CN109188402A - A kind of aided measurement device, measuring system and method detecting envelope for demarcating ultrasonic sensor - Google Patents
A kind of aided measurement device, measuring system and method detecting envelope for demarcating ultrasonic sensor Download PDFInfo
- Publication number
- CN109188402A CN109188402A CN201811152493.5A CN201811152493A CN109188402A CN 109188402 A CN109188402 A CN 109188402A CN 201811152493 A CN201811152493 A CN 201811152493A CN 109188402 A CN109188402 A CN 109188402A
- Authority
- CN
- China
- Prior art keywords
- ultrasonic sensor
- frame
- motor
- envelope
- shifting axle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000005259 measurement Methods 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000001514 detection method Methods 0.000 claims abstract description 81
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 238000004891 communication Methods 0.000 claims description 15
- 230000004044 response Effects 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 11
- 238000012545 processing Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000002123 temporal effect Effects 0.000 claims description 5
- 238000013519 translation Methods 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 230000006870 function Effects 0.000 description 7
- 238000012360 testing method Methods 0.000 description 6
- 230000000007 visual effect Effects 0.000 description 4
- 238000002604 ultrasonography Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 230000006399 behavior Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000003733 optic disk Anatomy 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52004—Means for monitoring or calibrating
Abstract
The present embodiments relate to a kind of for demarcating aided measurement device, measuring system and the method for ultrasonic sensor detection envelope.Aided measurement device includes: guide rail frame, including parallel the first frame and the second frame；Shifting axle is set between the first frame and the second frame；Driving mechanism is coupled with shifting axle to activate shifting axle along the first frame and the second frame and translate；Mobile device is arranged on shifting axle comprising first motor, first motor driving mobile device are moved along shifting axle；And object, the calibration object measured when calibration detects envelope as ultrasonic sensor are set to the upper surface of mobile device by clamp device.The present invention also provides the methods of auxiliary calibration ultrasonic sensor detection envelope, realize that the detection envelope of ultrasonic sensor is demarcated together with the measuring device of calibration ultrasonic sensor, the efficiency for demarcating multiple ultrasonic sensors greatly improved, reduce the nominal time.
Description
Technical field
Present invention relates in general to data processing fields, and in particular to one kind is for demarcating ultrasonic sensor detection envelope
Aided measurement device, measuring system and corresponding measurement method.
Background technique
Ultrasonic sensor is used widely in each field.Such as in automatic Pilot, ultrasonic sensor is played
Very important effect, automatic driving vehicle perceive the environment of surrounding based on the measurement of ultrasonic sensor.Detecting envelope is
One important parameter of ultrasonic sensor characterizes the credible investigative range of ultrasonic sensor.
The application of ultrasonic sensor needs accurately detection envelope parameters under various scenes, but at present for measurement ultrasound
The detection envelope of wave sensor is usually manually to place reference test bar in the position for needing to measure, and passes through observation ultrasonic sensor
Signal judges whether detect reference test bar in the position, and then finally obtains the detection envelope of ultrasonic sensor.
Existing method is not only time-consuming and laborious, but also there are human errors, is also unable to satisfy the requirement of measuring accuracy.It is expected that
Be to provide a kind of technical solution that can demarcate to intelligent and high-efficiency ultrasonic sensor detection envelope.
Summary of the invention
In view of the above-mentioned problems, the embodiment of the present invention provides a kind of auxiliary for detecting envelope for demarcating ultrasonic sensor
Measuring device, measuring system and method realize highly efficient, accurate, robustness stronger ultrasonic sensor envelope calibration side
Method.
In the first aspect of the present invention, provide a kind of for demarcating the subsidiary dress of ultrasonic sensor detection envelope
It sets.The device includes: guide rail frame, including parallel the first frame and the second frame；Shifting axle, be set to the first frame and
Between second frame；Driving mechanism is coupled with shifting axle to activate shifting axle along the first frame and the second frame and translate；Mobile dress
It sets, is arranged on shifting axle comprising first motor, first motor driving mobile device are moved along shifting axle；And object,
Its calibration object measured when calibration detects envelope as ultrasonic sensor is set to mobile device by clamp device
Upper surface.
In certain embodiments, guide rail frame further includes being fixedly connected with first frame one end and the second frame respective end
Third frame, driving mechanism include: the second motor, are fixedly installed on third frame one end；And drive rod, one end are coupled to
Second motor, and coupled by connecting component and shifting axle, drive rod is activated by the second motor to push shifting axle along first
Frame and the translation of the second frame.
In certain embodiments, shifting axle is lead screw, mobile device further include: transmission gear is coupled to first motor, passes
Moving gear is engaged movement with lead screw by the driving of first motor.
In certain embodiments, aided measurement device further includes that controller, controller and first motor and the second motor connect
It connects, the operation of traveling state modulator first motor and the second motor based on preconfigured mobile device.
In certain embodiments, aided measurement device further includes the first communication module, is connect with controller, and reception comes from
The configuration information of main measuring device, main measuring device includes ultrasonic sensor, and controller parsing configuration information is to obtain
Traveling parameter.
In certain embodiments, aided measurement device further includes the distance measuring sensor corresponding to the setting of the first frame.
In certain embodiments, clamp device includes the hold assembly for clamping object, or including buckle object
Snap part；Object is fixed on the upper surface of mobile device by clamp device perpendicularly to the ground.
In the second aspect of the present invention, provide a kind of for demarcating the measuring system of ultrasonic sensor detection envelope, packet
The aided measurement device as described in first aspect present invention and main measuring device are included, main measuring device includes: spy to be calibrated
Survey at least one ultrasonic sensor of envelope；Laser radar, be set to at least one ultrasonic sensor isometry position, fill
When the positioning rule being fixed on ground carrys out auxiliary calibration；And measurement processing device, it is coupled at least one ultrasonic sensor
And laser radar, based on aided measurement device it is autonomous traveling and at least one ultrasonic sensor carry out detection envelope mark
It is fixed.
In certain embodiments, main measuring device further includes the second communication module, to aided measurement device transmission configuration
Information.
In the third aspect of the present invention, provides and a kind of utilize described aided measurement device according to a first aspect of the present invention
In the method for auxiliary calibration ultrasonic sensor detection envelope.This method comprises: being based on configuration information, the of first motor is calculated
Second momentum parameter of one momentum parameter and driving mechanism, configuration information include the mobile predefined paths of object, driving mechanism
Operating interval duration, the operating interval duration of first motor and object in the stop of the specific position on predefined paths
It is long；Based on the first momentum parameter, the first control information is generated to control first motor driving mobile device in the behaviour of first motor
Make to reach predetermined position in the duration of interval；And the second control information is generated so that mobile device stops after reaching predetermined position
The stay time.
In certain embodiments, method further include: reach the first frame or the second frame in response to mobile device, be based on
The operating interval duration of driving mechanism generates third control information to control driving mechanism driving shifting axle in the behaviour of driving mechanism
Make to reach predetermined translation position in the duration of interval.
In certain embodiments, method further include: from the main survey for the ultrasonic sensor for being provided with detection envelope to be calibrated
It measures device and receives configuration information.
In the fourth aspect of the present invention, a kind of method for demarcating ultrasonic sensor detection envelope is provided.This method
It include: to transmit the configuration information operated about aided measurement device to aided measurement device, aided measurement device is provided with conduct
The object of the ultrasonic sensor calibration object measured when calibration detects envelope；Predefined paths will be in based on object
The temporal information in upper multiple predetermined positions, determines whether object reaches the first predetermined position；First is reached in response to object
Predetermined position, the first ultrasonic sensor from main measuring device obtain the detection information in relation to object；Believed based on detection
Breath, determines whether the first ultrasonic sensor detects object；Object is detected in response to the first ultrasonic sensor, is obtained
Take the location information of object acquired in the laser radar at main measuring device；And the location information based on object, really
The detection envelope of fixed first ultrasonic sensor.
In certain embodiments, detection information includes the first detection letter for the echo-signal of the first ultrasonic sensor
Breath, wherein determining whether the first ultrasonic sensor detects that object includes: to detect in response to the instruction of the first detection information
Echo-signal intensity be greater than first threshold time be greater than second threshold, determine that the first ultrasonic sensor detects target
Object.
In certain embodiments, the detection envelope for determining the first ultrasonic sensor includes: by the location information of object
Be converted to the coordinate in first predetermined position at the first ultrasonic sensor visual angle；And coordinate is labeled as the first supersonic sensing
A part of the detection envelope of device.
In certain embodiments, main measuring device further includes at least one second ultrasonic sensor, and detection information includes
Second detection information of first ultrasonic sensor for the echo-signal of the second ultrasonic sensor, method further include: be based on
Second detection information, determines whether object is detected；And in response to determining that object is detected, based on object
Location information determines the indirect detection envelope of the first ultrasonic sensor and the second ultrasonic sensor.
In the fifth aspect of the invention, a kind of electronic equipment is provided.The equipment includes: processor；And it is stored with instruction
Memory, instruction promotes equipment to execute according to a third aspect of the present invention or fourth aspect is retouched when being executed by processor
The operation stated.
In the sixth aspect of the present invention, a kind of computer readable storage medium is provided, is stored with machine readable instruction,
Instruction makes machine execution according to a third aspect of the present invention or method described in fourth aspect when being executed as machine.
The scheme that envelope is detected for demarcating ultrasonic sensor that the embodiment of the present invention proposes, can demarcate more simultaneously
Efficiency greatly improved in a ultrasonic sensor, reduces the nominal time.Meanwhile using system operational parameters, example is reasonably arranged
The movement speed of such as object, the residence time, detectable signal various threshold values, improve testing result accuracy, reduce
Error.In addition, using lidar measurement physical location, so that calibration is more accurate.
Detailed description of the invention
Fig. 1 shows according to an embodiment of the invention for demarcating showing for the system of ultrasonic sensor detection envelope
Meaning property overlooks block diagram；
Fig. 2 shows according to an embodiment of the invention for demarcating the subsidiary of ultrasonic sensor detection envelope
The schematic side elevation of device；
Fig. 3 shows the schematic block diagram of the control section of aided measurement device according to an embodiment of the invention；With
And
Fig. 4 shows according to an embodiment of the invention for demarcating the stream of the method for ultrasonic sensor detection envelope
Cheng Tu；And
Fig. 5 shows the block diagram for being suitable for realizing the electronic equipment of the embodiment of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing, the present invention is described in more detail.But as known to those skilled in the art, the invention is not limited to attached drawings and following reality
Apply example.
As described herein, term " includes " and its various variants are construed as open-ended term, it means that " packet
It includes but is not limited to ".Term "based" is construed as " being based at least partially on ".Term " one embodiment " it is understood that
For " at least one embodiment ".Term " another embodiment " is construed as " at least one other embodiment ".
As previously mentioned, generalling use artificial fixed point for measurement ultrasonic sensor detection envelope at present, general detection is single
A ultrasonic sensor is just very time-consuming, and then needs in the application scenarios of multiple ultrasonic sensors more long.For example,
Multiple ultrasonic sensors would generally be set in automatic driving vehicle, not only need directly to measure the spy of each ultrasonic sensor
Survey envelope, it is also necessary to determine the detection envelope measured indirectly between ultrasonic sensor.Especially in industry application, batch vehicle
Also need the detection envelope of each ultrasonic sensor of accurate calibration.
The technical solution that the embodiment of the present invention provides can effectively solve the problems of the prior art, and efficiently and accurately is rapidly
Demarcate the detection envelope of ultrasonic sensor.The embodiment of the present invention is further described with reference to the accompanying drawing.
Fig. 1 shows the system according to an embodiment of the invention for demarcating ultrasonic sensor detection envelope
100 diagrammatic top block diagram.As shown, system 100 includes the device 110 of ultrasonic sensor to be calibrated detection envelope
(being referred to as main measuring device) and device 120 (referred to as aided measurement device) for auxiliary calibration.It is specifically answered at one
In, for example, device 110 can be the vehicle with Function for Automatic Pilot comprising multiple ultrasonic sensors (such as 111
With 112), laser radar 113 and measurement processing device 114 etc..
According to an embodiment of the invention, be equipped with laser radar 113 in means 110, compared to ultrasonic sensor,
With high-precision, high-resolution advantage, can be accurately positioned with the position of detecting objects, motion state etc..Using laser
Radar 113 can be used as standard setting device and carry out auxiliary calibration, can serve as the positioning rule being fixed on ground or coordinate
Axis.Laser radar 113 can be set in place of with the similar height of ultrasonic sensor.Measurement processing device 114 is for obtaining
The signal of ultrasonic sensor 111 and 112 and laser radar 113 is simultaneously handled, and determines ultrasonic sensor 111 and 112
Detection envelope.
It can also include communication component 115 in device 110, realize the wireless communication function with device 120.For example, bluetooth
Module or other short-range communication (NFC) modules.Communication component 115 can be established logical with communication component corresponding in device 120
Interrogate link, transmission of configuration information, control instruction etc..
Device 120 includes mobile device 121, is fixedly installed the mesh for demarcating ultrasonic sensor detection envelope thereon
Mark object 122.Object 122 is the barrier that ultrasonic sensor 111 and 112 can sense, and can usually use standard testing
Bar, such as the pvc pipe of diameter 75mm.
Device 120 further includes guide rail frame 123, shifting axle 124 and drive rod 125.Guide rail frame 123 includes parallel sets
The the first frame 123-1 and the second frame 123-2 that set and the third frame 123-3 and the 4th frame 123-4 of parallel setting.
The side third frame 123-3 is provided with motor 126, drive rod 123 is couple to motor 126, and by connecting component 127 and moves
Moving axis 124 generates linkage, so that it is flat to push shifting axle 124 to illustrate direction along guide rail frame 123 under the action of motor 126
Row movement.Meanwhile mobile device 122 can move along axis 124 and move back and forth, and by this method, steadily carry object 122
Movement completes detection envelope calibration by ultrasonic sensor 111 and 112 to realize.The specific structure of device 120 will below
Description.
Before calibration starts, the ultrasonic sensor of calibration needed for device 110 needs to set.In one embodiment, example
Such as measured in vehicle front, then need to be arranged in front of unlocking vehicle such as four ultrasonic sensors (be denoted as respectively FOR,
FCR, FCL, FOL) itself is measured and tri- information measured indirectly of FOR-FCR, FCR-FCL, FOL-FCL.Device 110 (or
Measurement processing device 114) and device 120 parameters such as distance and the residence time of 121 stepping of mobile device can be ordinatedly set.
As shown in Figure 1, quasi- envelope model of the object 122 with mobile device 121 in front of ultrasonic sensor 111 and 112
Enclose it is interior moved along path 128, according to setting parameter every a distance stop certain time.The processing of device 110 is ultrasonic at this time
The data of wave sensor 111 and 112 and laser radar 113.Mobile device 121 moves on later, repeats this process, until
Complete the path of planning.
It is appreciated that system 100 is only signal, for ease of description embodiment of the disclosure, not specifically illustrated and description
The other component of device 110, in order to avoid unnecessarily obscure the aspect of the embodiment of the present invention.In addition, measurement processing device 114 exists
It is shown as in system 100 in device 110, but it physically can independently be arranged.
Fig. 2 shows the schematic side elevations of measuring device 120 according to an embodiment of the invention.In the present embodiment
In, mobile device 121 includes motor 128 and transmission gear 129.Shifting axle 124 can be lead screw or screw rod, transmission gear 129
It is mutually twisted with shifting axle 124, mobile device 121 moves under the driving of motor 128 along shifting axle 124.
The top of mobile device 121 is provided with clamp device 131, is used for fixed object 122 (such as pvc pipe, height
Only illustrate) so that object 122 keeps stablizing and perpendicular to ground in moving process.Clamp device 130 may include
Hold assembly can be arranged by fixed connection mode or by universal joint in car top.Clamp device 130 can also use
Object 122 is fixed firmly to the upper surface of mobile device 121 by snap part.The size of hold assembly or snap part
Cooperate the diameter setting of object 122.The upper surface of mobile device 121 is preferably smaller than 10 centimetres away from ground level, to be conducive to
The ultrasonic sensor 111 and 112 of device 110 can not cause detection judge by accident in the case where detecting objects 122.
Measuring device 120 can also include distance measuring sensor 131, sensing mobile device 121 and guide rail frame 123 away from
From.When the distance reaches certain threshold value, such as 2cm, distance measuring sensor 131 sends a signal to the control system of measuring device 120,
So that motor 126 starts to activate drive rod 125, shifting axle 124 is promoted to move in parallel along guide rail frame 123.It is sensed using ranging
Device 131 further improves the accuracy that control system judges its position in 121 traveling process of mobile device.
Distance measuring sensor 130 is shown as being arranged in figure the side of mobile device 121 close to lower position, in favor of
Detection is at a distance from guide rail frame 123.In other implementations, distance measuring sensor 130 be can be set in guide rail frame 123
At suitable position.
Device 120 further includes communication module (not shown), can be short-range communication (NFC) module, such as blue
Tooth module etc. can also provide wired communication functions and external interface.Communication module can be communicated with device 110, can also be with
Other equipment are communicated, and configuration information, instruction, return data etc. are received.Communication module can be arranged in any of device 120
Suitable position can also be arranged in mobile device 121.
It is appreciated that device 120 shown in Fig. 2 is only signal, embodiment of the disclosure, does not show specifically for ease of description
Out and description device 120 other component, in order to avoid unnecessarily obscure the embodiment of the present invention aspect.
Fig. 3 shows the schematic block diagram of the control section 300 of measuring device 120.As shown, control section 300 is wrapped
Controller 310 is included, motor 126 (motor -2), motor 128 (motor -1), distance measuring sensor 130 and communication mould are respectively coupled to
Block 320.Control section 300 can also include memory (not shown), store various control parameters.
Controller 310 can be the devices such as microprocessor, can be received from communication module 320 from device 110 or
The configuration parameter of other devices is simultaneously parsed.Configuration parameter includes travelling route Figure 127 of mobile device 121, drive rod 123
Operating interval duration T1,121 stay time T2 of mobile device, operating interval duration T3 of first motor etc., wherein travelling route
Figure can will stop as shown in figure 1 shown in route 128 in each cross-point locations mobile device 121；Step distance preferably can be with
Small distance, such as 5 centimetres are set as, enable mobile device 121 to do small distance mobile.
Controller 310 controls the operation of motor 128 according to configuration parameter, so that object 122 exists with mobile device 121
It is moved to specific position on shifting axle 124 and stops, with the measurement process of adapting device 110.Simultaneously with this, controller 310 is gone back
According to the distance measuring signal from distance measuring sensor 131, control motor 126 and activate drive rod 125 so that shifting axle 124 according to
Travelling route Figure 127 is moved in parallel along guide rail frame 123 with translation distance.
In one embodiment, during controlling the movement of object 122, controller 310 is calculated according to configuration information
The momentum parameter of first motor and the momentum parameter of driving mechanism, and control information control motor 128 is generated with the drive of certain momentum
Dynamic mobile device 121 is mobile relative to shifting axle 124, so that mobile device 121 reaches the first point in T3 duration, and
Control mobile device 122 stops T2 duration at the first point.Then, controller 310 controls mobile device 121 and moves on,
Next point is reached, and stops T2 duration at next point.
When controller 310 calculates determining or determines mobile device 121 according to the signal of distance measuring sensor 131 feedback
When reaching frame 123-1 or 123-2, control motor 126 drives drive rod 125, so that the interior drive of long T1 in operation of drive rod 125
Dynamic shifting axle 124 moves at next translation position along guide rail frame 123-1 and 123-2.By this method, each measurement point is completed
Measurement engagement process at position.
In addition, controller 310 is according to the principal length and object 122 of mobile device 121 relative to 121 institute of mobile device
The position of setting, control mobile device 121 carries out alignment function when it is moved to some point (crosspoint), so that object
122 center is overlapped with the point.By this method, device 110 and device 120 more accurately can measure and record detection envelope.
The process of the detection envelope of calibration ultrasonic sensor 111 and 112 is described by taking system 100 as an example below.
Fig. 4 shows according to an embodiment of the invention for demarcating the method 400 of ultrasonic sensor detection envelope
Flow chart, method 400 can at device 110 (such as measurement processing device 114) realize.
410, when the object at aided measurement device reaches the first predetermined position along predefined paths, filled from main measurement
First ultrasonic sensor at the place of setting obtains the detection information in relation to object.In one embodiment, within system 100, in advance
Determine to be provided with multiple predetermined positions on path 130, in these pre-positions, the object 122 at device 120 can stop one section
Time.
In one embodiment, mobile device 121 first passes through device 110 in advance or other equipment are configured, controller 310
It stops according to the path of setting, step-length, the movement of speed control mobile device 121 and in pre-position.
When object 122 reaches a certain predetermined position along predefined paths 130 with mobile mobile device 121, dress
Set the detection information of 110 acquisition ultrasonic sensors 111.The setting information of 110 known devices 120 of device is based on object
It will be in the temporal information in multiple predetermined positions, can determine whether object reaches the first predetermined position.Further, due to
Ultrasonic sensor 111 issues ultrasonic signal, which will be by the reflection of barrier, that is, object 122.At this point, device
110 acquisition ultrasonic sensors 111 detect the information for receiving the echo-signal of itself.
420, it is based on detection information, determines whether the first ultrasonic sensor detects object.In one embodiment
In, it can judge whether it examines according to the intensity of echo-signal detected by ultrasonic sensor 111 and/or duration
Measure object 122.
For example, when the time that detection information indicates that the sufficient intensity of the echo-signal detected is kept is greater than a certain threshold value,
Then determine that the first ultrasonic sensor detects object.As an example, object 122 for example stops 20 seconds in pre-position
Time, if the echo signal intensity detected that ultrasonic sensor is fed back is continued above a certain predetermined strength, it is determined that
Ultrasonic sensor 110 detects object 122；If signal strength is not always more than predetermined strength during 20 seconds, but
It was in the time higher than predetermined strength greater than 10 seconds, then device 110 determines that ultrasonic sensor 110 detects object 122；
If signal strength was in the time higher than predetermined strength less than or equal to 10 seconds, device 110 determines ultrasonic sensor 110
Object 122 is not detected.
430, if the first ultrasonic sensor detects object, the laser radar institute at main measuring device is obtained
The location information of the object of acquisition.At this point, the record of device 110 saves the reality of the obtained object 122 of laser radar 113
Position.
440, the location information based on object determines the detection envelope of the first ultrasonic sensor.Implement at one
In example, the location information of object 122 is converted to the coordinate in the predetermined position at 111 visual angle of ultrasonic sensor by device 110, with
Just the detection envelope of ultrasonic sensor 111 is marked.When determining that ultrasonic sensor 111 detects the object of pre-position
When 122, device 110 is by corresponding coordinate labeled as a part of the detection envelope of ultrasonic sensor 111.It is appreciated that pair
The conversion of coordinate position at the physical location of object 122 to 111 visual angle of ultrasonic sensor can also be completed in object 122
After all paths, the coordinate of ultrasonic sensor 111 is converted into during drawing envelope diagram.
For object 122 with next predetermined position that is moved to of mobile device 121, device 110 can be with according to method 400
Determine whether that record saves the location information that object 122 is in the pre-position.Mobile device 121 continues to complete predetermined road
Diameter, device 110 repeat the above process, and then draw and obtain the detection envelope of ultrasonic sensor 111.
In above process, each ultrasonic sensor in device 110 is drawn envelope and is independent from each other.For example,
By taking vehicle front is demarcated as an example, after all predetermined point bit tests finish, the detection packet of available each ultrasonic sensor
Network.At the same time, according to an embodiment of the invention, device 110 can also determine the packet that multiple ultrasonic sensors measure indirectly
Network.
In one embodiment, ultrasonic sensor 111 also detects the echo-signal for ultrasonic sensor 112, with
Determine measurement detection envelope indirectly.Specifically, this indirect measurement is encountered when the first ultrasonic sensor 111 issues signal
It is returned after object 122 and by 112 receives echo-signal of ultrasonic sensor.Similarly, device 110 is based on being directed to the echo
The detection information of signal, can determine whether object is detected；And when determining that object is detected, it can be based on
The location information of object determines the indirect detection envelope of ultrasonic sensor 111 Yu ultrasonic sensor 112.It can manage
Solution measures generation when being directed to the echo-signal of ultrasonic sensor 111 by the detection of ultrasonic sensor 112 when indirect, gained
The indirect measurement detection envelope arrived and the echo-signal that ultrasonic sensor 112 is as above directed to by the detection of ultrasonic sensor 111
Gained envelope is identical.
In the application scenarios that device 110 is automatic driving vehicle, when completing vehicle front calibration, each ultrasound has been obtained
The directly measurement of wave sensor and indirectly measurement envelope diagram.Vehicle front calibration in need ultrasonic sensor just all it is complete
At being then successively rear and side, the calibration to whole automobile ultrasonic sensor envelope can be completed.
The scheme for the calibration ultrasonic sensor detection envelope that the embodiment of the present invention proposes, can demarcate multiple ultrasounds simultaneously
Efficiency greatly improved in wave sensor, reduces the nominal time.Meanwhile using system operational parameters, such as target is reasonably arranged
Movement speed, residence time, various threshold values of detectable signal of object etc., improve testing result accuracy, reduce error.This
Outside, using lidar measurement physical location, so that calibration is more accurate.
Fig. 5 shows the block diagram for being suitable for realizing the electronic equipment 500 of the embodiment of the present invention.Equipment 500 can be used to
A part of realization device 110.As shown, equipment 500 includes processor 510.The operation of the control equipment 500 of processor 510
And function.For example, in certain embodiments, processor 510 can be by means of the finger that is stored in coupled memory 520
530 are enabled to execute various operations.Memory 520 can be any suitable type suitable for local technical environment, and can
Memory device, magnetic memory to be realized using any suitable data storage technology, including but not limited to based on semiconductor
Part and system, light storage device and system.It, can in equipment 500 although illustrate only a memory cell in Fig. 5
With the memory cell for having multiple physics different.
Processor 510 can be any suitable type suitable for local technical environment, and may include but unlimited
In general purpose computer, special purpose computer, microcontroller, digital signal controller (DSP) and based on controller multicore control
One or more of device framework is multiple.Equipment 500 also may include multiple processors 510.
When equipment 500 serves as measurement processing device 114, processor 510 promotes equipment 500 to hold when executing instruction 530
Action is made, to realize the method 400 described above with reference to Fig. 1-Fig. 4.According to an embodiment of the invention, movement includes: to auxiliary
Measuring device transmits the configuration information operated about aided measurement device, and aided measurement device is provided with as ultrasonic sensor
The object of measured calibration object when calibration detects envelope；It will be in multiple pre-determined bits on predefined paths based on object
The temporal information set, determines whether object reaches the first predetermined position；The first predetermined position is reached in response to object, from master
The first ultrasonic sensor at measuring device obtains the detection information in relation to object；Based on detection information, determines and the first surpass
Whether sonic sensor detects object；Object is detected in response to the first ultrasonic sensor, obtains main measuring device
The location information of object acquired in the laser radar at place；And the location information based on object, determine the first ultrasonic wave
The detection envelope of sensor.
In certain embodiments, the first predetermined position is one in multiple predetermined positions that predefined paths are arranged, and is moved
Make further include: the temporal information in multiple predetermined positions will be in based on object, determine whether object reaches the first pre-determined bit
It sets.
In certain embodiments, detection information includes the first detection letter for the echo-signal of the first ultrasonic sensor
Breath, wherein determining whether the first ultrasonic sensor detects that object includes: to detect in response to the instruction of the first detection information
Echo-signal intensity be greater than first threshold time be greater than second threshold, determine that the first ultrasonic sensor detects target
Object.
In certain embodiments, the detection envelope for determining the first ultrasonic sensor includes: by the location information of object
Be converted to the coordinate in first predetermined position at the first ultrasonic sensor visual angle；And coordinate is labeled as the first supersonic sensing
A part of the detection envelope of device.
In certain embodiments, main measuring device further includes at least one second ultrasonic sensor, and detection information includes
Second detection information of first ultrasonic sensor for the echo-signal of the second ultrasonic sensor, movement further include: be based on
Second detection information, determines whether object is detected；And in response to determining that object is detected, based on object
Location information determines the indirect detection envelope of the first ultrasonic sensor and the second ultrasonic sensor.
In certain embodiments, automatic control of the object based on aided measurement device and moved along predefined paths.
The embodiment of the present invention also provides a kind of computer readable storage medium, is stored with machine readable instruction, refers to
Order makes machine execute method having thus described the invention when being executed by machine.
It will be understood by those skilled in the art that in flow charts indicate or logic described otherwise above herein and/or
Step may be embodied in and appoint for example, being considered the order list of the executable instruction for realizing logic function
In what computer-readable medium, for instruction execution system, device or equipment (such as computer based system including processor
System or other can be from instruction execution system, device or equipment instruction fetch and the system executed instruction) use, or combine this
A little instruction execution systems, device or equipment and use.For the purpose of this specification, " computer-readable medium " can be it is any can be with
Include, store, communicate, propagate, or transport program is for instruction execution system, device or equipment or in conjunction with these instruction execution systems
System, device or equipment and the device used.
The more specific example (non-exhaustive list) of computer-readable medium include the following: there are one or more wirings
Electrical connection section (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium because can then be edited for example by carrying out optical scanner to paper or other media, interpret or when necessary with
Other suitable methods are handled electronically to obtain described program, are then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
More than, embodiments of the present invention are illustrated.But the present invention is not limited to above embodiment.It is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in guarantor of the invention
Within the scope of shield.
Claims (10)
1. a kind of for demarcating the aided measurement device of ultrasonic sensor detection envelope characterized by comprising
Guide rail frame, including parallel the first frame and the second frame；
Shifting axle is set between first frame and second frame；
Driving mechanism couples flat along first frame and second frame to activate the shifting axle with the shifting axle
It moves；
Mobile device is arranged on the shifting axle comprising first motor, the first motor drive the mobile device edge
The shifting axle is mobile；And
Object, the calibration object measured when calibration detects envelope as ultrasonic sensor, is set by clamp device
It is placed in the upper surface of the mobile device.
2. aided measurement device according to claim 1, which is characterized in that the guide rail frame further includes and described first
The third frame that frame one end is fixedly connected with the second frame respective end, the driving mechanism include:
Second motor is fixedly installed on third frame one end；And
Drive rod, one end is coupled to second motor, and is coupled by connecting component and the shifting axle, the drive rod
It is activated by second motor to push the shifting axle to translate along first frame and second frame.
3. aided measurement device according to claim 1, which is characterized in that the shifting axle is lead screw, the mobile dress
It sets further include:
Transmission gear is coupled to the first motor, driving and the lead screw of the transmission gear by the first motor
Occlusion movement.
4. aided measurement device according to claim 2, which is characterized in that it further include controller, the controller and institute
It states first motor to connect with the second motor, the first electricity described in the traveling state modulator based on the preconfigured mobile device
The operation of machine and second motor.
5. aided measurement device according to claim 4, which is characterized in that further include the first communication module, with the control
Device connection processed, receives the configuration information for carrying out autonomous measuring device, and the main measuring device includes the ultrasonic sensor, and
And the controller parses the configuration information to obtain the traveling parameter.
6. a kind of measuring system that envelope is detected for demarcating ultrasonic sensor, including such as any one of claim 1-5 institute
The aided measurement device stated and main measuring device, which is characterized in that the main measuring device includes:
At least one ultrasonic sensor of detection envelope to be calibrated；
Laser radar, be set to at least one described ultrasonic sensor isometry position, serve as the positioning being fixed on ground
Ruler carrys out auxiliary calibration；And
Measurement processing device is coupled at least one described ultrasonic sensor and the laser radar, is based on the auxiliary
Measuring device it is autonomous traveling and at least one described ultrasonic sensor carry out detection envelope calibration.
7. a kind of utilize aided measurement device according to any one of claims 1-5 with auxiliary calibration ultrasonic sensor
The method for detecting envelope characterized by comprising
Based on configuration information, the first momentum parameter of first motor and the second momentum parameter of driving mechanism, the configuration are calculated
Information include the mobile predefined paths of object, the operating interval duration of driving mechanism, the operating interval duration of first motor and
The stay time of specific position of the object on the predefined paths；
Based on first momentum parameter, the first control information is generated to control first motor driving mobile device described first
Predetermined position is reached in the operating interval duration of motor；And
The second control information is generated so that the mobile device stops the stay time after reaching the predetermined position.
8. the method according to the description of claim 7 is characterized in that further include:
The first frame or the second frame, the operating interval duration based on the driving mechanism are reached in response to the mobile device
Third control information is generated to control the driving mechanism driving shifting axle and arrive in the operating interval duration of the driving mechanism
Up to predetermined translation position.
9. the method according to the description of claim 7 is characterized in that further include:
The configuration information is received from the main measuring device for the ultrasonic sensor for being provided with detection envelope to be calibrated.
10. a kind of method for demarcating ultrasonic sensor detection envelope characterized by comprising
The configuration information operated about the aided measurement device, the aided measurement device setting are transmitted to aided measurement device
There is the object of the calibration object measured when calibration detects envelope as ultrasonic sensor；
Based on the object by the temporal information in multiple predetermined positions on predefined paths, determine whether the object arrives
Up to the first predetermined position；
The first predetermined position is reached in response to the object, the first ultrasonic sensor from main measuring device obtains related
The detection information of the object；
Based on the detection information, determine whether first ultrasonic sensor detects the object；
The object is detected in response to first ultrasonic sensor, obtains the laser radar at the main measuring device
The location information of the acquired object；And
Based on the location information of the object, the detection envelope of first ultrasonic sensor is determined.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811152493.5A CN109188402B (en) | 2018-09-29 | 2018-09-29 | Method for calibrating detection envelope of ultrasonic sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811152493.5A CN109188402B (en) | 2018-09-29 | 2018-09-29 | Method for calibrating detection envelope of ultrasonic sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109188402A true CN109188402A (en) | 2019-01-11 |
| CN109188402B CN109188402B (en) | 2024-03-08 |
Family
ID=64907139
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811152493.5A Active CN109188402B (en) | 2018-09-29 | 2018-09-29 | Method for calibrating detection envelope of ultrasonic sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109188402B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113702954A (en) * | 2020-05-22 | 2021-11-26 | 上海网车科技有限公司 | Ultrasonic radar detection equipment |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001108745A (en) * | 1999-10-13 | 2001-04-20 | Matsushita Electric Ind Co Ltd | On-vehicle radar unit |
| CN202974951U (en) * | 2012-11-26 | 2013-06-05 | 桂林电子科技大学 | Ultrasonic automatic detection system |
| CN105866256A (en) * | 2016-03-30 | 2016-08-17 | 西北工业大学 | Automatic ultrasonic transducer calibrating apparatus |
| CN107561515A (en) * | 2017-08-17 | 2018-01-09 | 北京润科通用技术有限公司 | A kind of automobile-used millimetre-wave radar detectivity test system |
| CN108267741A (en) * | 2018-03-12 | 2018-07-10 | 苏州青飞智能科技有限公司 | A kind of ultrasonic probe caliberating device and the method for demarcating ultrasonic probe |
| CN209215578U (en) * | 2018-09-29 | 2019-08-06 | 广州小鹏汽车科技有限公司 | Demarcate the aided measurement device and measuring system of ultrasonic sensor detection envelope |
-
2018
- 2018-09-29 CN CN201811152493.5A patent/CN109188402B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001108745A (en) * | 1999-10-13 | 2001-04-20 | Matsushita Electric Ind Co Ltd | On-vehicle radar unit |
| CN202974951U (en) * | 2012-11-26 | 2013-06-05 | 桂林电子科技大学 | Ultrasonic automatic detection system |
| CN105866256A (en) * | 2016-03-30 | 2016-08-17 | 西北工业大学 | Automatic ultrasonic transducer calibrating apparatus |
| CN107561515A (en) * | 2017-08-17 | 2018-01-09 | 北京润科通用技术有限公司 | A kind of automobile-used millimetre-wave radar detectivity test system |
| CN108267741A (en) * | 2018-03-12 | 2018-07-10 | 苏州青飞智能科技有限公司 | A kind of ultrasonic probe caliberating device and the method for demarcating ultrasonic probe |
| CN209215578U (en) * | 2018-09-29 | 2019-08-06 | 广州小鹏汽车科技有限公司 | Demarcate the aided measurement device and measuring system of ultrasonic sensor detection envelope |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113702954A (en) * | 2020-05-22 | 2021-11-26 | 上海网车科技有限公司 | Ultrasonic radar detection equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109188402B (en) | 2024-03-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| RU2503027C2 (en) | System for assisting vehicle driver and method of controlling operation thereof | |
| JP4811347B2 (en) | Calibration robot system and distance sensor calibration method | |
| CN102470865B (en) | For equipment and the method for supported ground parked vehicle | |
| CN104155979B (en) | A kind of magnetic navigation intelligent vehicle positioner based on magnetic field symmetry and method | |
| KR20200001471A (en) | Apparatus and method for detecting lane information and computer recordable medium storing computer program thereof | |
| KR101473736B1 (en) | Calibration apparatus for multi-sensor based on closed-loop and and method thereof | |
| CN108423068B (en) | Automatic parking system and parking space identification method | |
| CN110058200A (en) | The position bootstrap technique and system of wireless charging vehicle | |
| KR102176376B1 (en) | Apparatus and method for measuring distance of object | |
| KR102083129B1 (en) | Running device | |
| CN109444910A (en) | Vehicle parking positioning device and vehicle parking bootstrap technique | |
| CN109353849A (en) | A kind of entrucking walking guidance system and entrucking are walked bootstrap technique | |
| WO2021211585A2 (en) | Systems and methods for calibrating a lidar device | |
| CN109188402A (en) | A kind of aided measurement device, measuring system and method detecting envelope for demarcating ultrasonic sensor | |
| CN209215578U (en) | Demarcate the aided measurement device and measuring system of ultrasonic sensor detection envelope | |
| JP2000092615A (en) | Method and device for position detection of charging coupler in electric vehicle charging system | |
| JP3594020B2 (en) | Obstacle detection device | |
| CN209215579U (en) | Demarcate the aided measurement device and measuring system of ultrasonic sensor detection envelope | |
| CN102812326A (en) | Method for controlling a measuring system and measuring system for carrying out the method | |
| CN110208759A (en) | Radar automates caliberating device and detections of radar equipment | |
| CN105571491A (en) | Binocular vision-based automobile chassis data measuring system and method thereof | |
| CN209215580U (en) | Demarcate the aided measurement device and measuring system of ultrasonic sensor detection envelope | |
| CN105738905A (en) | Indoor positioning system and method for reducing blind areas | |
| CN109188404A (en) | A kind of aided measurement device, measuring system and method detecting envelope for demarcating ultrasonic sensor | |
| CN109188403A (en) | A kind of method, aided measurement device, electronic equipment and system detecting envelope for demarcating ultrasonic sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |