CN109490858B - Rake ball calibration system and method - Google Patents
Rake ball calibration system and method Download PDFInfo
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- CN109490858B CN109490858B CN201811313343.8A CN201811313343A CN109490858B CN 109490858 B CN109490858 B CN 109490858B CN 201811313343 A CN201811313343 A CN 201811313343A CN 109490858 B CN109490858 B CN 109490858B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
Abstract
The invention discloses a thunder ball calibration system and a method, wherein the thunder ball calibration system comprises a radar, a ball machine, a control module and a distance measurement sensor, the distance measurement sensor acquires the distance between the distance measurement sensor and the ball machine, and the control module controls the ball machine to rotate for one circle according to a preset rotation step length; and the ball machine receives the distance sent by the distance measuring sensor every time the ball machine rotates, and determines the target distance corresponding to the symmetrical point of the ball machine according to each received distance; and taking the rotation angle of the ball machine corresponding to the target distance as a lightning ball calibration angle. Because the distance measuring sensor and the control module are arranged in the ball calibration system, the control module controls the ball machine to rotate for one circle, the ball machine receives the distance sent by the distance measuring sensor when rotating once, the target distance corresponding to the symmetrical point of the ball machine is determined according to each received distance, and the ball machine rotating angle corresponding to the target distance is used as the ball calibration angle. The line of 0 degree of polar coordinates of the ball machine is coincided with the line of 0 degree of polar coordinates of the radar, so that the calibration of the lightning ball is more accurate.
Description
Technical Field
The invention relates to the technical field of coordinate system calibration, in particular to a thunder ball calibration system and a method.
Background
In the changing generations of the security market, the radar gradually walks into the line of sight of the equipment manufacturer. The radar is used as a blind-complementing accessory of a traditional security product camera, and can complement good night detection capability and real-time tracking capability for a traditional monitoring scheme due to the excellent anti-interference performance and the characteristic of no influence of temperature, weather, illumination and the like. Because the radar can give the position information of the target after detecting the target, and the position information can be directly used for the dome camera to visually track the target, the calibration of the radar and the dome camera coordinate system is particularly important, and the accurate coordinate system calibration precision can ensure that the dome camera can accurately see the target detected by the radar.
In the prior art, a manual calibration thunder ball coordinate system is generally adopted, and the specific method is as follows:
fig. 1 shows a 0 ° line of polar coordinates of the dome camera and a 0 ° line of polar coordinates of radar before correction of a dome camera coordinate system, which refers to a horizontal polar coordinate system controlling a horizontal rotation angle of the dome camera, in relation to a mounting position of the dome camera, and which does not rotate as the dome camera rotates; the radar coordinate system refers to a horizontal polar coordinate system with the symmetric center of the radar as an angle of 0 degree, and if the radar rotates horizontally, the radar coordinate system can also rotate along with the radar. As shown in fig. 2, a person (point P) shakes in place or moves in a small range within the detection range of the radar, and a radar alarm is triggered, and at this time, the radar provides angle information α of the point P based on its own polar coordinate system. Then, the dome camera is manually controlled to rotate to the reference point position, and the horizontal angle value beta (which can be directly read from the dome camera) of the current dome camera relative to the coordinate system of the dome camera is obtained by aiming at a person who makes the alarm point, as shown in fig. 3. Then, the target with the angle theta detected by the radar can be converted into the angle of the target in the coordinate system of the ball machine only by adding the angle (beta-alpha) to the angle given by the radar.
The problem that prior art exists is that when the alarm object rocks in situ or moves about in a small range, radar detection has certain deviation, and the people who aim at the manufacturing alarm point also have the deviation in the artificially controlled ball machine rotates to the reference point position, and this will lead to prior art thunder ball calibration inaccurate.
Disclosure of Invention
The embodiment of the invention provides a system and a method for calibrating a thunder ball, which are used for solving the problem of inaccurate calibration of the thunder ball in the prior art.
The embodiment of the invention provides a thunder ball calibration system, which comprises a radar and a ball machine, and further comprises: the radar ranging device comprises a control module and a ranging sensor, wherein the ranging sensor is fixedly connected with the radar, and the horizontal detection direction of the ranging sensor is consistent with that of the radar;
the distance measuring sensor is connected with the control module and used for acquiring the distance between the distance measuring sensor and the ball machine and sending the acquired distance to the control module;
the control module is connected with the ball machine and used for controlling the ball machine to rotate for one circle according to a preset rotating step length; and the control module receives the distance sent by the distance measuring sensor every time the ball machine rotates once, and determines the target distance corresponding to the symmetrical point of the ball machine according to each received distance; and taking the rotation angle of the ball machine corresponding to the target distance as a lightning ball calibration angle.
Further, the control module is specifically configured to sort the received distances according to the rotation angle of the dome camera, determine, for each distance, an absolute value of a difference between every two distances that are symmetric with respect to the distance as a center and have two side positions, and calculate a sum of each absolute value corresponding to the distance; and determining the distance corresponding to the minimum sum value in each obtained sum value as the target distance corresponding to the symmetrical point of the ball machine.
Further, the laser ball calibration system further comprises a laser indicator light; the installation distance between the laser indicator light and the ranging sensor is smaller than a preset distance threshold value, and the directions of the laser indicator light and the ranging sensor are consistent.
Further, the ranging sensor includes:
time of flight TOF sensors or ultrasonic sensors.
Further, the preset rotation step is 1 degree.
In another aspect, an embodiment of the present invention provides a method for calibrating a lightning ball, where the method includes:
the control module controls the ball machine to rotate for one circle according to a preset rotating step length; and the ball machine receives the distance sent by the distance measuring sensor every time the ball machine rotates once; the distance is the distance between the dome camera and the distance obtained by the distance measuring sensor;
determining a target distance corresponding to the symmetrical point of the ball machine according to each received distance; and taking the rotation angle of the ball machine corresponding to the target distance as a lightning ball calibration angle.
Further, the determining, according to each received distance, a target distance corresponding to a symmetrical point of the ball machine includes:
sequencing the received distances according to the rotation angle of the dome camera, determining the absolute value of the difference value of every two distances which are symmetrical by taking the distance as the center and taking the positions on two sides as the center aiming at each distance, and calculating the sum value of each absolute value corresponding to the distance; and determining the distance corresponding to the minimum sum value in each obtained sum value as the target distance corresponding to the symmetrical point of the ball machine.
Further, the ranging sensor includes:
time of flight TOF sensors or ultrasonic sensors.
Further, the preset rotation step is 1 degree.
The embodiment of the invention provides a thunder ball calibration system and a method, wherein the thunder ball calibration system comprises a radar and a ball machine, and the thunder ball calibration system further comprises: the radar ranging device comprises a control module and a ranging sensor, wherein the ranging sensor is fixedly connected with the radar, and the horizontal detection direction of the ranging sensor is consistent with that of the radar; the distance measuring sensor is connected with the control module and used for acquiring the distance between the distance measuring sensor and the dome camera and sending the acquired distance to the control module; the control module is connected with the ball machine and used for controlling the ball machine to rotate for one circle according to a preset rotating step length; the ball machine receives the distance sent by the distance measuring sensor every time the ball machine rotates once, and determines a target distance corresponding to a symmetrical point of the ball machine according to each received distance; and taking the rotation angle of the ball machine corresponding to the target distance as a lightning ball calibration angle.
In the embodiment of the invention, the distance measuring sensor and the control module are arranged in the lightning ball calibration system, the distance measuring sensor can acquire the distance between the distance measuring sensor and the ball machine, the control module controls the ball machine to rotate for one circle, the distance sent by the distance measuring sensor is received when the ball machine rotates once, the target distance corresponding to the symmetrical point of the ball machine is determined according to each received distance, and the rotating angle of the ball machine corresponding to the target distance is used as the lightning ball calibration angle. Therefore, when the laser coordinate system is calibrated according to the laser calibration angle, the 0-degree line of the polar coordinate of the ball machine and the 0-degree line of the polar coordinate of the radar can be just coincided, and therefore the laser calibration is more accurate.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of a ball machine polar coordinate 0 degree line and a radar polar coordinate 0 degree line before a radar ball coordinate system provided by the prior art is corrected;
fig. 2 is a schematic diagram of a radar provided in the prior art, which provides angle information α of a point P based on its own polar coordinate system;
FIG. 3 is a schematic diagram of a prior art for obtaining a horizontal angle value β of a current dome camera relative to a dome camera coordinate system;
fig. 4 is a schematic structural diagram of a lightning ball calibration system provided in embodiment 1 of the present invention;
fig. 5 is a schematic diagram illustrating a correspondence between a rotation angle of a ball machine and a distance measured by a distance measuring sensor according to embodiment 1 of the present invention;
fig. 6 is a schematic structural view of a distance measuring sensor and a ball machine provided in embodiment 1 of the present invention;
fig. 7 is a schematic structural diagram of a lightning ball calibration system provided in embodiment 3 of the present invention;
FIG. 8 is a schematic diagram of a process for calibrating a lightning ball according to embodiment 4 of the present invention;
fig. 9 is a schematic diagram of a detailed process of calibrating a laser ball according to embodiment 5 of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the attached drawings, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
fig. 4 is a schematic structural diagram of a ball calibration system according to an embodiment of the present invention, where the ball calibration system includes a radar 11 and a ball machine 12, and the ball calibration system further includes: the system comprises a control module 13 and a ranging sensor 14, wherein the ranging sensor 14 is fixedly connected with the radar 11, and the horizontal detection direction of the ranging sensor 14 is consistent with that of the radar 11;
the distance measuring sensor 14 is connected with the control module 13 and is used for acquiring the distance between the distance measuring sensor and the dome camera 12 and sending the acquired distance to the control module 13;
the control module 13 is connected with the ball machine 12 and is used for controlling the ball machine 12 to rotate for one circle according to a preset rotating step length; and every time the ball machine 12 rotates once, the control module 13 receives the distance sent by the distance measuring sensor 14, and determines a target distance corresponding to a symmetrical point of the ball machine 12 according to each received distance; and taking the rotation angle of the ball machine corresponding to the target distance as a lightning ball calibration angle.
As shown in fig. 4, the ball calibration system includes a radar 11 and a ball machine 12. The radar in the embodiment of the invention can be a millimeter wave radar, and the radar ball calibration system further comprises: the radar ranging device comprises a control module 13 and a ranging sensor 14, wherein the ranging sensor 14 is fixedly connected with the radar 11, and the ranging sensor 14 is consistent with the horizontal detection direction of the radar 11. The function of the radar 11 is to detect moving objects within a certain range. The function of the distance sensor 14 is to measure the distance between itself and the object it is aiming at by sending light pulses with an accuracy of up to 0.1 mm, in the present embodiment the distance sensor 14 is used to measure the distance between the radar 11 and the ball machine 12.
The ranging sensor includes:
a Time of Flight (TOF) sensor or an ultrasound sensor.
In practical application, after the radar 11 detects the target object, it may determine an angle of the target object in a radar coordinate system, and then send the angle to the control module 13, and the control module 13 determines an angle of the target object in a dome camera coordinate system according to the angle, and then controls the dome camera 12 to rotate and track the target object according to the angle in the dome camera coordinate system. The embodiment of the invention aims to accurately determine the angle errors of the coordinate system of the dome camera and the coordinate system of the radar so as to calibrate the lightning ball more accurately.
The following describes a process of determining the angle errors of the dome and radar coordinate systems.
In the embodiment of the invention, the distance measuring sensor is used for acquiring the distance between the distance measuring sensor and the ball machine and sending the distance to the control module, and the control module is used for controlling the ball machine to rotate for one circle according to the preset rotating step length. And the control module controls the ball machine to receive the distance sent by the distance measuring sensor every time the ball machine rotates once. The preset rotation step may be 2 degrees, 3 degrees, and the like, and preferably, may be 1 degree. For example, the preset rotation step is 1 degree, the ball machine rotates for a circle for 360 degrees, and the control module receives the distances from the ranging sensor for 360 distances. Wherein, the distance corresponding to 1 degree is d1, the distance corresponding to 2 degrees is d2, … …, and the distance corresponding to 360 degrees is d 360. FIG. 5 is a schematic diagram showing the correspondence between the rotation angle of the ball machine and the distance measured by the distance measuring sensor.
After the control module receives the 360 distances sent by the distance measuring sensor, the target distance corresponding to the symmetrical point of the ball machine can be determined according to each received distance.
Specifically, fig. 6 is a schematic structural diagram of a distance measuring sensor and a ball machine, as shown in fig. 6, the distance measuring sensor measures that the distance between the distance measuring sensor and two right-angle positions of a lens of the ball machine shown in fig. 6 is the farthest, and a position Q of a symmetrical point of the ball machine is exactly located in the middle of the two right-angles positions of the lens of the ball machine shown in fig. 6. Based on the above, after the control module acquires 360 distances sent by the distance measuring sensor, two maximum distances can be identified, then the rotation angles of the ball machines corresponding to the two maximum distances are respectively determined, and then the average value of the rotation angles of the two ball machines is determined, the distance corresponding to the average value is the target distance corresponding to the symmetry point of the ball machine, and the average value is the calibration angle of the thunder ball.
In the embodiment of the invention, the distance measuring sensor and the control module are arranged in the lightning ball calibration system, the distance measuring sensor can acquire the distance between the distance measuring sensor and the ball machine, the control module controls the ball machine to rotate for one circle, the distance sent by the distance measuring sensor is received when the ball machine rotates once, the target distance corresponding to the symmetrical point of the ball machine is determined according to each received distance, and the rotating angle of the ball machine corresponding to the target distance is used as the lightning ball calibration angle. Therefore, when the laser coordinate system is calibrated according to the laser calibration angle, the 0-degree line of the polar coordinate of the ball machine and the 0-degree line of the polar coordinate of the radar can be just coincided, and therefore the laser calibration is more accurate.
Example 2:
in order to make calibration of a thunder ball system more accurate, a target distance corresponding to a symmetrical point of a ball machine needs to be accurately determined, on the basis of the above embodiment, in the embodiment of the present invention, the control module is specifically configured to sort each received distance according to a rotation angle of the ball machine, determine, for each distance, an absolute value of a difference between every two distances, the two distances being symmetrical with respect to the distance as a center and having two side positions, and calculate a sum of each absolute value corresponding to the distance; and determining the distance corresponding to the minimum sum value in each obtained sum value as the target distance corresponding to the symmetrical point of the ball machine.
In the embodiment of the present invention, after acquiring 360 distances sent by the distance measuring sensor, the control module firstly sorts each received distance according to the rotation angle of the dome camera, that is, sorts each cluster according to 1 degree to 360 degrees, and certainly sorts each cluster according to 360 degrees to 1 degree. After sorting, for each distance, determining the absolute value of the difference value of every two distances which are symmetrical by taking the distance as the center and have two symmetrical side positions. For example, centering on the distance d1 corresponding to 1 degree, the absolute value of the difference between the distance d2 corresponding to 2 degrees and the distance d360 corresponding to 360 degrees, the absolute value of the difference between the distance d3 corresponding to 3 degrees and the distance d359 corresponding to 359 degrees, and the like are calculated, respectively. After calculating the absolute value of the difference between every two distances with symmetrical positions on both sides, the absolute values are summed up to be the sum corresponding to the distance d 1. And taking each distance as a center, obtaining corresponding sum values, and determining the distance corresponding to the minimum sum value in each obtained sum value as the target distance corresponding to the symmetrical point of the ball machine. And then the rotation angle of the ball machine corresponding to the target distance is used as a lightning ball calibration angle.
For example, if the sum of d50 is the smallest, the ball calibration angle can be determined to be 50 degrees.
In the embodiment of the invention, the control module sequences each received distance according to the rotation angle of the dome camera, determines the absolute value of the difference value of every two distances which take the distance as the center and are symmetrical in positions at two sides aiming at each distance, and calculates the sum of each absolute value; and determining the distance corresponding to the minimum sum value in each obtained sum value as the target distance corresponding to the symmetrical point of the ball machine. Therefore, the determined target distance corresponding to the ball machine symmetrical point is more accurate, and the calibration of the thunder ball system is more accurate.
Example 3:
on the basis of the above embodiments, fig. 7 is a schematic structural diagram of a lightning ball calibration system according to an embodiment of the present invention, where the lightning ball calibration system further includes a laser indicator light 21; the installation distance between the laser indicator light 21 and the distance measuring sensor 14 is smaller than a preset distance threshold value, and the directions are consistent.
In the embodiment of the present invention, the preset distance threshold is a small value, such as 1 cm, 1.5 cm, and the like. The laser indicator light 21 is used for enabling the installation distance between the laser indicator light 21 and the distance measuring sensor 14 to be smaller than a preset distance threshold value and enabling the installation direction to be consistent, the direction pointed by the laser indicator light 21 is the direction measured by the distance measuring sensor 14, and the addition of the laser indicator light 21 enables a user to more intuitively confirm whether the distance measuring sensor 14 detects a plane which the user wants to detect. And further user experience can be improved.
Example 4:
fig. 8 is a schematic diagram of a process for calibrating a lightning ball according to an embodiment of the present invention, where the process includes the following steps:
s101: the control module controls the ball machine to rotate for one circle according to a preset rotating step length; and the ball machine receives the distance sent by the distance measuring sensor every time the ball machine rotates once; the distance is the distance between the distance sensor and the dome camera.
S102: determining a target distance corresponding to the symmetrical point of the ball machine according to each received distance; and taking the rotation angle of the ball machine corresponding to the target distance as a lightning ball calibration angle.
The lightning ball calibration system comprises a radar and a ball machine. The radar in the embodiment of the invention can be a millimeter wave radar, and the radar ball calibration system further comprises: control module and range finding sensor, wherein, range finding sensor and radar fixed connection, and range finding sensor is unanimous with the horizontal detection direction of radar. The function of a radar is to detect moving objects within a certain range. The distance measuring sensor has the function of measuring the distance between the distance measuring sensor and an object aligned with the distance measuring sensor in a light pulse sending mode, the precision of the distance measuring sensor can reach 0.1 millimeter, and in the embodiment of the invention, the distance measuring sensor is used for measuring the distance between a radar and a ball machine. The ranging sensor includes: TOF sensors or ultrasonic sensors. The method for calibrating the thunder ball provided by the embodiment of the invention is applied to a control module.
In the practical application process, after the radar detects the target object, the angle of the target object in the radar coordinate system can be determined, then the angle is sent to the control module, the control module determines the angle of the target object in the dome camera coordinate system according to the angle, and then the dome camera is controlled to rotate and track the target object according to the angle in the dome camera coordinate system. The embodiment of the invention aims to accurately determine the angle errors of the coordinate system of the dome camera and the coordinate system of the radar so as to calibrate the lightning ball more accurately.
The following describes a process of determining the angle errors of the dome and radar coordinate systems.
In the embodiment of the invention, the distance measuring sensor is used for acquiring the distance between the distance measuring sensor and the ball machine and sending the distance to the control module, and the control module is used for controlling the ball machine to rotate for one circle according to the preset rotating step length. And the control module controls the ball machine to receive the distance sent by the distance measuring sensor every time the ball machine rotates once. The preset rotation step may be 2 degrees, 3 degrees, and the like, and preferably, may be 1 degree. For example, the preset rotation step is 1 degree, the ball machine rotates for a circle for 360 degrees, and the control module receives the distances from the ranging sensor for 360 distances. Wherein, the distance corresponding to 1 degree is d1, the distance corresponding to 2 degrees is d2, … …, and the distance corresponding to 360 degrees is d 360. After the control module receives the 360 distances sent by the distance measuring sensor, the target distance corresponding to the symmetrical point of the ball machine can be determined according to each received distance.
As shown in FIG. 6, the distance measuring sensor measures the distance between itself and the lens of the ball machine shown in FIG. 6 at two right angles, and the position Q of the symmetrical point of the ball machine is exactly located at the middle position of the two right angles of the lens of the ball machine shown in FIG. 6. Based on the above, after the control module acquires 360 distances sent by the distance measuring sensor, two maximum distances can be identified, then the rotation angles of the ball machines corresponding to the two maximum distances are respectively determined, and then the average value of the rotation angles of the two ball machines is determined, the distance corresponding to the average value is the target distance corresponding to the symmetry point of the ball machine, and the average value is the calibration angle of the thunder ball.
In the embodiment of the invention, the distance measuring sensor and the control module are arranged in the lightning ball calibration system, the distance measuring sensor can acquire the distance between the distance measuring sensor and the ball machine, the control module controls the ball machine to rotate for one circle, the distance sent by the distance measuring sensor is received when the ball machine rotates once, the target distance corresponding to the symmetrical point of the ball machine is determined according to each received distance, and the rotating angle of the ball machine corresponding to the target distance is used as the lightning ball calibration angle. Therefore, when the laser coordinate system is calibrated according to the laser calibration angle, the 0-degree line of the polar coordinate of the ball machine and the 0-degree line of the polar coordinate of the radar can be just coincided, and therefore the laser calibration is more accurate.
Example 5:
in order to make calibration of a laser ball system more accurate, it is necessary to accurately determine a target distance corresponding to a symmetric point of a ball machine, and on the basis of the above embodiment, in the embodiment of the present invention, determining a target distance corresponding to a symmetric point of the ball machine according to each received distance includes:
sequencing the received distances according to the rotation angle of the dome camera, determining the absolute value of the difference value of every two distances which are symmetrical by taking the distance as the center and taking the positions on two sides as the center aiming at each distance, and calculating the sum value of each absolute value corresponding to the distance; and determining the distance corresponding to the minimum sum value in each obtained sum value as the target distance corresponding to the symmetrical point of the ball machine.
In the embodiment of the present invention, after acquiring 360 distances sent by the distance measuring sensor, the control module firstly sorts each received distance according to the rotation angle of the dome camera, that is, sorts each cluster according to 1 degree to 360 degrees, and certainly sorts each cluster according to 360 degrees to 1 degree. After sorting, for each distance, determining the absolute value of the difference value of every two distances which are symmetrical by taking the distance as the center and have two symmetrical side positions. For example, centering on the distance d1 corresponding to 1 degree, the absolute value of the difference between the distance d2 corresponding to 2 degrees and the distance d360 corresponding to 360 degrees, the absolute value of the difference between the distance d3 corresponding to 3 degrees and the distance d359 corresponding to 359 degrees, and the like are calculated, respectively. After calculating the absolute value of the difference between every two distances with symmetrical positions on both sides, the absolute values are summed up to be the sum corresponding to the distance d 1. And taking each distance as a center, obtaining corresponding sum values, and determining the distance corresponding to the minimum sum value in each obtained sum value as the target distance corresponding to the symmetrical point of the ball machine. And then the rotation angle of the ball machine corresponding to the target distance is used as a lightning ball calibration angle.
For example, if the sum of d50 is the smallest, the ball calibration angle can be determined to be 50 degrees.
In the embodiment of the invention, the control module sequences each received distance according to the rotation angle of the dome camera, determines the absolute value of the difference value of every two distances which take the distance as the center and are symmetrical in positions at two sides aiming at each distance, and calculates the sum of each absolute value; and determining the distance corresponding to the minimum sum value in each obtained sum value as the target distance corresponding to the symmetrical point of the ball machine. Therefore, the determined target distance corresponding to the ball machine symmetrical point is more accurate, and the calibration of the thunder ball system is more accurate.
Fig. 9 is a schematic diagram of a detailed process of calibrating a lightning ball according to an embodiment of the present invention, as shown in fig. 9, the ball machine is controlled to rotate in a horizontal direction in 1 ° step length, and the distance measuring sensor measures the distance from the ball machine to the distance measuring sensor in each step length, so that 360 distances d1, d2, …, and d360 are obtained after one rotation. The 360 distances can correspond to 360 angles of the control ball machine one by one. And determining the absolute value of the difference value of every two distances which are symmetrical in positions on two sides by taking the distance as the center for each distance, and calculating the sum of each absolute value corresponding to the distance. Specifically, with the distance d1 corresponding to 1 degree as the center, the absolute value of the difference between the distance d2 corresponding to 2 degrees and the distance d360 corresponding to 360 degrees, and the absolute value of the difference between the distance d3 corresponding to 3 degrees and the distance d359 corresponding to 359 degrees are calculated respectively, and by analogy, the absolute values of all the differences are accumulated to obtain a sum, and the sum is used for representing the position of the symmetry point of the ball machine. Then, taking the distance d2 corresponding to 2 degrees as the center, respectively calculating the absolute value of the difference between the distance d1 corresponding to 1 degree and the distance d3 corresponding to 3 degrees, and the absolute value of the difference between the distance d3360 corresponding to 360 degrees and the distance d4 corresponding to 4 degrees, and so on, accumulating the absolute values of all the differences to obtain a sum, wherein the sum is used for representing the position of the symmetrical point of the ball machine. The accumulated sum value is obtained by centering on the 360 th distances of the third and fourth … …. And comparing all the sum values to find out the smallest sum value, wherein the center distance corresponding to the smallest sum value is dmin, and the dmin is the target distance. And after the target distance is obtained, taking the rotation angle of the ball machine corresponding to the target distance as the calibration angle of the lightning ball.
It should be noted that, in the embodiment of the present invention, the determined point of symmetry of the dome camera may be the point Q shown in fig. 6, or may be the point Q' shown in fig. 6. When the method is used in the later period, if the tracking target cannot be seen in the ball machine according to the determined ball calibration angle of the embodiment of the invention, only 180 degrees need to be added on the basis of the ball calibration angle.
The embodiment of the invention provides a thunder ball calibration system and a method, wherein the thunder ball calibration system comprises a radar and a ball machine, and the thunder ball calibration system further comprises: the radar ranging device comprises a control module and a ranging sensor, wherein the ranging sensor is fixedly connected with the radar, and the horizontal detection direction of the ranging sensor is consistent with that of the radar; the distance measuring sensor is connected with the control module and used for acquiring the distance between the distance measuring sensor and the dome camera and sending the acquired distance to the control module; the control module is connected with the ball machine and used for controlling the ball machine to rotate for one circle according to a preset rotating step length; the ball machine receives the distance sent by the distance measuring sensor every time the ball machine rotates once, and determines a target distance corresponding to a symmetrical point of the ball machine according to each received distance; and taking the rotation angle of the ball machine corresponding to the target distance as a lightning ball calibration angle.
In the embodiment of the invention, the distance measuring sensor and the control module are arranged in the lightning ball calibration system, the distance measuring sensor can acquire the distance between the distance measuring sensor and the ball machine, the control module controls the ball machine to rotate for one circle, the distance sent by the distance measuring sensor is received when the ball machine rotates once, the target distance corresponding to the symmetrical point of the ball machine is determined according to each received distance, and the rotating angle of the ball machine corresponding to the target distance is used as the lightning ball calibration angle. Therefore, when the laser coordinate system is calibrated according to the laser calibration angle, the 0-degree line of the polar coordinate of the ball machine and the 0-degree line of the polar coordinate of the radar can be just coincided, and therefore the laser calibration is more accurate.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. A lightning ball calibration system, the lightning ball calibration system includes radar and ball machine, its characterized in that, the lightning ball calibration system still includes: the radar ranging device comprises a control module and a ranging sensor, wherein the ranging sensor is fixedly connected with the radar, and the horizontal detection direction of the ranging sensor is consistent with that of the radar;
the distance measuring sensor is connected with the control module and used for acquiring the distance between the distance measuring sensor and the dome camera and sending the acquired distance to the control module;
the control module is connected with the ball machine and used for controlling the ball machine to rotate for one circle according to a preset rotating step length; and the control module receives the distance sent by the distance measuring sensor every time the ball machine rotates once, and determines the target distance corresponding to the symmetrical point of the ball machine according to each received distance; and taking the rotation angle of the ball machine corresponding to the target distance as a lightning ball calibration angle.
2. The ball calibration system of claim 1, wherein the control module is specifically configured to sort each received distance by a rotation angle of the ball machine, determine, for each distance, an absolute value of a difference between each two distances that are symmetric with respect to the distance as a center and have two opposite side positions, and calculate a sum of each absolute value corresponding to the distance; and determining the distance corresponding to the minimum sum value in each obtained sum value as the target distance corresponding to the symmetrical point of the ball machine.
3. The ball calibration system of claim 1, further comprising a laser indicator light; the installation distance between the laser indicator light and the ranging sensor is smaller than a preset distance threshold value, and the directions of the laser indicator light and the ranging sensor are consistent.
4. The ball calibration system of claim 1, wherein the ranging sensor comprises:
time of flight TOF sensors or ultrasonic sensors.
5. The ball calibration system of claim 1, wherein the predetermined rotational step is 1 degree.
6. A method of calibrating a laser ball, the method comprising:
the control module controls the ball machine to rotate for one circle according to a preset rotating step length; and the ball machine receives the distance sent by the distance measuring sensor every time the ball machine rotates once; the distance is the distance between the distance measuring sensor and the dome camera, which is acquired by the distance measuring sensor;
determining a target distance corresponding to the symmetrical point of the ball machine according to each received distance; and taking the rotation angle of the ball machine corresponding to the target distance as a lightning ball calibration angle.
7. The method of claim 6, wherein the determining, from each distance received, a target distance corresponding to a point of symmetry of the ball machine comprises:
sequencing the received distances according to the rotation angle of the dome camera, determining the absolute value of the difference value of every two distances which are symmetrical by taking the distance as the center and taking the positions on two sides as the center aiming at each distance, and calculating the sum value of each absolute value corresponding to the distance; and determining the distance corresponding to the minimum sum value in each obtained sum value as the target distance corresponding to the symmetrical point of the ball machine.
8. The method of claim 6, wherein the ranging sensor comprises:
time of flight TOF sensors or ultrasonic sensors.
9. The method of claim 6, wherein the predetermined rotation step is 1 degree.
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