CN116679290A - Method, system and medium for testing rotation center offset of rotary laser radar - Google Patents
Method, system and medium for testing rotation center offset of rotary laser radar Download PDFInfo
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- CN116679290A CN116679290A CN202310963368.7A CN202310963368A CN116679290A CN 116679290 A CN116679290 A CN 116679290A CN 202310963368 A CN202310963368 A CN 202310963368A CN 116679290 A CN116679290 A CN 116679290A
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- 238000000034 method Methods 0.000 title claims abstract description 50
- 238000009434 installation Methods 0.000 claims description 82
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- 238000010998 test method Methods 0.000 claims description 7
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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
- G01S7/4972—Alignment of sensor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The embodiment of the application provides a method, a system and a medium for testing rotation center offset of a rotation laser radar, wherein the method comprises the following steps: acquiring the running state of a rotation center of the laser radar under the condition of no outer cover, and acquiring first state information; acquiring the running state of a rotation center under the condition of assembling the housing by the laser radar, and acquiring second state information; comparing the first state information with the second state information to obtain a state deviation rate; judging whether the state deviation rate is larger than or equal to a preset deviation rate threshold value; if the rotation center offset is greater than or equal to the rotation center offset, judging that the test is unqualified, and generating the rotation center offset; if the test result is smaller than the preset test result, judging that the test is qualified; the laser radar method is used for comparing and analyzing two conditions of having a housing or having no housing, and judging the change of the offset of the rotation center, so that the offset of the rotation center is accurately tested, whether the laser radar is qualified or not is judged, and the product qualification rate is improved.
Description
Technical Field
The application relates to the field of rotation center offset test, in particular to a rotation laser radar rotation center offset test method, a rotation laser radar rotation center offset test system and a rotation laser radar rotation center offset test medium.
Background
In the current rotary laser radar manufacturing industry, whether the rotary body of the rotary laser radar meets the eccentric amount of the design requirement is subjectively judged mainly by naked eye observation, and the phenomenon of misjudgment exists; in view of the above problems, an effective technical solution is currently needed.
Disclosure of Invention
The embodiment of the application aims to provide a method, a system and a medium for testing the rotation center deviation of a rotary laser radar, which can be used for comparing and analyzing two conditions of a laser radar method with a housing or without a housing and judging the deviation change of the rotation center so as to accurately test the deviation of the rotation center, further judge whether the laser radar is qualified in installation and improve the qualification rate of products.
The embodiment of the application also provides a method for testing the rotation center deviation of the rotation laser radar, which comprises the following steps:
acquiring the running state of a rotation center of the laser radar under the condition of no outer cover, and acquiring first state information;
acquiring the running state of a rotation center under the condition of assembling the housing by the laser radar, and acquiring second state information;
comparing the first state information with the second state information to obtain a state deviation rate;
judging whether the state deviation rate is larger than or equal to a preset deviation rate threshold value;
if the rotation center offset is greater than or equal to the rotation center offset, judging that the test is unqualified, and generating the rotation center offset;
if the test result is smaller than the preset value, judging that the test is qualified.
Optionally, in the method for testing the deviation of the rotation center of the rotating lidar according to the embodiment of the present application, before obtaining the first state information, the method further includes:
acquiring the installation state of the laser radar and generating the horizontal state information of the laser radar;
comparing the horizontal state information of the laser radar with preset state information, and calculating the levelness of the laser radar;
judging whether the levelness meets a preset levelness range or not;
if the installation state of the laser radar is greater than or equal to the installation state of the laser radar, generating adjustment information, and adjusting the installation state of the laser radar according to the adjustment information;
and if the rotation center is smaller than the rotation center, acquiring the operation state information of the rotation center under the condition that the laser radar does not have the outer cover.
Optionally, in the method for testing rotational center offset of a rotating lidar according to the embodiment of the present application, if the rotational center offset is greater than or equal to the rotational center offset, adjustment information is generated, and after adjusting the installation state of the lidar according to the adjustment information, the method further includes:
acquiring the installation state of the laser radar and calculating the installation levelness of the laser radar;
if the laser radar installation levelness is greater than the upper limit value, subtracting the upper limit value from the laser radar installation levelness to obtain a first level difference;
generating reverse correction information according to the first level difference, generating a laser radar reverse adjustment angle according to the reverse correction information, and adjusting the installation angle of the laser radar according to the laser radar reverse adjustment angle;
if the laser radar installation levelness is smaller than the lower limit value, subtracting the laser radar installation levelness from the lower limit value to obtain a second level difference;
generating forward correction information according to the second level difference, generating a forward adjustment angle of the laser radar according to the forward correction information, and adjusting the installation angle of the laser radar according to the forward adjustment angle of the laser radar.
Optionally, in the method for testing rotational center offset of a rotational lidar according to the embodiment of the present application, the comparing the first state information with the second state information to obtain a state deviation rate specifically includes:
acquiring rotation speed information of a rotation center of the laser radar under the condition of no outer cover, and recording the rotation speed information as a first rotation speed;
acquiring rotation speed information of a rotation center under the condition of assembling the housing by the laser radar, and recording the rotation speed information as a second rotation speed;
performing difference calculation on the first rotating speed and the second rotating speed to obtain a rotating speed difference;
judging whether the rotation speed difference is larger than or equal to a rotation speed difference threshold value;
if the number of the laser radar assembly outer cover is larger than or equal to the number of the laser radar assembly outer cover, judging that the laser radar assembly outer cover is unqualified;
if the number of the laser radar assembly covers is smaller than the number, the laser radar assembly covers are judged to be qualified.
Optionally, in the method for testing rotational center offset of a rotational lidar according to the embodiment of the present application, if the rotational center offset is greater than or equal to the rotational center offset, determining that the test is failed, and generating a rotational center offset, specifically:
setting an acquisition time interval, acquiring tracks of rotation centers of the laser radars under different time nodes under the condition of no outer cover, and generating a first track;
acquiring tracks of rotation centers under the condition of assembling the outer cover by the laser radar under different time nodes, and generating a second time track;
calculating the similarity between the first track and the second track under the same time node;
judging whether the similarity meets the requirement or not;
if the requirements are met, judging that the product is qualified;
if the requirements are not met, calculating the rotation center offset of the first track and the second track under the corresponding time nodes.
Optionally, in the method for testing rotational center offset of a rotational lidar according to the embodiment of the present application, if the rotational center offset is greater than or equal to the rotational center offset, determining that the test is not qualified, and generating the rotational center offset further includes:
acquiring a rotation center offset, and radially and axially decomposing the rotation center offset to obtain a radial offset and an axial offset;
comparing the radial offset with a preset radial offset threshold to obtain a first deviation rate;
comparing the axial offset with a preset axial offset threshold to obtain a second offset rate;
judging whether the first deviation rate is larger than a first deviation rate threshold value, and judging whether the second deviation rate is smaller than a second deviation rate threshold value; judging that the radial offset of the rotation center is unqualified and the axial offset is qualified;
if the first deviation rate is smaller than the first deviation rate threshold value and the second deviation rate is larger than the second deviation rate threshold value, judging that the radial deviation of the rotation center is qualified and the axial deviation is unqualified;
if the first deviation rate is smaller than the first deviation rate threshold value and the second deviation rate is smaller than the second deviation rate threshold value, judging that the radial deviation and the axial deviation of the rotation center are qualified.
In a second aspect, an embodiment of the present application provides a rotational center shift test system for a rotational lidar, the system comprising: the system comprises a memory and a processor, wherein the memory comprises a program of a rotary laser radar rotary center offset testing method, and the program of the rotary laser radar rotary center offset testing method realizes the following steps when being executed by the processor:
acquiring the running state of a rotation center of the laser radar under the condition of no outer cover, and acquiring first state information;
acquiring the running state of a rotation center under the condition of assembling the housing by the laser radar, and acquiring second state information;
comparing the first state information with the second state information to obtain a state deviation rate;
judging whether the state deviation rate is larger than or equal to a preset deviation rate threshold value;
if the rotation center offset is greater than or equal to the rotation center offset, judging that the test is unqualified, and generating the rotation center offset;
if the test result is smaller than the preset value, judging that the test is qualified.
Optionally, in the system for testing offset of a rotation center of a rotating lidar according to the embodiment of the present application, before obtaining the first state information, the method further includes:
acquiring the installation state of the laser radar and generating the horizontal state information of the laser radar;
comparing the horizontal state information of the laser radar with preset state information, and calculating the levelness of the laser radar;
judging whether the levelness meets a preset levelness range or not;
if the installation state of the laser radar is greater than or equal to the installation state of the laser radar, generating adjustment information, and adjusting the installation state of the laser radar according to the adjustment information;
and if the rotation center is smaller than the rotation center, acquiring the operation state information of the rotation center under the condition that the laser radar does not have the outer cover.
Optionally, in the rotational center offset test system for a rotational laser radar according to the embodiment of the present application, if the rotational center offset test system is greater than or equal to the rotational center offset test system, adjustment information is generated, and after adjusting the installation state of the laser radar according to the adjustment information, the system further includes:
acquiring the installation state of the laser radar and calculating the installation levelness of the laser radar;
if the laser radar installation levelness is greater than the upper limit value, subtracting the upper limit value from the laser radar installation levelness to obtain a first level difference;
generating reverse correction information according to the first level difference, generating a laser radar reverse adjustment angle according to the reverse correction information, and adjusting the installation angle of the laser radar according to the laser radar reverse adjustment angle;
if the laser radar installation levelness is smaller than the lower limit value, subtracting the laser radar installation levelness from the lower limit value to obtain a second level difference;
generating forward correction information according to the second level difference, generating a forward adjustment angle of the laser radar according to the forward correction information, and adjusting the installation angle of the laser radar according to the forward adjustment angle of the laser radar.
In a third aspect, an embodiment of the present application further provides a computer readable storage medium, where the computer readable storage medium includes a rotational center shift testing method program for a rotary lidar, where the rotational center shift testing method program, when executed by a processor, implements the steps of the rotational center shift testing method for a rotary lidar according to any one of the above-mentioned embodiments.
As can be seen from the above, according to the method, the system and the medium for testing the rotation center deviation of the rotating laser radar provided by the embodiment of the application, the first state information is obtained by obtaining the running state of the rotation center of the laser radar under the condition that the laser radar has no outer cover; acquiring the running state of a rotation center under the condition of assembling the housing by the laser radar, and acquiring second state information; comparing the first state information with the second state information to obtain a state deviation rate; judging whether the state deviation rate is larger than or equal to a preset deviation rate threshold value; if the rotation center offset is greater than or equal to the rotation center offset, judging that the test is unqualified, and generating the rotation center offset; if the test result is smaller than the preset test result, judging that the test is qualified; the laser radar method is characterized in that the two conditions of having a housing or having no housing are compared and analyzed, and the change of the offset of the rotation center is judged, so that the offset of the rotation center is accurately tested, whether the laser radar is qualified or not is judged, and the product qualification rate is improved.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, the claims, and the drawings, as well as the objects and advantages of the application may be realized and obtained by means of the instrumentalities particularly pointed out in the written description, claims, and drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for testing rotational center offset of a rotational lidar according to an embodiment of the present application;
fig. 2 is a flowchart of acquiring rotation operation state information of a rotation center offset test method of a rotation lidar according to an embodiment of the present application;
FIG. 3 is a flowchart of a method for adjusting the mounting angle of a laser radar according to the method for testing the rotation center offset of the rotating laser radar according to the embodiment of the present application;
fig. 4 is a schematic structural diagram of a rotational center shift testing system of a rotational lidar according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application 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 application, but not all embodiments. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, fig. 1 is a flowchart of a method for testing rotational center shift of a rotary lidar according to some embodiments of the present application. The method for testing the rotation center deviation of the rotation laser radar is used in terminal equipment and comprises the following steps:
s101, acquiring the running state of a rotation center of the laser radar under the condition of no outer cover, and obtaining first state information;
s102, acquiring the running state of a rotation center under the condition of assembling a housing by the laser radar, and obtaining second state information;
s103, comparing the first state information with the second state information to obtain a state deviation rate;
s104, judging whether the state deviation rate is larger than or equal to a preset deviation rate threshold value;
s105, if the rotation center offset is greater than or equal to the rotation center offset, judging that the test is unqualified, and generating the rotation center offset; if the test result is smaller than the preset value, judging that the test is qualified.
It should be noted that, whether the rotation center is cheap or not is calculated by judging the running state of the rotation center, and then whether the test result meets the requirement or not is judged, so that the test precision and the test efficiency are improved.
Referring to fig. 2, fig. 2 is a flowchart of acquiring rotation operation status information of a rotation center offset test method of a rotation lidar according to some embodiments of the present application. According to the embodiment of the application, the method for acquiring the running state of the rotation center of the laser radar under the condition of no outer cover, before obtaining the first state information, further comprises the following steps:
s201, acquiring the installation state of the laser radar and generating the horizontal state information of the laser radar;
s202, comparing the horizontal state information of the laser radar with preset state information, and calculating the levelness of the laser radar;
s203, judging whether the levelness meets a preset levelness range;
s204, if the installation state of the laser radar is greater than or equal to the installation state of the laser radar, generating adjustment information, and adjusting the installation state of the laser radar according to the adjustment information;
and S205, if the rotation speed is smaller than the preset value, acquiring the operation state information of the rotation center under the condition that the laser radar does not have a housing.
The method is characterized in that whether the laser radar is horizontal is judged by judging the horizontal state information of the laser radar, and the running state of the rotation center is acquired and identified only when the laser radar is horizontal, so that the testing accuracy of the offset is improved.
Referring to fig. 3, fig. 3 is a flowchart illustrating a method for adjusting a mounting angle of a rotating laser radar according to a method for testing a rotational center offset of the rotating laser radar according to some embodiments of the application. According to the embodiment of the application, if the installation state of the laser radar is greater than or equal to the installation state of the laser radar, the method further comprises the steps of:
s301, acquiring the installation state of the laser radar and calculating the installation levelness of the laser radar;
s302, if the laser radar installation levelness is greater than the upper limit value, subtracting the upper limit value from the laser radar installation levelness to obtain a first level difference;
s303, generating reverse correction information according to the first level difference, generating a laser radar reverse adjustment angle according to the reverse correction information, and adjusting the installation angle of the laser radar according to the laser radar reverse adjustment angle;
s304, if the laser radar installation levelness is smaller than the lower limit value, subtracting the laser radar installation levelness from the lower limit value to obtain a second level difference;
s305, generating forward correction information according to the second level difference, generating a forward adjustment angle of the laser radar according to the forward correction information, and adjusting the installation angle of the laser radar according to the forward adjustment angle of the laser radar.
It should be noted that, through calculating laser radar levelness and the levelness of predetermineeing, can adjust the installation angle of laser radar, guarantee that laser radar is in the horizontality in the test process, reduce test error.
According to the embodiment of the application, the first state information and the second state information are compared to obtain the state deviation rate, specifically:
acquiring rotation speed information of a rotation center of the laser radar under the condition of no outer cover, and recording the rotation speed information as a first rotation speed;
acquiring rotation speed information of a rotation center under the condition of assembling the housing by the laser radar, and recording the rotation speed information as a second rotation speed;
performing difference calculation on the first rotating speed and the second rotating speed to obtain a rotating speed difference;
judging whether the rotation speed difference is larger than or equal to a rotation speed difference threshold value;
if the number of the laser radar assembly outer cover is larger than or equal to the number of the laser radar assembly outer cover, judging that the laser radar assembly outer cover is unqualified;
if the number of the laser radar assembly covers is smaller than the number, the laser radar assembly covers are judged to be qualified.
The method is characterized in that the influence of the assembly housing on the laser radar is judged by judging the difference of the rotating speeds of the laser radar assembly housing and the non-housing, and the assembly housing is judged to be qualified according to the influence, so that the judgment precision is improved.
According to the embodiment of the application, if the rotation center offset is greater than or equal to the rotation center offset, the test is judged to be unqualified, and the rotation center offset is generated specifically as follows:
setting an acquisition time interval, acquiring tracks of rotation centers of the laser radars under different time nodes under the condition of no outer cover, and generating a first track;
acquiring tracks of rotation centers under the condition of assembling the outer cover by the laser radar under different time nodes, and generating a second time track;
calculating the similarity between the first track and the second track under the same time node;
judging whether the similarity meets the requirement or not;
if the requirements are met, judging that the product is qualified;
if the requirements are not met, calculating the rotation center offset of the first track and the second track under the corresponding time nodes.
The time node of the coincidence and the non-coincidence of the first track and the second track is analyzed by judging the similarity of the first track and the second track, and the non-coincidence indicates that the track deviation is larger, namely the rotation center is disqualified.
According to the embodiment of the application, if the rotation center offset is greater than or equal to the rotation center offset, the method further comprises the following steps of:
acquiring a rotation center offset, and radially and axially decomposing the rotation center offset to obtain a radial offset and an axial offset;
comparing the radial offset with a preset radial offset threshold to obtain a first deviation rate;
comparing the axial offset with a preset axial offset threshold to obtain a second offset rate;
judging whether the first deviation rate is larger than a first deviation rate threshold value, and judging whether the second deviation rate is smaller than a second deviation rate threshold value; judging that the radial offset of the rotation center is unqualified and the axial offset is qualified;
if the first deviation rate is smaller than the first deviation rate threshold value and the second deviation rate is larger than the second deviation rate threshold value, judging that the radial deviation of the rotation center is qualified and the axial deviation is unqualified;
if the first deviation rate is smaller than the first deviation rate threshold value and the second deviation rate is smaller than the second deviation rate threshold value, judging that the radial deviation and the axial deviation of the rotation center are qualified.
The radial offset and the axial offset are obtained by decomposing the offset of the rotation center, so that the radial offset and the axial offset are accurately analyzed, and the radial offset and the axial offset are independently analyzed, so that the adjustment of the offset of the rotation center is optimized.
According to an embodiment of the present application, further comprising:
assuming that the radial offset is X and the axial offset is Y; the radius of the laser radar rotator is R1, the height is H1, the inner radius of the tool with the cap is R2, and the height is H2; the qualified judgment standard of the offset is X < R2-R1; y is less than H2-H1;
the laser radar is electrified to rotate and is connected with a terminal, and the terminal reads and stores a laser radar rotating speed value a;
wherein a=；
In the formula, a1-an are different rotation speed values which occur in a certain time, and f1-fn are the times of occurrence of corresponding rotation speed values of a1-an in a certain time; calculating the rotating speed A of a certain time through the formula;
powering off the laser radar, assembling the outer cover, powering on the laser radar, rotating and connecting the terminal again;
the terminal reads the laser radar rotation speed value B and compares the laser radar rotation speed value B with the previously stored rotation speed value A;
wherein b=；
In the formula, b1-bn are different rotation speed values which occur in a certain time, and f1-fn are the times of occurrence of corresponding rotation speed values of a1-an in a certain time; calculating the rotating speed B of a certain time through the formula;
judging whether the absolute value of the difference value between the numerical values B and A is smaller than 6 revolutions per minute, if so, testing to be qualified, and if not, testing to be unqualified;
specific judgment criteria are as follows:
when the absolute value of B-A is less than 6 revolutions per minute, the test result is qualified;
and when the I B-A I is more than or equal to 6 revolutions per minute, the test result is regarded as unqualified.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a rotation center offset testing system of a rotation lidar according to some embodiments of the application. In a second aspect, an embodiment of the present application provides a rotational center offset test system 4 for a rotational lidar, the system comprising: the memory 41 and the processor 42, the memory 41 includes a program of a rotational center shift test method of the rotary lidar, and the program of the rotational center shift test method of the rotary lidar realizes the following steps when executed by the processor:
acquiring the running state of a rotation center of the laser radar under the condition of no outer cover, and acquiring first state information;
acquiring the running state of a rotation center under the condition of assembling the housing by the laser radar, and acquiring second state information;
comparing the first state information with the second state information to obtain a state deviation rate;
judging whether the state deviation rate is larger than or equal to a preset deviation rate threshold value;
if the rotation center offset is greater than or equal to the rotation center offset, judging that the test is unqualified, and generating the rotation center offset;
if the test result is smaller than the preset value, judging that the test is qualified.
It should be noted that, whether the rotation center is cheap or not is calculated by judging the running state of the rotation center, and then whether the test result meets the requirement or not is judged, so that the test precision and the test efficiency are improved.
According to the embodiment of the application, the method for acquiring the running state of the rotation center of the laser radar under the condition of no outer cover, before obtaining the first state information, further comprises the following steps:
acquiring the installation state of the laser radar and generating the horizontal state information of the laser radar;
comparing the horizontal state information of the laser radar with preset state information, and calculating the levelness of the laser radar;
judging whether the levelness meets a preset levelness range or not;
if the installation state of the laser radar is greater than or equal to the installation state of the laser radar, generating adjustment information, and adjusting the installation state of the laser radar according to the adjustment information;
and if the rotation center is smaller than the rotation center, acquiring the operation state information of the rotation center under the condition that the laser radar does not have the outer cover.
The method is characterized in that whether the laser radar is horizontal is judged by judging the horizontal state information of the laser radar, and the running state of the rotation center is acquired and identified only when the laser radar is horizontal, so that the testing accuracy of the offset is improved.
According to the embodiment of the application, if the installation state of the laser radar is greater than or equal to the installation state of the laser radar, the method further comprises the steps of:
acquiring the installation state of the laser radar and calculating the installation levelness of the laser radar;
if the laser radar installation levelness is greater than the upper limit value, subtracting the upper limit value from the laser radar installation levelness to obtain a first level difference;
generating reverse correction information according to the first level difference, generating a laser radar reverse adjustment angle according to the reverse correction information, and adjusting the installation angle of the laser radar according to the laser radar reverse adjustment angle;
if the laser radar installation levelness is smaller than the lower limit value, subtracting the laser radar installation levelness from the lower limit value to obtain a second level difference;
generating forward correction information according to the second level difference, generating a forward adjustment angle of the laser radar according to the forward correction information, and adjusting the installation angle of the laser radar according to the forward adjustment angle of the laser radar.
It should be noted that, through calculating laser radar levelness and the levelness of predetermineeing, can adjust the installation angle of laser radar, guarantee that laser radar is in the horizontality in the test process, reduce test error.
According to the embodiment of the application, the first state information and the second state information are compared to obtain the state deviation rate, specifically:
acquiring rotation speed information of a rotation center of the laser radar under the condition of no outer cover, and recording the rotation speed information as a first rotation speed;
acquiring rotation speed information of a rotation center under the condition of assembling the housing by the laser radar, and recording the rotation speed information as a second rotation speed;
performing difference calculation on the first rotating speed and the second rotating speed to obtain a rotating speed difference;
judging whether the rotation speed difference is larger than or equal to a rotation speed difference threshold value;
if the number of the laser radar assembly outer cover is larger than or equal to the number of the laser radar assembly outer cover, judging that the laser radar assembly outer cover is unqualified;
if the number of the laser radar assembly covers is smaller than the number, the laser radar assembly covers are judged to be qualified.
The method is characterized in that the influence of the assembly housing on the laser radar is judged by judging the difference of the rotating speeds of the laser radar assembly housing and the non-housing, and the assembly housing is judged to be qualified according to the influence, so that the judgment precision is improved.
According to the embodiment of the application, if the rotation center offset is greater than or equal to the rotation center offset, the test is judged to be unqualified, and the rotation center offset is generated specifically as follows:
setting an acquisition time interval, acquiring tracks of rotation centers of the laser radars under different time nodes under the condition of no outer cover, and generating a first track;
acquiring tracks of rotation centers under the condition of assembling the outer cover by the laser radar under different time nodes, and generating a second time track;
calculating the similarity between the first track and the second track under the same time node;
judging whether the similarity meets the requirement or not;
if the requirements are met, judging that the product is qualified;
if the requirements are not met, calculating the rotation center offset of the first track and the second track under the corresponding time nodes.
The time node of the coincidence and the non-coincidence of the first track and the second track is analyzed by judging the similarity of the first track and the second track, and the non-coincidence indicates that the track deviation is larger, namely the rotation center is disqualified.
According to the embodiment of the application, if the rotation center offset is greater than or equal to the rotation center offset, the method further comprises the following steps of:
acquiring a rotation center offset, and radially and axially decomposing the rotation center offset to obtain a radial offset and an axial offset;
comparing the radial offset with a preset radial offset threshold to obtain a first deviation rate;
comparing the axial offset with a preset axial offset threshold to obtain a second offset rate;
judging whether the first deviation rate is larger than a first deviation rate threshold value, and judging whether the second deviation rate is smaller than a second deviation rate threshold value; judging that the radial offset of the rotation center is unqualified and the axial offset is qualified;
if the first deviation rate is smaller than the first deviation rate threshold value and the second deviation rate is larger than the second deviation rate threshold value, judging that the radial deviation of the rotation center is qualified and the axial deviation is unqualified;
if the first deviation rate is smaller than the first deviation rate threshold value and the second deviation rate is smaller than the second deviation rate threshold value, judging that the radial deviation and the axial deviation of the rotation center are qualified.
The radial offset and the axial offset are obtained by decomposing the offset of the rotation center, so that the radial offset and the axial offset are accurately analyzed, and the radial offset and the axial offset are independently analyzed, so that the adjustment of the offset of the rotation center is optimized.
According to an embodiment of the present application, further comprising:
assuming that the radial offset is X and the axial offset is Y; the radius of the laser radar rotator is R1, the height is H1, the inner radius of the tool with the cap is R2, and the height is H2; the qualified judgment standard of the offset is X < R2-R1; y is less than H2-H1;
the laser radar is electrified to rotate and is connected with a terminal, and the terminal reads and stores a laser radar rotating speed value a;
wherein a=；
In the formula, a1-an are different rotation speed values which occur in a certain time, and f1-fn are the times of occurrence of corresponding rotation speed values of a1-an in a certain time; calculating the rotating speed A of a certain time through the formula;
powering off the laser radar, assembling the outer cover, powering on the laser radar, rotating and connecting the terminal again;
the terminal reads the laser radar rotation speed value B and compares the laser radar rotation speed value B with the previously stored rotation speed value A;
wherein b=；
In the formula, b1-bn are different rotation speed values which occur in a certain time, and f1-fn are the times of occurrence of corresponding rotation speed values of a1-an in a certain time; calculating the rotating speed B of a certain time through the formula;
judging whether the absolute value of the difference value between the numerical values B and A is smaller than 6 revolutions per minute, if so, testing to be qualified, and if not, testing to be unqualified;
specific judgment criteria are as follows:
when the absolute value of B-A is less than 6 revolutions per minute, the test result is qualified;
and when the I B-A I is more than or equal to 6 revolutions per minute, the test result is regarded as unqualified.
A third aspect of the present application provides a computer readable storage medium containing a rotational center shift test method program for a rotary lidar, which when executed by a processor, implements the steps of the rotational center shift test method for a rotary lidar as in any one of the above.
The application discloses a method, a system and a medium for testing rotation center deviation of a rotation laser radar, wherein first state information is obtained by acquiring the running state of the rotation center of the laser radar under the condition of no outer cover; acquiring the running state of a rotation center under the condition of assembling the housing by the laser radar, and acquiring second state information; comparing the first state information with the second state information to obtain a state deviation rate; judging whether the state deviation rate is larger than or equal to a preset deviation rate threshold value; if the rotation center offset is greater than or equal to the rotation center offset, judging that the test is unqualified, and generating the rotation center offset; if the test result is smaller than the preset test result, judging that the test is qualified; the laser radar method is characterized in that the two conditions of having a housing or having no housing are compared and analyzed, and the change of the offset of the rotation center is judged, so that the offset of the rotation center is accurately tested, whether the laser radar is qualified or not is judged, and the product qualification rate is improved.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above described device embodiments are only illustrative, e.g. the division of units is only one logical function division, and there may be other divisions in actual implementation, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units; can be located in one place or distributed to a plurality of network units; some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk or an optical disk, or the like, which can store program codes.
Alternatively, the above-described integrated units of the present application may be stored in a readable storage medium if implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solution of the embodiments of the present application may be embodied in essence or a part contributing to the prior art in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a removable storage device, ROM, RAM, magnetic or optical disk, or other medium capable of storing program code.
Claims (10)
1. A method for testing the rotation center offset of a rotating lidar, comprising:
acquiring the running state of a rotation center of the laser radar under the condition of no outer cover, and acquiring first state information;
acquiring the running state of a rotation center under the condition of assembling the housing by the laser radar, and acquiring second state information;
comparing the first state information with the second state information to obtain a state deviation rate;
judging whether the state deviation rate is larger than or equal to a preset deviation rate threshold value;
if the rotation center offset is greater than or equal to the rotation center offset, judging that the test is unqualified, and generating the rotation center offset;
if the test result is smaller than the preset value, judging that the test is qualified.
2. The method for testing the rotation center offset of the rotating lidar according to claim 1, wherein before the step of obtaining the first state information, the method further comprises:
acquiring the installation state of the laser radar and generating the horizontal state information of the laser radar;
comparing the horizontal state information of the laser radar with preset state information, and calculating the levelness of the laser radar;
judging whether the levelness meets a preset levelness range or not;
if the installation state of the laser radar is greater than or equal to the installation state of the laser radar, generating adjustment information, and adjusting the installation state of the laser radar according to the adjustment information;
and if the rotation center is smaller than the rotation center, acquiring the operation state information of the rotation center under the condition that the laser radar does not have the outer cover.
3. The method according to claim 2, wherein if the rotation center deviation is greater than or equal to the rotation center deviation, generating adjustment information, and adjusting the installation state of the laser radar according to the adjustment information, further comprising:
acquiring the installation state of the laser radar and calculating the installation levelness of the laser radar;
if the laser radar installation levelness is greater than the upper limit value, subtracting the upper limit value from the laser radar installation levelness to obtain a first level difference;
generating reverse correction information according to the first level difference, generating a laser radar reverse adjustment angle according to the reverse correction information, and adjusting the installation angle of the laser radar according to the laser radar reverse adjustment angle;
if the laser radar installation levelness is smaller than the lower limit value, subtracting the laser radar installation levelness from the lower limit value to obtain a second level difference;
generating forward correction information according to the second level difference, generating a forward adjustment angle of the laser radar according to the forward correction information, and adjusting the installation angle of the laser radar according to the forward adjustment angle of the laser radar.
4. The method for testing rotational center shift of a rotating lidar according to claim 3, wherein the comparing the first state information with the second state information obtains a state shift rate, specifically:
acquiring rotation speed information of a rotation center of the laser radar under the condition of no outer cover, and recording the rotation speed information as a first rotation speed;
acquiring rotation speed information of a rotation center under the condition of assembling the housing by the laser radar, and recording the rotation speed information as a second rotation speed;
performing difference calculation on the first rotating speed and the second rotating speed to obtain a rotating speed difference;
judging whether the rotation speed difference is larger than or equal to a rotation speed difference threshold value;
if the number of the laser radar assembly outer cover is larger than or equal to the number of the laser radar assembly outer cover, judging that the laser radar assembly outer cover is unqualified;
if the number of the laser radar assembly covers is smaller than the number, the laser radar assembly covers are judged to be qualified.
5. The method for testing rotational center shift of a rotating lidar according to claim 4, wherein if the rotational center shift is greater than or equal to the predetermined value, determining that the test is failed, and generating a rotational center shift amount is specifically:
setting an acquisition time interval, acquiring tracks of rotation centers of the laser radars under different time nodes under the condition of no outer cover, and generating a first track;
acquiring tracks of rotation centers under the condition of assembling the outer cover by the laser radar under different time nodes, and generating a second time track;
calculating the similarity between the first track and the second track under the same time node;
judging whether the similarity meets the requirement or not;
if the requirements are met, judging that the product is qualified;
if the requirements are not met, calculating the rotation center offset of the first track and the second track under the corresponding time nodes.
6. The method according to claim 5, wherein after determining that the test is failed and generating the rotation center offset if the rotation center offset is greater than or equal to the rotation center offset, further comprising:
acquiring a rotation center offset, and radially and axially decomposing the rotation center offset to obtain a radial offset and an axial offset;
comparing the radial offset with a preset radial offset threshold to obtain a first deviation rate;
comparing the axial offset with a preset axial offset threshold to obtain a second offset rate;
judging whether the first deviation rate is larger than a first deviation rate threshold value, and judging whether the second deviation rate is smaller than a second deviation rate threshold value; judging that the radial offset of the rotation center is unqualified and the axial offset is qualified;
if the first deviation rate is smaller than the first deviation rate threshold value and the second deviation rate is larger than the second deviation rate threshold value, judging that the radial deviation of the rotation center is qualified and the axial deviation is unqualified;
if the first deviation rate is smaller than the first deviation rate threshold value and the second deviation rate is smaller than the second deviation rate threshold value, judging that the radial deviation and the axial deviation of the rotation center are qualified.
7. A rotational center of rotation offset test system for a rotary lidar, the system comprising: the system comprises a memory and a processor, wherein the memory comprises a program of a rotary laser radar rotary center offset testing method, and the program of the rotary laser radar rotary center offset testing method realizes the following steps when being executed by the processor:
acquiring the running state of a rotation center of the laser radar under the condition of no outer cover, and acquiring first state information;
acquiring the running state of a rotation center under the condition of assembling the housing by the laser radar, and acquiring second state information;
comparing the first state information with the second state information to obtain a state deviation rate;
judging whether the state deviation rate is larger than or equal to a preset deviation rate threshold value;
if the rotation center offset is greater than or equal to the rotation center offset, judging that the test is unqualified, and generating the rotation center offset;
if the test result is smaller than the preset value, judging that the test is qualified.
8. The system for testing the rotational center shift of the rotating lidar according to claim 7, wherein before the acquiring the operation state of the rotational center of the lidar without the housing and obtaining the first state information, further comprises:
acquiring the installation state of the laser radar and generating the horizontal state information of the laser radar;
comparing the horizontal state information of the laser radar with preset state information, and calculating the levelness of the laser radar;
judging whether the levelness meets a preset levelness range or not;
if the installation state of the laser radar is greater than or equal to the installation state of the laser radar, generating adjustment information, and adjusting the installation state of the laser radar according to the adjustment information;
and if the rotation center is smaller than the rotation center, acquiring the operation state information of the rotation center under the condition that the laser radar does not have the outer cover.
9. The rotational center shift test system of claim 8, wherein if the rotational center shift is greater than or equal to the rotational center shift, generating adjustment information, and adjusting the mounting state of the lidar according to the adjustment information, further comprising:
acquiring the installation state of the laser radar and calculating the installation levelness of the laser radar;
if the laser radar installation levelness is greater than the upper limit value, subtracting the upper limit value from the laser radar installation levelness to obtain a first level difference;
generating reverse correction information according to the first level difference, generating a laser radar reverse adjustment angle according to the reverse correction information, and adjusting the installation angle of the laser radar according to the laser radar reverse adjustment angle;
if the laser radar installation levelness is smaller than the lower limit value, subtracting the laser radar installation levelness from the lower limit value to obtain a second level difference;
generating forward correction information according to the second level difference, generating a forward adjustment angle of the laser radar according to the forward correction information, and adjusting the installation angle of the laser radar according to the forward adjustment angle of the laser radar.
10. A computer-readable storage medium, characterized in that a rotational center shift test method program of a rotational lidar is included in the computer-readable storage medium, which, when executed by a processor, implements the steps of the rotational center shift test method of a rotational lidar according to any of claims 1 to 6.
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