CN116203532A - Method, device, equipment and storage medium for adjusting radar levelness consistency - Google Patents
Method, device, equipment and storage medium for adjusting radar levelness consistency Download PDFInfo
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- CN116203532A CN116203532A CN202310193065.1A CN202310193065A CN116203532A CN 116203532 A CN116203532 A CN 116203532A CN 202310193065 A CN202310193065 A CN 202310193065A CN 116203532 A CN116203532 A CN 116203532A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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Abstract
The invention relates to the field of digital control, and discloses a radar levelness consistency adjusting method, device and equipment and a storage medium. The method comprises the following steps: collecting a first infrared image of reference light emitted by a laser level meter, determining pixel corner information according to the first infrared image, and determining reference light width information according to the first infrared image; collecting a second infrared image of the laser beam rays emitted by the radar and calculating the coincidence ratio of the laser beam rays and the reference rays according to the first infrared image and the second infrared image; determining whether the contact ratio is in a preset threshold value interval according to pixel corner information and reference light width information; and if the overlapping ratio is in a preset threshold value, outputting prompt information of consistent levelness of the radar. The adjustment precision of radar levelness consistency is improved.
Description
Technical Field
The present invention relates to the field of digital control, and in particular, to a method, an apparatus, a device, and a storage medium for adjusting radar levelness consistency.
Background
With the continuous development of flexible logistics technology of intelligent industrial robots, unmanned forklifts based on laser radar positioning are higher and higher in autonomy and flexibility, and the consistency of picking and placing goods under the cooperation of multiple forklifts is a key problem to be solved in warehouse position management and is a difficult problem.
The installation levelness of the laser radar is related to the consistency of the multi-vehicle pick-and-place process and the like. At present, the laser radar mounting positions of most fork trucks on the market are all parameters given based on a mechanical structure, but in the vehicle processing and production processes, due to production process differences, the radar mounting positions and levelness of each trolley are slightly different, and further when a plurality of trolleys are positioned on the same map, the inconsistency of radar levelness can lead to the situation that a first trolley is placed in a certain warehouse and a second trolley fails to take goods from the warehouse. Thus, the adjustment accuracy of radar levelness consistency is low.
Disclosure of Invention
The invention mainly aims to solve the technical problem of low consistency adjustment precision of radar levelness.
The first aspect of the invention provides a radar levelness consistency adjusting method, which comprises the following steps:
collecting a first infrared image of reference light emitted by a laser level meter, determining pixel corner information according to the first infrared image, and determining reference light width information according to the first infrared image;
collecting a second infrared image of laser beam rays emitted by a radar, and calculating the coincidence ratio of the laser beam rays and the reference rays according to the first infrared image and the second infrared image;
determining whether the contact ratio is in a preset threshold value interval according to the pixel angular point information and the reference light width information;
and if the contact ratio is in the preset threshold value, outputting prompt information of consistent levelness of the radar.
Optionally, in a first implementation manner of the first aspect of the present invention, after the step of determining whether the overlap ratio is in a preset threshold interval according to the pixel corner information and the reference light width information, the method further includes:
and if the contact ratio is not in the preset threshold value, outputting prompt information of inconsistent levelness of the radar and returning to execute the step of collecting the second infrared image of the laser beam rays emitted by the radar.
Optionally, in a second implementation manner of the first aspect of the present invention, after the step of determining whether the overlap ratio is in a preset threshold interval according to the pixel corner information and the reference light width information, the method further includes:
and if the contact ratio is not in the preset threshold value, outputting prompt information of inconsistent levelness of the radar and returning to the step of executing the second infrared image for collecting the laser beam rays emitted by the radar at fixed time.
Optionally, in a third implementation manner of the first aspect of the present invention, after the step of determining whether the overlap ratio is in a preset threshold interval according to the pixel corner information and the reference light width information, the method further includes:
and if the contact ratio is not in the preset threshold value, adjusting the incidence angle of the laser beam rays and returning to the step of executing the second infrared image of the laser beam rays emitted by the acquisition radar.
Optionally, in a fourth implementation manner of the first aspect of the present invention, after the step of collecting the second infrared image of the laser beam light emitted by the radar, the method further includes:
detecting whether an interference line segment exists in the second infrared image;
if the interference line segments exist in the second infrared image, outputting prompt information of inconsistent levelness of the radar and returning to the step of executing the second infrared image for collecting the laser beam rays emitted by the radar.
Optionally, in a fifth implementation manner of the first aspect of the present invention, the step of determining whether the overlap ratio is in a preset threshold interval according to the pixel corner information and the reference light width information includes:
determining a threshold interval according to the pixel angular point information and the reference light width information, and storing the threshold interval to obtain the preset threshold interval;
and determining whether the contact ratio is in the preset threshold value interval.
Optionally, in a sixth implementation manner of the first aspect of the present invention, the step of determining pixel corner information according to the first infrared image includes:
outputting frame selection prompt information;
when a frame selection instruction is detected, determining a frame selection area in the first infrared image according to the frame selection instruction, and obtaining a detection area;
and determining the pixel corner information corresponding to the detection area.
The second aspect of the present invention provides a radar levelness consistency adjusting device, comprising:
the acquisition module is used for acquiring a first infrared image of the reference light emitted by the laser level meter, determining pixel corner information according to the first infrared image and determining reference light width information according to the first infrared image;
the calculation module is used for collecting a second infrared image of laser beam rays emitted by the radar and calculating the coincidence ratio of the laser beam rays and the reference rays according to the first infrared image and the second infrared image;
the determining module is used for determining whether the contact ratio is in a preset threshold value interval according to the pixel angular point information and the reference light width information;
and the output module is used for outputting prompt information of consistent levelness of the radar if the contact ratio is in the preset threshold value.
A third aspect of the present invention provides a radar levelness consistency adjustment apparatus comprising: a memory and at least one processor, the memory having instructions stored therein, the memory and the at least one processor being interconnected by a line; the at least one processor invokes the instructions in the memory to cause the radar levelness consistency adjustment device to perform the radar levelness consistency adjustment method described above.
A fourth aspect of the present invention provides a computer-readable storage medium having instructions stored therein which, when run on a computer, cause the computer to perform the above-described method of adjusting radar levelness uniformity.
In the embodiment of the invention, a first infrared image of reference light emitted by a laser level meter is collected, pixel angular point information is determined according to the first infrared image, and reference light width information is determined according to the first infrared image; collecting a second infrared image of laser beam rays emitted by a radar, and calculating the coincidence ratio of the laser beam rays and the reference rays according to the first infrared image and the second infrared image; determining whether the contact ratio is in a preset threshold value interval according to the pixel angular point information and the reference light width information; and if the contact ratio is in the preset threshold value, outputting prompt information of consistent levelness of the radar. The radar levelness consistency adjusting device forms a radar levelness consistency adjusting system of the infrared camera and the laser level meter, and comprises the infrared camera and the laser level meter. The radar levelness consistency adjusting device is placed on the horizontal ground, and the laser level meter is placed at the height of a radar laser beam emission plane and is used for making leveling datum line reference; the infrared camera is used for capturing reference light rays emitted by the laser level meter and laser beam light rays emitted by the radar, and detecting leveling results in real time based on imaging pictures. When the coincidence difference of the laser level instrument emission light and the laser beam light emitted by the radar is detected to be within an acceptable error range, a voice prompt is played to indicate that the current radar is adjusted to be horizontal, so that a debugging person is convenient to know a current leveling result, the detected radar levelness is fed back in real time by vision, and the adjustment precision of the radar levelness consistency is improved.
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FIG. 1 is a schematic diagram of an embodiment of a method for adjusting radar levelness consistency in an embodiment of the present invention;
FIG. 2 is a schematic view of an embodiment of a radar levelness consistency adjusting device according to an embodiment of the present invention;
fig. 3 is a schematic view of an embodiment of a radar levelness consistency adjusting device according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a method, a device, equipment and a storage medium for adjusting radar levelness consistency.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.
For ease of understanding, a specific flow of an embodiment of the present invention is described below, referring to fig. 1, and an embodiment of a method for adjusting radar levelness consistency in an embodiment of the present invention includes:
101. collecting a first infrared image of reference light emitted by a laser level meter, determining pixel corner information according to the first infrared image, and determining reference light width information according to the first infrared image;
specifically, the radar levelness consistency adjusting device carries an infrared camera, and the infrared camera is used for acquiring a first infrared image of reference light emitted by the laser level meter, determining pixel corner information according to the first infrared image and determining reference light width information according to the first infrared image.
Optionally, outputting frame selection prompt information; when a frame selection instruction is detected, determining a frame selection area in the first infrared image according to the frame selection instruction, and obtaining a detection area; and determining the pixel corner information corresponding to the detection area. Specifically, the camera driver controls the infrared camera to collect imaging picture data, and in order to avoid interference of other line segments with detection results, light rays emitted by the laser level meter are framed in the image, and the framed area is taken as a detection area. Meanwhile, the width of the light emitted by the laser level meter is calculated by using a visual algorithm. And finally, saving pixel corner information of the frame sampling area and the light width to a text file.
102. Collecting a second infrared image of laser beam rays emitted by a radar, and calculating the coincidence ratio of the laser beam rays and the reference rays according to the first infrared image and the second infrared image;
specifically, the radar installation inclination angle can be adjusted by adjusting the height of a radar base spring screw of the radar levelness consistency adjusting device, so that the radar is adjusted to be horizontal, and a vision detection module in the radar levelness consistency adjusting device calculates the coincidence ratio of the laser beam light and the reference light based on stored pixel angular point information of the framed area and the reference light width information when the radar is adjusted to be horizontal, so that a leveling result is detected in real time.
103. Determining whether the contact ratio is in a preset threshold value interval according to the pixel angular point information and the reference light width information;
optionally, determining a threshold interval according to the pixel angular point information and the reference light width information, and storing to obtain the preset threshold interval; and determining whether the contact ratio is in the preset threshold value interval.
Optionally, if the contact ratio is not in the preset threshold, outputting prompt information of inconsistent levelness of the radar, and returning to execute the step of collecting the second infrared image of the laser beam rays emitted by the radar.
Optionally, if the contact ratio is not in the preset threshold, outputting prompt information of inconsistent levelness of the radar and timing to return to the step of executing the second infrared image of the laser beam rays emitted by the acquisition radar.
Optionally, if the contact ratio is not in the preset threshold, adjusting the incident angle of the laser beam light and returning to execute the step of collecting the second infrared image of the laser beam light emitted by the radar. Specifically, the radar mounting inclination angle is automatically adjusted by adjusting the height of a spring screw of the radar base based on preset control parameters, so that the radar is adjusted to be horizontal. Compared with the method for detecting the leveling result by observing the leveling result by using eyes and detecting the leveling degree by using a bubble level meter, the method has higher leveling precision by utilizing a visual algorithm to feed back the leveling result in real time. The apparatus used in this embodiment is simple, and only one infrared camera and one laser level are needed for the key constituent modules. The radar leveling result is detected in real time by utilizing a visual algorithm, and the leveling precision is high. The algorithm has wide adaptability and can level radars of different models. Meanwhile, the operation is simple, the radar levelness consistency adjusting device is applied to an actual scene, for example, when an unmanned forklift is used, the radar levelness of the forklift can be quickly adjusted.
104. If the contact ratio is in the preset threshold value, outputting prompt information of consistent levelness of the radar;
specifically, the radar installation inclination angle can be adjusted by adjusting the height of a radar base spring screw of the radar levelness consistency adjusting device, so that the radar is adjusted to be horizontal, and a vision detection module in the radar levelness consistency adjusting device detects a leveling result in real time based on stored pixel angular point information of a framing area (detection area) and reference light width information. And when the leveling result is within the acceptable error range, broadcasting voice to prompt the operator that the leveling is successful. Compared with the method for detecting the leveling result by using an eye to observe the leveling result and using a bubble level to detect the leveling degree, the method has higher leveling precision and can quickly adjust the levelness consistency of the multi-vehicle radar.
In one example, a camera images frame acquisition; framing reference light emitted by a laser level; re-framing if the frame selection fails; extracting a reference ray if the frame selection is successful, and calculating the width of the reference ray; and if the calculation is successful, storing angular point information of the framed area and width information of the reference light.
Further, the stored corner information is started to be read; reading the stored width information of the reference light if the reading is successful; adjusting the supporting height of the radar base when the reading is successful; visually detecting whether other line segments exist; if yes, the printing information 'radar is not adjusted to be horizontal' is issued at 1 second in time for prompting; visually detecting whether the width of the reference line is within a set threshold value; if yes, the printing information 'radar is not adjusted to be horizontal' is issued at 1 second in time for prompting; if not, the print information "radar is adjusted to level" is issued for 1 second in timing for prompting.
In the embodiment of the invention, a first infrared image of reference light emitted by a laser level meter is collected, pixel angular point information is determined according to the first infrared image, and reference light width information is determined according to the first infrared image; collecting a second infrared image of laser beam rays emitted by a radar, and calculating the coincidence ratio of the laser beam rays and the reference rays according to the first infrared image and the second infrared image; determining whether the contact ratio is in a preset threshold value interval according to the pixel angular point information and the reference light width information; and if the contact ratio is in the preset threshold value, outputting prompt information of consistent levelness of the radar. The radar levelness consistency adjusting device forms a radar levelness consistency adjusting system of the infrared camera and the laser level meter, and comprises the infrared camera and the laser level meter. The radar levelness consistency adjusting device is placed on the horizontal ground, and the laser level meter is placed at the height of a radar laser beam emission plane and is used for making leveling datum line reference; the infrared camera is used for capturing reference light rays emitted by the laser level meter and laser beam light rays emitted by the radar, and detecting leveling results in real time based on imaging pictures. When the coincidence difference of the laser level instrument emission light and the laser beam light emitted by the radar is detected to be within an acceptable error range, a voice prompt is played to indicate that the current radar is adjusted to be horizontal, so that a debugging person is convenient to know a current leveling result, the detected radar levelness is fed back in real time by vision, and the adjustment precision of the radar levelness consistency is improved.
The acquisition module 301 is configured to acquire a first infrared image of a reference ray emitted by the laser level, determine pixel corner information according to the first infrared image, and determine reference ray width information according to the first infrared image;
the calculating module 302 is configured to collect a second infrared image of a laser beam emitted by the radar and calculate a degree of coincidence between the laser beam and the reference beam according to the first infrared image and the second infrared image;
a determining module 303, configured to determine whether the overlap ratio is in a preset threshold interval according to the pixel corner information and the reference light width information;
and the output module 304 is configured to output prompt information that the levelness of the radar is consistent if the overlap ratio is in the preset threshold value.
In the embodiment of the invention, a first infrared image of reference light emitted by a laser level meter is collected, pixel angular point information is determined according to the first infrared image, and reference light width information is determined according to the first infrared image; collecting a second infrared image of laser beam rays emitted by a radar, and calculating the coincidence ratio of the laser beam rays and the reference rays according to the first infrared image and the second infrared image; determining whether the contact ratio is in a preset threshold value interval according to the pixel angular point information and the reference light width information; and if the contact ratio is in the preset threshold value, outputting prompt information of consistent levelness of the radar. The radar levelness consistency adjusting device forms a radar levelness consistency adjusting system of the infrared camera and the laser level meter, and comprises the infrared camera and the laser level meter. The radar levelness consistency adjusting device is placed on the horizontal ground, and the laser level meter is placed at the height of a radar laser beam emission plane and is used for making leveling datum line reference; the infrared camera is used for capturing reference light rays emitted by the laser level meter and laser beam light rays emitted by the radar, and detecting leveling results in real time based on imaging pictures. When the coincidence difference of the laser level instrument emission light and the laser beam light emitted by the radar is detected to be within an acceptable error range, a voice prompt is played to indicate that the current radar is adjusted to be horizontal, so that a debugging person is convenient to know a current leveling result, the detected radar levelness is fed back in real time by vision, and the adjustment precision of the radar levelness consistency is improved.
The method for adjusting radar levelness consistency in the embodiment of the present invention is described above, and the device for adjusting radar levelness consistency in the embodiment of the present invention is described below, referring to fig. 2, where one embodiment of the device for adjusting radar levelness consistency in the embodiment of the present invention includes:
the acquisition module 301 is configured to acquire a first infrared image of a reference ray emitted by the laser level, determine pixel corner information according to the first infrared image, and determine reference ray width information according to the first infrared image;
the calculating module 302 is configured to collect a second infrared image of a laser beam emitted by the radar and calculate a degree of coincidence between the laser beam and the reference beam according to the first infrared image and the second infrared image;
a determining module 303, configured to determine whether the overlap ratio is in a preset threshold interval according to the pixel corner information and the reference light width information;
and the output module 304 is configured to output prompt information that the levelness of the radar is consistent if the overlap ratio is in the preset threshold value.
Optionally, the output module 304 may be further specifically configured to:
and if the contact ratio is not in the preset threshold value, outputting prompt information of inconsistent levelness of the radar and returning to execute the step of collecting the second infrared image of the laser beam rays emitted by the radar.
Optionally, the output module 304 may be further specifically configured to:
and if the contact ratio is not in the preset threshold value, outputting prompt information of inconsistent levelness of the radar and returning to the step of executing the second infrared image for collecting the laser beam rays emitted by the radar at fixed time.
Optionally, the output module 304 may be further specifically configured to:
and if the contact ratio is not in the preset threshold value, adjusting the incidence angle of the laser beam rays and returning to the step of executing the second infrared image of the laser beam rays emitted by the acquisition radar.
Optionally, the acquisition module 301 may be further specifically configured to:
detecting whether an interference line segment exists in the second infrared image;
if the interference line segments exist in the second infrared image, outputting prompt information of inconsistent levelness of the radar and returning to the step of executing the second infrared image for collecting the laser beam rays emitted by the radar.
Optionally, the acquisition module 301 may be further specifically configured to:
determining a threshold interval according to the pixel angular point information and the reference light width information, and storing the threshold interval to obtain the preset threshold interval;
and determining whether the contact ratio is in the preset threshold value interval.
Optionally, the acquisition module 301 may be further specifically configured to:
outputting frame selection prompt information;
when a frame selection instruction is detected, determining a frame selection area in the first infrared image according to the frame selection instruction, and obtaining a detection area;
and determining the pixel corner information corresponding to the detection area.
In the embodiment of the invention, a first infrared image of reference light emitted by a laser level meter is collected, pixel angular point information is determined according to the first infrared image, and reference light width information is determined according to the first infrared image; collecting a second infrared image of laser beam rays emitted by a radar, and calculating the coincidence ratio of the laser beam rays and the reference rays according to the first infrared image and the second infrared image; determining whether the contact ratio is in a preset threshold value interval according to the pixel angular point information and the reference light width information; and if the contact ratio is in the preset threshold value, outputting prompt information of consistent levelness of the radar. The radar levelness consistency adjusting device forms a radar levelness consistency adjusting system of the infrared camera and the laser level meter, and comprises the infrared camera and the laser level meter. The radar levelness consistency adjusting device is placed on the horizontal ground, and the laser level meter is placed at the height of a radar laser beam emission plane and is used for making leveling datum line reference; the infrared camera is used for capturing reference light rays emitted by the laser level meter and laser beam light rays emitted by the radar, and detecting leveling results in real time based on imaging pictures. When the coincidence difference of the laser level instrument emission light and the laser beam light emitted by the radar is detected to be within an acceptable error range, a voice prompt is played to indicate that the current radar is adjusted to be horizontal, so that a debugging person is convenient to know a current leveling result, the detected radar levelness is fed back in real time by vision, and the adjustment precision of the radar levelness consistency is improved.
The device for adjusting radar levelness consistency in the embodiment of the present invention is described in detail above in terms of modularized functional entities in fig. 2, and the device for adjusting radar levelness consistency in the embodiment of the present invention is described in detail below in terms of hardware processing.
Fig. 3 is a schematic structural diagram of a radar levelness consistency adjustment device 500 according to an embodiment of the present invention, where the radar levelness consistency adjustment device 500 may have a relatively large difference due to different configurations or performances, and may include one or more processors (central processing units, CPU) 510 (e.g., one or more processors) and a memory 520, and one or more storage media 530 (e.g., one or more mass storage devices) storing application programs 533 or data 532. Wherein memory 520 and storage medium 530 may be transitory or persistent storage. The program stored in the storage medium 530 may include one or more modules (not shown), each of which may include a series of instruction operations in the radar levelness consistency adjustment device 500. Still further, the processor 510 may be configured to communicate with the storage medium 530 to execute a series of instruction operations in the storage medium 530 on the radar levelness consistency adjustment device 500.
The radar levelness consistency-based adjustment device 500 may also include one or more power supplies 540, one or more wired or wireless network interfaces 550, one or more input/output interfaces 560, and/or one or more operating systems 531, such as Windows Serve, mac OS X, unix, linux, freeBSD, and the like. It will be appreciated by those skilled in the art that the radar levelness uniformity adjustment device structure shown in fig. 3 is not limiting of the radar levelness uniformity-based adjustment device and may include more or fewer components than shown, or may be combined with certain components, or a different arrangement of components.
The present invention also provides a computer readable storage medium, which may be a non-volatile computer readable storage medium, or may be a volatile computer readable storage medium, where instructions are stored in the computer readable storage medium, when the instructions are executed on a computer, cause the computer to perform the steps of the method for adjusting radar levelness consistency.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the system or apparatus and unit described above may refer to the corresponding process in the foregoing method embodiment, which is not repeated herein.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or 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 (random access memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; 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 method for adjusting radar levelness consistency is characterized by comprising the following steps of:
collecting a first infrared image of reference light emitted by a laser level meter, determining pixel corner information according to the first infrared image, and determining reference light width information according to the first infrared image;
collecting a second infrared image of laser beam rays emitted by a radar, and calculating the coincidence ratio of the laser beam rays and the reference rays according to the first infrared image and the second infrared image;
determining whether the contact ratio is in a preset threshold value interval according to the pixel angular point information and the reference light width information;
and if the contact ratio is in the preset threshold value, outputting prompt information of consistent levelness of the radar.
2. The method for adjusting radar levelness uniformity according to claim 1, wherein after the step of determining whether the overlap ratio is within a preset threshold interval according to the pixel corner information and the reference light ray width information, the method further comprises:
and if the contact ratio is not in the preset threshold value, outputting prompt information of inconsistent levelness of the radar and returning to execute the step of collecting the second infrared image of the laser beam rays emitted by the radar.
3. The method for adjusting radar levelness uniformity according to claim 1, wherein after the step of determining whether the overlap ratio is within a preset threshold interval according to the pixel corner information and the reference light ray width information, the method further comprises:
and if the contact ratio is not in the preset threshold value, outputting prompt information of inconsistent levelness of the radar and returning to the step of executing the second infrared image for collecting the laser beam rays emitted by the radar at fixed time.
4. The method for adjusting radar levelness uniformity according to claim 1, wherein after the step of determining whether the overlap ratio is within a preset threshold interval according to the pixel corner information and the reference light ray width information, the method further comprises:
and if the contact ratio is not in the preset threshold value, adjusting the incidence angle of the laser beam rays and returning to the step of executing the second infrared image of the laser beam rays emitted by the acquisition radar.
5. The method of claim 1, wherein after the step of acquiring a second infrared image of the radar-emitted laser beam light, the method further comprises:
detecting whether an interference line segment exists in the second infrared image;
if the interference line segments exist in the second infrared image, outputting prompt information of inconsistent levelness of the radar and returning to the step of executing the second infrared image for collecting the laser beam rays emitted by the radar.
6. The method for adjusting radar levelness uniformity according to claim 1, wherein said step of determining whether said overlap ratio is within a preset threshold interval according to said pixel corner information and said reference ray width information comprises:
determining a threshold interval according to the pixel angular point information and the reference light width information, and storing the threshold interval to obtain the preset threshold interval;
and determining whether the contact ratio is in the preset threshold value interval.
7. The method for adjusting radar levelness uniformity according to claim 1, wherein said step of determining pixel corner information from said first infrared image comprises:
outputting frame selection prompt information;
when a frame selection instruction is detected, determining a frame selection area in the first infrared image according to the frame selection instruction, and obtaining a detection area;
and determining the pixel corner information corresponding to the detection area.
8. An adjusting device of radar levelness uniformity, characterized in that, the adjusting device of radar levelness uniformity includes:
the acquisition module is used for acquiring a first infrared image of the reference light emitted by the laser level meter, determining pixel corner information according to the first infrared image and determining reference light width information according to the first infrared image;
the calculation module is used for collecting a second infrared image of laser beam rays emitted by the radar and calculating the coincidence ratio of the laser beam rays and the reference rays according to the first infrared image and the second infrared image;
the determining module is used for determining whether the contact ratio is in a preset threshold value interval according to the pixel angular point information and the reference light width information;
and the output module is used for outputting prompt information of consistent levelness of the radar if the contact ratio is in the preset threshold value.
9. An adjustment device for radar levelness consistency, characterized in that the adjustment device for radar levelness consistency comprises: a memory and at least one processor, the memory having instructions stored therein, the memory and the at least one processor being interconnected by a line;
the at least one processor invokes the instructions in the memory to cause the radar levelness consistency adjustment device to perform the radar levelness consistency adjustment method of any of claims 1-7.
10. A 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 method for adjusting radar levelness consistency according to any one of claims 1-7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116679290A (en) * | 2023-08-02 | 2023-09-01 | 东莞市沃百泰优电子科技有限公司 | Method, system and medium for testing rotation center offset of rotary laser radar |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116679290A (en) * | 2023-08-02 | 2023-09-01 | 东莞市沃百泰优电子科技有限公司 | Method, system and medium for testing rotation center offset of rotary laser radar |
| CN116679290B (en) * | 2023-08-02 | 2024-04-19 | 东莞市沃百泰优电子科技有限公司 | Method, system and medium for testing rotation center offset of rotary laser radar |
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