CN116626657A - Laser radar emission angle calibration method and device - Google Patents
Laser radar emission angle calibration method and device Download PDFInfo
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- CN116626657A CN116626657A CN202310601312.7A CN202310601312A CN116626657A CN 116626657 A CN116626657 A CN 116626657A CN 202310601312 A CN202310601312 A CN 202310601312A CN 116626657 A CN116626657 A CN 116626657A
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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
- G01S7/497—Means for monitoring or calibrating
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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Abstract
The disclosure provides a laser radar emission angle calibration method and device, relates to the technical field of automatic driving, and particularly relates to a laser radar calibration technology. One embodiment of the method comprises the following steps: the rotating module is controlled to drive the laser radar to scan according to a preset track, so that a first light spot generated on the light receiving plate is obtained; recording a first angle of a motor of the rotating module when the first light spot is on the light receiving plate; determining a transmitting angle of the laser radar based on the first angle; and calibrating based on the transmitting angle of the laser radar. The embodiment can eliminate the problem of inaccurate ranging of the laser radar caused by the error of the transmitting angle.
Description
Technical Field
The disclosure relates to the technical field of automatic driving, in particular to the technical field of laser radar calibration.
Background
The laser radar is one of the automatic driving core sensors, and can accurately output the distance and azimuth information of the target. In high-level autopilot applications, the detection accuracy of lidar determines to some extent the perceived accuracy. The distance value, the horizontal angle and the vertical angle of the measuring point are included in the data output by the laser radar, so that the three-dimensional coordinate value of the measuring point is restored. The angle of the laser radar is preset in production. However, there is a case where the actual angle value deviates from the theoretical angle value due to manufacturing errors, time drift, or the like. If the theoretical value is used when the point cloud is restored by the azimuth and the distance, the accuracy of the point cloud is reduced, and the detection accuracy of the laser radar is affected.
The laser radar emission angle calibration refers to a process of accurately calibrating horizontal and vertical angles of the laser radar when emitting laser signals. By calibrating the transmitting angle, the coordinate position of the point cloud data acquired by the laser radar in the space can be more accurate, and the performance of the laser radar in three-dimensional measurement, target detection, environment perception and other applications is improved. The traditional scheme is usually completed by adopting a manual alignment calibration and inspection mode, so that automatic batch inspection is difficult to realize, and errors are difficult to guarantee.
Disclosure of Invention
The embodiment of the disclosure provides a laser radar emission angle calibration method and device.
In a first aspect, an embodiment of the present disclosure provides a laser radar emission angle calibration method, including: the rotating module is controlled to drive the laser radar to scan according to a preset track, so that a first light spot generated on the light receiving plate is obtained; recording a first angle of a motor of the rotating module when the first light spot is on the light receiving plate; determining a transmitting angle of the laser radar based on the first angle; and calibrating based on the transmitting angle of the laser radar.
In a second aspect, an embodiment of the present disclosure provides a laser radar emission angle calibration device, including: the control module is configured to control the rotation module to drive the laser radar to scan according to a preset track so as to obtain a first light spot generated on the light receiving plate; the recording module is configured to record a first angle of a motor of the rotating module when the first light spot is on the light receiving plate; a determining module configured to determine a firing angle of the lidar based on the first angle; and the calibration module is configured to calibrate based on the emission angle of the laser radar.
In a third aspect, an embodiment of the present disclosure proposes an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method as described in any one of the implementations of the first aspect.
In a fourth aspect, embodiments of the present disclosure provide a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform a method as described in any one of the implementations of the first aspect.
In a fifth aspect, embodiments of the present disclosure propose a computer program product comprising a computer program which, when executed by a processor, implements a method as described in any of the implementations of the first aspect.
The laser radar transmitting angle calibration method provided by the embodiment of the disclosure can be used for automatic calibration of transmitting angles in the laser radar production process or automatic calibration of transmitting angles in the laser radar use process, so that the problem of inaccurate ranging of the laser radar caused by transmitting angle errors is solved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
Drawings
Other features, objects and advantages of the present disclosure will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings. The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
FIG. 1 is a schematic diagram of a laser radar emission angle calibration device;
FIG. 2 is a schematic illustration of a central anchor point;
FIG. 3 is a schematic illustration of the origin of the spot coinciding with the center anchor;
FIG. 4 is a flow chart of one embodiment of a lidar firing angle calibration method according to the present disclosure;
FIG. 5 is a schematic illustration of a vertical zig-zag scan;
FIG. 6 is a flow chart of yet another embodiment of a lidar firing angle calibration method according to the present disclosure;
FIG. 7 is a flow chart of another embodiment of a lidar firing angle calibration method according to the present disclosure;
FIG. 8 is a schematic diagram of the structure of one embodiment of a lidar firing angle calibration device according to the present disclosure;
fig. 9 is a block diagram of an electronic device for implementing a lidar firing angle calibration method according to an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
It should be noted that, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
FIG. 1 shows a schematic diagram of a laser radar emission angle calibration apparatus;
as shown in fig. 1, the laser radar firing angle calibration apparatus may include a visual recognition box 100, a controller 200, and a firing angle adjusting device 300.
The laser radar 400 can be installed on the emission angle adjusting device 300, so that the laser radar 400 is fixed, and the stability and accuracy of equipment in the angle calibration process are ensured.
The visual recognition box 100 may include a light receiving plate 110, a camera 120, and a housing 130.
The light receiving plate 110 may be used to receive laser light emitted from the laser radar 400 and generate a spot thereon. The light receiving plate 110 has a central anchor point at the central position of the light receiving plate. As shown in fig. 2, which shows a schematic view of a central anchor point. The light receiving plate 110 is rectangular, and the central anchor point is at the central position of the rectangle.
The camera 120 may be used to capture an image of the light receiving panel 110 and transmit the image of the light receiving panel 110 to the controller 200.
The housing 130 may serve to support the light receiving panel 110. Also, the camera 120 may be mounted within the housing 130 with the lens being abutted against the light panel 110 so as to take an image of the light panel 110.
The controller 200 may be configured to determine a distance deviation between an origin of a light spot on the image of the light receiving plate 110 and the center anchor point, and control the emission angle adjusting device 300 to adjust the emission angle of the laser radar 400 until the distance deviation is less than a preset distance deviation threshold. The preset distance deviation threshold is usually 0, that is, the origin of the light spot coincides with the central anchor point. As shown in fig. 3, which shows a schematic view of the spot origin coinciding with the central anchor point.
The controller 200 may include, but is not limited to, a controller with various architectures such as FPGA (Field Programmable Gate Array ), CPLD (Complex Programmable logic device, complex programmable logic device), ARM (Advanced RISC Machines, reduced instruction set machine), MCU (Microcontroller Unit, micro control unit), x86, etc.
The controller 200 is in communication connection with the camera 120 of the visual recognition box 100, and the camera 120 collects images of the light receiving plate 110 and can send the images to the controller 200, so that the controller 200 can conveniently determine the distance deviation between the origin of the light spot and the central anchor point.
The emission angle adjusting device 300 is communicatively connected to the controller 200, and can adjust the emission angle of the lidar 400 under the control of the controller 200. In general, the emission angle adjustment device 300 calculates a distance deviation between the origin of the primary spot and the center anchor point each time the emission angle of the laser radar 400 is adjusted under the control of the controller 200, and controls the emission angle adjustment device 300 to adjust the emission angle of the laser radar 400 again, so as to continuously reduce the distance deviation. And adjusting for a plurality of times until the distance deviation is smaller than a preset distance deviation threshold value.
The emission angle adjustment device 300 may include a driver 310, a first rotation module 320, a second rotation module 330, a first bracket 340, a second bracket 350, a support device 360, and a gyro module 370.
The driver 310 may be used to drive the first rotation module 320 and the second rotation module 330 to rotate. Motors are disposed in the first rotation module 320 and the second rotation module 330, and the driver 310 drives the motors to rotate the first rotation module 320 and the second rotation module 330.
The first rotation module 320 may be used to drive the laser radar 400 to rotate in a horizontal direction, so that the laser radar 400 can realize left-right scanning of the laser beam.
The second rotation module 330 may be configured to drive the laser radar 400 to rotate in a pitch direction, so that the laser radar 400 can scan the laser beam up and down.
The first bracket 340 may be mechanically connected with the second rotation module 330, and the lidar 400 is mounted on the first bracket 340, so as to fix the lidar 400, thereby ensuring stability and accuracy of the device in the angle calibration process.
The second bracket 350 may be mechanically coupled to the first rotation module 320 and the second rotation module 330.
The gyro module 370 may be mounted on the first bracket 340 together with the lidar 400 for measuring an angular deviation between a mounting plane of the lidar 400 and a horizontal plane and transmitting to the controller 200. The controller 200 may be configured to control the driver 310 to drive the supporting device 360 to retract until the angle deviation is less than a preset angle deviation threshold. Wherein the preset angle threshold is typically 0, i.e. the mounting plane of the laser radar 400 is horizontal.
The support device 360 may be used to support the components of the launch adjustment apparatus 300, leveling the mounting plane of the lidar 400. The support device 360 may include a first leg 361, a second leg 362, and a third leg 363. A first telescopic module may be mounted on the first leg 361 for adjusting the length of the first leg 361. A second telescoping module may be mounted to the second leg 362 for adjusting the length of the second leg 362.
The driver 310 may also be used to drive the first telescoping module and the second telescoping module to telescope. The motor is configured in the expansion of the first expansion module and the second expansion module, and the driver 310 drives the motor to realize the expansion of the first expansion module and the second expansion module.
With continued reference to fig. 4, a flow 400 of one embodiment of a lidar firing angle calibration method according to the present disclosure is shown. The laser radar emission angle calibration method comprises the following steps:
step 401, controlling the rotation module to drive the laser radar to scan according to a preset track, so as to obtain a first light spot generated on the light receiving plate.
In this embodiment, the rotation module is controlled to drive the laser radar to scan according to a preset track, so that a first light spot generated on the light receiving plate can be obtained.
In general, the laser radar emission angle calibration device is subjected to system self-checking and initialization, and the motor position of the rotating module is reset to zero. Then, the laser radar is electrified, and the rotating module is controlled to drive the laser radar to scan according to a preset track (such as vertical Zig-Zag scanning), so that a laser beam of the laser radar irradiates the laser plate to generate a first light spot.
The laser radar emission angle calibration device can comprise a visual identification box, a controller and an emission angle adjusting device.
The emission adjustment device may comprise a rotation module. The motor is configured in the rotating module, and the motor is driven, so that the rotating module can rotate, and the laser radar is driven to rotate. For example, the rotation modules may include a first rotation module and a second rotation module. The first motor is configured in the first rotating module, the first motor is driven, the first rotating module is rotated, and then the laser radar is driven to rotate in the horizontal direction, so that the laser radar can realize left and right scanning of laser beams. The second motor is configured in the second rotating module, the second motor is driven, the second rotating module is rotated, and then the laser radar is driven to rotate in the pitching direction, so that the laser radar can realize up-and-down scanning of laser beams.
Zig-Zag scanning is a laser radar scanning mode used for rapidly acquiring point cloud data. The Zig-Zag scan alternates between horizontal and vertical scanning to form a Zig-Zag scan path. Wherein fig. 5 shows a schematic diagram of a vertical zig-zag scan.
The visual recognition box may include a light receiving panel. The light receiving plate may be used to receive laser light emitted by the lidar and produce a spot thereon. Here, the spot distribution information may be analyzed and each spot may be numbered for subsequent processing. The light spot distribution information may include, but is not limited to, the number of light spots, the number of rows and columns, and the distribution sparse feature, among others.
Step 402, recording a first angle of a motor of the rotating module when the first light spot is on the light receiving plate.
In this embodiment, a first angle at which the motor of the rotating module is located when the first light spot is on the light receiving plate is recorded. Wherein the first angle is a rough angle that can be used to give guidance for the transmit angle calibration.
Step 403, determining an emission angle of the lidar based on the first angle.
In the present embodiment, the transmission angle of the lidar is determined based on the first angle.
Because the motor of the driving rotation module drives the laser radar to rotate, a corresponding relation exists between a first angle where the motor is positioned and a transmitting angle of the laser radar. The first angle may be converted into a firing angle of the lidar using the correspondence. The transmitting angle of the laser radar is an included angle between a connecting line of the first light spot and the origin of the laser radar and the x-axis. The x-axis is in a spatial coordinate system. Specifically on a plane parallel to the installation plane of the laser radar, the starting point is the origin of the laser radar, the pointing angle is the horizontal angle alpha of the laser radar 2 Is a direction of (2). Alpha 2 The laser radar is a preset fixed value, and can be clearly calibrated on the shell of the laser radar.
In some embodiments, an initial angle of a motor of the rotation module is obtained, and a difference between the first angle and the initial angle is calculated as a firing angle of the lidar. Example(s)If the initial angle of the second motor is alpha 0 The current angle of the second motor is alpha 1 Alpha is then 1 -α 0 Namely, a connecting line of the light spot and the origin of the laser radar and a vertical included angle between the light spot and the x-axis. If the initial angle of the first motor is beta 0 The current angle of the first motor is beta 1 Beta is then 1 -β 0 Namely the connecting line of the light spot and the origin of the laser radar and the horizontal included angle between the light spot and the x axis.
Before the laser radar is powered on, leveling is usually carried out, so alpha 0 And beta 0 The value of (2) is typically 0.
Step 404, calibrating based on the transmitting angle of the laser radar.
In this embodiment, calibration is performed based on the firing angle of the lidar. And calibrating the emission angle meeting the condition.
It should be noted that, the lidar generally has N (N is a positive integer) transmitting channels, and steps 401 to 404 are performed starting from the 1 st transmitting channel, so as to complete the calibration of the 1 st transmitting channel. In the same way, calibrating the next transmitting channel is continued until all calibration of the N transmitting channels is completed.
The laser radar transmitting angle calibration method provided by the embodiment of the disclosure can be used for automatic calibration of transmitting angles in the laser radar production process or automatic calibration of transmitting angles in the laser radar use process, so that the problem of inaccurate ranging of the laser radar caused by transmitting angle errors is solved.
With further reference to fig. 6, a flow 600 of yet another embodiment of a lidar firing angle calibration method according to the present disclosure is shown. The laser radar emission angle calibration method comprises the following steps:
and 601, controlling the rotation module to drive the laser radar to scan according to a preset track, and obtaining a first light spot generated on the light receiving plate.
Step 602, recording a first angle of a motor of a rotating module when the first light spot is on the light receiving plate.
In this embodiment, the specific operations of steps 601-602 are described in detail in steps 401-402 in the embodiment shown in fig. 4, and are not described herein.
Step 603, driving the motor of the rotating module to the first angle to obtain a second light spot generated on the light receiving plate.
In this embodiment, the motor of the rotating module is driven to a first angle to obtain a second light spot generated on the light receiving plate.
The motor of the rotating module is driven to a first angle, and the laser radar can be driven to rotate, so that a light beam of the laser radar falls on the light receiving plate, and a second light spot is generated on the light receiving plate.
In step 604, an image of the light receiving panel is acquired.
In the present embodiment, an image of the light receiving panel is acquired. Wherein the visual recognition box may further comprise a camera. A camera may be used to capture images of the light receiving panel.
Step 605, calculating a distance deviation between the origin of the second light spot on the image of the light receiving plate and the central anchor point of the light receiving plate.
In this embodiment, a distance deviation between the origin of the second light spot on the image of the light receiving plate and the center anchor point of the light receiving plate is calculated.
In general, an image of the light receiving plate is identified through an image identification algorithm, the origin point coordinate of the second light spot and the coordinate of the central anchor point of the light receiving plate can be obtained, and then the distance deviation between the origin point of the second light spot and the central anchor point of the light receiving plate is calculated.
Step 606, it is determined whether the distance deviation is less than a preset deviation threshold.
In this embodiment, it is determined whether the distance deviation is less than a preset deviation threshold. If the distance deviation is smaller than the preset deviation threshold, step 608 is executed; if the distance deviation is not less than the preset deviation threshold, step 607 is performed. The preset distance deviation threshold is usually 0, that is, the origin of the light spot coincides with the central anchor point.
In step 607, the rotation module is driven until the distance deviation is less than a preset distance deviation threshold.
In this embodiment, if the distance deviation is not less than the preset deviation threshold, the rotation module is driven to rotate the laser radar, so as to reduce the distance deviation between the origin of the light spot and the central anchor point until the distance deviation is less than the preset distance deviation threshold.
Step 608, recording a second angle at which the motor of the rotating module is currently located.
In this embodiment, if the distance deviation is smaller than the preset deviation threshold, a second angle at which the motor of the rotating module is currently located is recorded. The second angle is a fine angle due to the calibration.
Step 609, determining the firing angle of the lidar based on the second angle.
In the present embodiment, the firing angle of the lidar is determined based on the second angle.
Because the motor of the driving rotation module drives the laser radar to rotate, a corresponding relation exists between the second angle where the motor is positioned and the transmitting angle of the laser radar. The second angle may be converted into an emission angle of the lidar using the correspondence. The transmitting angle of the laser radar is an included angle between a connecting line of the second light spot and the origin of the laser radar and the x-axis. The x-axis is in a spatial coordinate system. Specifically on a plane parallel to the installation plane of the laser radar, the starting point is the origin of the laser radar, the pointing angle is the horizontal angle alpha of the laser radar 2 Is a direction of (2). Alpha 2 The laser radar is a preset fixed value, and can be clearly calibrated on the shell of the laser radar.
In some embodiments, an initial angle of a motor of the rotation module is obtained, and a difference between the second angle and the initial angle is calculated as a firing angle of the lidar. For example, if the initial angle of the second motor is α 0 The current angle of the second motor is alpha 1 Alpha is then 1 -α 0 Namely, a connecting line of the light spot and the origin of the laser radar and a vertical included angle between the light spot and the x-axis. If the initial angle of the first motor is beta 0 The current angle of the first motor is beta 1 Beta is then 1 -β 0 Namely the connecting line of the light spot and the origin of the laser radar and the horizontal included angle between the light spot and the x axis.
It should be noted thatIt is that leveling is usually performed before the laser radar is powered on, so alpha 0 And beta 0 The value of (2) is typically 0.
In step 610, it is determined whether the emission angle is within a preset angle range.
In this embodiment, it is determined whether the emission angle is within a preset angle range. If the emission angle is within the preset angle range, step 611 is performed; if the emission angle is outside the preset angle range, step 612 is performed.
In step 611, the emission angle is written into the lidar as a correction parameter.
In this embodiment, if the emission angle is within the preset angle range, the emission angle is written into the lidar as the correction parameter.
Step 612, determining that the emission angle test is not acceptable.
In this embodiment, if the emission angle is outside the preset angle range, it is determined that the emission angle is not qualified.
Here, the measured value is compared with a standard value to check whether it is within a reasonable error range. If the test is not in the range, the test is considered to be unqualified; if it is within the range, it is necessary to set the measured value as the true value of the emission angle and write the value as a calibration parameter into the lidar.
As can be seen from fig. 6, compared with the embodiment corresponding to fig. 4, the calibration step is highlighted by the flow 600 of the laser radar emission angle calibration method in this embodiment. Therefore, the scheme described in the embodiment realizes laser radar emission angle measurement through position feedback, can realize full automation of inspection and calibration, and improves calibration efficiency. And moreover, the test is simple, the calibration precision is high, the site precision is not depended, and the flexibility is high.
With further reference to fig. 7, a flow 700 of another embodiment of a lidar firing angle calibration method according to the present disclosure is shown. The laser radar emission angle calibration method comprises the following steps:
step 701, leveling the lidar.
In this embodiment, the lidar is leveled before calibration begins.
In some embodiments, obtaining an angle between a mounting plane of the lidar and a horizontal plane; if the included angle is not smaller than a preset included angle threshold value, adjusting the mounting plane of the laser radar until the included angle is smaller than the preset included angle threshold value; and if the included angle is smaller than a preset included angle threshold value, finishing leveling.
The emission angle adjustment device may further comprise a gyroscope module and a support device. The gyroscope module can be mounted on the support device together with the lidar so that the angular deviation between the mounting plane of the lidar and the horizontal plane can be measured. And the supporting device is provided with a telescopic module, and the telescopic module of the supporting device is driven to extend or shorten until the included angle deviation is smaller than a preset included angle deviation threshold value. For example, the support means may comprise a first leg, a second leg and a third leg. The first support leg can be provided with a first telescopic module for adjusting the length of the first support leg. The second support leg can be provided with a second telescopic module for adjusting the length of the second support leg. The first telescopic module and/or the second telescopic module are/is driven to extend or shorten, and the included angle deviation can be adjusted. Wherein the preset angle threshold is typically 0, i.e. the mounting plane of the lidar is horizontal.
Step 702, configuring an operation mode of the lidar to a light-emitting non-scanning mode, and locking a scanning device position of the lidar.
In this embodiment, the working mode of the laser radar is configured to be a light-emitting non-scanning mode, and the position of the scanning device of the laser radar is locked, so that interference of scanning inside the laser radar to calibration is avoided.
In general, the laser radar is firstly scanned to the horizontal direction of a connecting line between a light spot and an origin of the laser radar in the horizontal direction, the included angle between the laser radar and an x-axis is 0, the laser radar is then configured to work in a luminous non-scanning mode, and the scanning device is locked in position.
In step 703, the rotation module is controlled to drive the laser radar to scan according to a preset track, so as to obtain a first light spot generated on the light receiving plate.
Step 704, recording a first angle of a motor of the rotating module when the first light spot is on the light receiving plate.
Step 705, determining an emission angle of the lidar based on the first angle.
Step 706, calibrating based on the transmitting angle of the laser radar.
In this embodiment, the specific operations of steps 703-706 are described in detail in steps 401-404 in the embodiment shown in fig. 4, and are not described herein.
As can be seen from fig. 7, compared with the embodiment corresponding to fig. 5, the flow 700 of the laser radar emission angle calibration method in this embodiment adds a leveling step and a locking step. Thus, the solution described in this embodiment achieves automatic leveling of the device by angular feedback. The scanning device of the laser radar is locked, so that the interference of scanning inside the laser radar to calibration is avoided.
With further reference to fig. 8, as an implementation of the method shown in the foregoing figures, the present disclosure provides an embodiment of a laser radar emission angle calibration device, where the embodiment of the device corresponds to the embodiment of the method shown in fig. 4, and the device may be specifically applied to various electronic devices.
As shown in fig. 8, the laser radar emission angle calibration apparatus 800 of the present embodiment may include: a control module 801, a recording module 802, a determination module 803 and a calibration module 804. The control module 801 is configured to control the rotation module to drive the laser radar to scan according to a preset track, so as to obtain a first light spot generated on the light receiving plate; a recording module 802 configured to record a first angle at which the motor of the rotating module is located when the first light spot is on the light receiving plate; a determining module 803 configured to determine a firing angle of the lidar based on the first angle; the calibration module 804 is configured to calibrate based on the firing angle of the lidar.
In this embodiment, in the laser radar emission angle calibration device 800: the specific processes and technical effects of the control module 801, the recording module 802, the determining module 803, and the calibration module 804 may refer to the relevant descriptions of steps 401-404 in the corresponding embodiment of fig. 4, and are not described herein.
In some optional implementations of the present embodiment, the determining module 803 includes: the first driving sub-module is configured to drive the motor of the rotating module to a first angle to obtain a second light spot generated on the light receiving plate; an acquisition sub-module configured to acquire an image of the light receiving panel; a computing sub-module configured to compute a distance deviation between an origin of the second light spot on the image of the light receiving plate and a center anchor point of the light receiving plate; the second driving sub-module is configured to drive the rotating module until the distance deviation is not larger than a preset distance deviation threshold value if the distance deviation is larger than the preset deviation threshold value; the recording sub-module is configured to record a second angle of the motor of the rotating module if the distance deviation is not greater than a preset deviation threshold value; a determination sub-module configured to determine an emission angle of the lidar based on the second angle.
In some optional implementations of the present embodiment, the determination submodule is further configured to: acquiring an initial angle of a motor of the rotating module; and calculating the difference between the second angle and the initial angle to be used as the transmitting angle of the laser radar.
In some alternative implementations of the present embodiment, the calibration module 804 is further configured to: if the transmitting angle is within the preset angle range, writing the transmitting angle into the laser radar as a correction parameter; if the emission angle is outside the preset angle range, determining that the emission angle is unqualified.
In some optional implementations of the present embodiment, the laser radar emission angle calibration apparatus 800 further includes: and a leveling module configured to level the lidar.
In some alternative implementations of the present embodiment, the leveling module is further configured to: acquiring an included angle between an installation plane of the laser radar and a horizontal plane; if the included angle is not smaller than a preset included angle threshold value, adjusting the mounting plane of the laser radar until the included angle is smaller than the preset included angle threshold value; and if the included angle is smaller than a preset included angle threshold value, finishing leveling.
In some optional implementations of the present embodiment, the laser radar emission angle calibration apparatus 800 further includes: the configuration module is configured to configure an operating mode of the laser radar into a light-emitting non-scanning mode and lock the scanning device of the laser radar in position.
In the technical scheme of the disclosure, the related processes of collecting, storing, using, processing, transmitting, providing, disclosing and the like of the personal information of the user accord with the regulations of related laws and regulations, and the public order colloquial is not violated.
According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.
Fig. 9 shows a schematic block diagram of an example electronic device 900 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and claimed herein.
As shown in fig. 9, the apparatus 900 includes a computing unit 901 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 902 or a computer program loaded from a storage unit 908 into a Random Access Memory (RAM) 903. In the RAM 903, various programs and data required for the operation of the device 900 can also be stored. The computing unit 901, the ROM 902, and the RAM 903 are connected to each other by a bus 904. An input/output (I/O) interface 905 is also connected to the bus 904.
Various components in device 900 are connected to I/O interface 905, including: an input unit 906 such as a keyboard, a mouse, or the like; an output unit 907 such as various types of displays, speakers, and the like; a storage unit 908 such as a magnetic disk, an optical disk, or the like; and a communication unit 909 such as a network card, modem, wireless communication transceiver, or the like. The communication unit 909 allows the device 900 to exchange information/data with other devices through a computer network such as the internet and various telecommunication networks.
The computing unit 901 may be a variety of general purpose and special purpose processing components having processing and computing capabilities. Some examples of computing unit 901 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 901 performs the respective methods and processes described above, such as a lidar emission angle calibration method. For example, in some embodiments, the lidar firing angle calibration method may be implemented as a computer software program, tangibly embodied on a machine-readable medium, such as the storage unit 908. In some embodiments, part or all of the computer program may be loaded and installed onto the device 900 via the ROM 902 and the communication unit 909. When the computer program is loaded into the RAM 903 and executed by the computing unit 901, one or more steps of the laser radar emission angle calibration method described above may be performed. Alternatively, in other embodiments, the computing unit 901 may be configured to perform the lidar firing angle calibration method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above can be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and block diagrams to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.
The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel, sequentially, or in a different order, provided that the desired results of the technical solutions provided by the present disclosure are achieved, and are not limited herein.
The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (17)
1. A laser radar emission angle calibration method comprises the following steps:
the rotating module is controlled to drive the laser radar to scan according to a preset track, so that a first light spot generated on the light receiving plate is obtained;
recording a first angle of a motor of the rotating module when the first light spot is on the light receiving plate;
determining a transmitting angle of the laser radar based on the first angle;
and calibrating based on the transmitting angle of the laser radar.
2. The method of claim 1, wherein the determining the firing angle of the lidar based on the first angle comprises:
driving a motor of the rotating module to the first angle to obtain a second light spot generated on the light receiving plate;
acquiring an image of the light receiving plate;
calculating the distance deviation between the origin of the second light spot on the image of the light receiving plate and the central anchor point of the light receiving plate;
if the distance deviation is greater than a preset deviation threshold, driving the rotating module until the distance deviation is not greater than the preset distance deviation threshold;
if the distance deviation is not greater than the preset deviation threshold, recording a second angle of the current motor of the rotating module;
based on the second angle, a firing angle of the lidar is determined.
3. The method of claim 2, wherein the determining the firing angle of the lidar based on the second angle comprises:
acquiring an initial angle of a motor of the rotating module;
and calculating a difference value between the second angle and the initial angle to be used as the transmitting angle of the laser radar.
4. The method of claim 2, wherein the calibrating based on the firing angle of the lidar comprises:
if the emission angle is within a preset angle range, writing the emission angle into the laser radar as a correction parameter;
if the emission angle is out of the preset angle range, determining that the emission angle is unqualified.
5. The method of claim 1, wherein before the controlling the rotation module to drive the laser radar to scan according to the preset track to obtain the first light spot generated on the light receiving plate, further comprising:
leveling the lidar.
6. The method of claim 5, wherein the leveling the lidar comprises:
acquiring an included angle between an installation plane of the laser radar and a horizontal plane;
if the included angle is not smaller than a preset included angle threshold, adjusting the mounting plane of the laser radar until the included angle is smaller than the preset included angle threshold;
and if the included angle is smaller than the preset included angle threshold value, finishing leveling.
7. The method according to any one of claims 1-6, wherein before the controlling the rotation module to drive the laser radar to scan according to the preset track to obtain the first light spot generated on the light receiving plate, the method further comprises:
and configuring the working mode of the laser radar into a luminous non-scanning mode, and locking the position of a scanning device of the laser radar.
8. A laser radar firing angle calibration device, comprising:
the control module is configured to control the rotation module to drive the laser radar to scan according to a preset track so as to obtain a first light spot generated on the light receiving plate;
the recording module is configured to record a first angle of the motor of the rotating module when the first light spot is on the light receiving plate;
a determining module configured to determine a firing angle of the lidar based on the first angle;
and the calibration module is configured to calibrate based on the emission angle of the laser radar.
9. The apparatus of claim 8, wherein the means for determining comprises:
a first driving sub-module configured to drive a motor of the rotating module to the first angle, resulting in a second light spot generated on the light receiving plate;
an acquisition sub-module configured to acquire an image of the light receiving panel;
a computing sub-module configured to compute a distance deviation between an origin of the second light spot on the image of the light receiving plate and a center anchor point of the light receiving plate;
a second drive sub-module configured to drive the rotation module if the distance deviation is greater than a preset deviation threshold until the distance deviation is not greater than the preset distance deviation threshold;
a recording sub-module configured to record a second angle at which the motor of the rotating module is located if the distance deviation is not greater than the preset deviation threshold;
a determination sub-module configured to determine an emission angle of the lidar based on the second angle.
10. The apparatus of claim 9, wherein the determination submodule is further configured to:
acquiring an initial angle of a motor of the rotating module;
and calculating a difference value between the second angle and the initial angle to be used as the transmitting angle of the laser radar.
11. The apparatus of claim 9, wherein the calibration module is further configured to:
if the emission angle is within a preset angle range, writing the emission angle into the laser radar as a correction parameter;
if the emission angle is out of the preset angle range, determining that the emission angle is unqualified.
12. The apparatus of claim 8, wherein the apparatus further comprises:
a leveling module configured to level the lidar.
13. The apparatus of claim 12, wherein the leveling module is further configured to:
acquiring an included angle between an installation plane of the laser radar and a horizontal plane;
if the included angle is not smaller than a preset included angle threshold, adjusting the mounting plane of the laser radar until the included angle is smaller than the preset included angle threshold;
and if the included angle is smaller than the preset included angle threshold value, finishing leveling.
14. The apparatus of any of claims 8-13, wherein the apparatus further comprises:
the configuration module is configured to configure the working mode of the laser radar into a luminous non-scanning mode and lock the position of a scanning device of the laser radar.
15. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.
16. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-7.
17. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any of claims 1-7.
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| CN202310601312.7A CN116626657A (en) | 2023-05-25 | 2023-05-25 | Laser radar emission angle calibration method and device |
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| CN202310601312.7A CN116626657A (en) | 2023-05-25 | 2023-05-25 | Laser radar emission angle calibration method and device |
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