CN112285735B - System for automatically calibrating angular resolution of single-line laser radar - Google Patents
System for automatically calibrating angular resolution of single-line laser radar Download PDFInfo
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- CN112285735B CN112285735B CN202010992403.4A CN202010992403A CN112285735B CN 112285735 B CN112285735 B CN 112285735B CN 202010992403 A CN202010992403 A CN 202010992403A CN 112285735 B CN112285735 B CN 112285735B
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The application provides a system for automatic angular resolution who marks single line laser radar, wherein, the system is including removing revolving stage, shaft coupling, revolving stage drive module, motor drive, singlechip and controlgear, the shaft coupling is used for connecting remove the revolving stage with revolving stage drive module, motor drive is used for connecting revolving stage drive module with the singlechip, the singlechip is used for passing through revolving stage drive module control remove the revolving stage and rotate, controlgear be used for acquireing install the single line laser radar of removal revolving stage top send, with the point cloud data that the rotation operation at every turn of removal revolving stage corresponds, and according to point cloud data calculation the angular resolution of single line laser radar. The system enables a radar scan angle resolution that minimizes loss values.
Description
Technical Field
The application relates to the technical field of laser radars, in particular to a technical scheme for automatically calibrating the angular resolution of a single-line laser radar.
Background
With the development of the times, laser radars have been widely applied to high and new technology fields such as autopilot, robot, security monitoring, unmanned aerial vehicle, mapping, internet of things, smart city and the like. The single-line laser radar is a radar with a single line of a wire harness emitted by a laser source, and is mainly applied to the field of robots at present, in recent years, with the gradual application of mobile robots in industrial scenes, a single-line laser radar instant positioning and Mapping (SLAM) technology is also rapidly developed, wherein the parameter of the angular resolution of the single-line laser radar is very important, and the parameter can determine the specific form of radar data, so that the accuracy of Mapping and positioning of the mobile robots is influenced. However, due to uncertainty in the radar production process, an error exists between an actual value of the angular resolution of each single line laser radar and a standard value, and in the prior art, the angular resolution identified by a manufacturer of the single line laser radar is often directly used, which leads to that a fixed deviation is necessarily generated in the mapping and positioning processes of the mobile robot, thereby negatively affecting the performance of the mobile robot.
Disclosure of Invention
The application aims to provide a technical scheme capable of quickly and accurately marking the real angle resolution of a single-line laser radar.
According to an embodiment of the application, a system for automatic calibration single line laser radar's angular resolution is provided, wherein, the system is including removing revolving stage, shaft coupling, revolving stage drive module, motor drive, singlechip and controlgear, the shaft coupling is used for connecting remove the revolving stage with revolving stage drive module, motor drive is used for connecting revolving stage drive module with the singlechip, the singlechip is used for passing through revolving stage drive module control remove the revolving stage and rotate, controlgear be used for acquireing install remove the revolving stage top the single line laser radar send, with remove the revolving stage at every turn the point cloud data that the rotational operation corresponds, and according to point cloud data calculation single line laser radar's angular resolution.
Optionally, the single chip microcomputer is connected to the control device through a serial port, and the control device is further configured to: sending a rotation instruction to the single chip microcomputer, wherein the rotation instruction comprises a designated angle; wherein, the singlechip is used for: and receiving the rotation instruction sent by the control equipment, and controlling the movable rotary table to rotate by the specified angle through the motor driver according to the rotation instruction.
Optionally, the single chip microcomputer sends rotation completion indication information corresponding to the rotation to the control device every time the single chip microcomputer completes the rotation; and the control equipment receives the point cloud data corresponding to the current rotation angle returned by the single-line laser radar every time receiving the rotation completion indication information sent by the single-chip microcomputer.
Optionally, the calculating the angular resolution of the single line laser radar according to the point cloud data includes: and calculating the Euclidean distance of the point cloud data corresponding to any two times of rotation operations in the calibration process to obtain the angle resolution ratio which enables the Euclidean distance of the point cloud data to be minimum.
Optionally, the movable rotary table comprises a rotary table base, a rotary table fixing screw hole, a rotary table rotation center and a radar fixing screw hole, wherein the radar fixing screw hole is used for fixedly installing the single-line laser radar above the rotary table rotation center, and the coupler is connected to the rotary table base.
Optionally, the turntable driving module comprises a stepping motor, a stepping motor knob, a motor control interface and an interface fixing screw hole, wherein the stepping motor is connected to the coupler, and the single chip microcomputer is connected to the motor control interface through the motor driver.
Compared with the prior art, the method has the following advantages: the single chip microcomputer in the system can accurately control the movable rotary table to rotate for a specified angle each time through the rotary table driving module, and further drives the single-line laser radar installed on the movable rotary table to synchronously rotate, so that control equipment can record point cloud data of the single-line laser radar at different rotation angles, and can obtain radar scanning angle resolution enabling a loss value to be minimum by calculating Euclidean distances of adjacent radar data points after the accumulative rotation is finished; the system is strong in universality, can be widely applied to single-line laser radars of different brands, is not limited by radar product differences of single-line laser radar manufacturers, can be applied as long as the type of the single-line laser radar belongs to the single-line laser radar, is convenient to use, only needs to use screws to install the single-line laser radar on the movable rotary table, and can complete preparation work before calibration of the single-line laser radar by placing the system in a calibration scene; the system has no special limitation on the calibration scene, the calibration scene can be replaced at any time, and when the system works and if moving objects and personnel appear in the calibration scene, the system is not interfered and can normally return the calibration result, so that the algorithm robustness is higher; the Euclidean distance of the loss function design of the system to point cloud data can reflect the real distance of the actual irradiation position of radar laser, the design of the loss function is very reasonable and effective, in addition, input data used by the system is point cloud original data of a single-line laser radar facing different angles, the rotation precision is provided by a movable rotary table, the rotation minimum resolution is 0.02 degree, the maximum data range can contain 360 degrees, therefore, the solved angle resolution can enable the loss function to achieve global optimization, and the calculation result is accurate and reliable.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 illustrates a top view of a portion of the structure of an exemplary system for automatically calibrating the angular resolution of a singlet lidar according to the present application;
FIG. 2 shows a side view of a portion of the structure shown in FIG. 1;
FIG. 3 shows a flow chart for automatically calibrating the angular resolution of a single line lidar in accordance with an example of the present application.
The same or similar reference numbers in the drawings identify the same or similar elements.
Detailed Description
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations as a sequential process, many of the operations can be performed in parallel, concurrently, or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, subprograms, and the like.
The methodologies discussed hereinafter, some of which are illustrated by flow diagrams, may be implemented by hardware, software, firmware, middleware, microcode, hardware description languages, or any combination thereof. When implemented in software, firmware, middleware or microcode, the program code or code segments to perform the necessary tasks may be stored in a machine or computer readable medium such as a storage medium. The processor(s) may perform the necessary tasks.
Specific structural and functional details disclosed herein are merely representative and are provided for purposes of describing example embodiments of the present application. This application may, however, be embodied in many alternate forms and should not be construed as limited to only the embodiments set forth herein.
It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element may be termed a second element, and, similarly, a second element may be termed a first element, without departing from the scope of example embodiments. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be noted that, in some alternative implementations, the functions/acts noted may occur out of the order noted in the figures. For example, two figures shown in succession may, in fact, be executed substantially concurrently, or the figures may sometimes be executed in the reverse order, depending upon the functionality/acts involved.
The present application is described in further detail below with reference to the attached figures.
The application provides a system for automatic angular resolution who marks single line laser radar, wherein, the system is including removing revolving stage, shaft coupling, revolving stage drive module, motor drive, singlechip and controlgear, the shaft coupling is used for connecting remove the revolving stage with revolving stage drive module, motor drive is used for connecting revolving stage drive module with the singlechip, the singlechip is used for passing through revolving stage drive module control remove the revolving stage and rotate, controlgear be used for acquireing install remove the single line laser radar of revolving stage top send, with the point cloud data that the rotation operation at every turn of removing the revolving stage corresponds, and according to point cloud data calculation the angular resolution of single line laser radar. Based on the system, the single chip microcomputer can control the movable rotary table to rotate for a specified angle each time through the rotary table driving module, and the control device (also called as an upper computer) can record point cloud data from the single-line laser radar when the movable rotary table rotates to different angles, so that after the movable rotary table completes 360-degree rotation and the single-line laser radar returns to an initial orientation angle, the control device calculates the angle resolution of the single-line laser radar according to the recorded point cloud data.
In some embodiments, the mobile turntable can rotate under the control of the single chip microcomputer, and in the automatic calibration process, the mobile turntable needs to complete 360-degree rotation through multiple rotations and return the single-line laser radar to the initial orientation angle, for example, if the mobile turntable rotates 10 degrees each time, the mobile turntable needs to complete 360-degree rotation after 36 rotations and return the single-line laser radar to the initial orientation angle. In some embodiments, when a single line laser radar needs to be automatically calibrated, the single line laser radar needs to be installed on the movable rotary table firstly, a radar installation platform for installing the single line laser radar is arranged on the movable rotary table, when the movable rotary table rotates, the single line laser radar installed on the movable rotary table can be driven to rotate, as an example, a plurality of universal screw hole positions are arranged above the movable rotary table, the plurality of universal screw hole positions and the upper surface where the universal screw hole positions are located form the radar installation platform, and the single line laser radars of different brands can be conveniently installed through the plurality of universal screw hole positions. In some embodiments, after the single-line laser radar to be calibrated is installed on the mobile turntable, the single-line laser radar is connected with the control device, so that the control device can acquire point cloud data which is sent by the single-line laser radar in the automatic calibration process and corresponds to the mobile turntable when the mobile turntable rotates to different angles.
In some embodiments, the movable turntable comprises a turntable base, a turntable fixing screw hole, a turntable rotation center, and a radar fixing screw hole, wherein the radar fixing screw hole is used for fixedly mounting the single-line laser radar above the turntable rotation center, and the coupler is connected to the turntable base. The turntable fixing screw hole is used for fixing the movable turntable, the radar fixing screw hole is located near the rotating center of the turntable so as to fixedly install the single-line laser radar above the rotating center of the turntable, and therefore when the turntable rotates, the single-line laser radar installed on the turntable can be driven to synchronously rotate.
In some embodiments, the turntable driving module is connected to the movable turntable through the coupling, and the turntable driving module is connected to the single chip microcomputer through the motor driver, whereby the single chip microcomputer can control the turntable driving module through the motor driver so that the turntable driving module drives the movable turntable to rotate by a specified angle through the coupling. In some embodiments, the turntable driving module comprises a stepping motor, a stepping motor knob, a motor control interface and an interface fixing screw hole, wherein the stepping motor is connected to the coupler, and the single chip microcomputer is connected to the motor control interface through the motor driver.
In some embodiments, the single chip microcomputer controls the rotation of the movable rotary table. In some embodiments, after the single line laser radar to be calibrated is installed on the movable turntable, a program on the single chip microcomputer is run, and by running the program, the single chip microcomputer controls the movable turntable to rotate by a specified angle through the motor driver at every first predetermined time interval, for example, the single chip microcomputer controls the movable turntable to rotate by 10 degrees through the motor driver at every 10 seconds after running until the movable turntable completes the rotation by 360 degrees. It should be noted that, in a situation that the single chip microcomputer controls the rotation of the mobile turntable by itself, the single chip microcomputer may not be connected to the control device, or may be connected to the control device through a serial port (the single chip microcomputer may report rotation completion indication information corresponding to each rotation to the control device through the serial port, so that the control device can know whether each rotation is successful, or further, the control device may record point cloud data corresponding to a current rotation angle of the single-line laser radar based on the received rotation completion indication information).
In some embodiments, under the condition that the single chip microcomputer controls the rotation of the mobile turntable by itself, the control device records the point cloud data corresponding to the current rotation angle of the single-line laser radar at intervals of a second preset time interval. In practical applications, values of the second predetermined time interval and the first predetermined time interval may be set based on requirements or based on experience.
In some embodiments, the single chip microcomputer is connected with the control device through a serial port, and the control device is further configured to send a rotation instruction to the single chip microcomputer, where the rotation instruction includes a specified angle; the single chip microcomputer is used for receiving the rotation instruction sent by the control equipment and controlling the movable rotary table to rotate by the appointed angle through the rotary table driving module according to the rotation instruction. In some embodiments, the specified angle indicated by the rotation instruction is greater than or equal to a radar angular resolution identified by a single line lidar vendor. In some embodiments, in an automatic calibration process, the control device needs to perform an operation of sending a rotation instruction to the single chip microcomputer for multiple times, each sending operation corresponds to one rotation operation, and after the single chip microcomputer receives the rotation instruction from the control device each time, the single chip microcomputer controls the movable turntable to rotate by a specified angle through the turntable driving module according to the received rotation instruction; alternatively, the control device may send the rotation instruction at predetermined time intervals, or, after receiving rotation completion indication information sent by the single chip microcomputer for the latest rotation operation, determine whether the cumulative number of rotations of the mobile turntable reaches a predetermined number (the control device may determine the cumulative number of rotations by the number of times the rotation instruction has been sent or the number of rotation indication completion information from the single chip microcomputer), and if not, send the rotation instruction again, and if so, do not perform the operation of sending the rotation instruction again. As an example, the control device includes an automatic calibration program, if the automatic calibration program fails to operate, the system connection is not successful, and the circuit connection needs to be checked again, and when the automatic calibration program operates normally, the control device firstly sends a rotation instruction to the single chip microcomputer, wherein the rotation instruction is used for indicating that a specified angle for controlling the rotation of the mobile turntable is 10 degrees; after the single chip microcomputer receives the rotation instruction, the rotating table driving module controls the movable rotating table to rotate for 10 degrees, and after the movable rotating table finishes the rotation, rotation finishing indication information is sent to the control equipment; after receiving rotation completion indication information sent by the single chip microcomputer, the control equipment judges whether the accumulated rotation times reach 36 times, and if not, sends a rotation instruction again; and the like until the accumulated rotation number reaches 36 times (namely, the mobile turntable completes a rotation of 360 degrees in one circle). In some embodiments, in an automatic calibration process, the control device only needs to perform an operation of sending a rotation instruction to the single chip microcomputer once, where the rotation instruction includes an instruction angle and also includes a rotation number and/or a rotation time interval, and after receiving the rotation instruction, the single chip microcomputer can perform, based on the rotation instruction, a plurality of operations of controlling the turntable to rotate by a specified angle through the turntable driving module.
In some embodiments, the single chip microcomputer is connected with the control device through a serial port, and the single chip microcomputer sends rotation completion indication information corresponding to the rotation to the control device every time the single chip microcomputer controls the mobile turntable to complete one rotation; and the control equipment receives the point cloud data corresponding to the current rotation angle returned by the single-line laser radar every time receiving the rotation completion indication information sent by the single-chip microcomputer. The acquisition of the radar point cloud data can thereby be controlled by the control device. For example, the initial angle of the mobile turntable is 0 degree, the single chip microcomputer receives a rotation instruction from the control device, then the mobile turntable is controlled to rotate for 10 degrees through the turntable driving module according to the rotation instruction, after the mobile turntable rotates for 10 degrees (the single-line laser radar also rotates for 10 degrees), the single chip microcomputer sends a rotation completion instruction to the control device to inform the control device that the mobile turntable completes the rotation operation, and after the control device receives the rotation completion instruction, the control device receives corresponding point cloud data returned by the single-line laser radar when the current rotation angle is 10 degrees; and then, the control equipment sends a rotation instruction to the single chip microcomputer again, the single chip microcomputer controls the mobile turntable to rotate for 10 degrees through the turntable driving module again according to the rotation instruction, after the mobile turntable rotates for 10 degrees again (the rotation angle relative to the initial position is 20 degrees at the moment), the single chip microcomputer sends a rotation completion instruction to the control equipment to inform the control equipment of completing the rotation operation of the mobile turntable, after the control equipment receives the rotation completion instruction, the control equipment receives the point cloud data corresponding to the current rotation angle returned by the single-line laser radar when the current rotation angle is 20 degrees, and the like, and the control equipment can obtain the point cloud data corresponding to the rotation angle when the mobile turntable completes each rotation operation.
In some embodiments, after the mobile turntable has completed 360 degrees of rotation and the single line lidar has returned to the initial orientation angle, the control device calculates the angular resolution of the single line lidar from the point cloud data recorded for different angles of rotation, the calculated angular resolution being such that the sum of euclidean distances between the point cloud data is minimal when the mobile turntable is rotated to any angle. In some embodiments, said calculating an angular resolution of said single line lidar from said point cloud data comprises: and calculating the Euclidean distance between the point cloud data corresponding to any two times of rotation operations in the calibration process to obtain the angular resolution of the single-line laser radar, wherein the angular resolution enables the loss value to be minimum. In some embodiments, the control device performs a point cloud filtering operation on the point cloud data to remove noise data, and then transforms the point cloud data according to a real rotation angle of the mobile turntable, so as to calculate an euclidean distance and a minimum angular resolution of the point cloud data, wherein the angular resolution is a global optimal solution and can accurately reflect a real angular resolution of the single line laser radar. The term "two arbitrary rotation operations in the current calibration process" refers to two arbitrary rotation operations within the rotation range of the current calibration process, for example, the mobile turntable performs 36 rotations in the current calibration process, and the angle of each rotation is 10 degrees, so that the mobile turntable performs 360-degree rotation in total in the current calibration process, that is, the rotation range is 360 degrees, and an optimal angular resolution can be obtained by calculating an euclidean distance between point cloud data corresponding to two arbitrary rotation operations within the rotation range. In some embodiments, the control device calculates the angular resolution of the single line lidar from the point cloud data for different rotation angles based on the following formula:
where δ represents the optimal angular resolution, x, found by the automatic calibration system of the present application m Representing point cloud data and y of the mobile turntable in the x direction under a radar coordinate system when the mobile turntable rotates to an angle m (m is more than or equal to 0 degrees and less than or equal to 360 degrees) m Point cloud data, x, representing the y-direction under the radar coordinate system when the mobile turntable is rotated to an angle m n Point cloud data in the x direction and y direction under a radar coordinate system when the mobile turntable rotates to an angle n (n is more than or equal to 0 degrees and less than or equal to 360 degrees) n The method comprises the steps that point cloud data in the y direction under a radar coordinate system when the mobile turntable rotates to an angle n are represented, and theta represents an angle range intersection between the point cloud data when the mobile turntable rotates to the angle m and the point cloud data when the mobile turntable rotates to the angle n; according to the formula, the optimal radar angular resolution delta can be obtained, and delta can ensure that the Euclidean distance sum between point cloud data is minimum when the calibration turntable designed by the application rotates to any angle. The loss function of the system is designed into Euclidean of point cloud dataThe distance and the Euclidean distance can reflect the actual distance of the actual irradiation position of the radar laser, the design of the loss function is very reasonable and effective, in addition, input data used by the system is point cloud original data of a single-line laser radar facing different angles, the rotation precision is provided by a movable rotary table, the rotation minimum resolution is 0.02 degree, the maximum data range can contain 360 degrees, therefore, the solved angle resolution can enable the loss function to achieve global optimization, and the calculation result is accurate and reliable.
Fig. 1 shows a top view of a partial structure of a system for automatic calibration of the angular resolution of a single line lidar according to an example of the present application, and fig. 2 shows a side view of the partial structure shown in fig. 1. Part of the structure shown in fig. 1 comprises a turntable 101, a turntable rotation center 102, a radar fixing screw hole 103, a turntable fixing screw hole 104, a coupler 105, a stepping motor 106, a stepping motor knob 107, a motor control interface 108, an interface fixing screw hole 109 and a turntable base 110. The turntable 101, the turntable rotation center 102, the radar fixing screw hole 103, the turntable fixing screw hole 104 and the turntable base 110 form a movable turntable, the upper surface of the turntable 101 forms a radar mounting platform, and the single-line laser radar can be mounted above the radar fixing screw hole 103 through the radar fixing screw hole 103. The stepping motor 106, the stepping motor knob 107, the motor control interface 108 and the interface fixing screw hole 109 form a turntable driving module, the stepping motor 106 is connected to the turntable base 110 through the coupler 105, and therefore the single chip microcomputer can control the movable turntable to rotate through the turntable driving module. It should be noted that, for the sake of simplicity, only a part of the structure of the system is shown in fig. 1 and 2, and the motor driver, the single chip microcomputer, and the control device are not shown.
FIG. 3 shows a flow chart for automatically calibrating the angular resolution of a single line lidar in accordance with an example of the present application. The system is used for automatically calibrating the angular resolution of the single-line laser radar, when the system is prepared to automatically calibrate the angular resolution of a certain single-line laser radar, the system can be placed in a calibration scene firstly, objects in the calibration scene are placed as neatly as possible, and no special limitation is imposed on the system. The specific process comprises the following steps: 1) Starting calibration; 2) Installing a radar, and installing a single-line laser radar on the movable rotary table; 3) Connecting a software and hardware system, namely connecting a hardware system consisting of the movable rotary table, the coupler, the rotary table driving module, the motor driver and the single chip microcomputer with control equipment containing an automatic calibration program; 4) Judging whether the system is successfully connected or not, wherein the upper computer comprises an automatic calibration program, the system can be detected whether the system is successfully connected or not by running the automatic calibration program, and if the automatic calibration program fails to run, the connection is not successful, and the circuit connection needs to be checked again; 5) If the system is successfully connected, the upper computer sends a rotation instruction to the single chip microcomputer, wherein the rotation instruction comprises a unit angle (such as 10 degrees) needing to be rotated; 6) After the single chip microcomputer receives the rotation instruction, the rotating table driving module controls the movable rotating table to rotate by a unit angle; 7) The upper computer records radar data (namely point cloud data), optionally, after the mobile turntable completes the rotation, the single chip microcomputer sends a rotation completion instruction to the upper computer, and after the upper computer receives the rotation completion instruction, the point cloud data corresponding to the current rotation angle returned by the single-line laser radar is received and recorded; 8) The upper computer judges whether the accumulated rotation is finished or not, and if not, the upper computer returns to the step 6) to send the rotation instruction again; 9) If the accumulative rotation is finished (namely the mobile turntable finishes 360-degree rotation and enables the single-line laser radar to return to the initial orientation angle), calculating the optimal angle resolution according to the recorded point cloud data corresponding to different rotation angles, specifically, performing point cloud filtering operation to remove noise data according to the point cloud data oriented to different angles by the single-line laser radar, then transforming the point cloud data according to the real rotation angle of the mobile turntable, and calculating the angle resolution which can enable the Euclidean distance of the point cloud data to be minimum; 10 The calibration is finished. Based on the automatic calibration process, the real angle resolution of the single-line laser radar can be rapidly and accurately calibrated.
According to the scheme of the application, the single chip microcomputer in the system can accurately control the movable rotary table to rotate for a specified angle each time through the rotary table driving module, and further drives the single-line laser radar installed on the movable rotary table to synchronously rotate, so that control equipment can record point cloud data of the single-line laser radar at different rotation angles, and can obtain radar scanning angle resolution enabling a loss value to be minimum by calculating Euclidean distances of adjacent radar data points after the accumulated rotation is finished; the system is strong in universality, can be widely applied to single-line laser radars of different brands, is not limited by radar product differences of single-line laser radar manufacturers, can be applied as long as the type of the single-line laser radar belongs to the single-line laser radar, is convenient to use, only needs to use screws to install the single-line laser radar on the movable rotary table, and can complete preparation work before calibration of the single-line laser radar by placing the system in a calibration scene; the system has no special limitation on the calibration scene, the calibration scene can be changed at any time, and when the system works and if moving objects and personnel appear in the calibration scene, the system is not interfered and can normally return the calibration result, so that the system has higher algorithm robustness; the system has the advantages that the loss function is designed into the Euclidean distance of point cloud data, the Euclidean distance can reflect the real distance of the actual irradiation position of radar laser, the loss function is designed to be very reasonable and effective, in addition, input data used by the system is point cloud original data of a single-line laser radar facing different angles, the rotation precision is provided by a movable rotary table, the rotation minimum resolution is 0.02 degree, the maximum data range can contain 360 degrees, therefore, the solved angle resolution can enable the loss function to achieve the global optimum, and the calculation result is accurate and reliable.
It should be noted that, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the system claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Claims (8)
1. A system for automatically calibrating the angular resolution of a single line laser radar comprises a movable rotary table, a coupler, a rotary table driving module, a motor driver, a single chip microcomputer and control equipment, wherein the coupler is used for connecting the movable rotary table and the rotary table driving module, the motor driver is used for connecting the rotary table driving module and the single chip microcomputer, the single chip microcomputer is used for controlling the movable rotary table to rotate through the rotary table driving module, and the control equipment is used for acquiring point cloud data which are sent by the single line laser radar and correspond to each rotating operation of the movable rotary table and are arranged above the movable rotary table and calculating the angular resolution of the single line laser radar according to the point cloud data;
wherein the calculating the angular resolution of the single line lidar according to the point cloud data comprises:
and calculating the Euclidean distance between the point cloud data corresponding to any two times of rotation operations in the calibration process to obtain the angular resolution of the single-line laser radar, wherein the angular resolution enables the loss value to be minimum.
2. The system of claim 1, wherein the single chip microcomputer is connected to the control device via a serial port, and the control device is further configured to:
sending a rotation instruction to the single chip microcomputer, wherein the rotation instruction comprises a designated angle;
wherein, the singlechip is used for:
and receiving the rotation instruction sent by the control equipment, and controlling the movable rotary table to rotate by the specified angle through the rotary table driving module according to the rotation instruction.
3. The system of claim 2, wherein the single chip microcomputer sends rotation completion indication information corresponding to the current rotation to the control device every time the single chip microcomputer controls the mobile turntable to complete one rotation; and the control equipment receives the point cloud data corresponding to the current rotation angle returned by the single-line laser radar every time receiving the rotation completion indication information sent by the single-chip microcomputer.
4. The system of claim 2, wherein the rotation instructions further comprise a number of rotations and/or a rotation time interval.
5. The system of claim 1, wherein the single-chip microcomputer controls the moving turntable to rotate by a designated angle through the motor driver at every first predetermined time interval.
6. The system of claim 5, wherein the control device records the point cloud data corresponding to the current rotation angle of the single-line laser radar at every second predetermined time interval.
7. The system of claim 1, wherein the mobile turret comprises a turret base, a turret fixation screw for fixedly mounting a single line lidar above the turret rotation center, a turntable rotation center, and a radar fixation screw connected to the turret base.
8. The system of claim 1, wherein the turntable driving module comprises a stepper motor, a stepper motor knob, a motor control interface, and an interface fixing screw, wherein the stepper motor is connected to the coupler, and the single chip is connected to the motor control interface through the motor driver.
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