CN116626656A - Calibration control method and device of DTOF radar module and terminal equipment - Google Patents
Calibration control method and device of DTOF radar module and terminal equipment Download PDFInfo
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- 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
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Abstract
The invention discloses a calibration control method, a device and terminal equipment of a DTOF radar module, which are used for generating control data for controlling a reflecting plate and a rotating device after a calibration instruction of the DTOF radar module to be calibrated is determined, obtaining a reflecting plate control sequence by analyzing a target reflecting plate rotating angle and a target rotating device in the control data, judging whether the reflecting plate is at an initial position or not so as to ensure that the position corresponding to the reflecting plate after rotating according to the target reflecting plate rotating angle is free from errors, executing the control transmitting operation of the DTOF radar module after judging that all the reflecting plates are at the initial position, controlling the rotating opening and rotating angles of all the control rotating devices according to the reflecting plate control sequence, starting the DTOF radar module to be calibrated to acquire debugging data after each control data is executed, and completing acquisition of the data debugging of the DTOF radar module so as to perform calibration better.
Description
Technical Field
The present invention relates to the field of electrical digital data processing, and in particular, to a calibration control method and apparatus for a DTOF radar module, and a terminal device.
Background
1.1 background art
DTOF (Direct Time of Flight) lidar is a technique that uses laser pulses to measure the distance of a target object. In DTOF radar, laser pulses are transmitted and reflected pulses are received, and the distance of the target object is calculated by measuring the time difference of the pulses.
Radar calibration is an important step to ensure that DTOF lidar can accurately measure distance to ensure accuracy and stability of the system. Calibration typically includes measurement and calibration of system parameters such as optical parameters of the sensor, ranging accuracy, temperature parameters, etc. Common calibration and calibration methods include a calibration plate method, a spherical calibration method and a target plate method, and in practice, different calibration methods and devices may be adopted in different laser radar applications, and specific selection should be determined according to actual requirements, system performance and application scenarios. The calibration plate method is a commonly used laser radar calibration method, and is usually performed by using calibration plates with known positions and different reflectivities. The calibration plate typically contains calibration points of known locations, and the lidar calculates calibration parameters of the system, such as internal and external parameters of the sensor, by measuring the distance of these calibration points. Calibration plates typically have highly accurate positional information that can be used for calibration at different distances. The existing calibration scheme is basically carried out in the form of a guide rail, the guide rail in the scheme takes a long time to move, the accumulated errors of the guide rail are required to be repeatedly adjusted, and the operation of replacing various reflectivity reflecting plates is complex, so that the data acquisition efficiency and accuracy are seriously affected.
Therefore, a calibration control strategy of the DTOF radar module is needed, so as to solve the problem of low efficiency of data acquisition of the DTOF radar module.
Disclosure of Invention
The embodiment of the invention provides a calibration control method and device of a DTOF radar module and terminal equipment, so as to improve the acquisition efficiency of calibration data of the DTOF radar module.
In order to solve the above-mentioned problems, an embodiment of the present invention provides a calibration control method of a DTOF radar module, which is applied to a calibration control system of the DTOF radar module, the calibration control system includes: the device comprises a DTOF radar module, a plurality of reflecting plates and a plurality of rotating devices; wherein each reflecting plate corresponds to each rotating device one by one; the reflecting plate comprises a plurality of areas, and each area corresponds to a group of reflecting plate rotation angles; the area comprises one of a reflector plate or a hollow area; the reflecting sheet comprises reflecting sheets with different reflectivities;
the calibration control method comprises the following steps:
acquiring each calibration instruction of the DTOF radar module to be calibrated;
generating control data corresponding to the calibration instruction; wherein the control data includes: a target reflecting plate rotation angle and a target rotation device;
Obtaining a reflector control sequence according to the target reflector rotation angle and the target rotation device corresponding to each control data;
judging whether each reflecting plate is at an initial position or not: if yes, the DTOF radar module is repeatedly executed to control the transmitting operation until all control data are executed; if not, controlling each reflecting plate rotating device to rotate the reflecting plate to an initial position, and repeatedly executing the DTOF radar module to control the emission operation until the control data are completely executed and then stopping;
wherein the DTOF radar module controls the transmitting operation, comprising: selecting one control data from all control data which do not execute the control transmitting operation of the DTOF radar module as the selected control data according to the control sequence of the reflecting plate, controlling a target rotating device corresponding to the selected control data to rotate a target reflecting plate, and controlling the DTOF radar module to be calibrated to start after the target reflecting plate is positioned at a target reflecting plate rotating angle corresponding to the selected control data so as to enable the DTOF radar module to be calibrated to acquire debugging data.
As an improvement of the above solution, the calibration instruction includes: a plurality of reflectivity data and a plurality of reflection distance data; the generating each control data corresponding to the calibration instruction includes:
Determining the rotation angles of the target reflecting plates corresponding to the plurality of reflectivity data according to the plurality of reflectivity data;
determining a target rotating device corresponding to each transmission distance data according to each reflection distance data;
and obtaining each control data according to the rotation angles of the target reflecting plates and the target rotating devices.
As an improvement of the above-mentioned scheme, the obtaining the control sequence of the reflecting plate according to the target reflecting plate rotation angle and the target rotation device corresponding to each control data includes:
obtaining the distance between each target rotating device and the DTOF radar module to be calibrated according to the target rotating device corresponding to each control data;
obtaining a target rotating device control sequence according to the distance between each target rotating device and the DTOF radar module to be calibrated and the distance relation from large to small;
according to the corresponding target reflecting plate rotation angle of each target rotating device, obtaining a single reflecting plate control sequence in each target rotating device according to the small-to-large angle relation;
and obtaining a reflector control sequence according to the target device control sequence and the single reflector control sequence.
As an improvement of the above solution, after the DTOF radar module to be calibrated collects debug data, the method further includes:
Receiving debugging data collected by a DTOF radar module to be calibrated, and grouping the debugging data with the same rotation angle of a target reflecting plate to obtain a plurality of groups of test data with different reflectivities; wherein, each target reflecting plate rotation angle corresponds to a reflectivity;
extracting linear data in each group of reflectivity debugging data to obtain a plurality of groups of error data with different reflectivities;
obtaining the compensation distance of the DTOF radar module to be calibrated according to a plurality of groups of error data and a preset distance measurement error compensation formula;
and transmitting the compensation distance to the DTOF radar module to be calibrated so that the DTOF radar module to be calibrated performs calibration according to the compensation distance.
As an improvement of the above-described scheme, the debug data includes: temperature data and ranging data; after the DTOF radar module to be calibrated collects the debugging data, the method further comprises the following steps:
receiving debugging data acquired by a DTOF radar module to be calibrated, extracting temperature data and ranging data with minimum rotation angle of a target reflecting plate, and obtaining temperature drift calibration data;
determining a temperature drift reference according to the temperature drift calibration data;
and transmitting the temperature drift reference to the DTOF radar module to be calibrated so that the DTOF radar module to be calibrated can calibrate according to the temperature drift reference.
Correspondingly, an embodiment of the present invention further provides a calibration control device of a DTOF radar module, which is applied to a calibration control system of the DTOF radar module, where the calibration control system includes: the device comprises a DTOF radar module, a plurality of reflecting plates and a plurality of rotating devices; wherein each reflecting plate corresponds to each rotating device one by one; the reflecting plate comprises a plurality of areas, and each area corresponds to a group of reflecting plate rotation angles; the area comprises one of a reflector plate or a hollow area; the reflecting sheet comprises reflecting sheets with different reflectivities;
the calibration control device includes: the device comprises a data acquisition module, a data processing module, a control sequence module and a data judging module;
the data acquisition module is used for acquiring each calibration instruction of the DTOF radar module to be calibrated;
the data processing module is used for generating each control data corresponding to the calibration instruction; wherein the control data includes: a target reflecting plate rotation angle and a target rotation device;
the control sequence module is used for obtaining a reflector control sequence according to the target reflector rotation angle and the target rotation device corresponding to each control data;
The data judging module is used for judging whether each reflecting plate is positioned at an initial position or not: if yes, the DTOF radar module is repeatedly executed to control the transmitting operation until all control data are executed; if not, controlling each reflecting plate rotating device to rotate the reflecting plate to an initial position, and repeatedly executing the DTOF radar module to control the emission operation until the control data are completely executed and then stopping;
wherein the DTOF radar module controls the transmitting operation, comprising: selecting one control data from all control data which do not execute the control transmitting operation of the DTOF radar module as the selected control data according to the control sequence of the reflecting plate, controlling a target rotating device corresponding to the selected control data to rotate a target reflecting plate, and controlling the DTOF radar module to be calibrated to start after the target reflecting plate is positioned at a target reflecting plate rotating angle corresponding to the selected control data so as to enable the DTOF radar module to be calibrated to acquire debugging data.
As an improvement of the above solution, the calibration instruction includes: a plurality of reflectivity data and a plurality of reflection distance data; the data processing module comprises: the device comprises a rotation angle unit, a rotation device unit and a summarizing unit;
The rotation angle unit is used for determining the rotation angles of the target reflecting plates corresponding to the plurality of reflectivity data according to the plurality of reflectivity data;
the rotating device unit is used for determining a target rotating device corresponding to each piece of transmission distance data according to each piece of reflection distance data;
and the summarizing unit is used for obtaining each control data according to the rotation angles of the target reflecting plates and the target rotating devices.
As an improvement of the above solution, the control sequence module includes: a first data generation unit, a second data generation unit, a third data generation unit, and a control sequence generation unit;
the first data generating unit is used for obtaining the distance between each target rotating device and the DTOF radar module to be calibrated according to the target rotating device corresponding to each control data;
the second data generating unit is used for obtaining a target rotating device control sequence according to the distance between each target rotating device and the DTOF radar module to be calibrated and the distance relation from large to small;
the third data generating unit is used for obtaining a single reflecting plate control sequence in each target rotating device according to the corresponding target reflecting plate rotating angle of each target rotating device and the small-to-large angle relation;
The control sequence generating unit is used for obtaining a reflecting plate control sequence according to the target device control sequence and the single reflecting plate control sequence.
As an improvement of the above solution, after the DTOF radar module to be calibrated collects debug data, the method further includes:
receiving debugging data collected by a DTOF radar module to be calibrated, and grouping the debugging data with the same rotation angle of a target reflecting plate to obtain a plurality of groups of test data with different reflectivities; wherein, each target reflecting plate rotation angle corresponds to a reflectivity;
extracting linear data in each group of reflectivity debugging data to obtain a plurality of groups of error data with different reflectivities;
obtaining the compensation distance of the DTOF radar module to be calibrated according to a plurality of groups of error data and a preset distance measurement error compensation formula;
and transmitting the compensation distance to the DTOF radar module to be calibrated so that the DTOF radar module to be calibrated performs calibration according to the compensation distance.
As an improvement of the above-described scheme, the debug data includes: temperature data and ranging data; after the DTOF radar module to be calibrated collects the debugging data, the method further comprises the following steps:
receiving debugging data acquired by a DTOF radar module to be calibrated, extracting temperature data and ranging data with minimum rotation angle of a target reflecting plate, and obtaining temperature drift calibration data;
Determining a temperature drift reference according to the temperature drift calibration data;
and transmitting the temperature drift reference to the DTOF radar module to be calibrated so that the DTOF radar module to be calibrated can calibrate according to the temperature drift reference.
Correspondingly, an embodiment of the present application further provides a computer terminal device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, where the processor implements a calibration control method of a DTOF radar module according to the present application when executing the computer program.
Correspondingly, an embodiment of the application further provides a computer readable storage medium, which comprises a stored computer program, wherein when the computer program runs, equipment where the computer readable storage medium is located is controlled to execute the calibration control method of the DTOF radar module.
From the above, the application has the following beneficial effects:
the application provides a calibration control method of a DTOF radar module, which comprises the steps of generating control data for controlling a reflecting plate and a rotating device after a calibration instruction of the DTOF radar module to be calibrated is determined, obtaining a reflecting plate control sequence by analyzing a target reflecting plate rotating angle and the target rotating device in the control data, judging whether the reflecting plate is at an initial position or not so as to ensure that the position corresponding to the reflecting plate rotating according to the target reflecting plate rotating angle cannot be wrong, executing the DTOF radar module control transmitting operation after judging that all the reflecting plates are at the initial position, controlling the rotating opening and rotating angles of all the control rotating devices according to the reflecting plate control sequence, starting the DTOF radar module to be calibrated to acquire debugging data after each control data is executed, and completing acquisition of the DTOF radar module debugging data so as to perform calibration better. Compared with the prior art that the reflectivity of the reflecting plate is adjusted through the guide rail, the method and the device rotate the reflecting plate according to the control sequence of the reflecting plate, can reflect the distance between the reflecting plate and the DTOF radar module and the reflectivity of the reflecting plate when the selected reflecting plate rotates to the rotation angle of the target reflecting plate, ensure smooth signals when the unselected reflecting plate is positioned at the initial position, greatly shorten the switching of the reflecting plate and the position of the distance point, and further improve the efficiency of debugging data acquisition of the DTOF radar module.
Further, the method and the device for detecting the DTOF radar module position determine the positions of the target rotating devices from the DTOF radar module by analyzing the target rotating angles and the target rotating devices corresponding to all debugging instructions, sequence the positions of all the target rotating devices from far to near, sequence the positions of the target rotating devices in the target rotating devices, sequence the positions of the target rotating angles in each target rotating device from small to large, and determine a single reflecting plate control sequence in each target rotating device, so that the reflecting plate control sequence is determined, and the reflecting plate control sequence is obtained through combination, so that the calibration data of all different reflectivities can be continuously collected when the calibration data are collected from far to near, the problem of shielding caused by the reflecting plates of the DTOF radar module is avoided, and the collection of the calibration data of the DTOF radar module is further improved.
Drawings
FIG. 1 is a flow chart of a calibration control method of a DTOF radar module according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a calibration control device of a DTOF radar module according to an embodiment of the disclosure;
FIG. 3 is a schematic diagram of a control system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a ranging error result according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a linear mark ranging error result according to an embodiment of the present invention;
FIG. 6 is a graph showing the energy error results provided by an embodiment of the present invention;
FIG. 7 is a graph showing the linear marking energy error result provided by an embodiment of the present invention;
FIG. 8 is a schematic flow chart of temperature drift calibration according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a terminal device according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but 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.
Example 1
Referring to fig. 1, fig. 1 is a flow chart of a calibration control method of a DTOF radar module according to an embodiment of the invention, as shown in fig. 1, the embodiment includes steps 101 to 104, and the steps are as follows:
a calibration control system for a DTOF radar module, the calibration control system comprising: the device comprises a DTOF radar module, a plurality of reflecting plates and a plurality of rotating devices; wherein each reflecting plate corresponds to each rotating device one by one; the reflecting plate comprises a plurality of areas, and each area corresponds to a group of reflecting plate rotation angles; the area comprises one of a reflector plate or a hollow area; the reflecting sheet comprises reflecting sheets with different reflectivities;
In the embodiment, the laser emission direction of the DTOF radar module is taken as a central line, the position of the DTOF radar module is taken as a zero point, round reflecting plates with different reflectivities are placed at a plurality of distances from the zero point, and the number and the specific positions of the distance points are determined according to the actual measurement result; when the center of the reflector plate of the circular reflector plate is intersected with the central line, the actual distance of the radar reaching the reflector plate is the set distance of the circular reflector plate where the reflector plate is located.
In the present embodiment, determination of the target transmitting plate rotation angle is performed based on the initial state; wherein, the initial state of reflecting plate is: a hollowed-out area between the reflecting sheet corresponding to the minimum reflectivity and the reflecting sheet corresponding to the maximum reflectivity; the circular reflecting plate is driven by the stepping motor, so that the rotating angle of the stepping motor is the rotating angle of the circular reflecting plate. The rotation of the stepping motor is controlled through communication, the rotation angle value of the motor is obtained in real time, and whether the reflecting plate area of the circular reflecting plate is intersected with the central line or hollowed out can be judged according to the angle value.
In a specific embodiment, as shown in fig. 3, if there are three reflective sheets, each circular reflective sheet includes six areas, and around the center of the circle, the first reflective sheet (minimum), the second reflective sheet (second maximum), the third reflective sheet (maximum) and the second hollow area are arranged according to the first hollow area (initial position).
In a specific embodiment, the distances between the 3 reflecting plates on each circular reflecting plate are equal, and the distance points from the disc to the module are set according to the rule of how far, for example, 18 distance points, namely 40,100,150,250,350,500,600,700,800,900,1000,1500,2000,2500,3000,5000,6500,9000 (unit millimeters) are set, and the distance between the distance points is close due to the large energy variation amplitude of the SPAD sensor. The energy of the remote SPAD sensor changes slightly, so that the distance between the remote SPAD sensor and the point is far.
Step 101: and acquiring each calibration instruction of the DTOF radar module to be calibrated.
In this embodiment, each calibration instruction of the DTOF radar module to be calibrated is obtained by receiving the instruction with the reflection plate with different reflectivity and the information of different distance points transmitted by the PC host computer.
Step 102: generating control data corresponding to the calibration instruction; wherein the control data includes: target reflecting plate rotation angle and target rotation device.
In this embodiment, the calibration instruction includes: a plurality of reflectivity data and a plurality of reflection distance data; the generating each control data corresponding to the calibration instruction includes:
Determining the rotation angles of the target reflecting plates corresponding to the plurality of reflectivity data according to the plurality of reflectivity data;
determining a target rotating device corresponding to each transmission distance data according to each reflection distance data;
and obtaining each control data according to the rotation angles of the target reflecting plates and the target rotating devices.
Step 103: and obtaining a reflector control sequence according to the target reflector rotation angle and the target rotation device corresponding to each control data.
In this embodiment, the obtaining the control sequence of the reflecting plate according to the target reflecting plate rotation angle and the target rotation device corresponding to each control data includes:
obtaining the distance between each target rotating device and the DTOF radar module to be calibrated according to the target rotating device corresponding to each control data;
obtaining a target rotating device control sequence according to the distance between each target rotating device and the DTOF radar module to be calibrated and the distance relation from large to small;
according to the corresponding target reflecting plate rotation angle of each target rotating device, obtaining a single reflecting plate control sequence in each target rotating device according to the small-to-large angle relation;
and obtaining a reflector control sequence according to the target rotating device control sequence and the single reflector control sequence.
To better understand the control sequence of the reflecting plate, specifically:
the target rotating device farthest from the DTOF radar module is confirmed to be a first control object, the target rotating device nearest to the DTOF radar module is confirmed to be a last control object, and all the target rotating devices are sequenced from far to near based on a distance relation from large to small, so that a target rotating device control sequence is obtained;
sequencing the rotation angles of the target reflecting plates in each target rotating device, confirming the minimum rotation angle of the target reflecting plates as the first adjustment, confirming the maximum rotation angle of the target reflecting plates as the last adjustment, sequencing all the rotation angles of the target reflecting plates in each target rotating device based on the angle relation from small to large, and obtaining a single reflecting plate control sequence in each target rotating device;
by combining the target rotation device control sequence and the single reflection plate control sequence in each target rotation device, the reflection plate control sequence is obtained so that the system performs rotation control of all reflection plates according to the reflection plate control sequence, for example: in the first time of reflector control, the system controls a first target rotating device farthest from the DTOF radar module to rotate to a minimum target reflector rotating angle corresponding to the first target rotating device, and at the moment, because other reflectors are in an initial state, the DTOF radar module is started at the moment, and no reflection is generated by the other reflectors; in the second-time reflector control: if the first target rotating device has more than one target reflecting plate rotating angle, the system controls the first target rotating device to rotate to a second small target reflecting plate rotating angle corresponding to the first target rotating device (wherein the operation method from the third small target reflecting plate rotating angle to the maximum target reflecting plate rotating angle is consistent with the second small target reflecting plate rotating angle); if the first target rotating device has only one target reflecting plate rotating angle, the system controls the second target rotating device which is far away from the DTOF radar module and rotates to the position of the minimum target reflecting plate rotating angle corresponding to the second target rotating device, and at the moment, the reflection data of the first target rotating device are adjusted completely, so that any operation is not needed, and the system can be uniformly adjusted to an initial state after the operation of all the target rotating devices is completed.
It can be appreciated that in this embodiment, by controlling the switching of the reflecting plates in the distance relationship from far to near and controlling the switching of the reflecting plates in the angle relationship from small to large, the system in this embodiment can ensure that the control of the reflecting plates in the system does not have repeated redundant control steps and control parameters, thereby ensuring the continuity of the control and improving the efficiency of collecting the calibration data of the DTOF radar module.
Step 104: judging whether each reflecting plate is at an initial position or not: if yes, the DTOF radar module is repeatedly executed to control the transmitting operation until all control data are executed; if not, controlling each rotating device to rotate the reflecting plate to the initial position, and repeatedly executing the DTOF radar module to control the emission operation until the control data are completely executed and then stopping;
wherein the DTOF radar module controls the transmitting operation, comprising: selecting one control data from all control data which do not execute the control transmitting operation of the DTOF radar module as the selected control data according to the control sequence of the reflecting plate, controlling a target rotating device corresponding to the selected control data to rotate a target reflecting plate, and controlling the DTOF radar module to be calibrated to start after the target reflecting plate is positioned at a target reflecting plate rotating angle corresponding to the selected control data so as to enable the DTOF radar module to be calibrated to acquire debugging data.
In a specific embodiment, the reason that the reflector is at the initial position is to make all the reflectors be in the hollowed-out area, so that the DTOF radar module of the embodiment can not be blocked by the reflector in front when debugging each reflector.
In a specific embodiment, the control system controls the corresponding reflectivity reflecting plate under the corresponding distance point to move to a position intersected with the central line according to a reset instruction received from the PC upper computer instruction, ensures that reflecting plates of all distance points in front of the distance point are in hollowed-out positions, and then returns a response instruction to the PC upper computer;
judging whether a response instruction is received (namely judging that the reflecting plates are in the initial positions so as to enable all the reflecting plates to be in the hollowed areas), if so, indicating that the reflecting plates are in place, and prompting the PC upper computer to stop sending the reset instruction; if not, repeatedly receiving the reset instruction.
In this embodiment, after the DTOF radar module to be calibrated collects debug data, the method further includes:
receiving debugging data collected by a DTOF radar module to be calibrated, and grouping the debugging data with the same rotation angle of a target reflecting plate to obtain a plurality of groups of test data with different reflectivities; wherein, each target reflecting plate rotation angle corresponds to a reflectivity;
Extracting linear data in each group of reflectivity debugging data to obtain a plurality of groups of error data with different reflectivities;
obtaining the compensation distance of the DTOF radar module to be calibrated according to a plurality of groups of error data and a preset distance measurement error compensation formula;
and transmitting the compensation distance to the DTOF radar module to be calibrated so that the DTOF radar module to be calibrated performs calibration according to the compensation distance.
In a specific embodiment, the distance calibration: as shown in fig. 4, the ranging data of two reflection plates with different reflectivities are acquired respectively, and the abscissa represents the actual distance of the acquired data, such as a plurality of positions of 1 meter, 2 meters, and the like. The ordinate represents the error between the SPAD sensor ranging result and the actual distance, and the typical ranging error value is about 700 mm or 800 mm; as can be seen from fig. 4, the ranging results of the transmitting plates with different emissivity and different distances have test errors, and the ranging error change curve is nonlinear, also unusual, and is an irregular change curve;
as shown in fig. 5, when the SPAD sensor works stably, d1 and d2 respectively represent the ranging errors corresponding to two adjacent ranging results (i.e. the error data described in the present invention, the error data includes the ranging error), the ranging error between d1 and d2 (i.e. the linear data described in the present invention) can be considered as linear, the ranging error under the ranging result d can be estimated according to the principle of the linear equation y=kx+b, the linear equation of each reflectivity reflecting plate can be obtained according to the coordinate calculation of d1 and d2, the ranging result d can be substituted to obtain the ranging errors Δ1 and Δ2 of the ranging result d under different reflectivity reflecting plates, and then the ranging error is compensated according to the error compensation formula q=s+Δx (i.e. the ranging error compensation formula described in the present invention), where s is the ranging result collected by the SPAD sensor, and q is the ranging result after the error compensation;
For better illustration, taking a 100 mm gray plate as an example, the upper computer sends information of the 100 mm gray plate to the module, the module stores two information of the 100 mm gray plate and the gray plate in a table, the table is recorded as a calibration table, meanwhile, the original distance collected by the module is also stored in the same calibration table, and the table is stored in a flash of the MCU.
In a specific embodiment, the energy calibration: as shown in fig. 6, when the SPAD sensor works stably, d1 and d2 respectively represent energy 1 corresponding to two adjacent ranging results (i.e. error data in the invention, the error data includes energy values), the energy 1 between d1 and d2 (i.e. linear data in the invention) can be considered to be linear, according to the principle of linear equation y=kx+b, the linear equation of each reflectivity reflecting plate is obtained according to the coordinate calculation of d1 and d2, the energy value under the ranging result d can be estimated, the energy error ex of the ranging result d under the reflecting plates with different reflectivities can be obtained, and the energy 1 is used as an index for measuring the intensity of a laser spot and is used for auxiliary calculation in the error compensation process;
in the SPAD sensor, the relation between the ranging error and the energy 1 is shown in fig. 7, in a certain range (the ranging error is adjusted according to the accuracy requirement of the user on the adjustment data), the ranging error is reduced along with the increase of the energy index 1, and the SPAD sensor can be considered to have a certain linear relation, namely, the linear equation is solved according to the energy e1 of the current ranging result d, any data between e1 and e2 can be substituted into the linear equation solved based on the energy e1, the value of the current ranging error delta is judged, and then the current ranging error delta is compensated according to an error compensation formula q=s+ [ delta ] x (namely, the ranging error compensation formula disclosed by the invention);
For better illustration, a 100 mm gray plate is taken as an example. Because the energy calibration and the distance calibration process are consistent, the module stores the energy data in the same calibration table as the original distance.
The distance calibration and the energy calibration do not affect each other, because the distance calibration and the energy calibration are performed synchronously, and the calibration parameters are calculated simultaneously.
In this embodiment, the debug data includes: temperature data and ranging data; after the DTOF radar module to be calibrated collects the debugging data, the method further comprises the following steps:
receiving debugging data acquired by a DTOF radar module to be calibrated, extracting temperature data and ranging data with minimum rotation angle of a target reflecting plate, and obtaining temperature drift calibration data;
determining a temperature drift reference according to the temperature drift calibration data;
and transmitting the temperature drift reference to the DTOF radar module to be calibrated so that the DTOF radar module to be calibrated can calibrate according to the temperature drift reference.
In a specific embodiment, the temperature drift calibration: as shown in fig. 8, the temperature drift calibration includes two parts, the first part is the temperature drift reference correction and the second part is the EEL temperature drift correction;
the temperature drift reference correction is completed in the SPAD sensor (namely the device in the DTOF radar module to be calibrated), the MCU (such as GD 32) needs to configure the temperature drift reference in the SPAD sensor, and the MCU can control the temperature drift reference correction and the temperature parameter adjustment on and off in the SPAD sensor through the configuration of a register in the SPAD sensor; after the temperature drift reference is started and corrected, the distance output by the SPAD sensor chip is the corrected distance; the EEL temperature drift correction is to further correct the distance according to the temperature of the light source after the distance is output by the chip, and the EEL temperature drift correction can be changed according to different light splitters or structures;
The temperature drift reference calibration is carried out under the normal temperature environment and under the condition of using a low-reflectivity reflecting plate, such as an 8 m 5% emissivity gray plate, and distance measurement calculation is carried out after the temperature drift calibration is started, so that the distance deviation generated when the temperature parameters are regulated, namely the temperature drift reference is calculated; and writing the temperature drift reference into an internal register of the SPAD sensor chip so as to calculate the distance inside the SPAD sensor chip.
In a specific embodiment, to better illustrate the control and emission operation of the DTOF radar module, the module starts to collect data such as original distance and energy value after receiving the instruction, calculates the distance calibration parameter, the energy calibration parameter and the temperature drift calibration parameter, stores the calculated calibration parameter into the flash of the MCU, and directly invokes the calibration parameter to calculate the distance when testing the module, thereby outputting the ranging value;
after the module finishes the process, a calibration completion instruction is returned to the PC upper computer, which indicates that the calibration of the reflecting plate corresponding to the distance point is completed, and the system automatically performs the calibration operation of the next distance point.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a calibration control device of a DTOF radar module according to an embodiment of the present invention, and the calibration control system is applied to the DTOF radar module, and includes: the device comprises a DTOF radar module, a plurality of reflecting plates and a plurality of rotating devices; wherein each reflecting plate corresponds to each rotating device one by one; the reflecting plate comprises a plurality of areas, and each area corresponds to a group of reflecting plate rotation angles; the area comprises one of a reflector plate or a hollow area; the reflecting sheet comprises reflecting sheets with different reflectivities;
The calibration control device includes: a data acquisition module 201, a data processing module 202, a control sequence module 203 and a data judgment module 204;
the data acquisition module 201 is configured to acquire each calibration instruction of the DTOF radar module to be calibrated;
the data processing module 202 is configured to generate control data corresponding to the calibration instruction; wherein the control data includes: a target reflecting plate rotation angle and a target rotation device;
the control sequence module 203 is configured to obtain a control sequence of the reflecting plate according to the target reflecting plate rotation angle and the target rotation device corresponding to each control data;
the data determining module 204 is configured to determine whether each of the reflection plates is at an initial position: if yes, the DTOF radar module is repeatedly executed to control the transmitting operation until all control data are executed; if not, controlling each reflecting plate rotating device to rotate the reflecting plate to an initial position, and repeatedly executing the DTOF radar module to control the emission operation until the control data are completely executed and then stopping;
wherein the DTOF radar module controls the transmitting operation, comprising: selecting one control data from all control data which do not execute the control transmitting operation of the DTOF radar module as the selected control data according to the control sequence of the reflecting plate, controlling a target rotating device corresponding to the selected control data to rotate a target reflecting plate, and controlling the DTOF radar module to be calibrated to start after the target reflecting plate is positioned at a target reflecting plate rotating angle corresponding to the selected control data so as to enable the DTOF radar module to be calibrated to acquire debugging data.
As an improvement of the above solution, the calibration instruction includes: a plurality of reflectivity data and a plurality of reflection distance data; the data processing module 202 includes: the device comprises a rotation angle unit, a rotation device unit and a summarizing unit;
the rotation angle unit is used for determining the rotation angles of the target reflecting plates corresponding to the plurality of reflectivity data according to the plurality of reflectivity data;
the rotating device unit is used for determining a target rotating device corresponding to each piece of transmission distance data according to each piece of reflection distance data;
and the summarizing unit is used for obtaining each control data according to the rotation angles of the target reflecting plates and the target rotating devices.
As an improvement of the above, the control sequence module 203 includes: a first data generation unit, a second data generation unit, a third data generation unit, and a control sequence generation unit;
the first data generating unit is used for obtaining the distance between each target rotating device and the DTOF radar module to be calibrated according to the target rotating device corresponding to each control data;
the second data generating unit is used for obtaining a target rotating device control sequence according to the distance between each target rotating device and the DTOF radar module to be calibrated and the distance relation from large to small;
The third data generating unit is used for obtaining a single reflecting plate control sequence in each target rotating device according to the corresponding target reflecting plate rotating angle of each target rotating device and the small-to-large angle relation;
the control sequence generating unit is used for obtaining a reflecting plate control sequence according to the target device control sequence and the single reflecting plate control sequence.
As an improvement of the above solution, after the DTOF radar module to be calibrated collects debug data, the method further includes:
receiving debugging data collected by a DTOF radar module to be calibrated, and grouping the debugging data with the same rotation angle of a target reflecting plate to obtain a plurality of groups of test data with different reflectivities; wherein, each target reflecting plate rotation angle corresponds to a reflectivity;
extracting linear data in each group of reflectivity debugging data to obtain a plurality of groups of error data with different reflectivities;
obtaining the compensation distance of the DTOF radar module to be calibrated according to a plurality of groups of error data and a preset distance measurement error compensation formula;
and transmitting the compensation distance to the DTOF radar module to be calibrated so that the DTOF radar module to be calibrated performs calibration according to the compensation distance.
As an improvement of the above-described scheme, the debug data includes: temperature data and ranging data; after the DTOF radar module to be calibrated collects the debugging data, the method further comprises the following steps:
receiving debugging data acquired by a DTOF radar module to be calibrated, extracting temperature data and ranging data with minimum rotation angle of a target reflecting plate, and obtaining temperature drift calibration data;
determining a temperature drift reference according to the temperature drift calibration data;
and transmitting the temperature drift reference to the DTOF radar module to be calibrated so that the DTOF radar module to be calibrated can calibrate according to the temperature drift reference.
After determining a calibration instruction of the DTOF radar module to be calibrated, the embodiment generates control data for controlling the reflecting plate and the rotating device, obtains a reflecting plate control sequence by analyzing a target reflecting plate rotating angle and the target rotating device in the control data, and completes acquisition of the debugging data of the DTOF radar module by judging whether the reflecting plate is at an initial position so as to ensure that the position corresponding to the reflecting plate rotating according to the target reflecting plate rotating angle cannot go wrong, after judging that all the reflecting plates are at the initial position, executes the DTOF radar module control transmitting operation, controls the rotating opening and rotating angles of all the control rotating devices according to the reflecting plate control sequence, and starts the DTOF radar module to be calibrated to acquire the debugging data after each control data is executed, thereby better calibrating. The embodiment provides that the reflecting plates of different types are arranged on the equally-divided circular discs, and the reflecting plates of different types are switched through the rotation of the circular discs, so that the switching time of the reflecting plates and the switching time of the distance points are greatly shortened, and the production efficiency is effectively improved.
Example two
Referring to fig. 9, fig. 9 is a schematic structural diagram of a terminal device according to an embodiment of the present invention.
A terminal device of this embodiment includes: a processor 901, a memory 902 and a computer program stored in the memory 902 and executable on the processor 901. The processor 901 performs the steps of the above-described calibration control method of each DTOF radar module when executing the computer program, for example, all the steps of the calibration control method of the DTOF radar module shown in fig. 1. Alternatively, the processor may implement functions of each module in the above-described device embodiments when executing the computer program, for example: all modules of the calibration control device of the DTOF radar module shown in fig. 2.
In addition, the embodiment of the invention also provides a computer readable storage medium, which comprises a stored computer program, wherein when the computer program runs, equipment where the computer readable storage medium is located is controlled to execute the calibration control method of the DTOF radar module set in any embodiment.
It will be appreciated by those skilled in the art that the schematic diagram is merely an example of a terminal device and does not constitute a limitation of the terminal device, and may include more or less components than illustrated, or may combine certain components, or different components, e.g., the terminal device may further include an input-output device, a network access device, a bus, etc.
The processor 901 may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, and the processor 901 is a control center of the terminal device, and connects various parts of the entire terminal device using various interfaces and lines.
The memory 902 may be used to store the computer program and/or module, and the processor 901 implements various functions of the terminal device by running or executing the computer program and/or module stored in the memory and invoking data stored in the memory 902. The memory 902 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, phonebook, etc.) created according to the use of the handset, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
Wherein the terminal device integrated modules/units may be stored in a computer readable storage medium if implemented in the form of software functional units and sold or used as stand alone products. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
It should be noted that the above-described apparatus embodiments are merely illustrative, and the units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the drawings of the embodiment of the device provided by the invention, the connection relation between the modules represents that the modules have communication connection, and can be specifically implemented as one or more communication buses or signal lines. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.
Claims (10)
1. The calibration control method of the DTOF radar module is characterized by being applied to a calibration control system of the DTOF radar module, and the calibration control system comprises the following steps: the device comprises a DTOF radar module, a plurality of reflecting plates and a plurality of rotating devices; wherein each reflecting plate corresponds to each rotating device one by one; the reflecting plate comprises a plurality of areas, and each area corresponds to a group of reflecting plate rotation angles; the area comprises one of a reflector plate or a hollow area; the reflecting sheet comprises reflecting sheets with different reflectivities;
The calibration control method comprises the following steps:
acquiring each calibration instruction of the DTOF radar module to be calibrated;
generating control data corresponding to the calibration instruction; wherein the control data includes: a target reflecting plate rotation angle and a target rotation device;
obtaining a reflector control sequence according to the target reflector rotation angle and the target rotation device corresponding to each control data;
judging whether each reflecting plate is at an initial position or not: if yes, the DTOF radar module is repeatedly executed to control the transmitting operation until all control data are executed; if not, controlling each rotating device to rotate the reflecting plate to the initial position, and repeatedly executing the DTOF radar module to control the emission operation until the control data are completely executed and then stopping;
wherein the DTOF radar module controls the transmitting operation, comprising: selecting one control data from all control data which do not execute the control transmitting operation of the DTOF radar module as the selected control data according to the control sequence of the reflecting plate, controlling a target rotating device corresponding to the selected control data to rotate a target reflecting plate, and controlling the DTOF radar module to be calibrated to start after the target reflecting plate is positioned at a target reflecting plate rotating angle corresponding to the selected control data so as to enable the DTOF radar module to be calibrated to acquire debugging data.
2. The method for controlling calibration of a DTOF radar module according to claim 1, wherein the calibration command includes: a plurality of reflectivity data and a plurality of reflection distance data; the generating each control data corresponding to the calibration instruction includes:
determining the rotation angles of the target reflecting plates corresponding to the plurality of reflectivity data according to the plurality of reflectivity data;
determining a target rotating device corresponding to each transmission distance data according to each reflection distance data;
and obtaining each control data according to the rotation angles of the target reflecting plates and the target rotating devices.
3. The method for controlling calibration of a DTOF radar module according to claim 1, wherein the obtaining a reflector control sequence according to the target reflector rotation angle and the target rotation device corresponding to each control data comprises:
obtaining the distance between each target rotating device and the DTOF radar module to be calibrated according to the target rotating device corresponding to each control data;
obtaining a target rotating device control sequence according to the distance between each target rotating device and the DTOF radar module to be calibrated and the distance relation from large to small;
according to the corresponding target reflecting plate rotation angle of each target rotating device, obtaining a single reflecting plate control sequence in each target rotating device according to the small-to-large angle relation;
And obtaining a reflector control sequence according to the target rotating device control sequence and the single reflector control sequence.
4. The method for controlling calibration of a DTOF radar module according to claim 1, further comprising, after the DTOF radar module to be calibrated collects debug data:
receiving debugging data collected by a DTOF radar module to be calibrated, and grouping the debugging data with the same rotation angle of a target reflecting plate to obtain a plurality of groups of test data with different reflectivities; wherein, each target reflecting plate rotation angle corresponds to a reflectivity;
extracting linear data in each group of reflectivity debugging data to obtain a plurality of groups of error data with different reflectivities;
obtaining the compensation distance of the DTOF radar module to be calibrated according to a plurality of groups of error data and a preset distance measurement error compensation formula;
and transmitting the compensation distance to the DTOF radar module to be calibrated so that the DTOF radar module to be calibrated performs calibration according to the compensation distance.
5. The method for controlling calibration of DTOF radar module according to claim 1, wherein the debug data includes: temperature data and ranging data; after the DTOF radar module to be calibrated collects the debugging data, the method further comprises the following steps:
Receiving debugging data acquired by a DTOF radar module to be calibrated, extracting temperature data and ranging data with minimum rotation angle of a target reflecting plate, and obtaining temperature drift calibration data;
determining a temperature drift reference according to the temperature drift calibration data;
and transmitting the temperature drift reference to the DTOF radar module to be calibrated so that the DTOF radar module to be calibrated can calibrate according to the temperature drift reference.
6. A calibration control device of a DTOF radar module, characterized by being applied to a calibration control system of the DTOF radar module, the calibration control system comprising: the device comprises a DTOF radar module, a plurality of reflecting plates and a plurality of rotating devices; wherein each reflecting plate corresponds to each rotating device one by one; the reflecting plate comprises a plurality of areas, and each area corresponds to a group of reflecting plate rotation angles; the area comprises one of a reflector plate or a hollow area; the reflecting sheet comprises reflecting sheets with different reflectivities;
the calibration control device includes: the device comprises a data acquisition module, a data processing module, a control sequence module and a data judging module;
the data acquisition module is used for acquiring each calibration instruction of the DTOF radar module to be calibrated;
The data processing module is used for generating each control data corresponding to the calibration instruction; wherein the control data includes: a target reflecting plate rotation angle and a target rotation device;
the control sequence module is used for obtaining a reflector control sequence according to the target reflector rotation angle and the target rotation device corresponding to each control data;
the data judging module is used for judging whether each reflecting plate is positioned at an initial position or not: if yes, the DTOF radar module is repeatedly executed to control the transmitting operation until all control data are executed; if not, controlling each reflecting plate rotating device to rotate the reflecting plate to an initial position, and repeatedly executing the DTOF radar module to control the emission operation until the control data are completely executed and then stopping;
wherein the DTOF radar module controls the transmitting operation, comprising: selecting one control data from all control data which do not execute the control transmitting operation of the DTOF radar module as the selected control data according to the control sequence of the reflecting plate, controlling a target rotating device corresponding to the selected control data to rotate a target reflecting plate, and controlling the DTOF radar module to be calibrated to start after the target reflecting plate is positioned at a target reflecting plate rotating angle corresponding to the selected control data so as to enable the DTOF radar module to be calibrated to acquire debugging data.
7. The DTOF radar module calibration control device according to claim 6, wherein the calibration instruction includes: a plurality of reflectivity data and a plurality of reflection distance data; the data processing module comprises: the device comprises a rotation angle unit, a rotation device unit and a summarizing unit;
the rotation angle unit is used for determining the rotation angles of the target reflecting plates corresponding to the plurality of reflectivity data according to the plurality of reflectivity data;
the rotating device unit is used for determining a target rotating device corresponding to each piece of transmission distance data according to each piece of reflection distance data;
and the summarizing unit is used for obtaining each control data according to the rotation angles of the target reflecting plates and the target rotating devices.
8. The DTOF radar module calibration control apparatus of claim 6, wherein the control sequence module comprises: a first data generation unit, a second data generation unit, a third data generation unit, and a control sequence generation unit;
the first data generating unit is used for obtaining the distance between each target rotating device and the DTOF radar module to be calibrated according to the target rotating device corresponding to each control data;
The second data generating unit is used for obtaining a target rotating device control sequence according to the distance between each target rotating device and the DTOF radar module to be calibrated and the distance relation from large to small;
the third data generating unit is used for obtaining a single reflecting plate control sequence in each target rotating device according to the corresponding target reflecting plate rotating angle of each target rotating device and the small-to-large angle relation;
the control sequence generating unit is used for obtaining a reflecting plate control sequence according to the target device control sequence and the single reflecting plate control sequence.
9. A computer terminal device, characterized by comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor implementing a calibration control method of a DTOF radar module according to any one of claims 1 to 5 when executing the computer program.
10. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored computer program, wherein the computer program when run controls a device in which the computer readable storage medium is located to execute a method for controlling calibration of a DTOF radar module according to any one of claims 1 to 5.
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