CN111157971A - Control method and device of laser radar - Google Patents
Control method and device of laser radar Download PDFInfo
- Publication number
- CN111157971A CN111157971A CN201811319252.5A CN201811319252A CN111157971A CN 111157971 A CN111157971 A CN 111157971A CN 201811319252 A CN201811319252 A CN 201811319252A CN 111157971 A CN111157971 A CN 111157971A
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- laser radar
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- stepping motor
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000001514 detection method Methods 0.000 claims abstract description 29
- 230000008878 coupling Effects 0.000 claims description 11
- 238000010168 coupling process Methods 0.000 claims description 11
- 238000005859 coupling reaction Methods 0.000 claims description 11
- 230000000694 effects Effects 0.000 abstract description 10
- 230000008569 process Effects 0.000 description 9
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The application discloses a control method of a laser radar, which comprises the following steps: acquiring an actual angle of the laser radar; judging whether the actual angle is equal to a calibration angle or not; if not, controlling a stepping motor to rotate so as to drive the laser radar to rotate, and enabling the actual angle to be equal to the calibration angle. Laser radar can rotate in a flexible way in this application, and its angle is not fixed unchangeable, utilizes control step motor, and it is rotatory to drive laser radar, makes it reach and marks the angle to laser radar can acquire more excellent detection effect when detecting. Correspondingly, the application also discloses a control device of the laser radar.
Description
Technical Field
The invention relates to the field of automobile hardware design, in particular to a control method and device of a laser radar.
Background
The lidar is a radar system which emits a laser beam to detect a target position, is usually installed on a vehicle body of a commercial vehicle for intelligent driving, and can obtain depth information around the vehicle by using a radar ranging technology so as to judge obstacles, pedestrians, vehicles and side road edges in front of the vehicle. In order to obtain the best detection effect, careful consideration needs to be given to relevant parameters of the installation position of the laser radar, such as the installation height of the laser radar, the pitch angle and the roll angle of the laser radar, and the like. It is common practice to empirically determine the mounting position of the lidar in advance, and once it is determined that the fabrication shelf is mounted, the position of the lidar cannot be adjusted. Often, the detection effect of the laser radar cannot be optimal due to the preset position, and if the posture of the laser radar is required to be adjusted again, the laser radar support needs to be redesigned, so that the cost is wasted.
Therefore, how to provide a solution to the above technical problems is a problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a method and an apparatus for controlling a laser radar capable of flexibly adjusting a position. The specific scheme is as follows:
a method of controlling a lidar comprising:
acquiring an actual angle of the laser radar;
judging whether the actual angle is equal to a calibration angle or not;
if not, controlling a stepping motor to rotate so as to drive the laser radar to rotate, and enabling the actual angle to be equal to the calibration angle.
Preferably, the calibration angle is specifically:
and detecting by using the laser radar at a plurality of preselected angles, wherein the preselected angle corresponding to the optimal detection result is obtained from a plurality of detection results.
Preferably, the control method further includes:
when a hiding command is received, the stepping motor is controlled to rotate so as to drive the laser radar to rotate, and the laser radar is hidden in the vehicle body.
Preferably, the process of controlling the rotation of the stepping motor to drive the laser radar to rotate specifically includes:
and controlling the stepping motor to rotate so as to drive the laser radar to rotate in the horizontal direction.
Preferably, the process of controlling the rotation of the stepping motor to drive the laser radar to rotate in the horizontal direction specifically includes:
and controlling the stepping motor to rotate, and driving the laser radar to rotate in the horizontal direction by driving the coupling gear.
Correspondingly, the invention also discloses a control device of the laser radar, which comprises a controller, a position sensor and a stepping motor, wherein:
the position sensor is used for acquiring the actual angle of the laser radar;
the controller is used for judging whether the actual angle is equal to the calibration angle or not, and if not, the controller controls the stepping motor to rotate so as to drive the laser radar to rotate, so that the actual angle is equal to the calibration angle.
Preferably, the control device further includes:
and the upper computer is used for acquiring detection results of the laser radar detected at a plurality of preselected angles and sending the preselected angle corresponding to the optimal detection result to the controller as a calibration angle.
Preferably, the controller is further configured to:
when a hiding command is received, the stepping motor is controlled to rotate so as to drive the laser radar to rotate, and the laser radar is hidden in the vehicle body.
Preferably, the controller is specifically configured to:
and controlling the stepping motor to rotate so as to drive the laser radar to rotate in the horizontal direction.
Preferably, the control device further includes:
and the coupling gear is associated with both the stepping motor and the laser radar and is used for driving the laser radar to rotate in the horizontal direction when the stepping motor rotates.
The invention discloses a control method of a laser radar, which comprises the following steps: acquiring an actual angle of the laser radar; judging whether the actual angle is equal to a calibration angle or not; if not, controlling a stepping motor to rotate so as to drive the laser radar to rotate, and enabling the actual angle to be equal to the calibration angle. The laser radar can flexibly rotate, the angle of the laser radar is not fixed, and the laser radar is driven to rotate by controlling the stepping motor to reach the calibration angle, so that the laser radar can obtain a better detection effect during detection.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flowchart illustrating steps of a method for controlling a laser radar according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating a structure of a control apparatus of a lidar according to an embodiment of the present invention;
fig. 3 is a physical structure diagram of a control device of a laser radar according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious 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.
The embodiment of the invention discloses a control method of a laser radar, which is shown in figure 1 and comprises the following steps:
s1: acquiring an actual angle of the laser radar;
in this embodiment, generally include two at least or above laser radar, install in the corner that meets of locomotive and automobile body side, laser radar's fixed bolster only plays the supporting role, and laser radar's angle can adjust rotatoryly, and is different with angle, the height of fixing laser radar completely among the prior art.
S2: judging whether the actual angle is equal to a calibration angle or not;
s3: if not, controlling a stepping motor to rotate so as to drive the laser radar to rotate, and enabling the actual angle to be equal to the calibration angle.
If so, the current angle of the laser radar can obtain a better detection effect without adjustment.
Wherein, control step motor is rotatory in order to drive the rotatory process of laser radar specifically includes:
and controlling the stepping motor to rotate so as to drive the laser radar to rotate in the horizontal direction.
It will be appreciated that the lidar is primarily rotatable in the horizontal direction, although the elevation angle in the vertical direction may be adjusted, requiring more rotating assemblies to cooperate.
Further, the process of controlling the rotation of the stepping motor to drive the laser radar to rotate in the horizontal direction specifically includes:
and controlling the stepping motor to rotate, and driving the laser radar to rotate in the horizontal direction by driving the coupling gear.
It can be understood that the coupling gear is connected with the rotating shafts of the stepping motor and the laser radar, so that the laser radar can be driven to rotate by driving the coupling gear in the rotating process of the stepping motor. According to the corresponding relation of the rotating angles among the stepping motor, the coupling gear and the rotating shaft of the laser radar, the rotating transformation angle of the laser radar can be accurately adjusted. In addition, the actual angle of the laser radar can be continuously obtained as feedback to be adjusted in the process of controlling the stepping motor to rotate without depending on the corresponding relation of the rotation angle until the actual angle is the same as the calibration angle.
The embodiment of the invention discloses a control method of a laser radar, which comprises the following steps: acquiring an actual angle of the laser radar; judging whether the actual angle is equal to a calibration angle or not; if not, controlling a stepping motor to rotate so as to drive the laser radar to rotate, and enabling the actual angle to be equal to the calibration angle. The laser radar can flexibly rotate, the angle of the laser radar is not fixed, and the laser radar is driven to rotate by controlling the stepping motor to reach the calibration angle, so that the laser radar can obtain a better detection effect during detection.
The embodiment of the invention discloses a specific control method of a laser radar, and compared with the previous embodiment, the embodiment further explains and optimizes the technical scheme. Specifically, the method comprises the following steps:
the calibration angle is a preselected angle corresponding to the optimal detection result in a plurality of detection results obtained by detecting with the laser radar at a plurality of preselected angles.
It can be understood that the laser radar at the calibration angle can necessarily obtain a relatively accurate and comprehensive detection result, and the calibration angle can be an angle selected by an experienced engineer according to various factors such as a vehicle type, an installation position and a support bracket; or after being installed on the vehicle, the calibration angle can be detected at a plurality of preselected angles through multiple debugging, and the calibration angle selected by the preselected angle corresponding to the optimal detection result is selected from the detection results.
In specific implementation, the angle range which can be calibrated by the laser radar is assumed to be 120 degrees, the difference between adjacent preselected angles is 6 degrees, the laser radar rotates to the next preselected angle for detection after detecting the current angle until all detection results are obtained, all detection results are compared, and the detection result with the optimal effect and the preselected angle thereof are selected as the calibration angle.
Further, the control method may further include:
when a hiding command is received, the stepping motor is controlled to rotate so as to drive the laser radar to rotate, and the laser radar is hidden in the vehicle body.
The laser radar is hidden in the vehicle body, so that the protection effect on the laser radar and the attractive effect of the whole vehicle can be achieved.
It can be seen that, when the vehicle runs for a period of time, the laser radar works for a period of time, or the laser radar can be hidden, the change of the angle position of the laser radar needs to be adjusted, and the scheme of obtaining the actual angle of the laser radar and adjusting the actual angle to the calibrated angle in the embodiment can solve the above requirements.
Correspondingly, the embodiment of the present invention further discloses a control device of a laser radar, which is shown in fig. 2 and includes a controller 1, a position sensor 2 and a stepping motor 3, wherein:
the position sensor 2 is used for acquiring the actual angle of the laser radar 4;
the controller 1 is configured to determine whether the actual angle is equal to a calibration angle, and if not, control the stepping motor 3 to rotate to drive the laser radar 4 to rotate, so that the actual angle is equal to the calibration angle.
In the present embodiment, the controller 1 may be implemented by an ECU (Electronic Control Unit).
The laser radar can flexibly rotate, the angle of the laser radar is not fixed, and the laser radar is driven to rotate by controlling the stepping motor to reach the calibration angle, so that the laser radar can obtain a better detection effect during detection.
Further, the control device further includes:
and the upper computer 5 is used for acquiring detection results of the laser radar 4 detected at a plurality of preselected angles, and sending the preselected angle corresponding to the optimal detection result to the controller 1 as a calibration angle.
In some embodiments, the controller 1 is further configured to:
when a hiding command is received, the stepping motor 4 is controlled to rotate so as to drive the laser radar to rotate, and the laser radar 4 is hidden in the vehicle body.
In some embodiments, the controller 1 is specifically configured to:
and controlling the stepping motor 3 to rotate so as to drive the laser radar 4 to rotate in the horizontal direction.
Referring to the physical structure diagram shown in fig. 3, the control device further includes:
and the coupling gear 6 is associated with both the stepping motor 3 and the laser radar 4 and is used for driving the laser radar 4 to rotate in the horizontal direction when the stepping motor 3 rotates.
In fact, the laser radar 4 is mounted on the rotating bracket 7, the rotating bracket 7 is associated with the coupling gear 6, and when the stepping motor 3 rotates, the coupling gear 6 and the rotating bracket 7 both rotate, so that the angle of the laser radar changes.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The method and the device for controlling the laser radar provided by the invention are described in detail, and the principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A method of controlling a lidar, comprising:
acquiring an actual angle of the laser radar;
judging whether the actual angle is equal to a calibration angle or not;
if not, controlling a stepping motor to rotate so as to drive the laser radar to rotate, and enabling the actual angle to be equal to the calibration angle.
2. The control method according to claim 1, characterized in that the calibration angles are in particular:
and detecting by using the laser radar at a plurality of preselected angles, wherein the preselected angle corresponding to the optimal detection result is obtained from a plurality of detection results.
3. The control method according to claim 2, characterized by further comprising:
when a hiding command is received, the stepping motor is controlled to rotate so as to drive the laser radar to rotate, and the laser radar is hidden in the vehicle body.
4. The control method according to any one of claims 1 to 3, wherein the step of controlling the rotation of the stepping motor to rotate the laser radar comprises:
and controlling the stepping motor to rotate so as to drive the laser radar to rotate in the horizontal direction.
5. The control method according to claim 4, wherein the step of controlling the stepping motor to rotate to drive the laser radar to rotate in the horizontal direction specifically comprises:
and controlling the stepping motor to rotate, and driving the laser radar to rotate in the horizontal direction by driving the coupling gear.
6. A control device of a laser radar is characterized by comprising a controller, a position sensor and a stepping motor, wherein:
the position sensor is used for acquiring the actual angle of the laser radar;
the controller is used for judging whether the actual angle is equal to the calibration angle or not, and if not, the controller controls the stepping motor to rotate so as to drive the laser radar to rotate, so that the actual angle is equal to the calibration angle.
7. The control device according to claim 6, characterized by further comprising:
and the upper computer is used for acquiring detection results of the laser radar detected at a plurality of preselected angles and sending the preselected angle corresponding to the optimal detection result to the controller as a calibration angle.
8. The control device of claim 7, wherein the controller is further configured to:
when a hiding command is received, the stepping motor is controlled to rotate so as to drive the laser radar to rotate, and the laser radar is hidden in the vehicle body.
9. The control device according to any one of claims 6 to 8, wherein the controller is specifically configured to:
and controlling the stepping motor to rotate so as to drive the laser radar to rotate in the horizontal direction.
10. The control device according to claim 9, characterized by further comprising:
and the coupling gear is associated with both the stepping motor and the laser radar and is used for driving the laser radar to rotate in the horizontal direction when the stepping motor rotates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811319252.5A CN111157971B (en) | 2018-11-07 | 2018-11-07 | Laser radar control method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811319252.5A CN111157971B (en) | 2018-11-07 | 2018-11-07 | Laser radar control method and device |
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| Publication Number | Publication Date |
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| CN111157971A true CN111157971A (en) | 2020-05-15 |
| CN111157971B CN111157971B (en) | 2024-01-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811319252.5A Active CN111157971B (en) | 2018-11-07 | 2018-11-07 | Laser radar control method and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115598625A (en) * | 2022-11-07 | 2023-01-13 | 深圳煜炜光学科技有限公司（Cn） | Laser radar measurement correction method, device, equipment and storage medium |
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| CN105866762A (en) * | 2016-02-26 | 2016-08-17 | 福州华鹰重工机械有限公司 | Laser-radar automatic calibration method and device thereof |
| CN106772334A (en) * | 2015-11-24 | 2017-05-31 | 同济大学 | A kind of attitude control method of Vehicle radar |
| CN107247268A (en) * | 2017-05-16 | 2017-10-13 | 深圳市速腾聚创科技有限公司 | The bearing calibration of multi-line laser radar system and its horizontal installation angle |
| CN207528912U (en) * | 2017-08-02 | 2018-06-22 | 周虎基 | Laser radar echo digital regulating device and laser radar signal R-T unit |
| CN108562881A (en) * | 2018-05-31 | 2018-09-21 | 安徽江淮汽车集团股份有限公司 | A kind of Radar Calibration system and method |
-
2018
- 2018-11-07 CN CN201811319252.5A patent/CN111157971B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106772334A (en) * | 2015-11-24 | 2017-05-31 | 同济大学 | A kind of attitude control method of Vehicle radar |
| CN105866762A (en) * | 2016-02-26 | 2016-08-17 | 福州华鹰重工机械有限公司 | Laser-radar automatic calibration method and device thereof |
| CN107247268A (en) * | 2017-05-16 | 2017-10-13 | 深圳市速腾聚创科技有限公司 | The bearing calibration of multi-line laser radar system and its horizontal installation angle |
| CN207528912U (en) * | 2017-08-02 | 2018-06-22 | 周虎基 | Laser radar echo digital regulating device and laser radar signal R-T unit |
| CN108562881A (en) * | 2018-05-31 | 2018-09-21 | 安徽江淮汽车集团股份有限公司 | A kind of Radar Calibration system and method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115598625A (en) * | 2022-11-07 | 2023-01-13 | 深圳煜炜光学科技有限公司（Cn） | Laser radar measurement correction method, device, equipment and storage medium |
| CN115598625B (en) * | 2022-11-07 | 2023-03-10 | 深圳煜炜光学科技有限公司 | Laser radar measurement correction method, device, equipment and storage medium |
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| Publication number | Publication date |
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| CN111157971B (en) | 2024-01-19 |
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