CN113030987B - Laser emergent angle measuring method and system for multi-line laser radar and electronic equipment - Google Patents
Laser emergent angle measuring method and system for multi-line laser radar and electronic equipment Download PDFInfo
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
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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
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Abstract
A laser emergent angle measuring method of a multi-line laser radar, a system and an electronic device thereof. The laser emergent angle measuring method of the multi-line laser radar comprises the following steps: acquiring a spot image, wherein the spot image is an image obtained by shooting a spot-like spot formed on a target by laser emitted by a multi-line laser radar to be measured through an infrared camera; processing the spot image to obtain the center coordinates of each spot in the spot image; and calculating the laser emergent angle of the multi-line laser radar to be measured based on the center coordinates of the punctiform facula.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a laser emergent angle measuring method of a multi-line laser radar, a system and electronic equipment thereof.
Background
A multi-line laser radar is a radar system that detects a characteristic quantity such as a position or a speed of a target in a manner of emitting laser beams, which generally emits a plurality of beams distributed in a vertical direction by a plurality of laser transmitters and forms a scan of a plurality of wire harnesses by 360 ° rotation of a motor; at the same time, the same number of laser receivers are used to receive the corresponding light beams reflected or scattered back by the target, so as to realize radar detection work.
In order to convert the ray distance of the laser into an accurate display of the linear distance and the point cloud, the multi-line laser radar needs to obtain the relative angle (namely the laser emergent angle) of each laser emission through measurement in the debugging stage. However, the conventional measurement method needs to manually calculate each light spot one by one, but has the defects of poor repeatability, long time consumption, low mass productivity and the like. Meanwhile, the traditional measuring method also requires the requirement of operators, and the measuring environment to be built is extremely complex.
Disclosure of Invention
An advantage of the present invention is to provide a method for measuring a laser emission angle of a multi-line laser radar, a system thereof, and an electronic device, which can provide a general, simple and mass-producible method for measuring a laser emission angle, and is convenient for being applied to various multi-line laser radars.
Another advantage of the present invention is to provide a method for measuring a laser emission angle of a multi-line laser radar, a system and an electronic device thereof, wherein in an embodiment of the present invention, the method for measuring a laser emission angle of a multi-line laser radar can greatly reduce human labor and improve measurement efficiency.
The invention further provides a laser emission angle measuring method, a system and electronic equipment of the multi-line laser radar, wherein in the embodiment of the invention, the laser emission angle measuring method of the multi-line laser radar does not need manual calculation, and has the advantages of high repeatability, short time consumption, high mass productivity and the like.
Another advantage of the present invention is to provide a method for measuring a laser exit angle of a multi-line laser radar, a system and an electronic device thereof, wherein in an embodiment of the present invention, the laser exit angle measuring system of the multi-line laser radar can realize automatic measurement of a laser exit angle only by replacing a radar to be measured after one time of tuning, which is helpful for greatly reducing requirements for operators.
The invention further provides a laser emission angle measuring method of the multi-line laser radar, a system and electronic equipment thereof, wherein in one embodiment of the invention, the laser emission angle measuring system of the multi-line laser radar is simple in construction environment and easy to realize.
Another advantage of the present invention is to provide a method for measuring a laser emission angle of a multi-line laser radar, a system thereof, and an electronic device, wherein in an embodiment of the present invention, the laser emission angle measuring system of the multi-line laser radar can fix and limit a radar to be measured and an infrared camera by using a tool, which is helpful for ensuring levelness of the radar to be measured and the infrared camera.
Another advantage of the present invention is to provide a method, a system and an electronic device for measuring a laser exit angle of a multi-line laser radar, wherein in an embodiment of the present invention, the laser exit angle measuring system of the multi-line laser radar can adjust a fixed position of an infrared camera so as to completely cover fields of view of different types of multi-line laser radars.
Another advantage of the present invention is to provide a method, a system and an electronic device for measuring a laser exit angle of a multi-line laser radar, where in an embodiment of the present invention, the laser exit angle measurement system of the multi-line laser radar can ensure that the proportions of images photographed by different infrared cameras are consistent, which is helpful for improving the accuracy of measurement results.
Another advantage of the present invention is to provide a method, a system and an electronic device for measuring a laser exit angle of a multi-line laser radar, where in an embodiment of the present invention, a target with a mark point is used in the laser exit angle measurement system of the multi-line laser radar, which is conducive to conveniently and accurately implementing image stitching.
Another advantage of the present invention is to provide a laser emission angle measuring method of a multi-line laser radar, and a system and an electronic device thereof, in which expensive materials or complex structures are not required in the present invention in order to achieve the above advantages. Therefore, the invention successfully and effectively provides a solution, not only provides a simple laser emission angle measuring method and system and electronic equipment of the multi-line laser radar, but also increases the practicability and reliability of the laser emission angle measuring method and system and electronic equipment of the multi-line laser radar.
To achieve at least one of the above or other advantages and objects, the present invention provides a laser emission angle measurement method of a multi-line laser radar, including the steps of:
acquiring a spot image, wherein the spot image is an image obtained by shooting a spot-like spot formed on a target by laser emitted by a multi-line laser radar to be measured through an infrared camera;
processing the spot image to obtain the center coordinates of each spot in the spot image; and
and calculating the laser emergent angle of the multi-line laser radar to be measured based on the center coordinates of the punctiform facula.
In an embodiment of the present invention, the step of acquiring an image of a light spot includes the steps of:
and acquiring a first light spot image and a second light spot image, wherein the first light spot image and the second light spot image are images obtained by shooting punctiform light spots formed on the target by laser emitted by the multi-line laser radar to be measured at different shooting positions in a time-sharing way through the same infrared camera.
In an embodiment of the present invention, the step of acquiring an image of a light spot includes the steps of:
and acquiring a first light spot image and a second light spot image, wherein the first light spot image and the second light spot image are images obtained by simultaneously shooting point-shaped light spots formed on the target by the laser emitted by the multi-line laser radar to be measured at different shooting positions through a first infrared camera and a second infrared camera respectively.
In an embodiment of the invention, the step of processing the spot image includes the steps of:
splicing the first light spot image and the second light spot image to form a light spot spliced image, wherein the light spot spliced image can completely display the images of all the spot light spots on the target; and
and identifying the center of the punctiform facula in the facula spliced image to obtain the center coordinate of the punctiform facula.
In an embodiment of the present invention, a stitching identifier is provided on the target, so as to assist stitching of the first light spot image and the second light spot image by the stitching identifier.
In an embodiment of the present invention, the method for measuring a laser exit angle of the multi-line laser radar further includes the steps of:
acquiring a horizontal baseline image and a vertical baseline image, wherein the horizontal baseline image and the vertical baseline image are images obtained by shooting a baseline spot formed on the target by a horizontal beam and a vertical beam emitted via a laser level by the infrared camera; and
and fusing the horizontal baseline image and the vertical baseline image to obtain coordinates of a mapping datum point of the measuring datum point of the multi-line laser radar to be measured on the target.
In an embodiment of the present invention, the method for measuring a laser exit angle of the multi-line laser radar further includes the steps of:
acquiring a proportion image, wherein the proportion image is an image obtained by shooting a standard part arranged on the target through the infrared camera; and
the scaled image is processed to obtain a scaling factor between the image size and the true size.
According to another aspect of the present invention, there is also provided a laser exit angle measurement system of a multi-line laser radar for measuring a laser exit angle of the multi-line laser radar, including:
the acquisition module is used for acquiring a light spot image, wherein the light spot image is an image obtained by shooting a punctiform light spot formed on a target by laser emitted by the multi-line laser radar to be measured through an infrared camera;
the image processing module is used for processing the spot images to obtain the center coordinates of each spot in the spot images; and
and the calculating module is used for calculating the laser emergent angle of the multi-line laser radar to be measured based on the center coordinates of the punctiform facula.
In an embodiment of the present invention, the acquiring module is further configured to acquire a first light spot image and a second light spot image, where the first and second light spot images are images obtained by time-sharing capturing, with the same infrared camera, point-like light spots formed on the target by the laser beams emitted by the multi-line laser radar to be measured at different capturing positions.
In an embodiment of the present invention, the acquiring module is further configured to acquire a first light spot image and a second light spot image, where the first and second light spot images are images obtained by simultaneously capturing, at different capturing positions, a spot-like light spot formed on the target by the laser light emitted by the multi-line laser radar to be measured by the first infrared camera and the second infrared camera, respectively.
In an embodiment of the present invention, the image processing includes an image stitching module and an image recognition module that are communicatively connected to each other, where the image stitching module is configured to stitch the first spot image and the second spot image to form a spot stitching image, where the spot stitching image is capable of displaying the images of all spot spots on the target completely; the image recognition module is used for recognizing the center of the punctiform facula in the facula spliced image so as to obtain the center coordinate of the punctiform facula.
In an embodiment of the invention, the laser emission angle measurement system of the multi-line laser radar further includes a fixture and a target, wherein the fixture and the target are correspondingly arranged, and the fixture is used for fixing the infrared camera and the multi-line laser radar to be measured in a limiting manner, so that lens surfaces of the infrared camera and the multi-line laser radar to be measured are parallel to the target.
In an embodiment of the invention, the laser emission angle measurement system of the multi-line laser radar further includes a track, wherein the tool and/or the target are movably disposed on the guide rail, and the guide rail is used for adjusting a distance between the tool and the target.
According to another aspect of the present invention, there is also provided an electronic apparatus including:
at least one processor for executing instructions; and
a memory communicatively coupled to the at least one processor, wherein the memory has at least one instruction, wherein the instruction is executed by the at least one processor to cause the at least one processor to perform a method of laser exit angle measurement for a multi-line lidar, wherein the method of laser exit angle measurement for a multi-line lidar comprises the steps of:
Acquiring a spot image, wherein the spot image is an image obtained by shooting a spot-like spot formed on a target by laser emitted by a multi-line laser radar to be measured through an infrared camera;
processing the spot image to obtain the center coordinates of each spot in the spot image;
and
And calculating the laser emergent angle of the multi-line laser radar to be measured based on the center coordinates of the punctiform facula.
Further objects and advantages of the present invention will become fully apparent from the following description and the accompanying drawings.
These and other objects, features and advantages of the present invention will become more fully apparent from the following detailed description, the accompanying drawings and the appended claims.
Drawings
Fig. 1 and 2 are flow diagrams of a method for measuring a laser emission angle of a multi-line laser radar according to an embodiment of the present invention.
Fig. 3 shows a flow chart of one of the steps of the laser emission angle measurement method of the multi-line lidar according to the above embodiment of the invention.
Fig. 4 shows a schematic flow chart of a second step of the laser emission angle measurement method of the multi-line laser radar according to the above embodiment of the present invention.
Fig. 5 shows an example of an image stitching process in the laser emission angle measurement method of the multi-line lidar according to the above embodiment of the present invention.
Fig. 6 is a block diagram schematic diagram of a laser exit angle measurement system of a multi-line lidar according to an embodiment of the invention.
Fig. 7 shows an example of a laser exit angle measurement system of a multi-line lidar according to the invention.
Fig. 8 shows an example of an electronic device according to the invention.
Detailed Description
The following description is presented to enable one of ordinary skill in the art to make and use the invention. The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
In the present invention, the terms "a" and "an" in the claims and specification should be understood as "one or more", i.e. in one embodiment the number of one element may be one, while in another embodiment the number of the element may be plural. The terms "a" and "an" are not to be construed as unique or singular, and the term "the" and "the" are not to be construed as limiting the amount of the element unless the amount of the element is specifically indicated as being only one in the disclosure of the present invention.
In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, unless explicitly stated or limited otherwise, the terms "connected," "connected," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through a medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Schematic method
Referring to fig. 1 and 2 of the drawings of the specification, a laser emission angle measuring method of a multi-line laser radar according to an embodiment of the present invention is illustrated. Specifically, as shown in fig. 1, the method for measuring the laser emission angle of the multi-line laser radar includes the following steps:
s100: acquiring a spot image, wherein the spot image is an image obtained by shooting a spot-like spot formed on a target by laser emitted by a multi-line laser radar to be measured through an infrared camera;
s200: processing the spot image to obtain the center coordinates of each spot in the spot image; and
s300: and calculating the laser emergent angle of the multi-line laser radar to be measured based on the center coordinates of the punctiform facula.
It is noted that in the above embodiments of the invention, the center of the spot in the spot image may be, but is not limited to being, implemented as the geometrical center of the spot. Of course, in other examples of the invention, the center of the spot in the spot image may also be implemented as the point of maximum brightness on the spot-like spot. It can be understood that the center of the punctiform facula in the facula image can directly select a center point on the amplified punctiform facula image in an artificial way, and the center coordinate of each punctiform facula is recorded; of course, the center of the spot light in the spot image can also be directly identified and recorded by the image identification software.
In addition, when calculating the laser emission angle of the multi-line laser radar to be measured, besides the center coordinates of the spot-like light spot, the distance between the multi-line laser radar to be measured and the target and the coordinates of the mapping reference point of the measurement reference point of the multi-line laser radar to be measured on the target need to be measured. It will be appreciated that the distance between the multi-line lidar to be measured and the target may be measured directly by a range finder such as a laser range finder, a tape measure or the like and recorded and stored as a known parameter. The coordinates of the mapping reference points of the multi-line lidar to be measured can also be known in advance by debugging, so as to be recorded and stored as known parameters.
Of course, in an example of the present invention, the coordinates of the mapping reference points of the multi-line lidar to be measured may also be obtained by a horizontal beam and a vertical beam emitted by a laser level meter. In other words, as shown in fig. 2, the method for measuring the laser emission angle of the multi-line laser radar further includes the steps of:
s400: acquiring a horizontal baseline image and a vertical baseline image, wherein the horizontal and vertical baseline images are images obtained by the infrared camera shooting a baseline spot formed on the target by horizontal and vertical beams emitted via a laser level; and
S500: and fusing the horizontal baseline image and the vertical baseline image to obtain coordinates of a mapping datum point of the measuring datum point of the multi-line laser radar to be measured on the target.
Illustratively, when the horizontal base line map is acquired, a horizontal beam is first emitted by the laser level; then adjusting a horizontal beam to strike the position of a measurement datum point of the multi-line laser radar to be measured, so that a base line light spot on the target and the measurement datum point of the multi-line laser radar to be measured are positioned on the same horizontal plane; and finally shooting a baseline light spot on the target plate through the infrared camera so as to acquire the horizontal baseline map. It will be appreciated that the above example is only applicable to multi-line lidar with a measurement reference point of the spot emission angle on the radar structure, and for multi-line lidar with a measurement reference point of the spot emission angle outside the radar structure, it is necessary to adjust the horizontal beam emitted by the laser level to strike a known identification point of the multi-line lidar to be measured (such as the center position of the multi-line lidar to be measured, so as to obtain the actual spot emission angle measurement reference point of the multi-line lidar to be measured through calculation).
Similarly, when the vertical base line diagram is collected, a vertical light beam is emitted through the laser level instrument; then, adjusting the vertical light beam to strike the position of the measuring reference point of the multi-line laser radar to be measured, so that a base line light spot on the target and the measuring reference point of the multi-line laser radar to be measured are positioned on the same vertical plane; and finally, shooting a baseline light spot on the target through the infrared camera so as to acquire the vertical baseline map. Of course, the above example is only applicable to multi-line lidar with the measuring reference point of the spot emission angle on the radar structure, and for multi-line lidar with the measuring reference point of the spot emission angle outside the radar structure, it is necessary to adjust the vertical beam emitted by the laser level to strike the known identification point of the multi-line lidar to be measured (such as the center position of the multi-line lidar to be measured, so as to obtain the actual spot emission angle measuring reference point of the multi-line lidar to be measured through calculation).
In this way, the horizontal baseline light spot in the horizontal baseline image and the vertical baseline light spot in the vertical baseline image all pass through the mapping datum point on the target, that is, the intersection point of the horizontal baseline light spot in the horizontal baseline image and the vertical baseline light spot in the vertical baseline image is the mapping datum point, so that when the horizontal baseline image and the vertical baseline image are subjected to fusion processing, only the coordinates of the intersection point of the horizontal baseline light spot in the horizontal baseline image and the vertical baseline light spot in the vertical baseline image are required, the coordinates of the mapping datum point of the measuring datum point of the multi-line laser radar to be measured on the target can be obtained, and the laser emergent angle of the multi-line laser radar to be measured can be directly solved through a computer.
It is worth mentioning that, since the distance between the multi-line lidar to be measured and the target is usually the true distance (i.e., the actual distance), and the distance (i.e., the coordinate difference) between the center position of the spot-like light spot and the position of the mapping reference point, which is obtained based on the spot image and the baseline image, respectively, is the image distance (i.e., the theoretical distance), when the image size of the target in the spot image and the baseline image is the same as the true size of the target (i.e., the ratio of the two is 1:1), the image distance is consistent with the true distance, that is, the distance between the center position of the spot-like light spot and the position of the mapping reference point, which is obtained based on the spot image and the baseline image, respectively, is directly adopted as the true distance without conversion. When the image sizes of the target in the spot image and the baseline image are different from the real size of the target (i.e. the ratio of the two is not 1:1), the invention needs to know the proportional relation between the image sizes of the target in the spot image and the baseline image and the real size of the target, so as to obtain the real distance between the center position of the spot and the position of the mapping reference point through proportional conversion.
Specifically, as shown in fig. 2, the method for measuring the laser emission angle of the multi-line laser radar further includes the steps of:
s600: acquiring a proportion image, wherein the proportion image is an image obtained by shooting a standard part arranged on the target through the infrared camera; and
s700: the scaled image is processed to obtain a scaling factor between the image size and the true size.
It is noted that the standard may be, but is not limited to, a standard scale implemented as a ruler or the like attached to the target. Of course, in other examples of the invention, the standard may also be implemented as a standard scale or the like drawn on the target that can mark the standard scale.
In addition, in order to ensure accuracy of measurement results, the flare image, the baseline image, and the scale image photographed by the infrared camera are preferably not distorted, so the infrared camera used in the present invention is preferably implemented as a distortion-free lens infrared camera. However, since the field angle of the undistorted lens infrared camera is usually smaller, but the detection range of the multi-line laser radar to be measured (i.e., the distribution range of the punctiform faculae on the target) is very large, it is difficult for the field of view of one undistorted lens infrared camera to completely cover the detection range of the multi-line laser radar to be measured, that is, it is difficult for one facula image to display all punctiform faculae formed on the target by the laser emitted by the multi-line laser radar to be measured.
In order to solve the above problem, in an example of the present invention, as shown in fig. 3, the step S100 of the method for measuring the laser emission angle of the multi-line laser radar includes the steps of:
s110: and acquiring a first light spot image and a second light spot image, wherein the first light spot image and the second light spot image are images obtained by shooting punctiform light spots formed on a target by laser emitted by the multi-line laser radar to be measured at different shooting positions in a time-sharing way through the same infrared camera.
It will be appreciated that in this example of the invention, the first and second spot images are images obtained by the same infrared camera capturing, respectively, the spot-like spots formed on the target by the laser light emitted by the multi-line laser radar to be measured at different capturing positions, that is, the positions of the infrared camera need to be moved when the first and second spot images are obtained, and the field of view ranges of the infrared cameras are combined before and after the movement so as to completely cover all the spot-like spots formed on the target by the laser light emitted by the multi-line laser radar to be measured.
Accordingly, as shown in fig. 4 and 5, the step S200 of the method for measuring the laser emission angle of the multi-line laser radar includes the steps of:
S210: splicing the first light spot image and the second light spot image to form a light spot spliced image, wherein the light spot spliced image can completely display the images of all the spot light spots on the target; and
s220: and identifying the center of the punctiform facula in the facula spliced image to obtain the center coordinate of the punctiform facula in the facula image.
It should be noted that, in the above example of the present invention, since the positions of the infrared cameras need to be moved when the first and second spot images are obtained, the field of view ranges of the infrared cameras before and after the movement are combined to completely cover all the spot-like spots on the target, and the distances between the infrared cameras before and after the movement and the target are difficult to be kept consistent, the distances between the infrared cameras before and after the movement and the target generally change, which causes that the scaling factors between the image sizes and the real sizes are different before and after the movement of the infrared cameras, and thus the measurement result of the laser emission angle measurement method of the multi-line laser radar is not accurate enough. In addition, since the first and second spot images are obtained by shooting the same infrared camera at different moments, but the transmitting directions of the multi-line laser radar to be measured at different moments are often different, the positions of the spot spots in the spot spliced image formed by the first and second spot images after splicing will deviate, and the measuring result is affected.
In order to solve the above problem, in another example of the present invention, as shown in fig. 3, the step S100 of the method for measuring the laser emission angle of the multi-line laser radar may further include the steps of:
s110': and acquiring a first light spot image and a second light spot image, wherein the first light spot image and the second light spot image are images obtained by simultaneously shooting point-shaped light spots formed on the target by laser emitted by the multi-line laser radar to be measured at different shooting positions by a first infrared camera and a second infrared camera respectively.
It is noted that in this example of the invention, in order to ensure that the scaling factor between the size and true size of the first and second spot images remains consistent/the same, the first and second infrared cameras are preferably facing the target and the distance of the first and second infrared cameras, respectively, from the target remains the same.
More preferably, the first infrared camera, the second infrared camera and the multi-line laser radar to be measured are suitable for fixing and limiting through a tool, so that levelness of the first infrared camera, the second infrared camera and the multi-line laser radar to be measured is ensured to be consistent, and subsequent image splicing and outgoing angle calculation are facilitated.
Most preferably, the first infrared camera and the second infrared camera are respectively disposed on the upper side and the lower side of the multi-line laser radar to be measured, that is, the first infrared camera, the multi-line laser radar to be measured and the second infrared camera are sequentially arranged in the vertical direction, so that the multi-line laser radar to be measured is located between the first infrared camera and the second infrared camera, and a field of view range where the first infrared camera and the second infrared camera are combined can completely cover a detection range of the multi-line laser radar to be measured.
In particular, since there is a difference in the detection ranges (such as the detection angles in the vertical direction) of the multi-line lidars of different types or models, the fixed positions of the first and second infrared cameras of the present invention can be adjusted up and down so as to ensure that the superimposed field of view ranges of the first and second infrared cameras can completely cover the detection ranges of the multi-line lidars of different detection angles, thereby covering all the spot-like spots generated via the multi-line lidar to be measured.
It is worth mentioning that, in order to simplify the stitching difficulty of the first light spot image and the second light spot image, and improve the image stitching efficiency and quality, the target plate adopted in the invention is provided with the stitching mark, so that the stitching between the first light spot image and the second light spot image is assisted by the stitching mark. It is to be understood that the splice mark may be, but is not limited to being, implemented as a mark point, a mark line, etc. capable of functioning as a splice mark. For example, the stitching identification may also be implemented as a standard scale to assist in image stitching while also assisting in obtaining a scaling relationship.
Schematic System
Referring to fig. 6 of the drawings, a laser exit angle measurement system of a multi-line lidar according to an embodiment of the present invention is illustrated. Specifically, as shown in fig. 6, the laser emission angle measurement system 1 of the multi-line laser radar may include an acquisition module 10, an image processing module 20 and a calculation module 30 that are sequentially and communicatively connected to each other, wherein the acquisition module 10 is configured to acquire a spot image, wherein the spot image is an image obtained by capturing, by an infrared camera, a spot formed on a target by laser light emitted by the multi-line laser radar to be measured; wherein the image processing module 20 is configured to process the spot image to obtain center coordinates of each spot in the spot image; the calculating module 30 is configured to calculate a laser exit angle of the multi-line laser radar to be measured based on a center coordinate of the punctiform facula.
In the above-described embodiment of the present invention, the acquisition module 10 is further configured to acquire a horizontal baseline image and a vertical baseline image, wherein the horizontal and vertical baseline images are images obtained by capturing, by the infrared camera, baseline spots formed on the target by horizontal and vertical beams emitted via a laser level, respectively; wherein the image processing module 20 is further configured to fusion process the horizontal baseline image and the vertical baseline image to obtain coordinates of a mapping reference point of the measurement reference point of the multi-line laser radar to be measured on the target.
In the above-described embodiment of the present invention, the acquisition module 10 is further configured to acquire a scale image, wherein the scale image is an image obtained by photographing a standard set on the target by the infrared camera; wherein the image processing module 20 is further configured to process the scaled image to obtain a scaling factor between the image size and the true size.
It should be noted that, in an example of the present invention, the acquiring module 10 may also be configured to acquire a first spot image and a second spot image, where the first and second spot images are images obtained by the infrared camera capturing, at different capturing positions, respectively, a spot-like spot formed on a target by the laser light emitted by the multi-line laser radar to be measured.
Of course, in another example of the present invention, the acquiring module 10 may also be configured to acquire a first spot image and a second spot image, where the first and second spot images are images obtained by simultaneously capturing, at different capturing positions, a spot-like spot formed on a target by laser light emitted by a multi-line laser radar to be measured by a first infrared camera and a second infrared camera, respectively.
Accordingly, as shown in fig. 6, the image processing module 20 may, but is not limited to, include an image stitching module 21 and an image recognition module 22 that are communicatively connected to each other, where the image stitching module 21 is configured to stitch the first spot image and the second spot image to form a spot stitching image, where the spot stitching image is capable of displaying the images of all the spot spots on the target completely; the image recognition module 22 is configured to recognize a center of each spot in the spot spliced image, so as to obtain a center coordinate of each spot in the spot image.
It should be noted that, in another embodiment of the present invention, as shown in fig. 7, the laser emission angle measurement system 1 of the multi-line laser radar may further include a fixture 40 and a target 50, where the fixture 40 and the target 50 are correspondingly disposed, and the fixture 40 is used to fix the infrared camera 800 and the multi-line laser radar 900 to be measured in a limited manner, so that lens surfaces of the infrared camera 800 and the multi-line laser radar 900 to be measured are parallel to the target 50.
Further, the tool 40 may be further configured to adjust the position of the infrared camera 800 relative to the multi-line lidar 900 to be measured up and down, so as to ensure that the field of view of the infrared camera 800 can completely cover the detection range of the multi-line lidar 900 to be measured.
According to the above embodiment of the present invention, as shown in fig. 7, the laser emission angle measurement system 1 of the multi-line laser radar further includes a guide rail 60, wherein the tool 40 and/or the target 50 are respectively movably disposed on the guide rail 60, wherein the guide rail 60 is used for adjusting the distance between the tool 40 and the target 50 so as to change the distance between the multi-line laser radar 900 to be measured and the target 50.
Schematic electronic device
Next, an electronic device according to an embodiment of the present invention is described with reference to fig. 8 (fig. 8 shows a block diagram of the electronic device according to an embodiment of the present invention). As shown in fig. 8, the electronic device 70 includes one or more processors 71 and memory 72.
The processor 71 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities, and may control other components in the electronic device 70 to perform desired functions.
The memory 72 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer readable storage medium that can be executed by the processor 71 to perform the methods of the various embodiments of the invention described above and/or other desired functions.
In one example, the electronic device 70 may further include: an input device 73 and an output device 74, which are interconnected by a bus system and/or other forms of connection mechanisms (not shown).
For example, the input device 73 may be, for example, a camera module or the like for capturing image data or video data.
The output device 74 may output various information including the classification result and the like to the outside. The output device 74 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, among others.
Of course, only some of the components of the electronic device 70 that are relevant to the present invention are shown in fig. 8 for simplicity, components such as buses, input/output interfaces, etc. are omitted. In addition, the electronic device 70 may include any other suitable components depending on the particular application.
Illustrative computing program product
In addition to the methods and apparatus described above, embodiments of the invention may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps in a method according to various embodiments of the invention described in the "exemplary methods" section of this specification.
The computer program product may write program code for performing operations of embodiments of the present invention in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "return language" or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present invention may also be a computer readable storage medium, having stored thereon computer program instructions, which when executed by a processor, cause the processor to perform the steps of the method described above in the present specification.
The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The basic principles of the present invention have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present invention are merely examples and not intended to be limiting, and these advantages, benefits, effects, etc. are not to be considered as essential to the various embodiments of the present invention. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, as the invention is not necessarily limited to practice with the above described specific details.
The block diagrams of the devices, apparatuses, devices, systems referred to in the present invention are only illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.
It is also noted that in the apparatus, devices and methods of the present invention, the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent aspects of the present invention.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the invention. Thus, the present invention is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are by way of example only and are not limiting. The objects of the present invention have been fully and effectively achieved. The functional and structural principles of the present invention have been shown and described in the examples and embodiments of the invention may be modified or practiced without departing from the principles described.
Claims (10)
1. The laser emergent angle measuring method of the multi-line laser radar is characterized by comprising the following steps:
acquiring a spot image, wherein the spot image is an image obtained by shooting a spot-like spot formed on a target by laser emitted by a multi-line laser radar to be measured through an infrared camera;
processing the spot image to obtain the center coordinates of each spot in the spot image; and
calculating the laser emergent angle of the multi-line laser radar to be measured based on the center coordinates of the punctiform faculae;
the step of acquiring a light spot image comprises the following steps:
acquiring a first light spot image and a second light spot image;
the first light spot image and the second light spot image are images obtained by shooting punctiform light spots formed on the target by the laser emitted by the multi-line laser radar to be measured at different shooting positions in a time-sharing manner through the same infrared camera; or the first light spot image and the second light spot image are images obtained by simultaneously shooting point-shaped light spots formed on the target by the laser emitted by the multi-line laser radar to be measured at different shooting positions by a first infrared camera and a second infrared camera respectively.
2. The laser exit angle measurement method of a multi-line laser radar according to claim 1, wherein the step of processing the spot image includes the steps of:
splicing the first light spot image and the second light spot image to form a light spot spliced image, wherein the light spot spliced image can completely display the images of all the spot light spots on the target; and
and identifying the center of the punctiform facula in the facula spliced image to obtain the center coordinate of the punctiform facula.
3. The laser exit angle measurement method of the multi-line laser radar according to claim 2, wherein a stitching mark is arranged on the target so as to assist stitching of the first light spot image and the second light spot image through the stitching mark.
4. The laser exit angle measurement method of a multi-line laser radar according to claim 1, further comprising the steps of:
acquiring a horizontal baseline image and a vertical baseline image, wherein the horizontal baseline image and the vertical baseline image are images obtained by shooting a baseline spot formed on the target by a horizontal beam and a vertical beam emitted via a laser level by the infrared camera; and
And fusing the horizontal baseline image and the vertical baseline image to obtain coordinates of a mapping datum point of the measuring datum point of the multi-line laser radar to be measured on the target.
5. The laser exit angle measurement method of a multi-line laser radar according to claim 1, further comprising the steps of:
acquiring a proportion image, wherein the proportion image is an image obtained by shooting a standard part arranged on the target through the infrared camera; and
the scaled image is processed to obtain a scaling factor between the image size and the true size.
6. The laser emission angle measurement system of the multi-line laser radar is used for measuring the laser emission angle of the multi-line laser radar and is characterized in that the laser emission angle measurement system of the multi-line laser radar comprises a plurality of laser emission angles which are connected in a mutually communicable manner:
the acquisition module is used for acquiring a light spot image, wherein the light spot image is an image obtained by shooting a punctiform light spot formed on a target by laser emitted by a multi-line laser radar to be measured through an infrared camera;
the image processing module is used for processing the spot images to obtain the center coordinates of each spot in the spot images; and
The calculation module is used for calculating the laser emergent angle of the multi-line laser radar to be measured based on the center coordinates of the punctiform facula;
the acquisition module is also used for acquiring a first light spot image and a second light spot image;
the first light spot image and the second light spot image are images obtained by shooting punctiform light spots formed on the target by the laser emitted by the multi-line laser radar to be measured at different shooting positions in a time-sharing way through the same infrared camera; or the first light spot image and the second light spot image are images obtained by simultaneously shooting point-shaped light spots formed on the target by the laser emitted by the multi-line laser radar to be measured at different shooting positions by a first infrared camera and a second infrared camera respectively.
7. The laser exit angle measurement system of multi-line lidar of claim 6, wherein the image processing comprises an image stitching module and an image recognition module that are communicatively connected to each other, wherein the image stitching module is configured to stitch the first spot image and the second spot image to form a spot stitching image, wherein the spot stitching image is capable of displaying the images of all spot-like spots on the target completely; the image recognition module is used for recognizing the center of the punctiform facula in the facula spliced image so as to obtain the center coordinate of the punctiform facula.
8. The system for measuring the laser exit angle of the multi-line lidar according to claim 6, further comprising a fixture and a target, wherein the fixture and the target are arranged correspondingly, and the fixture is used for fixing the infrared camera and the multi-line lidar to be measured in a limited manner so that lens surfaces of the infrared camera and the multi-line lidar to be measured are parallel to the target.
9. The multi-line lidar laser exit angle measurement system of claim 8 further comprising a rail, wherein the tool and/or the target is movably disposed to the rail, wherein the rail is used to adjust the distance between the tool and the target.
10. An electronic device, comprising:
at least one processor for executing instructions; and
a memory communicatively coupled to the at least one processor, wherein the memory has at least one instruction, wherein the instruction is executed by the at least one processor to cause the at least one processor to perform a method of laser exit angle measurement for a multi-line lidar, wherein the method of laser exit angle measurement for a multi-line lidar comprises the steps of:
Acquiring a spot image, wherein the spot image is an image obtained by shooting a spot-like spot formed on a target by laser emitted by a multi-line laser radar to be measured through an infrared camera;
processing the spot image to obtain the center coordinates of each spot in the spot image; and
calculating the laser emergent angle of the multi-line laser radar to be measured based on the center coordinates of the punctiform faculae;
the step of acquiring a light spot image comprises the following steps:
acquiring a first light spot image and a second light spot image;
the first light spot image and the second light spot image are images obtained by shooting punctiform light spots formed on the target by the laser emitted by the multi-line laser radar to be measured at different shooting positions in a time-sharing manner through the same infrared camera; or the first light spot image and the second light spot image are images obtained by simultaneously shooting point-shaped light spots formed on the target by the laser emitted by the multi-line laser radar to be measured at different shooting positions by a first infrared camera and a second infrared camera respectively.
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