CN113359115B - Integral calibration method, system, device, equipment and medium of range radar - Google Patents
Integral calibration method, system, device, equipment and medium of range radar Download PDFInfo
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Abstract
The invention provides an overall calibration method, system, device, electronic equipment and non-transitory computer readable storage medium of a range radar, wherein the overall calibration method comprises the following steps: acquiring first measurement data returned by a first range radar and second measurement data returned by a second range radar, and performing data fusion on the first measurement data and the second measurement data to obtain fusion data; fitting the fusion data to obtain a first fitting radius; and when the absolute value of the first difference value between the standard radius of the standard pipeline and the first fitting radius is larger than or equal to a set first error threshold value, carrying out integral calibration on the range radar according to the first difference value. The technical scheme of the embodiment of the invention can realize the improvement of the measurement accuracy of the range radar.
Description
Technical Field
The present invention relates to the field of measurement technologies, and in particular, to an overall calibration method, system, device, electronic apparatus, and non-transitory computer readable storage medium for a range radar.
Background
Currently, in the process of imaging the interior of a pipeline based on two-dimensional laser scanning, two-dimensional image data in the interior of the pipeline is generally constructed according to echo signals of the same frame of laser signals. In the related art, each time an echo signal of a frame of laser signal is acquired, contour imaging corresponding to the echo signal is displayed, and errors often exist in the echo signal acquisition process, so that larger deviation exists in contour imaging data.
In addition, the number of effective points obtained by each frame of effective data of the existing laser scanning range radar can be changed according to environmental changes, so that the imaged outline is inaccurate. Meanwhile, the accuracy of the laser scanning range radar can be affected by different pipeline inner diameters, materials and attachment types of the inner wall of the pipeline.
In order to improve the measurement accuracy of the laser scanning range radar, the range radar can be calibrated relatively.
In the related art, a range radar is generally mounted in a travelling device, and the profile of the inner wall of a pipeline needs to be measured along 360-degree circular scanning. The pipeline internal image contrast analysis of pipeline contour imaging and television detection is carried out by adopting the range radar, so that the internal condition of the pipeline can be intuitively known, and various defects found in the pipeline detection can be quantified. The camera device on which television detection depends is arranged in front of the laser range finding radar, and is shielded by the assembly structure when the camera is arranged in front of the laser range finding radar, the range finding radar can have a circumferential range finding blind area with a certain angle range, and thus, a complete pipeline inner wall section profile imaging cannot be obtained by adopting a single range finding radar.
When different range radars are used for simultaneously carrying out imaging scanning in a pipeline, a situation of large measurement error can occur due to the mutual influence between the two range radars.
Disclosure of Invention
The invention provides an overall calibration method, system, device, electronic equipment and non-transitory computer readable storage medium of a range radar, which are used for solving the defect of large error when different range radars measure pipelines simultaneously in the prior art and improving the measurement accuracy of the range radars.
The invention provides an integral calibration method of a range radar, which comprises the following steps: acquiring first measurement data returned by a first range radar and second measurement data returned by a second range radar, wherein the first measurement data and the second measurement data are obtained by respectively measuring the distance of the inner wall of a standard pipeline by the first range radar and the second range radar fixed in the standard pipeline, and the connecting line of the center points of the first range radar and the second range radar is along the radial direction of the section of the standard pipeline; performing data fusion on the first measurement data and the second measurement data to obtain fusion data; fitting the fusion data to obtain a first fitting radius; and when the absolute value of the first difference value between the standard radius of the standard pipeline and the first fitting radius is larger than or equal to a set first error threshold value, carrying out integral calibration on the first range radar and the second range radar according to the first difference value.
According to the overall calibration method of the range radar provided by the invention, before the first measurement data returned by the first range radar and the second measurement data returned by the second range radar are obtained, the overall calibration method comprises the following steps: acquiring third measurement data returned by a third range radar, wherein the third measurement data is obtained by ranging the inner wall of a standard pipeline by the third range radar fixed in the standard pipeline, and the third range radar is a first range radar or a second range radar; fitting the third measurement data to obtain a second fitting radius; and when the absolute value of the second difference value between the standard radius of the standard pipeline and the second fitting radius is larger than or equal to a set second error threshold value, carrying out relative calibration on the third range radar according to the second difference value.
According to the overall calibration method of the range radar provided by the invention, the overall calibration of the range radar is carried out according to the first difference value, and the method comprises the following steps: if the standard radius is smaller than the first fitting radius, storing the absolute value of the first difference value and marking the first difference value as a negative value, so as to subtract the absolute value of the first difference value from newly acquired measurement data in the data processing process; and if the standard radius is larger than the first fitting radius, storing the absolute value of the first difference value and marking the first difference value as a positive value so as to increase the absolute value of the first difference value for newly acquired measurement data in the data processing process.
According to the integral calibration method of the range radar provided by the invention, the first range radar adopts a difference frequency phase type laser ranging mode to sequentially range a plurality of single points in the pipeline of the standard pipeline, so as to obtain the first measurement data; and the second range radar adopts a difference frequency phase type laser ranging mode to sequentially range a plurality of single points in the pipeline of the standard pipeline to obtain second measurement data.
According to the overall calibration method of the range radar provided by the invention, the first measurement data and the second measurement data are subjected to data fusion, and the method comprises the following steps: converting the first measurement data and the second measurement data into the same coordinate system; and carrying out data fusion on the first measurement data and the second measurement data after the coordinate system conversion.
According to the overall calibration method of the range radar provided by the invention, the fitting of the second measurement data comprises the following steps: and carrying out circle fitting on the second measurement data by adopting a least square method.
The invention also provides an integral calibration system of the range radar, which comprises: standard piping; the first range radar and the second range radar are fixed in the standard pipeline and are used for sending laser signals to the inner wall of the standard pipeline and receiving returned echo signals, wherein the connecting line of the center points of the first range radar and the second range radar is along the radial direction of the section of the standard pipeline; the controller is used for analyzing the echo signals to obtain first measurement data returned by the first range radar and second measurement data returned by the second range radar; performing data fusion on the first measurement data and the second measurement data to obtain fusion data; fitting the fusion data to obtain a first fitting radius; and when the absolute value of the first difference value between the standard radius of the standard pipeline and the first fitting radius is larger than or equal to a set first error threshold value, carrying out integral calibration on the first range radar and the second range radar according to the first difference value.
The invention also provides an integral calibration device of the range radar, which comprises: the system comprises an acquisition unit, a first distance measuring radar acquisition unit and a second distance measuring radar acquisition unit, wherein the acquisition unit is used for acquiring first measurement data returned by a first distance measuring radar and second measurement data returned by a second distance measuring radar, the first measurement data and the second measurement data are obtained by respectively measuring the distance of the inner wall of a standard pipeline by the first distance measuring radar and the second distance measuring radar which are fixed in the standard pipeline, and the connecting line of the central points of the first distance measuring radar and the second distance measuring radar is along the radial direction of the section of the standard pipeline; the fusion unit is used for carrying out data fusion on the first measurement data and the second measurement data to obtain fusion data; the fitting unit is used for fitting the fusion data to obtain a first fitting radius; and the calibration unit is used for integrally calibrating the first range radar and the second range radar according to the first difference value when the absolute value of the first difference value between the standard radius of the standard pipeline and the first fitting radius is larger than or equal to a set first error threshold value.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the whole calibration method of the range radar.
The invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the overall calibration method of a range radar as described in any of the above.
According to the method, the system, the device, the electronic equipment and the non-transitory computer readable storage medium for integrally calibrating the range radar, the first measurement data and the second measurement data are acquired, the data fusion is carried out, the fusion data are fitted to obtain the first fitting radius, the first range radar and the second range radar are integrally calibrated according to the first difference value of the standard radius and the first fitting radius, the measurement accuracy of the range radar can be improved, and more accurate contour imaging of the interior of a pipeline is obtained.
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In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of an overall calibration method of a range radar provided by the invention;
FIG. 2 is a schematic illustration of contour imaging formed from measurement data provided by the present invention without integral calibration;
FIG. 3A is a schematic illustration of contour imaging from integrally calibrated measurement data provided in accordance with the present invention;
FIG. 3B is a second schematic illustration of profile imaging from integrally calibrated measurement data provided by the present invention;
FIG. 3C is a third schematic illustration of contour imaging from integrally calibrated measurement data provided in accordance with the present invention;
FIG. 4 is a schematic structural diagram of an overall calibration system of the range radar provided by the invention;
FIG. 5 is a schematic structural diagram of an overall calibration device of the range radar provided by the invention;
fig. 6 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the related art, in the process of imaging the inside of a two-dimensional laser scanning pipeline, due to errors in the acquisition process and the reduction of the accuracy of the laser scanning radar caused by the influence of the environment, the pipeline material and the attachments in the pipeline, the imaging effect of imaging the inside of the two-dimensional laser scanning pipeline is influenced. The relative calibration of the range radar can calibrate the accuracy of the radar itself, but the calibrated different range radars still have errors when scanning and imaging the pipeline together.
In order to solve the technical problem, the embodiment of the invention provides an overall calibration method, system, device, electronic equipment and non-transitory computer readable storage medium of a range radar.
An exemplary embodiment of the present invention will be described in detail with reference to fig. 1 to 6.
Fig. 1 is a flowchart of an overall calibration method of a range radar according to an embodiment of the present invention. The method provided by the embodiment of the invention can be executed by any electronic device with computer processing capability, such as a terminal device and/or a server. As shown in fig. 1, the overall calibration method of the range radar includes:
step 102, acquiring first measurement data returned by a first range radar and second measurement data returned by a second range radar, wherein the first measurement data and the second measurement data are obtained by respectively measuring the distance of the inner wall of a standard pipeline by the first range radar and the second range radar fixed in the standard pipeline, and the connecting line of the central points of the first range radar and the second range radar is along the radial direction of the section of the standard pipeline.
Specifically, the range radar may be a laser scanning range radar, where the laser scanning range radar transmits a laser signal to a target scanning area, and after receiving an echo signal returned after the laser signal encounters an obstacle, analyzes the echo signal to obtain distances between the range radar and each point of the obstacle, so as to obtain contour imaging of the obstacle. The measurement data is the data formed according to the echo signals. The standard pipeline is a pipeline for calibration, and the pipe diameter and the material of the standard pipeline are the same as those of the pipeline to be measured, so that the influence of the inner diameter and the material of the pipeline on the accuracy of laser scanning ranging can be reduced to a certain extent. When the overall calibration of the range radar is performed, the standard pipeline is placed horizontally.
And 104, carrying out data fusion on the first measurement data and the second measurement data to obtain fusion data.
And 106, fitting the fusion data to obtain a first fitting radius.
Specifically, the fitting refers to circle fitting, and specifically, circle fitting is to connect a series of points on a plane with a circle. Here, fitting the measurement data may be fitting points on a plane in which the cross section of the standard pipe lies. The first fitting radius refers to the radius of a circle where the cross section of the standard pipeline obtained through fitting is located. The data processing system of the range radar after integral calibration can correct the measured data obtained by the range radar ranging, thereby obtaining more accurate pipeline imaging. Here, the data processing system is a system that processes measurement data.
And step 108, when the absolute value of the first difference value between the standard radius of the standard pipeline and the first fitting radius is greater than or equal to a set first error threshold value, carrying out integral calibration on the first range radar and the second range radar according to the first difference value.
Specifically, the standard radius is the radius in the known factory specification of the standard pipeline, and can also be the radius obtained by manually using a ruler to perform conventional measurement under the condition of not adopting range radar and laser measurement. Here, the rules include, but are not limited to, the following categories: tape measures, straightedge, vernier calipers, inner diameter calipers, etc.
The first error threshold may be set according to actual needs, for example, the first error threshold may be 2mm, and is not limited thereto. The integral calibration can set one integral calibration data serving as offset for two or more range radars, and when imaging scanning is carried out on an object to be detected according to measurement data obtained by the range radars, imaging display is carried out on the object to be detected according to data obtained by adding or subtracting the offset from the measurement data.
According to the technical scheme provided by the embodiment of the invention, the data fusion is firstly carried out on the measurement data obtained by measuring different range radars, then the comparison of the first fitting radius obtained by fitting the fusion data and the standard radius is carried out, and the range radars are integrally calibrated according to the first difference value of the first fitting radius and the standard radius, so that the measurement precision of the range radars in common measurement is improved, and further, more accurate contour imaging of the interior of the pipeline to be measured can be obtained.
Before the first measurement data returned by the first range radar and the second measurement data returned by the second range radar are acquired in step 102, the first range radar and the second range radar may be individually calibrated. Specifically, when the first range radar or the second range radar is relatively calibrated, the range radar to be relatively calibrated is set as a third range radar, and the calibration process is as follows: acquiring third measurement data returned by a third range radar, wherein the third measurement data is obtained by ranging the inner wall of the standard pipeline by the third range radar fixed in the standard pipeline; fitting the third measurement data to obtain a second fitting radius; and when the absolute value of the second difference value between the standard radius of the standard pipeline and the second fitting radius is larger than or equal to a set second error threshold value, carrying out relative calibration on the third range radar according to the second difference value.
In the embodiment of the invention, the scanning range of the first range radar and the second range radar is 360 degrees, and a difference frequency phase type laser ranging mode can be adopted to sequentially range a plurality of single points in the pipeline of the standard pipeline, so that first measurement data and second measurement data are respectively obtained.
Specifically, the range radar may include a rotation mechanism for driving the laser transmitter and the echo collector of the range radar to rotate, and a fixing mechanism for fixing the rotation mechanism and fixing the range radar on the traveling device.
When two-dimensional laser scanning is carried out, the rotation mechanism of the range radar transmits laser signals to one single point once every time, so that echo signals of one single point can be acquired. After the rotating mechanism rotates 360 degrees, the two-dimensional distance information of all single points on one circumference of the inner wall of the standard pipeline can be obtained, and therefore the whole two-dimensional laser scanning distance measurement is completed. And sending the two-dimensional distance information to a target display terminal and displaying the two-dimensional distance information on the target display terminal, so that a contour image of the pipeline can be obtained.
Here, in the difference frequency phase type laser ranging mode, a local oscillation signal and a main oscillation signal need to be set, and the main oscillation signal generates phase delay after going back and forth to-be-measured distance, and receives a ranging signal. And mixing the ranging signal, the main vibration signal and the local oscillation signal, and then performing low-pass filtering to obtain a low-frequency optical path signal and a reference signal, and obtaining the measured distance according to the phase difference between the optical path signal and the reference signal and the wavelength of the main vibration signal.
The first step in the overall calibration process of the range radar is to use the range radar to measure standard pipes. Specifically, the ranging radar is placed in a standard pipeline, the standard pipeline can be horizontally placed, and the ranging radar can be fixed in the center of the pipeline, so that the consistency of the positions of each detection of the ranging radar is ensured.
After the range radar is fixed, the range radar is started to scan and measure a standard pipeline, namely, a plurality of single points in the pipeline sequentially perform laser scanning, reflected light waves formed after the laser is reflected at the plurality of single points in the pipeline are sequentially obtained, and the reflected light waves are echo signals of laser signals. Here, the positions of the plurality of single points may be located on the same cross section of the standard pipe and uniformly distributed on the circumference of the cross section. Preferably, a range radar is also located on the cross section. In step 102, first measurement data and second measurement data obtained by analyzing the reflected light wave are acquired.
In step 104, the first measurement data and the second measurement data need to be converted into the same coordinate system, and then the first measurement data and the second measurement data after the coordinate system conversion are subjected to data fusion. Specifically, when data fusion is carried out, aiming at the superposition part of the measuring ranges of the inner wall of the pipeline to be scanned by the first range radar and the second range radar, the first measuring data and the second measuring data are superposed, and superposition part data are obtained; aiming at the non-coincident part of the measuring range of the inner wall of the pipeline to be scanned by the first range finding radar and the second range finding radar, taking the first measuring data or the second measuring data as non-coincident part data; and obtaining fusion data according to the overlapping part data and the non-overlapping part data.
In step 106, when fitting the fusion data, the fusion data may be fitted by a least square method.
Fitting in the embodiments of the present invention refers to fitting of circles, i.e. circle fitting. Specifically, each frame of echo signals can be subjected to least square method circle fitting, and a fitting radius is obtained. Here, each frame of echo signal is an echo signal obtained by sequentially carrying out laser scanning on a plurality of single points in the pipeline for one circle, the distances between the plurality of single points in the pipeline and the range radar can be obtained by analyzing the echo signal, and the fitting radius of the circumference formed by the plurality of single points can be obtained by fitting the distances between the plurality of single points in the same plane and the range radar.
The least square method, also called least squares method, is a mathematical optimization technique. It finds the best functional match for the data by minimizing the sum of squares of the errors. The unknown data can be easily obtained by the least square method, and the sum of squares of errors between the obtained data and the actual data is minimized. The least squares method is the most commonly used method to solve the curve fitting problem.
Specifically, given a set of measurement data, based on the least squares principle, a functional relationship f (x, a) between variables x and y is found such that it best approximates or fits the known data. f (x, a), called the fitting model, is a number of parameters to be determined. The approach is to choose the parameter a such that the weighted square sum of the residuals of the fitted model and the actual observations at each point is minimized. Wherein, the residual error refers to the difference between the actual observed value and the fitting value in mathematical statistics. The curve fitted using this method is called a least squares fitted curve.
The fitting model when circle fitting is performed by using the least square method can be:
wherein f is an optimized objective function of error square, x and y are coordinates of feature points on the circular arc, and R is a first fitting radius. (x) 0 ，y 0 ) Is the center coordinates.
In step 108, the accuracy of the radar is obtained by comparing the standard radius of the standard pipe with the first fitting radius. If the standard radius is equal to the first fitting radius or the difference value of the standard radius and the first fitting radius is within the allowable range of the first error threshold, the application of the first range radar and the second range radar in the measurement of the standard pipeline with the same type of pipeline is higher in accuracy, and if the standard radius is smaller in error, the application of the first range radar and the second range radar is not high enough in accuracy, and manual correction is needed.
For example, when the first error threshold is 2mm and the standard radius is 50mm, if the first fitting radius is 48mm, the first difference is +2mm, and the absolute value of the first difference is equal to the first error threshold, this indicates that the accuracy of the range radar is not high enough, and the overall calibration is required. Here, the first error threshold value of 2mm is only exemplary, and its actual value is not limited to a sub-value, and may be adjusted according to actual needs, for example, may be adjusted to 3mm,5mm,6mm, etc.
If the first fitting radius is 47mm, the first difference value is +3mm, and the absolute value of the first difference value is larger than the first error threshold value, the accuracy of the range radar is not high enough, and the whole calibration is needed.
If the first fitting radius is 49mm, the first difference value is +1mm, and the absolute value of the first difference value is smaller than the first error threshold value, the accuracy of the range radar is higher, and recalibration is not needed.
If the first fitting radius is 53mm, the first difference value is-3 mm, and the absolute value of the first difference value is larger than the first error threshold value, the accuracy of the range radar is not high enough, and the whole calibration is needed.
If the first fitting radius is 51mm, the first difference value is-1 mm, and the absolute value of the first difference value is smaller than the first error threshold value, the accuracy of the range radar is higher, and recalibration is not needed.
If the standard radius is smaller than the first fitting radius, the absolute value of the first difference is stored and marked as negative value, so that the absolute value of the first difference is subtracted from the newly acquired measurement data in the data processing process; if the standard radius is larger than the first fitting radius, the absolute value of the first difference value is stored, and the first difference value is marked as a positive value, so that the absolute value of the first difference value is increased for newly acquired measurement data in the data processing process.
For example, when the first error threshold is 2mm and the standard radius is 50mm, if the first fitting radius is 48mm, the first difference is 2mm and the overall calibration data is +2mm. Thus, the measurement data at each single point of the new acquisition during the data processing process needs to be increased by 2mm.
If the first fitting radius is 47mm, the first difference is 3mm and the overall calibration data is +3mm. Thus, the measurement data at each single point of the new acquisition during the data processing process needs to be increased by 3mm.
If the first fitting radius is 53mm, the first difference is-3 mm and the overall calibration data is-3 mm. Thus, the measurement data at each single point of the new acquisition during the data processing process needs to be reduced by 3mm.
Specifically, if the standard radius of the standard pipeline is smaller than the first fitting radius, the distance values of all return points of each frame of echo signals need to be subtracted by the phase difference value, otherwise, the distance values of all return points of each frame of echo signals need to be added by the phase difference value.
As shown in fig. 2, in the measurement data of the two range radars which have not undergone the overall calibration correction, the standard radius of the standard pipe is 400mm. The first fitting radius is 415.24mm, the first difference value is 15.24mm, and if the first error threshold value is 10mm, the absolute value of the first difference value is larger than the first error threshold value, which indicates that the accuracy of the range radar is not high enough and the whole calibration is needed.
Here, the two ranging radars may be a left radar and a right radar, which are disposed at the center of a horizontally placed standard pipe, and the line connecting the center points of the two is along the radial direction of the cross section of the standard pipe.
As shown in fig. 3A, the standard radius of the standard pipe is 400mm. And the whole calibration data of the left radar and the right radar are negative 30mm, at the moment, the measurement data after the whole calibration correction is fitted again, the first fitting radius is 401mm, the first difference value is 1mm, and if the first error threshold value is 10mm, the absolute value of the first difference value is smaller than the first error threshold value, so that the accuracy of the ranging radar subjected to the whole calibration correction is higher.
As shown in fig. 3B, the standard radius of the standard pipe is 400mm. The left radar is not calibrated, the whole calibration data of the right radar is positive 50mm, at the moment, the measurement data after the whole calibration correction is fitted again, a first fitting radius of 426.6mm can be obtained, a first difference value of the first fitting radius is 26.6mm, and if the first error threshold value is 10mm, the absolute value of the first difference value is larger than the first error threshold value, the accuracy of the ranging radar subjected to the whole calibration correction is not high.
As shown in fig. 3C, the standard radius of the standard pipe is 400mm. The whole calibration data of the left radar is negative 18mm, the whole calibration data of the right radar is negative 16mm, at the moment, the measurement data after the whole calibration correction is fitted again, a first fitting radius 404.26mm can be obtained, a first difference value is 4.26mm, and if the first error threshold value is 10mm, the absolute value of the first difference value is smaller than the first error threshold value, so that the accuracy of the ranging radar subjected to the whole calibration correction is higher.
According to the integral calibration method of the range radar, the first measurement data and the second measurement data are acquired, data fusion is carried out, the fusion data are fitted to obtain the first fitting radius, the integral calibration is carried out on the first range radar and the second range radar according to the first difference value of the standard radius and the first fitting radius, the measurement accuracy of the range radar can be improved, and more accurate contour imaging of the interior of the pipeline is obtained.
The overall calibration system of the range radar provided by the invention is described below, and the overall calibration system of the range radar described below and the overall calibration method of the range radar described above can be correspondingly referred to each other.
As shown in fig. 4, the overall calibration system of the range radar provided by the embodiment of the invention includes:
standard piping 401.
The left radar 4021 and the right radar 4022 fixed in the standard pipeline are used for sending laser signals to the inner wall of the standard pipeline and receiving returned echo signals, wherein a connecting line of the central points of the first range radar and the second range radar is along the radial direction of the section of the standard pipeline. The left radar 4021 is a first ranging radar, and the right radar 4022 is a second ranging radar.
The controller 403 is configured to parse the echo signal to obtain first measurement data returned by the first range radar and second measurement data returned by the second range radar; performing data fusion on the first measurement data and the second measurement data to obtain fusion data; fitting the fusion data to obtain a first fitting radius; and when the absolute value of the first difference value between the standard radius of the standard pipeline and the first fitting radius is larger than or equal to a set first error threshold value, carrying out integral calibration on the first range radar and the second range radar according to the first difference value.
Specifically, the left radar 4021 and the right radar 4022 may be connected to the controller 403 through a wireless communication manner or a wired communication manner, and specifically, the range radar and the controller 403 may be provided with matched communication modules, so as to implement communication between the two. In one embodiment, the range radar may be integrated with the controller. The controller can be connected with the upper computer in a wireless communication mode or a wired communication mode, and the upper computer can display outline imaging of the pipeline to be measured. The range radar transmits an echo signal to the controller 403, and at the same time, the range radar also receives a control signal transmitted by the controller and transmits a laser signal to the inner wall of the standard pipeline according to the control signal.
The controller analyzes the laser signal and the echo signal to obtain the measurement data of the range radar.
Since the controller module of the overall calibration system of the range radar according to the exemplary embodiment of the present invention corresponds to the steps of the foregoing exemplary embodiment of the overall calibration method of the range radar, for details not disclosed in the embodiment of the apparatus of the present invention, please refer to the embodiment of the foregoing overall calibration method of the range radar according to the present invention.
According to the integral calibration system of the range radar, the first measurement data and the second measurement data are acquired, data fusion is carried out, the fusion data are fitted to obtain the first fitting radius, the integral calibration is carried out on the first range radar and the second range radar according to the first difference value of the standard radius and the first fitting radius, the measurement accuracy of the range radar can be improved, and more accurate contour imaging of the interior of a pipeline is obtained.
The whole calibration device of the range radar provided by the invention is described below, and the whole calibration device of the range radar described below and the whole calibration method of the range radar described above can be correspondingly referred to each other.
As shown in fig. 5, the integral calibration device of the range radar provided by the embodiment of the invention includes:
The obtaining unit 502 is configured to obtain first measurement data returned by the first range radar and second measurement data returned by the second range radar, where the first measurement data and the second measurement data are obtained by respectively measuring a distance on an inner wall of the standard pipeline by the first range radar and the second range radar fixed in the standard pipeline, and a connecting line of a center point of the first range radar and a connecting line of a center point of the second range radar are along a radial direction of a cross section of the standard pipeline.
And a fusion unit 504, configured to perform data fusion on the first measurement data and the second measurement data, so as to obtain fusion data.
And a fitting unit 506, configured to fit the fusion data to obtain a first fitting radius.
And the calibration unit 508 is configured to perform overall calibration on the first range radar and the second range radar according to the first difference value when the absolute value of the first difference value between the standard radius of the standard pipeline and the first fitting radius is greater than or equal to the set first error threshold.
Wherein the calibration unit 508 is further configured to: if the standard radius is smaller than the first fitting radius, storing the absolute value of the first difference value and marking that the first difference value is a negative value so as to subtract the absolute value of the first difference value from the newly acquired measurement data in the data processing process; if the standard radius is larger than the first fitting radius, the absolute value of the first difference value is stored, and the first difference value is marked as a positive value, so that the absolute value of the first difference value is increased for newly acquired measurement data in the data processing process.
In the embodiment of the invention, the scanning range of the range radar is 360 degrees, and the range radar adopts a difference frequency phase type laser range finding mode to sequentially measure a plurality of single points in the pipeline of the standard pipeline. Wherein the plurality of single points are located on the same cross section of the standard pipe.
The fitting unit 506 is further configured to perform a circle fitting on the second measurement data by using a least square method.
Since each functional module of the overall calibration device of the range radar according to the exemplary embodiment of the present invention corresponds to a step of the foregoing exemplary embodiment of the overall calibration method of the range radar, for details not disclosed in the embodiment of the device of the present invention, please refer to the embodiment of the foregoing overall calibration method of the range radar according to the present invention.
According to the integral calibration device of the range radar, the first measurement data and the second measurement data are acquired, data fusion is carried out, the fusion data are fitted to obtain the first fitting radius, the integral calibration is carried out on the first range radar and the second range radar according to the first difference value of the standard radius and the first fitting radius, the measurement accuracy of the range radar can be improved, and more accurate contour imaging of the interior of a pipeline is obtained.
Fig. 6 illustrates a physical schematic diagram of an electronic device, as shown in fig. 6, which may include: processor 610, communication interface (Communications Interface) 620, memory 630, and communication bus 640, wherein processor 610, communication interface 620, and memory 630 communicate with each other via communication bus 640. The processor 610 may invoke logic instructions in the memory 630 to perform an overall calibration method for a range radar, the method comprising: acquiring first measurement data returned by a first range radar and second measurement data returned by a second range radar, wherein the first measurement data and the second measurement data are obtained by respectively measuring the distance of the inner wall of a standard pipeline by the first range radar and the second range radar fixed in the standard pipeline, and the connecting line of the center points of the first range radar and the second range radar is along the radial direction of the section of the standard pipeline; performing data fusion on the first measurement data and the second measurement data to obtain fusion data; fitting the fusion data to obtain a first fitting radius; and when the absolute value of the first difference value between the standard radius of the standard pipeline and the first fitting radius is larger than or equal to a set first error threshold value, carrying out integral calibration on the first range radar and the second range radar according to the first difference value.
Further, the logic instructions in the memory 630 may be implemented in the form of software functional units and stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the overall calibration method of a range radar provided by the above methods, the method comprising: acquiring first measurement data returned by a first range radar and second measurement data returned by a second range radar, wherein the first measurement data and the second measurement data are obtained by respectively measuring the distance of the inner wall of a standard pipeline by the first range radar and the second range radar fixed in the standard pipeline, and the connecting line of the center points of the first range radar and the second range radar is along the radial direction of the section of the standard pipeline; performing data fusion on the first measurement data and the second measurement data to obtain fusion data; fitting the fusion data to obtain a first fitting radius; and when the absolute value of the first difference value between the standard radius of the standard pipeline and the first fitting radius is larger than or equal to a set first error threshold value, carrying out integral calibration on the first range radar and the second range radar according to the first difference value.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the above-provided method for overall calibration of a range radar, the method comprising: acquiring first measurement data returned by a first range radar and second measurement data returned by a second range radar, wherein the first measurement data and the second measurement data are obtained by respectively measuring the distance of the inner wall of a standard pipeline by the first range radar and the second range radar fixed in the standard pipeline, and the connecting line of the center points of the first range radar and the second range radar is along the radial direction of the section of the standard pipeline; performing data fusion on the first measurement data and the second measurement data to obtain fusion data; fitting the fusion data to obtain a first fitting radius; and when the absolute value of the first difference value between the standard radius of the standard pipeline and the first fitting radius is larger than or equal to a set first error threshold value, carrying out integral calibration on the first range radar and the second range radar according to the first difference value.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The integral calibration method of the range radar is characterized by comprising the following steps of:
acquiring first measurement data returned by a first range radar and second measurement data returned by a second range radar, wherein the first measurement data and the second measurement data are obtained by respectively measuring the distance of the inner wall of a standard pipeline by the first range radar and the second range radar fixed in the standard pipeline, and the connecting line of the center points of the first range radar and the second range radar is along the radial direction of the section of the standard pipeline;
performing data fusion on the first measurement data and the second measurement data to obtain fusion data;
Fitting the fusion data to obtain a first fitting radius;
and when the absolute value of the first difference value between the standard radius of the standard pipeline and the first fitting radius is larger than or equal to a set first error threshold value, carrying out integral calibration on the first range radar and the second range radar according to the first difference value.
2. The method according to claim 1, wherein before the first measurement data returned by the first range radar and the second measurement data returned by the second range radar are obtained, the method comprises:
acquiring third measurement data returned by a third range radar, wherein the third measurement data is obtained by ranging the inner wall of a standard pipeline by the third range radar fixed in the standard pipeline, and the third range radar is a first range radar or a second range radar;
fitting the third measurement data to obtain a second fitting radius;
and when the absolute value of the second difference value between the standard radius of the standard pipeline and the second fitting radius is larger than or equal to a set second error threshold value, carrying out relative calibration on the third range radar according to the second difference value.
3. The method of integral calibration according to claim 1, wherein said integrally calibrating the range radar according to the first difference value includes:
if the standard radius is smaller than the first fitting radius, storing the absolute value of the first difference value and marking the first difference value as a negative value so as to subtract the absolute value of the first difference value from newly acquired measurement data in the data processing process;
and if the standard radius is larger than the first fitting radius, storing the absolute value of the first difference value and marking the first difference value as a positive value so as to increase the absolute value of the first difference value for newly acquired measurement data in the data processing process.
4. The integral calibration method according to claim 1, wherein the first ranging radar sequentially ranges a plurality of single points in the pipeline of the standard pipeline by adopting a difference frequency phase type laser ranging mode to obtain the first measurement data;
and the second range radar adopts a difference frequency phase type laser ranging mode to sequentially range a plurality of single points in the pipeline of the standard pipeline to obtain second measurement data.
5. The method of integral calibration of claim 4, wherein data fusion of the first measurement data and the second measurement data comprises: converting the first measurement data and the second measurement data into the same coordinate system;
And carrying out data fusion on the first measurement data and the second measurement data after the coordinate system conversion.
6. The global calibration method according to claim 1, wherein said fitting the fusion data comprises: and carrying out circle fitting on the fusion data by adopting a least square method.
7. An integrated calibration system for a range radar, the integrated calibration system comprising:
standard piping;
the first range radar and the second range radar are fixed in the standard pipeline and are used for sending laser signals to the inner wall of the standard pipeline and receiving returned echo signals, wherein the connecting line of the center points of the first range radar and the second range radar is along the radial direction of the section of the standard pipeline;
the controller is used for analyzing the echo signals to obtain first measurement data returned by the first range radar and second measurement data returned by the second range radar; performing data fusion on the first measurement data and the second measurement data to obtain fusion data; fitting the fusion data to obtain a first fitting radius; and when the absolute value of the first difference value between the standard radius of the standard pipeline and the first fitting radius is larger than or equal to a set first error threshold value, carrying out integral calibration on the first range radar and the second range radar according to the first difference value.
8. An integral calibration device of a range radar, which is characterized by comprising:
the system comprises an acquisition unit, a first distance measuring radar acquisition unit and a second distance measuring radar acquisition unit, wherein the acquisition unit is used for acquiring first measurement data returned by a first distance measuring radar and second measurement data returned by a second distance measuring radar, the first measurement data and the second measurement data are obtained by respectively measuring the distance of the inner wall of a standard pipeline by the first distance measuring radar and the second distance measuring radar which are fixed in the standard pipeline, and the connecting line of the central points of the first distance measuring radar and the second distance measuring radar is along the radial direction of the section of the standard pipeline;
the fusion unit is used for carrying out data fusion on the first measurement data and the second measurement data to obtain fusion data;
the fitting unit is used for fitting the fusion data to obtain a first fitting radius;
and the calibration unit is used for integrally calibrating the first range radar and the second range radar according to the first difference value when the absolute value of the first difference value between the standard radius of the standard pipeline and the first fitting radius is larger than or equal to a set first error threshold value.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the program, carries out the steps of the overall calibration method of a range radar according to any one of claims 1 to 6.
10. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the overall calibration method of a range radar according to any one of claims 1 to 6.
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