CN112558047A - Reflectivity calibration system, data processing method, equipment and storage medium - Google Patents
Reflectivity calibration system, data processing method, equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a reflectivity calibration system, a data processing method, equipment and a storage medium, wherein the reflectivity calibration system comprises: the device comprises a mobile device and at least two calibration devices; the mobile device includes: at least four standard reflectance panels; each calibration device comprises: the device comprises a data processing device, a laser radar and a two-axis turntable; the laser radar is fixed on the two-axis turntable; automatically rotating the two-axis turntable through data processing equipment to enable the specified channel of the laser radar to vertically enter the standard reflectivity plate; the calibration data of the standard reflectivity plates corresponding to all channels of the laser radar are automatically acquired through the data processing equipment and are processed to obtain the corresponding calibration reflectivity, the problems that the existing semi-automatic calibration method needs a large amount of participation of calibration personnel, the error of a calibration result is large, and the automation degree is low are solved, the effect of automatically calibrating the reflectivity is realized, and the high precision, the high robustness, the high timeliness and the low cost of reflectivity calibration are ensured.
Description
Technical Field
The embodiment of the invention relates to a laser technology, in particular to a reflectivity calibration system, a data processing method, data processing equipment and a storage medium.
Background
With the rapid development of the automatic driving industry, the industrialization speed of the laser radar is accelerated. Therefore, higher demands are placed on the performance of the laser radar. The reflectivity is an important index of the laser radar, and the accuracy and stability of the calibration result are more and more important.
At present, a method for calibrating reflectivity of a laser radar comprises the following steps: in the semi-automatic theoretical calculation method, because the semi-automatic method needs a great deal of participation of calibration personnel, the error of a calibration result is large, and the automation degree is not high; meanwhile, the theoretical calculation method needs to take various errors into consideration in practice, and has high requirements on generalization of a theoretical model, so that the accuracy and robustness of a calibration result are influenced.
Disclosure of Invention
In view of this, the invention provides a reflectivity calibration system, a data processing method, a device and a storage medium, which realize the effect of automatically calibrating reflectivity and ensure high precision, high robustness, high timeliness and low cost of reflectivity calibration.
In a first aspect, an embodiment of the present invention provides a reflectivity calibration system, including:
the device comprises a mobile device and at least two calibration devices; the mobile device includes: at least four standard reflectance panels; each of the calibration devices includes: the device comprises a data processing device, a laser radar and a two-axis turntable; the laser radar is fixed on the two-axis rotary table;
automatically rotating the two-axis turntable through the data processing equipment so that the specified channel of the laser radar vertically enters the standard reflectivity plate; and automatically acquiring calibration data of all channels of the laser radar corresponding to the standard reflectivity plate through the data processing equipment, and processing the calibration data to obtain corresponding calibration reflectivity.
Further, the mobile device further includes: a mobile vehicle and a swivel stand; the rotating bracket is fixed on the moving vehicle; the rotating bracket is used for fixing the standard reflectivity plate;
and automatically controlling the movement of the moving vehicle and the rotation of the rotating bracket through the data processing equipment so that the specified channel of the laser radar is vertically incident on the standard reflectivity plate.
Further, the calibration apparatus further includes: calibrating a workbench; the two-axis turntable is arranged on the calibration workbench.
Further, the data processing device remotely controls the movement of the moving vehicle and the rotation of the rotating bracket through a wireless communication technology.
Further, the data processing device is further configured to, before the calibration data is collected, move the moving device to a first target position, move a two-axis turntable in the calibration device to a second target position, and vertically irradiate the channel 0 of the laser radar to a corresponding standard reflectivity plate.
Further, the calibration data includes: transmit energy, receive energy, and a preset distance.
In a second aspect, an embodiment of the present invention further provides a data processing method, including:
acquiring calibration data of each standard reflectivity plate corresponding to all channels of each laser radar;
and determining a corresponding calibration reflectivity lookup table according to the calibration data.
Further, the determining a corresponding calibration reflectivity lookup table according to the calibration data includes:
determining a corresponding calibration reflectivity according to the calibration data;
dividing the calibration data and the calibration reflectivity according to a preset rule, and screening to obtain preset emission energy, a preset distance, a preset calibration reflectivity and corresponding received energy under a preset condition, wherein the preset condition comprises the preset emission energy, the preset distance and the preset calibration reflectivity;
and forming a corresponding calibration reflectivity lookup table by the preset condition and the corresponding received energy under the preset condition.
In a third aspect, an embodiment of the present invention further provides a data processing apparatus, including: a memory, and one or more host controllers;
the memory for storing one or more programs;
when the one or more programs are executed by the one or more host controllers, the one or more host controllers are caused to implement the data processing method according to the second aspect.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the data processing method according to the second aspect.
The reflectivity calibration system of the embodiment of the invention comprises: the device comprises a mobile device and at least two calibration devices; the mobile device includes: at least four standard reflectance panels; each calibration device comprises: the device comprises a data processing device, a laser radar and a two-axis turntable; the laser radar is fixed on the two-axis turntable; automatically rotating the two-axis turntable through data processing equipment to enable the specified channel of the laser radar to vertically enter the standard reflectivity plate; and automatically acquiring calibration data of all channels of the laser radar corresponding to the standard reflectivity plate through data processing equipment, and processing the calibration data to obtain corresponding calibration reflectivity. According to the embodiment of the invention, the data processing equipment automatically rotates the laser radar and automatically collects the calibration data of the standard reflectivity plates corresponding to all channels of the laser radar, and the calibration data is processed to obtain the corresponding calibration reflectivity, so that the problems of large error and low automation degree of a calibration result due to the fact that a large amount of calibration personnel are required in the existing semi-automatic calibration method are solved, the effect of automatically calibrating the reflectivity is realized, and the high precision, the high robustness, the high timeliness and the low cost of reflectivity calibration are ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic structural diagram of a reflectivity calibration system according to an embodiment of the present invention
Fig. 2 is a schematic diagram of a mobile device in a first target position according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a reflectivity calibration system according to a second embodiment of the present invention;
fig. 4 is a flowchart of a data processing method according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of a reflectivity calibration system according to a fourth embodiment of the present invention;
FIG. 6 is a flowchart illustrating a data processing method of a reflectivity calibration system according to a fourth embodiment of the present invention;
fig. 7 is a schematic structural diagram of a data processing apparatus according to a fifth embodiment of the present invention;
fig. 8 is a schematic structural diagram of a data processing apparatus according to a sixth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic structural diagram of a reflectivity calibration system according to an embodiment of the present invention, and the technical solution of this embodiment is suitable for calibrating the reflectivity of a laser radar.
As shown in fig. 1, a reflectivity calibration system according to a first embodiment of the present invention includes: a mobile device 10 and at least two calibration devices 20; the mobile device 10 includes: at least four standard reflectance plates 101; each calibration device 20 comprises: a data processing device 201, a laser radar 202, and a two-axis turntable 203; the laser radar 202 is fixed to a two-axis turntable 203.
Automatically rotating the biaxial turntable 203 by the data processing apparatus 201 so that a specified channel of the laser radar 202 is perpendicularly incident on the standard reflectance plate 101; and automatically acquiring calibration data of all channels of the laser radar 202 corresponding to the standard reflectivity board 101 through the data processing equipment 201, and processing the calibration data to obtain corresponding calibration reflectivity.
The data processing device 201 is further configured to, before the calibration data is collected, move the moving device 10 to the first target position, move the two-axis turntable 203 in the calibration device 20 to the second target position, and vertically irradiate the channel 0 of the laser radar 202 to the corresponding standard reflectivity board 101.
In an embodiment, the first target position refers to an initial position of the mobile device 10 in the calibration area. For example, the initial position of the mobile device 10 may be a position between two calibration devices 20 and next to any one of the calibration devices 20. Exemplarily, fig. 2 is a schematic diagram of a mobile device in a first target position according to an embodiment of the present invention. The initial position of the mobile device 10 will be described by taking the position immediately adjacent to the first calibration device 20 as the first target position. As shown in fig. 2, before the calibration data is collected, the mobile device 10 is moved to the first target position, i.e. to a position immediately adjacent to the first calibration device 20, to initialize the position of the mobile device 10. Of course, the position next to the second calibration device 20 may be used as the first target position.
In the embodiment, the second target position refers to a position of the two-axis turntable 203 when the channel 0 of the laser radar 202 is made to be vertically incident to the standard reflectance plate 101. Of course, the second target position is not a fixed position, and is flexibly adjusted by the specific manner in which lidar 202 is mounted on two-axis turntable 203 and the distribution positions of channels on lidar 202, but is not limited thereto. Channel 0 of lidar 202 refers to one of the transmit channels of lidar 202, and is not a particular channel, and channel 0 is used only to distinguish different channels, and is not limited.
For example, the reflectivity calibration system can be installed in a calibration area with a length of 50 meters, a width of 4 meters and a height of 3 meters, and is protected from a strong light environment. Of course, in the actual operation process, the size of the calibration area may be reasonably adjusted according to the actual size specification of the device used in the reflectivity calibration system, which is not limited herein.
In the embodiment, two calibration devices 20 and four standard reflectivity plates 101 are taken as an example for illustration, but not limited thereto. Before the reflectivity calibration of the laser radar 202 by the reflectivity calibration system, the reflectivity calibration system may be initialized in order to make the calibration result more accurate. It is understood that before the reflectivity of the laser radar 202 is calibrated, two calibration devices 20 are respectively placed at any position on two width sides of the calibration area, and the moving device 10 is automatically moved to between the two calibration devices 20 and next to any one calibration device 20 through the data processing device 201. Then, the two-axis turntables 203 are automatically controlled to rotate by the two data processing devices 201 respectively, so that the channels 0 of the two laser radars 202 are vertically incident to the corresponding standard reflectivity plates 101, and the data in the two data processing devices 201 are zeroed, so that the accuracy of the calibration data result acquired by the data processing devices 201 is ensured.
Illustratively, the four standard reflectance plates 101 may have reflectances of 10%, 40%, 95%, and 255%, respectively. The four standard reflectivity plates 101 are respectively fixed around the mobile device 10, an included angle between two adjacent standard reflectivity plates 101 is 90 degrees, and it is ensured that channels of two laser radars 202 vertically enter the standard reflectivity plates 101 all the time in the moving and rotating process of the mobile device 10. In the present embodiment, the reflectivity and the installation manner of the four standard reflectivity plates 101 are only illustrated and not limited. Laser radar 202 is fixed on two-axis revolving stage 203, and two-axis revolving stage 203 can be rotatory around Y axle and Z axle, through rotatory two revolving stage, can control laser radar 202's rotation, makes laser radar 202's different passageway normal incidence to standard reflectivity board 101.
Specifically, the data processing device 201 is started, so that the data processing device 201 automatically controls the moving device 10 to move from the initial position to the third position, and during the moving process of the moving device 10, the moving device 10 is always located between the two calibration devices 20, so as to ensure that the channel 0 of the laser radar 202 always keeps vertical incidence to the 10% reflectivity plate and the 95% reflectivity plate. Wherein the third position refers to a position next to another calibration arrangement 20. The data processing device 201 automatically collects calibration data of a 10% reflectivity board corresponding to the channel 0 of the laser radar 202 and calibration data of a 95% reflectivity board corresponding to the channel 0 of the laser radar 202 while controlling the mobile device 10 to move. When the mobile device 10 reaches the third position, the data processing apparatus 201 stops the acquisition of the calibration data. The data processing apparatus 201 controls the moving device 10 to rotate clockwise by 90 °, so that the channel 0 of the laser radar 202 is perpendicularly incident to the 40% reflectance plate and the 255% reflectance plate. In the present embodiment, only the rotation direction of the mobile device 10 is described, but not limited.
Further, the data processing apparatus 201 is started, and the data processing apparatus 201 automatically controls the moving device 10 to move from the third position to the initial position. The data processing device 201 automatically collects calibration data of a board with a 40% reflectivity corresponding to a channel 0 of the laser radar 202 and calibration data of a board with a 255% reflectivity corresponding to a channel 0 of the laser radar 202 while controlling the mobile device 10 to move. When the mobile device 10 reaches the initial position, the data processing apparatus 201 automatically stops the acquisition of the calibration data. Then, the data processing apparatus 201 automatically controls the moving device 10 to rotate clockwise by 90 °, so that the channel 0 of the laser radar 202 is perpendicularly incident to the 95% reflectance board and the 10% reflectance board.
Further, the data processing apparatus 201 is started, and the data processing apparatus 201 automatically controls the moving device 10 to move from the initial position to the third position. The data processing device 201 automatically collects calibration data of a 95% reflectivity board corresponding to the channel 0 of the laser radar 202 and calibration data of a 10% reflectivity board corresponding to the channel 0 of the laser radar 202 while automatically controlling the movement of the moving device 10. When the mobile device 10 reaches the third position, the data processing apparatus 201 automatically stops the acquisition of the calibration data. Then, the data processing apparatus 201 automatically controls the moving device 10 to rotate clockwise by 90 °, so that the channel 0 of the laser radar 202 is perpendicularly incident to the 255% reflectance board and the 40% reflectance board.
Further, the data processing apparatus 201 is started, and the data processing apparatus 201 automatically controls the moving device 10 to move from the third position to the initial position. The data processing device 201 automatically collects calibration data of a 255% reflectivity board corresponding to a channel 0 of the laser radar 202 and calibration data of a 40% reflectivity board corresponding to the channel 0 of the laser radar 202 while automatically controlling the movement of the moving device 10. When the mobile device 10 reaches the beginning, the data processing apparatus 201 automatically stops the acquisition of calibration data. Then, the data processing apparatus 201 automatically controls the moving device 10 to rotate clockwise by 90 °, so that the channel 0 of the laser radar 202 is perpendicularly incident to the 10% reflectance plate and the 95% reflectance plate.
In an embodiment, after the mobile device 10 rotates 360 °, the two data processing devices 201 automatically acquire calibration data of the four standard reflectivity plates 101 corresponding to the channel 0 of the laser radar 202, respectively. The data processing apparatus 201 automatically rotates the biaxial turntable 203 so that the channel 1 of the laser radar 202 is perpendicularly incident to the 10% reflectance plate and the 95% reflectance plate. And repeating the acquisition steps, and automatically acquiring the calibration data of the four standard reflectivity plates 101 corresponding to the channel 1 of the laser radar 202. The data processing device 201 continues to automatically rotate the two-axis turntable 203, and the acquisition step is repeated until the data processing device 201 automatically acquires the calibration data of the standard reflectivity plate 101 corresponding to all the channels in the laser radar 202.
The calibration data comprises transmitting energy, receiving energy and a preset distance. The transmitted energy refers to intensity energy of a detection signal transmitted by a channel of the laser radar 202, the received energy refers to intensity energy of a signal reflected from a target received by the laser radar 202, and the preset distance refers to a distance between the laser radar 202 and the target. The target in this embodiment refers to four standard reflectance plates 101.
In an embodiment, the transmission energy range and the preset distance range are divided, the preset calibration reflectivity, the preset transmission energy, the preset distance and the corresponding received energy under the preset condition are screened from the calibration data, and the preset calibration reflectivity, the preset transmission energy, the preset distance and the corresponding received energy under the preset condition are combined into a corresponding calibration reflectivity lookup table. The preset conditions comprise preset emission energy, a preset distance and a preset calibrated reflectivity.
Illustratively, the emission energy range is divided into 20, 50, 80, and 120, and the preset distance range is divided into 0, 10, 20, 30, and 40. When the calibration reflectivity is 10%, 40%, 95% and 255%, the corresponding received energy under the preset transmitting energy and the preset distance is conveniently screened out from the calibration data. And forming a calibration reflectivity lookup table by the calibration reflectivity, the preset transmitting energy, the preset distance and the corresponding receiving energy. The emissivity of lidar 202 may be calculated by a look-up table lookup. For example, when the nominal reflectivity is 10%, the transmitted energy is 50, and the distance is 30, the received energy under the corresponding condition is looked up in the collected nominal data, and the nominal reflectivity is 10%, the transmitted energy is 50, the distance is 30, and the corresponding received energy are combined into a set of data in the look-up table. When the laser radar 202 is used for ranging, if the transmitting energy of the laser radar 202 is 50, the distance between the laser radar 202 and the target is 30, the receiving energy can be measured by the laser radar 202, and at this time, the reflectivity of the laser radar 202 under the corresponding condition can be searched by the lookup table. Because the lookup table is obtained by actually acquiring the calibration data, and various errors possibly generated in actual operation are blended in the acquisition process of the calibration data, the reflectivity obtained by the lookup table is more accurate than the reflectivity obtained by theoretical calculation.
The reflectivity calibration system of the embodiment of the invention comprises a mobile device and at least two calibration devices; the mobile device includes: at least four standard reflectance panels; each calibration device comprises: the device comprises a data processing device, a laser radar and a two-axis turntable; the laser radar is fixed on the two-axis turntable; automatically rotating the two-axis turntable through data processing equipment to enable the specified channel of the laser radar to vertically enter the standard reflectivity plate; and automatically acquiring calibration data of all channels of the laser radar corresponding to the standard reflectivity plate through data processing equipment, and processing the calibration data to obtain corresponding calibration reflectivity. According to the embodiment of the invention, the data processing equipment is used for rotating the laser radar and collecting the calibration data of the standard reflectivity plates corresponding to all channels of the laser radar, and the calibration data is processed to obtain the corresponding calibration reflectivity, so that the problems of large error and low automation degree of a calibration result due to the fact that a large amount of calibration personnel are required in the existing semi-automatic calibration method are solved, the effect of automatically calibrating the reflectivity is realized, and the high precision, the high robustness, the high timeliness and the low cost of reflectivity calibration are ensured.
Example two
Fig. 3 is a schematic structural diagram of a reflectivity calibration system according to a second embodiment of the present invention. Fig. 3 is a further illustration of the structure of the reflectivity calibration system based on fig. 1.
As shown in fig. 3, the mobile device 10 in the reflectivity calibration system further includes: a moving vehicle 102 and a rotating bracket 103; the rotating bracket 103 is fixed on the moving vehicle 102; the rotating bracket 103 is used to fix the standard reflectance plate 101.
The movement of the moving vehicle 102 and the rotation of the rotating bracket 103 are automatically controlled by the data processing device 201 so that the specified passage of the laser radar 202 is perpendicularly incident on the standard reflectance plate 101.
The data processing device 201 remotely controls the movement of the moving vehicle 102 and the rotation of the rotating bracket 103 by wireless communication technology.
The calibration device 20 in the reflectivity calibration system further comprises: a calibration workbench 204; the biaxial turntable 203 is mounted on a calibration table 204.
Specifically, when the reflectivity calibration system is initialized, the data processing device 201 automatically controls the moving vehicle 102 in the moving device 10 to move to a position between two calibration devices 20 and next to any one calibration device 20, and the data processing device 201 automatically controls the rotation of the rotating bracket 103 fixed on the moving vehicle 102, so that the channels 0 of two laser radars 202 are perpendicularly incident to the corresponding standard reflectivity plate 101. After the calibration is started, the data processing device 201 automatically controls the moving vehicle 102 to move back and forth between the two calibration devices 20, and when the moving vehicle 102 reaches the initial position or the third position and stops moving, the data processing device 201 automatically controls the rotating bracket 103 to rotate clockwise or counterclockwise by 90 degrees, so that all the channels of the two laser radars 202 are sequentially and vertically incident to the corresponding standard reflectivity plates 101.
The standard reflectivity plates 101 are fixed on a rotating support 103 of the moving vehicle 102, four standard reflectivity plates 101 are respectively fixed on the periphery of the rotating support 103, an included angle between every two adjacent standard reflectivity plates 101 is 90 degrees, the rotating support 103 is guaranteed to rotate 90 degrees every time, and channels of two laser radars 202 are always vertically incident on the standard reflectivity plates 101.
In an embodiment, the data processing device 201 remotely controls the movement of the moving vehicle 102 and the rotation of the rotating gantry 103 through wireless communication technology. It is understood that in order to enable the data processing device 201 to remotely control the moving vehicle 102 and the rotating stand 103, the moving vehicle 102 and the rotating stand 103 also have wireless communication technology. The mobile vehicle 102 and the rotating bracket 103 may be directly configured with modules for wireless communication, or the mobile vehicle 102 and the rotating bracket 103 may be configured with wireless communication functions, which is not limited to this, as long as it is ensured that the mobile vehicle 102 and the rotating bracket 103 to be moved can realize wireless communication.
In the embodiment, the calibration device 20 further includes a calibration table 204, and the two-axis turntable 203 is mounted on the calibration table 204. The two-axis turntable 203 on the calibration workbench 204 is automatically controlled by the data processing equipment 201 to rotate around the Y axis and the Z axis, so that the specified channel of the laser radar 202 can vertically enter the reflectivity standard plate.
In the embodiment, the moving vehicle and the rotating support in the moving device respectively control the movement of the moving device and the rotation of the standard reflectivity plate, so that the specified channel of the laser radar can vertically enter the standard reflectivity plate, and accurate calibration data can be acquired.
EXAMPLE III
Fig. 4 is a flowchart of a data processing method according to a third embodiment of the present invention. The method is performed by the reflectivity calibration system provided in the above embodiments.
As shown in fig. 4, the method specifically includes the following steps:
and S110, acquiring calibration data of each standard reflectivity plate corresponding to all channels of each laser radar.
Wherein, all channels refer to all transmitting channels of the laser radar 202, the calibration data includes transmitting energy, receiving energy and a preset distance, the transmitting energy refers to intensity energy of a detection signal transmitted by the channel of the laser radar 202, the receiving energy refers to intensity energy of a signal received by the laser radar 202 and reflected from the standard reflectivity plate 101, and the preset distance refers to a distance between the laser radar 202 and a target.
Specifically, the moving vehicle 102 of the moving device 10 is automatically controlled by the data processing device 201, so that the moving vehicle 102 moves back and forth between the original position and the third position between the two calibration devices 20. Each time the moving vehicle 102 reaches the home position or the third position, the data processing apparatus 201 automatically controls the rotating mount 103 to rotate by 90 °, rotating the four standard reflectance plates 101 fixed to the rotating mount 103, thereby enabling the initial pass of the laser radar 202 to be vertically incident on each standard reflectance plate 101. During the movement of the mobile device 10, the data processing device 201 automatically acquires calibration data of the standard reflectivity board 101 corresponding to the initial channel of the laser radar 202. After the rotating bracket 103 rotates 360 degrees, the data processing device 201 will automatically acquire calibration data of each standard reflectivity plate 101 corresponding to the initial channel of the laser radar 202.
Further, the data processing device 201 automatically controls the two-axis turntable 203 of the calibration apparatus 20 to switch the channels of the laser radar 202, so that other channels of the laser radar 202 can vertically enter the standard reflectivity board 101. After the channels of the laser radar 202 are switched, the above steps are repeated, and the calibration data of each standard reflectivity board 101 corresponding to other channels of the laser radar 202 are automatically acquired through the data processing device 201.
And S120, determining a corresponding calibration reflectivity lookup table according to the calibration data.
Specifically, the different calibration data obtained in step S110 correspond to different standard reflectances, and the reflectivity lookup table is determined according to the transmitting energy, the receiving energy, and the preset distance corresponding to the different standard reflectances.
According to the technical scheme of the embodiment, the reflectivity lookup table is formed by the acquired calibration data of all channels of the laser radar corresponding to each standard reflectivity plate, and the lookup table is obtained by the calibration data which is really acquired by the automatic reflectivity calibration system, so that the effect of automatically calibrating the reflectivity is realized, and the high precision, the high robustness, the high time efficiency and the low cost of the reflectivity calibration are ensured.
On the basis of the above embodiment, step S120 may specifically include steps S1201 to S1203:
and S1201, determining the corresponding calibration reflectivity according to the calibration data.
Specifically, the calibration data collected by the reflectivity calibration system in the above embodiment is the calibration data of all channels of the laser radar 202 corresponding to the standard reflectivity board 101. It is understood that the calibration reflectivity corresponding to the calibration data is known and can be searched by the acquired calibration data.
S1202, dividing the calibration data and the calibration reflectivity according to a preset rule, and screening to obtain preset emission energy, a preset distance, a preset calibration reflectivity and corresponding received energy under a preset condition. The preset conditions comprise preset emission energy, a preset distance and a preset calibrated reflectivity.
In this embodiment, the division of the calibration data and the calibration reflectivity according to the preset rule may be dividing the emission energy of the calibration data into 20, 50, 80, and 120, and dividing the preset distance into 0, 10, 20, 30, and 40. In the embodiment, the preset rule is only illustrated, but not limited. The values of the nominal reflectivity are 10%, 40%, 95% and 255% of the reflectivity of the standard reflectivity board 101.
Specifically, the calibration data and the calibration reflectivity are divided according to a preset rule, the emission energy is divided into 10, 30, 50, 70 and 90, the preset distance is divided into 20, 40, 60, 80 and 100, and the calibration reflectivity is 10%, 40%, 95% and 255%. And screening the corresponding received energy under each group of different preset conditions in the acquired calibration data.
Wherein the preset condition is a free combination of different preset emission energies, different preset distances and different preset calibrated reflectivities. For example, the preset conditions may be that the emission energy is 10, the preset distance is 40, and the preset nominal reflectivity is 40%, or may be that the emission energy is 50, the preset distance is 100, and the preset nominal reflectivity is 255%.
Further, the corresponding received energy when the emission energy is 10%, the preset distance is 40% and the preset calibration reflectivity is 40% is screened out from the calibration data, and the corresponding received energy when the emission energy is 50%, the preset distance is 100% and the preset calibration reflectivity is 255% is screened out from the calibration data.
And S1203, forming a corresponding calibration reflectivity lookup table by the preset condition and the corresponding received energy under the preset condition.
Specifically, the calibration reflectivity lookup table is composed of each set of different preset emission energy, preset distance, preset calibration reflectivity and corresponding received energy.
In this embodiment, when the calibration reflectivity lookup table is used, the laser radar is used to obtain the laser radar transmitting energy, the distance between the laser radar and the target, and the receiving energy received by the laser radar and reflected from the target. According to the acquired transmitting energy, distance and receiving energy, the corresponding reflectivity under the known data can be found out by calibrating the reflectivity lookup table.
Example four
Fig. 5 is a schematic structural diagram of a reflectivity calibration system according to a fourth embodiment of the present invention. In this embodiment, a reflectivity calibration system of a laser radar is taken as an example to exemplify the reflectivity calibration system.
As shown in fig. 5, the lidar reflectivity calibration system is composed of four parts: calibration area, moving means 10, first calibration means 20 and second calibration means 20.
The calibration area is required to be 50 meters in length, 4 meters in width and 3 meters in height, and the environment of strong light is avoided.
The first calibration device 20 comprises a data processing device 201, a calibration workbench 204, a two-axis turntable 203 on the calibration workbench 204 and capable of rotating around Y, Z, a laser radar 202 can be fixed on the two-axis turntable 203, and the two-axis turntable 203 can be controlled by the data processing device 201 to enable the laser radar 202 to designate the channel to be vertically incident to the reflectivity standard board.
The mobile device 10 comprises a mobile vehicle 102, a rotating bracket 103 is arranged on the mobile vehicle 102 and can rotate around a Z axis, four standard reflectivity plates 101 (10%, 40%, 95%, high reflectivity) are fixed on the rotating bracket 103, and the movement of the mobile vehicle 102 and the rotation of the rotating bracket 103 can be remotely controlled through a data processing device 201.
The second calibration apparatus 20 includes a data processing device 201, a calibration table 204, a two-axis turntable 203 on the calibration table 204 and capable of rotating around Y, Z, a laser radar 202 fixed on the two-axis turntable 203, and the two-axis turntable 203 controlled by the data processing device 201 to make the designated channel of the laser radar 202 vertically incident on the reflectivity standard plate.
Specifically, the automatic operation process of the reflectivity calibration system of the laser radar 202 comprises the following steps:
1) initializing a calibration system:
a) the mobile device 10 moves to a home position, which is a position between two calibration devices 20 and next to any one calibration device 20;
b) the two-axis turntable 203 on the first calibration device 20 moves to a second target position, so that the channel 0 of the laser radar 202 vertically enters the corresponding standard reflectivity plate 101 on the moving device 10;
c) the two-axis turntable 203 on the second calibration device 20 moves to a second target position, so that the channel 0 of the laser radar 202 vertically enters the corresponding standard reflectivity plate 101 on the moving device 10;
d) the data processing device 201 of the first calibration apparatus 20 performs data zeroing;
e) the data processing device 201 of the second calibration apparatus 20 performs data zeroing;
2) starting the data processing equipment 201 of the first calibration device 20 and the second calibration device 20 to automatically acquire calibration data;
3) starting the mobile device 10 to move from the original position to the third position;
4) after the mobile device 10 reaches the third position, stopping the data processing devices 201 of the first calibration device 20 and the second calibration device 20 from collecting calibration data;
5) the rotating bracket 103 on the mobile device 10 rotates clockwise by 90 degrees;
6) starting the data processing equipment 201 of the first calibration device 20 and the second calibration device 20 to automatically acquire calibration data;
7) starting the mobile device 10 to move from the third position to the original position;
8) after the mobile device 10 reaches the original position, stopping the data processing devices 201 of the first calibration device 20 and the second calibration device 20 from collecting calibration data;
9) the rotating bracket 103 on the mobile device 10 rotates clockwise by 90 degrees;
10) starting the data processing equipment 201 of the first calibration device 20 and the second calibration device 20 to automatically acquire calibration data;
11) starting the mobile device 10 to move from the original position to the third position;
12) after the mobile device 10 reaches the third position, stopping the data processing devices 201 of the first calibration device 20 and the second calibration device 20 from collecting calibration data;
13) the rotating bracket 103 on the mobile device 10 rotates clockwise by 90 degrees;
14) starting the data processing equipment 201 of the first calibration device 20 and the second calibration device 20 to automatically acquire calibration data;
15) starting the mobile device 10 to move from the third position to the original position;
16) after the mobile device 10 reaches the original position, stopping the data processing devices 201 of the first calibration device 20 and the second calibration device 20 from collecting calibration data;
17) the rotating bracket 103 on the mobile device 10 rotates clockwise by 90 degrees;
18) the two-axis turntable 203 on the first calibration device 20 and the second calibration device 20 rotates to switch the laser radar 202 channel;
19) and (4) repeatedly executing the steps 2 to 18 until the laser radars 202 on the first calibration device 20 and the second calibration device 20 traverse all the channels, and then stopping the calibration data acquisition.
20) The data processing device 201 automatically processes the calibration data to generate a calibration reflectivity lookup table.
Further, the calibration data is processed. Fig. 6 is a flowchart of data processing of a reflectivity calibration system according to a fourth embodiment of the present invention. As shown in fig. 6, the calibration data includes point data of each standard reflectivity plate 101 corresponding to each channel of each laser radar 202, and is composed of transmission energy, reception energy, and distance; and dividing the transmitting energy range and the distance range respectively, and screening out point data under the specified reflectivity, the specified transmitting energy and the specified distance, wherein the point data form a laser radar 202 calibration reflectivity lookup table, and the laser radar 202 emissivity is obtained by means of lookup calculation of the lookup table. Since the lookup table is obtained by actually acquiring the calibration data, and various errors possibly generated in actual operation are incorporated in the acquisition process of the calibration data, the calculated reflectivity is more accurate than the reflectivity obtained by theoretical calculation.
The embodiment is an application example based on the above embodiment, and the reflectivity calibration system realizes the effect of automatically calibrating the reflectivity, and ensures high precision, high robustness, high time efficiency and low cost of reflectivity calibration.
EXAMPLE five
Fig. 7 is a schematic structural diagram of a data processing apparatus according to a fifth embodiment of the present invention. As shown in fig. 7, the data processing apparatus specifically includes: a calibration data acquisition module 310 and a look-up table determination module 320.
The calibration data obtaining module 310 is configured to obtain calibration data of each standard reflectivity board corresponding to all channels of each laser radar.
The lookup table determining module 320 is configured to determine a corresponding lookup table of the calibration reflectivity according to the calibration data.
According to the embodiment of the invention, the calibration data of each standard reflectivity plate corresponding to all channels of the laser radar is acquired by the calibration data acquisition module, the reflectivity lookup table is formed by the lookup table determination module, and the lookup table is obtained by data of the calibration data really acquired by the automatic reflectivity calibration system, so that the effect of automatically calibrating the reflectivity is realized, and the high precision, the high robustness, the high time efficiency and the low cost of the reflectivity calibration are ensured.
Further, on the basis of the above embodiment, the lookup table determining module 320 includes:
and the calibration reflectivity determining unit is used for determining the corresponding calibration reflectivity according to the calibration data.
And the screening unit is used for dividing the calibration data and the calibration reflectivity according to a preset rule, and screening to obtain preset emission energy, a preset distance, a preset calibration reflectivity and corresponding received energy under a preset condition, wherein the preset condition comprises the preset emission energy, the preset distance and the preset calibration reflectivity.
And the lookup table composition unit is used for composing the preset condition and the corresponding received energy under the preset condition into a corresponding calibration reflectivity lookup table.
The data processing apparatus provided in this embodiment can execute the data processing method provided in any embodiment of the present invention, and has functional modules and advantageous effects corresponding to the execution of the data processing method.
EXAMPLE six
Fig. 8 is a schematic structural diagram of a data processing apparatus according to a sixth embodiment of the present invention. As shown in fig. 8, the apparatus includes a main controller 410, a memory 420, an input device 430, and an output device 440; the number of the main controllers 410 in the device may be one or more, and one main controller 410 is taken as an example in fig. 8; the main controller 410, the memory 420, the input device and 430, the output device 440 in the apparatus may be connected by a bus or other means, and the bus connection is exemplified in fig. 8.
The memory 420 serves as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as device modules (e.g., the calibration data acquisition module 310 and the lookup table determination module 320 in the data processing device) corresponding to the data processing method in the embodiment of the present invention. The main controller 410 executes various functional applications of the device and data processing by executing software programs, instructions, and modules stored in the memory 420, that is, implements the above-described data processing method.
The memory 420 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 420 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 420 may further include memory located remotely from host controller 410, which may be connected to devices over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input means 430 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the apparatus. The output device 440 may include a display device such as a display screen.
EXAMPLE seven
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a data processing method, including:
acquiring calibration data of each standard reflectivity plate corresponding to all channels of each laser radar;
and determining a corresponding calibration reflectivity lookup table according to the calibration data.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the data processing method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the data processing apparatus, the included units and modules are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A reflectivity calibration system, comprising: the device comprises a mobile device and at least two calibration devices; the mobile device includes: at least four standard reflectance panels; each of the calibration devices includes: the device comprises a data processing device, a laser radar and a two-axis turntable; the laser radar is fixed on the two-axis rotary table;
automatically rotating the two-axis turntable through the data processing equipment so that the specified channel of the laser radar vertically enters the standard reflectivity plate; and automatically acquiring calibration data of all channels of the laser radar corresponding to the standard reflectivity plate through the data processing equipment, and processing the calibration data to obtain corresponding calibration reflectivity.
2. The system of claim 1, wherein the mobile device further comprises: a mobile vehicle and a swivel stand; the rotating bracket is fixed on the moving vehicle; the rotating bracket is used for fixing the standard reflectivity plate;
and automatically controlling the movement of the moving vehicle and the rotation of the rotating bracket through the data processing equipment so that the specified channel of the laser radar is vertically incident on the standard reflectivity plate.
3. The system of claim 1, wherein the calibration device further comprises: calibrating a workbench; the two-axis turntable is arranged on the calibration workbench.
4. The system of claim 1 or 2, wherein the data processing device remotely controls movement of the mobile vehicle and rotation of the rotating gantry via wireless communication technology.
5. The system of any one of claims 1-3, wherein the data processing apparatus is further configured to move the moving device to a first target position, move a two-axis turntable in the calibration device to a second target position, and vertically project lane 0 of the lidar to a corresponding standard reflectivity plate prior to acquiring calibration data.
6. A system according to any of claims 1-3, wherein said calibration data comprises: transmit energy, receive energy, and a preset distance.
7. A data processing method, comprising:
acquiring calibration data of each standard reflectivity plate corresponding to all channels of each laser radar;
and determining a corresponding calibration reflectivity lookup table according to the calibration data.
8. The method of claim 7, wherein determining a corresponding calibration reflectivity lookup table from the calibration data comprises:
determining a corresponding calibration reflectivity according to the calibration data;
dividing the calibration data and the calibration reflectivity according to a preset rule, and screening to obtain preset emission energy, a preset distance, a preset calibration reflectivity and corresponding received energy under a preset condition, wherein the preset condition comprises the preset emission energy, the preset distance and the preset calibration reflectivity;
and forming a corresponding calibration reflectivity lookup table by the preset condition and the corresponding received energy under the preset condition.
9. A data processing apparatus, characterized by comprising: a memory, and one or more host controllers;
the memory for storing one or more programs;
when executed by the one or more host controllers, cause the one or more host controllers to implement the data processing method of any one of claims 7-8.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the data processing method of any one of claims 7 to 8.
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