CN106646407A - Radar calibration equipment checking method, device and system - Google Patents
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Abstract
本发明涉及一种雷达标定设备校验方法、装置和系统。所述方法包括步骤：获取摄像系统拍摄的雷达标定设备的第一图像，对所述第一图像进行分析，获得所述第一图像中的雷达标定设备的第二图像；计算所述第二图像在所述第一图像中的位置，根据所述位置以及设定值的乘积获得所述雷达标定设备的实际位置；计算所述第二图像在所述第一图像中的旋转角，根据所述旋转角以及设定值的乘积获得所述雷达标定设备的实际旋转角；校验所述雷达标定设备的实际位置和实际旋转角是否分别满足对应的预设条件。本发明大大提高了雷达标定设备的测量精度，保证了雷达标定设备的高精度要求。
The invention relates to a calibration method, device and system for radar calibration equipment. The method includes the steps of: acquiring a first image of the radar calibration equipment captured by the camera system, analyzing the first image, and obtaining a second image of the radar calibration equipment in the first image; calculating the second image position in the first image, obtain the actual position of the radar calibration device according to the product of the position and the set value; calculate the rotation angle of the second image in the first image, according to the The product of the rotation angle and the set value is used to obtain the actual rotation angle of the radar calibration device; and it is checked whether the actual position and the actual rotation angle of the radar calibration device meet corresponding preset conditions respectively. The invention greatly improves the measurement accuracy of the radar calibration equipment and ensures the high precision requirement of the radar calibration equipment.
Description
技术领域technical field
本发明涉及汽车电子领域，特别是涉及一种雷达标定设备校验方法、装置和系统。The invention relates to the field of automotive electronics, in particular to a calibration method, device and system for radar calibration equipment.
背景技术Background technique
雷达是利用电磁波探测目标的电子设备，它发射电磁波对目标进行照射并接收其回波，由此获得目标至电磁波发射点的距离、距离变化率(径向速度)、方位和高度等信息。目前雷达已经被广泛应用在汽车电子技术领域，例如车载中距雷达系统被应用在前碰撞预警系统和自适应巡航系统中。Radar is an electronic device that uses electromagnetic waves to detect targets. It emits electromagnetic waves to irradiate the target and receives its echoes, thereby obtaining information such as the distance from the target to the electromagnetic wave emission point, the distance change rate (radial velocity), azimuth, and altitude. At present, radar has been widely used in the field of automotive electronics technology. For example, vehicle-mounted mid-range radar systems are used in forward collision warning systems and adaptive cruise systems.
雷达在整车上的安装精度要求很高，所以车辆出厂前都需要使用专用的和高精度的雷达标定设备对雷达安装的准确性进行校验。因此，为了保证雷达的安装精度，对雷达标定设备的精度要求也很高。若雷达标定设备的精度不满足要求，前碰撞预警系统和自适应巡航系统等系统中雷达的检测距离就会不准确，影响整车安全。The installation accuracy of the radar on the vehicle is very high, so before the vehicle leaves the factory, it is necessary to use a dedicated and high-precision radar calibration device to verify the accuracy of the radar installation. Therefore, in order to ensure the installation accuracy of the radar, the accuracy requirements for the radar calibration equipment are also very high. If the accuracy of radar calibration equipment does not meet the requirements, the detection distance of radar in systems such as forward collision warning system and adaptive cruise system will be inaccurate, which will affect the safety of the whole vehicle.
传统技术中对雷达标定设备的校准维护采用的是水平角度仪和尺具结合的方法，即测量人员通过水平角度仪和尺具测量雷达标定设备的安装尺寸和角度，从而判断雷达标定设备的安装尺寸和角度的偏差是否满足设计要求。由于人工测量存在误差，该方法测量精度不高，无法保证雷达标定设备的高精度要求。In the traditional technology, the calibration and maintenance of radar calibration equipment adopts the method of combining the horizontal angle meter and the ruler, that is, the surveyor uses the horizontal angle meter and the ruler to measure the installation size and angle of the radar calibration equipment, so as to judge the installation of the radar calibration equipment. Whether the deviation of size and angle meets the design requirements. Due to errors in manual measurement, the measurement accuracy of this method is not high, and the high precision requirements of radar calibration equipment cannot be guaranteed.
发明内容Contents of the invention
基于此，有必要针对上述问题，提供一种雷达标定设备校验方法、装置和系统，有效提高了雷达标定设备的测量精度。Based on this, it is necessary to address the above problems and provide a calibration method, device and system for radar calibration equipment, which effectively improves the measurement accuracy of radar calibration equipment.
一种雷达标定设备校验方法，包括步骤：A calibration method for radar calibration equipment, comprising the steps of:
获取摄像系统拍摄的雷达标定设备的第一图像，对所述第一图像进行分析，获得所述第一图像中的雷达标定设备的第二图像；Obtaining a first image of the radar calibration device captured by the camera system, analyzing the first image, and obtaining a second image of the radar calibration device in the first image;
计算所述第二图像在所述第一图像中的位置，根据所述位置以及设定值的乘积获得所述雷达标定设备的实际位置；calculating the position of the second image in the first image, and obtaining the actual position of the radar calibration device according to the product of the position and a set value;
计算所述第二图像在所述第一图像中的旋转角，根据所述旋转角以及设定值的乘积获得所述雷达标定设备的实际旋转角；calculating the rotation angle of the second image in the first image, and obtaining the actual rotation angle of the radar calibration device according to the product of the rotation angle and a set value;
校验所述雷达标定设备的实际位置和实际旋转角是否分别满足对应的预设条件。Verifying whether the actual position and the actual rotation angle of the radar calibration device respectively satisfy corresponding preset conditions.
一种雷达标定设备校验装置，包括：A calibration device for radar calibration equipment, comprising:
图像获得模块，用于获取摄像系统拍摄的雷达标定设备的第一图像，对所述第一图像进行分析，获得所述第一图像中的雷达标定设备的第二图像；An image acquisition module, configured to acquire a first image of the radar calibration device captured by the camera system, analyze the first image, and obtain a second image of the radar calibration device in the first image;
位置获得模块，用于计算所述第二图像在所述第一图像中的位置，根据所述位置以及设定值的乘积获得所述雷达标定设备的实际位置；A position obtaining module, configured to calculate the position of the second image in the first image, and obtain the actual position of the radar calibration device according to the product of the position and a set value;
旋转角获得模块，用于计算所述第二图像在所述第一图像中的旋转角，根据所述旋转角以及设定值的乘积获得所述雷达标定设备的实际旋转角；A rotation angle obtaining module, configured to calculate the rotation angle of the second image in the first image, and obtain the actual rotation angle of the radar calibration device according to the product of the rotation angle and a set value;
校验模块，用于校验所述雷达标定设备的实际位置和实际旋转角是否分别满足对应的预设条件。The verification module is used to verify whether the actual position and the actual rotation angle of the radar calibration device meet the corresponding preset conditions respectively.
一种雷达标定设备校验系统，包括：A calibration system for radar calibration equipment, comprising:
摄像系统，用于拍摄雷达标定设备的第一图像；A camera system for taking a first image of the radar calibration device;
上位机，用于获取摄像系统拍摄的雷达标定设备的第一图像，对所述第一图像进行分析，获得所述第一图像中的雷达标定设备的第二图像；计算所述第二图像在所述第一图像中的位置，根据所述位置以及设定值的乘积获得所述雷达标定设备的实际位置；计算所述第二图像在所述第一图像中的旋转角，根据所述旋转角以及设定值的乘积获得所述雷达标定设备的实际旋转角；校验所述雷达标定设备的实际位置和实际旋转角是否分别满足对应的预设条件。The upper computer is used to obtain the first image of the radar calibration equipment taken by the camera system, analyze the first image, and obtain the second image of the radar calibration equipment in the first image; calculate the second image in the The position in the first image, the actual position of the radar calibration device is obtained according to the product of the position and the set value; the rotation angle of the second image in the first image is calculated, and the rotation angle is calculated according to the rotation The product of the angle and the set value obtains the actual rotation angle of the radar calibration device; and checks whether the actual position and the actual rotation angle of the radar calibration device meet corresponding preset conditions respectively.
上述雷达标定设备校验方法、装置和系统，获取雷达标定设备的图像，通过图像分析方法获得雷达标定设备在图像中的位置以及旋转角，然后将雷达标定设备在图像中的位置以及旋转角进行转换，得到雷达标定设备在实际空间中的位置以及旋转角，然后根据雷达标定设备在实际空间中的位置以及旋转角的偏差即可以对雷达标定设备进行量化维护。由于该方法通过图像分析自动计算出雷达标定设备的实际位置和实际旋转角，不需要人工测量，因此大大提高了雷达标定设备的测量精度，保证了雷达标定设备的高精度要求。The above-mentioned radar calibration equipment verification method, device and system, acquires the image of the radar calibration equipment, obtains the position and rotation angle of the radar calibration equipment in the image through the image analysis method, and then performs the position and rotation angle of the radar calibration equipment in the image Conversion, the position and rotation angle of the radar calibration equipment in the actual space are obtained, and then the radar calibration equipment can be quantitatively maintained according to the deviation of the position of the radar calibration equipment in the actual space and the rotation angle. Since the method automatically calculates the actual position and actual rotation angle of the radar calibration equipment through image analysis without manual measurement, the measurement accuracy of the radar calibration equipment is greatly improved and the high precision requirements of the radar calibration equipment are guaranteed.
附图说明Description of drawings
图1为一实施例的雷达标定设备校验方法的流程示意图；Fig. 1 is a schematic flow chart of a method for verifying radar calibration equipment of an embodiment;
图2为一具体实施例的三角锥标定设备的示意图；Fig. 2 is the schematic diagram of the triangular cone calibration equipment of a specific embodiment;
图3为一具体实施例的摄像头放置位置的示意图；Fig. 3 is the schematic diagram of the placement position of the camera of a specific embodiment;
图4为一具体实施例的从图像中获得三角锥图像的示意图；Fig. 4 is a schematic diagram of obtaining a triangular cone image from an image in a specific embodiment;
图5为一具体实施例的建立的标定板图像的坐标系和三角锥图像的坐标系的示意图；Fig. 5 is a schematic diagram of the coordinate system of the calibration plate image and the coordinate system of the triangular pyramid image of the establishment of a specific embodiment;
图6为一实施例的雷达标定设备校验装置的结构示意图；FIG. 6 is a schematic structural diagram of a radar calibration device verification device according to an embodiment;
图7为一实施例的雷达标定设备校验系统的结构示意图。Fig. 7 is a schematic structural diagram of a calibration system for radar calibration equipment according to an embodiment.
具体实施方式detailed description
为更进一步阐述本发明所采取的技术手段及取得的效果，下面结合附图及较佳实施例，对本发明的技术方案，进行清楚和完整的描述。In order to further illustrate the technical means adopted by the present invention and the achieved effects, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and preferred embodiments.
如图1所示，一种雷达标定设备校验方法，包括步骤：As shown in Figure 1, a calibration method for radar calibration equipment includes steps:
S110、获取摄像系统拍摄的雷达标定设备的第一图像，对所述第一图像进行分析，获得所述第一图像中的雷达标定设备的第二图像；S110. Acquire a first image of the radar calibration device captured by the camera system, analyze the first image, and obtain a second image of the radar calibration device in the first image;
S120、计算所述第二图像在所述第一图像中的位置，根据所述位置以及设定值的乘积获得所述雷达标定设备的实际位置；S120. Calculate the position of the second image in the first image, and obtain the actual position of the radar calibration device according to the product of the position and a set value;
S130、计算所述第二图像在所述第一图像中的旋转角，根据所述旋转角以及设定值的乘积获得所述雷达标定设备的实际旋转角；S130. Calculate the rotation angle of the second image in the first image, and obtain the actual rotation angle of the radar calibration device according to the product of the rotation angle and a set value;
S140、校验所述雷达标定设备的实际位置和实际旋转角是否分别满足对应的预设条件。S140. Check whether the actual position and the actual rotation angle of the radar calibration device respectively satisfy corresponding preset conditions.
上述雷达标定设备校验方法自动计算出雷达标定设备的自由度，不需要人工测量，因此大大提高了雷达标定设备的测量精度，保证了雷达标定设备的高精度要求，其中自由度为物体在空间中可运动的维度。下面对各个步骤的具体实施方式做详细介绍。The above radar calibration equipment verification method automatically calculates the degree of freedom of the radar calibration equipment without manual measurement, thus greatly improving the measurement accuracy of the radar calibration equipment and ensuring the high precision requirements of the radar calibration equipment, where the degree of freedom is the object in space The movable dimension in . The specific implementation manner of each step will be introduced in detail below.
在步骤S110中，雷达标定设备为现有技术中对雷达安装精度校核的设备。例如，如图2所示，雷达标定设备可以是中距雷达系统普遍使用的三角锥标定设备。雷达标定设备还可以是其它可以对雷达安装精度校核的设备，例如金属块等，本发明并不对此做出限定。In step S110, the radar calibration device is a device for calibrating the installation accuracy of the radar in the prior art. For example, as shown in FIG. 2 , the radar calibration device may be a triangular cone calibration device commonly used in mid-range radar systems. The radar calibration device may also be other devices capable of calibrating the installation accuracy of the radar, such as a metal block, which is not limited in the present invention.
在对雷达标定设备进行校验前，可以先对雷达标定设备的边长尺寸进行初步校验，确保雷达标定设备的边长尺寸满足要求。以雷达标定设备为三角锥为例，校验人员对三角锥截面的边长进行测量，确保三角锥截面的边长不过长或过短，即边长在正常长度范围内。Before calibrating the radar calibration equipment, the side length dimension of the radar calibration equipment can be preliminarily checked to ensure that the side length dimension of the radar calibration equipment meets the requirements. Taking the radar calibration equipment as a triangular cone as an example, the calibration personnel measure the side length of the triangular cone section to ensure that the side length of the triangular cone section is not too long or too short, that is, the side length is within the normal length range.
摄像系统可以为摄像头或者相机等。为了进一步提高雷达标定设备的测量精度，需要保证摄像系统在水平状态下拍摄雷达标定设备的图像，即在一个实施例中，所述摄像系统处于水平状态。摄像系统在非水平状态下拍摄雷达标定设备的图像时也可以采用本实施例方法获得雷达标定设备的自由度(实际位置和实际旋转角)，而且测量精确度也高于传统技术中采用尺具等方式测量的精准度，但是为了进一步提高雷达标定设备的测量精度，摄像系统需要在水平状态下对雷达标定设备进行拍照，进而根据该拍摄的图像可以计算出更为精准的自由度。The camera system may be a camera or a camera. In order to further improve the measurement accuracy of the radar calibration device, it is necessary to ensure that the camera system captures images of the radar calibration device in a horizontal state, that is, in one embodiment, the camera system is in a horizontal state. When the camera system takes images of the radar calibration equipment in a non-horizontal state, the method of this embodiment can also be used to obtain the degrees of freedom (actual position and actual rotation angle) of the radar calibration equipment, and the measurement accuracy is also higher than that of the ruler used in the traditional technology. However, in order to further improve the measurement accuracy of the radar calibration equipment, the camera system needs to take pictures of the radar calibration equipment in a horizontal state, and then calculate more accurate degrees of freedom based on the captured images.
确保摄像系统在水平状态下拍摄图像有多种实现方式，例如，将摄像系统放置于雷达标定设备附近的水平桌面上，或者将摄像系统放置于定位架上等，本发明并不对此做出限定。以摄像系统放置于定位架上为例，如图3所示，定位架放置于雷达标定设备前方一定距离L处，放置的位置需要处于水平，不能有明显的倾斜。定位架上有水平仪，水平仪可以指示定位架的水平情况，有助于使用人员将定位架上的云台调整为水平状态，摄像头支架为垂直状态。定位架上的云台用于固定摄像头以及调整摄像头的角度。当测试人员将摄像头调整为水平状态后，就可以对准雷达标定设备进行拍照，获得雷达标定设备的图像。There are many ways to ensure that the camera system captures images in a horizontal state, for example, placing the camera system on a horizontal table near the radar calibration equipment, or placing the camera system on a positioning frame, etc., which is not limited by the present invention . Take the camera system placed on the positioning frame as an example, as shown in Figure 3, the positioning frame is placed at a certain distance L in front of the radar calibration equipment, and the placement position needs to be horizontal without obvious inclination. There is a spirit level on the positioning frame, which can indicate the level of the positioning frame, which helps the user to adjust the pan/tilt on the positioning frame to a horizontal state, and the camera support to a vertical state. The pan/tilt on the positioning frame is used to fix the camera and adjust the angle of the camera. After the tester adjusts the camera to the horizontal state, he can aim at the radar calibration equipment and take pictures to obtain the image of the radar calibration equipment.
获得雷达标定设备的图像后，对该图像进行分析，识别出所述图像中的雷达标定设备的图像，对图像进行分析识别雷达标定设备的图像可以根据现有技术中已有的方式实现。After the image of the radar calibration device is obtained, the image is analyzed to identify the image of the radar calibration device in the image, and the image analysis and recognition of the image of the radar calibration device can be realized according to existing methods in the prior art.
在步骤S120和步骤S130中，图像坐标系：摄像机采集的数字图像在计算机内可以存储为数组，数组中的每一个元素(象素，pixel)的值即是图像点的亮度(灰度)。对雷达标定设备的图像进行图像分析，建立所述图像的图像坐标系，即可以利用坐标系投影的立体几何数学原理计算出雷达标定设备在图像坐标系中的位置和旋转角。In step S120 and step S130, the image coordinate system: the digital image collected by the camera can be stored as an array in the computer, and the value of each element (pixel, pixel) in the array is the brightness (grayscale) of the image point. Image analysis is performed on the image of the radar calibration device, and the image coordinate system of the image is established, that is, the position and rotation angle of the radar calibration device in the image coordinate system can be calculated by using the three-dimensional geometry mathematical principle of coordinate system projection.
雷达标定设备包含的器件不一样，自由度的计算方式也不一样。下面结合两个实施例进行说明。The radar calibration equipment contains different devices, and the calculation method of the degree of freedom is also different. The following will be described in conjunction with two embodiments.
所述雷达标定设备包括标定板和目标物，所述第二图像包括标定板的图像和目标物的图像；在一个实施例中，计算所述第二图像在所述第一图像中的位置的步骤包括：S121、计算标定板的图像和目标物的图像在所述第一图像中的相对位置。无论标定板和目标物是否固定安装，均可以对标定板和目标物进行校核。在进行校核时，一般只关注目标物和标定板之间的相对位置，即雷达标定设备需要保证目标物和标定板的相对位置准确。The radar calibration device includes a calibration board and a target object, and the second image includes an image of the calibration board and an image of the target object; in one embodiment, calculating the position of the second image in the first image The steps include: S121. Calculate the relative positions of the image of the calibration plate and the image of the target object in the first image. Regardless of whether the calibration plate and the target object are fixedly installed, the calibration plate and the target object can be checked. When performing calibration, generally only focus on the relative position between the target object and the calibration board, that is, the radar calibration equipment needs to ensure that the relative position of the target object and the calibration board is accurate.
所述雷达标定设备包括标定板和目标物，所述第二图像包括标定板的图像和目标物的图像；所述旋转角包括侧倾角、横摆角和俯仰角；在一个实施例中，计算所述第二图像在所述第一图像中的旋转角的步骤可以包括：The radar calibration device includes a calibration board and a target object, and the second image includes an image of the calibration board and an image of the target object; the rotation angle includes a roll angle, a yaw angle, and a pitch angle; in one embodiment, the calculation The step of rotating the second image in the first image may include:
S131、计算标定板的图像在所述第一图像中的侧倾角、横摆角和俯仰角；S131. Calculate the roll angle, yaw angle, and pitch angle of the image of the calibration plate in the first image;
标定板为放置目标物的板，如图2或图3所示，标定板为三角锥标定设备中的矩形板。标定板上可以铺满吸波材料。以右、前、上三个方向构建XYZ坐标系，侧倾角指的是车辆绕X轴旋转的角度，俯仰角指的是车辆绕Y轴旋转的角度，横摆角指的是车辆绕Z轴旋转的角度，也就是左右摆动的角度。在计算标定板在图像坐标系的侧倾角、俯仰角和横摆角时可以利用坐标系投影的立体几何数学原理。The calibration plate is a plate on which the target is placed, as shown in Figure 2 or Figure 3, the calibration plate is a rectangular plate in the triangular cone calibration equipment. The calibration plate can be covered with absorbing material. The XYZ coordinate system is constructed in three directions: right, front, and up. The roll angle refers to the angle of the vehicle's rotation around the X-axis, the pitch angle refers to the angle of the vehicle's rotation around the Y-axis, and the yaw angle refers to the angle of the vehicle's rotation around the Z-axis. The angle of rotation, that is, the angle of swinging left and right. When calculating the roll angle, pitch angle and yaw angle of the calibration plate in the image coordinate system, the three-dimensional geometry mathematical principle of coordinate system projection can be used.
S132、计算目标物的图像在所述第一图像中的侧倾角、横摆角和俯仰角；S132. Calculate the roll angle, yaw angle, and pitch angle of the image of the target object in the first image;
目标物为接收雷达发射信号的物体，例如三角锥或者金属块等。如图2或者图3所示，目标物即为三角锥标定设备中截面为三角形的物体。在计算目标物在图像坐标系的侧倾角、俯仰角和横摆角时可以利用坐标系投影的立体几何数学原理。The target object is an object that receives the signal emitted by the radar, such as a triangular cone or a metal block. As shown in FIG. 2 or FIG. 3 , the target object is an object with a triangular cross-section in the triangular pyramid calibration device. When calculating the roll angle, pitch angle and yaw angle of the target object in the image coordinate system, the three-dimensional geometry mathematical principle of coordinate system projection can be used.
需要说明的是，上述步骤S121、步骤S131和步骤S132并无先后顺序，可以同时进行，也可以按照用户自己设置的顺序进行，本发明并不对此做出限定。It should be noted that the above step S121 , step S131 and step S132 are in no order, and can be performed at the same time, or in the order set by the user, which is not limited by the present invention.
为了更好地理解所述雷达标定设备包括标定板和目标物自由度的计算方式，下面结合具体实施进行详细说明。In order to better understand the calculation method of the radar calibration equipment including the calibration board and the degree of freedom of the target object, detailed description will be given below in conjunction with specific implementation.
需要说明的是，为了降低计算量，下述方法分别建立了标定板的图像的第一坐标系和所述目标物的图像的第二坐标系。也可以以整个图形坐标系为基础进行计算，同样也可以计算出图像中标定板各边的长度，以及三角形的底边和高的长度，进而计算出标定板和三角锥的自由度，本发明并不对此做出限定。It should be noted that, in order to reduce the amount of calculation, the following methods respectively establish the first coordinate system of the image of the calibration plate and the second coordinate system of the image of the target object. It is also possible to calculate on the basis of the entire graphics coordinate system, and it is also possible to calculate the length of each side of the calibration plate in the image, and the length of the base and height of the triangle, and then calculate the degrees of freedom of the calibration plate and the triangular cone. The present invention This is not limited.
建立了标定板图像的第一坐标系和目标物图像的第二坐标系后，即可以利用坐标系投影的立体几何数学原理计算雷达标定设备的自由度。下面结合三角锥和标定板进行说明。需要说明的是，当雷达标定设备为三角锥和标定板之外的其它设备时，例如目标物为金属块，或者标定板是矩形之外的其它形状，同样也可以利用坐标系投影的立体几何数学原理计算出自由度，因此，下面虽然以标定板和三角锥进行说明，但是本领域技术人员应当理解本发明利用坐标系投影的立体几何数学原理计算出自由度的方法并不仅仅适用于三角锥和标定板。After the first coordinate system of the calibration plate image and the second coordinate system of the target image are established, the degrees of freedom of the radar calibration equipment can be calculated by using the three-dimensional geometry mathematical principle of coordinate system projection. The following will be described in conjunction with the triangular cone and the calibration plate. It should be noted that when the radar calibration equipment is other than the triangular cone and the calibration plate, for example, the target is a metal block, or the calibration plate is in a shape other than a rectangle, the three-dimensional geometry of the coordinate system projection can also be used The mathematical principle calculates the degree of freedom, therefore, although the calibration plate and the triangular cone are described below, those skilled in the art should understand that the method for calculating the degree of freedom using the three-dimensional geometry mathematical principle of the coordinate system projection in the present invention is not only applicable to the triangular cone and calibration plate.
在一个实施例中，计算标定板的图像和目标物的图像在所述第一图像中的相对位置的步骤可以包括：In one embodiment, the step of calculating the relative positions of the image of the calibration plate and the image of the target in the first image may include:
S1211、分别建立所述标定板的图像的第一坐标系和所述目标物的图像的第二坐标系；S1211. Respectively establish a first coordinate system of the image of the calibration plate and a second coordinate system of the image of the target;
以中距雷达标定系统采用的标定设备为例，该标定设备的标定板为平行四边形标定板，目标物为三角锥。获取到该雷达标定设备的图像后，对图形进行分析，获得图像中的标定板的图像和三角锥的图像，如图4所示。对图像进行分析获得标定板图像和三角锥图像可以采用现有技术中已有的方式实现。然后针对标定板图像建立标定板图像的图像坐标系A(即XOY)，如图5中左图所示，针对三角锥图像建立三角锥的图像坐标系A’(即X’O’Y’)，如图5中右图所示。Taking the calibration equipment used in the medium-range radar calibration system as an example, the calibration plate of the calibration equipment is a parallelogram calibration plate, and the target object is a triangular cone. After the image of the radar calibration device is obtained, the image is analyzed to obtain the image of the calibration plate and the image of the triangular cone in the image, as shown in Figure 4. Analyzing the image to obtain the calibration plate image and the triangular cone image can be realized by existing methods in the prior art. Then establish the image coordinate system A (ie XOY) of the calibration plate image for the calibration plate image, as shown in the left figure in Figure 5, establish the image coordinate system A' (ie X'O'Y') of the triangular cone for the triangular cone image , as shown on the right in Figure 5.
S1212、计算所述第二坐标系的原点在所述第一坐标系中的位置，获得标定板的图像和目标物的图像在所述第一图像中的相对位置。S1212. Calculate the position of the origin of the second coordinate system in the first coordinate system, and obtain the relative positions of the image of the calibration plate and the image of the target object in the first image.
无论三角锥和标定板之间是否固定安装，雷达标定设备只需保证三角锥和标定板的相对位置准确即可。因此还需要对三角锥在整个坐标系中的位置尺寸进行校核，即判断X’O’Y’的原点O’在标定板的坐标系XOY中的位置。Regardless of whether the triangular cone and the calibration plate are fixedly installed or not, the radar calibration equipment only needs to ensure that the relative positions of the triangular cone and the calibration plate are accurate. Therefore, it is also necessary to check the position and size of the triangular cone in the entire coordinate system, that is, to judge the position of the origin O' of X'O'Y' in the coordinate system XOY of the calibration plate.
在一个实施例中，计算标定板的图像在所述第一图像中的侧倾角、横摆角和俯仰角的步骤可以包括：In one embodiment, the step of calculating the roll angle, yaw angle and pitch angle of the image of the calibration plate in the first image may include:
S1311、建立所述标定板的图像的第一坐标系，所述标定板的图像为平行四边形；S1311. Establish a first coordinate system of the image of the calibration board, where the image of the calibration board is a parallelogram;
针对标定板图像建立标定板图像的图像坐标系A(即XOY)，如图5中左图所示。标定板可以为矩形的标定板，或者正方形的标定板，或者其他平行四边形的标定板等。The image coordinate system A (namely XOY) of the calibration plate image is established for the calibration plate image, as shown in the left figure in FIG. 5 . The calibration board can be a rectangular calibration board, or a square calibration board, or other parallelogram calibration boards.
S1312、根据平行四边形的底边与所述第一坐标系X轴的夹角，获得标定板的图像在所述第一图像中的侧倾角；S1312. Obtain the roll angle of the image of the calibration plate in the first image according to the angle between the base of the parallelogram and the X-axis of the first coordinate system;
以标定板为矩形板为例，标定板的图案正常应为矩形。但画面中实际成像的标定板如图5所示，这是因为标定板存在俯仰角、侧倾角和横摆角偏差所致。如图5所示，画面中的γ角是平行四边形底边与X坐标轴夹角，即标定板在A坐标系中的侧倾角。平行四边形底边为平行四边形最下面的边，可以根据现有技术中的方式确定。平行四边形底边与X轴的夹角的确定方式有很多种，例如根据底边以及底边在X轴上的投影确定等。Taking the calibration plate as a rectangular plate as an example, the pattern of the calibration plate should normally be rectangular. However, the calibration board actually imaged in the picture is shown in Figure 5, which is caused by deviations in the pitch angle, roll angle and yaw angle of the calibration board. As shown in Figure 5, the γ angle in the picture is the angle between the base of the parallelogram and the X coordinate axis, that is, the roll angle of the calibration plate in the A coordinate system. The base of the parallelogram is the lowermost side of the parallelogram, which can be determined according to the methods in the prior art. There are many ways to determine the angle between the base of the parallelogram and the X-axis, for example, according to the base and the projection of the base on the X-axis.
S1313、根据平行四边形的底边与所述标定板的实际底边的比值的反余弦，获得标定板的图像在所述第一图像中的横摆角；S1313. According to the arc cosine of the ratio of the base of the parallelogram to the actual base of the calibration plate, obtain the yaw angle of the image of the calibration plate in the first image;
平行四边形底边h2是标定板实际底边H2在A坐标系中垂直面的投影，关系为：The base h2 of the parallelogram is the projection of the actual base H2 of the calibration plate on the vertical plane in the A coordinate system, and the relationship is:
h2＝H2×cosβ，β是横摆角 (1)h 2 ＝H 2 ×cosβ, β is the yaw angle(1)
实际底边是与平行四边形底边对应的边，实际底边H2的长度可以根据尺具测量得到。根据式(1)可以得到： The actual base is the side corresponding to the base of the parallelogram, and the length of the actual base H2 can be obtained by measuring with a ruler. According to formula (1), we can get:
S1314、根据平行四边形的底边的相邻边与所述实际底边的相邻边的比值的反余弦，获得标定板的图像在所述第一图像中的俯仰角；S1314. Obtain the pitch angle of the image of the calibration plate in the first image according to the arccosine of the ratio of the adjacent sides of the parallelogram base to the adjacent sides of the actual base;
平行四边形底边的相邻边为平行四边形边h1，实际底边的相邻边为边长H1。平行四边形边h1是标定板实际边长H1在A坐标系中垂直面的投影，关系为：The adjacent side of the parallelogram base is the parallelogram side h1, and the adjacent side of the actual base is the side length H1. The parallelogram side h1 is the projection of the actual side length H1 of the calibration plate on the vertical plane in the A coordinate system, and the relationship is:
h1＝H1×cosα，α是俯仰角 (2)h 1 ＝H 1 ×cosα, α is pitch angle (2)
实际边长H1是与平行四边形边h1对应的边，实际底边H1的长度可以根据尺具测量得到。根据式(2)可以得到： The actual side length H1 is the side corresponding to the side h1 of the parallelogram, and the length of the actual bottom side H1 can be obtained by measuring with a ruler. According to formula (2), we can get:
在一个实施例中，计算目标物的图像在所述第一图像中的侧倾角、横摆角和俯仰角的步骤包括：In one embodiment, the step of calculating the roll angle, yaw angle and pitch angle of the image of the target object in the first image comprises:
S1321、建立所述目标物的图像的第二坐标系，所述目标物为三角锥，所述目标物的图像为三角形；S1321. Establish a second coordinate system of the image of the target object, the target object is a triangular cone, and the image of the target object is a triangle;
针对三角锥图像建立三角锥的图像坐标系A’(即X’O’Y’)，如图5中右图所示。Establish the image coordinate system A' (namely X'O'Y') of the triangular pyramid for the triangular pyramid image, as shown in the right figure in Figure 5.
S1322、根据三角形的底边与所述第二坐标系X轴的夹角，获得目标物的图像在所述第一图像中的侧倾角；S1322. According to the angle between the base of the triangle and the X-axis of the second coordinate system, obtain the roll angle of the image of the target object in the first image;
如图5所示，三角锥图像中的底边O'B与X’坐标轴之间的夹角γ’是三角锥的侧倾角。三角形底边为三角形最下面的边，可以根据现有技术中的方式确定。三角形底边与X’坐标轴的夹角的确定方式有很多种，例如根据三角形底边以及三角形底边在X’坐标轴上的投影确定等。As shown in FIG. 5 , the included angle γ' between the base O'B and the X' coordinate axis in the triangular pyramid image is the roll angle of the triangular pyramid. The base of the triangle is the lowermost side of the triangle, which can be determined according to the methods in the prior art. There are many ways to determine the angle between the base of the triangle and the X' coordinate axis, for example, according to the base of the triangle and the projection of the base of the triangle on the X' coordinate axis.
S1323、根据三角形的底边与三角锥的实际截面的底边的比值的反余弦，获得目标物的图像在所述第一图像中的横摆角，所述实际截面为三角锥顶点到三角锥底面的纵截面；S1323. Obtain the yaw angle of the image of the target object in the first image according to the arccosine of the ratio of the base of the triangle to the base of the actual cross section of the triangular pyramid, the actual cross section being the apex of the triangular pyramid to the triangular pyramid the longitudinal section of the bottom;
三角锥图像中的底边O'B与三角锥实际截面底边在A’坐标系中垂直面的投影，关系为：The projection of the bottom edge O'B in the triangular pyramid image and the bottom edge of the actual section of the triangular pyramid on the vertical plane in the A' coordinate system is related to:
dO'B＝d0×cosβ，β是横摆角 (3)d O'B ＝d 0 ×cosβ, β is the yaw angle(3)
其中，dO'B为底边O'B的长度，d0为三角锥的实际边长，也即是三角锥实际截面底边的长度，可以根据尺具测量得到。根据式(3)可以得到 Among them, d O'B is the length of the base O'B, and d 0 is the actual side length of the triangular pyramid, that is, the length of the actual section bottom of the triangular pyramid, which can be obtained by measuring with a ruler. According to formula (3), we can get
S1324、根据三角形的底边上的高与所述实际截面的底边上的高的比值的反余弦，获得目标物的图像在所述第一图像中的俯仰角；S1324. Obtain the pitch angle of the image of the target object in the first image according to the arccosine of the ratio of the height on the base of the triangle to the height on the base of the actual section;
三角锥图像中的底边O'B边上的高h'O'B由海伦公式可推出，h'O'B与三角锥实际截面底边上的高h三角锥在A’坐标系中垂直面的投影，关系为：The height h'O'B on the base O'B side of the triangular pyramid image can be deduced from Heron's formula, h'O'B is perpendicular to the height h h'O'B on the bottom edge of the actual section of the triangular pyramid in the A' coordinate system The projection of the surface, the relationship is:
h'O'B＝h三角锥×cosα，α是俯仰角(4)h'O'B = h triangle × cosα, α is pitch angle (4)
其中，dO'A为边长O'A的长度，dAB为边长AB的长度。根据式(4)可以得到： Among them, d O'A is the length of the side length O'A, and d AB is the length of the side length AB. According to formula (4), we can get:
在另一个实施例中，所述雷达标定设备包括目标物，即所述第二图像包括目标物的图像；所述旋转角包括侧倾角、横摆角和俯仰角。计算所述第二图像在所述第一图像中的位置的步骤包括：S12-1、计算目标物的图像在所述第一图像中的位置。计算所述第二图像在所述第一图像中的旋转角的步骤包括：S13-1、计算目标物的图像在所述第一图像中的侧倾角、横摆角和俯仰角。In another embodiment, the radar calibration device includes a target object, that is, the second image includes an image of the target object; the rotation angle includes a roll angle, a yaw angle, and a pitch angle. The step of calculating the position of the second image in the first image includes: S12-1. Calculate the position of the image of the target object in the first image. The step of calculating the rotation angle of the second image in the first image includes: S13-1. Calculate the roll angle, yaw angle and pitch angle of the target image in the first image.
在一个实施例中，计算目标物的图像在所述第一图像中的位置的步骤包括：S12-11、建立所述目标物的图像的第二坐标系，计算所述第二坐标系的原点在所述第一图像的位置，获得目标物的图像在所述第一图像中的位置。In one embodiment, the step of calculating the position of the image of the target in the first image includes: S12-11, establishing a second coordinate system of the image of the target, and calculating the origin of the second coordinate system At the position of the first image, the position of the image of the target object in the first image is obtained.
需要说明是，计算目标物的位置不限制于上述方式，还可以以目标物的图像的其它点计算目标物在图像的位置。以目标物为三角锥为例，三角锥的图像为三角形，如图5的右图所示，确定目标物在图像中的位置时，可以计算O’的位置，也可以计算A的位置，也可以计算B的位置，也可以计算三角形中点的位置等。It should be noted that the calculation of the position of the target is not limited to the above method, and the position of the target in the image can also be calculated by using other points of the image of the target. Taking the target object as a triangular cone as an example, the image of the triangular cone is a triangle, as shown in the right figure of Figure 5, when determining the position of the target object in the image, the position of O' can be calculated, and the position of A can also be calculated. The position of B can be calculated, and the position of the midpoint of the triangle can also be calculated.
在一个实施例中，计算目标物的图像在所述第一图像中的侧倾角、横摆角和俯仰角的步骤包括：In one embodiment, the step of calculating the roll angle, yaw angle and pitch angle of the image of the target object in the first image comprises:
S13-11、建立所述目标物的图像的第二坐标系，所述目标物为三角锥，所述目标物的图像为三角形；S13-11. Establish a second coordinate system of the image of the target object, the target object is a triangular cone, and the image of the target object is a triangle;
S13-12、根据三角形的底边与所述第二坐标系X轴的夹角，获得目标物的图像在所述第一图像中的侧倾角；S13-12. According to the angle between the base of the triangle and the X-axis of the second coordinate system, obtain the roll angle of the image of the target object in the first image;
S13-13、根据三角形的底边与三角锥的实际截面的底边的比值的反余弦，获得目标物的图像在所述第一图像中的横摆角，所述实际截面为三角锥顶点到三角锥底面的纵截面；S13-13. Obtain the yaw angle of the image of the target object in the first image according to the arccosine of the ratio of the base of the triangle to the base of the actual section of the triangular pyramid, the actual section being the apex of the triangular pyramid to the A longitudinal section of the base of a triangular pyramid;
S13-14、根据三角形的底边上的高与实际截面的底边上的高的比值的反余弦，获得目标物的图像在所述第一图像中的俯仰角。S13-14. According to the arc cosine of the ratio of the height on the base of the triangle to the height on the base of the actual section, obtain the pitch angle of the image of the target object in the first image.
上述步骤S13-11～S13-14的具体实施方式同步骤S1321～S1324，在此不予赘述。The specific implementation manners of the above steps S13-11 to S13-14 are the same as those of steps S1321 to S1324, and will not be repeated here.
由于上述得到的为在图像坐标系中的位置和旋转角，测试人员无法判断出雷达标定设备的自由度是否满足要求，因此还需要对步图像坐标系中的位置和旋转角进行坐标系转换，得到世界坐标系的自由度。根据世界坐标系中的自由度，测试人员可以知道雷达标定设备的偏差，从而在偏差不满足标准要求时对标定设备进行量化维护，保证雷达标定设备的高精度要求。Since the obtained above is the position and rotation angle in the image coordinate system, testers cannot judge whether the degree of freedom of the radar calibration equipment meets the requirements, so it is also necessary to perform coordinate system conversion on the position and rotation angle in the image coordinate system. Get the degrees of freedom of the world coordinate system. According to the degrees of freedom in the world coordinate system, testers can know the deviation of the radar calibration equipment, so that when the deviation does not meet the standard requirements, the calibration equipment can be quantitatively maintained to ensure the high precision requirements of the radar calibration equipment.
在一个实施例中，所述设定值为距离以及预设的比例系数的乘积，所述距离为所述摄像系统与所述雷达标定设备之间的距离。In one embodiment, the set value is a product of a distance and a preset proportional coefficient, and the distance is the distance between the camera system and the radar calibration device.
图像坐标系A与世界坐标系W之间存在着关系式：There is a relationship between the image coordinate system A and the world coordinate system W:
k＝a×L (9)k=a×L (9)
a是预设的比例系数，与摄像系统有关，由实测所得。L是所述摄像系统与所述雷达标定设备之间的距离。从关系式可知，距离L越大，现实物体尺寸在画面中成像的尺寸越小。a is a preset proportional coefficient, which is related to the camera system and obtained by actual measurement. L is the distance between the camera system and the radar calibration device. It can be seen from the relational expression that the larger the distance L is, the smaller the size of the real object imaged in the picture will be.
以标定板的图像在所述第一图像中的侧倾角、横摆角和俯仰角为例，按照式(8)和式(9)分别对侧倾角、横摆角和俯仰角进行坐标系转换，得到在世界坐标系中相应的数值，即标定板在实际空间中的侧倾角、横摆角和俯仰角。Taking the roll angle, yaw angle and pitch angle of the image of the calibration board in the first image as an example, the coordinate system conversion is performed on the roll angle, yaw angle and pitch angle respectively according to formula (8) and formula (9) , to obtain the corresponding values in the world coordinate system, that is, the roll angle, yaw angle and pitch angle of the calibration board in the actual space.
在步骤S140中，获得在世界坐标系中的自由度后，设置判断自由度是否满足预设条件的程序，自动检测自由度是否满足对应的预设条件，自动计算出偏差，测试人员根据该偏差对标定设备进行量化维护。获得在世界坐标系中的自由度后，也可以直接将自由度显示，测试人员判断自由度是否满足对应的预设条件，然后对标定设备进行量化维护。In step S140, after obtaining the degrees of freedom in the world coordinate system, set a program to judge whether the degrees of freedom meet the preset conditions, automatically detect whether the degrees of freedom meet the corresponding preset conditions, and automatically calculate the deviation. Carry out quantitative maintenance on calibration equipment. After obtaining the degrees of freedom in the world coordinate system, the degrees of freedom can also be displayed directly, and the tester judges whether the degrees of freedom meet the corresponding preset conditions, and then performs quantitative maintenance on the calibration equipment.
预设条件是每个整车厂对设备提出的一个要求。标定设备在加工制作之前，车厂会对设备供应商明确提出一套制作标准，量化到每一个几何尺寸和角度的要求，这就形成了车厂对设备的标准要求。校核设备的作用就是检验标定设备是否满足车厂所需要的这些几何标准。例如，校验坐标系转换后的标定板的俯仰角、横摆角、侧倾角是否满足车厂对标定板的标准要求，校验坐标系转换后的三角锥和标定板的相对位置是否满足标准要求，校验坐标系转换后的三角锥的横摆角、俯仰角、侧倾角是否满足车厂对三角锥的标准要求。The preset condition is a request made by each OEM for the equipment. Before the calibration equipment is manufactured, the car factory will clearly propose a set of production standards to the equipment supplier, quantifying the requirements for each geometric size and angle, which forms the standard requirements of the car factory for the equipment. The function of the calibration equipment is to check whether the calibration equipment meets the geometric standards required by the car factory. For example, verify whether the pitch angle, yaw angle, and roll angle of the calibration plate after the coordinate system conversion meet the standard requirements of the car factory for the calibration plate, and whether the relative position of the triangular cone and the calibration plate after the coordinate system conversion meets the standard requirements , to verify whether the yaw angle, pitch angle, and roll angle of the triangular cone after the coordinate system conversion meet the standard requirements of the car factory for the triangular cone.
基于同一发明构思，本发明还提供一种雷达标定设备校验装置，下面结合附图对本发明装置的具体实施方式做详细描述。Based on the same inventive concept, the present invention also provides a radar calibration device verification device. The specific implementation of the device of the present invention will be described in detail below in conjunction with the accompanying drawings.
如图6所示，一种雷达标定设备校验装置，包括：As shown in Figure 6, a calibration device for radar calibration equipment includes:
图像获得模块110，用于获取摄像系统拍摄的雷达标定设备的第一图像，对所述第一图像进行分析，获得所述第一图像中的雷达标定设备的第二图像；An image obtaining module 110, configured to obtain a first image of the radar calibration device captured by the camera system, analyze the first image, and obtain a second image of the radar calibration device in the first image;
位置获得模块120，用于计算所述第二图像在所述第一图像中的位置，根据所述位置以及设定值的乘积获得所述雷达标定设备的实际位置；A position obtaining module 120, configured to calculate the position of the second image in the first image, and obtain the actual position of the radar calibration device according to the product of the position and a set value;
旋转角获得模块130，用于计算所述第二图像在所述第一图像中的旋转角，根据所述旋转角以及设定值的乘积获得所述雷达标定设备的实际旋转角；A rotation angle obtaining module 130, configured to calculate a rotation angle of the second image in the first image, and obtain an actual rotation angle of the radar calibration device according to a product of the rotation angle and a set value;
校验模块140，用于校验所述雷达标定设备的实际位置和实际旋转角是否分别满足对应的预设条件。The verification module 140 is configured to verify whether the actual position and the actual rotation angle of the radar calibration device respectively satisfy corresponding preset conditions.
上述雷达标定设备校验装置通过自动计算出雷达标定设备的自由度，不需要人工测量，不受限于测量工具的精度，因此大大提高了雷达标定设备的测量精度，保证了雷达标定设备的高精度要求。下面对各个模块的功能做详细介绍。The above-mentioned radar calibration equipment verification device automatically calculates the degree of freedom of the radar calibration equipment, does not require manual measurement, and is not limited by the accuracy of the measurement tool, thus greatly improving the measurement accuracy of the radar calibration equipment and ensuring the high accuracy of the radar calibration equipment. Accuracy requirements. The functions of each module are described in detail below.
在对雷达标定设备进行校验前，可以先对雷达标定设备的边长尺寸进行初步校验，确保雷达标定设备的边长尺寸满足要求。雷达标定设备图像的获取可以根据现有技术中已有的摄像系统实现，摄像系统可以为摄像头或者相机等。为了进一步提高雷达标定设备的测量精度，需要保证摄像系统在水平状态下拍摄雷达标定设备的图像，即在一个实施例中，图像获得模块110通过处于水平状态的摄像系统获取雷达标定设备的图像，获得雷达标定设备的图像后，对该图像进行分析，识别出所述图像中的雷达标定设备的图像，对图像进行分析识别雷达标定设备的图像可以根据现有技术中已有的方式实现。。Before calibrating the radar calibration equipment, the side length dimension of the radar calibration equipment can be preliminarily checked to ensure that the side length dimension of the radar calibration equipment meets the requirements. The image acquisition of the radar calibration device can be realized according to an existing camera system in the prior art, and the camera system can be a camera or a camera. In order to further improve the measurement accuracy of the radar calibration equipment, it is necessary to ensure that the camera system captures images of the radar calibration equipment in a horizontal state, that is, in one embodiment, the image acquisition module 110 acquires images of the radar calibration equipment through the camera system in a horizontal state, After the image of the radar calibration device is obtained, the image is analyzed to identify the image of the radar calibration device in the image, and the image analysis and recognition of the image of the radar calibration device can be realized according to existing methods in the prior art. .
雷达标定设备包含的器件不一样，自由度的计算方式也不一样。下面结合两个实施例进行说明。The radar calibration equipment contains different devices, and the calculation method of the degree of freedom is also different. The following will be described in conjunction with two embodiments.
所述雷达标定设备包括标定板和目标物，所述第二图像包括标定板的图像和目标物的图像；在一个实施例中，位置获得模块120计算标定板的图像和目标物的图像在所述第一图像中的相对位置。所述旋转角包括侧倾角、横摆角和俯仰角；在一个实施例中，旋转角获得模块130计算标定板的图像在所述第一图像中的侧倾角、横摆角和俯仰角；计算目标物的图像在所述第一图像中的侧倾角、横摆角和俯仰角。The radar calibration device includes a calibration board and a target object, and the second image includes an image of the calibration board and an image of the target object; in one embodiment, the position obtaining module 120 calculates the image of the calibration board and the image of the target object in the relative position in the first image. The rotation angle includes a roll angle, a yaw angle, and a pitch angle; in one embodiment, the rotation angle obtaining module 130 calculates the roll angle, the yaw angle, and the pitch angle of the image of the calibration plate in the first image; the calculation The roll angle, yaw angle and pitch angle of the image of the target object in the first image.
在另一个实施例中，所述雷达标定设备包括目标物，即所述第二图像包括目标物的图像；所述旋转角包括侧倾角、横摆角和俯仰角；位置获得模块120计算目标物的图像在所述第一图像中的位置；旋转角获得模块130计算目标物的图像在所述第一图像中的侧倾角、横摆角和俯仰角。In another embodiment, the radar calibration device includes a target object, that is, the second image includes an image of the target object; the rotation angle includes a roll angle, a yaw angle, and a pitch angle; the position obtaining module 120 calculates the target object The position of the image of the target object in the first image; the rotation angle obtaining module 130 calculates the roll angle, yaw angle and pitch angle of the image of the target object in the first image.
由于上述得到的为在图像坐标系中的位置和旋转角，测试人员无法判断出雷达标定设备的自由度是否满足要求，因此还需要对图像坐标系中的位置和旋转角进行坐标系转换，得到世界坐标系的位置和旋转角。Since the obtained above is the position and rotation angle in the image coordinate system, testers cannot judge whether the degrees of freedom of the radar calibration equipment meet the requirements, so it is necessary to perform coordinate system conversion on the position and rotation angle in the image coordinate system to obtain The position and rotation angle of the world coordinate system.
获得在世界坐标系中的位置和旋转角后，可以分别设置判断位置和旋转角是否满足预设条件的程序，校验模块140自动检测世界坐标系中的位置和旋转角是否满足对应的预设条件，自动计算出偏差，测试人员根据该偏差对标定设备进行量化维护。获得在世界坐标系中的位置和旋转角后，可以直接将位置和旋转角显示，测试人员判断位置和旋转角是否满足对应的预设条件，然后对标定设备进行量化维护。After the position and rotation angle in the world coordinate system are obtained, programs for judging whether the position and rotation angle meet the preset conditions can be set respectively, and the verification module 140 automatically detects whether the position and rotation angle in the world coordinate system meet the corresponding preset conditions Conditions, the deviation is automatically calculated, and the testers perform quantitative maintenance on the calibration equipment according to the deviation. After obtaining the position and rotation angle in the world coordinate system, the position and rotation angle can be displayed directly. The tester judges whether the position and rotation angle meet the corresponding preset conditions, and then performs quantitative maintenance on the calibration equipment.
预设条件是每个整车厂对设备提出的一个要求。标定设备在加工制作之前，车厂会对设备供应商明确提出一套制作标准，量化到每一个几何尺寸和角度的要求，这就形成了车厂对设备的标准要求。校核设备的作用就是检验标定设备是否满足车厂所需要的这些几何标准。The preset condition is a request made by each OEM for the equipment. Before the calibration equipment is manufactured, the car factory will clearly propose a set of production standards to the equipment supplier, quantifying the requirements for each geometric size and angle, which forms the standard requirements of the car factory for the equipment. The function of the calibration equipment is to check whether the calibration equipment meets the geometric standards required by the car factory.
上述雷达标定设备校验装置的其他技术特征与上述雷达标定设备校验方法相同，在此不予赘述。Other technical features of the above-mentioned radar calibration equipment verification device are the same as the above-mentioned radar calibration equipment verification method, and will not be repeated here.
如图7所示，本发明还提供一种雷达标定设备校验系统，该系统包括：As shown in Figure 7, the present invention also provides a radar calibration equipment verification system, which includes:
摄像系统，用于拍摄雷达标定设备的第一图像；A camera system for taking a first image of the radar calibration device;
上位机，用于获取摄像系统拍摄的雷达标定设备的第一图像，对所述第一图像进行分析，获得所述第一图像中的雷达标定设备的第二图像；计算所述第二图像在所述第一图像中的位置，根据所述位置以及设定值的乘积获得所述雷达标定设备的实际位置；计算所述第二图像在所述第一图像中的旋转角，根据所述旋转角以及设定值的乘积获得所述雷达标定设备的实际旋转角；校验所述雷达标定设备的实际位置和实际旋转角是否分别满足对应的预设条件。The upper computer is used to obtain the first image of the radar calibration equipment taken by the camera system, analyze the first image, and obtain the second image of the radar calibration equipment in the first image; calculate the second image in the The position in the first image, the actual position of the radar calibration device is obtained according to the product of the position and the set value; the rotation angle of the second image in the first image is calculated, and the rotation angle is calculated according to the rotation The product of the angle and the set value obtains the actual rotation angle of the radar calibration device; and checks whether the actual position and the actual rotation angle of the radar calibration device meet corresponding preset conditions respectively.
摄像系统包括一个或多个摄像头，用于采集雷达标定设备的图像。上位机与摄像头系统之间存在数据传输链路，上位机可以获得摄像系统所采集的图像，并进行图像处理分析，计算得出雷达标定设备的几何尺寸数值。校验系统的定位精度越高，测量结果可靠度越高。The camera system includes one or more cameras for collecting images of radar calibration equipment. There is a data transmission link between the host computer and the camera system. The host computer can obtain the images collected by the camera system, perform image processing and analysis, and calculate the geometric size value of the radar calibration equipment. The higher the positioning accuracy of the calibration system, the higher the reliability of the measurement results.
为了保证摄像系统在水平状态下拍摄图像，提高雷达标定设备的测量精度，在一个实施例中，如图7所示，所述校验系统还可以包括定位架、云台以及安装在定位架上的水平仪；所述云台一端连接所述定位架，另一端连接所述摄像系统。定位架放置于平地上，架上有水平仪，可以指示定位架的水平情况，有助于使用人员将云台调整为水平状态，摄像头支架为垂直状态。云台支架用于固定摄像系统及调整摄像头的角度。还可以采用其它方式保证摄像系统在水平状态下拍摄图像，例如将摄像系统放置在水平桌面上，本发明并不对此做出限定。In order to ensure that the camera system captures images in a horizontal state and improve the measurement accuracy of the radar calibration equipment, in one embodiment, as shown in Figure 7, the calibration system can also include a positioning frame, a pan-tilt, and a camera mounted on the positioning frame. A spirit level; one end of the pan-tilt is connected to the positioning frame, and the other end is connected to the camera system. The positioning frame is placed on a flat ground, and there is a spirit level on the frame, which can indicate the level of the positioning frame, and help the user adjust the pan/tilt to a horizontal state, and the camera support to a vertical state. The pan/tilt bracket is used to fix the camera system and adjust the angle of the camera. Other methods can also be used to ensure that the camera system captures images in a horizontal state, for example, placing the camera system on a horizontal table, which is not limited in the present invention.
上述雷达标定设备校验系统的其它技术特征与上述雷达标定设备校验装置的技术特征相同，在此不予赘述。Other technical features of the above-mentioned radar calibration equipment verification system are the same as those of the above-mentioned radar calibration equipment verification device, and will not be repeated here.
上述雷达标定设备校验方法、装置和系统，与传统技术相互比较时，具备以下优点：The above radar calibration equipment verification method, device and system, when compared with traditional technologies, have the following advantages:
1、传统技术中在进行雷达标定设备的校核时采用水平角度仪(或铅垂线)、尺具等测量工具，水平角度仪(或铅垂线)用于测量俯仰角、侧倾角，尺具用于测量横摆角以及XYZ三个方向上的位置，存在测量工具不统一，各种测量工具的精度不统一等缺陷。而本发明通过摄像头拍摄、图像分析的方式，简单快捷地解析出雷达标定设备的自由度数值，统一了测量工具以及测量精度误差，确保了设备的质量一致性和标准一致性。1. In the traditional technology, measuring tools such as horizontal angle meter (or plumb line) and ruler are used in the calibration of radar calibration equipment. The horizontal angle meter (or plumb line) is used to measure pitch angle, roll angle, and ruler The tool is used to measure the yaw angle and the position in the three directions of XYZ, and there are defects such as non-uniform measurement tools and non-uniform accuracy of various measurement tools. However, the present invention can simply and quickly analyze the degree of freedom value of the radar calibration equipment through camera shooting and image analysis, unify the measurement tools and measurement accuracy errors, and ensure the quality consistency and standard consistency of the equipment.
2、传统技术中测量次数和测量手法对于结果值影响很大，校验效率低。而本发明通过摄像头拍摄、图像分析的方式，提高了测量精度，简化了测量方法，大大提高了测量效率。2. In the traditional technology, the number of measurements and measurement methods have a great influence on the result value, and the calibration efficiency is low. However, the present invention improves the measurement accuracy, simplifies the measurement method, and greatly improves the measurement efficiency by means of camera shooting and image analysis.
3、本发明不需要测试人员携带水平角度仪和尺具等测量工具，可以直接采用智能手机等对雷达标定设备进行校验，减少了测量工具的数量，大大降低了标定设备的维护成本。3. The present invention does not require testers to carry measurement tools such as level angle meters and rulers, and can directly use smart phones to calibrate radar calibration equipment, reducing the number of measurement tools and greatly reducing the maintenance cost of calibration equipment.
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random AccessMemory，RAM)等。Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented through computer programs to instruct related hardware, and the programs can be stored in a computer-readable storage medium. During execution, it may include the processes of the embodiments of the above-mentioned methods. Wherein, the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM) or a random access memory (Random Access Memory, RAM) and the like.
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。The above-mentioned embodiments only express several implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but should not be construed as limiting the patent scope of the invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.
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