CN209215579U - Demarcate the aided measurement device and measuring system of ultrasonic sensor detection envelope - Google Patents
Demarcate the aided measurement device and measuring system of ultrasonic sensor detection envelope Download PDFInfo
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- CN209215579U CN209215579U CN201821604067.6U CN201821604067U CN209215579U CN 209215579 U CN209215579 U CN 209215579U CN 201821604067 U CN201821604067 U CN 201821604067U CN 209215579 U CN209215579 U CN 209215579U
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Abstract
The utility model embodiment is related to demarcating the aided measurement device and measuring system of ultrasonic sensor detection envelope.Aided measurement device includes: autokinetic movement main body, is controlled by the control module of measuring device and autokinetic movement；Object, the calibration object measured when calibration detects envelope as ultrasonic sensor；Clamp device is set to the upper surface of autokinetic movement main body, object is fixed；And control module, it is set in autokinetic movement main body, controls autokinetic movement bulk motion.The utility model embodiment also discloses corresponding measuring system.The measuring device and measuring system that the utility model embodiment is related to can demarcate multiple ultrasonic sensors simultaneously, greatly improve efficiency, reduce the nominal time, while improving testing result accuracy.
Description
Technical field
The utility model relates generally to data processing field, and in particular to calibration ultrasonic sensor detects the auxiliary of envelope
Help measuring device and measuring system.
Background technique
Ultrasonic sensor is used widely in each field.Such as in automatic Pilot, ultrasonic sensor is played
Very important effect, automatic driving vehicle perceive the environment of surrounding based on the measurement of ultrasonic sensor.Detecting envelope is
One important parameter of ultrasonic sensor characterizes the credible investigative range of ultrasonic sensor.
The application of ultrasonic sensor needs accurately detection envelope parameters under various scenes, but at present for measurement ultrasound
The detection envelope of wave sensor is usually manually to place reference test bar in the position for needing to measure, and passes through observation ultrasonic sensor
Signal judges whether detect reference test bar in the position, and then finally obtains the detection envelope of ultrasonic sensor.
Existing method is not only time-consuming and laborious, but also there are human errors, is also unable to satisfy the requirement of measuring accuracy.It is expected that
Be to provide a kind of technical solution that can demarcate to intelligent and high-efficiency ultrasonic sensor detection envelope.
Utility model content
In view of the above-mentioned problems, the embodiments of the present invention provide the subsidiary of calibration ultrasonic sensor detection envelope
Device and measuring system realize highly efficient, accurate, the stronger ultrasonic sensor envelope calibration of robustness.
In the utility model in a first aspect, providing a kind of subsidiary dress of calibration ultrasonic sensor detection envelope
It sets.The device includes: autokinetic movement main body, is controlled by the control module of measuring device and autokinetic movement；Object, as super
The sonic sensor calibration object measured when calibration detects envelope；Clamp device is set to the upper table of autokinetic movement main body
Object is fixed in face；And control module, it is set in autokinetic movement main body, controls autokinetic movement bulk motion.
In certain embodiments, clamp device includes the hold assembly for clamping object, or including buckle object
Snap part.
In certain embodiments, object is pvc pipe, is fixed on autokinetic movement master perpendicularly to the ground by clamp device
The upper surface of body.
In certain embodiments, aided measurement device further includes configuration module, is set in autokinetic movement main body and couples
To control module, the traveling parameter of autokinetic movement main body is parsed based on configuration information；And control module is based on ginseng of advancing
Number control autokinetic movement bulk motion.
In certain embodiments, aided measurement device further includes communication module, receives the configuration for carrying out autonomous measuring device
Information, main measuring device include ultrasonic sensor.
In certain embodiments, the top of autokinetic movement main body is not higher than 10 centimetres far from the height on ground.
In the second aspect of the utility model, a kind of measuring system of calibration ultrasonic sensor detection envelope, packet are provided
The aided measurement device as described in the utility model first aspect and main measuring device are included, main measuring device includes: wait mark
Surely at least one ultrasonic sensor of envelope is detected；Laser radar is set to high-order at least one ultrasonic sensor etc.
It sets, serves as the positioning rule being fixed on ground and carry out auxiliary calibration；And measurement processing device, it is coupled at least one ultrasonic wave biography
Sensor and laser radar, based on aided measurement device it is autonomous traveling and detection packet is carried out at least one ultrasonic sensor
Network calibration.
In certain embodiments, main measuring device further includes the second communication module, to aided measurement device transmission configuration
Information.
The scheme for the calibration ultrasonic sensor detection envelope that the embodiments of the present invention propose, can demarcate more simultaneously
Efficiency greatly improved in a ultrasonic sensor, reduces the nominal time.Meanwhile using system operational parameters, example is reasonably arranged
The movement speed of such as object, the residence time, detectable signal various threshold values, improve testing result accuracy, reduce
Error.In addition, using lidar measurement physical location, so that calibration is more accurate.
Detailed description of the invention
Fig. 1 shows showing for the system of the calibration ultrasonic sensor detection envelope of one embodiment according to the present utility model
Meaning property overlooks block diagram；
Fig. 2 shows the subsidiaries of the calibration ultrasonic sensor detection envelope of one embodiment according to the present utility model
The schematic block diagram of device；And
Fig. 3 shows the stream of the method for the calibration ultrasonic sensor detection envelope of one embodiment according to the present utility model
Cheng Tu.
Specific embodiment
For the purpose of this utility model, technical solution and advantage is more clearly understood, below in conjunction with specific embodiment, and
Referring to attached drawing, the utility model is further described.But as known to those skilled in the art, the utility model is not limited to
Attached drawing and following embodiment.
As described herein, term " includes " and its various variants are construed as open-ended term, it means that " packet
It includes but is not limited to ".Term "based" is construed as " being based at least partially on ".Term " one embodiment " it is understood that
For " at least one embodiment ".Term " another embodiment " is construed as " at least one other embodiment ".
As previously mentioned, generalling use artificial fixed point for measurement ultrasonic sensor detection envelope at present, general detection is single
A ultrasonic sensor is just very time-consuming, and then needs in the application scenarios of multiple ultrasonic sensors more long.For example,
Multiple ultrasonic sensors would generally be set in automatic driving vehicle, not only need directly to measure the spy of each ultrasonic sensor
Survey envelope, it is also necessary to determine the detection envelope measured indirectly between ultrasonic sensor.Especially in industry application, batch vehicle
Also need the detection envelope of each ultrasonic sensor of accurate calibration.
The technical solution that the embodiments of the present invention provide can effectively solve the problems of the prior art, and efficiently and accurately is fast
The detection envelope of ultrasonic sensor is demarcated fastly.The utility model embodiment is further described with reference to the accompanying drawing.
Fig. 1 shows the system of the calibration ultrasonic sensor detection envelope of one embodiment according to the present utility model
100 diagrammatic top block diagram.As shown, system 100 includes the device 110 of ultrasonic sensor to be calibrated detection envelope
(being referred to as main measuring device) and device 120 (referred to as aided measurement device) for auxiliary calibration.It is specifically answered at one
In, for example, device 110 can be the vehicle with Function for Automatic Pilot comprising multiple ultrasonic sensors (such as 111
With 112), laser radar 113 and measurement processing device 114 etc..
Embodiment according to the present utility model is equipped with laser radar 113, compared to supersonic sensing in means 110
Device has high-precision, high-resolution advantage, can be accurately positioned with the position of detecting objects, motion state etc..Using
Laser radar 113 can be used as standard setting device and carry out auxiliary calibration, can serve as the positioning rule being fixed on ground or
Reference axis.Laser radar 113 can be set in place of with the similar height of ultrasonic sensor.Measurement processing device 114 is used for
It obtains the signal of ultrasonic sensor 111 and 112 and laser radar 113 and is handled, determine 111 He of ultrasonic sensor
112 detection envelope.
It can also include communication component 115 in device 110, realize the wireless communication function with device 120.For example, bluetooth
Module or other short-range communication (NFC) modules.Communication component 115 can be established logical with communication component corresponding in device 120
Interrogate link, transmission of configuration information, control instruction etc..
Device 120 may include the object 121 for demarcating ultrasonic sensor detection envelope, be supersonic sensing
The barrier that device 111 and 112 can sense.Usual object 121 can use standard testing bar, such as the PVC of diameter 75mm
Pipe.Device 120 further includes the equipment 122 for capableing of autonomous control movement, such as moving trolley, can be stablized according to control instruction
Ground carrying object 121 is moved along path 130.
Before calibration starts, the ultrasonic sensor of calibration needed for device 110 needs to set.In one embodiment, example
Such as measured in vehicle front, then need to be arranged in front of unlocking vehicle such as four ultrasonic sensors (be denoted as respectively FOR,
FCR, FCL, FOL) itself is measured and tri- information measured indirectly of FOR-FCR, FCR-FCL, FOL-FCL.Device 110 (or
Measurement processing device 114) and device 120 distance and stop of equipment 122 (such as moving trolley) stepping can be ordinatedly set
The parameters such as time.
As shown in Figure 1, object 121 is with equipment 122 within the scope of the quasi- envelope in front of ultrasonic sensor 111 and 112
It is moved along path 130, stops certain time every a distance according to setting parameter.Ultrasonic wave passes the processing of device 110 at this time
The data of sensor 111 and 112 and laser radar 113.Equipment 122 moves on later, repeats this process, until completing to plan
Path.
It is appreciated that system 100 is only signal, for ease of description embodiment of the disclosure, not specifically illustrated and description
The other component of device 110, in order to avoid unnecessarily obscure the aspect of the utility model embodiment.In addition, measurement processing device
114 are shown as within system 100 in device 110, but it physically can independently be arranged.
Fig. 2 shows the schematic diagrames of the device 120 of one embodiment according to the present utility model.In the present embodiment, if
Standby 122 can be implemented as automatic mobile device, such as automatic Pilot trolley.Trolley (i.e. autokinetic movement main body) 122 includes one
Or multiple driving wheels 127, it is driven by the energy that energy supply module (not shown) is supplied, by the control module in trolley 122
126 control its various operation.Trolley 122 can also include actuating trigger module (not shown), according to physical button input or
Person's external control signal inputs and triggers trolley 122 into working condition.
The top of trolley 122 is provided with clamp device 123, and being used for fixed object 121, (such as pvc pipe is highly only
Signal) so that object 121 keeps stablizing and perpendicular to ground in moving process.Clamp device 123 may include clamping
Component can be arranged by fixed connection mode or by universal joint in car top.Clamp device 123 can also be using buckle
Object 121 is fixed firmly on trolley 122 by component.The dimensional fits object 121 of hold assembly or snap part
Diameter setting；The top of trolley 122 is preferably smaller than 10 centimetres away from ground level, to be conducive to the supersonic sensing of device 110
Device 111 and 112 can not cause detection judge by accident in the case where detecting objects 121.
Trolley 122 further includes communication module 125, can be short-range communication (NFC) module, such as bluetooth module etc.,
Wired communication functions and external interface can also be provided.Communication module 125 can be communicated with device 110, can also be set with other
It is standby to be communicated, receive configuration information, instruction, return data etc..The configuration module 124 of trolley 122 is received from communication module 125
Configuration parameter is simultaneously parsed.Configuration parameter includes travelling route figure, step distance, stay time, speed etc., wherein road of advancing
Line chart can will stop as shown in figure 1 shown in route 130 in each cross-point locations trolley 122；Step distance can preferably be set
Small distance, such as 5 centimetres are set to, enable trolley 122 to do small distance mobile.
According to configuration parameter, configuration module 124 carries out configuration information to parse and determine 122 traveling parameter of trolley, such as
At the time of traveling time, the 90 degree of turnings of needs of trolley 122 etc..Control module 126 is based on configuration parameter and traveling state modulator is small
The movement of vehicle 122.In addition, control module 124 is according to the length of wagon and object 121 of trolley 122 relative to 122 institute of trolley
The position of setting, control trolley 122 is moved to some point (crosspoint) Shi Jinhang alignment function at it, so that object 121
Center be overlapped with the point.By this method, device 110 and device 120 more accurately can measure and record detection envelope.It can be with
Understand, device 120 shown in Fig. 2 is only signal, for ease of description embodiment of the disclosure, not specifically illustrated and description device
120 other component, in order to avoid unnecessarily obscure the aspect of the utility model embodiment.
Description uses the system to the detection envelope of calibration ultrasonic sensor 111 and 112 by taking system 100 as an example below
Process.
Fig. 3 shows the method for the calibration ultrasonic sensor detection envelope of one embodiment according to the present utility model
300 flow chart.310, when the object at aided measurement device reaches the first predetermined position along predefined paths, from main survey
The first ultrasonic sensor at amount device obtains the detection information in relation to object.Within system 100, on predefined paths 130
Multiple predetermined positions are provided with, in these pre-positions, the object 121 at device 120 can stop a period of time.At one
In embodiment, automatic Pilot trolley 122 first passes through device 110 in advance or other equipment are configured, and control module 126 is according to setting
Path, step-length, speed control trolley 122 movement and pre-position stop.
When object 121 reaches a certain predetermined position along predefined paths 130 with mobile equipment 122, device 110
Obtain the detection information of ultrasonic sensor 111.The setting information of 110 known devices 120 of device will be in based on object
The temporal information in multiple predetermined positions, can determine whether object reaches the first predetermined position.Further, due to ultrasonic wave
Sensor 111 issues ultrasonic signal, which will be by the reflection of barrier, that is, object 121.At this point, device 110 obtains
Ultrasonic sensor 111 detects the information for receiving the echo-signal of itself.
320, it is based on detection information, determines whether the first ultrasonic sensor detects object.In one embodiment
In, it can judge whether it examines according to the intensity of echo-signal detected by ultrasonic sensor 111 and/or duration
Measure object 121.Then it 330, if the first ultrasonic sensor detects object, obtains at main measuring device
The location information of object acquired in laser radar.At this point, the record of device 110 saves the obtained target of laser radar 113
The physical location of object 121.
340, the location information based on object determines the detection envelope of the first ultrasonic sensor.Implement at one
In example, the location information of object 121 is converted to the coordinate in the predetermined position at 111 visual angle of ultrasonic sensor by device 110, with
Just the detection envelope of ultrasonic sensor 111 is marked.When determining that ultrasonic sensor 111 detects the object of pre-position
When 111, device 110 is by corresponding coordinate labeled as a part of the detection envelope of ultrasonic sensor 111.It is appreciated that pair
The conversion of coordinate position at the physical location of object 121 to 111 visual angle of ultrasonic sensor can also be completed in object 121
After all paths, the coordinate of ultrasonic sensor 111 is converted into during drawing envelope diagram.
With next predetermined position that is moved to of equipment 122, device 110 can determine object 121 according to method 300
Whether record saves the location information that object 121 is in the pre-position.Equipment 122 continues to complete predefined paths, device
110 repeat the above process, and then draw and obtain the detection envelope of ultrasonic sensor 111.
In above process, each ultrasonic sensor in device 110 is drawn envelope and is independent from each other.For example,
By taking vehicle front is demarcated as an example, after all predetermined point bit tests finish, the detection packet of available each ultrasonic sensor
Network.At the same time, embodiment according to the present utility model, device 110 can also determine that multiple ultrasonic sensors measure indirectly
Envelope.
In one embodiment, ultrasonic sensor 111 also detects the echo-signal for ultrasonic sensor 112, with
Determine measurement detection envelope indirectly.Specifically, this indirect measurement is encountered when the first ultrasonic sensor 111 issues signal
It is returned after object 121 and by 112 receives echo-signal of ultrasonic sensor.Similarly, device 110 is based on being directed to the echo
The detection information of signal, can determine whether object is detected；And when determining that object is detected, it can be based on
The location information of object determines the indirect detection envelope of ultrasonic sensor 111 Yu ultrasonic sensor 112.It can manage
Solution measures generation when being directed to the echo-signal of ultrasonic sensor 111 by the detection of ultrasonic sensor 112 when indirect, gained
The indirect measurement detection envelope arrived and the echo-signal that ultrasonic sensor 112 is as above directed to by the detection of ultrasonic sensor 111
Gained envelope is identical.
In the application scenarios that device 110 is automatic driving vehicle, when completing vehicle front calibration, each ultrasound has been obtained
The directly measurement of wave sensor and indirectly measurement envelope diagram.Vehicle front calibration in need ultrasonic sensor just all it is complete
At being then successively rear and side, the calibration to whole automobile ultrasonic sensor envelope can be completed.
The scheme for the calibration ultrasonic sensor detection envelope that the utility model embodiment proposes, can demarcate multiple simultaneously
Efficiency greatly improved in ultrasonic sensor, reduces the nominal time.Meanwhile using system operational parameters are reasonably arranged, such as
Movement speed, residence time, various threshold values of detectable signal of object etc., improve testing result accuracy, reduce mistake
Difference.In addition, using lidar measurement physical location, so that calibration is more accurate.
It will be understood by those skilled in the art that in flow charts indicate or logic described otherwise above herein and/or
Step may be embodied in and appoint for example, being considered the order list of the executable instruction for realizing logic function
In what computer-readable medium, for instruction execution system, device or equipment (such as computer based system including processor
System or other can be from instruction execution system, device or equipment instruction fetch and the system executed instruction) use, or combine this
A little instruction execution systems, device or equipment and use.For the purpose of this specification, " computer-readable medium " can be it is any can be with
Include, store, communicate, propagate, or transport program is for instruction execution system, device or equipment or in conjunction with these instruction execution systems
System, device or equipment and the device used.
The more specific example (non-exhaustive list) of computer-readable medium include the following: there are one or more wirings
Electrical connection section (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium because can then be edited for example by carrying out optical scanner to paper or other media, interpret or when necessary with
Other suitable methods are handled electronically to obtain described program, are then stored in computer storage.
It should be appreciated that each section of the utility model can be realized with hardware, software, firmware or their combination.?
In above embodiment, what multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Software or firmware are realized.It, and in another embodiment, can be with known in this field for example, if realized with hardware
Any one of following technology or their combination realize: there is the logic gate for realizing logic function to data-signal
The discrete logic of circuit, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA),
Field programmable gate array (FPGA) etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the utility model.In the present specification, to the schematic table of above-mentioned term
Stating may not refer to the same embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be
It can be combined in any suitable manner in any one or more embodiment or examples.
More than, the embodiments of the present invention is illustrated.But the utility model is not limited to above-mentioned implementation
Mode.Within the spirit and principle of the utility model, any modification, equivalent substitution, improvement and etc. done, should be included in
Within the protection scope of the utility model.
Claims (8)
1. a kind of aided measurement device of calibration ultrasonic sensor detection envelope characterized by comprising
Autokinetic movement main body (122) is controlled by the control module (126) of the measuring device and autokinetic movement；
Object (121), the calibration object measured when calibration detects envelope as ultrasonic sensor (111)；
Clamp device (123) is set to the upper surface of the autokinetic movement main body (122), and the object (121) are fixed；
And
The control module (126) is set in the autokinetic movement main body (122), controls the autokinetic movement main body (122)
Movement.
2. aided measurement device according to claim 1, which is characterized in that the clamp device (123) includes clamping institute
State the hold assembly of object (121), or the snap part including buckling the object (121).
3. aided measurement device according to claim 1, which is characterized in that the object (121) is pvc pipe, quilt
The clamp device (123) is fixed on the upper surface of the autokinetic movement main body (122) perpendicularly to the ground.
4. aided measurement device according to claim 1, which is characterized in that further include configuration module (124), be set to institute
It states in autokinetic movement main body (122) and is coupled to the control module (126), the autonomous fortune is parsed based on configuration information
The traveling parameter of dynamic main body (122)；And the control module is based on autokinetic movement main body described in the traveling state modulator
(122) it moves.
5. aided measurement device according to claim 4, which is characterized in that further include the first communication module (125), connect
The configuration information for carrying out autonomous measuring device (110) is received, the main measuring device (110) includes the ultrasonic sensor
(111)。
6. aided measurement device according to claim 1, which is characterized in that the top of the autokinetic movement main body (122)
Height away from ground is not higher than 10 centimetres.
7. a kind of measuring system of calibration ultrasonic sensor detection envelope, including it is such as of any of claims 1-6
Aided measurement device and main measuring device, which is characterized in that the main measuring device includes:
At least one ultrasonic sensor (111) of detection envelope to be calibrated；
Laser radar (113), be set to at least one described ultrasonic sensor (111) isometry position, serve as and be fixed on ground
Positioning rule on face carrys out auxiliary calibration；And
Measurement processing device (114) is coupled at least one ultrasonic sensor (111) and the laser radar (113),
It is based on aided measurement device (120) it is autonomous advance and detection packet is carried out at least one described ultrasonic sensor (111)
Network calibration, the aided measurement device (120) include the object at least one ultrasonic sensor (111) detection
(121)。
8. measuring system according to claim 7, which is characterized in that the main measuring device further includes the second communication module
(115), to the aided measurement device (120) transmission of configuration information.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109188403A (en) * | 2018-09-29 | 2019-01-11 | 广州小鹏汽车科技有限公司 | A kind of method, aided measurement device, electronic equipment and system detecting envelope for demarcating ultrasonic sensor |
-
2018
- 2018-09-29 CN CN201821604067.6U patent/CN209215579U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109188403A (en) * | 2018-09-29 | 2019-01-11 | 广州小鹏汽车科技有限公司 | A kind of method, aided measurement device, electronic equipment and system detecting envelope for demarcating ultrasonic sensor |
| CN109188403B (en) * | 2018-09-29 | 2024-03-12 | 广州小鹏汽车科技有限公司 | Method, electronic device and system for calibrating detection envelope of ultrasonic sensor |
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