CN217278927U

CN217278927U - Radar calibration tool and radar calibration system

Info

Publication number: CN217278927U
Application number: CN202220196928.1U
Authority: CN
Inventors: 张月
Original assignee: Shenzhen Autel Intelligent Aviation Technology Co Ltd
Current assignee: Shenzhen Daotong Intelligent Software Development Co ltd
Priority date: 2022-01-21
Filing date: 2022-01-21
Publication date: 2022-08-23
Anticipated expiration: 2032-01-21

Abstract

The application discloses a radar calibration tool which comprises a fixed seat, a support, a connecting column and a mounting plate; the fixed seat is provided with a rotating plane, the bracket is provided with a rotating disc, the rotating disc is rotatably connected to the rotating plane, and the rotating axis is vertical to the rotating plane; the connecting column is hinged with the bracket, and the hinge axis is vertical to the rotation axis of the rotating disc; the mounting panel sets up in the spliced pole, and the mounting panel is including relative first mounting surface and the second mounting surface that sets up, and first mounting surface and second mounting surface all are parallel with articulated axis, and first mounting surface and second mounting surface all are used for installing the radar. Can adjust the turned angle of radar on the horizontal direction through rotatory rolling disc, can adjust the every single move angle of radar through the swivelling joint post, only need mark the frock with the radar and set up the demarcation test that can realize a plurality of directions in unmanned aerial vehicle's a position, easy operation is convenient.

Description

Radar calibration tool and radar calibration system

Technical Field

The application relates to the field of position calibration, in particular to a radar calibration tool and a calibration system.

Background

For an unmanned motion platform, whether an intelligent driving vehicle on a regular road, an unmanned aerial vehicle on an unstructured road or a mobile robot in an indoor scene, the radar is used for accurately perceiving and identifying a target, and the environmental cognitive ability of the target is improved.

The radar can sense the state information of surrounding targets to detect a possible danger in a short time, thereby improving safety. Among the prior art, a plurality of radars can be equipped with usually on the unmanned aerial vehicle, for example set up the radar to, belly, top at unmanned aerial vehicle, when installing and demarcating the test the radar, need carry out a lot of removal to the radar, it is particularly loaded down with trivial details complicated to demarcate the test operation.

SUMMERY OF THE UTILITY MODEL

In view of the above problem, this application provides a radar calibration frock and radar calibration system to alleviate the loaded down with trivial details problem of calibration test operation.

First aspect, the embodiment of this application provides a frock is markd to radar, including fixing base, support, spliced pole and mounting panel. The fixed seat is provided with a rotating plane, the bracket is provided with a rotating disc, the rotating disc is rotatably connected to the rotating plane, and the rotating axis is vertical to the rotating plane; the connecting column is hinged with the bracket, and the hinge axis is vertical to the rotation axis of the rotating disc; the mounting panel set up in the spliced pole, the mounting panel is including relative first mounting surface and the second mounting surface that sets up, first mounting surface with the second mounting surface all with the hinge axis is parallel, first mounting surface with the second mounting surface all is used for installing the radar.

According to some embodiments of the application, the radar calibration tool further comprises a horizontal bead, the horizontal bead is arranged on the connecting column or the mounting plate, and the first mounting plane and the second mounting plane are parallel to the horizontal bead.

According to some embodiments of the application, the bracket further comprises a support portion connected to the rotary disk, the support portion being integrally formed with the rotary disk.

According to some embodiments of the application, the spliced pole is provided with the damping pivot, the supporting part is provided with the shaft hole, the damping pivot set up in the shaft hole makes the spliced pole with the supporting part is articulated.

According to some embodiments of the application, the radar calibration tool further comprises a knob, wherein the knob is arranged on the outer surface of the connecting column and connected with the damping rotating shaft through the knob, and the knob is used for driving the damping rotating shaft to rotate.

According to some embodiments of the present application, the fixing base includes a first fixing portion, a second fixing portion, and a rotation shaft; the first fixing part and the second fixing part are respectively connected to two ends of the rotating shaft, and the rotating disc of the support is arranged between the first fixing part and the second fixing part and can rotate around the rotating shaft.

According to some embodiments of the application, the first fixed part deviates from the surface of rolling disc is provided with joint portion, joint portion is used for with outside calibration equipment joint.

According to some embodiments of the application, the supporting portion includes a first supporting rod and a second supporting rod, the first supporting rod and the second supporting rod are arranged at an interval, the first supporting rod and the second supporting rod are all integrally formed with the rotating disc. The spliced pole includes first spliced pole and second spliced pole, first spliced pole with first bracing piece is articulated, the second spliced pole with the second bracing piece is articulated, mounting panel fixed connection in first spliced pole with the second spliced pole.

According to some embodiments of the application, the support portion further comprises a third support bar fixedly connected to the first support bar and the second support bar.

According to some embodiments of the present application, in a second aspect, the present application further provides a radar calibration system, including the radar calibration tool according to any of the above embodiments.

The radar calibration tool and the radar calibration system have the following beneficial effects compared with the prior art:

the radar mountable can adjust the turned angle of radar on the horizontal direction at the first mounting plane or the second mounting plane of mounting panel through rotatory rolling disc, can adjust the every single move angle of radar through the swivelling joint post, only need mark the frock with the radar and set up in unmanned aerial vehicle's a position and can realize the demarcation test of a plurality of directions, and easy operation is convenient.

The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.

Drawings

Various additional advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like parts are designated by like reference numerals throughout the drawings. In the drawings:

fig. 1 is a schematic structural view of a radar calibration tool according to some embodiments of the present application;

FIG. 2 is a schematic structural view of a fixing base according to some embodiments of the present application;

FIG. 3 is a schematic structural diagram of a radar calibration fixture according to some embodiments of the present application;

FIG. 4 is a schematic structural diagram of a radar calibration tool according to some embodiments of the present application;

fig. 5 is a schematic structural diagram of a radar calibration tool according to some embodiments of the present application.

The reference numbers in the detailed description are as follows:

10. a fixed seat; 11. a plane of rotation; 12. a first fixed part; 13. a second fixed part; 14. a rotating shaft; 15. a clamping part;

20. a support; 21. rotating the disc; 22. a support portion; 221. a first end portion; 222. a second end portion; 223. a first support bar; 224. a second support bar; 225. a third support bar;

30. connecting columns; 31. hinging a shaft; 32. a first connecting column; 33. a second connecting column;

40. mounting a plate; 41. a first mounting plane; 42. a second mounting plane;

50. a horizontal bead;

60. a knob.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are merely used to more clearly illustrate the technical solutions of the present application, and therefore are only examples, and the protection scope of the present application is not limited thereby.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions.

In the description of the embodiments of the present application, the technical terms "first", "second", and the like are used only for distinguishing different objects, and are not to be construed as indicating or implying relative importance or implicitly indicating the number, specific order, or primary-secondary relationship of the technical features indicated. In the description of the embodiments of the present application, "a plurality" means two or more unless specifically defined otherwise.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.

In the description of the embodiments of the present application, the terms "center", "longitudinal", "lateral", "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the embodiments of the present application and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, are not to be construed as limiting the embodiments of the present application.

In the description of the embodiments of the present application, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are used in a broad sense, and for example, may be fixedly connected, detachably connected, or integrated; mechanical connection or electrical connection is also possible; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the embodiments of the present application can be understood by those of ordinary skill in the art according to specific situations.

A plurality of radars are usually arranged on an unmanned aerial vehicle to improve the flight safety of the unmanned aerial vehicle, for example, the radars are arranged on the front part, the belly part and the top part of the unmanned aerial vehicle; in order to ensure the consistency of the radar and the unmanned aerial vehicle, calibration test needs to be carried out on the unmanned aerial vehicle and the radar. When the radar is installed and calibrated, the radar needs to be rotated and moved for many times, so that the calibration test operation is particularly complicated.

In order to alleviate the above problem, in a first aspect, an embodiment of the present application provides a radar calibration tool, please refer to fig. 1, where the radar calibration tool includes a fixing base 10, a bracket 20, a connecting column 30, and a mounting plate 40.

To above-mentioned fixing base 10, please refer to fig. 1 and fig. 2, fixing base 10 is used for supporting whole radar calibration frock, when maring the test, and fixing base 10 is used for fixed connection on unmanned aerial vehicle, and the connected mode can adopt screw connection or joint etc.. The fixed seat 10 is provided with a rotating plane 11, and a rotating component can be installed on the rotating plane 11, for example, the support 20 can be rotatably connected to the rotating plane 11 of the fixed seat 10, and a radar is directly or indirectly arranged on the support 20, so that the radar can be adjusted in a rotating manner in the horizontal direction.

Referring to fig. 3, the bracket 20 includes a rotating disc 21, the rotating disc 21 is rotatably connected to the rotating plane 11 of the fixing base 10, and the rotating axis is perpendicular to the rotating plane 11. Optionally, the bracket 20 includes a rotating disc 21 and a supporting portion 22, the supporting portion 22 is fixedly connected to the rotating disc 21, and the rotating disc 21 rotates on the rotating plane 11 to drive the supporting portion 22 to rotate.

Referring to fig. 3 and 4, the supporting portion 22 may be configured to be rod-shaped or plate-shaped, and the contact area between the plate-shaped supporting portion 22 and the rotating disc 21 is larger, so that the rotating drives the supporting portion 22, and the rod-shaped supporting portion 22 saves space and has less manufacturing materials, thereby reducing cost. In one embodiment, the support portion 22 may be integrally formed with the rotation to improve the overall strength of the bracket 20.

Referring to fig. 3, the connecting column 30 is hinged to the bracket 20, and the hinge axis 31 is perpendicular to the rotation axis of the rotating disc 21. For example, the connecting column 30 is hinged to the supporting portion 22 of the bracket 20, the supporting portion 22 includes a first end 221 and a second end 222 which are oppositely disposed, the first end 221 of the supporting portion 22 is fixed to the rotating disc 21, the second end 222 is provided with a shaft hole, the connecting column 30 is provided with a hinge shaft 31, the hinge shaft 31 is disposed in the shaft hole of the second end 222 and is matched with the shaft hole, so that the connecting column 30 is hinged to the supporting portion 22 of the bracket 20.

Referring to fig. 1 and 3, the mounting plate 40 is disposed on the connecting post 30, and the connecting post 30 rotates to drive the mounting plate 40 to rotate. Mounting panel 40 is including relative first mounting plane 41 and the second mounting plane 42 that sets up, and first mounting plane 41 and second mounting plane 42 all are parallel with articulated shaft 31's axis, and first mounting plane 41 and second mounting plane 42 all are used for installing the radar, through rotating spliced pole 30, can drive mounting panel 40 and rotate to carry out a plurality of directions to the radar and adjust. Alternatively, the two mounting

planes

41, 42 may be arranged parallel to the connecting column 30, and the pitch angle of the radar may be adjusted by rotating the connecting column 30.

In this embodiment, mounting panel 40 can pass through bolted connection or welding with spliced pole 30, when demarcating the test to unmanned aerial vehicle, can mark the frock with the radar and set up on unmanned aerial vehicle, when the test is demarcated to unmanned aerial vehicle's dead ahead to needs, can set up the radar in the first mounting plane 41 of mounting panel 40, make the radar on the first mounting plane 41 towards unmanned aerial vehicle's dead ahead through rotating the spliced pole 30, when the test is demarcated to unmanned aerial vehicle's dead ahead to needs, make the radar on the first mounting plane 41 towards unmanned aerial vehicle's dead ahead through rotating the spliced pole 30. Similarly, when testing is required directly behind or above, the radar may be re-mounted to the second mounting plane 42.

In the embodiment of this application, can be fixed in unmanned aerial vehicle's front portion with the radar calibration frock, the radar is installed at the first mounting plane 41 or the second mounting plane 42 of mounting panel 40, can adjust the turned angle of radar on the horizontal direction through rotatory rolling disc 21, can adjust the every single move angle of radar through swivelling joint post 30, only need mark the frock with the radar and set up the calibration test that can realize a plurality of directions in unmanned aerial vehicle's a position, easy operation is convenient.

According to some embodiments of the present application, please refer to fig. 1, the radar calibration tool further includes a horizontal bead 50, the horizontal bead 50 is disposed on the connection column 30 or the mounting plate 40, and the first mounting plane 41 and the second mounting plane 42 are both parallel to the horizontal bead 50.

When carrying out the calibration test, need set up the radar into the dead ahead of orientation unmanned aerial vehicle, directly over, directly under or directly behind, and when the calibration test, unmanned aerial vehicle level setting usually, this is just to guarantee the radar level. In this embodiment, in order to make the radar level, by disposing the horizontal bead 50 on the connecting column 30 or the mounting plate 40, the levelness of the first mounting plane 41 and the second mounting plane 42 can be observed through the horizontal bead 50, and the radar is mounted on the first mounting plane 41 or the second mounting plane 42, and the levelness of the two mounting

planes

41 and 42 reflects the levelness of the radar, so as to adjust the radar to be level.

According to some embodiments of the present application, the hinge shaft 31 of the connecting column 30 is a damping rotation shaft, and the supporting portion 22 is provided with a shaft hole, and the damping rotation shaft is disposed at the shaft hole such that the connecting column 30 is hinged with the supporting portion 22.

The damping rotating shaft is arranged to enable the connecting column 30 to rotate or be fixed around the supporting portion 22, vibration of the damping rotating shaft can be reduced, damping can be recovered and stabilized instantly when the damping rotating shaft is impacted by external force, the damping rotating shaft enables the connecting column 30 to rotate to any position conveniently, and rotation precision can be improved.

According to some embodiments of the present application, please refer to fig. 1, the radar calibration tool further includes a knob 60, the knob 60 is disposed on the outer surface of the connection column 30, the knob 60 is connected to the damping rotation shaft, and the knob 60 is used for driving the damping rotation shaft to rotate.

In the present embodiment, the rotation direction of the radar can be adjusted in a wide range by rotating the connection post 30, and the rotation angle of the connection can be slightly adjusted by rotating the knob 60 so as to level the radar.

According to some embodiments of the present disclosure, referring to fig. 1 and fig. 2, the fixing base 10 includes a first fixing portion 12, a second fixing portion 13 and a rotating shaft 14. The first fixing portion 12 and the second fixing portion 13 are respectively connected to two ends of the rotating shaft 14, the rotating disc 21 of the bracket 20 is disposed between the first fixing portion 12 and the second fixing portion 13, and the rotating disc 21 can rotate around the rotating shaft 14.

The rotating disc 21 rotates on the rotating plane 11 of the fixing seat 10, in order to ensure that the rotating disc 21 rotates stably, in this embodiment, the rotating disc 21 is disposed between the first fixing portion 12 and the second fixing portion 13, both the first fixing portion 12 and the second fixing portion 13 can be set to be flat, and the two fixing

portions

12 and 13 are disposed oppositely, so that the rotating disc 21 is clamped between the two fixing

portions

12 and 13 to limit the rotating disc 21 in the up-down direction. The two fixing

portions

12 and 13 are connected by a rotating shaft 14, as shown in fig. 2, the rotating shaft 14 is a hollow rotating shaft, and the rotating disc 21 is sleeved on the rotating shaft 14, so that the rotating disc 21 can rotate around the rotating shaft 14.

According to some embodiments of the present application, please refer to fig. 2 and fig. 3, a surface of the first fixing portion 12 facing away from the rotating disc 21 is provided with a clamping portion 15, the clamping portion 15 is used for clamping with an external calibration device, and it should be noted that the external calibration device may be an unmanned aerial vehicle.

First fixed part 12 sets up in the below of rolling disc 21, is provided with a plurality of joint portion 15 on first fixed part 12, and this joint portion 15 is for setting up the arch on first fixed part 12, then sets up a plurality of and 15 assorted joint grooves of this joint portion on unmanned aerial vehicle for first fixed part 12 can be fixed with unmanned aerial vehicle.

According to some embodiments of the present application, referring to fig. 5, the supporting portion 22 includes a first supporting rod 223 and a second supporting rod 224, the first supporting rod 223 and the second supporting rod 224 are disposed at an interval, and both the first supporting rod 223 and the second supporting rod 224 are integrally formed with the rotating disc 21. The connecting column 30 comprises a first connecting column 32 and a second connecting column 33, the first connecting column 32 is hinged to the first support rod 223, the second connecting column 33 is hinged to the second support rod 224, and the mounting plate 40 is fixedly connected to the first connecting column 32 and the second connecting column 33.

In the present embodiment, the first support rod 223 and the second support rod 224 are both provided with shaft holes (the shaft holes are not shown in the drawings), the first connecting column 32 can be hinged with the first support rod 223 through a damping rotating shaft, and the second connecting column 33 can also be hinged with the second support rod 224 through another damping rotating shaft. Knobs 60 are provided on both connecting

posts

32, 33 to fine-tune the angle of rotation of the connecting post 30. Compared with a support rod and a connecting column 30, in the embodiment, two

support rods

223 and 224 and two connecting

columns

32 and 33 are provided, so that the structure of the radar calibration tool is more stable.

According to some embodiments of the present application, referring to fig. 5, the supporting portion 22 further includes a third supporting rod 225, and the third supporting rod 225 is fixedly connected to the first supporting rod 223 and the second supporting rod 224. In this embodiment, to further ensure the structural stability, one end of the third supporting rod 225 is fixed to the first supporting rod 223, and the other end is fixed to the second supporting rod 224, so that the three supporting

rods

223, 224, and 2225 form a whole, thereby improving the stability of the whole radar calibration tool.

According to some embodiments of the present application, the present application further provides a radar calibration system, including the radar calibration tool according to any one of the above embodiments.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; these modifications and substitutions do not depart from the spirit of the embodiments of the present application, and they should be construed as being included in the scope of the claims and description of the present application. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. The present application is not intended to be limited to the particular embodiments disclosed herein but is to cover all embodiments that may fall within the scope of the appended claims.

Claims

1. The utility model provides a frock is markd to radar which characterized in that includes:

a fixed seat provided with a rotating plane;

the support is provided with a rotating disc, the rotating disc is rotatably connected to the rotating plane, and the rotating axis is perpendicular to the rotating plane;

the connecting column is hinged with the bracket, and the hinge axis is vertical to the rotation axis of the rotating disc;

the mounting panel, set up in the spliced pole, the mounting panel is including relative first mounting surface and the second mounting surface that sets up, first mounting surface with the second mounting surface all with the hinge axis is parallel, first mounting surface with the second mounting surface all is used for installing the radar.

2. The radar calibration tool according to claim 1, further comprising a horizontal bead disposed on the connecting column or the mounting plate, wherein the first mounting plane and the second mounting plane are parallel to the horizontal bead.

3. The radar calibration tool according to claim 1, wherein the support further comprises a support portion, the support portion is connected to the rotating disc, and the support portion and the rotating disc are integrally formed.

4. The radar calibration tool according to claim 3, wherein the connecting column is provided with a damping rotating shaft, the supporting portion is provided with a shaft hole, and the damping rotating shaft is arranged in the shaft hole so that the connecting column is hinged to the supporting portion.

5. The radar calibration tool according to claim 4, further comprising a knob, wherein the knob is disposed on an outer surface of the connection column and connected to the damping rotating shaft, and the knob is used for driving the damping rotating shaft to rotate.

6. The radar calibration tool according to claim 1, wherein the fixing seat comprises a first fixing portion, a second fixing portion and a rotating shaft;

the first fixing part and the second fixing part are respectively connected to two ends of the rotating shaft, and the rotating disc of the support is arranged between the first fixing part and the second fixing part and can rotate around the rotating shaft.

7. The radar calibration tool according to claim 6, wherein a clamping portion is arranged on a surface of the first fixing portion, which faces away from the rotating disc, and the clamping portion is used for clamping with an external calibration device.

8. The radar calibration tool according to claim 3, wherein the support portion comprises a first support rod and a second support rod, the first support rod and the second support rod are arranged at intervals, and the first support rod and the second support rod are integrally formed with the rotating disc;

the spliced pole includes first spliced pole and second spliced pole, first spliced pole with first bracing piece is articulated, the second spliced pole with the second bracing piece is articulated, mounting panel fixed connection in first spliced pole with the second spliced pole.

9. The radar calibration tool according to claim 8, wherein the support portion further comprises a third support rod, and the third support rod is fixedly connected to the first support rod and the second support rod.

10. A radar calibration system, characterized by comprising a radar calibration tool according to any one of claims 1-9.