CN112585495A - Calibration method and calibration device of laser radar system, medium and ranging equipment - Google Patents
Calibration method and calibration device of laser radar system, medium and ranging equipment Download PDFInfo
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Abstract
A calibration method of a laser radar system comprises the following steps: the laser radar system (230) sequentially executes N times of ranging by using the calibration box (210), the outgoing laser of each ranging is delayed for different time to obtain N ranging values at different distances, and N calibration matrixes are obtained according to the difference between the ranging values and corresponding actual values (S120); wherein N is not less than 1 and N is an integer; a calibration matrix of the measurement values is acquired, and calibration compensation is performed on the measurement values (S140).
Description
Technical Field
The invention relates to the technical field of laser radar ranging, in particular to a calibration method and a calibration device of a laser radar system, a storage medium and ranging equipment.
Background
The laser radar system is a system for detecting characteristic quantities such as a position and a speed of a target object by emitting a laser beam, and is widely applied to the laser detection field, for example, the fields of a ranging system, tracking measurement of a low-flying target, weapon guidance, atmosphere monitoring, mapping, early warning, traffic management, and the like.
In the ranging process of the laser radar system, due to system differences and environmental influences, deviation is generated between a measured value and an actual value, and a detection result is inaccurate. The traditional calibration method utilizes the distance between a moving change target object of a slide rail and a laser radar system to carry out calibration compensation. However, the calibration in this way requires a large space and a complicated process, and the calibration error at a long distance is large.
Disclosure of Invention
According to various embodiments of the present application, a calibration method and a calibration apparatus for a laser radar system, a storage medium, and a ranging apparatus are provided.
A calibration method of a laser radar system comprises the following steps:
the laser radar system sequentially carries out N times of ranging by using a calibration box, outgoing laser of each ranging is delayed for different time to obtain N ranging values at different distances, and N calibration matrixes are obtained according to the difference between the ranging values and corresponding actual values; wherein N is not less than 1 and N is an integer;
and acquiring the calibration matrix of the measurement values, and performing calibration compensation on the measurement values.
A calibration apparatus for a lidar system, comprising:
the processing module is used for controlling the laser radar system to sequentially execute N times of ranging by using the calibration box, the emergent laser of each ranging is delayed for different time to obtain N ranging values at different distances, and N calibration matrixes are obtained according to the difference between the ranging values and corresponding actual values; wherein N is not less than 1 and N is an integer;
and the calibration module is used for acquiring the calibration matrix of the measured value and carrying out calibration compensation on the measured value.
A storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method as set forth above.
A ranging apparatus comprising a memory and a processor; the processor has stored thereon a computer program operable on the processor to, when executed, implement the steps of the method as previously described.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the application will be apparent from the description and drawings, and from the claims.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain drawings of other embodiments based on these drawings without creative efforts.
Fig. 1 is a flowchart of a calibration method of a lidar system in an embodiment.
Fig. 2 is a schematic structural diagram of an embodiment of a calibration box.
Fig. 3 is a flowchart illustrating a calibration method of the lidar system in an embodiment.
Fig. 4 is a schematic diagram illustrating an operation principle of the lidar system during calibration in an embodiment.
Fig. 5 is a flowchart illustrating specific steps of step S342 in an embodiment.
FIG. 6 is a partial function diagram of a data fitting process in one embodiment.
FIG. 7 is a flowchart illustrating the detailed steps of step S344 in one embodiment.
Fig. 8 is a flowchart of a calibration method of the laser radar system in another embodiment.
Fig. 9 is a block diagram showing a configuration of a calibration apparatus of the laser radar system in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In the description of the present application, it is to be understood that the terms "center", "lateral", "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner" and "outer" etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present application. Further, when an element is referred to as being "formed on" another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present.
The laser radar is classified into a Mechanical laser radar, a Micro-Electro-Mechanical System (MEMS) laser radar, a Flash laser radar, and a phased array laser radar according to a scanning manner. The working principle of the Flash laser radar is that the emergent laser lights the whole detected field area at one time, all the echo laser in the detection field is received at the same time, and the distance measurement is completed by directly or indirectly calculating the flight time of photons. Flash lidar's advantage is that emitter does not have mechanical motion and can the whole scene of surveying of fast recording, can also obtain grey level's formation of image information when obtaining target object distance information, avoids because the interference that target object or laser radar system self removed and bring in the scanning process, simple structure, and the load is low, and the ray apparatus is longe-lived, is convenient for miniaturize and modularization, and the time cost of artifical timing is low, the sexual valence relative altitude. As a laser radar technology capable of simultaneously outputting target object imaging information, the F1ash laser radar has great application potential in various aspects of social production and life, such as civil fields of topographic mapping, urban modeling, highway detection and the like, military aspects of weapon guidance, battlefield reconnaissance, underwater detection and the like.
The detector type of the receiving end of the Flash laser radar is related to the working principle adopted by the Flash laser radar. The basic principle of the continuous wave Flash lidar is that emitted laser is an optical signal modulated by a carrier wave of a specific frequency, and the distance between a light source and a target object is obtained by resolving the phase difference between the echo laser and the emitted laser. Pulsed Flash lidar can be subdivided into two types, one of which is called the ietf type, i.e. pulse integration ranging. The light source periodically and continuously emits wide pulse laser, echo laser is collected in different integral time windows, and the flight time of photons can be obtained through a proportional relation so as to calculate distance information. The second type is called DTOF type, which is the same as the distance measuring principle of the conventional mechanical laser radar, the light source is a pulse light source with large peak power, the periodic narrow pulse laser is emitted, and the flight time of photons is measured by detecting the echo laser, so as to calculate the distance information. The detector of the pulsed Flash laser radar may adopt a two-dimensional Silicon photomultiplier (SIPM) or Avalanche Photodiode (APD), and the continuous wave Flash laser radar mostly adopts a Charge-coupled Device (CCD) or a Complementary Metal Oxide Semiconductor (CMOS).
No matter what kind of working principle is based on the laser radar system, calibration and compensation are necessary links for determining the ranging precision of the laser radar system. For a Flash laser radar system, the physical quantities to be calibrated and compensated include static errors (factors such as circuit wiring, signal loading path length difference and optical system distortion), temperature errors, distance response nonuniformity errors, detector pixel difference errors and the like. The following describes a calibration method of a laser radar system by taking a Flash laser radar as an example. The calibration method of the laser radar system can calibrate and compensate the measured value obtained in the Flash laser radar system ranging process, so that the measured value of the target object distance is closer to the actual value finally. However, it should be noted that the calibration method of the laser radar system provided in the present application is not limited to calibrating the Flash laser radar, and may also calibrate other types of laser radars, such as a phased array laser radar.
Fig. 1 illustrates a method for calibrating a lidar system in an embodiment. As shown in fig. 1, the calibration method of the laser radar system includes the following steps:
and step S120, the laser radar system sequentially executes N times of distance measurement by using the calibration box, the emergent laser of each distance measurement is delayed for different time, N distance measurement values at different distances are obtained, and N calibration matrixes are obtained according to the difference between the distance measurement values and corresponding actual values.
Specifically, the laser radar system emits outgoing laser, receives return laser reflected by a target object, and calculates a distance measurement value according to a time difference between the time of emitting the outgoing laser and the time of receiving the return laser. The laser radar system can be a Flash laser radar system, and can also be other laser radar systems, such as a phased array laser radar system, a multi-line laser radar system, an MEMS laser radar system and the like. After the emergent laser is projected to a target object after being shot into the calibration box, the target object can reflect the echo laser, the laser radar system receives the echo laser, and the distance measurement value between the laser radar system and the target object is obtained through calculation, so that the primary calibration of the laser radar system is completed. In the calibration process, the emergent laser and the echo laser are transmitted in the calibration box, and the calibration box is used for establishing a calibration environment, so that the distance measurement of the laser radar system is performed in the calibration environment, the influence of environmental factors is weakened, and the calibration box can shield ambient light and the like. In this embodiment, the laser radar system sequentially performs N times of ranging by using the calibration box, and the outgoing laser of each ranging is delayed for different times to obtain N (N is greater than or equal to 1 and N is an integer) different ranging values; the laser radar system calculates the distance of the target object through the flight time of the emitted laser, so the flight time of the emitted laser can be directly converted into the distance; the emergent laser of each distance measurement is delayed for different time, which is equivalent to that the emergent laser flies for different distances after being emitted and then emits to the calibration box, and the distance measurement values corresponding to N different actual values are obtained; the actual value of each distance measurement is the sum of the distance corresponding to the delay time and the length of the calibration box; therefore, different distances between the laser radar system and the target object can be simulated without really changing the actual space distance between the laser radar system and the target object. As the delay time increases, the actual value of the simulation also increases. The delay time can be realized by delay lines, and the different times of delay can make the emergent laser pass through the delay lines with different lengths. The distance measurement value obtained by each distance measurement is different from the corresponding actual value by a certain amount due to the error and is not completely equal; therefore, N calibration matrices can be obtained according to the difference between the N ranging values and the corresponding actual values.
Step S140, a calibration matrix of the measurement values is obtained, and calibration compensation is performed on the measurement values.
The measured value refers to the ranging distance of the target object obtained in the process of ranging the laser radar system in practical application, and the ranging value refers to the ranging distance of the target object obtained in the calibration process of obtaining the calibration matrix by ranging the laser radar system for N times; the calibration process needs to be performed in a calibration box.
Through the calibration matrix corresponding to the measured value, the measured value is calibrated and compensated, and the error in the measured value is corrected, so that the measured value is closer to the corresponding actual value, and the ranging accuracy of the laser radar system is improved.
According to the calibration method of the laser radar system, emergent laser beams for multiple ranging are delayed for different times to simulate actual values of different distances between the laser radar system and a target object, so that ranging values corresponding to the actual values of N different distances can be obtained, and N calibration matrixes are obtained; calibrating the measured value in practical application according to the calibration matrix; and the accuracy of the measured value obtained by the laser radar system in practical application is improved. In the process of acquiring the calibration matrix, the actual value of the distance between the laser radar system and the target object does not need to be changed, so that a huge slide rail and a larger calibration space are not needed, the required resource consumption is less, and the operation process is simpler; and because the actual value of the distance between the laser radar system and the target object comprises the distance corresponding to the delay time and the length of the calibration box, the emergent laser does not actually fly through the space with the same distance, and the interference and the loss of the environment to the emergent laser and the echo laser are less, the accurate distance measurement can still be carried out through the actual value of the simulated distance even when the detection distance of the laser radar system is far, so that an accurate calibration matrix is obtained, and the accuracy of the measurement value calibration is improved.
In one embodiment, the laser radar system is arranged at one end of the calibration box, the target object is arranged at the other end of the calibration box, outgoing laser emitted by the laser radar system is emitted from one end of the calibration box after being delayed for a period of time by the delay line, is emitted to the target object at the other end of the calibration box, is reflected by the target object and returns back to echo laser, and the echo laser is received by the laser radar system.
The outer surface of the calibration box is black to shield ambient light, and a light absorption material is arranged in the calibration box to reduce interference of multiple reflections of the emergent laser on the inner surface of the calibration box to the echo laser. Therefore, the calibration environment is established by using the calibration box, so that the interference of environmental factors is avoided in the calibration process of the laser radar system. The shape, structure, size and the like of the calibration box can be set according to actual needs.
Illustratively, referring to FIG. 2, calibration box 210 includes a first side 212 and an opposing second side 214. Target 220 is disposed on first side 212, and lidar system 230 is disposed on second side 214, that is, lidar system 230 is disposed at one end of calibration box 210, and target 220 is disposed at the other end of calibration box 210. The second surface 214 is provided with a through hole, the target object 220 is disposed opposite to the through hole, and the laser emitted from the laser radar system is emitted into the calibration box 210 through the through hole of the calibration box 210 and is emitted onto the target object 220 inside the calibration box 210. The size of the through hole can be designed according to the caliber of the optical lens at the transmitting end of the laser radar system 230.
In one embodiment, the number of targets 220 is at least 1; when the number of the objects 220 is greater than 1, the reflectance of each object 220 is different; objects of different reflectivity can be calibrated by exchanging the target 220 in the calibration box 210. For example, white paper with known reflectivity is used as the target object 220 and adhered to the first surface 212, and N calibration matrices of the target object 220 are obtained after N times of distance measurement; when the measurement values of the target objects 220 with different reflectivities need to be calibrated and compensated, only the target object 220 with another reflectivity needs to be replaced, and the operation is convenient.
In particular, lidar system 230 includes a transmitting device 232 and a receiving device 234. The connection between the calibration box 210 and the lidar system 230 is provided with a suitable coupling structure, so that the outgoing laser light emitted by the emitting device 232 can enter the calibration box 210 to reach the target object 220, and the return laser light reflected by the target object 220 can be received by the receiving device 234. Specifically, as shown in fig. 2, a through hole is formed on the second surface 214 of the calibration box 210, the emitting device 232 is disposed in alignment with the through hole, and the outgoing laser emitted by the emitting device 232 enters the calibration box 210 through the through hole; the calibration box 210 is provided with an optical conduit 216 therein, and a receiving device 234 is provided at the end of the optical conduit 216, and the echo laser passes through the optical conduit 216 during propagation and is finally received by the receiving device 234. The echo laser may be received by the receiving device 234 after being reflected for multiple times in the optical conduit 216, or may be reflected from the target 220 and directly pass through the optical conduit 216 and be received by the receiving device 234. Optionally, the optical conduit 216 is a black plastic tube, and the length thereof may be 1/2, 2/3, 3/4, etc. of the length of the calibration box 210, and may be set as required.
The emitting device 232 and the receiving device 234 may be arranged in a plurality of ways, such as up and down, left and right, or the emitting device 232 surrounding the receiving device 234. The through holes on the second surface 214 are matched with the emitting device 232 to ensure that enough photons in the emitted laser light emitted by the emitting device 232 reach the tail end of the calibration box 210, i.e. the target 220 in the calibration box 210 without being blocked. It should be noted that, if the outgoing laser emitted by the emitting device 232 is aligned to a specific angle direction, the design of the calibration box 210 does not need to extend the dimension according to the specific angle direction, because the calibration compensation for the measured value is independent of the field angle of the lidar system 230, a set of emitting devices 232 for calibration may be separately designed according to the number of light sources of the emitting device 232; for example, the light sources of the emitting devices 232 are all mounted on the same plane.
While the above-described limitations regarding calibration box 210 and lidar system 230 are provided as one example of a reference, the present application is not intended to be limited to the internal structure of calibration box 210 and lidar system 230, but rather, to ensure that sufficient photons from the laser beam exiting lidar system 230 reach target 220 located on first side 212 unobstructed, and that sufficient photons from the return laser beam reflected from target 220 are received by lidar system 230.
Fig. 3 is a flowchart illustrating a calibration method of the lidar system in an embodiment. As shown in fig. 3, in step S120, the laser radar system sequentially performs N times of ranging by using the calibration box, wherein the outgoing laser in each ranging is delayed for different time to obtain N ranging values at different distances, and N calibration matrices are obtained according to the difference between the ranging values and corresponding actual values, including: and step S320, the laser radar system sequentially carries out N times of distance measurement, the laser emitted from the ith time of distance measurement is emitted to the calibration box after passing through the (i-1) time delay line, the distance measurement value at the distance of (i-1) × L + K is obtained, and a calibration matrix is obtained according to the difference value between the distance measurement value and (i-1) × L + K. Where i is 1, 2, …, N, L is the distance corresponding to the delay line, and K is the length distance of the calibration box.
And when calculating the calibration matrix, obtaining the calibration matrix according to the difference between the ranging value and (i-1) × L + K. For example, the laser radar system 230 calibrates the actual value of the same distance for multiple times to obtain multiple ranging values corresponding to the actual value of the same distance; respectively calculating the difference values of the ranging values and the actual values, and calculating the average value of the difference values to be used as a calibration matrix; thereby improving the accuracy of the obtained calibration matrix.
The smaller the distance L corresponding to the delay line, the smaller the difference between the actual values of N ranges within the range of the lidar system 230 (i.e., the smaller the step size of the actual value of N ranges), the more calibration matrices are obtained, and the more accurate the calibration of the measurement value of the lidar system 230 is.
In one embodiment, the length of the calibration box is equal to the distance L corresponding to the delay line. And (3) emitting the laser of the ith ranging to the calibration box after passing through the (i-1) time delay line to obtain a ranging value at the distance of i x L, and obtaining a calibration matrix according to the difference between the ranging value and i x L. The calculation process of obtaining the calibration matrix is simplified, the calculation amount is reduced, and the calibration efficiency is improved.
It should be noted that, as shown in fig. 2, the transmitting device 232 and the receiving device 234 are not located at the same position, the optical paths of the outgoing laser and the echo laser are not coaxial, and a certain included angle is formed between the optical paths. The sum of the distance from the light-emitting surface of the emitting device 232 to the target 220 and the distance from the echo laser beam from the target 220 to the light-receiving surface of the receiving device 234 is the actual distance that the photon propagates in the calibration box 210. To simplify the calculation of the calibration matrix, half of the actual distance traveled by the photons in the calibration box 210 is equal to the distance L corresponding to the delay line, and the length K of the calibration box is not equal to the distance L corresponding to the delay line. However, the difference between K and L is often small, and in order to simplify the calibration apparatus, the length of the calibration box is usually set to be equal to the distance L corresponding to the delay line.
Specifically, referring to fig. 4, laser radar system 230 includes a transmitter 232, a receiver 234, a delay line 235, and a clock 236; the clock device 236 sends a clock signal to the delay line 235 and the receiving device 234; the delay line 235 sends a clock signal to the transmitter 232 after delaying according to the delay time required by the ith ranging; the emitting device 232 receives the clock signal sent by the delay line and emits the outgoing laser. After entering the calibration box, the emitted laser beam is reflected by the target object 220 and returns to the echo laser beam. The echo laser beam is received by the receiving device 234, and the receiving device 234 calculates a time difference between transmission and reception based on a clock signal transmitted by the clock device 236, thereby calculating a ranging value. Delay line 235 includes N delay amounts τ, where L/c is the speed of light; after the clock signal is sent to the delay line 235, the ith ranging requires delay time (i-1) × τ, and the clock signal is delayed and then is output outwards; the delay line includes N delay blocks 237 and a gate 238, each delay block 237 delays a delay amount τ, the clock signals of the delay times τ, … …, N × τ are all sent to the gate 238, and the gate 238 selects and outputs a corresponding delay time (i-1) × τ according to the delay time required by the current ranging. For example, the 5 th ranging is delayed by the delay line delay time 4 τ, and the corresponding actual value of the ranging is 4L + K, and the obtained fifth ranging value is compared with the actual value. If the length distance K of the calibration box is equal to the distance L corresponding to the delay line, the actual value of the 5 th ranging is 5L. The transmitting device 232 includes a transmitting driver 2322 and a transmitter 2324, and after receiving the clock signal, the transmitting driver 2322 sends a driving signal to the transmitter 2324, and drives the transmitter 2324 to emit outgoing laser light. In the present embodiment, the distance between the laser radar system 230 and the target object 220 does not need to be increased in the calibration process, and only the delay time needs to be increased.
Further, referring to fig. 3, in step S140, acquiring a calibration matrix of the measurement values, and performing calibration compensation on the measurement values, including:
and step S342, when the measured value M is less than or equal to (N-1) L + K, calibrating and compensating the measured value by using a calibration matrix corresponding to the measured value.
When the measured value is in the range of the measuring range in the calibration process, the calibration matrix corresponding to the measured value can be directly obtained.
Specifically, referring to fig. 5, step S342 includes:
step S510, a calibration curve is generated according to the distance measurement values of the N times of distance measurement and the corresponding calibration matrix in a fitting mode.
In one embodiment, referring to fig. 6, the ranging values of N ranging measurements in the calibration process and the corresponding calibration matrix are fitted to obtain a calibration curve. And establishing a coordinate system by taking the calibration matrix as a Y axis and the measured value as an X axis, and drawing the N ranging values (corresponding to the X axis) and the corresponding calibration matrix in the calibration process into the coordinate system, wherein a plurality of discrete points are formed on the coordinate system. These discrete points are fitted to obtain a smooth and coherent calibration curve. Specifically, the fitting may be performed by a least squares method. According to the calibration curve, a calibration matrix corresponding to any measurement value in the range can be obtained.
Step S520, a calibration matrix corresponding to the measured value is obtained according to the calibration curve.
And step S530, performing calibration compensation on the measurement value by using the acquired calibration matrix.
And inputting the measured value in the measuring range through the calibration curve to obtain a corresponding calibration matrix. And performing calibration compensation on the measured value by using the acquired calibration matrix. For example, the measurement values may be summed with a corresponding calibration matrix to obtain calibrated measurement values.
In step S344, when the measured value M > (N-1) × L + K, calibration compensation is performed on the measured value by using the calibration matrix corresponding to the specified distance measurement value.
When the measured value exceeds the range of the measuring range in the calibration process, the calibration matrix corresponding to the designated ranging value corresponding to the measured value can be called. Due to factors such as the complexity of hardware design, the size of a calibration box, calibration cost and the like, the distance L corresponding to the delay line and the calibrated ranging times N cannot be set to be very large, so that the detection distance is possibly larger than the calibrated range in the ranging process of the laser radar system in practical application.
Specifically, referring to fig. 7, step S344 includes:
step S710, obtaining the specified distance measurement value according to the measurement value.
The calculation formula of the designated distance measurement value corresponding to the measurement value is as follows:
X＝M％[(N-1)*L+K]
wherein X is the designated distance measurement value,% is the remainder operation.
The specified distance measurement value X calculated by the formula is within the range of the calibration measuring range, namely X is less than or equal to (N-1) L + K.
Step S720, a calibration matrix corresponding to the specified distance measurement value is obtained.
Since the specified distance measurement value is within the range of the calibration process, the N calibration matrixes obtained in the calibration process can be called, and various methods can be used for obtaining the calibration matrixes. For example, a calibration matrix corresponding to the specified distance measurement value X may be obtained through a calibration curve.
And step S730, performing calibration compensation on the measured value by using the acquired calibration matrix.
And calling a calibration matrix corresponding to the specified distance measurement value X, and performing calibration compensation on the measurement value by using the acquired calibration matrix.
The calibration matrix corresponding to the appointed ranging value is called to calibrate and compensate the measured value exceeding the calibration range, so that the hardware setting in the calibration process can be simplified, the size of the calibration box and the ranging times can be controlled, the calibration process is simplified, and the cost is controllable.
Further, the method for obtaining the calibration matrix corresponding to the specified ranging value may further be: when the specified distance measurement value is X ═ j-1 × L + K, the calibration matrix corresponding to the distance measurement value is the calibration matrix corresponding to the specified distance measurement value; and when the specified distance measurement value X meets (j-1) × L + K < X < j × L + K, acquiring a calibration matrix corresponding to the specified distance measurement value by fitting the calibration matrix at the distance of (j-1) × L + K and the calibration matrix at the distance of j × L + K. Where j is 1, 2, …, N.
Because of N times of distance measurement in the calibration process, N discrete points are obtained in a coordinate system of a measurement value-calibration matrix; therefore, when the specified distance measurement value X is equal to the distance measurement value in the calibration process, the calibration matrix obtained in the distance measurement value calibration process is directly called; when the designated distance measurement value X is between two adjacent distance measurement values in the calibration process, a corresponding calibration matrix can be obtained in a fitting mode; optionally, the points in the coordinate system corresponding to the two adjacent distance measurement values may be fitted by linear difference.
In the embodiment, the measured value is within or outside the calibration range, the calibration matrix can be accurately acquired to calibrate and compensate the measured value, and the accuracy of the measured value of the laser radar system is effectively improved; meanwhile, the calibration compensation of the measured value is not limited by the range in the calibration process, and the measured value can be effectively calibrated and compensated when being large, so that the accuracy of detection is ensured; in addition, the measurement value outside the calibration range can be calibrated and compensated by using the calibration matrix corresponding to the specified distance measurement value in the calibration range, so that the calibration times N do not need to be increased infinitely in the calibration process, the calibration process is simpler, and the cost is lower.
In one embodiment, as shown in fig. 8, fig. 8 is a flowchart of a calibration method of a lidar system. The calibration method of the laser radar system may further include step S110, step S150 to step S160 in addition to the above-described step S120 and step S140.
And step S110, preheating the laser radar system.
For example, the lidar system may be turned on for pre-calibration, but the calibration data is invalidated, which is not used in the subsequent steps, or the lidar system may be turned on only without calibration. Because the characteristics of the emergent laser emitted by the emitting device of the laser radar system have great relation with the temperature thereof; in the initial stage of the working of the emitting device, the temperature can be continuously increased along with the increase of the working time, and the characteristics of the emitted laser are continuously changed along with the temperature increase; after the emitting device works for a period of time, the temperature reaches balance, and the characteristic of the emergent laser also reaches stability at the moment. Therefore, the laser radar system is preheated, the transmitting device can reach a stable state, and the accuracy of the calibration matrix obtained in the calibration process is improved.
And S150, acquiring a temperature compensation coefficient according to the temperature of the laser radar system.
Step S160, calibrating the temperature compensation coefficient to compensate the measured value.
Specifically, in the ranging process in the practical application of the laser radar system, the operating temperature of the laser radar system fluctuates due to the difference of the surrounding environment, so the influence of the temperature factor needs to be considered when the measured value is calibrated and compensated. Through experience, a temperature compensation coefficient corresponding to the temperature of the laser radar system can be obtained; the laser radar system can acquire the corresponding temperature compensation coefficient in a table look-up mode. The temperature of the lidar system may be obtained by providing a temperature sensor within the lidar system, which may be provided at one or more locations in the transmitter, receiver, controller, void within the lidar system housing, etc. And multiplying the compensation measurement value subjected to calibration compensation by the calibration matrix by a temperature compensation coefficient to obtain an output value. In the embodiment, the measured value is further corrected by introducing the temperature compensation coefficient, so that the calibration precision is improved, and the accuracy of the measured value of the laser radar system is improved.
In one embodiment, during the calibration process, the power of the emergent laser of the laser radar system is controlled by a hardware system, so that the power of the emergent laser is reduced along with the increase of the delay time.
In an actual ranging scene, the emergent laser flies in the environment, so that inevitable loss is caused. In the embodiment, the power of the emergent laser is gradually weakened along with the increase of the flight distance, the energy loss condition of photons in the emergent laser and the echo laser in an actual application scene is simulated, the calibration process is closer to the actual distance measurement scene, the accuracy of the acquired calibration matrix is improved, and the accuracy of the calibration of the measured value is improved. Illustratively, the power of the emitted laser light is in an inverse power relation with the delay time; in the calibration process, the actual value of the distance is related to the delay time and is increased along with the increase of the delay time, and the power of the emergent laser is reduced along with the increase of the flight distance, so that the energy loss rule in an actual ranging scene is met, the accuracy of the acquired calibration matrix is improved, and the accuracy of the calibration of the measured value is improved.
The application also provides a calibration device of the laser radar system. Fig. 9 is a block diagram showing a configuration of a calibration apparatus of the laser radar system in one embodiment. As shown in fig. 9, the calibration apparatus 900 of the lidar system includes a processing module 910 and a calibration module 920, which are used to implement the calibration method of the lidar system.
The processing module 910 is configured to control the laser radar system to sequentially perform N times of ranging by using the calibration box, where outgoing laser of each ranging is delayed for different times to obtain N ranging values at different distances, and N calibration matrices are obtained according to differences between the ranging values and corresponding actual values; wherein N is not less than 1 and N is an integer.
The calibration module 920 is configured to obtain a calibration matrix of the measurement values, and perform calibration compensation on the measurement values.
The calibration device 900 of the laser radar system includes a processing module 910 and a calibration module 920, where the processing module 910 controls the laser radar system to perform N times of ranging by using a calibration box, and delay outgoing laser light for the multiple times of ranging for different times to simulate actual values of different distances between the laser radar system and a target object, so as to obtain ranging values corresponding to the actual values of the N different distances, and further obtain N calibration matrices according to differences between the ranging values and the corresponding actual values; the calibration module 920 calibrates the measurement value in the actual application according to the calibration matrix, so as to improve the accuracy of the measurement value obtained by the laser radar system in the actual application. In the process of acquiring the calibration matrix, the actual value of the distance between the laser radar system and the target object does not need to be changed, so that a huge slide rail and a larger calibration space are not needed, the required resource consumption is less, and the operation process is simpler; and because the actual value of the distance between the laser radar system and the target object comprises the distance corresponding to the delay time and the length of the calibration box, the emergent laser does not actually fly through the space with the same distance, and the interference and the loss of the environment to the emergent laser and the echo laser are less, the accurate distance measurement can still be carried out through the actual value of the simulated distance even when the detection distance of the laser radar system is far, so that an accurate calibration matrix is obtained, and the accuracy of the measurement value calibration is improved.
In one embodiment, the calibration box is used to establish a calibration environment, the lidar system is disposed at one end of the calibration box, and the target is disposed at the other end of the calibration box. The processing module 910 controls the lidar system to sequentially perform N times of ranging, wherein the laser beam emitted from the ith ranging passes through the (i-1) time delay line and then is emitted to the calibration box to obtain a ranging value at the distance of (i-1) × L + K, and a calibration matrix is obtained according to the difference between the ranging value and (i-1) × L + K; where i is 1, 2, …, N, L is the distance corresponding to the delay line, and K is the length distance of the calibration box.
In one embodiment, when the measured value M is less than or equal to (N-1) × L + K, the calibration module 920 performs calibration compensation on the measured value using a calibration matrix corresponding to the measured value; when the measured value M > (N-1) × L + K is measured, the calibration module adopts the calibration matrix corresponding to the specified distance measurement value to carry out calibration compensation on the measured value.
In one embodiment, when the measured value M ≦ (N-1) × L + K, the calibration module 920 is configured to generate a calibration curve according to the ranging values of the N ranging measurements and the corresponding calibration matrix; acquiring a calibration matrix corresponding to the measured value according to the calibration curve; and performing calibration compensation on the measured value by using the acquired calibration matrix.
In one embodiment, the calibration module 920 is configured to obtain the specified ranging value according to the measured value when the measured value M > (N-1) × L + K; acquiring a calibration matrix corresponding to the specified ranging value; and performing calibration compensation on the measured value by using the acquired calibration matrix.
In one embodiment, the calibration box is provided with a through hole at one end provided with the target object, a light path pipeline connected with the laser radar system is arranged inside the calibration box, and the inner surface of the calibration box is provided with a light absorption material.
In one embodiment, the calculation formula of the specified ranging value corresponding to the measured value is:
X＝M％[(N-1)*L+K]
wherein X is a designated ranging value.
In one embodiment, when the specified distance measurement value is X ═ j-1 × L + K, the calibration matrix corresponding to the distance measurement value is the calibration matrix corresponding to the specified distance measurement value; when the specified distance measurement value X meets (j-1) × L + K < X < j × L + K, fitting a calibration matrix at the distance of (j-1) × L + K and a calibration matrix at the distance of j × L + K through linear interpolation to obtain a calibration matrix corresponding to the specified distance measurement value; where j is 1, 2, …, N.
In one embodiment, the delay line corresponds to a distance L equal to the calibration box length distance K.
In one embodiment, the number of targets is at least 1; when the number of the objects is more than 1, the reflectivity of the objects is different.
In one embodiment, the processing device 910 is further configured to control the power of the outgoing laser of the laser radar system through a hardware system, so that the power of the outgoing laser decreases with the time of the delay.
In one embodiment, the power of the exiting laser light is raised to the inverse power of the delay time.
In one embodiment, the calibration module 920 sums the measurement values with a corresponding calibration matrix to obtain calibrated measurement values.
In one embodiment, the calibration module 920 is further configured to obtain a temperature compensation coefficient according to a temperature of the lidar system; the temperature compensation coefficient is calibrated to compensate the measured value.
In one embodiment, processing module 910 is also used to preheat the lidar system.
It should be noted that all or part of the modules in the calibration apparatus 900 of the laser radar system may be implemented by software, hardware, or a combination thereof. The modules can be embedded in a processor of the server or independent of the processor of the server in a hardware form, and can also be stored in a memory of the server in a software form, so that the processor can call and execute operations corresponding to the modules.
The application also provides a distance measuring device. The ranging apparatus comprises a memory and a processor having stored thereon a computer program operable thereon. The steps of the method as in any of the above embodiments are implemented when the processor executes the computer program.
The present application also provides a storage medium having a computer program stored thereon. Which when executed by a processor implements the steps of any of the methods described above.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It is understood that the dimensions of all of the figures in this application are not to scale and are merely schematic representations.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (20)
1. A calibration method of a laser radar system comprises the following steps:
the laser radar system sequentially carries out N times of ranging by using a calibration box, outgoing laser of each ranging is delayed for different time to obtain N ranging values at different distances, and N calibration matrixes are obtained according to the difference between the ranging values and corresponding actual values; wherein N is not less than 1 and N is an integer;
and acquiring the calibration matrix of the measurement values, and performing calibration compensation on the measurement values.
2. The calibration method according to claim 1, wherein the lidar system is disposed at one end of the calibration box, the target is disposed at the other end of the calibration box, the lidar system sequentially performs N ranging measurements by using the calibration box, the outgoing laser of each ranging measurement is delayed for different time to obtain N ranging values at different distances, and N calibration matrices are obtained according to the difference between the ranging values and corresponding actual values, and the method comprises:
the laser radar system sequentially carries out N times of ranging, emergent laser of the ith ranging is shot to the calibration box after passing through the (i-1) time delay line, a ranging value at the distance of (i-1) × L + K is obtained, and the calibration matrix is obtained according to the difference value between the ranging value and (i-1) × L + K; where i is 1, 2, …, N, L is the distance corresponding to the delay line, and K is the length distance of the calibration box.
3. The calibration method of claim 2, wherein said obtaining the calibration matrix of measurement values, performing calibration compensation on the measurement values, comprises:
when the measured value M is less than or equal to (N-1) L + K, performing calibration compensation on the measured value by using a calibration matrix corresponding to the measured value;
and when the measured value M > (N-1) × L + K, performing calibration compensation on the measured value by using a calibration matrix corresponding to the specified distance measurement value.
4. The calibration method according to claim 3, wherein when the measured values M ≦ (N-1) × L + K, performing calibration compensation on the measured values using a calibration matrix corresponding to the measured values comprises:
fitting and generating a calibration curve according to the ranging values of the N-time ranging and the corresponding calibration matrix;
acquiring the calibration matrix corresponding to the measured value according to the calibration curve;
and performing calibration compensation on the measurement value by using the acquired calibration matrix.
5. The calibration method of claim 3, wherein when the measured value M > (N-1) × L + K is calibrated and compensated using a calibration matrix corresponding to the specified range value, comprising:
acquiring the appointed ranging value according to the measured value;
acquiring the calibration matrix corresponding to the specified ranging value;
and performing calibration compensation on the measurement value by using the acquired calibration matrix.
6. The calibration method according to claim 5, wherein the obtaining the specified ranging value according to the measurement value specifically comprises:
the calculation formula of the designated distance measurement value corresponding to the measurement value is as follows:
X＝M％[(N-1)*L+K]
wherein X is the specified ranging value.
7. The calibration method according to claim 5, wherein the obtaining the calibration matrix corresponding to the specified ranging value comprises:
when the specified ranging value is X ═ j-1 × L + K, the calibration matrix corresponding to the ranging value is the calibration matrix corresponding to the specified ranging value;
when the specified distance measurement value X meets (j-1) × L + K < X < j × L + K, the calibration matrix corresponding to the specified distance measurement value is obtained by fitting the calibration matrix at the distance of (j-1) × L + K and the calibration matrix at the distance of j × L + K;
where j is 1, 2, …, N.
8. The calibration method according to claim 2, wherein the distance L corresponding to the delay line is equal to the length distance K of the calibration box.
9. The calibration method according to claim 2, wherein the number of the targets is at least 1; when the number of the objects is more than 1, the reflectivity of the objects is different.
10. The calibration method according to claim 2, further comprising:
and controlling the power of the emergent laser of the laser radar system through a hardware system, so that the power of the emergent laser is reduced along with the increase of the delay time.
11. The calibration method according to claim 10, wherein the power of the emitted laser light is in an inverse power relation with the time of the delay.
12. The calibration method of claim 2, wherein said obtaining the calibration matrix of measurement values, performing calibration compensation on the measurement values, further comprises:
and summing the measured value and the corresponding calibration matrix to obtain a calibrated measured value.
13. The calibration method according to claim 1, further comprising:
acquiring a temperature compensation coefficient according to the temperature of the laser radar system;
and calibrating and compensating the temperature compensation coefficient for the measured value.
14. The calibration method according to claim 1, wherein before the lidar system sequentially performs N ranging operations using the calibration box, and the outgoing laser light of each ranging operation is delayed for different times to obtain N ranging values at different distances, and obtains the calibration matrix according to the difference between the ranging values and the corresponding actual values, the method further comprises:
preheating the laser radar system.
15. A calibration apparatus for a lidar system, comprising:
the processing module is used for controlling the laser radar system to sequentially execute N times of ranging by using the calibration box, the emergent laser of each ranging is delayed for different time to obtain N ranging values at different distances, and N calibration matrixes are obtained according to the difference between the ranging values and corresponding actual values; wherein N is not less than 1 and N is an integer;
and the calibration module is used for acquiring the calibration matrix of the measured value and carrying out calibration compensation on the measured value.
16. The calibration device according to claim 15, wherein the calibration box is used to establish a calibration environment, the lidar system is disposed at one end of the calibration box, and the target is disposed at the other end of the calibration box;
the processing module controls the laser radar system to sequentially perform N times of distance measurement, emergent laser of the ith time of distance measurement is shot to the calibration box after passing through the (i-1) time delay line, a distance measurement value at the distance of (i-1) × L + K is obtained, and the calibration matrix is obtained according to the difference value between the distance measurement value and (i-1) × L + K; where i is 1, 2, …, N, L is the distance corresponding to the delay line, and K is the length distance of the calibration box.
17. The calibration device of claim 16, wherein when the measured values M ≦ (N-1) × L + K, the calibration module performs calibration compensation on the measured values using a calibration matrix corresponding to the measured values; when the measured value M > (N-1) × L + K, the calibration module performs calibration compensation on the measured value by using a calibration matrix corresponding to the specified distance measurement value.
18. The calibration device according to claim 16, wherein the calibration box has a through hole at one end thereof where the target is disposed, a light path pipe connected to the lidar system is disposed inside the calibration box, and a light absorbing material is disposed on an inner surface of the calibration box.
19. A storage medium having stored thereon a computer program for implementing the steps of the calibration method according to any one of claims 1 to 14 when executed by a processor.
20. A ranging apparatus comprising a memory and a processor; the processor is stored with a computer program operable on the processor, and the processor when executing the computer program implements the steps of the calibration method according to any one of claims 1 to 14.
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