is a first exemplary diagram of a radar testing apparatus in an embodiment of the present application. The radar testing device comprises a first angle adjusting mechanism, a second angle adjusting mechanism and a distance adjusting mechanism;
the first angle adjusting mechanism comprises a first rotating plate 102, a base 101, a first adjusting knob 103 and a first gear reducer;
the first rotation plate 102 is connected to the base 101 through a first rotation shaft; the first rotation shaft is arranged inside the base 101 and is therefore not shown in fig. 9.
The first adjusting knob 103 is connected to the first rotating shaft through a first gear reducer for controlling the rotation of the first rotating plate 102. In the embodiment of the present application, when the first adjusting knob 103 is rotated, the first rotating shaft is driven to rotate by the first gear reducer, so as to drive the first rotating plate 102 to rotate. Adopt first gear reducer, can let radar testing arrangement when adjusting radar turned angle, satisfy the precision demand of the demarcation test of 0.1deg step angle.
The distance adjusting mechanism comprises a supporting frame 201, a distance adjusting guide column 202 and a distance adjusting knob 203;
the supporting frame 201 is slidably arranged on the first rotating plate 102 through a distance adjusting guide column 202; in the embodiment of the present application, the distance adjustment guide pillar 202 is a cylinder mounted on the first rotating plate 102, and the supporting frame 201 is provided with a through hole corresponding to the distance adjustment guide pillar 202, so that the supporting frame 201 can be mounted on the distance adjustment guide pillar 202 through the through hole.
Fig. 10 is a second exemplary diagram of a radar testing apparatus in an embodiment of the present application. It can be seen that one end of the distance adjusting knob 203 is a nut, the through hole is sleeved on the first rotating plate 102, and the other end of the distance adjusting knob 203 is connected with the supporting frame 201 through a thread for controlling the movement of the supporting frame 201. In this embodiment, the distance adjusting knob 203 is a long rod, one end of which is a nut and the other end of which is provided with a thread. One end of the distance adjusting knob 203 having a nut is passed through the through hole of the boss of the first rotating plate 102, and the end of the distance adjusting knob 203 having a screw thread is screw-coupled through the lug of the supporting bracket 201. When the distance adjustment knob 203 is rotated, the supporting bracket 201 moves with respect to the first rotation plate 102, thereby controlling the movement of the supporting bracket 201.
The second angle adjusting mechanism comprises a second rotating plate 301, a second gear reducer 302 and a second adjusting knob 303;
the second rotating plate 301 is connected to the supporting frame 201 through a second rotating shaft; the second shaft is not shown in fig. 9, and generally passes through the supporting frame 201 and the second rotating plate 301 in a transverse direction, so that the second rotating plate 301 can rotate up and down (pitch rotation).
The second adjusting knob 303 is connected to the second rotating shaft through a second gear reducer 302, and is used for controlling the second rotating plate 301 to rotate. It can be understood that when the second adjustment knob 303 is rotated, the gear of the second gear reducer 302 is rotated, so as to rotate the second rotation shaft and the second rotation plate 301.
The radar 4 can be mounted on the second rotating plate 301, and the horizontal deflection angle, the distance from the target object or the shielding object, and the pitch deflection angle of the radar 4 can be changed through the rotation of the first rotating plate 102, the movement of the supporting frame 201, and the rotation of the second rotating plate 301, so that the radar 4 can implement the processing of the radar 4 in the radar testing method in the above embodiment.
In some embodiments, the first angle adjustment mechanism further comprises a first pointer 104 and a first dial 105; a first pointer 104 is fixed on the first rotation plate 102 for rotation together with the first rotation plate 102; the base 101 is provided with a first dial 105 engaged with the first pointer 104 for displaying the rotation angle of the first rotation plate 102. The embodiment with the first pointer 104 can accurately change the horizontal deflection angle of the radar 4.
In the embodiment of the present application, when the first rotation plate 102 rotates, the first rotation plate 102 drives the first pointer 104 to rotate, so that the first pointer 104 points to different scales on the first scale 105, and the rotation angle of the first rotation plate 102 can be read from the first scale 105.
It will be appreciated that the minimum scale of the first dial 105 meets the angular calibration test requirements
In some embodiments, the first angle adjustment mechanism further comprises an angle pre-tightening knob 106; an angle pre-tightening knob 106 is disposed on the base 101 to abut against the first rotation shaft for fixing the first rotation plate 102.
In the embodiment of the present application, when the angular pre-tightening knob 106 is tightened, the first rotating shaft may be pressed against the first rotating shaft, so as to prevent the first rotating shaft from rotating, thereby fixing the first rotating plate 102.
In some embodiments, the distance adjustment mechanism further comprises a vial; the vials 204 are disposed on the flat surface of the support 201. In the present embodiment, the vial 204 may be used to observe whether the support 201 and the entire radar testing device are level. It will be appreciated that in the present embodiment, the support bracket 201 is L-shaped and includes a planar surface on which the vials 204 are disposed and two upstanding legs.
In some embodiments, the distance adjustment mechanism further comprises a distance pretension screw 205; the distance pretension screw 205 penetrates through the support frame 201 and abuts against the first rotating plate 102 for fixing the support frame 201. In the embodiment of the present application, there are two pretension screws 205, which are respectively disposed on two sides, so as to fix the supporting frame 201 more stably. When the distance pre-tightening screw 205 is tightened, the support frame 201 can be fixed, and when the distance pre-tightening screw 205 is loosened, the support frame 201 can be controlled to move through the distance adjusting knob 203.
In some embodiments, the second angular adjustment mechanism further comprises a second angle dial 305, a second pointer 304; a second pointer 304 is fixed on the second rotating shaft, and a second angle dial 305 is fixed on the supporting frame 201; the second angle dial 305 is engaged with the second pointer 304 for showing the rotation angle of the second rotating plate 301. The embodiment of the present application with the second pointer 105 can accurately change the pitch deflection angle of the radar 4.
In the embodiment of the present application, when the second rotating plate 301 rotates, the second rotating shaft rotates, thereby driving the second pointer 304 to rotate, so that the second pointer 304 points to different scales on the second angle scale 305, thereby reading the rotating angle of the second rotating plate 301 from the scales on the second angle scale 305.
In some embodiments, the second angular adjustment mechanism further comprises an angular preload screw 306; the angle pre-tightening screw 306 is disposed on the supporting frame 201 to abut against the second rotating shaft, and is used for fixing the second rotating plate 301.
In the embodiment of the present application, when the angle pre-tightening screw 306 is tightened, the second rotating shaft can be pressed, so that the second rotating shaft cannot rotate, thereby fixing the second rotating plate 301.
Fig. 11 is a third exemplary view of a radar testing apparatus in an embodiment of the present application. In some embodiments, the radar testing device further comprises a shielding tool, and the first angle adjusting mechanism further comprises a shielding tool guide post 107;
the shielding tool guide post 107 is arranged on the base 101, and the shielding tool is arranged on the shielding tool guide post 107;
shelter from the frock and include: the device comprises a shelter tooling base 501, a shelter first angle adjusting mechanism, a shelter second angle adjusting mechanism and a shelter distance adjusting mechanism;
fig. 12 is a fourth exemplary view of a radar testing apparatus in an embodiment of the present application. As can be seen, the shield tooling base 501 is slidably disposed on the base 101 through the shield tooling guide post 107. Wherein, sheltering from frock guide pillar 107 specifically is the cylinder of inlaying on base 101. The shelter tooling base 501 is sleeved on the shelter tooling guide post 107 and can move back and forth along the shelter tooling guide post 107. It can be understood that, generally the left and right sides all is provided with shelters from frock guide pillar 107, then shelters from thing frock base 501 and can the suit on two shelter from frock guide pillars 107, and is more firm, also can prevent to shelter from thing frock base 501 rotatory.
As shown in fig. 12, the shade distance adjustment mechanism includes a shade distance preload screw 502; the shielding object distance pre-tightening screw 502 penetrates through the shielding object tooling base 501 to abut against the shielding tooling guide post 107 and is used for fixing the shielding object tooling base 501; when the shielding object is screwed down from the pre-tightening screw 502, the shielding object can press the shielding tool guide column 107 from the pre-tightening screw 502, so that the fixed shielding object tool base 501 cannot move back and forth.
In other embodiments, the shield distance pretensioning screw 502 penetrates the shield tooling base 501 to abut against the base 101, and can also function to secure the shield tooling base 501 when tightened.
The first angle adjusting mechanism of the shelter comprises a first rotating frame 601 of the shelter and a first pre-tightening knob 602 of the shelter;
the first rotating frame 601 of the shielding object is arranged on the base 501 of the shielding object tool through a first rotating shaft (not shown in fig. 11) of the shielding object; the first pre-tightening knob 602 is disposed against the first rotating shaft of the shade for fixing the first rotating frame 501 of the shade. In this embodiment, after the first rotating frame 501 of the shade is rotated to a proper position, the first pre-tightening knob 602 of the shade can be tightened, so that the first pre-tightening knob 602 of the shade presses the first rotating frame 501 of the shade, thereby fixing the first rotating frame 501 of the shade.
The second angle adjusting mechanism of the shelter comprises a second rotating frame 701 of the shelter and a shelter angle adjusting knob 703;
the second rotating frame 701 of the shelter is arranged on the first rotating frame 601 of the shelter through a second rotating shaft of the shelter; in the embodiment of the present application, the second rotating shaft of the shade is generally horizontally disposed, so that the second rotating frame 701 of the shade can vertically rotate, so that the shade installed on the second rotating frame 701 of the shade can be adjusted to a proper pitch angle.
The shelter angle adjusting knob 703 is connected to the shelter second rotating shaft and used for controlling the shelter second rotating frame 701 to rotate; in some embodiments, the shade angle adjustment knob 703 is connected to the shade second shaft through a shade gear reducer 702. When the shutter angle adjustment knob 703 rotates, the shutter gear reducer 702 and the shutter second rotation shaft are driven to rotate, so as to control the rotation of the shutter second rotation frame 701.
The shade second rotating frame 701 is used to set a shade. Illustratively, the shade may be bound to the shade second rotating frame 701. In some embodiments, a water film may be formed in the second rotating frame 701 of the shelter by the shower head, which may refer to the following embodiments.
In some embodiments, the shielding tool further comprises a liquid supply mechanism;
fig. 13 is a fifth exemplary view of a radar testing apparatus in an embodiment of the present application. As can be seen, the liquid supply mechanism includes at least one liquid container 801, at least one liquid delivery tube 802, a spray head 803;
the liquid container 801 is arranged on the shield tool base 501, is connected with the spray head 803 through the infusion tube 802, and the spray head 803 is arranged on the shield second rotating frame 701 and is used for spraying liquid on the shield second rotating frame 701 to form a water film.
In some embodiments, a liquid pump 804 is disposed between the liquid container 801 and the infusion tube 802 for delivering liquid;
the liquid pump 804 is provided with a speed regulating button 805 for regulating the speed of the liquid to be delivered.
In the embodiment of the present application, the liquid pump 804 may be adjusted in speed by the speed adjustment button 805, so as to adjust the speed at which the liquid container 801 delivers the liquid to the spray head 803, so that the thickness of the water film formed by the spray head 803 in the second rotating frame 701 of the shutter is different. Generally, the faster the liquid is transported, the greater the water film thickness. The speed of carrying liquid can be adjusted according to actual conditions's needs to this application embodiment to obtain suitable water film.
In the present embodiment, two liquid containers 801 and corresponding fittings such as a liquid tube 802 and a liquid pump 804 may be provided. The concentration of liquid, the kind of liquid, and the like loaded in different liquid containers 801 may be different. In practical applications, three or more liquid containers 801 may be provided, and the number of the liquid containers 801 is not limited in the embodiment of the present application.
In one possible example, liquid is delivered through only one of the liquid containers 801. In another possible example, liquid is delivered through two liquid containers 801, so that the two liquids mix to form a special water film. In another example, the left nozzles 803 of the second rotating frame 701 of the shelter can deliver liquid through the left liquid container 801, the right nozzles 803 of the second rotating frame 701 can deliver liquid through the right liquid container 801, and the left liquid pump 804 can be adjusted to a liquid flow rate different from that of the right liquid pump by the speed adjusting button 805, so that water films with different thicknesses on the left side and the right side can be formed on the second rotating frame 701 of the shelter, and the working condition of semi-severe shelter can be simulated.
In some embodiments, the first angle adjustment mechanism of the shade further comprises: an obstruction first pointer 603 and an obstruction first dial 604;
the first shutter pointer 603 is arranged on the first shutter rotating frame 601 and rotates together with the first shutter rotating frame 601; the first blocking object dial 604 is arranged on the blocking object tool base 501, and is matched with the first blocking object pointer 601 to show the rotation angle of the first blocking object rotating frame 601. It will be appreciated that as the first rotating frame 601 of the shade rotates, the first pointer 603 of the shade rotates with it so that the first pointer 603 of the shade points to different scales on the first dial 604 of the shade, and thus the angle of rotation of the first rotating frame 601 of the shade can be read from the first dial 604 of the shade.
In some embodiments, the second angular adjustment mechanism of the shade further comprises: an obstruction second pointer 704 and an obstruction second dial 705;
a second shutter pointer 704 is fixed on a second shutter rotating shaft, and a second shutter dial 705 is fixed on the first shutter rotating frame 601; the shade second pointer 704 cooperates with the shade second dial 705 to show the angle of rotation of the shade second rotating frame 701. It will be appreciated that as the second rotating frame 701 of the shade rotates, the second axis of rotation of the shade and the second shade pointer 704 rotate with it so that the second shade pointer 704 points to a different scale on the second shade dial 705, and the angle of rotation of the second rotating frame 701 of the shade can be read from the second shade dial 705.
Fig. 14 is a sixth exemplary view of a radar testing device in an embodiment of the present application, and fig. 15 is a seventh exemplary view of a radar testing device in an embodiment of the present application. It can be seen that in some embodiments, the radar testing device further comprises a front and back adjusting knob 503 for the shielding tool. One end of the front and rear adjusting knob 503 of the shielding tool is a nut, which penetrates through the base 501 of the shielding tool, and the other end is threaded and connected with the base 101. When the front and rear adjusting knobs 503 of the shielding tool are rotated, the front and rear adjusting knobs 503 of the shielding tool are inserted into the base 101, so that the shielding tool base 501 moves towards the base 101, the shielding tool base 501 can accurately move back and forth, and the method can be applied to the adjustment of the distance between the radar 4 and the shielding object in the method embodiment.
In the embodiment of the present application, the problem of the randomized calibration test method and the test criterion in the prior art is solved: according to the calibration test method and the calibration test method, the steps of classifying the influence factors, classifying the test items and standardizing the test are respectively carried out on the calibration test and the shielding test, the standardized calibration test and the shielding test method are carried out, the calibration test method under the shielding scene is provided, the coverage of the calibration test and the shielding test is increased, and the test efficiency is improved.
In the embodiment of the application, the problem that the calibration function under the shielding scene cannot be tested in the prior art is solved: the embodiment of the application provides a calibration test method in an occlusion scene on the one hand, and designs an integrated test device for calibration and occlusion on the other hand, as shown in the embodiments corresponding to fig. 9 to fig. 15, various calibration tests in various occlusion scenes can be performed.
In the embodiment of the present application, a problem that the adjustable degree of freedom of the detected shielding plate and the radar to be detected is limited in the prior art is solved: the embodiment of the application designs a vehicle-mounted radar calibration test system (such as a system for adjusting radar in a radar test device shown in figures 9 to 10), has three degrees of freedom of azimuth rotation, pitching rotation and back-and-forth movement, designs a vehicle-mounted radar shielding test system (such as a system for adjusting shielding objects in a radar test device shown in figures 9 to 15), can apply four degrees of freedom of two different liquid spraying, azimuth rotation, pitching rotation and back-and-forth movement, can meet the requirements of calibrating and shielding various factor combinations of tests, and improves the coverage of the tests.
In the embodiment of the present application, a problem that a true value of a testing apparatus is inaccurate due to low precision in a current technical scheme is solved: the embodiment of the application integrates a multi-stage precise gear transmission device and a pointer disc with the minimum scale reaching 0.1 degree in the transmission device of the rotating system, and can meet the requirement of high-precision calibration test.
In the embodiment of the present application, a problem that coverage of a test influence factor is limited in a current technical scheme is solved: the analysis of various test items and the combination of test influence factors of the system in the scheme of the calibration and shielding test provided by the embodiment of the application effectively covers the test items of calibration and shielding of the current vehicle-mounted radar, the combination of rotation and moving freedom of various radars and skins is designed in the shielding and shielding integrated test device provided by the embodiment of the application, the state of the radar mounted on the vehicle is effectively simulated, the test device can be placed in a darkroom for testing, and the test device can also be carried on the vehicle for testing in different weather scenes.
In the embodiment of the application, the problem that the test efficiency is low in the current technical scheme is solved: the method provided by the embodiment of the application realizes systematic, standardized and logical standardization of the calibration and shielding test scheme, improves the test efficiency, avoids repeated tests and provides a clear test idea for testers; the device that this application embodiment provided both can be adorned in simulation test environment such as darkroom, can install again on the actual drive test vehicle, has reduced the time of dismouting, and will shelter from and the testing arrangement integration of demarcation, has improved efficiency of software testing.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

Claims (21)

1. A radar testing method, comprising:
placing the target object on a normal line of a radar scanning range;
adjusting a horizontal deflection angle and a pitching deflection angle of the radar according to a preset angle;
carrying out calibration compensation through the calibration function of the radar;
testing the position of the target object through the radar;
and if the position of the target object meets a preset standard, determining that the radar passes the test.
2. The method of claim 1, wherein after placing the target object on a normal of a radar scan range and before performing calibration compensation by a calibration function of the radar, the method further comprises:
a shield is disposed between the radar and the target.
3. The method according to claim 1 or 2, wherein after the target object is placed on the normal of the radar scanning range and before the calibration compensation is performed by the calibration function of the radar, the method further comprises:
and adjusting the distance between the radar and the target object according to a preset distance or adjusting the distance between the radar and the shielding object according to a preset distance.
4. The method according to claim 1 or 2, wherein after the target object is placed on the normal of the radar scanning range and before the calibration compensation is performed by the calibration function of the radar, the method further comprises:
and carrying out radar movement through a mobile platform.
5. The method of claim 1 or 2, wherein the preset angles include a calibration accuracy range limit declination, a calibration function support limit declination, and the radar installation maximum declination.
6. A radar testing method, comprising:
arranging a shelter corresponding to a preset shelter degree between a radar and a target object, wherein the shelter is determined according to a scene use case database, the scene use case database is established according to radar shelter medium influence factors, and the radar shelter medium influence factors comprise structural shelter, close-fitting shelter and weather shelter;
testing the position of the target object through the radar;
and determining the scanning range and the scanning precision of the radar according to the position of the target object.
7. The method of claim 6, wherein after testing the position of the target object by the radar, the method further comprises:
acquiring alarm information of the radar;
and if the alarm information meets a preset design index, determining that the radar passes the shielding degree alarm test.
8. The method of claim 7, wherein the alarm information comprises an alarm reporting time of the radar;
the alarm information meets the preset design index, and the alarm reporting time of the radar is smaller than the preset time threshold.
9. The method of claim 7, wherein the warning information includes a warning level of the radar;
the alarm information meeting the preset design index comprises that the alarm degree corresponds to the preset shielding degree.
10. A radar testing apparatus, comprising: the device comprises a first angle adjusting mechanism, a second angle adjusting mechanism and a distance adjusting mechanism;
the first angle adjusting mechanism comprises a first rotating plate, a base, a first adjusting knob and a first gear reducer;
the first rotating plate is connected to the base through a first rotating shaft;
the first adjusting knob is connected with the first rotating shaft through a first gear reducer and used for controlling the first rotating plate to rotate;
the distance adjusting mechanism comprises a supporting frame, a distance adjusting guide column and a distance adjusting knob;
the support frame is arranged on the first rotating plate in a sliding mode through the distance adjusting guide column;
one end of the distance adjusting knob is a nut, a through hole is sleeved on the first rotating plate, and the other end of the distance adjusting knob is connected with the supporting frame through threads and used for adjusting the supporting frame to move;
the second angle adjusting mechanism comprises a second rotating plate, a second gear reducer and a second adjusting knob;
the second rotating plate is connected to the supporting frame through a second rotating shaft and used for mounting a radar;
the second adjusting knob is connected with the second rotating shaft through the second gear reducer and used for controlling the second rotating plate to rotate.
11. The device of claim 10, wherein the first angle adjustment mechanism further comprises a first pointer and a first dial;
the first pointer is fixed on the first rotating plate and used for rotating together with the first rotating plate;
the base is provided with the first dial matched with the first pointer and used for displaying the rotating angle of the first rotating plate.
12. The device of claim 10 or 11, wherein the first angle adjustment mechanism further comprises an angle pre-tightening knob;
the angle pre-tightening knob is arranged on the base and props against the first rotating shaft to fix the first rotating plate.
13. The device of claim 10, wherein the distance adjustment mechanism further comprises a vial;
the level bubble is arranged on the plane of the support frame.
14. The device of claim 10 or 13, wherein the distance adjustment mechanism further comprises a distance pretension screw;
the distance pre-tightening screw penetrates through the support frame to abut against the first rotating plate and is used for fixing the support frame.
15. The device of claim 10, wherein the second angular adjustment mechanism further comprises a second angular dial, a second pointer;
the second pointer is fixed on the second rotating shaft, and the second angle dial is fixed on the support frame;
the second angle dial is matched with the second pointer and used for displaying the rotation angle of the second rotating plate.
16. The device of claim 10 or 15, wherein the second angular adjustment mechanism further comprises an angular pre-tightening screw;
the angle pre-tightening screw is arranged on the support frame to abut against the second rotating shaft and used for fixing the second rotating plate.
17. The apparatus of claim 10, wherein the radar testing apparatus further comprises a shielding fixture, and the first angle adjustment mechanism further comprises a shielding fixture guide post;
the shielding tool guide column is arranged on the base, and the shielding tool is arranged on the shielding tool guide column;
shelter from the frock and include: the device comprises a shelter tooling base, a shelter first angle adjusting mechanism, a shelter second angle adjusting mechanism and a shelter distance adjusting mechanism;
the shielding object tool base is arranged on the base in a sliding mode through the shielding tool guide pillar;
the shielding object distance adjusting mechanism comprises a shielding object distance pre-tightening screw;
the shielding object distance pre-tightening screw penetrates through the shielding object tooling base to abut against the base or the shielding tooling guide column and is used for fixing the shielding object tooling base;
the first angle adjusting mechanism of the shielding object comprises a first rotating frame of the shielding object and a first pre-tightening knob of the shielding object;
the first rotating frame of the shielding object is arranged on the base of the shielding object tool through a first rotating shaft of the shielding object;
the first pre-tightening knob of the shielding object props against the first rotating shaft of the shielding object and is used for fixing the first rotating frame of the shielding object;
the second angle adjusting mechanism of the shelter comprises a second rotating frame of the shelter and a shelter angle adjusting knob;
the second rotating frame of the shelter is arranged on the first rotating frame of the shelter through a second rotating shaft of the shelter;
the shielding object angle adjusting knob is connected with the shielding object second rotating shaft and used for controlling the shielding object second rotating frame to rotate;
the second rotating frame of the shelter is used for arranging the shelter.
18. The apparatus of claim 17, wherein the shielding fixture further comprises a liquid supply mechanism;
the liquid supply mechanism comprises at least one liquid container, at least one liquid conveying pipe and a spray head;
the liquid container is arranged on the shelter tooling base, the liquid conveying pipe is connected with the spray head, and the spray head is arranged on the shelter second rotating frame and is used for spraying liquid to form a water film on the shelter second rotating frame.
19. A device as in claim 18, wherein a fluid pump is disposed between the fluid container and the fluid line for delivering fluid;
the liquid pump is provided with a speed regulating button for regulating the speed of conveying liquid.
20. The apparatus of claim 17, wherein the shade first angle adjustment mechanism further comprises: a first pointer and a first dial of a shelter;
the first pointer of the shielding object is arranged on the first rotating frame of the shielding object and rotates together with the first rotating frame of the shielding object;
the first dial of the shielding object is arranged on the tooling base of the shielding object, is matched with the first pointer of the shielding object and is used for displaying the rotation angle of the first rotating frame of the shielding object.
21. The apparatus of claim 17, wherein the shade second angular adjustment mechanism further comprises: a second pointer and a second dial of the shelter;
the second shielding object pointer is fixed on the second shielding object rotating shaft, and the second shielding object dial is fixed on the first shielding object rotating frame;
the second pointer of the shielding object is matched with the second dial of the shielding object and used for displaying the rotation angle of the second rotating frame of the shielding object.
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