CN210954326U - Calibration system for millimeter wave radar - Google Patents
Calibration system for millimeter wave radar Download PDFInfo
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- CN210954326U CN210954326U CN201921602394.2U CN201921602394U CN210954326U CN 210954326 U CN210954326 U CN 210954326U CN 201921602394 U CN201921602394 U CN 201921602394U CN 210954326 U CN210954326 U CN 210954326U
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Abstract
The utility model discloses a calibration system for millimeter wave radar belongs to radar calibration technical field. The calibration system comprises: the two portal frames are parallel to each other along a first direction and are arranged at intervals; two corner reflectors which are arranged at intervals along a second direction are arranged on each portal frame; the test bench is arranged between the two portal frames and used for bearing an automobile, four corners of the automobile are respectively provided with a millimeter wave radar, and the millimeter wave radars correspond to the corner reflectors one by one; and the driving mechanism is used for driving the corner reflector to move along the second direction and the third direction so that the axis of the corner reflector passes through the center of the corresponding radome of the millimeter wave radar. The utility model discloses an adopt the corner reflector to replace radar target simulator to realize the demarcation of radar, the corner reflector can be suitable for the radar product of all producers, need not the debugging, and low cost is as long as ensure the position accuracy of corner reflector moreover, and the later stage need not to maintain.
Description
Technical Field
The utility model relates to a technical field is markd to the radar, especially relates to a calibration system for millimeter wave radar.
Background
With the development of the automobile industry, the application of the millimeter wave radar on automobiles is more and more extensive. In order to eliminate manufacturing and assembling angle errors of the millimeter wave radar in the manufacturing of the radar support and the radar support in the assembling process of the whole vehicle and ensure that the millimeter wave radar reaches the preset performance and consistency requirements, the millimeter wave radar needs to be calibrated before the whole vehicle is off line. The conventional method is to adopt a radar target simulator, calculate the radar echo sent by the target simulator to obtain the radar installation angle deviation, if the angle deviation is within the range allowed by the radar (the radar is required to be reassembled if the angle deviation exceeds the range), write the deviation into the radar, automatically compensate the deviation in the radar work, and thus ensure the correctness of the target sent by the radar and the alarm function.
However, the radar product of a certain supplier is generally only adapted to the radar simulator produced by the supplier, and the adaptation between the radar product of different suppliers and the radar simulator is extremely tedious. In order to ensure the best matching between the radar and the simulator, the echo of the simulator is efficiently detected and correctly analyzed by the radar, a plurality of technical parameters need to be adjusted, which is very tedious and time-consuming work and can only be performed by personnel who know the radars and the simulators of different suppliers; meanwhile, the radar target simulator with good performance is high in cost and high in later maintenance cost.
Therefore, it is desirable to provide a calibration system for millimeter wave radar to solve the above problems.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a calibration system for millimeter wave radar solves among the prior art radar calibration debugging work consuming time hard, equipment cost is high, require harsh existing problem to operating personnel.
In order to realize the purpose, the following technical scheme is provided:
a calibration system for a millimeter wave radar, comprising:
the two portal frames are parallel to each other along a first direction and are arranged at intervals; two corner reflectors which are arranged at intervals along a second direction are arranged on each portal frame;
the test bench is arranged between the two portal frames and used for bearing an automobile, four corners of the automobile are respectively provided with a millimeter wave radar, and the millimeter wave radars correspond to the corner reflectors one by one;
and the driving mechanism is used for driving the corner reflector to move along the second direction and the third direction so that the axis of the corner reflector passes through the center of the corresponding radome of the millimeter wave radar.
Preferably, the installation height of the corner reflector is the same as the height of the millimeter wave radar.
Preferably, the driving mechanism is a linear driving module.
Preferably, the calibration system further comprises four first wave absorbing walls arranged between the two portal frames, and the four first wave absorbing walls are distributed around the automobile in a rectangular shape.
Preferably, each first wave absorbing wall extends in the first direction from the adjacent gantry.
Preferably, the portal frame is further provided with a second wave absorbing wall.
Preferably, a lifting mechanism is arranged between the portal frame and the second wave-absorbing wall and used for lifting the second wave-absorbing wall along the third direction, so that the automobile can enter or exit the test bench through the portal frame.
Preferably, the test bench is provided with a vehicle straightening device for straightening the posture of the automobile.
Preferably, the first direction coincides with a vehicle X direction, and the second direction coincides with a vehicle Y direction.
Preferably, the calibration system further comprises an industrial personal computer, and the millimeter wave radar is connected with the industrial personal computer through an OBD line.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model realizes the calibration of the radar by adopting the corner reflector to replace a radar target simulator, the corner reflector can be suitable for radar products of all manufacturers, debugging is not needed, the cost is low, and maintenance is not needed in the later period as long as the position precision of the corner reflector is ensured; each corner reflector can freely move in the vertical and horizontal directions through the driving mechanism, so that the position adjustment of the corner reflector is realized, the radar calibration work of multiple vehicle types can be met while the smooth operation of the calibration process is ensured, the collinear production is realized, and the requirement of scale production is met.
Drawings
Fig. 1 is a schematic diagram of a calibration system for millimeter wave radar in an embodiment of the present invention.
Reference numerals:
100-automobile; 200-millimeter wave radar;
1-a portal frame; 2-corner reflector; 3-a test bench; 4-a first wave absorbing wall; 5-a second wave-absorbing wall; 6-industrial personal computer.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description of the present invention and simplification of description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.
As shown in fig. 1, the present embodiment discloses a calibration system for millimeter wave radar, which specifically includes: two portal frames 1 which are parallel to each other along a first direction and are arranged at intervals; each portal frame 1 is provided with two corner reflectors 2 which are arranged at intervals along a second direction; the test bench 3 is arranged between the two portal frames 1 and used for bearing the automobile 100, four corners of the automobile 100 are respectively provided with a millimeter wave radar 200, and the millimeter wave radars 200 correspond to the corner reflectors 2 one by one; and a driving mechanism for driving the corner reflector 2 to move in the second direction and the third direction so that the axis of the corner reflector 2 passes through the center of the radome of the corresponding millimeter wave radar 200. In the embodiment, the corner reflector 2 is adopted to replace a radar target simulator to realize the calibration of the radar, the corner reflector 2 can be suitable for radar products of all manufacturers, debugging is not needed, the cost is low, and maintenance is not needed in the later period as long as the position precision of the corner reflector 2 is ensured; each corner reflector 2 can freely move in the vertical and horizontal directions through a driving mechanism, so that the position of each corner reflector 2 is adjusted, the radar calibration work of multiple vehicle types can be met while the calibration process is smoothly carried out, collinear production is realized, and the requirement of scale production is met.
In the practical application process, in order to realize higher-level automatic driving, the vehicle needs to sense the surrounding environment in detail, so generally, one millimeter wave radar 200 needs to be installed at each of four corners of the vehicle, in order to ensure the position accuracy of the corner reflector 2 and minimize the calibration period and improve the calibration efficiency, each millimeter wave radar 200 is correspondingly provided with one corner reflector 2, and the calibration is completed by the corresponding corner reflector 2, so the number of the corner reflectors 2 in the embodiment is also set to be four, so as to correspond to the millimeter wave radars 200 at the four corners of the vehicle. Specifically, in order to achieve a better calibration effect, the installation height of the corner reflector 2 should be the same as the height of the millimeter wave radar 200, and the axis of the corner reflector 2 should pass through the center of the radome of the millimeter wave radar 200. Therefore, the calibration system further comprises a driving mechanism, which enables the position of the corner reflector 2 to be changed in the third direction and the second direction so as to meet the calibration requirement; meanwhile, the arrangement of the driving structure can also adapt to collinear production of multiple vehicle types, because different vehicle types have different sizes and different radar installation positions, when a vehicle different from the previous vehicle type is placed on the test bench 3, the driving mechanism needs to play a role so as to change the position of the corresponding corner reflector 2 and adapt to the installation position of the radar of the corresponding vehicle. Alternatively, the driving mechanism may be a linear driving module which has been produced modularly in the related art as long as the driving of the diagonal reflector 2 in the second direction and the third direction can be achieved.
Further, in order to reduce the interference of complex electromagnetic environment in a workshop, the periphery of the vehicle needs to be covered by necessary wave-absorbing materials, and meanwhile, the metal fixing seat of the corner reflector 2 also needs to be covered by wave-absorbing materials. Specifically, the calibration system provided by this embodiment further includes first wave-absorbing walls 4 disposed between the two portal frames 1, and optionally, the number of the first wave-absorbing walls 4 is four, the four first wave-absorbing walls 4 are distributed in a rectangular shape around the vehicle, and each first wave-absorbing wall 4 extends in the first direction from the nearby portal frame 1 until the detection area of the millimeter wave radar 200 disposed at the corresponding angle on the vehicle can be covered. Furthermore, a second wave absorbing wall 5 is arranged on the portal frame 1, and the second wave absorbing wall 5 and the first wave absorbing wall 4 jointly play a role in enabling the periphery of the vehicle to be fully covered, so that the interference of the external electromagnetic environment is fully avoided. Further specifically, be equipped with hoist mechanism between portal frame 1 and the second wave-absorbing wall 5 for promote the second wave-absorbing wall 5 along the third direction, make car 100 drive in through portal frame 1 and go into on the testboard 3 and detect or accomplish and drive out by portal frame 1 after detecting, can make things convenient for the vehicle to accomplish conveniently and mark, can also avoid external electromagnetic environment's interference.
Further, in order to ensure that the vehicles are regularly placed on the test bench 3, so as to improve the calibration accuracy, a vehicle alignment device is arranged on the test bench 3, and is used for aligning the postures of the vehicles, so that after the vehicles are finally aligned, the first direction coincides with the X direction of the vehicle (namely the length direction of the vehicle 100), the second direction coincides with the Y direction of the vehicle (namely the width direction of the vehicle 100), and the third direction coincides with the Z direction of the vehicle (namely the height direction of the vehicle 100). The calibration system further comprises an industrial personal computer 6, and the millimeter wave radar 200 is connected to the industrial personal computer 6 through an OBD line so as to realize the calibration work of the radar. The industrial personal computer 6 is in communication connection with the millimeter wave radar 200 through a CAN bus.
The specific process of calibrating by using the calibration system is as follows:
1) a second wave absorbing wall 5 of the portal frame 1 is lifted upwards;
2) the vehicle passes through the portal frame 1 and goes onto the test bench 3;
3) an operator scans a code vehicle and presses a detection start button after connecting the code vehicle with the industrial personal computer 6 by using an OBD line;
4) the raised second wave absorbing wall 5 is put down, and the vehicle straightening device automatically straightens the vehicle;
5) the system judges the vehicle type according to the code scanning result, obtains the installation position of the millimeter wave radar 200 of the vehicle type, further determines the calibration position of the corner reflector 2, and drives the corner reflector 2 to reach the corresponding calibration position by the driving mechanism;
6) starting calibration by the millimeter wave radar 200, automatically calculating the installation angle deviation by the radar, and writing the installation angle deviation into the radar; after calibration is finished, the corner reflector 2 automatically returns;
7) repeating the step 5) and the step 6) until all the four millimeter wave radars 200 are calibrated;
8) after all radars are calibrated successfully, lifting a second wave absorbing wall 5 on the other portal frame 1, and simultaneously disconnecting the OBD by an operator;
9) the vehicle is driven away.
In step 7), the radars at the front and rear corners of the automobile 100 can be calibrated simultaneously, but the radars at the left and right corners need to be calibrated respectively to avoid mutual interference.
The calibration system for millimeter wave radar 200 that this embodiment provided only needs to ensure that 2 axes of corner reflector pass through the radar center, can satisfy the radar calibration condition, and the method is simple easy to realize, and to multi-vehicle type collineation production, corner reflector 2 can be adjusted through actuating mechanism freely moving about portal frame 1, need not a large amount of adaptation work, and the reliability is high and later maintenance is with low costs, is applicable to the requirement of large-scale production.
It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.
Claims (10)
1. A calibration system for millimeter wave radar, comprising:
two portal frames (1) which are parallel to each other along a first direction and are arranged at intervals; two corner reflectors (2) arranged at intervals along a second direction are arranged on each portal frame (1);
the device comprises a test bench (3) arranged between two portal frames (1), wherein the test bench (3) is used for bearing an automobile (100), four corners of the automobile (100) are respectively provided with a millimeter wave radar (200), and the millimeter wave radars (200) correspond to corner reflectors (2) one by one;
and the driving mechanism is used for driving the corner reflector (2) to move along the second direction and the third direction so that the axis of the corner reflector (2) passes through the center of the radome of the corresponding millimeter wave radar (200).
2. Calibration system according to claim 1, characterized in that the mounting height of the corner reflector (2) is the same as the height of the millimeter wave radar (200).
3. The calibration system as set forth in claim 1, wherein the drive mechanism is a linear drive module.
4. The calibration system according to claim 1, further comprising four first wave-absorbing walls (4) disposed between the two portal frames (1), wherein the four first wave-absorbing walls (4) are disposed, and the four first wave-absorbing walls (4) are distributed in a rectangular shape around the automobile (100).
5. Calibration system according to claim 4, wherein each of said first absorbing walls (4) extends in said first direction starting from said portal frame (1) in close proximity.
6. The calibration system according to claim 1, wherein a second wave absorbing wall (5) is further disposed on the gantry (1).
7. The calibration system according to claim 6, wherein a lifting mechanism is provided between the gantry (1) and the second wave absorbing wall (5) for lifting the second wave absorbing wall (5) in the third direction, so that the car (100) can be driven into or out of the test bench (3) through the gantry (1).
8. Calibration system according to claim 1, wherein a vehicle aligner is provided on the test bench (3) for aligning the attitude of the car (100).
9. The calibration system according to claim 1, wherein the first direction coincides with a car X-direction and the second direction coincides with a car Y-direction.
10. The calibration system according to claim 1, further comprising an industrial personal computer (6), wherein the millimeter wave radar (200) is connected with the industrial personal computer (6) through an OBD line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921602394.2U CN210954326U (en) | 2019-09-24 | 2019-09-24 | Calibration system for millimeter wave radar |
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| CN201921602394.2U CN210954326U (en) | 2019-09-24 | 2019-09-24 | Calibration system for millimeter wave radar |
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| CN210954326U true CN210954326U (en) | 2020-07-07 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112414311A (en) * | 2020-09-29 | 2021-02-26 | 浙江友顺机械有限公司 | Vehicle outgoing detection system |
| CN112526466A (en) * | 2020-12-03 | 2021-03-19 | 苏州测迅智能汽车科技有限公司 | Millimeter wave radar calibration test method based on environment |
| CN114442074A (en) * | 2022-01-30 | 2022-05-06 | 中国第一汽车股份有限公司 | Vehicle calibration device and calibration method thereof |
| CN114488047A (en) * | 2022-01-27 | 2022-05-13 | 中国第一汽车股份有限公司 | Vehicle sensor calibration system |
-
2019
- 2019-09-24 CN CN201921602394.2U patent/CN210954326U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112414311A (en) * | 2020-09-29 | 2021-02-26 | 浙江友顺机械有限公司 | Vehicle outgoing detection system |
| CN112526466A (en) * | 2020-12-03 | 2021-03-19 | 苏州测迅智能汽车科技有限公司 | Millimeter wave radar calibration test method based on environment |
| CN114488047A (en) * | 2022-01-27 | 2022-05-13 | 中国第一汽车股份有限公司 | Vehicle sensor calibration system |
| CN114442074A (en) * | 2022-01-30 | 2022-05-06 | 中国第一汽车股份有限公司 | Vehicle calibration device and calibration method thereof |
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