CN117214875A - Zero point calibration method and structure for laser radar incremental coding - Google Patents
Zero point calibration method and structure for laser radar incremental coding Download PDFInfo
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Abstract
The invention discloses a zero point calibration method of laser radar incremental coding, which comprises the following steps: s1, placing a shielding object in the direction of the increment code wheel zero angle preliminarily identified by the laser radar, wherein the shielding object has obvious characteristics compared with the surrounding environment; s2, scanning by a laser radar to obtain a point cloud image; s3, confirming a scatter diagram obtained by the point cloud image, wherein the position on the laser radar incremental code disc corresponding to the center of the scatter diagram is the incremental code disc zero point. The invention also discloses a zero point calibration structure of the laser radar incremental code, which comprises the laser radar, wherein a shielding object is arranged in the direction corresponding to the preliminarily identified zero point angle of the laser radar incremental code disk, the shielding object has obvious characteristics compared with the surrounding environment, and the position on the incremental code disk corresponding to the center of a scatter diagram obtained by scanning the shielding object by the laser radar is the zero point position of the incremental code disk. The invention has the characteristics of accurate zero point calibration and positioning and high measured contour reduction degree, and can be widely applied to the field of electro-optical distance measurement.
Description
Technical Field
The invention relates to a photoelectric ranging technology, in particular to a zero point calibration method and structure of laser radar incremental coding.
Background
Laser radars can be classified into three types in their scanning form, namely mechanical rotational scanning, galvanometer scanning, and optical phased arrays. In order to realize angle positioning, a photoelectric encoder is generally adopted to realize measurement and control of a scanning angle. The photoelectric encoder generally comprises a code disc and a code reader, and the code reader comprises a light source and a photoelectric sensor.
Photoelectric encoders are classified into reflective and transmissive types based on the mechanism by which the light source interacts with the code wheel. Photoelectric encoders are classified into incremental encoding and absolute encoding based on the different shapes of the code wheel. In practical implementations of mechanical steer lidar, transmissive delta photoelectric encoding or reflective delta photoelectric encoding is typically employed.
In order to ensure that the reduction degree of the measured profile is high, the zero point positioning of the incremental code disc is required to be accurate, positioning deviation often occurs in the actual laser radar installation process, and the zero point of the code disc needs to be calibrated and positioned.
Disclosure of Invention
The invention aims to overcome the defects of the background technology, and provides a zero point calibration method and structure for incremental coding of a laser radar, which have the characteristics of accurate zero point calibration and positioning, small installation and positioning deviation and high measured contour reduction degree.
The invention provides a zero point calibration method of laser radar incremental coding, which comprises the following steps: s1, placing a shielding object in the direction of the increment code wheel zero angle preliminarily identified by the laser radar, and ensuring that the shielding object has obvious characteristics compared with the surrounding environment; s2, starting a laser radar to scan to obtain a point cloud image; and S3, confirming a scatter diagram obtained by scanning a shielding object in the point cloud image, wherein the position on the laser radar incremental code disc corresponding to the center of the scatter diagram is the zero point of the laser radar incremental code disc.
In the above technical solution, in the step S1, the fact that the shroud has a significant characteristic compared with the surrounding environment means that the pulse width of the reflected wave on the surface of the shroud is higher than the pulse width of the reflected wave of the surrounding environment.
In the above technical scheme, the pulse width of the reflected wave on the surface of the shielding object is 2-10 times of the pulse width of the reflected wave of the surrounding environment.
In the above technical scheme, the shielding object is a vertical bar shielding object.
In the above technical scheme, in the step S1, before the laser radar preliminarily identifies the zero angle of the incremental code wheel, the laser radar is fixed on the tooling table; the process of placing the shielding object is as follows: and fixing the scanning baffle, and adhering the scanning baffle to one side of the shielding object, which is away from the laser radar.
The invention also provides a zero point calibration structure of the laser radar incremental code, which comprises a laser radar, wherein a shielding object is arranged in the direction corresponding to the preliminarily identified zero point angle of the laser radar incremental code disk, the shielding object has obvious characteristics compared with the surrounding environment, and the position on the laser radar incremental code disk corresponding to the center of a scatter diagram obtained by scanning the shielding object by the laser radar is the zero point position of the incremental code disk.
In the above technical solution, the fact that the shielding object has a significant characteristic compared with the surrounding environment means that the pulse width of the reflected wave on the surface of the shielding object is higher than that of the reflected wave of the surrounding environment.
In the above technical scheme, the pulse width of the reflected wave on the surface of the shielding object is 2-10 times of the pulse width of the reflected wave of the surrounding environment.
In the above technical scheme, the shielding object is a vertical bar shielding object.
In the technical scheme, the laser radar shielding device further comprises a scanning baffle connected with the vertical strip-shaped shielding object, wherein one surface of the scanning baffle connected with the shielding object faces towards the laser radar; the laser radar bottom is equipped with the frock platform of supporting this laser radar.
The zero point calibration method and structure of the laser radar incremental coding have the following beneficial effects: by calibrating the zero angle of the increment code wheel under the integral operation state of the laser radar, the precision of the increment code wheel of the laser radar is effectively improved, the positioning deviation in the installation process of the laser radar is reduced, and the high reduction degree of the measured profile is ensured.
Drawings
FIG. 1 is a flow chart of a zero calibration method of incremental encoding of a lidar of the present invention;
fig. 2 is a schematic structural diagram of a zero calibration structure of incremental coding of the laser radar according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, which should not be construed as limiting the invention.
Referring to fig. 1, the zero calibration method of the laser radar incremental coding of the invention comprises the following steps:
firstly, fixing a laser radar 1 on a tool table 2, and placing a vertical-bar-shaped shielding object 4 in the direction of the zero angle of an increment code wheel preliminarily recognized by the laser radar 1 to ensure that the pulse width of a surface reflection wave of the vertical-bar-shaped shielding object 4 is higher than that of a surrounding environment reflection wave, wherein in the optimal embodiment, the pulse width of the surface reflection wave of the shielding object 4 is 2-10 times that of the surrounding environment reflection wave; in one or more embodiments, the pulse width is the time of the falling edge of the received optical signal minus the time of the rising edge, i.e. the time begins after the laser is emitted, the signal (rising edge) is received, the time is recorded once, the signal disappears (falling edge) and the time is recorded again, and the two time differences are pulse width values; according to different settings of the timing chip, the time resolution is different, in this embodiment, the minimum time unit is 7.6ps, the corresponding pulse width value is 1, the shielding object 4 corresponds to the pulse width 60000-80000, and the surrounding environment corresponds to the pulse width 10000. In terms of practical effects, the pulse width of the surrounding environment fluctuates, and the shielding object 4 can be obviously different from the surrounding environment up to more than 2 times of pulse width;
secondly, starting the laser radar 1 to scan to obtain a point cloud image 5;
thirdly, confirming a scatter diagram (not shown in the figure) obtained by scanning the shielding object 4 in the point cloud image 5, processing the scatter diagram to obtain a center point, and obtaining the position on the increment code disk of the laser radar 1 corresponding to the center of the scatter diagram as the zero point of the increment code disk of the laser radar 1.
Wherein, the process of placing the vertical bar-shaped shielding object 4 is as follows: firstly, the scanning baffle plate 3 is fixed, and then the scanning baffle plate 3 and one side of the shielding object 4, which is away from the laser radar 1, are adhered. Of course, the scanning baffle 3 and the side of the shielding object 4 away from the laser radar 1 may be adhered first, and then the scanning baffle 3 may be fixed. The specific steps are arranged and selected by operators according to actual conditions. Of course, the fixing mode of the scanning baffle 3 can be fixed by adopting a hanging rod hanging mode at the top of the scanning baffle 3, or can be fixed by adopting a mode of arranging a base or a supporting rod and other supporting structures at the bottom of the scanning baffle 3, and can also connect the side edge of the scanning baffle 3 with the fixing structure so as to achieve the fixing effect, and the specific fixing mode is determined by an operator according to actual conditions.
Referring to fig. 2, the zero calibration structure of the incremental code of the laser radar according to the present invention includes the laser radar 1, a tooling table 2 for supporting the laser radar 1 is provided at the bottom of the laser radar 1, a vertical bar-shaped shielding object 4 is provided in a direction corresponding to the initially identified zero angle of the incremental code wheel of the laser radar 1, the shielding object 4 has significant characteristics compared with the surrounding environment, in this embodiment, the significant characteristics of the shielding object 4 compared with the surrounding environment means that the pulse width of the surface reflection wave of the shielding object 4 is higher than the pulse width of the surrounding environment reflection wave, and in the most preferred embodiment, the pulse width of the surface reflection wave of the shielding object 4 is 2-10 times the pulse width of the surrounding environment reflection wave.
The zero point calibration structure of the laser radar incremental coding further comprises a scanning baffle plate 3 connected with a vertical bar-shaped shielding object 4, wherein one surface of the scanning baffle plate 3 connected with the shielding object 4 faces the laser radar 1.
From the foregoing, the accuracy of the incremental code disc of the laser radar 1 can be effectively improved by calibrating the zero angle of the incremental code disc in the overall operation state of the laser radar 1.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
What is not described in detail in this specification is prior art known to those skilled in the art.
Claims (10)
1. A zero calibration method for laser radar incremental coding is characterized by comprising the following steps: the method comprises the following steps:
s1, placing a shielding object (4) in the direction of the increment code wheel zero angle preliminarily identified by the laser radar (1), and ensuring that the shielding object (4) has obvious characteristics compared with the surrounding environment;
s2, starting a laser radar (1) to scan to obtain a point cloud image;
s3, confirming a scatter diagram obtained by scanning the shielding object (4) in the point cloud image, wherein the position on the incremental code disc of the laser radar (1) corresponding to the center of the scatter diagram is the zero point of the incremental code disc of the laser radar (1).
2. The method for zero calibration of incremental encoding of lidar according to claim 1, wherein: in the step S1, the fact that the shielding object (4) has a significant characteristic compared with the surrounding environment means that the pulse width of the reflected wave of the surface of the shielding object (4) is higher than that of the reflected wave of the surrounding environment.
3. The method for zero calibration of incremental encoding of lidar according to claim 2, wherein: the pulse width of the surface reflected wave of the shielding object (4) is 2-10 times of the pulse width of the surrounding environment reflected wave.
4. A method of zero calibration for incremental encoding of lidar according to claim 3, wherein: the shielding object (4) is a vertical bar-shaped shielding object.
5. The method for zero calibration of incremental encoding of lidar of claim 4, wherein: in the step S1 of the above-mentioned process,
before the laser radar (1) preliminarily considers the zero angle of the incremental code wheel, fixing the laser radar (1) on the tool table (2);
the process of placing the shielding object (4) is as follows: and fixing the scanning baffle (3), and adhering the scanning baffle (3) to one side of the shielding object (4) deviating from the laser radar (1).
6. The utility model provides a zero point calibration structure of laser radar increment code, includes laser radar (1), its characterized in that: and a shielding object (4) is arranged in the direction corresponding to the preliminarily identified incremental code wheel zero angle of the laser radar (1), the shielding object (4) has obvious characteristics compared with the surrounding environment, and the position on the incremental code wheel of the laser radar (1) corresponding to the center of the scatter diagram obtained by scanning the shielding object (4) by the laser radar (1) is the incremental code wheel zero position.
7. The lidar delta-encoded zero calibration structure of claim 6, wherein: the fact that the shielding object (4) has a significant characteristic compared with the surrounding environment means that the pulse width of the surface reflection wave of the shielding object (4) is higher than that of the surrounding environment reflection wave.
8. The lidar delta-encoded zero calibration structure of claim 7, wherein: the pulse width of the surface reflected wave of the shielding object (4) is 2-10 times of the pulse width of the surrounding environment reflected wave.
9. The lidar delta-encoded zero calibration structure of claim 8, wherein: the shielding object (4) is a vertical bar-shaped shielding object.
10. The lidar delta-encoded zero calibration structure of claim 9, wherein: the laser radar device also comprises a scanning baffle (3) connected with the vertical strip-shaped shielding object (4), wherein one surface of the scanning baffle (3) connected with the shielding object (4) faces the laser radar (1); the bottom of the laser radar (1) is provided with a tool table (2) for supporting the laser radar (1).
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| CN202311476419.XA CN117214875A (en) | 2023-11-08 | 2023-11-08 | Zero point calibration method and structure for laser radar incremental coding |
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