CN111624579A - System and method for testing illumination change adaptability of multiband stereoscopic vision sensor - Google Patents
System and method for testing illumination change adaptability of multiband stereoscopic vision sensor Download PDFInfo
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Abstract
The invention discloses a system and a method for testing illumination change adaptability of a multiband stereoscopic vision sensor, which comprises the following steps of measuring a test environment through an environment measuring module, fixing a sensor to be tested under the test environment meeting requirements, calibrating coordinate system conversion of a coordinate system of the sensor to be tested and a prism position reference point, and completing time synchronization among test equipment through a processing module; respectively testing the illumination transient adaptability, local highlight adaptability and local shadow adaptability of the sensor to be tested; the test of the illumination change adaptability of the sensor to be tested is completed, the parameters of the vehicle-mounted multiband stereoscopic vision sensor such as the performance under three common conditions of illumination transient adaptability, local highlight adaptability and local shadow adaptability are mainly considered, and the test service is provided for the research, development and type selection of the vehicle-mounted multiband stereoscopic vision sensor.
Description
Technical Field
The invention relates to the technical field of sensor testing, in particular to a system and a method for testing illumination change adaptability of a multiband stereoscopic vision sensor.
Background
The vehicle-mounted multiband stereoscopic vision sensor is one of important sensors applied to the field of unmanned driving, has the functions of stereoscopic imaging and distance measurement of visible light and infrared bands, has a multiband fusion function and a certain sensing function, can work in a day and night environment, and particularly has certain concealment and wider application scenes due to the fact that the vehicle-mounted multiband stereoscopic vision sensor without active illumination is adopted. The vehicle-mounted multiband stereoscopic vision sensor consists of a multiband stereoscopic vision sensor system and a data processing system. The multiband stereoscopic vision sensor system comprises a visible light stereoscopic camera subsystem, an infrared stereoscopic camera subsystem, a structural framework subsystem and an electronics subsystem; the data processing system comprises a visible light stereo ranging module, an infrared stereo ranging module, a data fusion module and an output module.
The function and performance evaluation of the vehicle-mounted multiband stereoscopic vision sensor is an essential part in the research and development stage and the commercial application stage of the vehicle-mounted multiband stereoscopic vision sensor, wherein the illumination adaptability is one of main performance indexes of the vehicle-mounted multiband stereoscopic vision sensor and mainly comprises illumination transient adaptability, local highlight adaptability and local shadow adaptability, and the response time of illumination change under the condition of meeting certain ranging accuracy is used as the index of the illumination adaptability. In order to accurately and portably measure and evaluate the performance index of the stereo vision sensor and provide test service for the research, development and type selection of the vehicle-mounted multiband stereo vision sensor, it becomes especially important to find a method for testing the illumination change adaptability of the vehicle-mounted multiband stereo vision sensor.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The invention is provided in view of the problems of the function and performance evaluation of the conventional vehicle-mounted multiband stereoscopic vision sensor.
Therefore, the technical problem solved by the invention is as follows: a test method is provided aiming at the illumination adaptability change of the vehicle-mounted multiband stereoscopic vision sensor, and the problems in the function and performance evaluation of the vehicle-mounted multiband stereoscopic vision sensor in the prior art are solved.
In order to solve the technical problems, the invention provides the following technical scheme: the system for testing the illumination change adaptability of the multiband stereoscopic vision sensor comprises a mechanical connecting module, a measuring module, a real-value reference point testing module and a high-precision turntable, wherein the mechanical connecting module is used for fixing a sensor to be tested and a prism of the real-value reference point and is conveniently fixed on a mechanical connecting part on the high-precision turntable; the time synchronization module is used for unifying the output results of the equipment in the whole multiband stereoscopic vision sensor illumination change adaptability test system on the same time axis; the motion module is used for providing stable and controllable speed for the sensor to be tested in the dynamic ranging performance test; the target module is a target identified by the sensor to be detected; the measuring module is used for measuring truth value data and comprises a laser range finder and a laser tracker; the processing module is connected with the sensor to be measured, receives the data of the sensor to be measured, is connected with the measuring module to acquire true value data, and completes time synchronization work; the error analysis module is used for receiving the true value data and the data of the sensor to be tested and calling a corresponding algorithm to perform error analysis according to the test content; the environment measuring module is used for detecting whether the test environment meets the test requirements of the corresponding test items and comprises a hygrothermograph and a lumen meter; and the control illumination module is used for regulating and controlling illumination information according to different test items, and comprises a local strong point light source and an environment finishing lamp strip.
The preferable scheme of the system for testing the illumination change adaptability of the multiband stereoscopic vision sensor is as follows: the machining precision of the mechanical connection module is not lower than 0.05 mm; the time synchronization precision of the time synchronization module is not less than 3 ms; the speed of the motion module is not lower than 5 m/s; the static ranging range of the laser tracker is not less than 50m, the static ranging precision is not less than 10 mu m, the tracking speed is not less than 6m/s, the tracking maximum acceleration is not less than 2g, the angular resolution is not less than 0.018 arcsec, the output frequency is not less than 200 Hz, and external triggering is supported; the resolution of the hygrothermograph is not lower than 0.1 ℃, 0.1% RH, the precision is not lower than 1 ℃, 1% RH; the lumen resolution is not lower than 0.01Lux, and the range is not lower than 20000 Lux; the light regulation and control range of the control lighting module is not less than 0.1 Lux-2000 Lux.
In order to solve the technical problems, the invention also provides the following technical scheme: the method for testing the illumination change adaptability of the multiband stereoscopic vision sensor comprises the steps of measuring a test environment through an environment measuring module, fixing a sensor to be tested in the test environment meeting requirements, calibrating the coordinate system conversion between a coordinate system of the sensor to be tested and a prism position reference point, and completing the time synchronization between test equipment through a processing module; respectively testing the illumination transient adaptability, local highlight adaptability and local shadow adaptability of the sensor to be tested; and completing the test of the illumination change adaptability of the sensor to be tested.
As a preferred scheme of the method for testing the illumination change adaptability of the multiband stereoscopic vision sensor, the method comprises the following steps: the method for testing the illumination transient adaptability of the sensor to be tested comprises the steps of calculating to obtain the coordinate of the center of the target module according to the prior height of the target module and the height of the prism, and recording the center coordinate and the radius of the target module; tracking coordinate data of the prism by using a laser tracker, recording switching time and simultaneously acquiring a distance measurement result output by the sensor to be measured in real time; obtaining a coordinate value at the same moment according to the output ranging result, calculating a dynamic ranging true value and a dynamic ranging error at the moment through an error analysis module, and recording the moment and the error value; drawing a dynamic ranging error curve along a time axis; and replacing the target module and placing the target module for N times of repeated tests, and taking the average value of the test results as the result of an illumination transient adaptability test item.
As a preferred scheme of the method for testing the illumination change adaptability of the multiband stereoscopic vision sensor, the method comprises the following steps: the test of the local highlight adaptability of the sensor to be tested comprises the following steps of controlling the ambient illumination of the lamp strip to a set proper brightness through the control illumination module; calculating to obtain the coordinate of the center of the target module according to the prior height of the target module and the height of the prism, and recording the center coordinate and the radius of the target module; resetting the motion module to an initial position, slowly moving the motion module to find and record the position of the local highlight environment, and resetting the motion module to the initial position; driving the motion module to move from the initial position at a set speed and stop the position of the local highlight environment, recording the time of reaching the position of the local highlight environment, maintaining for a period of time, and simultaneously acquiring a second ranging result output by the sensor to be measured in real time; obtaining a coordinate value at the same moment according to the output second ranging result, calculating a second dynamic ranging true value and a second dynamic ranging error at the moment through an error analysis module, and recording a second moment and a second error value; drawing a second dynamic ranging error curve along the time axis; and replacing the target module, placing the target module and the local highlight position, repeating the test for N times, and averaging the test results to obtain a result of the illumination local highlight adaptability test item.
As a preferred scheme of the method for testing the illumination change adaptability of the multiband stereoscopic vision sensor, the method comprises the following steps: the test of the local shadow adaptability of the sensor to be tested comprises the steps of taking down the sensor to be tested from the motion module, leveling the sensor to be tested, placing the sensor to be tested at a specified position facing the motion module, and measuring the reference point coordinates of the sensor to be tested; the target module is fixed on the motion module, the prism is fixed at the center of the top end of the target module, and the height of the prism, the height of the target module and the radius of the target module are recorded; resetting the motion module to an original position, slowly moving the motion module to find and record the position of a local shadow environment, and resetting the motion module to the original position; driving the motion module to move from the original position at a set speed and stop the position of the local shadow environment, recording the time of reaching the position of the local shadow environment, maintaining for a period of time, and simultaneously acquiring a third ranging result output by the sensor to be measured in real time; obtaining a coordinate value at the same moment according to the output third ranging result, calculating a third dynamic ranging true value and a third dynamic ranging error at the moment, and recording a third moment and a third error value; drawing a third dynamic ranging error curve along the time axis; and replacing the target module and the local shadow position, repeating the test for N times, and taking the average value of the test result as the result of an illumination local shadow adaptability test item.
As a preferred scheme of the method for testing the illumination change adaptability of the multiband stereoscopic vision sensor, the method comprises the following steps: the synchronization error is controlled below 3ms when the time synchronization between the devices is completed; the predetermined speed is 1 m/s.
As a preferred scheme of the method for testing the illumination change adaptability of the multiband stereoscopic vision sensor, the method comprises the following steps: the dynamic ranging true value and the second dynamic ranging true value are represented as,
wherein, the reference point coordinate of ti moment
r is the radius of the target module, and the coordinate of the central point of the target module under the coordinate system of the laser tracker is (x)t,yt,zt)。
As a preferred scheme of the method for testing the illumination change adaptability of the multiband stereoscopic vision sensor, the method comprises the following steps: the third dynamic ranging true value is represented as,
wherein h represents the target module height.
The invention has the beneficial effects that: the invention provides a method and a system for testing the illumination change adaptability of a vehicle-mounted multiband stereoscopic vision sensor, which mainly consider the performance parameters of the vehicle-mounted multiband stereoscopic vision sensor under three common conditions of illumination transient adaptability, local highlight adaptability and local shadow adaptability, and adopt a corresponding testing system consisting of a high-speed guide rail, a laser tracker, a controllable lighting system, a time synchronization system, a target object and the like to realize the measurement and evaluation of the illumination change performance index of the stereoscopic vision sensor, thereby providing a testing service for the research and development and type selection of the vehicle-mounted multiband stereoscopic vision sensor.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
FIG. 1 is a flowchart of a method for testing adaptability of illumination variation of a multiband stereoscopic vision sensor provided by the present invention;
FIG. 2 is a schematic structural diagram of an illumination transient adaptability test system of the method for testing illumination change adaptability of a multiband stereo vision sensor provided by the invention;
FIG. 3 is a schematic structural diagram of an illumination local highlight adaptability test system of the method for testing illumination change adaptability of a multiband stereo vision sensor provided by the present invention;
FIG. 4 is a schematic structural diagram of an illumination local shadow adaptability test system of the method for testing illumination change adaptability of a multiband stereo vision sensor provided by the present invention;
FIG. 5 is a block diagram of a system for testing adaptability of a multiband stereoscopic vision sensor to illumination variation provided by the present invention;
FIG. 6 is a schematic diagram of a dynamic range error curve along a time axis during an illumination variation process in the method for testing adaptability to illumination variations of a multiband stereoscopic vision sensor according to the present invention;
fig. 7 is a graph showing the results of the fitting of the tests performed.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, specific embodiments accompanied with figures are described in detail below, and it is apparent that the described embodiments are a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present invention, shall fall within the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
The present invention will be described in detail with reference to the drawings, wherein the cross-sectional views illustrating the structure of the device are not enlarged partially in general scale for convenience of illustration, and the drawings are only exemplary and should not be construed as limiting the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Meanwhile, in the description of the present invention, it should be noted that the terms "upper, lower, inner and outer" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation and operate, and thus, cannot be construed as limiting the present invention. Furthermore, the terms first, second, or third are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The terms "mounted, connected and connected" in the present invention are to be understood broadly, unless otherwise explicitly specified or limited, for example: can be fixedly connected, detachably connected or integrally connected; they may be mechanically, electrically, or directly connected, or indirectly connected through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
Referring to fig. 5, a first embodiment of an illumination variation adaptability testing system for a multiband stereo vision sensor according to the present invention is shown: the illumination change adaptability test system of the multiband stereoscopic vision sensor comprises:
the mechanical connection module 100 is used for fixing the sensor to be measured and the prism of the true value reference point and is conveniently fixed on a mechanical connection part on the high-precision turntable;
the time synchronization module 200 is used for unifying the output results of the devices in the whole multiband stereoscopic vision sensor illumination change adaptability test system on the same time axis;
the motion module 300 is used for providing stable and controllable speed for the sensor to be tested in the dynamic ranging performance test;
a target module 400, which is a target identified by the sensor to be detected;
the measuring module 500 is used for measuring truth value data and comprises a laser range finder and a laser tracker;
the processing module 600 is connected with the sensor to be measured and receives data of the sensor to be measured, and is connected with the measuring module 500 to acquire true value data and complete time synchronization work;
the error analysis module 700 receives the true value data and the data of the sensor to be tested, and calls a corresponding algorithm to perform error analysis according to the test content;
the environment measuring module 800 is used for detecting whether the test environment meets the test requirements of the corresponding test items, and comprises a hygrothermograph and a lumen meter;
and the control illumination module 900 is used for regulating and controlling illumination information according to different test items, and comprises a local strong point light source and a finishing environment lamp strip.
Wherein, the machining precision of the mechanical connection module 100 is not less than 0.05 mm; the time synchronization module 200 comprises a clock discipline and partial device hard trigger unit in the processing module 600, and the time synchronization precision is not lower than 3 ms; the speed of the motion module 300 is not lower than 5 m/s; the target module 400 is a cylindrical solid color open bucket of various sizes; the static ranging and ranging range of the laser tracker is not less than 50m, the static ranging precision is not less than 10 mu m, the tracking speed is not less than 6m/s, the tracking maximum acceleration is not less than 2g, the angular resolution is not less than 0.018 arcsec, the output frequency is not less than 200 Hz, and external triggering is supported; the resolution of the hygrothermograph is not lower than 0.1 ℃, 0.1% RH, the precision is not lower than 1 ℃, 1% RH, the lumen resolution is not lower than 0.01Lux, and the measuring range is not lower than 20000 Lux; the light control range of the lighting module 900 is controlled to be not less than 0.1Lux to 2000 Lux.
It should be noted that: in the embodiment of the present invention, the mechanical connection module 100 is a jig, the motion module 300 is a high-speed rail, and the processing module 600 is an upper computer.
Example 2
Referring to fig. 1 to 4 and fig. 6, a first embodiment of the method for testing the illumination variation adaptability of the multiband stereoscopic vision sensor according to the present invention is shown: the method for testing the illumination change adaptability of the multiband stereoscopic vision sensor comprises the following steps:
measuring a test environment through the environment measuring module 800, fixing a sensor to be tested under the test environment meeting requirements, calibrating coordinate system conversion between a coordinate system of the sensor to be tested and a prism position reference point, and completing time synchronization between test equipment through the processing module 600;
respectively testing the illumination transient adaptability, local highlight adaptability and local shadow adaptability of the sensor to be tested;
and completing the test of the illumination change adaptability of the sensor to be tested.
The multiband stereoscopic vision sensor to be detected comprises four RGB cameras and four infrared cameras.
In fig. 2, the test of the adaptation performance of the sensor to be tested in the illumination transient specifically includes:
selecting a proper target module 400, horizontally placing the proper target module 400 on a calibrated proper position, placing a prism at the center of the top end of the target module 400, measuring the position of the prism, calculating to obtain the coordinate of the center of the target module 400 according to the prior height of the target module 400 and the height of the prism, and recording the center coordinate and the radius of the target module 400;
the prism is taken down from the target module 400 and installed at the reference point position on the mechanical connection module 100, the laser tracker is adopted to track the coordinate data of the prism, the motion module 300 is driven to do reciprocating motion at a set speed, a lamp strip switch in the control illumination module 900 is pressed down for multiple times in the reciprocating motion process, the switching time is recorded, and meanwhile, the ranging result output by the sensor to be measured is obtained in real time;
performing linear interpolation on the coordinate data of the prism measured by the laser tracker according to the timestamp of the output distance measurement result to obtain a coordinate value at the same moment, calculating a true dynamic distance measurement value and a true dynamic distance measurement error at the moment through the error analysis module 700 according to the central coordinate and the radius of the target module 400, and recording the moment and the error value;
calculating the response time of illumination from light to dark, the response time of illumination from dark to light and the comprehensive response time of illumination transient according to the error value, a set error threshold and the moment of illumination transient switching, and drawing a dynamic ranging error curve along a time axis;
the target module 400 is replaced and the placement position is repeatedly tested N times, and the average value of the test results is taken as the result of one illumination transient adaptability test item.
In fig. 3, the testing of the local highlight adaptability of the sensor to be tested specifically includes:
the ambient light of the lamp strip is controlled to a predetermined proper brightness by controlling the lighting module 900;
selecting a proper target module 400, horizontally placing the proper target module 400 on a calibrated proper position, placing a prism at the center of the top end of the target module 400, measuring the position of the prism, calculating to obtain the coordinate of the center of the target module 400 according to the prior height of the target module 400 and the height of the prism, and recording the center coordinate and the radius of the target module 400;
placing and adjusting the local highlight light source to a proper direction, taking the prism off from the target module 400 and installing the prism at the reference point position on the mechanical connection module 100, tracking the coordinate data of the prism by adopting a laser tracker, resetting the motion module 300 at an initial position, slowly moving the motion module 300 to find and record the position of the local highlight environment, and resetting the motion module 300 at the initial position;
the laser tracker tracks coordinate data of the prism, drives the motion module 300 to move from an initial position at a set speed and stop the position of the local highlight environment, records the time of reaching the position of the local highlight environment, maintains for a period of time, and simultaneously obtains a second distance measurement result output by the sensor to be measured in real time;
performing linear interpolation on the reference point coordinate measured by the laser tracker according to the timestamp of the output second distance measurement result to obtain a coordinate value at the same moment, calculating a second dynamic distance measurement true value and a second dynamic distance measurement error at the moment through the error analysis module 700 according to the central coordinate and the radius of the target module 400, and recording a second moment and a second error value;
calculating the response time of local highlight illumination according to the second error value, a set second error threshold value and the time of reaching the local highlight environment, and drawing a second dynamic ranging error curve along the time axis;
the target module 400 is replaced, the placement position and the local highlight position are repeatedly tested for N times, and the average value of the test results is taken as the result of an illumination local highlight adaptability test item.
In fig. 4, the testing of the local shadow adaptive performance of the sensor to be tested specifically includes:
controlling the ambient illumination of the lamp strip to a set proper brightness, taking down and leveling a sensor to be detected from the motion module 300, placing the sensor to be detected at a specified position facing the motion module 300, measuring the reference point coordinates of the sensor, fixing the target module 400 on the motion module 300, fixing the prism at the center of the top end of the target module 400, and recording the height of the prism, the height of the target module 400 and the radius of the target module 400;
placing and adjusting the local shadow environment to a proper direction, adopting a laser tracker to track coordinate data of a prism, resetting the motion module 300 at an original position, slowly moving the motion module 300 to find and record the position of the local shadow environment, and resetting the motion module 300 at the original position;
the laser tracker tracks coordinate data of the prism, drives the motion module 300 to move from an original position at a set speed and stop the position of the local shadow environment, records the time of reaching the position of the local shadow environment, maintains for a period of time, and simultaneously obtains a third distance measurement result output by the sensor to be measured in real time;
performing linear interpolation on the reference point coordinate measured by the laser tracker according to the timestamp of the output third distance measurement result to obtain a coordinate value at the same moment, calculating the center coordinate of the target module 400 according to the height of the prism and the height of the target module 400, calculating a third dynamic distance measurement true value and a third dynamic distance measurement error at the moment according to the radius of the target module 400, and recording a third moment and a third error value;
according to the third error value, a set third error threshold value and the moment when the local shadow is reached, calculating the response time of illuminating the local shadow, and drawing a third dynamic ranging error curve along the time axis;
the target module 400 is replaced and the local shadow position is tested N times repeatedly, and the test result is averaged to be used as the result of an illumination local shadow adaptability test item.
It should be noted that:
the environment meeting the experimental conditions is as follows: the temperature is 20-30 ℃, the humidity is less than or equal to 80% RH, the illumination is 0.1-2000 Lux, the area is 20 meters multiplied by 10 meters, and if the experimental environment is not met, the environment is manually adjusted or a proper test environment is waited;
secondly, the synchronization error is controlled to be less than 3ms when the time synchronization between the devices is completed;
calculating to obtain the coordinates of the barrel center according to the prior target height and the prism height, and subtracting 1/2 target height and prism height from the prism coordinate elevation;
(iv) the predetermined speed is 1 m/s.
The system comprises a laser tracker 1, a host computer 2, a time synchronization server 3, a test machine 4, a jig 5, a laser tracker matched prism 6, a multiband stereoscopic vision sensor to be detected 7, a high-speed turntable 8, a cylindrical target object 9, a controllable lighting system 10 and a light shading plate 11.
The specific test method of the present invention can be obtained from the above figures and the specific operation description of the method:
firstly, a hygrothermograph and a lumen meter are used for measuring whether the test environment meets the requirements, if the test environment meets the requirements, the equipment to be measured is fixed on a jig and a high-speed guide rail, and is connected with an upper computer to complete time synchronization and coordinate system conversion with a reference point;
randomly selecting a single cylinder target object with proper size, horizontally placing the cylinder target object at a plurality of calibrated positions in a random sequence, and measuring the coordinate (x) of the center point of the target object under the coordinate system of the laser tracker by using the laser trackert,yt,zt) Driving the high-speed guide rail to do reciprocating motion at a set low speed, and tracking a reference point by using a laser tracker;
the measured vehicle-mounted multiband stereo vision sensor automatically identifies the target object and outputs the distance between the target object and the reference point in real time
With corresponding time stamp tiCarrying out linear interpolation on coordinate points obtained by the laser tracker according to the time stamp to obtain corresponding tiReference point coordinates of time of day
And according to the radius r of the cylindrical target, calculating to obtain tiDistance true at time:
switching on and off slave of light control at random time0.1Lux to 2000Lux or 2000Lux to 0.1Lux and recording the switching time as tsAnd keeping the illumination environment unchanged for not less than T times, and finding TsThe moment when the first ranging error after + meets the set requirement is tmWherein a very small system error value is calibrated in advance according to tr＝tm-(tsC) obtaining a response time, performing multiple tests, and taking the response time from light to dark of the mean illumination
And response time of light from dark to bright
And response time of the overall illumination transient
And replacing the target object and repeatedly testing the position to calculate the mean value and outputting the result.
Resetting the guide rail at the initial position, adjusting the ambient light source, placing and adjusting the direction of the local high-brightness light source, and slowly moving the guide rail to find a proper position PlSo that the guide rail is in a local highlight environment and is reset to the initial position;
driving the high-speed guide rail to move from the initial position at a predetermined speed and stop at PlPoint, keeping the static state for not less than T times, and tracking a reference point by using a laser tracker;
the measured vehicle-mounted multiband stereo vision sensor automatically identifies the target object and outputs the distance between the target object and the reference point in real time
With corresponding time stamp tiCarrying out linear interpolation on coordinate points obtained by the laser tracker according to the time stamp to obtain corresponding tiReference point coordinates of time of day
And according to cylindrical objectsRadius r, calculated to obtain time tiDistance true value of (c):
will reach the target point PlIs denoted as tsFind tsThe moment when the last first ranging error meets the set requirement is tmAccording to tr＝tm-tsObtaining a response time, and carrying out multiple tests to obtain the response time of local highlight
And (5) replacing the target object and the position of the high-brightness light source, repeating the test, calculating the average value and outputting the result.
Resetting the guide rail at an initial position, placing the device to be tested at a pre-calibrated position towards the guide rail, placing the target object on the guide rail, adjusting the ambient light source and creating a local shadow environment, and slowly moving the guide rail to find a proper position PsResetting the guide rail at the initial position when the target object is in the local shadow environment;
measuring the coordinates (x) of a reference point in the laser tracker coordinate system using the laser trackero,yo,zo) Placing the prism at a set height above the center of the target object and obtaining the position h of the prism right above the center of the target object according to the prior calibration data;
driving the high-speed guide rail to move from the initial position at a predetermined speed and stop at PsPoint, keeping the static state for not less than T times, and tracking a prism above the target object by using a laser tracker;
the measured vehicle-mounted multiband stereo vision sensor automatically identifies the target object and outputs the distance between the target object and the reference point in real time
With corresponding time stamp tiCarrying out linear interpolation on coordinate points obtained by the laser tracker according to the time stamp to obtain corresponding tiPrism coordinates above target at time
And according to the radius r of the cylindrical target, calculating to obtain tiDistance true at time:
will reach the target point PsIs denoted as tsFind tsThe moment when the last first ranging error meets the set requirement is tmAccording to tr＝tm-tsObtaining a response time, and carrying out multiple tests to obtain the response time of the local shadow
And replacing the local shadow position, repeating the test, calculating the mean value and outputting the result.
Example 3
In view of the high precision time synchronization proposed in the above embodiments, the present embodiment provides a clock disciplining method for a computer and a device with a hardware trigger function, including,
s1: the oscillation signal module is respectively connected with the computer and the equipment. The oscillation signal module can be a single chip microcomputer, an FPGA, a DSP and the like and can output oscillation signals.
Specifically, the oscillation signal module is connected with a computer through a communication port, and the communication port CAN be a serial port, a CAN bus, a network and other ports for communication; the signal input and output end can be an I/O port on the singlechip, can be used as an oscillation signal module and a computer communication transmission port, and can also be used for outputting oscillation signals.
S2: the oscillation signal module outputs an oscillation signal to trigger the equipment, and simultaneously sends a communication packet to inform the computer equipment of being triggered.
S3: device records triggered time stamp by its internal clock
Computer records time stamp of communication packet arrival by internal clock
Wherein the device stamps its ith triggered time as
N points in total; the computer records the arrival time stamp of the ith communication packet
N total points, N being at least 2. Increasing the value of N can improve the accuracy of the final result.
S4: time stamp of the measured time
And
and performing linear regression to obtain a linear relation.
Specifically, the measured N pairs of time stamps
And
performing linear regression, time stamping
And
the linear relationship of (a) satisfies the following formula,
tC＝k·tE+α+
wherein t isCTime of the computer's internal clock, tEIs the time of the clock internal to the device,for white noise that is expected to be zero and has a finite variance, k and α are the pending slope and intercept, respectively, the estimates of slope k and intercept α
And is obtained by solving the optimized value by the following formula,
wherein, solving the optimized value means solving the minimum value of the above formula, and when the value of the formula is minimum, the corresponding k and α are respectively recorded as the value
And
s5: calculating new time stamp from linear relation
Time stamp of corresponding computer clock
And a new time stamp
Time stamp of corresponding device clock
Wherein the new time stamp is calculated from the linear relationship
And
when i is>N。
Specifically, the estimated value by the slope k and the intercept α
And
performing a calculation of
And
the relationship of (a) satisfies the following formula,
the above-mentioned
And
the relationship of (a) satisfies the following formula,
according to the two formulas, the correlation between the time shown by the computer clock and the time shown by the equipment clock can be obtained, and the clock disciplining process is completed.
And (3) verifying a scene:
because a large part of sensors such as a binocular camera do not have a hardware triggering function, the upper computer connected with the sensors is difficult to synchronize with a clock of equipment with the hardware triggering function. The present embodiment proposes a clock taming method for a computer and a device with a hardware trigger function, which aims to synchronize clocks of a sensor without a hardware trigger function, a host computer thereof, and a device with a hardware trigger function, such as a laser tracker.
In order to embody the advantages of the clock taming method improved by the embodiment, a distance measurement precision test of the binocular camera in a motion state is taken as an example, and a specific implementation mode and a result thereof are described and observed. The purpose of taking the measurement precision test of the binocular camera in the motion state as an example is to make the objects, features and advantages of the method described in the embodiment more understandable, but the method described in the embodiment may be presented in different forms and is not limited by the specific implementation manner in this example.
The STM32 singlechip is selected as the oscillating signal module in the test, is connected with laser tracker and computer respectively with STM32 singlechip, and STM32 singlechip can output square wave signal, and when square wave signal turned into the low level by the high level, STM32 sent a byte data package to the upper computer via the RS232 serial ports simultaneously, and the computer laser tracker is told to be triggered.
The computer records the time stamp of the receipt of STM32 data packet, and the ith time stamp is
10000 points in total; the laser tracker is triggered by the falling edge to output measurement data with time stamp, and the time stamp of the ith data is
10000 points in total.
10000 pairs of time stamps
And
performing linear regression to make the time of the internal clock of the computer and the time of the internal clock of the laser tracker conform to a linear relation tC＝k·tE+ α +, k and α are the pending slopes and intercepts, respectively, by solving the following optimization problem,
estimate of slope k and intercept α is determined
And
new time stamp for each data measured by laser tracker under test
Or new time stamp of upper computer clock
(where i > N) can be determined by estimating the slope k and intercept α
And
calculating timestamps of corresponding computer clocks
Or time stamp of corresponding device clock
The resulting fit is shown in FIG. 7, and the new 1000 sets of data are additionally used to verify the fit, i.e., calculate
The maximum value of the 1000 error values is about 4.6ms, and it can be seen that the clock disciplining method provided by the embodiment has better accuracy, and the method is effective and feasible.
It should be recognized that embodiments of the present invention can be realized and implemented by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The methods may be implemented in a computer program using standard programming techniques, including a non-transitory computer-readable storage medium configured with the computer program, where the storage medium so configured causes a computer to operate in a specific and predefined manner, according to the methods and figures described in the detailed description. Each program may be implemented in a high level procedural or object oriented programming language to communicate with a computer system. However, the program(s) can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language. Furthermore, the program can be run on a programmed application specific integrated circuit for this purpose.
Further, the operations of processes described herein can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes described herein (or variations and/or combinations thereof) may be performed under the control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) collectively executed on one or more processors, by hardware, or combinations thereof. The computer program includes a plurality of instructions executable by one or more processors.
Further, the method may be implemented in any type of computing platform operatively connected to a suitable interface, including but not limited to a personal computer, mini computer, mainframe, workstation, networked or distributed computing environment, separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, and the like. Aspects of the invention may be embodied in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, optically read and/or write storage medium, RAM, ROM, or the like, such that it may be read by a programmable computer, which when read by the storage medium or device, is operative to configure and operate the computer to perform the procedures described herein. Further, the machine-readable code, or portions thereof, may be transmitted over a wired or wireless network. The invention described herein includes these and other different types of non-transitory computer-readable storage media when such media include instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor. The invention also includes the computer itself when programmed according to the methods and techniques described herein. A computer program can be applied to input data to perform the functions described herein to transform the input data to generate output data that is stored to non-volatile memory. The output information may also be applied to one or more output devices, such as a display. In a preferred embodiment of the invention, the transformed data represents physical and tangible objects, including particular visual depictions of physical and tangible objects produced on a display.
As used in this application, the terms "component," "module," "system," and the like are intended to refer to a computer-related entity, either hardware, firmware, a combination of hardware and software, or software in execution. For example, a component may be, but is not limited to being: a process running on a processor, an object, an executable, a thread of execution, a program, and/or a computer. By way of example, both an application running on a computing device and the computing device can be a component. One or more components can reside within a process and/or thread of execution and a component can be localized on one computer and/or distributed between two or more computers. In addition, these components can execute from various computer readable media having various data structures thereon. The components may communicate by way of local and/or remote processes such as in accordance with a signal having one or more data packets (e.g., data from one component interacting with another component in a local system, distributed system, and/or across a network such as the internet with other systems by way of the signal).
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (9)
1. The illumination change adaptability test system of the multiband stereoscopic vision sensor is characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
the mechanical connecting module (100) is used for fixing the sensor to be tested and the prism of the true value reference point and is conveniently fixed on a mechanical connecting part on the high-precision rotary table;
the time synchronization module (200) is used for unifying the output results of the devices in the whole multiband stereoscopic vision sensor illumination change adaptability test system on the same time axis;
the motion module (300) is used for providing stable and controllable speed for the sensor to be tested in the dynamic ranging performance test;
a target module (400) for identifying a target for the sensor under test;
the measuring module (500) is used for measuring truth value data and comprises a laser range finder and a laser tracker;
the processing module (600) is connected with the sensor to be measured and receives the data of the sensor to be measured, and is connected with the measuring module (500) to acquire true value data and finish time synchronization work;
the error analysis module (700) receives the true value data and the sensor data to be tested, and calls a corresponding algorithm to perform error analysis according to test contents;
the environment measuring module (800) is used for detecting whether the testing environment meets the testing requirements of the corresponding testing items, and comprises a hygrothermograph and a lumen meter;
and the control illumination module (900) is used for regulating and controlling illumination information according to different test items, and comprises a local strong point light source and a finishing environment lamp strip.
2. The system of claim 1, wherein the system comprises: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
the machining precision of the mechanical connection module (100) is not lower than 0.05 mm;
the time synchronization precision of the time synchronization module (200) is not lower than 3 ms;
the speed of the motion module (300) is not lower than 5 m/s;
the static ranging range of the laser tracker is not less than 50m, the static ranging precision is not less than 10 mu m, the tracking speed is not less than 6m/s, the tracking maximum acceleration is not less than 2g, the angular resolution is not less than 0.018 arcsec, the output frequency is not less than 200 Hz, and external triggering is supported;
the resolution of the hygrothermograph is not lower than 0.1 ℃, 0.1% RH, the precision is not lower than 1 ℃, 1% RH;
the lumen resolution is not lower than 0.01Lux, and the range is not lower than 20000 Lux; the light regulation and control range of the control lighting module (900) is not less than 0.1 Lux-2000 Lux.
3. The method for testing the illumination change adaptability of the multiband stereoscopic vision sensor is characterized by comprising the following steps of: comprises the steps of (a) carrying out,
measuring a test environment through an environment measuring module (800), fixing a sensor to be tested under the test environment meeting requirements, calibrating coordinate system conversion between a coordinate system of the sensor to be tested and a prism position reference point, and completing time synchronization between test equipment through a processing module (600);
respectively testing the illumination transient adaptability, local highlight adaptability and local shadow adaptability of the sensor to be tested;
and completing the test of the illumination change adaptability of the sensor to be tested.
4. The method of claim 3, wherein the method comprises: the test of the adaptability of the sensor to be tested to the illumination transient comprises the following steps,
calculating to obtain the coordinate of the center of the target module (400) according to the prior height of the target module (400) and the prism height, and recording the coordinate and the radius of the center of the target module (400);
tracking coordinate data of the prism by using a laser tracker, recording switching time and simultaneously acquiring a distance measurement result output by the sensor to be measured in real time;
obtaining a coordinate value at the same moment according to the output ranging result, calculating a dynamic ranging true value and a dynamic ranging error at the moment through an error analysis module (700), and recording the moment and the error value;
drawing a dynamic ranging error curve along a time axis;
and replacing the target module (400) and placing the target module for N times of repeated tests, and averaging the test results to obtain the result of an illumination transient adaptability test item.
5. The method of claim 3, wherein the method comprises: the test of the local highlight adaptability of the sensor to be tested comprises the following steps,
controlling the ambient light of the lamp strip to a set proper brightness through the control lighting module (900);
calculating to obtain the coordinate of the center of the target module (400) according to the prior height of the target module (400) and the prism height, and recording the coordinate and the radius of the center of the target module (400);
resetting the motion module (300) at an initial position, slowly moving the motion module (300) to find and record the position of a local highlight environment, and resetting the motion module (300) at the initial position;
driving the motion module (300) to move from the initial position at a set speed and stop the position of the local highlight environment, recording the time of reaching the position of the local highlight environment, maintaining for a period of time, and simultaneously acquiring a second ranging result output by the sensor to be measured in real time;
obtaining a coordinate value at the same moment according to the output second ranging result, calculating a second dynamic ranging true value and a second dynamic ranging error at the moment through an error analysis module (700), and recording a second moment and a second error value;
drawing a second dynamic ranging error curve along the time axis;
and replacing the target module (400), placing the target module and the local highlight position, repeating the test for N times, and averaging the test results to obtain the result of an illumination local highlight adaptability test item.
6. The method of claim 3, wherein the method comprises: the test of the local shadow adaptation performance of the sensor to be tested comprises the following steps,
taking down and leveling the sensor to be measured from the motion module (300), placing the sensor to be measured at a specified position facing the motion module (300), and measuring the reference point coordinates of the sensor to be measured;
the target module (400) is fixed on the motion module (300), the prism is fixed at the center of the top end of the target module (400), and the height of the prism, the height of the target module (400) and the radius of the target module (400) are recorded;
resetting the motion module (300) to an original position, slowly moving the motion module (300) to find and record the position of a local shadow environment, and resetting the motion module (300) to the original position;
driving the motion module (300) to move from the original position at a set speed and stop the position of the local shadow environment, recording the time of reaching the position of the local shadow environment, maintaining for a period of time, and simultaneously acquiring a third ranging result output by the sensor to be measured in real time;
obtaining a coordinate value at the same moment according to the output third ranging result, calculating a third dynamic ranging true value and a third dynamic ranging error at the moment, and recording a third moment and a third error value;
drawing a third dynamic ranging error curve along the time axis;
and replacing the target module (400) and the local shadow position, repeating the test for N times, and averaging the test result to be used as the result of an illumination local shadow adaptability test item.
7. The method for testing the illumination change adaptability of the multiband stereoscopic vision sensor according to any one of claims 3 to 6, wherein the method comprises the following steps: the synchronization error is controlled below 3ms when the time synchronization between the devices is completed; the predetermined speed is 1 m/s.
8. The method for testing the illumination change adaptability of the multiband stereoscopic vision sensor according to any one of claims 3 to 7, wherein the method comprises the following steps: the dynamic ranging true value and the second dynamic ranging true value are represented as,
wherein, tiReference point coordinates of time of day
r is the radius of the target module (400), and the coordinate of the central point of the target module (400) in the coordinate system of the laser tracker is (x)t,yt,zt)。
9. The method for testing the illumination change adaptability of the multiband stereoscopic vision sensor according to any one of claims 3 to 7, wherein the method comprises the following steps: the third dynamic ranging true value is represented as,
wherein h represents the target module (400) high.
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