CN111959409A - Holder adjusting method, storage medium, electronic device and vehicle - Google Patents
Holder adjusting method, storage medium, electronic device and vehicle Download PDFInfo
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- CN111959409A CN111959409A CN202010745773.8A CN202010745773A CN111959409A CN 111959409 A CN111959409 A CN 111959409A CN 202010745773 A CN202010745773 A CN 202010745773A CN 111959409 A CN111959409 A CN 111959409A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
- B60R2011/0092—Adjustable or movable supports with motorization
Abstract
The disclosure relates to a holder adjusting method, a storage medium, an electronic device and a vehicle, wherein the holder is installed on the vehicle and bears a sensing device, and the adjusting method comprises the following steps: determining body posture change information of the vehicle; determining the adjusting information of the holder according to the vehicle body attitude change information; and adjusting an adjusting mechanism of the holder according to the adjusting information so that the spatial position of the sensing device does not change along with the change of the posture of the vehicle body. Therefore, the adjusting mechanism of the holder can be adjusted in real time according to the vehicle body posture change information of the vehicle, the sensing device can be guaranteed to accurately receive the reflection signal, and the accuracy of calculating the distance between the sensing device and the obstacle is improved.
Description
Technical Field
The present disclosure relates to the field of unmanned driving technologies, and in particular, to a holder adjustment method, a storage medium, an electronic device, and a vehicle.
Background
Autonomous vehicles, such as L3 class conditional autonomous vehicles, L4 class high-level autonomous vehicles, and L5 class fully autonomous vehicles, need to rely on a lidar fixed to a pan/tilt head to emit a laser signal and calculate the distance between the autonomous vehicle and a target object based on the reflected laser signal received by the lidar. The cloud platform is installed at the vehicle top of autopilot vehicle, and laser radar fixes on the adjustment mechanism of cloud platform. The distance between the vehicle and the target object is accurately calculated, the laser radar is required to accurately receive the reflected laser signal, however, the vehicle body posture of the vehicle is changed due to the fact that the weight of passengers is different, the weight of loaded goods is uneven, the road surface is inclined and the like, an included angle exists between the laser radar and the reflected laser signal, the reflected laser signal received by the laser radar is inaccurate, and therefore the distance between the vehicle and the target object calculated based on the reflected laser signal generates errors, or the laser radar deviates and cannot receive the reflected laser signal, and the distance between the vehicle and the target object cannot be calculated.
In the related art, the adjusting mechanism of the holder comprises a plurality of height-adjustable supporting pieces, and the supporting pieces are connected with the laser radar through threaded fasteners. Under the condition such as load goods weight is inhomogeneous, can be according to the automobile body gesture change condition of vehicle, manual adjustment threaded fastener, and then adjust laser radar's spatial position, make laser radar can accurately receive reflection laser signal. However, the method is difficult to adjust the threaded fastener in real time, so that the adjusting mechanism of the cradle head is difficult to adjust according to real-time vehicle body posture changes in relevant scenes, and the accuracy of the calculated distance is still low.
Disclosure of Invention
An object of the present disclosure is to provide a pan/tilt adjustment method, a storage medium, an electronic apparatus, and a vehicle to at least partially solve the above-mentioned problems in the related art.
In order to achieve the above object, in a first aspect of the embodiments of the present disclosure, there is provided a method for adjusting a pan/tilt head, where the pan/tilt head is mounted on a vehicle and carries a sensing device, the method including:
determining body posture change information of the vehicle;
determining the adjusting information of the holder according to the vehicle body attitude change information;
and adjusting an adjusting mechanism of the holder according to the adjusting information so that the spatial position of the sensing device does not change along with the change of the posture of the vehicle body.
Optionally, the determining body posture change information of the vehicle includes:
obtaining angular velocity information provided by a vehicle body inertial navigation system, and determining vehicle body angular velocity information of the vehicle according to the angular velocity information, wherein the vehicle body attitude change information comprises the vehicle body angular velocity information;
the determining the adjusting information of the holder according to the vehicle body attitude change information comprises the following steps:
and determining the angular speed regulation information of the holder according to the angular speed information of the vehicle body.
Optionally, before the determining body posture change information of the vehicle, the method further comprises:
calibrating initial position information of a vehicle body posture, wherein the initial position information comprises vehicle body initial angle information;
the determining body posture change information of the vehicle includes:
determining first vehicle body angle change information according to the current vehicle body angle information relative to the vehicle body initial angle information, wherein the vehicle body posture change information comprises the first vehicle body angle change information;
the determining the adjusting information of the holder according to the vehicle body attitude change information comprises the following steps:
and determining first adjusting angle information of the holder according to the first vehicle body angle change information, wherein the adjusting information comprises the first adjusting angle information.
Optionally, the calibrating the initial position of the vehicle body posture comprises:
determining whether the state information of the vehicle body inertial navigation system meets a preset condition;
and calibrating the initial position according to the posture of the vehicle body when the state information of the vehicle in the vehicle body inertial navigation system meets the preset condition.
Optionally, the determining body posture change information of the vehicle includes: determining second body angle change information according to the current body angle information relative to the body angle information at the previous moment, wherein the body posture change information comprises the second body angle change information;
the determining the adjusting information of the holder according to the vehicle body attitude change information comprises the following steps:
and determining second adjusting angle information of the holder according to the second body angle change information, wherein the adjusting information comprises the second adjusting angle information.
Optionally, the body posture change information includes roll change information and/or pitch change information.
Optionally, the roll angle of the vehicle body posture change information representing left and right roll change is the same as the roll angle of the adjustment information representing left and right roll change in size and opposite in direction;
the pitch angle of the vehicle body attitude change information representing front and back pitch change information is the same as the pitch angle of the adjustment information representing front and back pitch change information in size and opposite in direction.
In a second aspect of the embodiments of the present disclosure, there is provided a holder adjusting device, the adjusting device including:
a first determination module configured to determine body attitude change information of the vehicle;
a second determination module configured to determine adjustment information of the pan/tilt head according to the vehicle body attitude change information;
and the adjusting module is configured to adjust the adjusting mechanism of the holder according to the adjusting information so that the spatial position of the sensing device does not change along with the change of the posture of the vehicle body.
Optionally, the first determining module is specifically configured to obtain angular velocity information provided by a vehicle body inertial navigation system, and determine vehicle body angular velocity information of the vehicle according to the angular velocity information, where the vehicle body attitude change information includes the vehicle body angular velocity information;
the second determining module is specifically configured to determine angular velocity adjustment information of the pan/tilt head according to the vehicle body angular velocity information.
Optionally, the adjusting device further comprises a calibration module configured to calibrate initial position information of the vehicle body posture, wherein the initial position information comprises vehicle body initial angle information;
the first determining module is specifically configured to determine first body angle change information according to current body angle information relative to the body initial angle information, wherein the body posture change information comprises the first body angle change information;
the second determining module is specifically configured to determine first adjustment angle information of the pan/tilt head according to the first vehicle body angle change information, where the adjustment information includes the first adjustment angle information.
Optionally, the calibration module includes:
the determining submodule is configured to determine whether the state information of the vehicle body inertial navigation system meets a preset condition;
the calibration sub-module is configured to calibrate the initial position according to the vehicle body posture when the state information of the vehicle body inertial navigation system meets the preset condition.
Optionally, the first determining module is specifically configured to determine second body angle change information according to current body angle information relative to body angle information at a previous moment, where the body posture change information includes the second body angle change information;
the second determining module is specifically configured to determine second adjustment angle information of the pan/tilt head according to the second body angle change information, where the adjustment information includes the second adjustment angle information.
In a third aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, which when executed by a processor implements the steps of any of the above-mentioned adjusting methods.
In a fourth aspect of the embodiments of the present disclosure, an electronic device is provided, including:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the adjusting method of any one of the above.
In a fifth aspect of the embodiments of the present disclosure, a vehicle is provided, where the vehicle includes the above electronic device, and a vehicle body inertial navigation system communicatively connected to the electronic device through a CAN bus.
Through the technical scheme, the following beneficial effects can be at least achieved:
the adjusting information of the adjusting mechanism of the cradle head is determined according to the vehicle attitude change information under the condition that the vehicle attitude of the vehicle is changed due to uneven road surface, broken up and down of the vehicle or goods loading and the like, and then the adjusting mechanism of the cradle head is adjusted according to the adjusting information.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a flowchart illustrating a pan/tilt head adjusting method according to an exemplary embodiment of the present disclosure.
Fig. 2 is a flowchart illustrating another pan-tilt adjustment method according to an exemplary embodiment of the disclosure.
Fig. 3 is a flowchart illustrating another pan/tilt head adjustment method according to an exemplary embodiment of the disclosure.
Fig. 4 is a flowchart illustrating another pan-tilt adjustment method according to an exemplary embodiment of the disclosure.
Fig. 5 is a flowchart illustrating another pan/tilt head adjustment method according to an exemplary embodiment of the disclosure.
Fig. 6 is a block diagram of a pan/tilt head adjustment apparatus according to an exemplary embodiment of the present disclosure.
Fig. 7 is a block diagram of another pan/tilt head adjustment apparatus according to an exemplary embodiment of the present disclosure.
Fig. 8 is a block diagram of an electronic device shown in an exemplary embodiment of the present disclosure.
FIG. 9 is a block diagram of a vehicle shown in an exemplary embodiment of the present disclosure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
It should be noted that in the present disclosure, the terms "first", "second", and the like in the description and in the claims, as well as in the drawings, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. Likewise, the terms "S11", "S12", and the like are used to distinguish steps and are not necessarily to be construed as performing method steps in a particular order or sequence.
Before introducing the pan-tilt adjusting method, the storage medium, the electronic device, and the vehicle provided by the present disclosure, an application scenario of each embodiment provided by the present disclosure is first introduced, and each embodiment of the present disclosure may be applied to an adjusting scenario of an adjusting mechanism of a pan-tilt of an unmanned vehicle, for example. The sensing device may be, for example, a laser radar, or the like, and optionally, the sensing device includes a signal transmitter for transmitting a transmission signal, a signal receiver for receiving a transmission signal reflected by the target (i.e., receiving a reflected signal), and an information processing system for determining a distance between the vehicle and the target according to a time interval between the transmission signal and the reflected signal, or the like.
Optionally, an execution main body for executing the pan-tilt adjustment method may be a vehicle body inertial navigation system, an electronic device installed in the pan-tilt, or an electronic device installed in a vehicle instrument desk, such as a vehicle body control module.
The adjusting mechanism of the cradle head is accurately adjusted, so that the sensing device can be guaranteed to accurately receive the transmitted signal, the distance between the vehicle and the target object can be accurately calculated, and the driving safety of the vehicle is guaranteed. In the relevant scene, can manual adjustment threaded fastener, and then adjust laser radar's spatial position, make laser radar can accurately receive reflection laser signal.
However, the manual adjustment cradle head relies on the artificial recognition of the posture change of the vehicle body, and the artificial recognition of the posture change of the vehicle body may not be accurate enough to grasp the posture change information of the vehicle body, so that it is difficult to ensure the accuracy of the adjustment, and it is also difficult to ensure that the sensing device can accurately receive the reflected signal. In addition, in a related scene, the cradle head can only be adjusted under the condition that the vehicle is in a non-driving state, and it is difficult to determine the adjustment information of the cradle head according to real-time vehicle body posture change information in the driving process of the vehicle.
In order to achieve the above object, the present disclosure provides a method for adjusting a pan/tilt head, where the pan/tilt head is mounted on a vehicle, and the pan/tilt head carries a sensing device, and a spatial position of the sensing device changes with adjustment of an adjusting mechanism of the pan/tilt head. Referring to a flow chart of a pan-tilt adjustment method shown in fig. 1, the adjustment method includes:
and S11, determining the vehicle body posture change information of the vehicle.
And S12, determining the adjusting information of the holder according to the vehicle body posture change information.
And S13, adjusting the adjusting mechanism of the holder according to the adjusting information so that the spatial position of the sensing device does not change along with the change of the posture of the vehicle body.
Alternatively, the sensing means may comprise a lidar and a millimeter wave radar. The range of laser radar collection is wider, and the laser radar can be used for collecting distance information of a target object in a larger range. The millimeter wave radar has higher acquisition accuracy, can accurately acquire the distance information of the target object, and can be used for improving the accuracy of calculating the distance between the millimeter wave radar and the target object.
Alternatively, the vehicle body posture change of the vehicle may be acquired from a level meter, a gyroscope, or the like, and then the vehicle body posture change information may be determined.
Specifically, the adjusting mechanism of the holder can be adjusted by rolling left and right at least, or can be adjusted by pitching front and back, or can be adjusted in height up and down, so as to adjust the spatial position of the sensing device. The adjusting mechanism of the cradle head is adjusted by determining height adjusting information of the adjusting mechanism in the vertical direction according to height changing information in the vehicle body posture changing information, determining left-right rolling adjusting information of the adjusting mechanism in the left-right direction according to left-right inclination changing information in the vehicle body posture changing information, and determining front-back pitching adjusting information of the adjusting mechanism in the front-back direction according to front-back inclination changing information in the vehicle body posture changing information.
Specifically, the spatial position of the sensing device does not change with the change of the posture of the vehicle body means that the sensing device moves with the running of the vehicle, but does not incline with the inclination of the vehicle body and does not change with the change of the height of the vehicle body, for example, in the case that the vehicle inclines to the left, the sensing device does not incline to the left with the inclination of the vehicle body to the left. For another example, in the case where the vehicle is tilted forward, the sensing device is not tilted forward as the vehicle body is tilted forward.
Through the technical scheme, under the condition that the posture of the vehicle body of the vehicle is changed due to uneven road surface, the vehicle is broken up and down or goods are loaded, the adjusting information of the adjusting mechanism of the cradle head can be determined according to the posture change information of the vehicle, and then the adjusting mechanism of the cradle head is adjusted according to the adjusting information.
Optionally, the determining body posture change information of the vehicle includes:
obtaining angular velocity information provided by a vehicle body inertial navigation system, and determining vehicle body angular velocity information of the vehicle according to the angular velocity information, wherein the vehicle body attitude change information comprises the vehicle body angular velocity information;
the determining the adjusting information of the holder according to the vehicle body attitude change information comprises the following steps:
and determining the angular speed regulation information of the holder according to the angular speed information of the vehicle body.
Thus, with reference to the flow chart of another pan-tilt head adjustment method illustrated in fig. 2, the adjustment method comprises:
and S21, acquiring angular velocity information provided by a vehicle body inertial navigation system, and determining the vehicle body angular velocity information of the vehicle according to the angular velocity information.
And S22, determining the angular speed adjustment information of the holder according to the vehicle body angular speed information.
And S23, adjusting the adjusting mechanism of the holder according to the angular speed adjusting information so that the spatial position of the sensing device does not change along with the change of the posture of the vehicle body.
Specifically, taking an electronic device mounted on the pan/tilt head as an example of an execution subject of the above method steps, the vehicle body inertial navigation system acquires angular velocity information of a vehicle body attitude change along with a change in the vehicle body attitude, and the electronic device acquires angular velocity information provided by the vehicle body inertial navigation system, thereby determining the magnitude and direction of the vehicle body angular velocity. And determining the angular velocity in the angular velocity adjusting information of the holder according to the angular velocity of the vehicle body, determining the angular velocity direction in the angular velocity adjusting information of the holder according to the direction of the angular velocity of the vehicle body, and adjusting the adjusting mechanism of the holder according to the angular velocity adjusting information.
For example, the vehicle body inclines to the left at an angular velocity with a magnitude ω and a direction to the left, the gyroscope and the angular velocity sensor on the platform body of the vehicle body inertial navigation system can change along with the vehicle body, the electronic device mounted on the pan-tilt head acquires gyroscope state information and angular velocity sensor information provided by the vehicle body inertial navigation system, and then the magnitude ω and the direction of the vehicle body angular velocity are determined to the left. And determining the angular velocity in the angular velocity adjusting information of the pan-tilt as omega according to the angular velocity of the vehicle body, determining the angular velocity in the angular velocity adjusting information of the pan-tilt as right according to the angular velocity of the vehicle body as left, and adjusting the adjusting mechanism of the pan-tilt according to the angular velocity adjusting information of the right omega.
Therefore, the angular speed adjusting information of the holder can be determined according to the real-time angular speed of the posture change of the vehicle body, the real-time performance of the sensing device for receiving the reflection signal is improved, and the accuracy of calculating the distance between the sensing device and the target object is improved.
Optionally, before determining the vehicle body posture change information of the vehicle in step S11, the method further includes: calibrating initial position information of a vehicle body posture, wherein the initial position information comprises vehicle body initial angle information;
referring to a flow chart of another pan/tilt head adjusting method shown in fig. 3, the pan/tilt head adjusting method includes:
and S31, calibrating the initial position information of the vehicle body posture.
And S32, determining first vehicle body angle change information according to the current vehicle body angle information relative to the vehicle body initial angle information.
Wherein the body posture change information includes the first body angle change information.
S33, determining first adjusting angle information of the holder according to the first vehicle body angle change information.
Wherein the adjustment information includes the first adjustment angle information.
And S34, adjusting the adjusting mechanism of the holder according to the first adjusting angle information so that the spatial position of the sensing device does not change along with the change of the posture of the vehicle body.
Specifically, the horizontal zero position represented by the initial position information is recorded as 0 degree, under the condition that the vehicle inclines to the left, the vehicle is determined to incline to the left by 2 degrees relative to the initial position information according to the current vehicle body angle information, the vehicle is determined to incline to the left by 2 degrees according to the first vehicle body angle change information, the adjusting information of the pan-tilt is determined to roll to the right by 2 degrees, and the roll angle adjusting mechanism of the pan-tilt is adjusted according to the roll to the right by 2 degrees, so that the spatial position of the sensing device does not change along with the change of the vehicle body posture.
Further, under the condition that the vehicle body continuously tilts leftwards for 1 degree from 2 degrees of leftward tilt, according to the current vehicle body angle information relative to the initial position information, determining that the first vehicle body angle change information is 3 degrees of leftward tilt, further according to the fact that the cradle head rolls leftwards for 3 degrees relative to the horizontal zero position represented by the initial position, determining that the adjusting information of the cradle head rolls rightwards for 3 degrees, and adjusting a roll angle adjusting mechanism of the cradle head according to the fact that the cradle head rolls rightwards for 3 degrees, so that the spatial position of the sensing device does not change along with the change of the vehicle body posture.
Further, under the condition that the vehicle body inclines from 3 degrees to the left and returns to the horizontal zero position represented by the initial position information, according to the current vehicle body angle information relative to the initial position information, the first vehicle body angle change information is determined to be 0, then according to the fact that the cradle head rolls 3 degrees to the right relative to the horizontal zero position represented by the initial position information, the cradle head is determined to roll 3 degrees to the left, and the roll angle adjusting mechanism of the cradle head is adjusted according to the roll 3 degrees to the left, so that the spatial position of the sensing device does not change along with the change of the vehicle body posture.
As yet another example, in a case where the vehicle is tilted forward, it is determined that the vehicle is tilted forward by 3 degrees with respect to the initial position information based on the current body angle information, the vehicle is tilted forward by 3 degrees based on the first body angle change information, the adjustment information of the pan/tilt head is determined as a backward increase elevation angle of 3 degrees, and the pitch angle adjustment mechanism of the pan/tilt head is adjusted by the backward increase elevation angle of 3 degrees so that the spatial position of the sensing device does not change with a change in the attitude of the vehicle body.
Further, under the condition that the vehicle body of the vehicle returns to the horizontal zero position represented by the initial position information from 3 degrees of forward inclination, the vehicle is determined not to have the posture change of the vehicle body relative to the initial position information according to the current vehicle body angle information, the first vehicle body angle change information is determined to be the change angle of 0, the horizontal zero position represented by the initial position of the cradle head is further determined to be increased backwards by 3 degrees of the elevation angle, the adjustment information of the cradle head is determined to be the reduced elevation angle of 3 degrees, and the pitch angle adjusting mechanism of the cradle head is adjusted according to the reduced elevation angle of 3 degrees, so that the spatial position of the sensing device does not change along with the change of the.
It should be noted that, the vehicle body posture information of the current vehicle is recorded as the initial position information, and if the execution main body recording the initial position information is located at the cradle head, the initial position information can be sent to the vehicle body inertial navigation system, and the vehicle body inertial navigation system can determine the first vehicle body angle change information of the vehicle body relative to the initial position at each moment according to the initial position information.
According to the technical scheme, the angle adjusting information of the cradle head can be determined according to the angle change information of the car body relative to the initial position in real time, the accuracy of cradle head adjustment is guaranteed, and the accuracy of the sensing device for receiving the reflection signal is further improved.
Referring to fig. 4, a flow chart of another pan/tilt head adjustment method is shown, the adjustment method comprising:
and S41, determining whether the state information of the vehicle body inertial navigation system meets the preset condition.
And S42, calibrating the initial position according to the posture of the vehicle body when the state information of the vehicle in the vehicle body inertial navigation system meets the preset condition.
And S43, determining first vehicle body angle change information according to the current vehicle body angle information relative to the vehicle body initial angle information.
Wherein the body posture change information includes the first body angle change information.
S44, determining first adjusting angle information of the holder according to the first vehicle body angle change information.
And S45, adjusting the adjusting mechanism of the holder according to the first adjusting angle information so that the spatial position of the sensing device does not change along with the change of the posture of the vehicle body.
Specifically, state information of each gyro on a table body of the vehicle body inertial navigation system is acquired, and acceleration information in each direction relative to a vehicle body of the vehicle is determined according to the state of each gyro. For example, state information of an X gyro on a platform body of a vehicle body inertial navigation system is acquired, and transverse acceleration information in the left and right direction relative to a vehicle body is determined; acquiring state information of a Y gyroscope on a platform body of the vehicle body inertial navigation system, and determining longitudinal acceleration information relative to the front and rear directions of a vehicle body; and acquiring the state information of the Z gyroscope on the platform body of the vehicle body inertial navigation system, and determining the vertical acceleration information relative to the vehicle body in the vertical direction.
Further, states of all angular velocity sensors of the vehicle body inertial navigation system are obtained, and angular velocity information of the vehicle body in all directions is determined according to the states of all the angular velocity sensors. For example, state information of an X angular velocity sensor of the vehicle body inertial navigation system is obtained, and left and right angular velocities in the left and right directions relative to the vehicle body are determined; and acquiring state information of a Y angular velocity sensor of the vehicle body inertial navigation system, and determining the front and rear angular velocities in the front and rear directions relative to the vehicle body.
Further, it is determined whether the acceleration information in each direction and the inclination information in each direction satisfy preset conditions. Specifically, the preset condition may be that the vertical acceleration, the longitudinal acceleration, and the lateral acceleration are all 0, and the left-right angular velocity and the front-rear angular velocity are all 0.
Further, under the condition that the vertical acceleration, the longitudinal acceleration and the lateral acceleration of the vehicle body inertial navigation system are all 0, and the left and right angular velocities and the front and rear angular velocities are all 0, the posture of the vehicle body of the vehicle is recorded as an initial position, and at the initial position, the sensing device can accurately receive an emission signal (namely a reflection signal) reflected by a target object, can calculate the distance between the vehicle and the target object according to the time interval between the emission signal and the reflection signal, and can also determine the type of the target object according to the signal intensity between the emission signal and the emission signal.
The executing body of the above method steps is not limited herein, the vehicle body inertial navigation system may record the vehicle body posture of the vehicle as the initial position when the acceleration and the angular velocity thereof satisfy the preset conditions, and the executing device mounted on the pan-tilt may also acquire the state information of the vehicle body inertial navigation system and record the vehicle body posture of the vehicle as the initial position when the acceleration and the angular velocity thereof satisfy the preset conditions.
Optionally, the level meter can be used for performing manual adjustment operation on the installed cradle head, so as to obtain the state information of the vehicle body inertial navigation system and determine whether the state information of the vehicle body inertial navigation system meets the preset condition. Therefore, the cradle head can be quickly adjusted through manual adjustment operation, the vehicle body posture information of the current vehicle is recorded based on the state information of the vehicle body inertial navigation system, and the adjusting times of the adjusting mechanism of the cradle head can be reduced.
According to the technical scheme, the initial position information of the sensing device can be recorded according to the state information of the vehicle body inertial navigation system, so that the vehicle body attitude change information can be determined according to the real-time relationship between the vehicle body attitude and the initial position, the adjustment information of the cradle head can be further determined, the accuracy of cradle head adjustment is ensured, and the accuracy of the sensing device for receiving the reflection signal is further improved.
Alternatively, in step S11, the determining the vehicle body posture change information of the vehicle includes: determining second body angle change information according to the current body angle information relative to the body angle information at the previous moment, wherein the body posture change information comprises the second body angle change information;
the determining the adjusting information of the holder according to the vehicle body attitude change information comprises the following steps:
and determining second adjusting angle information of the holder according to the second body angle change information, wherein the adjusting information comprises the second adjusting angle information.
Referring to fig. 5, a flow chart of another pan/tilt head adjusting method is shown, the adjusting method comprising:
and S51, determining second body angle change information according to the current body angle information relative to the body angle information at the previous moment.
S52, determining second adjusting angle information of the holder according to the second body angle change information, wherein the adjusting information comprises the second adjusting angle information.
And S53, adjusting the adjusting mechanism of the holder according to the second adjusting angle information, so that the spatial position of the sensing device does not change along with the change of the posture of the vehicle body.
Specifically, the vehicle body angle information at the current moment is obtained through a vehicle body inertial navigation system, and the change value and the direction of the second vehicle body angle change information are determined according to the vehicle body angle information at the current moment and the vehicle body angle information at the previous moment. For example, when the vehicle inclines to the left, the vehicle is determined to incline to the left by 2 degrees according to the current vehicle body angle information relative to the vehicle body angle information at the previous moment, the vehicle inclines to the left by 2 degrees according to the second vehicle body angle change information, the adjustment information of the pan/tilt head is determined to roll to the right by 2 degrees, and the roll angle adjusting mechanism of the pan/tilt head is adjusted according to the roll to the right by 2 degrees, so that the spatial position of the sensing device is not changed along with the change of the vehicle body posture.
Further, under the condition that the vehicle body continuously tilts leftwards by 1 degree from 2 degrees of leftward tilting, according to the current vehicle body angle information relative to the vehicle body angle information of the previous moment, the second vehicle body angle change information is determined to be 1 degree of leftward tilting, the adjusting information of the pan-tilt is further determined to be 1 degree of rightward rolling, and the roll angle adjusting mechanism of the pan-tilt is adjusted according to the condition that the roll angle of the pan-tilt reaches 1 degree by the rightward rolling, so that the spatial position of the sensing device does not change along with the change of the posture of the vehicle body.
Further, under the condition that the vehicle body is changed from 3 degrees of leftward inclination to 1 degree of leftward inclination, according to the current vehicle body angle information relative to the vehicle body angle information of the previous moment, the second vehicle body angle change information is determined to be 2 degrees of rightward inclination, the adjustment information of the pan-tilt is further determined to be 2 degrees of leftward rolling, and the rolling angle adjusting mechanism of the pan-tilt is adjusted according to 2 degrees of leftward rolling, so that the spatial position of the sensing device does not change along with the change of the vehicle body posture.
As another example, in the case where the vehicle is tilted forward, it is determined that the vehicle is tilted forward by 3 degrees with respect to the vehicle body angle information at the previous moment based on the current vehicle body angle information, the vehicle is tilted forward by 3 degrees based on the second vehicle body angle change information, the adjustment information of the pan/tilt head is determined as a backward increase elevation angle of 3 degrees, and the pitch angle adjustment mechanism of the pan/tilt head is adjusted by the backward increase elevation angle of 3 degrees so that the spatial position of the sensing device does not change with a change in the attitude of the vehicle body.
Further, in the case where the vehicle body is continuously tilted forward by 1 degree from 3 degrees forward, the second body angle change information is determined to be 1 degree forward tilt, and further the adjustment information of the pan/tilt head is determined to be 1 degree increased elevation angle, based on the body angle information of the current body angle information with respect to the immediately preceding moment, and the pitch angle adjustment mechanism of the pan/tilt head is continuously adjusted by 1 degree increased elevation angle, so that the spatial position of the sensing device does not change with the change in the posture of the vehicle body.
According to the technical scheme, the adjustment angle information of the holder can be determined according to the angle change information of the car body relative to the previous moment in real time, the complexity of calculation is reduced, the accuracy of holder adjustment is guaranteed, and the accuracy of the sensing device for receiving the reflection signal is further improved.
Optionally, the body posture change information includes roll change information and/or pitch change information.
Under the condition that the posture of the vehicle body simultaneously undergoes left-right rolling change and front-back pitching change, the adjusting information of the pan-tilt can be firstly adjusting the rolling angle adjusting structure and then adjusting the pitch angle adjusting mechanism, and can also be simultaneously adjusting the rolling angle adjusting structure and the pitch angle adjusting mechanism.
The left and right rolling adjustment information of the holder is determined according to the left and right rolling change information, so that the influence of the vehicle posture change on the sensing device for receiving the reflection signal under the scenes of uneven road surface and the like can be reduced; the pitching adjustment information of the holder is determined according to the pitching change information, so that the influence of the vehicle attitude change on the sensing device to receive the reflection signal under the scenes of road surface gradient, starting, braking and the like can be reduced. The accuracy of the sensing device in receiving the reflected signal in the relevant scene is improved. In addition, the adjusting mechanism can be adjusted vertically, and can also be rolled left and right and adjusted in a pitching mode, so that the adjusting mode of the adjusting mechanism is increased, and the accuracy of the sensing device for receiving the reflected signals is further improved.
Optionally, the roll angle of the vehicle body posture change information representing left and right roll change is the same as the roll angle of the adjustment information representing left and right roll change in size and opposite in direction;
the pitch angle of the vehicle body attitude change information representing front and back pitch change information is the same as the pitch angle of the adjustment information representing front and back pitch change information in size and opposite in direction.
It can be understood that, under the condition that the posture of the vehicle body changes, in order to ensure that the spatial position of the sensing device does not change along with the change of the posture of the vehicle body, the adjustment direction of the cloud sky is opposite to the change direction of the posture of the vehicle body, and the change angles are the same. The specific adjustment method has been described in the foregoing embodiments, and is not described herein again.
Based on the same inventive concept, the present disclosure also provides a pan/tilt adjusting apparatus 600 for performing the steps of the pan/tilt adjusting method provided by the above method embodiment, and the pan/tilt adjusting apparatus 600 may implement the pan/tilt adjustment of the vehicle 10 in a software, hardware or a combination of the two. Referring to fig. 6, a block diagram of a pan/tilt head adjustment apparatus 600 is shown, the adjustment apparatus 600 comprising: a first determination module 610, a second determination module 620, and an adjustment module 630.
Wherein the first determining module 610 is configured to determine body posture change information of the vehicle;
the second determining module 620 is configured to determine the adjustment information of the pan/tilt head according to the vehicle body posture change information;
the adjusting module 630 is configured to adjust the adjusting mechanism of the pan/tilt head according to the adjusting information, so that the spatial position of the sensing device does not change with the change of the posture of the vehicle body.
Optionally, the first determining module 610 is specifically configured to obtain angular velocity information provided by a vehicle body inertial navigation system, and determine vehicle body angular velocity information of the vehicle according to the angular velocity information, where the vehicle body attitude change information includes the vehicle body angular velocity information;
the second determining module 620 is specifically configured to determine the angular velocity adjustment information of the pan/tilt head according to the vehicle body angular velocity information.
Referring to fig. 7, which is a block diagram of another pan/tilt head adjusting apparatus 600, the adjusting apparatus 600 further includes a calibration module 640.
The calibration module 640 is configured to calibrate initial position information of a vehicle body posture, where the initial position information includes vehicle body initial angle information;
the first determining module 610 is specifically configured to determine first body angle change information according to current body angle information relative to the body initial angle information, where the body posture change information includes the first body angle change information;
the second determining module 620 is specifically configured to determine first adjustment angle information of the pan/tilt head according to the first vehicle body angle variation information, where the adjustment information includes the first adjustment angle information.
Optionally, the calibration module 640 includes:
the determining submodule is configured to determine whether the state information of the vehicle body inertial navigation system meets a preset condition;
the calibration sub-module is configured to calibrate the initial position according to the vehicle body posture when the state information of the vehicle body inertial navigation system meets the preset condition.
Optionally, the first determining module 610 is specifically configured to determine second body angle change information according to current body angle information relative to body angle information at a previous moment, where the body posture change information includes the second body angle change information;
the second determining module 620 is specifically configured to determine second adjustment angle information of the pan/tilt head according to the second body angle variation information, where the adjustment information includes the second adjustment angle information.
There is also provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of any of the above-described adjustment methods.
An embodiment of the present disclosure further provides an electronic device, including:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the adjusting method of any one of the above.
Fig. 8 is a block diagram illustrating an electronic device 800 in accordance with an example embodiment. For example, the electronic device 800 may be provided as a pan/tilt adjustment apparatus 600. As shown in fig. 8, the electronic device 800 may include: a processor 801, a memory 802. The electronic device 800 may also include one or more of a multimedia component 803, an input/output (I/O) interface 804, and a communications component 805.
The processor 801 is configured to control the overall operation of the electronic device 800, so as to complete all or part of the steps in the pan/tilt head adjustment method. The memory 802 is used to store various types of data to support operations at the electronic device 800, such as instructions for any application or method operating on the electronic device 800, as well as application-related data, such as received body attitude change information, transmitted fault information, and so forth. The Memory 802 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk or optical disk. The multimedia components 803 may include screen and audio components. Wherein the screen may be, for example, a touch screen, which may, for example, receive manual adjustment information, and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals, such as voice adjustment information for externally adjusting the pan/tilt head. The received audio signal may further be stored in the memory 802. The I/O interface 804 provides an interface between the processor 801 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 805 is used for wired or wireless communication between the electronic device 800 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or 5G, or the like, or a combination of one or more of them, which is not limited herein. The corresponding communication component 805 may therefore include: Wi-Fi module, Bluetooth module, NFC module, etc.
In an exemplary embodiment, the electronic Device 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the pan/tilt adjustment method described above.
In another exemplary embodiment, a computer-readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the pan/tilt head adjustment method described above is also provided. For example, the computer readable storage medium may be the memory 802 described above that includes program instructions executable by the processor 801 of the electronic device 800 to perform the pan/tilt head adjustment method described above.
The embodiment of the present disclosure also provides a vehicle, and referring to a block diagram of a vehicle shown in fig. 9, the vehicle 10 includes an electronic device 800, and a vehicle body inertial navigation system 700 communicatively connected to the electronic device 800 through a CAN bus.
Specifically, the body inertial navigation system 700 may collect body attitude information of the vehicle in real time, and determine body attitude information such as an angular velocity of roll and/or pitch, an angle of roll and/or pitch, and the like of the vehicle. And the determined vehicle body attitude information is sent to the electronic equipment 800 arranged on the cradle head through the CAN bus, the electronic equipment 800 receives the vehicle body attitude information, determines the vehicle body attitude change information of the vehicle, further determines the adjusting information of the cradle head, and adjusts the adjusting mechanism of the cradle head according to the adjusting information.
Alternatively, the vehicle body inertial navigation system 700 may be fixedly disposed with the vehicle, such that the vehicle body inertial navigation system 700 may determine vehicle body posture information according to a vehicle body posture change of the vehicle, and the vehicle body inertial navigation system 700 may also determine gradient information on a forward route of the vehicle by obtaining map information, so as to determine vehicle body posture information of the vehicle according to the gradient information.
Illustratively, due to the fact that the road surface inclines, the vehicle inclines to the left side by 2 degrees, the vehicle body inertial navigation system 700 determines that the vehicle rolls to the left side of the vehicle body by 2 degrees in real time, vehicle body posture information of the vehicle rolling to the left side of the vehicle body by 2 degrees is sent to the electronic device 800 arranged on the cradle head through the CAN bus, the electronic device 800 receives the vehicle body posture information of the vehicle rolling to the left side of the vehicle body by 2 degrees, the vehicle body posture change of the vehicle is determined to be rolling to the left by 2 degrees, then the adjusting information of the cradle head is determined to be rolling to the right by 2 degrees, and the rolling angle adjusting mechanism of the.
As another example, if the road surface has a slope, the line where the front wheel and the rear wheel are located forms an angle of 3 degrees with the line where the front wheel and the rear wheel are located at the previous moment, and the angle is a forward inclination angle, the vehicle body inertial navigation system 700 determines that the vehicle inclines forward by 3 degrees in real time, sends vehicle body posture information of the vehicle inclining forward by 3 degrees to the electronic device 800 mounted on the pan and tilt head through the CAN bus, and the electronic device 800 receives the vehicle body posture information of the vehicle inclining forward by 3 degrees, determines that the vehicle body posture changes to incline forward by 3 degrees, further determines that the adjustment information of the pan and tilt head is to increase the elevation by 3 degrees backward, and adjusts the pitch angle adjusting mechanism of the pan and tilt head according to the increase of.
Therefore, under the condition that the posture of the vehicle body of the vehicle changes due to uneven road surface, vertical breakage of the vehicle and the like, the vehicle body inertial navigation system can acquire the posture information of the vehicle body, the electronic equipment arranged on the cradle head can determine the posture change information of the vehicle, further determine the adjusting information of the adjusting mechanism of the cradle head, and adjust the adjusting mechanism of the cradle head according to the adjusting information.
Optionally, here, the body inertial navigation system 700 sends the body attitude information to the electronic device 800 through the CAN bus, and may also send the body attitude information through wireless communication, which may be Wi-Fi, bluetooth, NFC, 2G, 3G, 4G, NB-IOT, eMTC, or 5G, for example. Accordingly, the electronic device 800 and the body inertial navigation system 700 include corresponding communication modules.
Further, it can be stated that the electronic device 800 is exemplarily illustrated herein as being mounted in a cradle head, and the electronic device 800 may be mounted in a vehicle interior, for example, in an instrument desk. And the electronic device 800 may be used in cooperation with a driving assistance System such as LDWS (Lane Keeping Assist System) of the vehicle 10.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (11)
1. A holder adjusting method is characterized in that the holder is installed on a vehicle and bears a sensing device, and the adjusting method comprises the following steps:
determining body posture change information of the vehicle;
determining the adjusting information of the holder according to the vehicle body attitude change information;
and adjusting an adjusting mechanism of the holder according to the adjusting information so that the spatial position of the sensing device does not change along with the change of the posture of the vehicle body.
2. The adjustment method according to claim 1, wherein the determining body posture change information of the vehicle includes:
obtaining angular velocity information provided by a vehicle body inertial navigation system, and determining vehicle body angular velocity information of the vehicle according to the angular velocity information, wherein the vehicle body attitude change information comprises the vehicle body angular velocity information;
the determining the adjusting information of the holder according to the vehicle body attitude change information comprises the following steps:
and determining the angular speed regulation information of the holder according to the angular speed information of the vehicle body.
3. The adjustment method according to claim 1, characterized by, before the determining body posture change information of the vehicle, comprising:
calibrating initial position information of a vehicle body posture, wherein the initial position information comprises vehicle body initial angle information;
the determining body posture change information of the vehicle includes:
determining first vehicle body angle change information according to the current vehicle body angle information relative to the vehicle body initial angle information, wherein the vehicle body posture change information comprises the first vehicle body angle change information;
the determining the adjusting information of the holder according to the vehicle body attitude change information comprises the following steps:
and determining first adjusting angle information of the holder according to the first vehicle body angle change information, wherein the adjusting information comprises the first adjusting angle information.
4. The adjustment method according to claim 3, characterized in that the calibrating an initial position of the vehicle body attitude comprises:
determining whether the state information of the vehicle body inertial navigation system meets a preset condition;
and calibrating the initial position according to the posture of the vehicle body when the state information of the vehicle in the vehicle body inertial navigation system meets the preset condition.
5. The adjustment method according to claim 1, wherein the determining body posture change information of the vehicle includes: determining second body angle change information according to the current body angle information relative to the body angle information at the previous moment, wherein the body posture change information comprises the second body angle change information;
the determining the adjusting information of the holder according to the vehicle body attitude change information comprises the following steps:
and determining second adjusting angle information of the holder according to the second body angle change information, wherein the adjusting information comprises the second adjusting angle information.
6. The adjustment method according to any one of claims 1 to 5, characterized in that the vehicle body attitude change information includes roll change information and/or pitch change information.
7. The adjusting method according to claim 6, wherein the roll angle of the body attitude change information representing the left-right roll change is the same in magnitude and opposite in direction to the roll angle of the adjustment information representing the left-right roll change;
the pitch angle of the vehicle body attitude change information representing front and back pitch change information is the same as the pitch angle of the adjustment information representing front and back pitch change information in size and opposite in direction.
8. A pan-tilt head adjustment device, characterized in that the adjustment device comprises:
a first determination module configured to determine body attitude change information of the vehicle;
a second determination module configured to determine adjustment information of the pan/tilt head according to the vehicle body attitude change information;
and the adjusting module is configured to adjust the adjusting mechanism of the holder according to the adjusting information so that the spatial position of the sensing device does not change along with the change of the posture of the vehicle body.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
10. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 7.
11. A vehicle comprising the electronic device of claim 10, and a body inertial navigation system communicatively coupled to the electronic device via a CAN bus.
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| CN202010745773.8A CN111959409B (en) | 2020-07-29 | 2020-07-29 | Holder adjusting method, storage medium, electronic device and vehicle |
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| CN202010745773.8A CN111959409B (en) | 2020-07-29 | 2020-07-29 | Holder adjusting method, storage medium, electronic device and vehicle |
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| CN111959409B (en) | 2022-10-18 |
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