CN112255623B - Automatic calibration method for multi-line laser radar of sweeping vehicle - Google Patents
Automatic calibration method for multi-line laser radar of sweeping vehicle Download PDFInfo
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- CN112255623B CN112255623B CN202011180646.4A CN202011180646A CN112255623B CN 112255623 B CN112255623 B CN 112255623B CN 202011180646 A CN202011180646 A CN 202011180646A CN 112255623 B CN112255623 B CN 112255623B
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000010408 sweeping Methods 0.000 title claims abstract description 12
- 238000009434 installation Methods 0.000 claims abstract description 7
- 241001417527 Pempheridae Species 0.000 claims description 6
- 238000005259 measurement Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 6
- 230000007613 environmental effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
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Classifications
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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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- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses an automatic calibration method of a multi-line laser radar of a sweeping vehicle, which comprises the following steps: reading data from the laser radar, outputting the data by the laser radar, wherein the output data are in the form of coordinate values of three axes of xyz of each scanned point, and selecting a point px with a y axis equal to 0 and an x axis greater than 0 from the data output by the laser radar 1 And a point px with an x-axis less than 0 2 The method comprises the steps of carrying out a first treatment on the surface of the Selecting a point py with an x-axis equal to 0 and a y-axis greater than 0 in the laser radar 1 And a point py with y-axis less than 0 2 The method comprises the steps of carrying out a first treatment on the surface of the Because of errors in actual installation, the laser radar is offset, and the offset pitch angle theta needs to be calibrated 1 And roll angle theta 3 The method comprises the steps of carrying out a first treatment on the surface of the θ1 and θ3 can be obtained by inverse trigonometric function, and the pitch angle θ is obtained by the obtained offset 1 And roll angle theta 3 And 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 sweeping vehicles, in particular to an automatic calibrating method for a multi-line laser radar of a sweeping vehicle.
Background
With the advent of the intelligent age, machines are replacing humans in more industries and work. "digitization, networking and intelligence" are the outstanding features of the new technological revolution and are the core of the new generation of information technology. The recent appearance of big data, the Internet of things and the like enables automobiles to realize the transition from automatic driving technology to unmanned technology. Unmanned technology has not only benefited the transportation industry, but more industries are exploring cross-border collaboration with unmanned technology.
The environmental sanitation industry is one of the problems that the labor force demand is large, the time consumption and the energy consumption are high, the potential safety hazard of the road is high, and the like are problems existing in the environmental sanitation work all the time, even if a driving type garbage sweeper is arranged, the sweeping efficiency problem can be only solved, other problems still exist, such as that people cannot work at night well, traffic hidden danger exists during driving, and the like, and the unmanned technology is a good helper for solving the problems. The unmanned intelligent street sweeper generally uses a radar for detection, but the radar can cause measurement errors due to installation errors in the installation process, so that the radar needs to be calibrated.
Disclosure of Invention
The technical problem to be solved by the invention is how to provide the automatic calibration method for the multi-line laser radar of the sweeper, which can calibrate the radar and further improve the accuracy of measurement.
In order to solve the technical problems, the invention adopts the following technical scheme: the automatic calibration method for the multi-line laser radar of the sweeper is characterized by comprising the following steps of:
the laser radar to be calibrated is horizontally arranged on a sweeping vehicle, and the sweeping vehicle is placed on an open flat ground;
reading data from the laser radar, outputting the data by the laser radar, wherein the output data are in the form of coordinate values of three axes of xyz of each scanned point, and selecting a point px with a y axis equal to 0 and an x axis greater than 0 from the data output by the laser radar 1 And a point px with an x-axis less than 0 2 The method comprises the steps of carrying out a first treatment on the surface of the Selecting a point py with an x-axis equal to 0 and a y-axis greater than 0 in the laser radar 1 And a point py with y-axis less than 0 2 ；
px 1 ＝(x 1 ，0，z 1 )
px 2 ＝(x 2 ，0，z 2 )
py 1 ＝(0，y 1 ，z 3 )
py 2 ＝(0，y 2 ，z 4 )
Because of errors in actual installation, the laser radar is offset, and the offset pitch angle theta needs to be calibrated 1 And roll angle theta 3 ；
tanθ＝(z 2 -z 1 )/(x 2 -x 1 ) X can be known in the data fed back by the lidar 1 ，x 2 ，z 1 ，z 2 The method comprises the steps of carrying out a first treatment on the surface of the θ1=arctan ((z) can be obtained using the inverse trigonometric function 2 -z 1 )/(x 2 -x 1 ))
θ3=arctan ((z) can be obtained in the same way 4 -z 3 )/(y 2 -y 1 ))
Pitch angle θ by the offset obtained 1 And roll angle theta 3 And calibrating the laser radar.
The beneficial effects of adopting above-mentioned technical scheme to produce lie in: the method can calibrate the radar, thereby not only reducing the accuracy required by the laser radar installation during production, but also reducing the technical difficulty of calibrating the positioning materials.
Drawings
The invention will be described in further detail with reference to the drawings and the detailed description.
FIG. 1 is a schematic diagram of radar calibration in a method according to an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the 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 other than those described herein, and persons skilled in the art will readily appreciate that the present invention is not limited to the specific embodiments disclosed below.
The embodiment of the invention discloses an automatic calibration method for multi-line laser radar of a variety of sweeper, which comprises the following steps:
the laser radar to be calibrated is horizontally arranged on a sweeping vehicle, and the sweeping vehicle is placed on an open flat ground;
reading data from the laser radar, outputting the data by the laser radar, wherein the output data are in the form of coordinate values of three axes of xyz of each scanned point, and selecting a point px with a y axis equal to 0 and an x axis greater than 0 from the data output by the laser radar 1 And a point px with an x-axis less than 0 2 The method comprises the steps of carrying out a first treatment on the surface of the Selecting a point py with an x-axis equal to 0 and a y-axis greater than 0 in the laser radar 1 And a point py with y-axis less than 0 2 ；
px 1 ＝(x 1 ，0，z 1 )
px 2 ＝(x 2 ，0，z 2 )
py 1 ＝(0，y 1 ，z 3 )
py 2 ＝(0，y 2 ，z 4 )
As shown in fig. 1, if the lidar is mounted horizontally, x 1 ＝-x 2 ，z 1 ＝z 2 The method comprises the steps of carrying out a first treatment on the surface of the Because of errors in actual installation, the laser radar is offset, and the offset pitch angle theta needs to be calibrated 1 And roll angle theta 3 ；
tanθ＝(z 2 -z 1 )/(x 2 -x 1 ) X can be known in the data fed back by the lidar 1 ，x 2 ，z 1 ，z 2 ；
θ1=arctan ((z) can be obtained using the inverse trigonometric function 2 -z 1 )/(x 2 -x 1 ))
θ3=arctan ((z) can be obtained in the same way 4 -z 3 )/(y 2 -y 1 ))
Pitch angle θ by the offset obtained 1 And roll angle theta 3 And calibrating the laser radar.
The method can calibrate the radar, thereby not only reducing the accuracy required by the laser radar installation during production, but also reducing the technical difficulty of calibrating the positioning materials.
Claims (1)
1. The automatic calibration method for the multi-line laser radar of the sweeper is characterized by comprising the following steps of:
the laser radar to be calibrated is horizontally arranged on a sweeping vehicle, and the sweeping vehicle is placed on an open flat ground;
reading data from the laser radar, outputting the data by the laser radar, wherein the output data are in the form of coordinate values of three axes of xyz of each scanned point, and selecting a point px with a y axis equal to 0 and an x axis greater than 0 from the data output by the laser radar 1 And a point px with an x-axis less than 0 2 The method comprises the steps of carrying out a first treatment on the surface of the Selecting a point py with an x-axis equal to 0 and a y-axis greater than 0 in the laser radar 1 And a point py with y-axis less than 0 2 ；
px 1 ＝(x 1 ，0，z 1 )
px 2 ＝(x 2 ，0，z 2 )
py 1 ＝(0，y 1 ，z 3 )
py 2 ＝(0，y 2 ，z 4 )
Because of errors in actual installation, the laser radar is offset, and the offset pitch angle theta needs to be calibrated 1 And roll angle theta 3 ；
tanθ＝(z 2 -z 1 )/(x 2 -x 1 ) X can be known in the data fed back by the lidar 1 ，x 2 ，z 1 ，z 2 ；
θ1=arctan ((z) can be obtained using the inverse trigonometric function 2 -z 1 )/(x 2 -x 1 ))
θ3=arctan ((z) can be obtained in the same way 4 -z 3 )/(y 2 -y 1 ))
Pitch angle θ by the offset obtained 1 And roll angle theta 3 And calibrating the laser radar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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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| CN112255623A CN112255623A (en) | 2021-01-22 |
| CN112255623B true 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 |
-
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 |
|---|
| 快速三维扫描激光雷达的设计及其系统标定;项志宇;;浙江大学学报(工学版)(12);全文 * |
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