CN112255623A - Automatic calibration method for multi-line laser radar of sweeper - Google Patents
Automatic calibration method for multi-line laser radar of sweeper Download PDFInfo
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- CN112255623A CN112255623A CN202011180646.4A CN202011180646A CN112255623A CN 112255623 A CN112255623 A CN 112255623A CN 202011180646 A CN202011180646 A CN 202011180646A CN 112255623 A CN112255623 A CN 112255623A
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- 241001417527 Pempheridae Species 0.000 title claims abstract description 16
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000005096 rolling process Methods 0.000 claims abstract description 8
- 238000009434 installation Methods 0.000 claims abstract description 7
- 238000005259 measurement Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a multi-line laser radar automatic calibration method for a sweeper, which comprises the following steps: reading data from the laser radar, outputting the data by the laser radar in the form of coordinate values of scanned xyz three axes of each point, and selecting a point px with a y axis equal to 0 and an x axis larger than 0 from the data output by the laser radar1And a point px whose x-axis is less than 02(ii) a Selecting a point py of the laser radar with the x-axis equal to 0 and the y-axis larger than 01And a point py with y-axis less than 02(ii) a Due to the fact that errors exist in actual installation, the laser radar deviates, and the offset pitch angle theta needs to be calibrated1Angle of transverse rolling theta3(ii) a Theta 1 and theta 3 can be obtained by inverse trigonometric function, and the pitch angle theta is obtained by the obtained offset1Angle of transverse rolling theta3And calibrating the laser radar. The method can calibrate the radar, and further improve the accuracy of measurement.
Description
Technical Field
The invention relates to the technical field of automatic sweeper, in particular to a multi-line laser radar automatic calibration method for a sweeper.
Background
With the advent of the intelligent age, machines are replacing humans in more industries and work. Digitalization, networking and intellectualization are prominent features of a new technological revolution and are also the core of a new generation of information technology. The appearance of big data, the Internet of things and the like in recent years enables automobiles to realize the transition from the automatic driving technology to the unmanned driving technology. Unmanned technology has not only benefited the transportation industry, but more industries are exploring cross-border collaboration with unmanned technology.
The sanitation industry is just one of them, and the problem that sanitation work has existed all the time is that labour demand is big, it is many to consume time energy, road potential safety hazard height, even if driving type garbage sweeper appears, can only solve and clean the efficiency problem, and other problems still exist, for example people can't work well night, have traffic hidden danger when driving etc. and unmanned driving technique is just solving the good helper of these problems. The unmanned intelligent sweeper generally uses a radar for detection, but the radar causes measurement errors due to installation errors in the installation process, so that the radar needs to be calibrated.
Disclosure of Invention
The invention aims to solve the technical problem of how to provide an automatic calibration method of a multi-line laser radar of a sweeper, which can calibrate the radar and further improve the accuracy of measurement.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a multi-line laser radar automatic calibration method for a sweeper is characterized by comprising the following steps:
horizontally installing a laser radar to be calibrated on a sweeper, and placing the sweeper on an open flat ground;
reading data from the laser radar, outputting the data by the laser radar in the form of coordinate values of scanned xyz three axes of each point, and selecting a point px with a y axis equal to 0 and an x axis larger than 0 from the data output by the laser radar1And a point px whose x-axis is less than 02(ii) a Selecting a point py of the laser radar with the x-axis equal to 0 and the y-axis larger than 01And a point py with y-axis less than 02；
px1＝(x1，0，z1)
px2＝(x2，0，z2)
py1＝(0，y1，z3)
py2＝(0，y2，z4)
Due to the fact that errors exist in actual installation, the laser radar deviates, and the offset pitch angle theta needs to be calibrated1Angle of transverse rolling theta3；
tanθ＝(z2-z1)/(x2-x1) X may be known in the data fed back from the lidar1，x2，z1，z2(ii) a Then the inverse trigonometric function yields θ 1 ═ arctan ((z)2-z1)/(x2-x1))
In the same manner, θ 3 ═ arctan ((z) can be obtained4-z3)/(y2-y1))
By obtaining offset pitch angle theta1Angle of transverse rolling theta3And calibrating the laser radar.
Adopt the produced beneficial effect of above-mentioned technical scheme to lie in: the method can calibrate the radar, thereby not only reducing the accuracy required by laser radar installation during production, but also reducing the technical difficulty of calibrating position resources.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic diagram of radar calibration in the method according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
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.
The embodiment of the invention discloses an automatic calibration method for a multi-line laser radar of various sweeping vehicles, which comprises the following steps:
horizontally installing a laser radar to be calibrated on a sweeper, and placing the sweeper on an open flat ground;
reading data from the laser radar, outputting the data by the laser radar in the form of coordinate values of scanned xyz three axes of each point, and selecting a point px with a y axis equal to 0 and an x axis larger than 0 from the data output by the laser radar1And a point px whose x-axis is less than 02(ii) a Selecting a point py of the laser radar with the x-axis equal to 0 and the y-axis larger than 01And a point py with y-axis less than 02；
px1＝(x1，0，z1)
px2＝(x2，0，z2)
py1＝(0，y1，z3)
py2＝(0，y2，z4)
If the lidar is mounted horizontally, x, as shown in fig. 11＝-x2，z1＝z2(ii) a Due to the fact that errors exist in actual installation, the laser radar deviates, and the offset pitch angle theta needs to be calibrated1Angle of transverse rolling theta3；
tanθ＝(z2-z1)/(x2-x1) X may be known in the data fed back from the lidar1，x2，z1，z2；
Then the inverse trigonometric function yields θ 1 ═ arctan ((z)2-z1)/(x2-x1))
In the same manner, θ 3 ═ arctan ((z) can be obtained4-z3)/(y2-y1))
By obtaining offset pitch angle theta1Angle of transverse rolling theta3And calibrating the laser radar.
The method can calibrate the radar, thereby not only reducing the accuracy required by laser radar installation during production, but also reducing the technical difficulty of calibrating position resources.
Claims (1)
1. A multi-line laser radar automatic calibration method for a sweeper is characterized by comprising the following steps:
horizontally installing a laser radar to be calibrated on a sweeper, and placing the sweeper on an open flat ground;
reading data from the laser radar, outputting the data by the laser radar in the form of coordinate values of scanned xyz three axes of each point, and selecting a point px with a y axis equal to 0 and an x axis larger than 0 from the data output by the laser radar1And a point px whose x-axis is less than 02(ii) a Selecting a point py of the laser radar with the x-axis equal to 0 and the y-axis larger than 01And a point py with y-axis less than 02；
px1＝(x1，0，z1)
px2＝(x2，0，z2)
py1＝(0，y1，z3)
py2＝(0，y2，z4)
Due to the fact that errors exist in actual installation, the laser radar deviates, and the offset pitch angle theta needs to be calibrated1Angle of transverse rolling theta3；
tanθ＝(z2-z1)/(x2-x1) X may be known in the data fed back from the lidar1，x2，z1，z2；
Then the inverse trigonometric function yields θ 1 ═ arctan ((z)2-z1)/(x2-x1))
In the same manner, θ 3 ═ arctan ((z) can be obtained4-z3)/(y2-y1))
By obtaining offset pitch angle theta1Angle of transverse rolling theta3And calibrating the laser radar.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011180646.4A CN112255623B (en) | 2020-10-29 | 2020-10-29 | Automatic calibration method for multi-line laser radar of sweeping vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011180646.4A CN112255623B (en) | 2020-10-29 | 2020-10-29 | Automatic calibration method for multi-line laser radar of sweeping vehicle |
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| Publication Number | Publication Date |
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| CN112255623A true CN112255623A (en) | 2021-01-22 |
| CN112255623B CN112255623B (en) | 2024-01-09 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107290734A (en) * | 2017-08-22 | 2017-10-24 | 北京航空航天大学 | A kind of point cloud error calibration method based on the self-control ground laser radar error of perpendicularity |
| KR20180055292A (en) * | 2016-11-16 | 2018-05-25 | 국민대학교산학협력단 | Integration method for coordinates of multi lidar |
| CN109061610A (en) * | 2018-09-11 | 2018-12-21 | 杭州电子科技大学 | A kind of combined calibrating method of camera and radar |
| CN111427026A (en) * | 2020-02-21 | 2020-07-17 | 深圳市镭神智能系统有限公司 | Laser radar calibration method and device, storage medium and self-moving equipment |
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2020
- 2020-10-29 CN CN202011180646.4A patent/CN112255623B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20180055292A (en) * | 2016-11-16 | 2018-05-25 | 국민대학교산학협력단 | Integration method for coordinates of multi lidar |
| CN107290734A (en) * | 2017-08-22 | 2017-10-24 | 北京航空航天大学 | A kind of point cloud error calibration method based on the self-control ground laser radar error of perpendicularity |
| CN109061610A (en) * | 2018-09-11 | 2018-12-21 | 杭州电子科技大学 | A kind of combined calibrating method of camera and radar |
| CN111427026A (en) * | 2020-02-21 | 2020-07-17 | 深圳市镭神智能系统有限公司 | Laser radar calibration method and device, storage medium and self-moving equipment |
Non-Patent Citations (1)
| Title |
|---|
| 项志宇;: "快速三维扫描激光雷达的设计及其系统标定", 浙江大学学报(工学版), no. 12 * |
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