CN115656988A - Laser radar dynamic pitch angle detection method and device and electronic equipment - Google Patents
Laser radar dynamic pitch angle detection method and device and electronic equipment Download PDFInfo
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Abstract
The application relates to a laser radar technology, in particular to a laser radar dynamic pitch angle detection method and device and electronic equipment. The application provides a laser radar dynamic pitch angle detection method, set up one or more mark target for laser radar according to standard pitch angle, the mark target set up in the place ahead of laser radar transmitting terminal gathers the target surface image of mark target, wherein, include in the target surface image the facula that laser radar rotatory in-process produced, according to the target surface image calculation laser radar's actual pitch angle. In the process of detecting the pitch angle, the pitch angle of each direction of a single laser radar can be conveniently measured through the cooperation of the camera and the target, the laser radar meeting the requirements is identified, the detection speed is high, the operation mode is simple, and the accuracy is guaranteed.
Description
Technical Field
The application relates to a laser radar technology, in particular to a laser radar dynamic pitch angle detection method and device and electronic equipment.
Background
The pitch angle of the laser radar is very important in the use of the robot, for example, a sweeping robot, in the scanning process of the sweeping robot, if the pitch angle is too high, laser can be applied to the upper edge of the sweeping machine or the upper edge of an object, and if the pitch angle is too high and too low, laser can be applied to the lower edge of the sweeping machine, the sweeping robot can be influenced to build a map in motion, so that the detection of the pitch angle of the laser radar is very important.
At present, when the pitch angle of the laser radar is calibrated, a scale mark corresponding to each angle is usually arranged on a target surface, and the light emitted by the laser radar is observed through human eyes to form a light spot on which scale mark line of the target surface so as to determine the pitch angle of the laser radar. However, the size and the height of the facula in the rotating process of the laser radar are changed, the pitch angle of the laser radar cannot be determined accurately through the scale marks, and meanwhile, the workload of manual detection is large and the accuracy cannot be guaranteed.
Disclosure of Invention
The technical problem that current laser radar pitch angle detection mode is loaded down with trivial details and the rate of accuracy is low is mainly solved to this application embodiment.
In order to solve the above technical problem, one technical solution adopted by the embodiment of the present application is: a dynamic pitch angle detection method for a laser radar is provided, and the method comprises the following steps:
one or more targets are arranged for the laser radar according to a standard pitch angle, and the targets are arranged in front of the transmitting end of the laser radar;
acquiring a target surface image of the target, wherein the target surface image comprises light spots generated in the laser radar rotating process;
and calculating the actual pitch angle of the laser radar according to the target surface image.
Optionally, the setting one or more targets for the lidar according to a standard pitch angle of the lidar includes:
the method comprises the steps of obtaining the measuring range of the laser radar, and arranging a ring-shaped target or a plurality of straight targets in the measuring range, wherein each straight target corresponds to different rotating angles of the laser radar;
acquiring a standard upper limit angle and a standard lower limit angle of the laser radar according to the standard pitch angle;
and correspondingly setting a range identifier on the target based on the standard upper limit angle and the standard lower limit angle, wherein the upper boundary of the range identifier corresponds to the standard upper limit angle, and the lower boundary of the range identifier corresponds to the standard lower limit angle.
Optionally, the calculating an actual pitch angle of the lidar according to the target surface image includes:
determining a homography matrix corresponding to the projection relation between the target surface image plane and the target plane;
acquiring pixel coordinates of light spots from the target surface image;
determining actual coordinates of the spot in the target plane based on the homography matrix and the pixel coordinates;
and calculating the actual pitch angle of the laser radar according to the actual coordinate.
Optionally, the determining a homography matrix corresponding to a projection relationship between the target surface image plane and the target plane includes:
in the target plane, establishing a target coordinate system by taking the upper left corner of the range identifier as an origin, the horizontal direction as an x axis and the vertical direction as a y axis;
determining first coordinates of the upper boundary and the lower boundary in the target coordinate system;
acquiring second coordinates of the upper boundary and the lower boundary in the target surface image;
and determining a homography matrix corresponding to the projection relation between the target surface image plane and the target plane based on the first coordinate and the second coordinate.
Optionally, a plurality of LED lamps are correspondingly disposed at the upper boundary and the lower boundary, and the obtaining of the pixel coordinates of the light spot from the target surface image includes:
acquiring the central coordinate of each LED lamp from the target surface image, and taking the central coordinate as the pixel coordinate corresponding to the LED lamp;
respectively fitting an upper line segment and a lower line segment based on the pixel coordinates of the LED lamps corresponding to the upper boundary and the lower boundary;
and traversing each column by taking the first end of the upper line segment as a starting point and the second end of the lower line segment as an end point so as to acquire the pixel coordinates of all the light spots in the area.
Optionally, the obtaining the center coordinates of each LED lamp from the target surface image includes:
acquiring a target surface image of the target through a camera, and correcting the target surface image according to internal parameters of the camera;
acquiring a preset positioning frame in the target surface image, and acquiring and correcting point pixel coordinates of four corners of the preset positioning frame, wherein the LED lamp is positioned in the preset positioning frame;
identifying the image of the LED lamp based on image brightness or image gray scale, and carrying out filtering and/or denoising treatment on the image of the LED lamp to obtain a central coordinate of the LED lamp;
and sequencing the central coordinates of the LED lamps, and determining the serial numbers corresponding to the LED lamps based on the point pixel coordinates.
Optionally, the calculating an actual pitch angle of the lidar according to the actual coordinate includes:
acquiring a test distance between the camera and the target;
acquiring a vertical distance of the light spot corresponding to the target plane based on the actual coordinate;
and calculating the actual pitch angle of the laser radar according to the vertical distance and the test distance and by combining the properties of a right triangle.
In order to solve the above technical problem, another technical solution adopted by the embodiments of the present application is: the dynamic pitch angle detection device for the laser radar comprises:
the target setting module is used for setting one or more targets for the laser radar according to a standard pitch angle, and the targets are arranged in front of the transmitting end of the laser radar;
the image acquisition module is used for acquiring a target surface image of the target, wherein the target surface image comprises light spots generated in the laser radar rotating process;
and the pitch angle calculation module is used for calculating the actual pitch angle of the laser radar according to the target surface image.
In order to solve the above technical problem, another technical solution adopted by the embodiments of the present application is: provided is an electronic device including:
at least one processor, and
a memory communicatively coupled to the at least one processor, wherein,
the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the method described above.
In order to solve the above technical problem, another technical solution adopted by the embodiment of the present application is: there is provided a lidar comprising the electronic device described above.
The method and the device for detecting the dynamic pitch angle of the laser radar are different from the situation of the related technology. The application provides a laser radar dynamic pitch angle detection method, set up one or more mark target for laser radar according to standard pitch angle, the mark target set up in the place ahead of laser radar transmitting terminal gathers the target surface image of mark target, wherein, include in the target surface image the facula that laser radar rotatory in-process produced, according to the target surface image calculation laser radar's actual pitch angle. In the process of detecting the pitch angle, the pitch angle of each direction of a single laser radar can be conveniently measured through the cooperation of the camera and the target, the laser radar meeting the requirements is identified, the detection speed is high, the operation mode is simple, and the accuracy is guaranteed.
Drawings
One or more embodiments are illustrated in drawings corresponding to, and not limiting to, the embodiments, in which elements having the same reference number designation may be represented as similar elements, unless specifically noted, the drawings in the figures are not to scale.
Fig. 1 is a schematic flowchart of a dynamic pitch angle detection method for a laser radar according to an embodiment of the present disclosure;
fig. 2a is a schematic view of a preset positioning frame of a target surface image according to an embodiment of the present disclosure;
fig. 2b is a schematic diagram illustrating a light spot traversal in a target surface image according to an embodiment of the present application;
fig. 3 is a schematic flowchart of a process for calculating an actual pitch angle of a laser radar according to an image of a target surface according to an embodiment of the present application;
fig. 4 is a schematic diagram illustrating calculation of an actual pitch angle of a laser radar according to actual coordinates according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a dynamic pitch angle detection apparatus for a laser radar according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a robot according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It should be noted that, if not conflicting, the individual features of the embodiments of the present application may be combined with each other within the scope of protection of the present application. Additionally, while a division of functional blocks is made within a device diagram, with a logical order shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the division of blocks in the device diagram, or the order in the flowchart.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, fig. 1 is a schematic flowchart of a method for detecting a dynamic pitch angle of a laser radar according to an embodiment of the present application, where the method specifically includes the following steps:
s11, one or more targets are arranged for the laser radar according to the standard pitch angle, and the targets are arranged in front of the transmitting end of the laser radar.
When the pitch angle of the laser radar is calibrated, one or more targets can be arranged at the laser emitting end corresponding to the laser radar, and whether the pitch angle of the laser radar reaches the preset requirement or not is judged according to the light spots displayed by the targets.
Specifically, the setting one or more targets according to the standard pitch angle of the laser radar includes:
s111, obtaining a measuring range of the laser radar, and setting a ring-shaped target or a plurality of straight targets in the measuring range, wherein each straight target corresponds to different rotating angles of the laser radar.
In some cases, in order to improve detection accuracy, an annular target surface can be arranged around the laser radar, or a plurality of straight targets are correspondingly arranged in different directions of the laser radar, so that the pitch angles in different directions in the rotation process of the laser radar can be detected, and light spots on the target surface can be detected through equipment such as a camera. For example, laser is launched to the laser radar horizontal rotation in-process, sets up four straight targets around laser radar in four directions, and every straight target corresponds and sets up a camera, and the camera is used for the facula that the record corresponds straight target surface, and at laser radar rotation launch laser in-process, can be according to the facula data analysis laser radar's that four cameras recorded respectively pitch angle condition.
And S112, acquiring a standard upper limit angle and a standard lower limit angle of the laser radar according to the standard pitch angle.
And S113, correspondingly setting a range identifier on the target based on the standard upper limit angle and the standard lower limit angle, wherein the upper boundary of the range identifier corresponds to the standard upper limit angle, and the lower boundary of the range identifier corresponds to the standard lower limit angle.
The standard pitch angle refers to a standard that the pitch angle of the laser radar to be tested should meet, for example, in a current test scene, assuming that the horizontal plane where the laser radar transmitting end is located is 0 °, the standard pitch angle of the laser radar is a °, and the distance from the laser radar transmitting end to the target surface is D, then, in the process that the laser radar conforming to the standard rotates to transmit laser, the angle range of the laser is 0-a °, the target surface should be set to be capable of displaying all light spots corresponding to the laser of 0-a ° in the corresponding direction, the upper boundary of the range identifier corresponds to the light spot height at a °, and the lower boundary of the range identifier corresponds to the light spot height at 0 °.
S12, acquiring a target surface image of the target, wherein the target surface image comprises light spots generated in the laser radar rotating process.
Gather the target surface image that corresponds the mark through the camera in the scheme that this application provided, can select resolution 1280 camera about 720 usually, the position of camera is fixed and is close to laser radar one side, and can keep when shooing the target surface image the range sign is located image center. Before actual measurement, the focal length, the exposure duration, etc. of the camera are usually adjusted, or camera parameters are calibrated, etc. For example, adjusting the exposure time is most suitable for ensuring that more laser spots can be collected to meet the measurement requirement, and reducing the influence of ambient light as much as possible.
And S13, calculating the actual pitch angle of the laser radar according to the target surface image. Specifically, the step S13 includes:
s131, determining a homography matrix corresponding to the projection relation between the target surface image plane and the target plane. And in the target plane, establishing a target coordinate system by taking the upper left corner of the range identifier as an origin, the horizontal direction as an x axis and the vertical direction as a y axis.
And determining first coordinates of the upper boundary and the lower boundary in the target coordinate system, and acquiring second coordinates of the upper boundary and the lower boundary in the target surface image. The first coordinate is an actual coordinate corresponding to the upper boundary and the lower boundary, and the second coordinate is a pixel coordinate corresponding to the upper boundary and the lower boundary.
And determining a homography matrix H corresponding to the projection relation between the target surface image plane and the target plane according to the first coordinate and the second coordinate.
S132, acquiring the pixel coordinates of the light spots from the target surface image.
In some embodiments, a plurality of LED lamps are correspondingly disposed at the upper boundary and the lower boundary, and the range identifier is represented by the plurality of LED lamps. Referring to fig. 2a, the peripheral box in fig. 2a represents an RIO region (region of interest) of the target surface image, and when the target surface image is processed, an important region, i.e., the RIO region, focused by image analysis is selected from the image, and after the RIO region is defined, subsequent image processing can be performed conveniently.
Specifically, the obtaining of the pixel coordinates of the light spot from the target surface image includes:
s1321, obtaining the center coordinate of each LED lamp from the target surface image, and taking the center coordinate as the pixel coordinate corresponding to the LED lamp. In fig. 2a, the small circles represent bright spots appearing in the target surface image when 10 LED lamps are illuminated. In some cases, the size of the LED lamp is small, the LED lamp with the size similar to that of the laser spot can be selected if necessary, and two rows of LED lamps can be used as marks corresponding to the upper boundary and the lower boundary on the target plane; however, after the LED lamp emits light, in the target surface image obtained by the camera, the light emitting range of the LED lamp in the image is larger than the size of the LED lamp itself, and at this time, the bright spots of the LED lamp in the target surface image are not suitable for being used as the marks of the upper boundary and the lower boundary. In other cases, the LED lamp itself has a large volume, and the bright spot of the LED lamp in the corresponding target image is also large, and is not suitable for being used as the upper boundary and the lower boundary. Therefore, in the scheme, the central coordinates of each LED lamp are obtained, the central coordinates are recorded as the pixel coordinates corresponding to the LED lamps, and the upper boundary and the lower boundary corresponding to the target surface image can be more reasonably marked.
Specifically, camera internal parameters are calibrated in advance through a checkerboard so as to accurately reflect the mapping relation between the environment information and the image information. And acquiring a target surface image of the target through a camera, and carrying out image correction on the target surface image according to internal parameters of the camera. After a single-channel grey-scale image of the target surface image is obtained, image correction is carried out on the single-frame image.
And acquiring a preset positioning frame in the target surface image, and acquiring and correcting point pixel coordinates of four corners of the preset positioning frame, wherein the preset positioning frame is an RIO area, and the LED lamp is positioned in the preset positioning frame. In some embodiments, the obtaining of the preset positioning frame in the target surface image may be: a 260 × 120 rectangular frame (here, 260 × 120 is taken as an example, and other suitable ranges may be set in an actual scene) is set at the center of the original image in advance, and when the positions of the camera and the target are fixed, it is ensured that all the LED lamps on the target are imaged in the rectangular frame; and simultaneously correcting the pixel coordinates of the four corner points of the preset 260-120 rectangular frame, and taking the minimum inscribed rectangle of the four obtained new pixel coordinates as the ROI area of the corrected image.
And identifying the image of the LED lamp based on the image brightness or the image gray scale, and carrying out filtering and/or denoising treatment on the image of the LED lamp to obtain the center coordinate of the LED lamp. After the preset positioning frame is selected, the target surface image is preprocessed through some filtering or denoising methods, please refer to fig. 3, fig. 3 is a schematic flow chart for calculating the actual pitch angle of the laser radar according to the target surface image, which is provided by the embodiment of the present application, as shown in fig. 3, in some embodiments, the preprocessing of the image may be to remove noise through gaussian filtering, binarize the image through OTSU algorithm, divide the original image into two images, namely a foreground image and a background image, and remove or reduce possible noise area through corrosion operation.
After the preprocessing is completed, extracting the central coordinates of the LED based on the preprocessed image, detecting all light spot profiles (the profiles of the LED bright spots can be basically and obviously extracted from the preprocessed image), fitting an ellipse to each group of profiles, screening out the central coordinates of the ellipse of which the length-width ratio meets a certain threshold value as the central coordinates of the LED, sequencing the central coordinates of the LED lamps, and determining the serial number corresponding to the LED lamps based on the point pixel coordinates. Since the LED bright spots do not necessarily present a standard circle in the image, in this scheme, an ellipse close to a circle (i.e. an ellipse with an aspect ratio satisfying a certain threshold, for example, an aspect ratio in a threshold range of 0.8-1.2, or other threshold ranges set according to specific test environments) is fitted to the outline of the LED bright spot, so as to calculate the corresponding center coordinates of each LED lamp. In fig. 3, it is determined whether the number of the ellipse centers meets the condition, that is, it is determined whether all the LED lamps in the image are identified, for example, 10 LED lamps are set on a target surface of a target, if the 10 ellipse centers are detected in the above process, it indicates that all the LED lamps are identified, and the next step may be performed, otherwise, the next frame of image is re-identified.
S1322, respectively fitting an upper line segment and a lower line segment on the basis of the pixel coordinates of the LED lamps corresponding to the upper boundary and the lower boundary.
And S1323, traversing each column by taking the first end of the upper line segment as a starting point and the second end of the lower line segment as an end point to acquire the pixel coordinates of all the light spots in the area.
Please refer to fig. 2b and fig. 3, wherein the ten circular patterns in fig. 2b correspond to the ten LED bright spots in fig. 2a, the upper and lower dashed line segments respectively represent the fitted upper and lower line segments, and the elliptical bar pattern between the two rows of LED bright spots represents an example of the light spot of the laser radar. It will be appreciated that the shape of the spot is related to the speed of rotation of the lidar and the parameters of the camera, and is merely an example of a spot in fig. 2b, and in some embodiments the shape of the spot may be different from the display in fig. 2 b. The shaded part in the graph is the light spot obtained after traversing each column, and it can be understood that, when each column is traversed, the light spot on the leftmost side and the light spot on the rightmost side in the graph are not in the traversal range, and therefore, the pixel coordinate corresponding to the light spot is not obtained corresponding to the target surface image. It should be noted that, if only a part of a certain light spot falls into the traversal range, the pixel coordinates corresponding to the part are obtained during the traversal process.
In some embodiments, to remove the influence of the LED lamp, a start row and an end row of the traversal range are set to be further reduced by a certain pixel toward the center (for example, 10 may be taken); and sequentially searching laser spots in the reduced single-column area. Taking fig. 2b as an example, obtaining the gaussian filtering results of each single column, a convolution can be obtained using mexican hat function ("Mexh") parameters with a scale of 4 and a length of 23; searching all maximum value positions, wherein the positions corresponding to original pixel brightness larger than a certain threshold (for example, 170) are taken as the spot positions of the column; and if no light spot meeting the requirement exists, the result is not output, the next column is searched continuously, and all laser light spot pixel positions in the range from the initial column to the final column are obtained based on the result.
And S133, determining the actual coordinates of the light spots in the target plane based on the homography matrix and the pixel coordinates. Wherein, assuming that the pixel coordinates of the laser spot in the pixel plane is (p, q) and the homography matrix is H, the actual coordinates (r, q) of the laser spot in the target plane can be calculated according to the following formula:
and S134, calculating the actual pitch angle of the laser radar according to the actual coordinate. Specifically, please refer to fig. 4, first a test distance D between the camera and the target is obtained, and a vertical distance r of the light spot corresponding to the target plane is obtained based on the actual coordinate; and calculating the actual pitch angle of the laser radar according to the vertical distance r and the test distance D and by combining the property of a right triangle. Referring to fig. 4, in combination with the property of right triangle, the actual pitch angle θ of the lidar may be calculated according to the following formula:
θ＝arctan(r/D)
in some embodiments, because a steep brightness peak is formed at the upper end and the lower end of the column corresponding to the bright spot of the LED, if the laser spot is close to the steep brightness peak of the LED, the calculation result will be greatly affected. In order to reduce the influence of the bright spots of the LED lamp on the laser spot in this case, the bright spots of the LED lamp may be removed by selectively discarding a part of pixels at both ends of each column (for example, if the imaging radius of the bright spots of the LED is set to be within 10 pixels, 10 pixels at both ends of each column are discarded), so as to reduce the influence of the bright spots of the LED lamp on the laser spot. For example, according to a resolution of 1280 × 720, the distance between the central pixels of the two upper and lower rows of bright spots on the LED lamp is about 80 pixels, which corresponds to about 0.025 °/pixel, and if 10 pixels are discarded, about 0.25 ° of effective value range is lost, and assuming that the standard pitch angle is in the range of 0 ° to 2 °, the actual effective value is 0.25 ° to 1.75 °.
In some embodiments, the two rows of LED lamps in step S132 may be replaced by two clear straight lines, for example, white or fluorescent stripes are arranged, the upper boundary and the lower boundary of the range identifier are fitted by brightness, the laser spots in the range identifier are identified, and then the actual pitch angle of the laser radar is calculated.
The application provides a laser radar dynamic pitch angle detection method, be according to standard pitch angle laser radar sets up one or more mark target, the mark target set up in the place ahead of laser radar transmitting terminal gathers the target surface image of mark target, wherein, include in the target surface image the facula that laser radar rotatory in-process produced, according to the target surface image calculates laser radar's actual pitch angle. In the process of detecting the pitch angle, the pitch angle of each direction of a single laser radar can be conveniently measured through the cooperation of the camera and the target, the laser radar meeting the requirements is automatically identified, the detection speed is high, the operation mode is simple, the accuracy is guaranteed, and the working intensity of detection personnel is greatly reduced.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a dynamic pitch angle detection apparatus for a laser radar according to an embodiment of the present application, where the apparatus 100 includes: a target setting module 101, an image acquisition module 102 and a pitch angle calculation module 103.
Specifically, the target setting module 101 may set one or more targets for the lidar according to a standard pitch angle, where the targets are disposed in front of the lidar transmitting end. The image obtaining module 102 may collect a target surface image of the target, where the target surface image includes a light spot generated during the laser radar rotation process. The pitch angle calculation module 103 may calculate an actual pitch angle of the lidar according to the target surface image.
In the embodiment of the present application, the lidar dynamic pitch angle detection device may also be built by hardware devices, for example, the lidar dynamic pitch angle detection device may be built by one or more than two chips, and the chips may work in coordination with each other, so as to complete the lidar dynamic pitch angle detection method described in the above embodiments. For another example, the dynamic pitch angle detection device of the laser radar may also be constructed by various logic devices, such as a general processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a single chip, an ARM (Acorn RISC Machine) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination of these components.
The laser radar dynamic pitch angle detection device in the embodiment of the present application may be a device having an operating system. The operating system may be an Android (Android) operating system, an ios operating system, or other possible operating systems, and embodiments of the present application are not limited specifically.
It should be noted that the laser radar dynamic pitch angle detection device can execute the laser radar dynamic pitch angle detection method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. Technical details which are not described in detail in the embodiment of the dynamic pitch angle detection device of the laser radar can be referred to the dynamic pitch angle detection method of the laser radar provided by the embodiment of the application.
Fig. 6 is a schematic view of a structure of an electronic device according to an embodiment of the present disclosure. The electronic device 200 comprises at least one processor 201, and a memory 202 communicatively connected to the at least one processor 201, wherein the memory 202 stores instructions executable by the at least one processor 201, and the instructions are executed by the at least one processor 201 to enable the at least one processor 201 to perform the lidar dynamic pitch angle detection method in any of the above-described method embodiments. The processor 201 and the memory 202 may be connected by a bus or other means, and fig. 6 illustrates the connection by a bus as an example.
The memory 202, which is a non-transitory computer-readable storage medium, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules corresponding to the dynamic pitch angle detection method of the lidar in the embodiment of the present application. The processor 201 may implement the lidar dynamic pitch angle detection method in any of the above method embodiments by running a non-transitory software program, instructions and modules stored in the memory 202, i.e. the entire process of fig. 1 can be implemented.
Please refer to fig. 7, and fig. 7 is a schematic structural diagram of a robot according to an embodiment of the present application. The robot 300 includes: the electronic device 200 is in communication connection with the controller 301, and the controller 301 is configured to transmit a ranging command to the electronic device 200 to enable the electronic device 200 to perform ranging, it is understood that the ranging command may be transmitted from an external terminal to the robot 300, and the controller 301 forwards the ranging command to the electronic device 200. The external terminal may be a fixed terminal or a mobile terminal, for example: electronic devices such as computers, mobile phones, tablets, etc., are not limited herein.
Embodiments of the present application provide a computer-readable storage medium, such as a memory, comprising program code executable by a processor to perform the lidar dynamic pitch angle detection method in the above embodiments. For example, the computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a Compact Disc Read-Only Memory (CDROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.
Embodiments of the present application provide a computer program product comprising one or more program codes stored in a computer readable storage medium. The processor of the lidar reads the program code from the computer-readable storage medium and executes the program code to perform the lidar dynamic pitch angle detection method steps provided in the above-described embodiments.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; within the context of the present application, where technical features in the above embodiments or in different embodiments can also be combined, the steps can be implemented in any order and there are many other variations of the different aspects of the present application as described above, which are not provided in detail for the sake of brevity; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. A laser radar dynamic pitch angle detection method is characterized by comprising the following steps:
one or more targets are arranged for the laser radar according to a standard pitch angle, and the targets are arranged in front of the transmitting end of the laser radar;
acquiring a target surface image of the target, wherein the target surface image comprises light spots generated in the laser radar rotating process;
and calculating the actual pitch angle of the laser radar according to the target surface image.
2. The method of claim 1, wherein setting one or more targets for the lidar according to a standard pitch angle comprises:
the method comprises the steps of obtaining the measuring range of the laser radar, and arranging a ring-shaped target or a plurality of straight targets in the measuring range, wherein each straight target corresponds to different rotating angles of the laser radar;
acquiring a standard upper limit angle and a standard lower limit angle of the laser radar according to the standard pitch angle;
and correspondingly setting a range identifier on the target based on the standard upper limit angle and the standard lower limit angle, wherein the upper boundary of the range identifier corresponds to the standard upper limit angle, and the lower boundary of the range identifier corresponds to the standard lower limit angle.
3. The method of claim 2, wherein said calculating an actual pitch angle of said lidar from said target surface image comprises:
determining a homography matrix corresponding to the projection relation between the target surface image plane and the target plane;
acquiring pixel coordinates of light spots from the target surface image;
determining actual coordinates of the spot in the target plane based on the homography matrix and the pixel coordinates;
and calculating the actual pitch angle of the laser radar according to the actual coordinate.
4. The method of claim 3, wherein determining a homography corresponding to a projected relationship between the target surface image plane and the target plane comprises:
in the target plane, establishing a target coordinate system by taking the upper left corner of the range identifier as an origin, the horizontal direction as an x axis and the vertical direction as a y axis;
determining first coordinates of the upper boundary and the lower boundary in the target coordinate system;
acquiring second coordinates of the upper boundary and the lower boundary in the target surface image;
and determining a homography matrix corresponding to the projection relation between the target surface image plane and the target plane based on the first coordinate and the second coordinate.
5. The method of claim 3, wherein a plurality of LED lamps are disposed at the upper boundary and the lower boundary, and the obtaining the pixel coordinates of the light spot from the target surface image comprises:
acquiring the central coordinate of each LED lamp from the target surface image, and taking the central coordinate as the pixel coordinate corresponding to the LED lamp;
respectively fitting an upper line segment and a lower line segment based on the pixel coordinates of the LED lamps at the upper boundary and the lower boundary;
and traversing each column by taking the first end of the upper line segment as a starting point and the second end of the lower line segment as an end point to acquire the pixel coordinates of all the light spots in the area.
6. The method of claim 5, wherein said obtaining the center coordinates of each of said LED lamps from said target surface image comprises:
acquiring a target surface image of the target through a camera, and correcting the target surface image according to internal parameters of the camera;
acquiring a preset positioning frame in the target surface image, and acquiring and correcting point pixel coordinates of four corners of the preset positioning frame, wherein the LED lamp is positioned in the preset positioning frame;
identifying the image of the LED lamp based on image brightness or image gray scale, and carrying out filtering and/or denoising treatment on the image of the LED lamp to obtain a central coordinate of the LED lamp;
and sequencing the central coordinates of the LED lamps, and determining the serial numbers corresponding to the LED lamps based on the point pixel coordinates.
7. The method of claim 3, wherein said calculating an actual pitch angle of said lidar from said actual coordinates comprises:
acquiring a test distance between the camera and the target;
acquiring a vertical distance corresponding to the light spot on the target plane based on the actual coordinate;
and calculating the actual pitch angle of the laser radar according to the vertical distance and the test distance and by combining the properties of a right triangle.
8. The utility model provides a laser radar dynamic pitch angle detection device which characterized in that includes:
the target setting module is used for setting one or more targets for the laser radar according to a standard pitch angle, and the targets are arranged in front of the transmitting end of the laser radar;
the image acquisition module is used for acquiring a target surface image of the target, wherein the target surface image comprises light spots generated in the laser radar rotating process;
and the pitch angle calculation module is used for calculating the actual pitch angle of the laser radar according to the target surface image.
9. An electronic device, comprising:
at least one processor, and
a memory communicatively coupled to the at least one processor, wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.
10. Lidar characterized in that it comprises an electronic device according to claim 9.
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