CN111289957B - External parameter calibration method and device, intelligent robot and computer readable storage medium - Google Patents
External parameter calibration method and device, intelligent robot and computer readable storage medium Download PDFInfo
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- CN111289957B CN111289957B CN202010161044.8A CN202010161044A CN111289957B CN 111289957 B CN111289957 B CN 111289957B CN 202010161044 A CN202010161044 A CN 202010161044A CN 111289957 B CN111289957 B CN 111289957B
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Abstract
The application discloses an external reference calibration method, which is used for external reference calibration for a radar, and comprises the following steps: generating a plurality of groups of test external parameters at preset step intervals in a preset external parameter range; respectively calculating the reference height of the reference surface detected by the radar according to the multiple groups of test external parameters, and generating multiple groups of test heights; acquiring a test external parameter corresponding to the test height with the minimum difference value with the reference height from the plurality of groups of test heights as a to-be-selected external parameter; judging whether the height difference between the test height corresponding to the external parameter to be selected and the reference height is within a preset range or not; and if so, determining the external parameter to be selected as the external parameter calibrated by the radar. The application also discloses an external reference calibration device, an intelligent robot and a computer readable storage medium. The external reference calibration method is simple to operate, labor and time cost in the radar calibration process can be greatly saved, and high calibration precision can be obtained.
Description
Technical Field
The present disclosure relates to the field of sensor external parameter calibration technologies, and more particularly, to an external parameter calibration method and apparatus, an intelligent robot, and a computer-readable storage medium.
Background
The laser radar sensor is widely applied to the aspects of map building, positioning, navigation, obstacle avoidance and the like of the mobile robot. The mobile robot can identify the obstacle on the premise of avoiding the obstacle, and for the obstacle on the ground, if the obstacle needs to be accurately identified, the laser radar sensor is the first choice. External parameters of the laser radar are very important for the robot to be able to accurately identify obstacles without errors, which directly affects the overall performance of the robot. For an actual robot, installation errors are difficult to avoid, and in addition, long-time running of the robot can also affect external parameters of the laser radar, so that automatic calibration of the external parameters of the laser radar is very urgently needed. The efficiency of manual calibration is low, and the precision is low.
Disclosure of Invention
In view of the above, the present invention is directed to solving, at least to some extent, one of the problems in the related art. Therefore, the embodiment of the application provides an external reference calibration method and device, an intelligent robot and a computer readable storage medium.
The external reference calibration method is used for external reference calibration for the radar, and comprises the following steps: generating a plurality of groups of test external parameters at preset step intervals in a preset external parameter range; respectively calculating the reference height of the reference surface detected by the radar according to the plurality of groups of test external parameters, and generating a plurality of groups of test heights; obtaining a test external parameter corresponding to the test height with the minimum difference value with the reference height from the plurality of groups of test heights as a to-be-selected external parameter; judging whether the height difference between the test height corresponding to the external parameter to be selected and the reference height is within a preset range or not; and if so, determining the external parameter to be selected as the external parameter calibrated by the radar.
The external reference calibration method of the embodiment of the application firstly generates a plurality of groups of test external references at preset step intervals in a preset external reference range, then respectively calculating the reference height of the reference surface detected by the radar according to the plurality of groups of test external parameters, simultaneously generating a plurality of groups of test heights, acquiring the test external parameter corresponding to the test height with the minimum difference value with the reference height from the plurality of groups of test heights as a to-be-selected external parameter, finally judging whether the height difference between the test height corresponding to the to-be-selected external parameter and the reference height is within a preset range, if so, determining the to-be-selected external parameter as the external parameter calibrated by the radar, therefore, the external parameter calibration method selects the proper external parameter from the plurality of test external parameters through calculation, is suitable for the radar installed at any angle, is simple to operate, can greatly save the labor and time cost in the radar calibration process, and can obtain higher calibration precision.
In some embodiments, the calculating a reference height of the radar-detected reference plane from the plurality of sets of test external parameters, and generating a plurality of sets of test heights includes: acquiring a point cloud on the reference surface; filtering the point cloud shielded by the installation carrier of the radar in the point cloud to form a first point cloud; and respectively calculating the heights of the first point clouds according to the plurality of groups of test external parameters to generate a plurality of groups of test heights.
In the embodiment, the point cloud on the reference surface is firstly obtained, then the point cloud shielded by the radar installation carrier is filtered to form the first point cloud, and finally the height of the first point cloud is respectively calculated according to a plurality of groups of test external parameters to generate a plurality of groups of test heights, so that the test heights are all effective point clouds, errors caused by the fact that the test heights are calculated by the point cloud shielded by the installation carrier are avoided, and the obtained test height value is more accurate.
In some embodiments, the radar is rotatable about a rotation axis relative to a mounting carrier of the radar, the referencing method further comprising: setting angle intervals according to the angle range of the radar rotating around the rotating shaft to form a plurality of calibration areas; and performing external reference calibration for the radar in each calibration area at least once.
In this embodiment, the radar can be rotatory around the rotation axis for the installation carrier of radar, therefore, the mounted position of radar on the installation carrier is not fixed, at first, set up the angle interval according to the radar around the rotatory angular range of rotation axis, a plurality of demarcation regions have been formed, carry out external reference for the radar at least once in every demarcation region simultaneously, therefore, the radar all can obtain a set of external reference after maring in every demarcation region, make the radar at the rotatory in-process around the rotation axis, the external reference of radar is external reference after the demarcation all the time, make the radar rotatory to arbitrary angle homoenergetic accurate identification barrier.
In some embodiments, the radar is mounted on an intelligent robot, the reference surface is a driving surface of the intelligent robot, and before the reference height of the reference surface detected by the radar is calculated according to the multiple sets of the test external parameters respectively and multiple sets of test heights are generated, the external parameter calibration method further includes: and controlling the intelligent robot to move to a position where no obstacle exists in a preset range and the running surface is smooth.
In the embodiment, the radar is installed on the intelligent robot, the reference surface is the driving surface of the intelligent robot, and the intelligent robot is controlled to move to the position where the preset range is free of obstacles and the driving surface is smooth, so that the influence of point clouds on the obstacles on the calculated test height can be avoided, the inaccuracy of the calculated test height caused by the unevenness of the driving surface can be avoided, the obtained external parameter is further caused to be inaccurate, and the radar can obtain the accurate external parameter.
In some embodiments, the external parameters include a mounting elevation, a pitch angle, and a roll angle of the radar.
In the embodiment, the external reference comprises the installation height, the pitch angle and the roll angle of the radar, so that the best installation height, pitch angle and roll angle of the radar can be obtained by the external reference calibration method, and the radar can better identify the obstacle.
In some embodiments, the obtaining of the test outlier corresponding to the test height with the smallest difference from the reference height in the plurality of sets of test heights is a candidate outlier includes: and when the test height with the minimum difference value with the reference height corresponds to a plurality of groups of test external parameters, taking the test external parameter with the test height obtained for the first time as the external parameter to be selected.
In the embodiment, when the test height with the minimum difference value with the reference height corresponds to multiple groups of test external parameters, the test external parameter with the minimum test height obtained for the first time is taken as the external parameter to be selected, so that the problem that the external parameter to be selected cannot be determined due to the multiple groups of test external parameters can be avoided, and the error can be favorably reduced by taking the first test external parameter, so that the obtained external parameter to be selected is more accurate.
In some embodiments, the external reference calibration method further comprises: and resetting the external parameter range and/or the step interval when the height difference between the test height corresponding to the external parameter to be selected and the reference height is judged not to be within a preset range.
In the embodiment, when the height difference between the test height corresponding to the external parameter to be selected and the reference height is not within the preset range, the external parameter range and/or the step interval are reset, so that the radar can obtain the proper external parameter to a large extent when external parameter calibration is carried out again, and the situation that the proper external parameter cannot be obtained due to data before repeated calculation is avoided.
The external parameter calibration device is used for calibrating radar and applied to an intelligent robot, and comprises a generation module, a calculation module, an acquisition module, a judgment module and a determination module, wherein the generation module is used for generating a plurality of groups of test external parameters at a preset step interval in a preset external parameter range; the calculation module is used for calculating the reference height of the reference surface detected by the radar according to the plurality of groups of test external parameters and generating a plurality of groups of test heights; the setting module is used for acquiring a test external parameter corresponding to the test height with the minimum difference value with the reference height from the plurality of groups of test heights as a to-be-selected external parameter; the judging module is used for judging whether the height difference between the test height corresponding to the external parameter to be selected and the reference height is within a preset range or not; the determining module is used for determining the external parameter to be selected as the external parameter calibrated by the radar when the result of the judging module is yes.
In the external reference calibration device of the embodiment of the application, firstly, a plurality of groups of test external references are generated at preset step intervals in a preset external reference range, then respectively calculating the reference height of the reference surface detected by the radar according to the plurality of groups of test external parameters, simultaneously generating a plurality of groups of test heights, acquiring the test external parameter corresponding to the test height with the minimum difference value between the reference heights from the plurality of groups of test heights as a candidate external parameter, finally judging whether the height difference between the test height corresponding to the candidate external parameter and the reference height is within a preset range, if so, determining the candidate external parameter as the external parameter calibrated by the radar, therefore, the external parameter calibration method selects a proper external parameter from the multiple test external parameters through calculation, is suitable for the radar installed at any angle, is simple to operate, can greatly save labor and time cost in the radar calibration process, and can obtain higher calibration precision.
In some embodiments, the computing module is further configured to: acquiring a point cloud on the reference surface; filtering the point cloud shielded by the installation carrier of the radar in the point cloud to form a first point cloud; and respectively calculating the heights of the first point clouds according to the plurality of groups of test external parameters to generate a plurality of groups of test heights.
In the embodiment, the point cloud on the reference surface is firstly obtained, then the point cloud shielded by the radar installation carrier is filtered to form the first point cloud, and finally the height of the first point cloud is respectively calculated according to a plurality of groups of test external parameters to generate a plurality of groups of test heights, so that the test heights are all effective point clouds, errors caused by the fact that the test heights are calculated by the point cloud shielded by the installation carrier are avoided, and the obtained test height value is more accurate.
In some embodiments, the radar is rotatable about a rotation axis relative to a mounting carrier of the radar, the external reference calibration apparatus further being configured to: setting angle intervals according to the angle range of the radar rotating around the rotating shaft to form a plurality of calibration areas; and performing external reference calibration for the radar in each calibration area at least once.
In this embodiment, the radar can be rotatory around the rotation axis for the installation carrier of radar, therefore, the mounted position of radar on the installation carrier is not fixed, at first, set up the angle interval according to the radar around the rotatory angular range of rotation axis, a plurality of demarcation regions have been formed, carry out external reference for the radar at least once in every demarcation region simultaneously, therefore, the radar all can obtain a set of external reference of maring in every demarcation region, make the radar at the rotatory in-process around the rotation axis, the external reference of radar is external reference after the demarcation all the time, be favorable to the accurate discernment barrier of radar.
In some embodiments, the radar is installed on an intelligent robot, the reference surface is a driving surface of the intelligent robot, and before the reference height of the reference surface detected by the radar is calculated according to the multiple sets of the test external parameters respectively and multiple sets of test heights are generated, the external parameter calibration apparatus is further configured to: and controlling the intelligent robot to move to a position where no obstacle exists in a preset range and the running surface is smooth.
In the embodiment, the radar is installed on the intelligent robot, the reference surface is the driving surface of the intelligent robot, and the intelligent robot is controlled to move to the position where the preset range is free of obstacles and the driving surface is smooth, so that the influence of point clouds on the obstacles on the calculated test height can be avoided, the inaccuracy of the calculated test height caused by the unevenness of the driving surface can be avoided, the obtained external parameter is further caused to be inaccurate, and the radar can obtain the accurate external parameter.
In some embodiments, the external reference calibration device is used for calibrating the installation height, the pitch angle and the roll angle of the radar.
In the embodiment, the external parameter comprises the installation height, the pitch angle and the roll angle of the radar, so that the best installation height, pitch angle and roll angle of the radar can be obtained through the external parameter calibration device, and the radar can better identify the obstacle.
In some embodiments, the obtaining module is further configured to: and when the test height with the minimum difference value with the reference height corresponds to a plurality of groups of test external parameters, taking the test external parameter with the test height obtained for the first time as the external parameter to be selected.
In the embodiment, when the test height with the minimum difference value with the reference height corresponds to multiple groups of test external parameters, the test external parameter with the minimum test height obtained for the first time is taken as the external parameter to be selected, so that the problem that the external parameter to be selected cannot be determined due to the multiple groups of test external parameters can be avoided, and the error can be favorably reduced by taking the first test external parameter, so that the obtained external parameter to be selected is more accurate.
In some embodiments, the determining module is further configured to: and resetting the external parameter range and/or the step interval when the height difference between the test height corresponding to the external parameter to be selected and the reference height is judged not to be within a preset range.
In the embodiment, when the height difference between the test height corresponding to the external parameter to be selected and the reference height is not within the preset range, the external parameter range and/or the step interval are reset, so that the radar can obtain the proper external parameter to a large extent when external parameter calibration is carried out again, and the situation that the proper external parameter cannot be obtained due to data before repeated calculation is avoided.
The intelligent robot of the embodiment of the application comprises one or more processors and a memory; and one or more programs, wherein the one or more programs are stored in the memory and executed by the one or more processors, the programs comprising instructions for performing the external reference calibration method of any of the embodiments described above.
In the intelligent robot according to the embodiment of the present application, first, a plurality of sets of test external parameters are generated at predetermined step intervals within a predetermined external parameter range, then respectively calculating the reference height of the reference surface detected by the radar according to the multiple groups of test external parameters, simultaneously generating multiple groups of test heights, acquiring the test external parameter corresponding to the test height with the minimum difference value with the reference height from the multiple groups of test heights as a to-be-selected external parameter, finally judging whether the height difference between the test height corresponding to the to-be-selected external parameter and the reference height is within a preset range, if so, determining the to-be-selected external parameter as the external parameter calibrated by the radar, therefore, the external parameter calibration method selects a proper external parameter from the multiple test external parameters through calculation, is suitable for the radar installed at any angle, is simple to operate, can greatly save labor and time cost in the radar calibration process, and can obtain higher calibration precision.
Computer-readable storage media of embodiments of the present application, when executed by one or more processors, cause the processors to perform the extrinsic calibration methods of any one of the embodiments.
In the computer-readable storage medium of the embodiment of the present application, first, a plurality of sets of test external parameters are generated at predetermined step intervals within a predetermined external parameter range, then respectively calculating the reference height of the reference surface detected by the radar according to the plurality of groups of test external parameters, simultaneously generating a plurality of groups of test heights, acquiring the test external parameter corresponding to the test height with the minimum difference value with the reference height from the plurality of groups of test heights as a to-be-selected external parameter, finally judging whether the height difference between the test height corresponding to the to-be-selected external parameter and the reference height is within a preset range, if so, determining the to-be-selected external parameter as the external parameter calibrated by the radar, therefore, the external parameter calibration method selects the proper external parameter from the plurality of test external parameters through calculation, is suitable for the radar installed at any angle, is simple to operate, can greatly save the labor and time cost in the radar calibration process, and can obtain higher calibration precision.
Additional aspects and advantages of embodiments of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic flow diagram of an external reference calibration method according to some embodiments of the present application;
FIG. 2 is a block schematic diagram of an intelligent robot according to some embodiments of the present application;
FIG. 3 is a block schematic diagram of an external reference calibration apparatus according to some embodiments of the present application;
FIG. 4 is a schematic flow chart diagram of an external reference calibration method according to some embodiments of the present application;
FIG. 5 is a schematic structural diagram of an intelligent robot according to some embodiments of the present application;
FIG. 6 is a schematic structural diagram of an intelligent robot according to some embodiments of the present application;
FIG. 7 is a schematic view of a scenario of an external reference calibration method according to some embodiments of the present application;
FIG. 8 is a schematic view of a scenario of an external reference calibration method according to some embodiments of the present application;
FIG. 9 is a schematic flow chart diagram of an external reference calibration method according to some embodiments of the present application;
FIG. 10 is a schematic view of a scenario of an external reference calibration method according to some embodiments of the present application;
FIG. 11 is a schematic view of a scenario of an external reference calibration method according to some embodiments of the present application;
FIG. 12 is a schematic flow chart diagram of an external reference calibration method according to some embodiments of the present application;
FIG. 13 is a schematic flow chart diagram of an external reference calibration method according to some embodiments of the present application;
FIG. 14 is a schematic flow chart diagram of an external reference calibration method according to some embodiments of the present application;
FIG. 15 is a schematic flow chart diagram of an external reference calibration method according to some embodiments of the present application;
FIG. 16 is a schematic diagram of a connection between a computer-readable storage medium and a processor according to some embodiments of the present application.
Detailed Description
Embodiments of the present application will be further described below with reference to the accompanying drawings. The same or similar reference numbers in the drawings identify the same or similar elements or elements having the same or similar functionality throughout.
In addition, the embodiments of the present application described below in conjunction with the accompanying drawings are exemplary and are only used for explaining the embodiments of the present application, and are not to be construed as limiting the present application.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Referring to fig. 1 and fig. 2, the external reference calibration method of the present application is used for performing external reference calibration for the radar 40, and the external reference calibration method includes the steps of:
s010: generating a plurality of groups of test external parameters at preset step intervals in a preset external parameter range;
s020: respectively calculating the reference height of the reference surface detected by the radar 40 according to the plurality of groups of test external parameters, and generating a plurality of groups of test heights;
s030: obtaining a test external parameter corresponding to the test height with the minimum difference value with the reference height in the plurality of groups of test heights as a to-be-selected external parameter;
s040: judging whether the height difference between the test height corresponding to the external parameter to be selected and the reference height is within a preset range or not; and
s050: if yes, determining the external parameter to be selected as the external parameter calibrated by the radar 40.
The intelligent robot 100 of the embodiments of the present application includes one or more processors 10, a memory 20, and one or more programs, where the one or more programs are stored in the memory 20 and executed by the one or more processors 10, and the programs include instructions for executing the external reference calibration method of the embodiments of the present application. When the processor 10 executes the program, the program 10 may be configured to perform step S010, step S020, step S030, step S040, and step S050, that is, the processor 10 may be configured to: generating a plurality of groups of test external parameters at preset step intervals in a preset external parameter range; respectively calculating the reference height of the reference surface detected by the radar 40 according to the plurality of groups of test external parameters, and generating a plurality of groups of test heights; obtaining a test external parameter corresponding to the test height with the minimum difference value with the reference height in the plurality of groups of test heights as a to-be-selected external parameter; judging whether the height difference between the test height corresponding to the external parameter to be selected and the reference height is within a preset range or not; and if so, determining the external parameter to be selected as the external parameter calibrated by the radar 40.
Referring to fig. 3, the external reference calibration apparatus 200 according to the embodiment of the present disclosure includes a generating module 210, a calculating module 220, an obtaining module 230, a determining module 240, and a determining module 250, where the generating module 210, the calculating module 220, the obtaining module 230, the determining module 240, and the determining module 250 can be configured to implement step S010, step S020, step S030, step S040, and step S050, respectively. That is, the generating module 210 is configured to generate a plurality of sets of test external parameters at predetermined step intervals within a predetermined external parameter range; the calculation module 220 is configured to calculate a reference height of the reference plane detected by the radar 40 according to the multiple sets of test external parameters, and generate multiple sets of test heights; the obtaining module 230 is configured to obtain, as a candidate outlier, a test outlier corresponding to a test height with a smallest difference from the reference height among the plurality of groups of test heights; the judging module 240 is configured to judge whether a height difference between a test height corresponding to the external parameter to be selected and the reference height is within a preset range; and the determining module 250 is configured to determine that the external parameter to be selected is the external parameter calibrated by the radar 40 when the result of the determining module 240 is yes.
In the external reference calibration method, the external reference calibration device 200 and the intelligent robot 100 of the embodiment of the application, firstly, a plurality of groups of test external references are generated within a predetermined external reference range at a predetermined step interval, then, the reference height of a reference surface detected by the radar 40 is respectively calculated according to the plurality of groups of test external references, a plurality of groups of test heights are generated at the same time, the test external reference corresponding to the test height with the minimum difference value between the reference heights in the plurality of groups of test heights is obtained as a to-be-selected external reference, finally, whether the height difference between the test height corresponding to the to-be-selected external reference and the reference height is within a preset range is judged, if so, the to-be-selected external reference is determined as the external reference calibrated by the radar 40, therefore, the external reference calibration method selects a proper external reference from the plurality of test external references through calculation, is suitable for the radar 40 installed at any angle, the operation is simple, and the manpower and the time cost in the calibration process of the radar 40 can be greatly saved, and meanwhile, higher calibration precision can be obtained.
The intelligent robot 100 may be an industrial robot, an agricultural robot, a home robot, a service robot, a cleaning robot, etc., without limitation. Further, the cleaning robot may be an intelligent robot 100 such as a sweeper, a scrubber, a vacuum cleaner, etc. The intelligent robot 100 may also include elements such as a communication interface 30, a cleaning implement, and the like. The intelligent robot 100 may be used to clean surfaces such as floors, floor tiles, pavements, or cement grounds. The radar 40 may be a laser radar, a microwave radar, a millimeter wave radar, etc., and is not limited herein.
Further, in the embodiment of the present application, the mounting carrier of the radar 40 is taken as an example for explanation of the intelligent robot 100, and it is understood that the mounting carrier of the radar 40 may be other, and is not limited herein. While the radar 40 is functionally illustrated as a lidar, the radar 40 may be other types of radars, and is not limited thereto
Specifically, the radar 40 is installed on the intelligent robot 100, and may be used in the aspects of mapping, positioning, navigating and avoiding obstacles of the intelligent robot 100. In step S010, multiple groups of test external parameters are generated at predetermined step intervals within a predetermined external parameter range, where the predetermined external parameter range may be an external parameter range set by a user, and the external parameter range is a value range of the external parameters during external parameter calibration, where different external parameters may set different external parameter ranges, and the external parameter range may be a combination of multiple external parameters, for example, the external parameter range may include a combination of an installation height range, a pitch angle variation range, a roll angle variation range, a heading angle external parameter range, and the like, and is not limited herein.
In step S020, the reference heights of the reference surfaces detected by the radar 40 are respectively calculated according to the multiple sets of test external parameters, and multiple sets of test heights are generated, because the reference surfaces have one reference height, the reference heights of the reference surfaces are calculated through the external parameters, so that the test heights are obtained, the difference between the test heights and the reference heights can be better compared, meanwhile, the multiple sets of test external parameters are generated in step S010, the reference heights of the reference surfaces detected by the radar 40 are respectively calculated according to each set of test external parameters, and one test height can be obtained, so that the accuracy of the test external parameters can be reversely deduced by judging the accuracy of the test heights, and the reference surfaces are the same, so that the external parameters to be selected subsequently can be selected. The reference surface may be a plane with any height, for example, the reference surface may be a ground surface, a floor surface, a calibration board parallel to the ground surface, or the like.
In step S030, a test external parameter corresponding to the test height having the smallest difference from the reference height among the plurality of groups of test heights is obtained as the external parameter to be selected, and in step S020, a plurality of groups of test heights are obtained, because the reference surface objectively has one reference height, the height difference between the test height obtained according to the test external parameter and the reference height is the smallest, that is, the test height is closer to the reference height, it is indicated that the corresponding external parameter is the more accurate external parameter at this time, and the error is smaller, therefore, the test external parameter corresponding to the test height having the smallest difference from the reference height is obtained from the plurality of groups of test heights as the external parameter to be selected, and the selection of the external parameter to be selected is closer to the most accurate external parameter. The difference may be an absolute value of a difference between the test height and the reference height, and the difference may be set by a user and may be 0.05 meter, 0.03 meter, 0.01 meter, 0.04 meter, 0.08 meter, and the like, which is not limited herein.
In step S040, it is determined whether the height difference between the test height corresponding to the candidate external reference and the reference height is within a preset range, where the preset range may be a range set by a user and indicates an error acceptable by the user, and it may be determined whether the candidate external reference is a proper external reference as long as it is determined whether the minimum height difference exceeds the preset range.
Further, when the result in the step S040 is yes, the step S050 is executed, and it is determined that the candidate external parameter is the external parameter calibrated by the radar 40. Namely, the height difference between the test height corresponding to the external parameter to be selected and the reference height is within the preset range, which indicates that the data acquired by the radar 40 is more accurate and has smaller error when the external parameter of the radar 40 is the external parameter to be selected, so that the external parameter calibration method of the embodiment of the application can perform external parameter calibration on the radar 40, and the radar 40 can accurately acquire the data.
Referring to fig. 4, in some embodiments, step S010 includes:
step S011: setting an initial value, an external parameter range and a step interval of the external parameter;
step S012: continuously accumulating a step interval from an initial value, and generating a group of test external parameters when accumulating one step interval; and
step S013: and ending the accumulation step interval until the test external parameters cover the external parameter range, and generating a plurality of groups of test external parameters.
The method comprises the steps of firstly setting an initial value, an external parameter range and a step interval of external parameters, continuously accumulating one step interval from the initial value, generating a group of test external parameters every time one step interval is accumulated until the test external parameters can cover the external parameter range, and therefore more test external parameters can be generated, and obtaining of the most appropriate calibration external parameters is facilitated. The step interval, the initial value and the external parameter range can be set by the user.
Referring to fig. 5 and 6, the radar 40 includes a plurality of external references, wherein in some embodiments, the external references include an installation height z, a pitch angle pitch, and a roll angle roll, wherein the installation height z is a distance between the radar 40 and the bottom of the intelligent robot 100, the pitch angle pitch is an included angle between the radar 40 and a horizontal plane, and the roll angle roll is an included angle between the radar 40 and a vertical plane. The external reference calibration method of the embodiment can calibrate the installation height z, the pitch angle pitch and the roll angle roll of the radar 40, so that the radar 40 can obtain the proper installation height z, the pitch angle pitch and the roll angle roll, and the obstacle of the radar 40 can be identified more accurately. Of course, in addition to the parameters of the mounting height z, pitch angle pitch and roll angle roll, further parameters can be calibrated.
Referring to fig. 4, in one embodiment, the radar 40 is a laser radar, and the external parameters of the laser radar to be calibrated are a mounting height z, a pitch angle pitch, and a roll angle roll. Wherein, the initial value of mounting height z, pitch angle pitch and roll is respectively: z is 0.4m, pitch is 30 ° and roll is 5 °, the outer parameter ranges of the installation height z, the pitch angle pitch and the roll are: delta _ z is 0.05m, delta _ pitch is 5 °, delta _ roll is 2 °, step interval is: step _ z is 0.01m, step _ pitch is 0.5 ° and step _ roll is 0.2 °, wherein step _ z may be accumulated by one step interval from the installation height z, step _ pitch may be accumulated by one step interval from the pitch angle pitch, and step _ roll may be accumulated by one step interval from the roll angle roll, without limitation. And continuously accumulating the step interval until the mounting height z, the pitch angle pitch and the roll angle roll cover the corresponding external parameter range, namely the test external parameter of the mounting height z covers delta _ z, the test external parameter of the pitch angle pitch covers delta _ pitch, and the test external parameter of the roll angle roll covers delta _ roll, so that accumulation is finished, and a plurality of groups of test external parameters are generated.
The generating module 210 can be further configured to perform steps S011, S012, and S013, and the processor 10 can be further configured to perform steps S011, S012, and S013.
Referring to fig. 7 to 9, in some embodiments, step S020 includes steps of:
s021: acquiring a point cloud on a reference surface;
s022: filtering the point cloud shielded by the installation carrier of the radar 40 in the point cloud to form a first point cloud D; and
s023: and respectively calculating the heights of the first point cloud D according to the multiple groups of test external parameters to generate multiple groups of test heights.
In the embodiment, the point cloud on the reference surface is firstly obtained, then the point cloud shielded by the installation carrier of the radar 40 in the point cloud is filtered to form the first point cloud D, finally the height of the first point cloud D is respectively calculated according to a plurality of groups of test external parameters, a plurality of groups of test heights are generated, if the point cloud is shielded by the installation carrier, the point cloud used for calculation in calculation is the point cloud on the installation carrier, so that the error caused is large, and the point cloud shielded by the installation carrier of the radar 40 in the filtered point cloud can enable the calculated test height to be more accurate.
Specifically, the radar 40 acquires point clouds on a reference surface, if some point clouds in the acquired point clouds are hidden by the intelligent robot 100, for example, the point clouds hidden by the intelligent robot 100 in fig. 7, the point clouds in the dotted line frame are the point clouds hidden by the intelligent robot 100, the point clouds hidden by the intelligent robot 100 are filtered, that is, the point clouds in the dotted line frame are filtered, the remaining point clouds are first point clouds D, if the acquired point clouds are not hidden by the installation carrier of the radar 40, for example, in fig. 8, the point clouds on the reference surface are not hidden by the intelligent robot 100, and the acquired point clouds are first point clouds D.
Further, in an embodiment, the external parameters of the radar 40 to be calibrated are an installation height z, a pitch angle pitch and a roll angle roll, wherein coordinates of the point cloud under the coordinate system of the radar 40 are (x, y), and the installation height z, the pitch angle pitch and the roll angle roll are external parameters under a reference coordinate system, and multiple sets of external parameters are obtained in step S010The external parameter, i.e., the combination of the plurality of sets of the mounting height z, the pitch angle pitch, and the roll angle roll, is tested, and thus in step S020, the formula for calculating the reference height of the reference surface monitored by the radar 40 as h is a calculation formula: h is i The multiple sets of test heights can be calculated by substituting z, pitch and roll corresponding to multiple external parameters into a calculation formula for calculating the reference height h.
The computing module 220 is further configured to perform steps S021, S022 and S023, and the processor 10 is further configured to perform steps S021, S022 and S023.
Referring to fig. 10-12, in some embodiments, the radar 40 is capable of rotating about a rotation axis M relative to a mounting carrier of the radar 40, and the external reference calibration method further includes the steps of:
s001: setting an angle interval alpha according to an angle range of the radar 40 rotating around the rotation axis M to form a plurality of calibration regions X; and
s002: performing at least one external reference calibration for the radar 40 in each calibration region X
Specifically, taking an installation carrier as the intelligent robot 100 as an example, the installation position of the radar 40 on the intelligent robot 100 is not fixed, and the external parameters of the radar 40 are different at different installation positions, so that the external parameters at different installation positions need to be calibrated. The radar 40 may rotate on the intelligent robot 100, wherein the radar 40 may rotate around the center of the intelligent robot 100, the center of the intelligent robot 100 is the rotation axis M, and the radar 40 may also rotate around a certain rotation axis on the intelligent robot 100, which is not limited herein. Meanwhile, the angle interval alpha is set according to the rotation angle range of the radar 40 around the rotation axis M, the rotation angle range is divided into a plurality of calibration areas X, and then the radar 40 performs external reference calibration at least once in each calibration area X, namely, at least once performing the steps S010, S020, S030, S040 and S050.
Firstly, angle intervals are set according to the angle range of the radar 40 capable of rotating around the rotating shaft, the radar is divided into a plurality of calibration areas, and finally, external reference calibration is carried out at least once in each calibration area, so that the radar 40 can constantly keep proper external reference to acquire data in the rotating process, and obstacle avoidance, image construction and the like of the radar 40 are facilitated. Wherein the angular interval may be set by a user according to a mechanical structure of the mounting carrier of the radar 40, wherein the angular interval is constrained by the driving motor, and the requirement for the driving motor is higher as the angular interval is smaller.
In one embodiment, referring to fig. 10 and 11, the radar 40 can rotate 360 ° around the rotation axis M, wherein the angular gap is [5 °, 360 ° ], and when the angular gap is 5 °, the radar 40 needs to perform at least the calibration at least 360 °/5 ° -72 times. When the angular gap is 360 °, the radar 40 needs to perform at least the number of calibrations N360 °/360 ° -1. Under the condition that the angle interval is less than 5 degrees, the external parameter change of the radar 40 when rotating an angle gap is not large, meanwhile, the smaller the angle gap is, the more the calculation times are when the test height is calculated, the longer time is needed, and the working efficiency is reduced, so that the angle gap can obtain better effect between [5 degrees and 360 degrees ], and the calculation amount is smaller.
In one embodiment, the angular gap is 15 °, the radar 40 is a lidar, the lidar is rotatable 360 ° around the rotation axis M, and the lidar needs to calibrate at least 360 °/15 ° -24 ° times, so that the lidar calibrates less times and obtains better external parameters when rotating around the rotation axis M, and the lidar calibration efficiency is higher.
The external reference calibration apparatus 200 may be further configured to perform steps S001 and S002, and the processor 10 may be further configured to perform steps S001 and S002.
Referring to fig. 13, in some embodiments, the radar 40 is mounted on the intelligent robot 100, the reference plane is a driving surface of the intelligent robot 100, and before performing step S020, that is, before performing "calculating reference heights of the reference plane detected by the radar 40 according to the multiple sets of test external parameters, and generating multiple sets of test heights", the external parameter calibration method further includes:
step S014: and controlling the intelligent robot 100 to move to a position where no obstacle exists in a preset range and the running surface is smooth.
Specifically, the reference plane is a driving surface of the intelligent robot 100, that is, the intelligent robot 100 drives on the reference plane, at this time, a theoretical reference height of the reference plane should be zero, if the reference plane is the driving surface, if the driving surface is uneven, the reference heights detected by the radar 40 may also be different, so that a large error exists in the finally obtained external reference, which affects the radar 40 to recognize an obstacle, and further, if an obstacle exists within a preset range of the intelligent robot 100, the reference height that the radar 40 may detect when detecting the reference height of the reference plane is the reference height of the obstacle, so that a result of the external reference is inaccurate, and the radar 40 cannot correctly recognize the obstacle in subsequent operations. Move intelligent robot 100 to the position of predetermineeing the within range barrier-free, and the surface is level and smooth, can reduce the error of calculating last external parameter, is favorable to radar 40 to discern the barrier. The preset range may be a range set by a user, or may be a range that can be detected by the radar 40, which is not limited herein.
The external reference calibration apparatus 200 may be further configured to perform step S014, and the processor 10 may be further configured to perform step S014.
Referring to fig. 14, in some embodiments, step S030 further includes:
step S031: and when the test height with the minimum difference value with the reference height corresponds to a plurality of groups of test external parameters, taking the test external parameter with the test height obtained for the first time as the external parameter to be selected.
Specifically, the corresponding test heights can be calculated according to multiple groups of test external parameters, wherein the test heights may be the same, that is, one test height corresponds to multiple groups of test external parameters, in order to avoid differences of external parameters calibrated by the radar 40 due to the multiple groups of test external parameters, the test external parameters with the test heights obtained for the first time are taken as external parameters to be selected, so that external parameter results calibrated by the radar 40 are more accurate, and the calculation amount can be reduced.
The obtaining module 230 is further configured to perform step S031, and the processor 10 is further configured to perform step S031.
Referring to FIG. 15, in some embodiments, when the output result of step S040 is NO, execution is performed
Step S051: if not, resetting the external reference range and/or the step interval.
Specifically, if the output result of step S040 is negative, that is, it is determined that the height difference between the test height corresponding to the external parameter to be selected and the reference height is not within the preset range, the external parameter range and/or the step interval may be reset, the external parameter range may be reset, the step interval may be reset, the external parameter range and the step interval may be reset, and the external parameter range and/or the step interval may be reset, so that when the radar 40 performs external parameter calibration again, it is more likely that a suitable external parameter can be acquired.
In one embodiment, the external reference ranges: delta _ z is 0.05m, delta _ pitch is 5 °, delta _ roll is 2 °, step interval is: step _ z is 0.01m, step _ pitch is 0.5 ° and step _ roll is 0.2 °, no proper outer parameter is obtained in the outer parameter range and step interval, at least one of delta _ z, delta _ pitch and delta _ roll may be decreased or increased, at least one of step _ z, step _ pitch and step _ roll may be decreased or increased, at least one of delta _ z, delta _ pitch and step _ roll may be decreased or increased simultaneously, and at least one of step _ z, step _ pitch and step _ roll may be decreased or increased simultaneously, so that the most proper z, pitch and roll can be obtained in the subsequent step.
The determination module 250 may also be used to perform step S051, and the processor 10 may also be used to perform step S051.
Referring again to fig. 2, in some embodiments, the memory 20 is used for storing a computer program that can be executed on the processor 10, and the processor 10 executes the computer program to implement the external reference calibration method in any of the above embodiments.
The memory 20 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory. Further, the intelligent robot 100 may further include a communication interface 30, and the communication interface 30 is used for communication between the memory 20 and the processor 10.
If the memory 20, the processor 10 and the communication interface 30 are implemented independently, the communication interface 30, the memory 20 and the processor 10 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 10, but this is not intended to represent only one bus or type of bus.
Optionally, in a specific implementation, if the memory 20, the processor 10, and the communication interface 30 are integrated on a chip, the memory 20, the processor 10, and the communication interface 30 may complete communication with each other through an internal interface.
The processor 10 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.
Referring to fig. 16, a non-transitory computer-readable storage medium 300 of an embodiment of the present application includes computer-executable instructions 301 that, when executed by one or more processors 400, cause the processors 400 to perform a referencing method of any embodiment of the present application.
For example, when the computer-executable instructions are executed by the processor 400, the processor 400 is configured to perform the steps of:
s010: generating a plurality of groups of test external parameters at preset step intervals in a preset external parameter range;
s020: respectively calculating the reference height of the reference surface detected by the radar 40 according to the plurality of groups of test external parameters, and generating a plurality of groups of test heights;
s030: obtaining a test external parameter corresponding to the test height with the minimum difference value with the reference height in the plurality of groups of test heights as a to-be-selected external parameter;
s040: judging whether the height difference between the test height corresponding to the external parameter to be selected and the reference height is within a preset range or not; and
s050: if yes, determining the external parameter to be selected as the external parameter calibrated by the radar 40.
On which a computer program is stored which, when executed by the processor 400, implements the external reference calibration method as described above.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium. The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, reference to the description of the terms "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present application, "a plurality" means at least two, e.g., two, three, unless specifically limited otherwise.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations of the above embodiments may be made by those of ordinary skill in the art within the scope of the present application, which is defined by the claims and their equivalents.
Claims (9)
1. An external reference calibration method of a radar is characterized by comprising the following steps:
generating a plurality of groups of test external parameters at preset step intervals in a preset external parameter range;
respectively calculating the reference height of the reference surface detected by the radar according to the plurality of groups of test external parameters, and generating a plurality of groups of test heights;
obtaining a test external parameter corresponding to the test height with the minimum difference value with the reference height from the plurality of groups of test heights as a to-be-selected external parameter;
judging whether the height difference between the test height corresponding to the external parameter to be selected and the reference height is within a preset range or not; and
if so, determining the external parameter to be selected as the external parameter calibrated by the radar;
the generating a plurality of groups of test external parameters at a predetermined step interval within a predetermined external parameter range comprises:
setting an initial value, an external parameter range and a step interval of the external parameter;
continuously accumulating a step interval from an initial value, and generating a group of test external parameters when accumulating one step interval;
ending the accumulation step interval until the test external parameters cover the external parameter range, and generating a plurality of groups of test external parameters;
the calculating the reference heights of the reference surfaces detected by the radar according to the plurality of groups of test external parameters respectively and generating a plurality of groups of test heights includes:
acquiring a point cloud on the reference surface;
filtering the point cloud shielded by the installation carrier of the radar in the point cloud to form a first point cloud; and
and respectively calculating the heights of the first point clouds according to the plurality of groups of test external parameters to generate a plurality of groups of test heights.
2. The referencing method according to claim 1, wherein said radar is rotatable about a rotation axis relative to a mounting carrier of said radar, said referencing method further comprising:
setting angle intervals according to the angle range of the radar rotating around the rotating shaft to form a plurality of calibration areas; and
and performing external reference calibration for the radar in each calibration area at least once.
3. The external reference calibration method according to claim 1, wherein the radar is mounted on an intelligent robot, the reference surface is a driving surface of the intelligent robot, and before the reference heights of the reference surface detected by the radar are respectively calculated according to the plurality of sets of the test external references and the plurality of sets of test heights are generated, the external reference calibration method further comprises:
and controlling the intelligent robot to move to a position where no obstacle exists in a preset range and the running surface is smooth.
4. The external reference calibration method according to claim 1, wherein the external reference comprises a mounting height, a pitch angle and a roll angle of the radar.
5. The external reference calibration method according to claim 1, wherein the obtaining of the test external reference corresponding to the test height with the smallest difference from the reference height in the plurality of groups of test heights is a candidate external reference, and includes:
and when the test height with the minimum difference value with the reference height corresponds to a plurality of groups of test external parameters, taking the test external parameter with the test height obtained for the first time as the external parameter to be selected.
6. The external reference calibration method according to claim 1, further comprising:
and resetting the external parameter range and/or the step interval when the height difference between the test height corresponding to the external parameter to be selected and the reference height is judged not to be within a preset range.
7. The utility model provides an external reference calibration device of radar, is applied to intelligent robot which characterized in that, external reference calibration device includes:
the generating module is used for generating a plurality of groups of test external parameters at preset step intervals in a preset external parameter range;
the generating a plurality of groups of test external parameters at a predetermined step interval within a predetermined external parameter range comprises:
setting an initial value, an external parameter range and a step interval of the external parameter;
continuously accumulating a step interval from an initial value, and generating a group of test external parameters when accumulating one step interval;
ending the accumulation step interval until the test external parameters cover the external parameter range, and generating a plurality of groups of test external parameters;
the calculation module is used for calculating the reference height of the reference surface detected by the radar according to the plurality of groups of test external parameters and generating a plurality of groups of test heights;
the calculating the reference height of the reference surface detected by the radar according to the plurality of groups of test external parameters and generating a plurality of groups of test heights comprises:
acquiring a point cloud on the reference surface;
filtering the point cloud shielded by the installation carrier of the radar in the point cloud to form a first point cloud; and
respectively calculating the heights of the first point clouds according to the multiple groups of test external parameters to generate multiple groups of test heights;
the obtaining module is used for obtaining a test external parameter corresponding to the test height with the minimum difference value with the reference height from the plurality of groups of test heights as a to-be-selected external parameter;
the judging module is used for judging whether the height difference between the test height corresponding to the external parameter to be selected and the reference height is within a preset range or not;
and the determining module is used for determining the external parameter to be selected as the external parameter calibrated by the radar when the result of the judging module is yes.
8. An intelligent robot, comprising:
one or more processors, memory; and
one or more programs, wherein the one or more programs are stored in the memory and executed by the one or more processors, the programs comprising instructions for performing the external reference calibration method of any of claims 1 to 6.
9. A non-transitory computer-readable storage medium containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform the extrinsic calibration method of any one of claims 1 to 6.
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| CN114152935B (en) * | 2021-11-19 | 2023-02-03 | 苏州一径科技有限公司 | Method, device and equipment for evaluating radar external parameter calibration precision |
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