CN109870700A - A kind of calibration method of laser radar, equipment and laser radar setting angle - Google Patents
A kind of calibration method of laser radar, equipment and laser radar setting angle Download PDFInfo
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Abstract
The invention discloses the calibration methods of a kind of laser radar, equipment and laser radar setting angle.The laser radar includes: obliquity sensor, controller, driver and scanner；Wherein, the obliquity sensor, the controller, the driver and the scanner are sequentially connected in series；The obliquity sensor is used to detect the setting angle of the laser radar；The target-angle for the laser beam that the controller is used to be launched according to the setting angle and the scanner obtains the actual deflection angle of the scanner, and generates the driving instruction for carrying the actual deflection angle；The driver is used to drive the scanner to deflect the actual deflection angle according to the driving instruction.Technical solution provided in an embodiment of the present invention realizes the automatic compensation to laser radar installation error, and prosthetic expenditure of time is short, and measurement and adjustment accuracy are higher.
Description
Technical field
The present embodiments relate to laser radar technique field more particularly to a kind of laser radars, equipment and laser radar
The calibration method of setting angle.
Background technique
Laser radar is the radar system to emit the characteristic quantities such as the position of detecting laser beam target, speed, compared to general
Logical microwave radar, for laser radar due to using laser beam, the high many of working frequency has high resolution, concealment
The advantages such as good, strong antijamming capability, small in size and light weight.
Laser radar is usually mounted to use on fixed pan, for example, vehicle roof is installed on, by conditions such as installation environments
Influence, it may appear that installation error, installation error will affect the investigative range of laser radar, especially pitch error, influence more
It is significant.In the prior art, after laser radar is installed, the measurement at inclination angle is carried out using manual type, finds installation error
It is equally debugged using manual type, aforesaid way manpower consumption amount is larger, and working hour is long, and measurement and adjustment accuracy are lower.
Summary of the invention
The present invention provides the calibration method of a kind of laser radar, equipment and laser radar setting angle, to realize laser thunder
Up to the automatic calibration of installation error.
In a first aspect, the embodiment of the invention provides a kind of laser radars, comprising:
Obliquity sensor, controller, driver and scanner；
Wherein, the obliquity sensor, the controller, the driver and the scanner are sequentially connected in series；
The obliquity sensor is used to detect the setting angle of the laser radar；
The target-angle for the laser beam that the controller is used to be launched according to the setting angle and the scanner
The actual deflection angle of the scanner is obtained, and generates the driving instruction for carrying the actual deflection angle；
The driver is used to drive the scanner to deflect the actual deflection angle according to the driving instruction.
Second aspect, the embodiment of the invention also provides a kind of equipment, including laser radar described in above-mentioned first aspect,
And ontology, the laser radar are installed on the ontology.
The third aspect, the embodiment of the invention also provides a kind of calibration methods of laser radar setting angle, are applied to upper
Laser radar described in first aspect is stated, which includes:
The obliquity sensor detects setting angle of the laser radar on mounting plane；
The target-angle for the laser beam that the controller is launched according to the setting angle and the scanner obtains
The actual deflection angle of the scanner, and generate the driving instruction for carrying the actual deflection angle；
The driver controls the scanner according to the driving instruction and deflects the actual deflection angle.
Laser radar provided in an embodiment of the present invention includes obliquity sensor, controller, driver and scanner,
In, obliquity sensor, controller, driver and scanner are sequentially connected in series, and obliquity sensor is used to detect the installation of laser radar
Angle, the target-angle for the laser beam that controller is used to be launched according to setting angle and scanner obtain the reality of scanner
Deflection angle, generates the driving instruction for carrying actual deflection angle, and driver is used to drive scanner deflection according to driving instruction
Actual deflection angle, so that for there are the laser radar of installation error, controller can use obliquity sensor detect
The deflection angle of the setting angle correct scan device of laser radar, so scanner deflection after issue laser beam perpendicular to
Inclination angle on the direction of mounting plane can be equal to target-angle, realize the automatic compensation to laser radar installation error, nobody
Work expenditure of time is short, and measurement and adjustment accuracy are higher.
Detailed description of the invention
In order to more clearly illustrate the technical scheme of the exemplary embodiment of the present invention, below to required in description embodiment
The attached drawing to be used does a simple introduction.Obviously, the attached drawing introduced is present invention a part of the embodiment to be described
Attached drawing, rather than whole attached drawings without creative efforts, may be used also for those of ordinary skill in the art
To obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of structural block diagram of laser radar provided in an embodiment of the present invention；
Fig. 2 is a kind of mounting means schematic diagram of laser radar provided in an embodiment of the present invention；
Fig. 3 is the mounting means schematic diagram of another laser radar provided in an embodiment of the present invention；
Fig. 4 is the block diagram of another laser radar provided in an embodiment of the present invention；
Fig. 5 is a kind of structural schematic diagram of equipment provided in an embodiment of the present invention；
Fig. 6 is a kind of flow diagram of the calibration method of laser radar setting angle provided in an embodiment of the present invention；
Fig. 7 is the flow diagram of the calibration method of another laser radar setting angle provided in an embodiment of the present invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
In description, only some but not all contents related to the present invention are shown in the drawings.Exemplary reality is being discussed in greater detail
It should be mentioned that some exemplary embodiments are described as the processing or method described as flow chart before applying example.Although
Operations (or step) are described as the processing of sequence by flow chart, but many of these operations can be by concurrently, concurrently
Ground is implemented simultaneously.In addition, the sequence of operations can be rearranged.The processing when its operations are completed can be by
It terminates, it is also possible to have the additional step being not included in attached drawing.It is described processing can correspond to method, function, regulation,
Subroutine, subprogram etc..
Fig. 1 is a kind of structural block diagram of laser radar provided in an embodiment of the present invention.As shown in Figure 1, laser radar 10 wraps
Include obliquity sensor 100, controller 200, driver 300 and scanner 400, wherein obliquity sensor 100, controller
200, driver 300 and scanner 400 are sequentially connected in series.
Specifically, obliquity sensor 100 is used to detect the setting angle of laser radar 10, controller 200 is used for according to peace
The target-angle for the laser beam that dress angle and scanner 400 are launched obtains the actual deflection angle of scanner 400, and generation is taken
Driving instruction with actual deflection angle, driver 300 are used to drive scanner 400 to deflect actual deflection according to driving instruction
Degree.
It should be noted that the installation error of laser radar 10 mainly includes pitch error and inclination error, wherein pitching
Error will lead to inclination angle of the central axes of laser beam on the direction perpendicular to mounting plane and change, and then to laser beam
Scanning range generates large effect, and the technical solution of the present embodiment puts aside inclination error for compensating pitch error.
It is worth noting that, scanner 400 is deflected in the direction perpendicular to mounting plane in the present embodiment.
Specifically, Fig. 2 is a kind of mounting means schematic diagram of laser radar provided in an embodiment of the present invention.As shown in Fig. 2,
The Laser emission end of laser radar 10 raises, and the central axes 111 of laser beam 101 is caused to deviate the parallel direction of mounting plane 102,
Generation is faced upward error, and one kind of pitch error is belonged to.Fig. 3 is the installation side of another laser radar provided in an embodiment of the present invention
Formula schematic diagram.As shown in figure 3, one end opposite with Laser emission end in laser radar 10 raises, lead to the axis of laser beam 101
Line 111 deviates the parallel direction of mounting plane 102, generates nutation error, belongs to one kind of pitch error.
The error compensation principle of the present embodiment is illustrated by taking Fig. 2 as an example below.Referring to fig. 2, the laser of laser radar 10
After transmitting terminal raises, generation angle a between 102 parallel direction of central axes 111 and mounting plane of laser beam 101, i.e. laser
The initial angle of beam 101 is not 0, and in practical operation, the scanner for generating laser beam 101 is deflected to 102 side of mounting plane
Angle a can compensate for above-mentioned installation error.Specifically, obliquity sensor detects above-mentioned angle a simultaneously inside laser radar 10
It is transferred to controller, controller calculates the actual angle that scanner should deflect according to angle a and target-angle, and controls drive
Dynamic device driving scanner carries out corresponding deflection.
It should be noted that target-angle is that 101 central axes 111 of laser beam that should finally realize and mounting plane 102 are flat
Angle between line direction.Illustratively, when 101 central axes 111 of laser beam are parallel with mounting plane, target-angle is 0 °, is swashed
The scanning range of light beam 101 is -15 ° to+15 °；When angle between 101 central axes 111 of laser beam and mounting plane is -5 °,
Target-angle is -5 °, and the scanning range of laser beam 101 is -10 ° to+20 °, it is seen then that the scanning of target-angle and laser beam 101
Range is related, therefore, in practical applications, for the targeted scans range for obtaining laser beam, needs that target-angle is adjusted.
Optionally, the angle between 101 central axes 111 of laser beam and 102 parallel direction of mounting plane includes positive value and bears
Value, illustratively, when 101 central axes 111 of laser beam are located at first straight line 103 far from 102 side of mounting plane, laser beam 101
Angle between 102 parallel direction of central axes 111 and mounting plane is positive value, and 101 central axes 111 of laser beam are located at first straight line
103 close to 102 side of mounting plane when, the angle between 101 central axes 111 of laser beam and 102 parallel direction of mounting plane is
Negative value, wherein first straight line 103 is the lasing central across scanner and the straight line for being parallel to mounting plane 102.This
When, the actual deflection angle of scanner is equal to the difference of 10 pitch error angle of target-angle and laser radar.It is corresponding, controller
Including subtracter, for carrying out above-mentioned subtraction, swept with the angle detected according to target-angle and obliquity sensor
Retouch the actual deflection angle of device.
Illustratively, target-angle is -4 °, and the pitching installation error angle that obliquity sensor detects is 4 °, then scans
B=-4-4=-8 ° of the actual deflection angle of device 400 deflects 8 ° to close to 102 side of mounting plane.In another embodiment,
Target-angle is 5 °, and the pitching installation error angle that obliquity sensor 100 detects is 4 °, then the actual deflection of scanner 400
B=5-4=1 ° of angle, i.e., 1 ° is deflected to far from 102 side of mounting plane.
It should also be noted that, the setting angle for the laser radar 10 that obliquity sensor detects can for pitch error and
The resultant for rolling error, can also only include pitch error, and the present embodiment is not especially limited this, but should be noted that
If the former, then controller is after receiving the testing result of obliquity sensor, it is also necessary to isolate and bow from the detection structure
Face upward error component.
Laser radar 10 provided in this embodiment includes obliquity sensor 100, controller 200, driver 300 and scanning
Device 400, wherein obliquity sensor 100, controller 200, driver 300 and scanner 400 are sequentially connected in series, obliquity sensor 100
For detecting the setting angle of laser radar 10, what controller 200 was used to be launched according to setting angle and scanner 400 swashs
The target-angle of light beam 101 obtains the actual deflection angle of scanner 400, generates the driving instruction for carrying actual deflection angle,
Driver 300 is used to drive scanner 400 to deflect actual deflection angle according to driving instruction, so that for there are installation errors
Laser radar 10, controller 200 can be using the setting angle correct scans for the laser radar 10 that obliquity sensor 100 detects
The deflection angle of device 400, and then the laser beam 101 issued after the deflection of scanner 400 is on the direction perpendicular to mounting plane 102
Inclination angle can be equal to target-angle, realize automatic compensation to 10 installation error of laser radar, prosthetic expenditure of time is short, and
Measurement and adjustment accuracy are higher.
Optionally, controller 200 is also used to compare the size of actual deflection angle and predetermined angle, and practical inclined determining
When gyration is less than or equal to predetermined angle, the operation for generating the driving instruction for carrying actual deflection angle is executed.
Illustratively, predetermined angle can be 10 °.
Even if the variation of installation dimension still will lead to it should be noted that excessive installation error compensates successfully
Occupied space increases, and therefore, it is 10 ° that predetermined angle, which is preferably arranged, in the present embodiment, to realize within the scope of smaller installation error
Installation error compensation.
Optionally, controller 200 may include comparator, to realize that above-mentioned relatively actual deflection angle and predetermined angle are big
Small operation.
It should be noted that the deflectable limited angle of scanner 400, when the installation error of laser radar 10 is excessive,
It will be unable to the compensation that technical solution again through this embodiment carries out installation error, need artificially to transfer the installation of laser radar 10
Position, therefore, the present embodiment be arranged controller 200 obtain scanner 400 actual deflection angle after, can first will actually it is inclined
Gyration is compared with predetermined angle, and when actual deflection angle is less than predetermined angle, i.e. scanner 400 can be realized corresponding inclined
When turning, subsequent control operation is being carried out.
Further, controller 200 is also used to generate when determining that actual deflection angle is greater than predetermined angle and export report
Alert information.
It should be noted that actual deflection angle has exceeded scanner 400 when actual deflection angle is greater than predetermined angle
Deflectable angular range, scanner cannot achieve corresponding deflection, at this point, the warning message of generation is transmitted to by controller 200
External control unit outside, to prompt operator to manually adjust the setting angle of laser radar.
Illustratively, external control unit outside can be the electronics such as Vehicle Controller, laptop or mobile phone.
Fig. 4 is the block diagram of another laser radar provided in an embodiment of the present invention.As shown in figure 4, laser thunder shown in Fig. 1
Up on the basis of 10, the laser radar 10 in the present embodiment further includes communication interface 500, and communication interface 500 is used for will be from outside
The target-angle of input is transferred to controller 200.
It should also be noted that, target-angle can be defeated by preset order for the one or more of storage in controller 200
Angle out, or externally input angle.For the latter, target-angle can be externally controlled unit input, controller
200 are connect by communication interface 500 with external control unit outside, with carry out target-angle and warning message external control unit outside with
Transmission between controller 200.
Target-angle is able to ascend the scope of application of laser radar 10, operator from the mode that communication interface 500 inputs
Suitable target-angle can be selected according to actual needs, and the inclination angle is input to controller 200 by communication interface 500.
Optionally, communication interface 500 can be multiplexed with the network interface of laser radar 10.
It should be noted that above-mentioned set-up mode makes that no setting is required dedicated communication interface 500, on the one hand reduces sharp
The preparation difficulty of optical radar 10 simplifies the structure of laser radar 10, on the other hand, avoids the communication structure being separately provided and accounts for
With 10 inner space of laser radar, increase the size of laser radar 10.
Optionally, communication interface 500 can be wireless communication interface.
It should be noted that such setting enables external control unit outside to be wirelessly connected with laser radar 10,
And then it is constant to reduce connecting wire bring, the case where for being similar to roof load laser radar 10, can reduce conducting wire
The appearance of the problems such as easy fracture caused by too long.
Fig. 5 is a kind of structural schematic diagram of equipment provided in an embodiment of the present invention.As shown in figure 5, equipment 20 includes this hair
The laser radar 10 and ontology 30 of bright any embodiment, laser radar 10 are installed on ontology 30.
Illustratively, with continued reference to Fig. 5, ontology 30 can be vehicle, specifically, laser radar 10 can be installed on vehicle
Top, it is to be understood that at this point, mounting plane be roof.It is understood that in the other embodiments of the present embodiment
In, ontology 30 can also be not especially limited this for other component than vehicles, the present embodiment.
Fig. 6 is a kind of flow diagram of the calibration method of laser radar setting angle provided in an embodiment of the present invention.It should
Calibration method is applied to the laser radar of any embodiment of that present invention, as shown in fig. 6, the calibration method of laser radar setting angle
It specifically includes as follows:
The setting angle of step 11, obliquity sensor detection laser radar on mounting plane.
The target-angle for the laser beam that step 12, controller are launched according to setting angle and scanner, is scanned
The actual deflection angle of device, and generate the driving instruction for carrying actual deflection angle.
Step 13, driver control scanner according to driving instruction and deflect actual deflection angle.
Technical solution provided in this embodiment detects established angle of the laser radar on mounting plane by obliquity sensor
Degree, the target-angle for the laser beam that controller is launched according to setting angle and scanner obtain the actual deflection of scanner
Angle, and the driving instruction for carrying actual deflection angle is generated, driver is practical inclined according to driving instruction control scanner deflection
Gyration, so that for there are the laser thunders that the laser radar of installation error, controller can be detected using obliquity sensor
The deflection angle of the setting angle correct scan device reached, and then the laser beam issued after scanner deflection is perpendicular to mounting plane
Direction on inclination angle can be equal to target-angle, realize automatic compensation to laser radar installation error, prosthetic consumes work
When it is short, and measure and adjustment accuracy it is higher.
Fig. 7 is the flow diagram of the calibration method of another laser radar setting angle provided in an embodiment of the present invention.
On the basis of the calibration method of laser radar setting angle shown in Fig. 6, obliquity sensor detects laser radar in mounting plane
On setting angle before can also include: controller by communication interface reception from externally input target-angle, specifically,
As shown in fig. 7, the calibration method of laser radar setting angle provided in this embodiment specifically include it is as follows:
Step 21, controller are received by communication interface from externally input target-angle.
The setting angle of step 22, obliquity sensor detection laser radar on mounting plane.
The target-angle for the laser beam that step 23, controller are launched according to setting angle and scanner, is scanned
The actual deflection angle of device, and generate the driving instruction for carrying actual deflection angle.
Step 24, driver control scanner according to driving instruction and deflect actual deflection angle.
In the present embodiment, generating and carrying the driving instruction of actual deflection angle can also include: before that controller compares
The size relation of actual deflection angle and predetermined angle；When controller determines that actual deflection angle is less than or equal to predetermined angle,
Execute the operation for generating the driving instruction for carrying actual deflection angle.
Optionally, it when controller determines that the actual deflection angle is greater than the predetermined angle, generates and exports alarm signal
Breath.
A kind of specific implementation process of the calibration method of laser radar setting angle is given below: operator is controlled from outside
Unit processed inputs target-angle, which is opened by communications interface transmission to controller, controller control obliquity sensor
Beginning carries out the detection of setting angle, and the setting angle that obliquity sensor detects the setting angle of laser radar, and will test passes
It is defeated by controller, controller calculates the actual deflection angle for obtaining scanner according to the setting angle and target-angle, relatively more real
The size relation of border deflection angle and predetermined angle, and when determining that actual deflection angle is less than or equal to predetermined angle, it generates
The driving instruction of the actual deflection angle is carried, driver controls scanner according to the driving instruction and deflects above-mentioned actual deflection
Degree.In addition, generating warning message, and by warning message from communication when controller determines that actual deflection angle is greater than predetermined angle
Interface is exported to external control unit outside.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (12)
1. a kind of laser radar characterized by comprising
Obliquity sensor, controller, driver and scanner；
Wherein, the obliquity sensor, the controller, the driver and the scanner are sequentially connected in series；
The obliquity sensor is used to detect the setting angle of the laser radar；
The target-angle for the laser beam that the controller is used to be launched according to the setting angle and the scanner obtains
The actual deflection angle of the scanner, and generate the driving instruction for carrying the actual deflection angle；
The driver is used to drive the scanner to deflect the actual deflection angle according to the driving instruction.
2. laser radar according to claim 1, which is characterized in that the controller is also used to actual deflection described in comparison
The size of angle and predetermined angle, and when determining that the actual deflection angle is less than or equal to the predetermined angle, execute institute
State the operation for generating the driving instruction for carrying the actual deflection angle.
3. laser radar according to claim 2, which is characterized in that the controller is also used to determining that the reality is inclined
When gyration is greater than the predetermined angle, generates and export warning message.
4. laser radar according to claim 1, which is characterized in that further include communication interface, the communication interface is used for
The controller will be transferred to from the externally input target-angle.
5. laser radar according to claim 4, which is characterized in that the communication interface is multiplexed with the laser radar
Network interface.
6. laser radar according to claim 5, which is characterized in that the communication interface is wireless communication interface.
7. laser radar according to claim 2 or 3, which is characterized in that the predetermined angle is 10 °.
8. a kind of equipment, which is characterized in that including the described in any item laser radars of the claims 1-7 and ontology, institute
Laser radar is stated to be installed on the ontology.
9. a kind of calibration method of laser radar setting angle is applied to the described in any item laser thunders of the claims 1-7
It reaches characterized by comprising
The obliquity sensor detects setting angle of the laser radar on mounting plane；
The target-angle for the laser beam that the controller is launched according to the setting angle and the scanner, described in acquisition
The actual deflection angle of scanner, and generate the driving instruction for carrying the actual deflection angle；
The driver controls the scanner according to the driving instruction and deflects the actual deflection angle.
10. calibration method according to claim 9, which is characterized in that described generate carries the actual deflection angle
Before driving instruction, further includes:
The size relation of controller the actual deflection angle and the predetermined angle；
When the controller determines that the actual deflection angle is less than or equal to the predetermined angle, executes and generate the carrying reality
The operation of the driving instruction of border deflection angle.
11. calibration method according to claim 10, which is characterized in that further include:
When the controller determines that the actual deflection angle is greater than the predetermined angle, generates and export warning message.
12. according to calibration method described in the claims 9, which is characterized in that the obliquity sensor detects the laser
Before setting angle of the radar on mounting plane, further includes:
The controller is received by the communication interface from the externally input target-angle.
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| CN111190150A (en) * | 2020-01-13 | 2020-05-22 | 江铃汽车股份有限公司 | Vehicle-mounted radar self-learning calibration method and system |
| CN111624566A (en) * | 2020-07-30 | 2020-09-04 | 北汽福田汽车股份有限公司 | Radar installation angle calibration method and device |
| CN111625024A (en) * | 2020-04-28 | 2020-09-04 | 东风汽车集团有限公司 | Angle adjusting method of vehicle-mounted millimeter wave radar, BCM controller and system |
| CN111665479A (en) * | 2020-07-23 | 2020-09-15 | 杭州智波科技有限公司 | Angle calibration method, device and system of automobile millimeter wave radar and storage medium |
| CN112238818A (en) * | 2019-10-14 | 2021-01-19 | 北京新能源汽车技术创新中心有限公司 | Control system, data processing method, and control method |
| CN112450808A (en) * | 2020-11-09 | 2021-03-09 | 珠海市一微半导体有限公司 | Angle calibration method for laser head, chip and robot |
| CN112731355A (en) * | 2020-12-25 | 2021-04-30 | 深圳优地科技有限公司 | Method, device, terminal and medium for calculating laser radar installation angle deviation |
| CN113985420A (en) * | 2021-12-28 | 2022-01-28 | 四川吉埃智能科技有限公司 | Method for compensating scanning light path error of laser radar inclined by 45 degrees |
| WO2023123888A1 (en) * | 2021-12-30 | 2023-07-06 | 上海禾赛科技有限公司 | Laser radar detection method and laser radar |
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