CN112612283B

CN112612283B - Sensor calibration method, device, equipment, system and medium

Info

Publication number: CN112612283B
Application number: CN202011552384.XA
Authority: CN
Inventors: 刘广忠
Original assignee: Neolithic Yancheng Intelligent Manufacturing Co ltd
Current assignee: Neolithic Yancheng Intelligent Manufacturing Co ltd
Priority date: 2020-12-24
Filing date: 2020-12-24
Publication date: 2024-01-16
Anticipated expiration: 2040-12-24
Also published as: CN112612283A

Abstract

The embodiment of the invention discloses a sensor calibration method, device, equipment, system and medium, which are suitable for automatic driving vehicles (or unmanned vehicles). The method comprises the following steps: controlling at least two unmanned vehicles to sequentially convey vehicles to be calibrated to a calibration room; when any one of the unmanned carrier vehicles is detected to travel to a first position between the calibration rooms, the first acquisition equipment is controlled to acquire a first identification code of the vehicle to be calibrated, a first communication connection is established according to the first identification code, and the sensor of the vehicle to be calibrated is calibrated based on the first communication connection. The embodiment of the invention realizes the automatic calibration of the sensor on the automatic driving vehicle, improves the calibration speed and the calibration precision, and reduces the labor cost.

Description

Sensor calibration method, device, equipment, system and medium

Technical Field

The embodiment of the invention relates to the technical field of automatic driving, in particular to a sensor calibration method, a device, equipment, a system and a medium.

Background

In the field of autopilot, commonly used sensors include cameras, radars, and the like. Since a single sensor has advantages and disadvantages, various sensors such as a camera and a radar are often used in cooperation with each other in order to improve reliability and stability of an autonomous vehicle. Before the sensors are matched with each other, each sensor needs to be calibrated.

At present, the calibration of each sensor is mainly realized by a manual calibration mode, specifically, the automatic driving vehicle is controlled to move by manual operation, the sensors on the vehicle are controlled to acquire data in the moving process of the vehicle, and then the calibration is performed based on the data acquired by each sensor. The calibration mode is low in calibration speed, low in calibration precision and high in labor cost.

Disclosure of Invention

The embodiment of the invention provides a sensor calibration method, device, equipment, system and medium, which realize automatic calibration of a sensor on a vehicle, improve calibration speed and calibration precision and reduce labor cost.

In a first aspect, an embodiment of the present invention provides a sensor calibration method, applied to a calibration server, where the method includes:

controlling at least two unmanned vehicles to sequentially convey vehicles to be calibrated to a calibration room;

when any one of the unmanned carrier vehicles is detected to travel to a first position between the calibration rooms, a first acquisition device is controlled to acquire a first identification code of the vehicle to be calibrated, a first communication connection is established according to the first identification code, and the sensor of the vehicle to be calibrated is calibrated based on the first communication connection.

In a second aspect, an embodiment of the present invention further provides a sensor calibration device configured to a calibration server, including:

the first control module is used for controlling at least two unmanned trucks to sequentially carry the vehicles to be calibrated to the calibration room;

and the second control module is used for controlling the first acquisition equipment to acquire the first identification code of the vehicle to be calibrated when any one of the unmanned carrier vehicles is detected to travel to the first position between the calibration rooms, establishing first communication connection according to the first identification code, and calibrating the sensor of the vehicle to be calibrated based on the first communication connection.

In a third aspect, an embodiment of the present invention further provides a calibration server, including:

one or more processors;

storage means for storing one or more programs,

when the one or more programs are executed by the one or more processors, the one or more processors implement the sensor calibration method according to any one of the embodiments of the present invention.

In a fourth aspect, an embodiment of the present invention further provides a sensor calibration system, including: the calibration server, at least two unmanned carrier vehicles and the vehicle to be calibrated in any one of the embodiments of the invention;

The at least two unmanned carrier vehicles are used for carrying vehicles to be calibrated in sequence to a calibration room according to the control instruction sent by the calibration server;

and the vehicle to be calibrated is used for calibrating the sensor according to the calibration instruction sent by the calibration server.

In a fifth aspect, embodiments of the present invention further provide a computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements the sensor calibration method according to any of the embodiments of the present invention.

The technical scheme disclosed by the embodiment of the invention has the following beneficial effects:

the method comprises the steps of sequentially conveying vehicles to be calibrated to a calibration room through controlling at least two unmanned vehicles, controlling a first acquisition device to acquire a first identification code of the vehicles to be calibrated when any unmanned vehicle is detected to travel to a first position to be calibrated, establishing first communication connection according to the first identification code, and calibrating a sensor of the vehicles to be calibrated based on the first communication connection. Therefore, through the mutual cooperation of the plurality of unmanned carrier vehicles, different automatic driving vehicles to be calibrated are carried into the calibration room in sequence without interruption, so that the automatic calibration of different sensors of the automatic driving vehicles to be calibrated in the calibration room is realized, the manual calibration is avoided, the calibration speed and the calibration precision are improved, and the labor cost is reduced.

Drawings

FIG. 1 is a schematic flow chart of a sensor calibration method according to an embodiment of the invention;

FIG. 2A is a schematic flow chart of a sensor calibration method according to a second embodiment of the present invention;

fig. 2B is a schematic diagram of controlling movement of an unmanned carrier according to a second embodiment of the present invention;

FIG. 3 is a schematic flow chart of a sensor calibration method according to a third embodiment of the present invention;

FIG. 4 is a schematic flow chart of a sensor calibration method according to a fourth embodiment of the present invention;

fig. 5 is a schematic flow chart of detecting an operating state of a vehicle to be calibrated according to a fourth embodiment of the present invention;

FIG. 6 is a schematic diagram of a second flow chart for detecting the working state of a vehicle to be calibrated according to the fourth embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a sensor calibration device according to a fifth embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a calibration server according to a sixth embodiment of the present invention;

fig. 9 is a schematic structural diagram of a sensor calibration system according to a seventh embodiment of the present invention.

Detailed Description

Embodiments of the present invention will be described in further detail below with reference to the drawings and examples. It should be understood that the particular embodiments described herein are illustrative only and are not limiting of embodiments of the invention. It should be further noted that, for convenience of description, only some, but not all of the structures related to the embodiments of the present invention are shown in the drawings.

The following describes a sensor calibration method, a device, equipment, a system and a medium provided by the embodiment of the invention with reference to the accompanying drawings.

Example 1

Fig. 1 is a schematic flow chart of a sensor calibration method according to an embodiment of the present invention, where the embodiment is applicable to a scenario of calibrating a sensor on an autopilot vehicle produced on a production line, and the method may be performed by a sensor calibration device, which may be composed of hardware and/or software and may be integrated in a calibration server. The method specifically comprises the following steps:

s101, controlling at least two unmanned carrying vehicles to carry vehicles to be calibrated to a calibration room in sequence.

Among them, the automated guided vehicle (Automated Guided Vehicle), also commonly referred to as an AGV car. AGV is a transport vehicle equipped with an automatic guidance device such as electromagnetic or optical, capable of traveling along a predetermined guidance path, having safety protection and various transfer functions, and used in industrial applications without the need for a driver, and using a rechargeable battery as its power source.

In this embodiment, the vehicle to be calibrated refers to an automatic driving vehicle produced on a production line. The calibration room refers to a place for calibrating the sensors of the produced automatic driving vehicle. Optionally, the calibration room can be established on a vehicle production line, so that the sensor calibration operation of the vehicle is integrated on the vehicle production line to match with the vehicle production takt, and conditions are provided for improving the vehicle production efficiency.

In the prior art, after an automatic driving vehicle (to-be-calibrated vehicle) is produced on a production line, the to-be-calibrated vehicle needs to be manually driven to a corresponding calibration site, and then calibration operation is carried out on each sensor on the to-be-calibrated vehicle. However, due to the fact that the manual operation is low in efficiency and high in cost, the automatic carrying of the to-be-calibrated vehicle is achieved by controlling at least two AGV trolleys to mutually cooperate to carry different to-be-calibrated vehicles between calibration, and accordingly the problems of low speed, high cost and the like caused by manual driving of the to-be-calibrated vehicle are avoided.

Specifically, when a vehicle to be calibrated is produced on the production line, the calibration server can send a carrying instruction to any AGV trolley which is in communication connection with the AGV trolley, so that the AGV trolley carries the produced vehicle to be calibrated to a calibration room based on the carrying instruction, and a foundation is laid for calibrating a sensor on the vehicle to be calibrated in the calibration room.

When a carrying instruction is sent to any AGV trolley which establishes communication connection, the carrying travelling path can be carried in the carrying instruction, so that the AGV trolley travels to the position of the produced vehicle to be calibrated based on the carrying travelling path. And then, the vehicle to be calibrated is moved to the bearing table of the vehicle to be calibrated, and then the borne vehicle to be calibrated is transported to the calibration room along the transport travelling path, so that the accuracy and the reliability of the AGV trolley for executing the transport instruction are improved.

It should be noted that, because the time interval for producing the autopilot vehicle on the production line may be shorter, the embodiment can control the second AVG trolley to travel to the position of the production line where the vehicle to be calibrated is to be produced while controlling the first AGV trolley to carry the produced vehicle to be calibrated to the calibration room, so as to realize that the vehicle to be calibrated can be carried to the calibration room in time when the new vehicle to be calibrated is generated, thereby further ensuring the production beat of the vehicle and improving the production efficiency of the vehicle.

Further, the number of production lines for producing the automatic driving vehicle can be multiple, so that one vehicle to be calibrated is produced by the multiple production lines at the same time. Therefore, when the fact that one vehicle to be calibrated is produced on each of the production lines is monitored, the AGV trolley can be controlled to drive to one production line respectively, and the vehicles to be calibrated produced on each production line can be transported to the calibration room.

And because the distance between each production line and the calibration room is different, the AGV trolleys are controlled to respectively carry a vehicle to be calibrated, and a sequence exists when the vehicle to be calibrated runs to the calibration room for calibration. At this time, in order to ensure that only one sensor on the vehicle to be calibrated is calibrated at one time all the time between the calibration, each unmanned vehicle can be controlled to be sequentially stopped in a waiting area of the calibration room, and then one unmanned carrier is controlled to drive into the calibration room at one time according to the time sequence of arrival or other modes, so that the sensor of the vehicle to be calibrated on the unmanned carrier in the drive-in calibration room is calibrated. Therefore, the production beat of the vehicle is ensured, the production efficiency of the vehicle is improved, and the order of calibrating the sensors on the vehicle is also ensured.

S102, when any one of the unmanned carrier vehicles is detected to travel to a first position between the calibration rooms, a first acquisition device is controlled to acquire a first identification code of the vehicle to be calibrated, a first communication connection is established according to the first identification code, and the sensor of the vehicle to be calibrated is calibrated based on the first communication connection.

The first position refers to a specific position between calibration. For example, the inlet position between the calibration room or the center position between the calibration room is preferable.

The first identification code may be information capable of uniquely determining the identity of the vehicle to be calibrated, such as a bar code or a two-dimensional code, and the like, and the corresponding first acquisition device may be a scanner or a scanning gun, and the like, which is not limited herein. Preferably, in this embodiment, the first identification code may be information such as a wifi name of the vehicle to be calibrated, and the specific wifi name is in communication connection with the calibration room.

Specifically, when any AGV carries the vehicle to be calibrated to the first position of the calibration room, the vehicle to be calibrated carried by the AGV is indicated to enter the calibration room or already enter the calibration room. At this time, in order to confirm this vehicle identity of waiting to mark, mark the server can be when detecting that the AGV dolly is driven to the first position between the mark, control and establish communication connection's first collection equipment collection AGV dolly on waiting to mark the first identification code of vehicle to acquire the first identification code that first collection equipment gathered.

The deployment mode of the first acquisition device in this embodiment may optionally be configured based on the first identification code setting position of the vehicle to be calibrated. That is, when the first acquisition device is required to acquire the first identification code, the first acquisition device can be directly controlled to be electrified, and the first identification code positioned in the scanning area is acquired, so that the acquisition accuracy is improved.

And then, the calibration server identifies the first identification code acquired by the first acquisition equipment to obtain the wifi name of the vehicle to be calibrated, and then queries the VIN code of the vehicle to be calibrated based on the wifi name in the mapping relation between the wifi name in the configuration file and the vehicle identification code (Vehicle Identification Number, abbreviated as VIN) to obtain the identity information of the vehicle to be calibrated. Meanwhile, the calibration server can also establish first communication connection with the vehicle to be calibrated based on the wifi name so as to provide conditions for calibrating the sensor on the vehicle to be calibrated subsequently.

After the calibration server establishes the first communication connection with the vehicle to be calibrated based on the acquired wifi name, the calibration server can also determine whether the first communication connection is successfully established with the vehicle to be calibrated. Specifically, a control command may be sent to the vehicle to be calibrated through the established first communication connection, so that the vehicle to be calibrated performs a corresponding operation based on the control command, for example, turning on a car light or playing music, etc. And when the vehicle to be calibrated successfully executes the operation corresponding to the control instruction within the preset time after the control instruction is sent, determining that the first communication connection is successfully established with the vehicle to be calibrated. Otherwise, determining that the first communication connection is not successfully established with the vehicle to be calibrated.

If the calibration procedure is still entered on the premise of determining that the first communication connection with the vehicle to be calibrated is not successfully established, there may be cases where calibration cannot be performed or calibration fails. Therefore, when the calibration server determines that the first communication connection is not successfully established between the calibration server and the vehicle to be calibrated, the first alarm information is sent to the technician, so that the technician manually restarts the wifi function of the vehicle to be calibrated, and the calibration server can successfully establish the first communication connection with the vehicle to be calibrated. The preset time in this embodiment may be set according to the actual calibration requirement, for example, may be set to 1 minute or 2 minutes, which is not limited herein.

Furthermore, after the calibration server determines that the first communication connection is established with the vehicle to be calibrated successfully, the calibration server can calibrate the sensor of the vehicle to be calibrated on the AGV in the calibration room according to the set calibration mode based on the first communication connection.

It can be appreciated that in this embodiment, the vehicles to be calibrated are sequentially transported between the calibration room by controlling at least two AGV carts, and after the first communication connection is established with the vehicles to be calibrated on any one of the unmanned transport carts, the vehicles to be calibrated are calibrated based on the first communication connection, so that the automatic calibration of the sensor of the automatic driving vehicle is realized, the calibration efficiency of the sensor is improved, conditions are provided for ensuring the generation of more than ten thousand vehicles of the automatic driving vehicle, and the calibration precision can be ensured, so that the calibration precision has controllability.

According to the technical scheme provided by the embodiment of the invention, the vehicles to be calibrated are sequentially transported to the calibration room by controlling at least two unmanned vehicles, when any unmanned vehicle is detected to travel to the first position to be calibrated, the first acquisition equipment is controlled to acquire the first identification code of the vehicles to be calibrated, the first communication connection is established according to the first identification code, and the sensor of the vehicles to be calibrated is calibrated based on the first communication connection. Therefore, through the mutual cooperation of the plurality of unmanned carrier vehicles, different automatic driving vehicles to be calibrated are carried into the calibration room in sequence without interruption, so that the automatic calibration of different sensors of the automatic driving vehicles to be calibrated in the calibration room is realized, the manual calibration is avoided, the calibration speed and the calibration precision are improved, and the labor cost is reduced.

Example two

Fig. 2A is a schematic flow chart of a sensor calibration method according to a second embodiment of the present invention. On the basis of the embodiment, the embodiment further explains calibration of the sensor of the vehicle to be calibrated based on the first communication connection. As shown in fig. 2A, the method specifically includes:

s201, controlling at least two unmanned carrying vehicles to carry vehicles to be calibrated to a calibration room in sequence.

S202, when any one of the unmanned carrier vehicles is detected to travel to a first position between the calibration rooms, a first acquisition device is controlled to acquire a first identification code of the vehicle to be calibrated, and a first communication connection is established according to the first identification code.

S203, controlling the unmanned carrier to bear the movement of the vehicle to be calibrated, so that the sensor of the vehicle to be calibrated acquires multi-frame data with a second identification code.

The sensor of the vehicle to be calibrated at least comprises: camera and radar. When the sensor is a camera, the multi-frame data collected by the camera is image data; when the sensor is a radar, the multi-frame data collected by the radar is point cloud data. Optionally, the radar of the embodiment is specifically a laser radar and/or a millimeter wave radar, etc.

In order to achieve calibration of the sensor of the vehicle to be calibrated, in this embodiment, a plurality of second identification codes may be set on each wall of the calibration room, so that the sensor of the vehicle to be calibrated can acquire data with the second identification codes. The second identification code is used for helping the calibration server to calibrate the sensor of the vehicle to be calibrated. The optional second identification code in this embodiment is a specific two-dimensional code or a specific barcode, which is not limited herein.

Specifically, because the calibration of the sensor of the vehicle to be calibrated is required to be implemented according to the multi-frame data collected by the sensor, for this embodiment, the movement of the AGV carrying the vehicle to be calibrated needs to be controlled, so that the sensor of the vehicle to be calibrated can collect the multi-frame data. Before the AGV trolley carrying the vehicle to be calibrated is specifically controlled to move, the calibration server can firstly determine whether the communication connection with the AGV trolley is normal or not. The specific implementation mode is as follows: and the method can send a movement instruction to the AGV trolley, if the AGV trolley moves normally in the appointed time, the communication connection between the AGV trolley and the AGV trolley is determined to be normal, otherwise, the communication connection is abnormal.

When the communication connection between the AGV trolley and the calibration server is determined to be normal, the calibration server enters a calibration program, and the calibration server is respectively based on the communication connection between the AGV trolley and the first communication connection between the AGV trolley and the vehicle to be calibrated, and sends a control instruction to the AGV trolley and the vehicle to be calibrated, so that the AGV trolley bears the vehicle to be calibrated to move, and the vehicle to be calibrated is controlled to acquire one frame of data through the sensor after the AGV trolley moves once. When the communication connection between the AGV and the AGV is abnormal, the second alarm information is sent to the technician, so that the technician can check and solve the communication abnormality based on the second alarm information.

After the calibration server sends a control instruction to the AGV trolley and the vehicle to be calibrated, the AGV trolley can bear the movement of the vehicle to be calibrated according to a preset mode after receiving the control instruction, and after the AGV trolley moves once, the vehicle to be calibrated is enabled to acquire a frame of data of the current position of the AGV trolley based on the control instruction control sensor.

In this embodiment, the AGV trolley carries the vehicle to be calibrated according to the control instruction in a preset manner, and the vehicle to be calibrated after each movement controls the sensor to acquire a frame of data at the current position of the AGV trolley based on the control instruction, and the specific implementation process is as follows:

the AGV trolley is controlled to bear the vehicle to be calibrated to move for a plurality of times according to the preset angle interval, and a sensor of the vehicle to be calibrated is controlled to acquire one frame of data at each position after the vehicle to be calibrated moves. After the AGV trolley moves 360 degrees in the calibration room, the sensor of the vehicle to be calibrated can acquire multi-frame data with the second identification code. Furthermore, the vehicle to be calibrated can send the multi-frame data acquired by the sensor to the calibration server through the first communication connection, so that the calibration server calibrates the sensor based on the multi-frame data sent by the vehicle to be calibrated.

For example, as shown in fig. 2B, a schematic diagram of controlling the AGV cart to carry the vehicle to be calibrated to move for multiple times according to a preset angle interval is shown. The labels 1, 2, 3 and 4 are the moving sequence of the AGV trolley, the AGV trolley is labeled 11, the vehicle to be calibrated is labeled 12, the calibration room is labeled 13, and the route of the AGV trolley entering the calibration room is labeled 14.

It should be noted that, because the calibration room has an entrance, the second identification code may not be set at the entrance position. Therefore, in the embodiment, whether a wall exists at the extension position of the entrance and the exit of the calibration room or not can be determined, and if the wall exists, a plurality of second identification codes can be arranged on the extension wall; if the sensor does not exist, a wall or a wall-like wall can be arranged at the extension position of the entrance and the exit of the demarcation room, and a plurality of second identification codes are arranged on the wall or the wall-like wall, so that the sensor of the vehicle to be demarcated can acquire data with the second identification codes when correspondingly rotating to the position of the entrance and the exit of the demarcation room based on the movement of the AGV trolley.

In this embodiment, the preset angle interval may be obtained by equally dividing 360 °. For example, it may alternatively be moved once every 15 °, or once every 30 °, etc. The equal division can be set according to the calibration precision, and particularly when the calibration precision is high, the interval of the equal division can be set to be a smaller value; when the calibration accuracy is low, the equally divided intervals may be set to a larger value.

In another embodiment of the invention, a calibration position can be set in the calibration room in advance, so that the AGV carries the carried vehicle to be calibrated to the calibration position of the calibration room, and the AGV can normally carry the vehicle to be calibrated to move without collision and the like when carrying the vehicle to be calibrated to move according to the control instruction.

That is, the calibration server in this embodiment controls the AGV trolley to carry the vehicle to be calibrated to move, so that before the sensor of the vehicle to be calibrated collects the multi-frame data with the second identification code, it can also determine whether the AGV trolley moves to the calibration position between the calibration; and if the AGV does not move to the calibration position between the calibration chambers, controlling the AGV to travel to the calibration position.

S204, calibrating the sensor of the vehicle to be calibrated based on the multi-frame data, and sending the calibration result to the vehicle to be calibrated, so that the vehicle to be calibrated calibrates the sensor according to the calibration result.

Specifically, after receiving multi-frame data collected by a sensor sent by a vehicle to be calibrated, the calibration server may pre-process the multi-frame data, then perform a resolving process on the pre-processed result according to a preset calibration algorithm or calibration model, so as to obtain a resolving result, and determine the resolving result as a calibration result for calibrating the sensor of the vehicle to be calibrated.

And then, the calibration result is sent to the vehicle to be calibrated through the first communication connection, so that the vehicle to be calibrated calibrates the sensor according to the calibration result.

The pre-set calibration algorithm or calibration model performs a resolving process on the pre-processing result, specifically means that the respective external parameters of the sensors, namely, the rotation translation transformation matrix, are estimated, so that the coordinates of the sensors in the coordinate system are unified to the same coordinate system.

Example III

Fig. 3 is a schematic flow chart of a sensor calibration method according to a third embodiment of the present invention. On the basis of the embodiment, the method further optimizes controlling at least two unmanned vehicles to sequentially convey the vehicles to be calibrated to the calibration room. As shown in fig. 3, the method specifically includes:

s301, controlling a first unmanned carrier to carry a first vehicle to be calibrated to the calibration room, and controlling at least one second unmanned carrier to carry a second vehicle to be calibrated to a waiting area of the calibration room.

The first unmanned carrier is an AGV trolley for carrying the vehicle to be calibrated for the first time, or an AGV trolley for reaching the calibration room for the first time;

correspondingly, the second unmanned carrier refers to other AGV trolleys except the first carrier to be calibrated, or can also be other AGV trolleys except the first carrier to reach the calibration room, and the like.

Specifically, the first vehicle to be calibrated can be transported to the calibration room by controlling the first unmanned carrier, the calibration operation is carried out on the sensor of the first vehicle to be calibrated, and meanwhile, other unmanned carriers (at least one second unmanned carrier) are controlled to transport the second vehicle to be calibrated to a waiting area outside the calibration room. Therefore, only one sensor of the vehicle to be calibrated is calibrated at a time in the calibration room.

And S302, when the first unmanned carrier is detected to run to the first position between the calibration rooms, controlling a first acquisition device to acquire a first identification code of a first vehicle to be calibrated, establishing first communication connection according to the first identification code, and calibrating a sensor of the first vehicle to be calibrated based on the first communication connection.

And S303, when the first unmanned carrier bears that the first vehicle to be calibrated drives out of the calibration room, controlling any second unmanned carrier to drive in the calibration room from the waiting area so as to calibrate a sensor of the second calibration vehicle.

Specifically, when the calibration operation is completed on the sensor of the first vehicle to be calibrated, and the first unmanned carrier is detected to bear the first vehicle to be calibrated to drive out of the calibration room, the calibration server can select any one of the second vehicles to be calibrated (target vehicles to be calibrated), control the second unmanned carrier bearing the target vehicles to be calibrated to drive into the calibration room from the waiting area, and calibrate the sensor of the target vehicles to be calibrated on the second unmanned carrier.

The calibration process of the sensor of the second vehicle to be calibrated on the second automated guided vehicle is the same as the calibration process of the sensor of the vehicle to be calibrated on the automated guided vehicle, and the detailed description thereof will not be repeated herein.

According to the technical scheme provided by the embodiment of the invention, the vehicles to be calibrated are sequentially transported to the calibration room by controlling at least two unmanned vehicles, when any unmanned vehicle is detected to travel to the calibrated preset position, the first acquisition equipment is controlled to acquire the first identification code of the vehicles to be calibrated, the first communication connection is established according to the first identification code, and the sensor of the vehicles to be calibrated is calibrated based on the first communication connection. Therefore, through the mutual cooperation of the plurality of unmanned carrier vehicles, different automatic driving vehicles to be calibrated are carried into the calibration room in sequence without interruption, so that the automatic calibration of different sensors of the automatic driving vehicles to be calibrated in the calibration room is realized, the manual calibration is avoided, the calibration speed and the calibration precision are improved, and the labor cost is reduced.

Example IV

Fig. 4 is a flow chart of a sensor calibration method according to a fourth embodiment of the present invention. On the basis of the embodiment, the sensor calibration method provided by the embodiment of the invention is further optimized. As shown in fig. 4, the method is specifically as follows:

s401, controlling at least two unmanned carrying vehicles to carry vehicles to be calibrated to a calibration room in sequence.

S402, detecting the working state of the vehicle to be calibrated on the automated guided vehicle when the automated guided vehicle runs to the second position of the calibration room.

Wherein the operating state comprises at least one of: whether the vehicle management system is normal, whether the display system is normal, and whether the vehicle control system is normal.

In this embodiment, the second position is a position for detecting the working state of the vehicle to be calibrated. Wherein the number of second locations is at least one, e.g. a waiting area outside the calibration room, etc., which is not specifically limited herein.

In order to improve the success rate of sensor calibration of the vehicle to be calibrated, the embodiment can optionally detect the working state of the vehicle to be calibrated before controlling the unmanned carrier to carry the vehicle to be calibrated into the calibration room, so as to ensure that the working state of the vehicle to be calibrated is in a normal working state.

Specifically, the working state of the vehicle to be calibrated on the unmanned carrier can be detected in different modes. For example, the detection process of the operating state of the vehicle to be calibrated can be illustrated by means of fig. 5 and 6. First, referring to fig. 5, a process of detecting an operating state of a vehicle to be calibrated is described, as shown in fig. 5, the method includes:

S11, selecting a target vehicle to be calibrated based on the acquired vehicle list to be calibrated, and establishing second communication connection with the target vehicle to be calibrated.

And S12, detecting the working state of the target vehicle to be calibrated based on the second communication connection.

The vehicle list to be calibrated refers to information tables of all automatic driving vehicles which are configured in advance in a calibration server by a technician and need to be calibrated by the sensor. The information table also marks the calibration sequence of each automatic driving vehicle sensor. That is, the calibration server may determine the target vehicles to be calibrated corresponding to different times based on the list of vehicles to be calibrated.

Specifically, when at least two unmanned carrier vehicles are controlled to carry the vehicles to be calibrated to the calibration room in sequence, and each unmanned carrier vehicle reaches any second position of the calibration room, the calibration server can inquire a pre-configured vehicle list to be calibrated, and select a target vehicle to be calibrated according to the calibration sequence of each vehicle to be calibrated. Then, according to wifi names corresponding to the target to-be-calibrated vehicles recorded in the to-be-calibrated vehicle list, establishing second communication connection with the target to-be-calibrated vehicles, and then sending detection instructions to the target to-be-calibrated vehicles through the second communication connection, so that the target to-be-calibrated vehicles detect the working state of the target to-be-calibrated vehicles based on the detection instructions, and feeding the detection results back to the calibration server, and therefore the calibration server judges whether the target to-be-calibrated vehicles are in a normal working state or not based on the detection results fed back by the target to-be-calibrated vehicles.

When the target vehicle to be calibrated is in a normal working state, the calibration server can disconnect the second communication connection with the target vehicle to be calibrated and control the unmanned carrier carrying the target vehicle to be calibrated to drive into the calibration room from the second position so as to calibrate the sensor of the target vehicle to be calibrated.

When the target vehicle to be calibrated is not in the normal working state, the calibration server can send third alarm information to the technician, so that the technician can check or restart the working state of the target vehicle to be calibrated based on the third alarm information, the target vehicle to be calibrated is in the normal working state, and conditions are provided for ensuring the success rate of calibrating the sensor of the target vehicle to be calibrated.

Next, referring to fig. 6, a process of detecting an operating state of a vehicle to be calibrated is described, as shown in fig. 6, the method includes:

s21, controlling a second acquisition device to acquire a first identification code of the vehicle to be calibrated on the unmanned carrier so as to establish second communication connection with the vehicle to be calibrated based on the first identification code;

s22, detecting the working state of the unmanned calibration vehicle on the unmanned carrier based on the second communication connection.

Specifically, when at least two unmanned carrier vehicles are controlled to carry the vehicle to be calibrated to the calibration room in sequence, and each unmanned carrier vehicle reaches any second position of the calibration room, the calibration server can acquire the first identification code of the vehicle to be calibrated on each unmanned carrier vehicle by controlling the second acquisition equipment deployed at each second position, and acquire the first identification code acquired by each second acquisition equipment. Then, the first identification code acquired by each second acquisition device is identified to obtain the wifi name of each vehicle to be calibrated, and then the VIN code of each vehicle to be calibrated is queried based on the wifi name in the mapping relation between the wifi name in the configuration file and the vehicle identification code (Vehicle Identification Number, abbreviated as VIN), so that the identity information of each vehicle to be calibrated is obtained. Meanwhile, the calibration server can also establish second communication connection with each vehicle to be calibrated based on wifi names in sequence, so that detection instructions are sent to the connected vehicles to be calibrated through the second communication connection, so that each vehicle to be calibrated detects the working state of the vehicle based on the detection instructions, and the detection results are fed back to the calibration server. Therefore, the calibration server judges whether each vehicle to be calibrated is in a normal working state or not based on the detection result fed back by each vehicle to be calibrated.

When each vehicle to be calibrated is in a normal working state, the calibration server can disconnect the second communication connection with each vehicle to be calibrated, and control any unmanned carrier carrying the vehicle to be calibrated to drive into the calibration room from the second position so as to calibrate the sensor of the vehicle to be calibrated.

When any vehicle to be calibrated is not in a normal working state, the calibration server can send third alarm information to a technician, so that the technician can check and restart the working state of the vehicle to be calibrated based on the third alarm information, the vehicle to be calibrated is in the normal working state, and conditions are provided for ensuring the success rate of calibrating the sensor of the vehicle to be calibrated.

It should be noted that, the deployment manner of the second acquisition device in this embodiment may be optionally deployed based on the first identification code setting position of the vehicle to be calibrated. That is, when the second acquisition device is required to acquire the first identification code, the second acquisition device can be directly controlled to be electrified and acquire the first identification code located in the scanning area, so that the acquisition accuracy is improved.

S403, when any one of the unmanned carrier vehicles is detected to travel to a first position between the calibration rooms, controlling a first acquisition device to acquire a first identification code of the vehicle to be calibrated, establishing a first communication connection according to the first identification code, and calibrating a sensor of the vehicle to be calibrated based on the first communication connection.

According to the technical scheme provided by the embodiment of the invention, the vehicles to be calibrated are sequentially transported to the calibration room by controlling at least two unmanned vehicles, when any unmanned vehicle is detected to travel to the calibrated preset position, the first acquisition equipment is controlled to acquire the first identification code of the vehicles to be calibrated, the first communication connection is established according to the first identification code, and the sensor of the vehicles to be calibrated is calibrated based on the first communication connection. Therefore, through the mutual cooperation of the plurality of unmanned carrier vehicles, different automatic driving vehicles to be calibrated are carried into the calibration room in sequence without interruption, so that the automatic calibration of different sensors of the automatic driving vehicles to be calibrated in the calibration room is realized, the manual calibration is avoided, the calibration speed and the calibration precision are improved, and the labor cost is reduced. In addition, before the unmanned carrier is controlled to drive into the calibration room, the working state of the automatic driving vehicle to be calibrated, which is carried by the unmanned carrier, is detected, so that the number of failures of the calibration of the sensor of the automatic driving vehicle to be calibrated can be reduced, the condition is provided for improving the success rate of the calibration of the sensor of the automatic driving vehicle to be calibrated, and the user experience is improved.

Example five

Fig. 7 is a schematic structural diagram of a sensor calibration device according to a fifth embodiment of the present invention. The sensor calibration device of the embodiment can be composed of hardware and/or software and can be integrated in a calibration server. As shown in fig. 7, a sensor calibration device 500 provided in an embodiment of the present invention includes: a first control module 510 and a second control module 520.

The first control module 510 is configured to control at least two unmanned vehicles to sequentially carry vehicles to be calibrated to the calibration room;

and the second control module 520 is configured to control the first acquisition device to acquire a first identification code of the vehicle to be calibrated when any one of the unmanned vehicles is detected to travel to the first position between the calibration rooms, establish a first communication connection according to the first identification code, and calibrate the sensor of the vehicle to be calibrated based on the first communication connection.

As an alternative implementation manner of the embodiment of the present invention, the second control module 520 is specifically configured to:

controlling the unmanned carrier to bear the movement of the vehicle to be calibrated so that a sensor of the vehicle to be calibrated acquires multi-frame data with a second identification code;

and calibrating the sensor of the vehicle to be calibrated based on the multi-frame data, and sending a calibration result to the vehicle to be calibrated, so that the vehicle to be calibrated calibrates the sensor according to the calibration result.

As an alternative implementation manner of the embodiment of the present invention, the first control module 510 is specifically configured to:

controlling a first unmanned carrier to carry a first vehicle to be calibrated to the calibration room, and controlling at least one second unmanned carrier to carry a second vehicle to be calibrated to a waiting area of the calibration room;

correspondingly, the apparatus 500 further comprises: a third control module;

and the third control module is used for controlling any second unmanned carrier to drive into the calibration room from the waiting area when the first unmanned carrier is determined to bear the first vehicle to be calibrated to drive out of the calibration room, so as to calibrate the sensor of the second vehicle to be calibrated.

As an alternative implementation manner of the embodiment of the present invention, the apparatus 500 further includes: a detection module;

the detection module is used for detecting the working state of the vehicle to be calibrated on the unmanned carrier when the unmanned carrier runs to the second position between the calibration rooms.

As an optional implementation manner of the embodiment of the present invention, the detection module is specifically configured to:

selecting a target vehicle to be calibrated based on the acquired vehicle list to be calibrated, and establishing second communication connection with the target vehicle to be calibrated;

Detecting the working state of the target vehicle to be calibrated based on the second communication connection; or,

controlling a second acquisition device to acquire a first identification code of the vehicle to be calibrated on the unmanned carrier so as to establish second communication connection with the vehicle to be calibrated based on the first identification code;

and detecting the working state of the vehicle to be calibrated on the unmanned carrier based on the second communication connection.

As an optional implementation manner of the embodiment of the present invention, the apparatus 500 further includes: an alarm module;

and the alarm module is used for sending alarm information if the communication connection between the unmanned carrier and the vehicle to be calibrated is abnormal.

It should be noted that the foregoing explanation of the embodiment of the sensor calibration method is also applicable to the sensor calibration device of this embodiment, and the implementation principle is similar, which is not repeated herein.

According to the technical scheme provided by the embodiment of the invention, the plurality of unmanned carrier vehicles are matched with each other, different automatic driving vehicles to be calibrated are continuously carried into the calibration room in sequence, so that the automatic calibration of the sensors of the different automatic driving vehicles to be calibrated in the calibration room is realized, the manual and manual calibration is avoided, the calibration speed and the calibration precision are improved, and the labor cost is reduced.

Example six

Fig. 8 is a schematic structural diagram of a calibration server according to a sixth embodiment of the present invention. FIG. 8 illustrates a block diagram of an exemplary calibration server 600 suitable for use in implementing embodiments of the present invention. The calibration server 600 shown in fig. 8 is only an example, and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

As shown in FIG. 8, calibration server 600 is in the form of a general purpose computing device. Components of calibration server 600 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, a bus 18 that connects the various system components, including the system memory 28 and the processing units 16.

Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, and a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Calibration server 600 typically includes a variety of computer system readable media. Such media can be any available media that can be accessed by calibration server 600 and includes both volatile and nonvolatile media, removable and non-removable media.

The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32. Calibration server 600 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 8, commonly referred to as a "hard disk drive"). Although not shown in fig. 8, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 18 through one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of the embodiments of the invention.

A program/utility 40 having a set (at least one) of program modules 42 may be stored in, for example, system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 42 generally perform the functions and/or methods of the embodiments described herein.

The calibration server 600 may also be in communication with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the calibration server 600, and/or any device (e.g., network card, modem, etc.) that enables the calibration server 600 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 22. Moreover, calibration server 600 may also communicate with one or more networks, such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through network adapter 20. As shown, the network adapter 20 communicates with the other modules of the calibration server 600 via the bus 18. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with calibration server 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.

The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, for example, to implement the sensor calibration method provided by the embodiment of the present invention, including:

It should be noted that the foregoing explanation of the embodiment of the sensor calibration method is also applicable to the calibration server of this embodiment, and the implementation principle is similar, which is not repeated herein.

Example seven

Fig. 9 is a schematic structural diagram of a sensor calibration system according to a seventh embodiment of the present invention. As shown in fig. 9, a sensor calibration system 700 provided in an embodiment of the present invention includes: the calibration server 600, at least two unmanned vehicles 710 and a vehicle to be calibrated 720 according to the sixth embodiment.

The calibration server 600 is configured to execute the sensor calibration method according to any one of the embodiments of the present invention;

The at least two unmanned vehicles 710 are configured to sequentially convey vehicles to be calibrated to a calibration room according to a control instruction sent by the calibration server 600;

the vehicle to be calibrated 720 is configured to calibrate the sensor according to the calibration command sent by the calibration server 600.

It should be noted that the foregoing explanation of the embodiment of the sensor calibration method is also applicable to the sensor calibration system of this embodiment, and the implementation principle is similar, which is not repeated herein.

Example eight

To achieve the above object, an eighth embodiment of the present invention also proposes a computer-readable storage medium.

The computer readable storage medium provided by the embodiment of the invention stores a computer program, and the program realizes the sensor calibration method according to the embodiment of the invention when being executed by a processor, and the method comprises the following steps:

The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

Note that the above is only a preferred embodiment of the present invention and the technical principle applied. 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, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims

1. A sensor calibration method, characterized by being applied to a calibration server, the method comprising:

when any one of the unmanned carrier is detected to run to a first position between the calibration rooms, controlling a first acquisition device to acquire a first identification code of the vehicle to be calibrated, and establishing a first communication connection according to the first identification code;

calibrating the sensor of the vehicle to be calibrated based on the first communication connection, including:

2. The method according to claim 1, wherein the controlling at least two unmanned carriers to sequentially carry the vehicles to be calibrated to the calibration room comprises:

Correspondingly, the method further comprises the steps of:

when the first unmanned carrier is determined to bear the first vehicle to be calibrated to drive out of the calibration room, any second unmanned carrier is controlled to drive in the calibration room from the waiting area so as to calibrate a sensor of the second vehicle to be calibrated.

3. The method as recited in claim 1, further comprising:

and when the unmanned carrier runs to the second position of the calibration room, detecting the working state of the vehicle to be calibrated on the unmanned carrier.

4. A method according to claim 3, wherein said detecting the operating condition of the vehicle to be calibrated on the automated guided vehicle comprises:

5. The method of any one of claims 1-4, further comprising:

and if the communication connection between the unmanned carrier and the vehicle to be calibrated is abnormal, sending alarm information.

6. A sensor calibration device, configured to a calibration server, comprising:

the second control module is used for controlling a first acquisition device to acquire a first identification code of the vehicle to be calibrated when any one of the unmanned carrier vehicles is detected to travel to a first position between the calibration rooms, establishing a first communication connection according to the first identification code, and calibrating a sensor of the vehicle to be calibrated based on the first communication connection;

the second control module is specifically configured to:

7. A calibration server, comprising:

one or more processors;

storage means for storing one or more programs,

when executed by the one or more processors, causes the one or more processors to implement the sensor calibration method of any of claims 1-5.

8. A sensor calibration system, comprising: the calibration server of claim 7, at least two automated guided vehicles, and a vehicle to be calibrated;

9. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the sensor calibration method according to any one of claims 1-5.