WO2020177076A1 - Procédé et appareil d'étalonnage de l'état initial d'un appareil de détection - Google Patents

Procédé et appareil d'étalonnage de l'état initial d'un appareil de détection Download PDF

Info

Publication number
WO2020177076A1
WO2020177076A1 PCT/CN2019/076995 CN2019076995W WO2020177076A1 WO 2020177076 A1 WO2020177076 A1 WO 2020177076A1 CN 2019076995 W CN2019076995 W CN 2019076995W WO 2020177076 A1 WO2020177076 A1 WO 2020177076A1
Authority
WO
WIPO (PCT)
Prior art keywords
deviation
reflector
point cloud
zero
cloud data
Prior art date
Application number
PCT/CN2019/076995
Other languages
English (en)
Chinese (zh)
Inventor
吴特思
陈涵
许友
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201980005420.XA priority Critical patent/CN111902732A/zh
Priority to PCT/CN2019/076995 priority patent/WO2020177076A1/fr
Publication of WO2020177076A1 publication Critical patent/WO2020177076A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications

Definitions

  • the invention relates to the field of detection technology, in particular to a method and device for initial state calibration of a detection device.
  • Detection devices such as lidar can emit detection signals in different directions, and obtain depth information and reflectivity information of objects based on echoes in different directions.
  • the initial state of the detection device such as the laser radar. Calibration.
  • automatic calibration cannot be achieved, and there is a defect of low efficiency.
  • the embodiment of the present invention provides a method and device for calibrating the initial state of the detection device to improve the efficiency of calibration.
  • an embodiment of the present invention provides an initial state calibration method of a detection device, characterized in that the detection device includes a first optical device and a second optical device, and the method includes:
  • a first zero deviation corresponding to the first optical device and a second zero deviation corresponding to the second optical device are calculated.
  • an embodiment of the present invention provides an initial state calibration device of a detection device, which includes at least a memory and a processor; the memory is connected to the processor through a communication bus, and is used to store executable files that are executable by the processor.
  • Computer instructions; the processor is used to read computer instructions from the memory to achieve:
  • a first zero deviation corresponding to the first optical device and a second zero deviation corresponding to the second optical device are calculated.
  • an embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of any one of the methods in the first aspect are implemented.
  • the echo signal generated by the detection device transmitting the signal to the target scene is obtained, the point cloud data of the target reflector is determined according to the echo signal, and the corresponding first optical device of the detection device is calculated according to the point cloud data
  • the first zero position deviation of the second optical device and the second zero position deviation corresponding to the second optical device can automatically calibrate the initial state of the detection device, which has a simpler and more efficient positive effect.
  • Figure 1 is a block diagram of a detection device provided by an embodiment of the present invention.
  • FIG. 2 is a schematic structural diagram of a detection device using a coaxial optical path provided by an embodiment of the present invention
  • FIG. 3 is a schematic flowchart of a method for initial state calibration of a detection device provided by an embodiment of the present invention
  • FIG. 4 is a schematic flowchart of calculating a first zero deviation corresponding to the first optical device and a second zero deviation corresponding to the second optical device according to an embodiment of the present invention
  • FIG. 5 is a schematic diagram of the deviation caused by the installation error of the detection device provided by the embodiment of the present invention.
  • FIG. 6 is a schematic diagram of a scene of initial state calibration provided by an embodiment of the present invention.
  • Fig. 7 is a block diagram of an initial state calibration device of a detection device according to an embodiment of the present invention.
  • detection devices such as lidars
  • detection devices need to be calibrated in the initial state before they are used.
  • automatic calibration cannot be achieved, and manual calculation and judgment are required, which is inefficient.
  • the embodiment of the present invention provides an initial state calibration method and device of a detection device.
  • the aforementioned detection device may be electronic equipment such as laser radar and laser ranging equipment.
  • the detection device is used to sense external environmental information, for example, distance information, orientation information, reflection intensity information, speed information, etc. of environmental targets.
  • the detection device can detect the distance between the detection device and the detection device by measuring the time of light propagation between the detection device and the detection object, that is, Time-of-Flight (TOF).
  • TOF Time-of-Flight
  • the detection device can also use other technologies to detect the distance between the detection object and the detection device, such as a ranging method based on phase shift measurement or a ranging method based on frequency shift measurement. Do restrictions.
  • the detection device 100 may include a transmitting circuit 110, a receiving circuit 120, a sampling circuit 130 and an arithmetic circuit 140.
  • the transmitting circuit 110 may emit a light pulse sequence (for example, a laser pulse sequence).
  • the receiving circuit 120 may receive the light pulse sequence reflected by the object to be detected, and perform photoelectric conversion on the light pulse sequence to obtain an electrical signal. After processing the electrical signal, it may be output to the sampling circuit 130.
  • the sampling circuit 130 may sample the electrical signal to obtain the sampling result.
  • the arithmetic circuit 140 may determine the distance between the detection device 100 and the detected object based on the sampling result of the sampling circuit 130.
  • the detection device 100 may further include a control circuit 150 that can control other circuits, for example, can control the working time of each circuit and/or set parameters for each circuit.
  • a control circuit 150 can control other circuits, for example, can control the working time of each circuit and/or set parameters for each circuit.
  • the detection device shown in FIG. 1 includes a transmitting circuit, a receiving circuit, a sampling circuit, and an arithmetic circuit for emitting a beam for detection
  • the embodiment of the present application is not limited to this, the transmitting circuit,
  • the number of any one of the receiving circuit, the sampling circuit, and the arithmetic circuit can also be at least two, which are used to emit at least two beams in the same direction or in different directions; wherein, the at least two beams can be emitted simultaneously , It can also be launched at different times.
  • the light-emitting chips in the at least two transmitting circuits are packaged in the same module.
  • each emitting circuit includes a laser emitting chip, and the dies in the laser emitting chips in the at least two emitting circuits are packaged together and housed in the same packaging space.
  • the detection device 100 may further include a scanning module 160 for changing the propagation direction of at least one laser pulse sequence emitted by the transmitting circuit.
  • the module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, and the arithmetic circuit 140, or the module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, the arithmetic circuit 140, and the control circuit 150 may be referred to as the measuring circuit.
  • the distance measurement module 150 can be independent of other modules, for example, the scanning module 160.
  • a coaxial optical path can be used in the detection device, that is, the beam emitted by the detection device and the reflected beam share at least part of the optical path in the detection device.
  • the detection device may also adopt an off-axis optical path, that is, the light beam emitted by the detection device and the reflected light beam are respectively transmitted along different optical paths in the detection device.
  • Fig. 2 shows a schematic diagram of an embodiment in which the detection device of the present invention adopts a coaxial optical path.
  • the detection device 200 includes a ranging module 210, which includes a transmitter 203 (which may include the above-mentioned transmitting circuit), a collimating element 204, a detector 205 (which may include the above-mentioned receiving circuit, sampling circuit, and arithmetic circuit), and an optical path Change element 206.
  • the ranging module 210 is used to emit a light beam, receive the return light, and convert the return light into an electrical signal.
  • the transmitter 203 can be used to emit a light pulse sequence.
  • the transmitter 203 may emit a sequence of laser pulses.
  • the laser beam emitted by the transmitter 203 is a narrow-bandwidth beam with a wavelength outside the visible light range.
  • the collimating element 204 is arranged on the exit light path of the emitter, and is used to collimate the light beam emitted from the emitter 203, and collimate the light beam emitted from the emitter 203 into parallel light and output to the scanning module.
  • the collimating element is also used to condense at least a part of the return light reflected by the probe.
  • the collimating element 204 may be a collimating lens or other elements capable of collimating light beams.
  • the light path changing element 206 is used to combine the transmitting light path and the receiving light path in the detection device before the collimating element 204, so that the transmitting light path and the receiving light path can share the same collimating element, making the light path more compact.
  • the transmitter 203 and the detector 205 may respectively use their own collimating elements, and the optical path changing element 206 is arranged on the optical path behind the collimating element.
  • the optical path changing element can use a small-area mirror to combine the emission light path with The receiving light path is combined.
  • the light path changing element may also use a reflector with a through hole, where the through hole is used to transmit the emitted light of the emitter 203 and the reflector is used to reflect the return light to the detector 205. In this way, the shielding of the back light by the bracket of the small mirror in the case of using the small mirror can be reduced.
  • the optical path changing element deviates from the optical axis of the collimating element 204.
  • the optical path changing element may also be located on the optical axis of the collimating element 204.
  • the detection device 200 further includes a scanning module 202.
  • the scanning module 202 is placed on the exit light path of the distance measuring module 201.
  • the scanning module 202 is used to change the transmission direction of the collimated beam 219 emitted by the collimating element 204 and project it to the external environment, and project the return light to the collimating element 204 .
  • the returned light is collected on the detector 205 via the collimating element 204.
  • the scanning module 202 may include at least one optical element for changing the propagation path of the light beam, wherein the optical element may change the propagation path of the light beam by reflecting, refracting, or diffracting the light beam.
  • the scanning module 202 includes a lens, a mirror, a prism, a galvanometer, a grating, a liquid crystal, an optical phased array (Optical Phased Array), or any combination of the foregoing optical elements.
  • at least part of the optical elements are moving.
  • a driving module is used to drive the at least part of the optical elements to move.
  • the moving optical elements can reflect, refract, or diffract the light beam to different directions at different times.
  • the multiple optical elements of the scanning module 202 may rotate or vibrate around a common axis 209, and each rotating or vibrating optical element is used to continuously change the propagation direction of the incident light beam.
  • the multiple optical elements of the scanning module 202 may rotate at different speeds or vibrate at different speeds.
  • at least part of the optical elements of the scanning module 202 may rotate at substantially the same rotation speed.
  • the multiple optical elements of the scanning module may also be rotated around different axes.
  • the multiple optical elements of the scanning module may also rotate in the same direction or in different directions; or vibrate in the same direction, or vibrate in different directions, which is not limited herein.
  • the scanning module 202 includes a first optical element 214 and a driver 216 connected to the first optical element 214.
  • the driver 216 is used to drive the first optical element 214 to rotate around the rotation axis 209 to change the first optical element 214.
  • the direction of the beam 219 is collimated.
  • the first optical element 214 projects the collimated light beam 219 to different directions.
  • the angle between the direction of the collimated beam 219 changed by the first optical element and the rotation axis 209 changes as the first optical element 214 rotates.
  • the first optical element 214 includes a pair of opposed non-parallel surfaces through which the collimated light beam 219 passes.
  • the first optical element 214 includes a prism whose thickness varies in at least one radial direction.
  • the first optical element 214 includes a wedge prism, and the collimated beam 219 is refracted.
  • the scanning module 202 further includes a second optical element 215, the second optical element 215 rotates around the rotation axis 209, and the rotation speed of the second optical element 215 is different from the rotation speed of the first optical element 214.
  • the second optical element 215 is used to change the direction of the light beam projected by the first optical element 214.
  • the second optical element 215 is connected to another driver 217, and the driver 217 drives the second optical element 215 to rotate.
  • the first optical element 214 and the second optical element 215 can be driven by the same or different drivers, so that the rotation speed and/or rotation of the first optical element 214 and the second optical element 215 are different, so as to project the collimated light beam 219 to the outside space.
  • the controller 218 controls the drivers 216 and 217 to drive the first optical element 214 and the second optical element 215, respectively.
  • the rotational speeds of the first optical element 214 and the second optical element 215 may be determined according to the area and pattern expected to be scanned in actual applications.
  • the drivers 216 and 217 may include motors or other drivers.
  • the second optical element 215 includes a pair of opposite non-parallel surfaces through which the light beam passes. In one embodiment, the second optical element 215 includes a prism whose thickness varies in at least one radial direction. In one embodiment, the second optical element 215 includes a wedge prism.
  • the scanning module 202 further includes a third optical element (not shown) and a driver for driving the third optical element to move.
  • the third optical element includes a pair of opposite non-parallel surfaces, and the light beam passes through the pair of surfaces.
  • the third optical element includes a prism whose thickness varies in at least one radial direction.
  • the third optical element includes a wedge prism. At least two of the first, second, and third optical elements rotate at different rotation speeds and/or rotation directions.
  • each optical element in the scanning module 202 can project light to different directions, such as directions 211 and 213, so that the space around the detection device 200 is scanned.
  • directions 211 and 213 the directions that the space around the detection device 200 is scanned.
  • the return light 212 reflected by the probe 201 is incident on the collimating element 204 after passing through the scanning module 202.
  • the detector 205 and the transmitter 203 are placed on the same side of the collimating element 204, and the detector 205 is used to convert at least part of the return light passing through the collimating element 204 into an electrical signal.
  • an anti-reflection film is plated on each optical element.
  • the thickness of the antireflection coating is equal to or close to the wavelength of the light beam emitted by the emitter 203, which can increase the intensity of the transmitted light beam.
  • a filter layer is plated on the surface of an element located on the beam propagation path in the detection device, or a filter is provided on the beam propagation path for transmitting at least the wavelength band of the beam emitted by the transmitter and reflecting Other bands to reduce the noise caused by ambient light to the receiver.
  • the transmitter 203 may include a laser diode through which nanosecond laser pulses are emitted.
  • the laser pulse receiving time can be determined, for example, the laser pulse receiving time can be determined by detecting the rising edge time and/or the falling edge time of the electrical signal pulse. In this way, the detection device 200 can calculate the TOF using the pulse receiving time information and the pulse sending time information, so as to determine the distance between the detection object 201 and the detection device 200.
  • the distance and orientation detected by the detection device 200 can be used for remote sensing, obstacle avoidance, surveying and mapping, modeling, navigation, and the like.
  • the detection device of the embodiment of the present invention can be applied to a mobile platform, and the detection device can be installed on the platform body of the mobile platform.
  • a mobile platform with a detection device can measure the external environment, for example, measuring the distance between the mobile platform and an obstacle for obstacle avoidance and other purposes, and for two-dimensional or three-dimensional mapping of the external environment.
  • the mobile platform includes at least one of an unmanned aerial vehicle, a car, a remote control car, a robot, and a camera.
  • the detection device is applied to an unmanned aerial vehicle, the platform body is the fuselage of the unmanned aerial vehicle.
  • the platform body When the detection device is applied to a car, the platform body is the body of the car.
  • the car can be a self-driving car or a semi-automatic driving car, and there is no restriction here.
  • the platform body When the detection device is applied to a remote control car, the platform body is the body of the remote control car.
  • the platform body When the detection device is applied to a robot, the platform body is a robot.
  • the detection device is applied to a camera, the platform body is the camera itself.
  • the detection device includes a scanning module 202, and a driver 216 and a driver 217 respectively drive the first optical element 214 and the second optical element 215 to rotate to change the direction of laser emission.
  • the first optical element 214 and the second optical element 215 will introduce zero deviation during the installation process, which are respectively the first zero deviation and the second zero deviation, which will cause errors in scene imaging;
  • the purpose of initial state calibration includes The first zero position deviation and the second zero position deviation respectively corresponding to the first optical element 214 and the second optical element 215 are obtained.
  • FIG. 3 is a schematic flowchart of a method for calibrating the initial state of a detection device according to an embodiment of the present invention
  • the detection device includes: a first optical device and a second optical device.
  • the method can be applied to the detection device itself or It is applied to the upper computer and other devices; the method includes the following steps S100-S102:
  • the detection device transmits a signal to a target scene, the target scene contains a target reflector, and the target reflector reflects the signal emitted by the detection device, so that the echo signal generated by the target reflector can be obtained.
  • the transmitted signal and the echo signal pass through the first optical device and the second optical device.
  • the depth information and angle information of the target reflector can be calculated, and then the point cloud data of the target reflector can be determined.
  • the echo signal generated by the detection device transmitting the signal to the target scene is obtained, the point cloud data of the target reflector is determined according to the echo signal, and the first optical device corresponding to the detection device is calculated according to the point cloud data
  • the first zero deviation and the second zero deviation corresponding to the second optical device can realize the fully automatic calibration of the initial state of the detection device. Compared with the method of manual calculation and judgment in the calibration process of the prior art, it has more Simple and efficient positive effect.
  • the above-mentioned target reflector may include a single reflector.
  • the single target reflector may be a single total reflection patch. Referring to FIG. 4, the method includes the following steps S201-S205:
  • S201 Calculate a first angle difference between the first zero deviation and the second zero deviation according to the point cloud data of the single reflector.
  • the point cloud imaging of the single reflector will be separated due to the installation error of the first optical device and the second optical device of the detection device.
  • step S201 specifically includes the following steps A10-A20:
  • Step A10 Map each point corresponding to the point cloud data of the single reflector to a two-dimensional plane to obtain two sets of point cloud images of the single reflector.
  • the two-dimensional plane includes the plane where the single reflector is located.
  • each point corresponding to the point cloud data of a single reflector is mapped to a two-dimensional flat. Specifically, each point corresponding to the point cloud data of a single reflector may be projected onto the plane where the single target reflector is located.
  • Step A20 Calculate the first angle difference between the first zero deviation and the second zero deviation according to the two sets of point cloud imaging of the single reflector.
  • step A20 calculating the first angular difference between the first zero deviation and the second zero deviation according to the two sets of point cloud imaging of the single reflector includes the following steps A201-A203:
  • Step A201 Calculate the center point coordinates of the two sets of point cloud imaging of the single reflector.
  • Step A202 Establish a first objective function based on the center point coordinates of the two sets of point cloud imaging of the single reflector.
  • the above-mentioned first objective function is a function for solving the distance between the center points of the two groups of point cloud imaging under different first angle differences.
  • Step A203 Minimize the first objective function to obtain a first angle difference between the first zero deviation and the second zero deviation.
  • the first angle difference that minimizes the distance between the center points of the two sets of point cloud imaging is obtained.
  • ⁇ is found to minimize the distance between the center points of the two sets of point cloud imaging of a single reflector
  • c 1 and c 2 respectively represent the coordinates of the center points of the two sets of point cloud imaging
  • d(c 1 , c 2 ) represents the distance between the center points of the two sets of point cloud imaging.
  • step S202 calculating the common deviation of the first zero deviation and the second zero deviation according to the point cloud data on the ground includes the following steps B10-B20:
  • Step B10 According to the point cloud data on the ground, a normal vector for ground imaging is calculated.
  • the point cloud data of the ground is obtained, and the normal vector of the ground imaging can be calculated according to the point cloud data of the ground.
  • the point cloud data on the ground is the point cloud data corrected by using the first angle difference ⁇ .
  • Step B20 Calculate the common deflection angle of the first zero deviation and the second zero deviation according to the projection of the normal vector of the ground imaging on the plane where the single reflector is located.
  • the angle between the direction vector and the vertical when the normal vector is projected onto the plane where a single reflector is located is the common deflection angle ⁇ .
  • the initial state calibration work is basically completed, but because the above calculation process only uses a single reflector for calibration, it may cause over-fitting, resulting in the calculation of other angle directions of the field of view There are errors, so performing secondary calibration on the initial state of the detection device can further improve the calibration effect.
  • the aforementioned target reflector further includes a reflector array.
  • the reflector array may be a total reflection patch array.
  • the foregoing calculation of the second angular difference between the first zero deviation and the second zero deviation based on the point cloud data of the reflector array includes the following steps C10-C20:
  • Step C10 Map each point corresponding to the point cloud data of the reflector array to a two-dimensional plane to obtain two sets of point cloud images of each reflector in the reflector array.
  • each point corresponding to the point cloud data of the reflector array is mapped to a two-dimensional plane; specifically, the point cloud data of the reflector array can be projected onto the plane where the reflector array is located. in.
  • Step C20 Calculate the second angle difference between the first zero deviation and the second zero deviation according to the two sets of point cloud imaging of each reflector in the reflector array.
  • the calculation of the second angular difference between the first zero deviation and the second zero deviation based on the two sets of point cloud imaging of each reflector in the reflector array includes the following Steps C201-C203:
  • Step C201 Calculate the center point coordinates of the two sets of point cloud imaging of each reflector in the reflector array.
  • Step C202 Establish a second objective function based on the center point coordinates of the two sets of point cloud imaging of each reflector in the reflector array.
  • Step C203 Obtain a second angle difference between the first zero deviation and the second zero deviation by minimizing the second objective function.
  • the second objective function in this embodiment is a function for calculating the root mean square of the distance between the center points of the two sets of point cloud imaging of all reflectors in the reflector array under different second angle differences.
  • the second angular difference between the first zero deviation and the second zero deviation is obtained.
  • n is the number of reflectors
  • c i1 , c i2 respectively represent the coordinates of the center point of the i-th reflector two groups of point cloud imaging
  • d(c i1 , c i2 ) represents the i-th reflector two groups of point cloud The distance between the imaging center points.
  • the above method further includes the following step S103:
  • the target reflector includes a reflector array
  • the above step S103 specifically includes the following steps D10-D13:
  • Step D10 Map each point corresponding to the point cloud data of the reflector array into a two-dimensional plane to obtain two sets of point cloud images of each reflector in the reflector array.
  • each point corresponding to the obtained point cloud data of the reflector array is projected onto the plane where the reflector array is located.
  • Step D11 Calculate the center point coordinates of the two sets of point cloud imaging of each reflector in the reflector array.
  • Step D12 Establish a third objective function based on the center point coordinates of the two sets of point cloud imaging of each reflector in the reflector array.
  • Step D13 Obtain the deviation of the first refraction surface relative to the drum, the deviation of the second refraction surface relative to the drum, and the light incident deviation by minimizing the third objective function.
  • the third objective function is to calculate all the reflectors in the reflector array under different deviations of the first refraction surface of the first optical device relative to the drum, the deviation of the second refraction surface of the second optical device relative to the drum, and the light incident deviation.
  • the dotted line indicates the positions of the first optical device, the second optical device, and the drum in an ideal state when there is no installation error.
  • the direction vector of the incident light is [1, 0, 0].
  • the incident light will have rotation angles ⁇ y and ⁇ z relative to the Y axis and the Z axis.
  • the first optical device and the second optical device of the detection device respectively correspond to the rotating drum.
  • the rotating drum corresponding to the first optical device is called the first rotating drum
  • the rotating drum corresponding to the second optical device Called the second drum.
  • the normal vector of the first refractive surface 11 of the first optical device 10 is coaxial with the rotation axis of the first drum 12, and the normal vector of the second refractive surface 22 of the second optical device 20 is The vector is coaxial with the rotation axis of the second drum 21. If there is an installation error of the first optical device, the normal vector of the first refraction surface 11 and the rotation axis of the first rotating drum 12 are not on the same axis. At this time, the normal vector of the first refraction surface 11 is relative to the second refraction surface.
  • the theoretical normal vector of 11 has rotation angles ⁇ y1 and ⁇ z1 on the Y axis and the Z axis.
  • the normal vector of the second refraction surface 22 and the rotation axis of the second rotating drum 21 are not on the same axis. At this time, the normal vector of the second refraction surface 22 is relative to the second refraction surface.
  • the theoretical normal vector of 22 has rotation angles ⁇ y2 and ⁇ z2 on the Y axis and the Z axis.
  • the rotation angles ⁇ y1 and ⁇ z1 are the deviations of the first refraction surface of the first optical device relative to the drum
  • the rotation angles ⁇ y2 and ⁇ z2 are the deviations of the second refraction surface of the second optical device with respect to the drum. deviation.
  • n is the number of reflectors
  • c i1 and c i2 respectively represent the coordinates of the two sets of point cloud imaging center points of the i-th reflector
  • d(c i1 , c i2 ) represents the two sets of points of the i-th reflector The distance between the center points of the cloud image.
  • the first deviation of the detection device, the second zero deviation, the deviation of the first refractive surface of the first optical device relative to the drum, the deviation of the second refractive surface of the second optical device relative to the drum, and The incident light deviation can further improve the calibration effect of the detection device.
  • the measurement data obtained in the actual working process of the detection device can obtain accurate measurement data after all the above deviations are corrected.
  • the target reflector is a total reflection patch or a pattern formed by spraying a total reflection material, and the target reflector is disposed on the surface of the carrier.
  • the number of the aforementioned target reflectors is multiple, and the distance between adjacent target reflectors is greater than the maximum size of the light spot irradiated on the carrier.
  • the maximum size of the light spot refers to the dimension with the largest value among all the external dimension parameters of the light spot.
  • all the dimensions of the light spot include: long axis and short axis, and the maximum size of the light spot refers to the long axis of the light spot; for another example, when the shape of the light spot is circular,
  • the maximum size of the light spot refers to the diameter of the light spot.
  • the surface of the above-mentioned carrier is flat, and the carrier includes a wall or a flat plate.
  • the distance between the carrier and the detection device is greater than a preset distance.
  • the distance between the carrier and the detection device is set to be greater than or equal to 8 meters.
  • the actual calibration scene can be referred to as shown in Figure 6.
  • the detection device 60 transmits a signal to the surface of the carrier 61 where the target reflector is located.
  • the target reflector reflects the light wave signal, and the detection device receives the echo signal.
  • the detection device or other equipment For example, the host computer obtains the echo signal, determines the point cloud data of the target reflector according to the echo signal, and performs calibration of the initial state of the detection device according to the point cloud data according to the above-mentioned method.
  • an embodiment of the present invention provides an initial state calibration device 700, which includes at least a memory 702 and a processor 701; the memory 702 is connected to the processor 701 via a communication bus 703, and is used for storing The computer instructions executable by the processor 701; the processor 701 is configured to read computer instructions from the memory 702 to implement:
  • the detection device Acquire an echo signal generated by the detection device transmitting a signal to a target scene, the target scene including a target reflector;
  • the detection device includes a first optical device and a second optical device, the transmission signal and the echo signal pass through The first optical device and the second optical device;
  • a first zero deviation corresponding to the first optical device and a second zero deviation corresponding to the second optical device are calculated.
  • the target reflector includes a single reflector
  • the processor 701 is calculating the first zero offset corresponding to the first optical device and the first zero deviation corresponding to the second optical device according to the point cloud data.
  • the 20-bit deviation it is specifically used for:
  • the first zero position deviation and the second zero position deviation are calculated.
  • the aforementioned processor 701 is specifically configured to: when calculating the first angle difference between the first zero deviation and the second zero deviation according to the point cloud data of the single reflector:
  • the two-dimensional plane includes the plane where the single reflector is located.
  • the above-mentioned processor 701 specifically uses the first angle difference between the first zero deviation and the second zero deviation according to the two sets of point cloud imaging of the single reflector. in:
  • the first angle difference between the first zero deviation and the second zero deviation is obtained.
  • the aforementioned processor 701 is specifically configured to: when calculating the common deviation of the first zero deviation and the second zero deviation according to the point cloud data on the ground:
  • the normal vector of the ground imaging is calculated
  • a common deflection angle of the first zero deviation and the second zero deviation is calculated.
  • the target reflector further includes a reflector array
  • the processor 701 calculates the first zero deviation and the second zero deviation according to the first angle difference and the common deviation. , Specifically used for:
  • the second angle difference between the first zero deviation and the second zero deviation is calculated, and the point cloud data of the reflector array is through the first angle Point cloud data corrected by the difference and the common deviation;
  • the first zero position deviation and the second zero position deviation are updated according to the second angle difference.
  • the aforementioned processor 701 is specifically configured to calculate the second angular difference between the first zero deviation and the second zero deviation according to the point cloud data of the reflector array:
  • the two-dimensional plane includes the plane where the reflector array is located.
  • the processor 701 calculates the second angular difference between the first zero deviation and the second zero deviation according to the two sets of point cloud imaging of each reflector in the reflector array
  • value specifically used for:
  • the second angular difference between the first zero deviation and the second zero deviation is obtained by minimizing the second objective function.
  • the aforementioned processor 701 is further configured to read computer instructions from the memory to implement:
  • the deviation of the first refraction surface of the first optical device relative to the drum, the deviation of the second refraction surface of the second optical device relative to the drum, and the light incident deviation of the detection device are calculated.
  • the target reflector includes a reflector array
  • the processor 701 is calculating the deviation of the first refractive surface of the first optical device relative to the drum and the second optical device of the detection device based on the point cloud data
  • the deviation of the second refraction surface relative to the drum and the deviation of light incidence it is specifically used for:
  • the deviation of the first refractive surface relative to the drum, the deviation of the second refractive surface relative to the drum, and the light incident deviation are obtained.
  • the above-mentioned target reflector is a total reflection patch or a pattern formed by spraying a total reflection material, and the target reflector is arranged on the surface of the carrier.
  • the distance between adjacent target reflectors is greater than the maximum size of the light spot irradiated on the carrier.
  • the surface of the above-mentioned carrier is flat, and the carrier includes a wall or a flat plate.
  • the distance between the aforementioned carrier and the detection device is greater than a preset distance.
  • the aforementioned initial state calibration device includes a detection device or a host computer.
  • the aforementioned detection device includes at least one of the following: laser radar, millimeter wave radar, and ultrasonic radar.
  • An embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the method are realized.
  • the relevant part can refer to the description of the method embodiment.
  • the device embodiments described above are merely illustrative.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units.
  • Some or all of the modules may be selected according to actual needs to achieve the objectives of the solutions of the embodiments. Those of ordinary skill in the art can understand and implement it without creative work.

Abstract

La présente invention concerne un procédé et un appareil d'étalonnage de l'état initial d'un appareil de détection. Le procédé comprend : l'obtention d'un signal d'écho généré par un appareil de détection émettant un signal vers une scène cible, ladite scène cible comprenant un objet réfléchissant cible, ledit signal d'émission et ledit signal d'écho passant à travers un premier dispositif optique et un second dispositif optique; la détermination de données de nuage de points de l'objet réfléchissant cible en fonction du signal d'écho; sur la base desdites données de nuage de points, le calcul d'un premier décalage de position zéro correspondant au premier dispositif optique et d'un second décalage de position zéro correspondant au second dispositif optique. Ainsi, un étalonnage entièrement automatique de l'état initial de l'appareil de détection peut être obtenu, ce qui améliore l'efficacité de l'étalonnage d'un état initial.
PCT/CN2019/076995 2019-03-05 2019-03-05 Procédé et appareil d'étalonnage de l'état initial d'un appareil de détection WO2020177076A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201980005420.XA CN111902732A (zh) 2019-03-05 2019-03-05 一种探测装置初始状态标定方法及装置
PCT/CN2019/076995 WO2020177076A1 (fr) 2019-03-05 2019-03-05 Procédé et appareil d'étalonnage de l'état initial d'un appareil de détection

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/076995 WO2020177076A1 (fr) 2019-03-05 2019-03-05 Procédé et appareil d'étalonnage de l'état initial d'un appareil de détection

Publications (1)

Publication Number Publication Date
WO2020177076A1 true WO2020177076A1 (fr) 2020-09-10

Family

ID=72337425

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/076995 WO2020177076A1 (fr) 2019-03-05 2019-03-05 Procédé et appareil d'étalonnage de l'état initial d'un appareil de détection

Country Status (2)

Country Link
CN (1) CN111902732A (fr)
WO (1) WO2020177076A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113985420B (zh) * 2021-12-28 2022-05-03 四川吉埃智能科技有限公司 一种斜45°激光雷达扫描光路误差补偿方法
CN117214875A (zh) * 2023-11-08 2023-12-12 山东富锐光学科技有限公司 一种激光雷达增量编码的零点校准方法与结构

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101865996A (zh) * 2010-05-19 2010-10-20 北京航空航天大学 一种用于机载激光雷达俯仰角偏差实时补偿的方法与装置
WO2018176274A1 (fr) * 2017-03-29 2018-10-04 SZ DJI Technology Co., Ltd. Système de capteur lidar à petit facteur de forme
CN109270551A (zh) * 2018-11-02 2019-01-25 广西师范大学 一种面阵扫描式激光远距离三维测量系统

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19717488C2 (de) * 1997-04-25 2003-05-15 Baumer Optronic Gmbh Vorrichtung zur Inspektion der Oberfläche von Objekten
DE102007005875A1 (de) * 2007-02-06 2008-08-14 Carl Zeiss Smt Ag Vorrichtung und Verfahren zur Bestimmung der Ausrichtung von Oberflächen von optischen Elementen
CN102566295A (zh) * 2010-12-31 2012-07-11 上海微电子装备有限公司 光刻设备及测量多光斑零位偏差的方法
CN102941410B (zh) * 2012-10-18 2015-05-20 北京航空航天大学 一种点扫描三维测量系统振镜标定方法
CN104296654B (zh) * 2014-09-26 2017-06-09 中国科学院光电研究院 激光跟踪仪位置探测器零位安装误差的检测装置和方法
CN106371102B (zh) * 2016-10-08 2019-08-27 中国科学院光电技术研究所 基于自适应光学的逆合成孔径激光雷达信号接收系统
CN108663125B (zh) * 2017-03-31 2019-10-25 上海微电子装备（集团）股份有限公司 波前传感器的参数标定装置和方法
CN107192350B (zh) * 2017-05-19 2019-07-12 中国人民解放军信息工程大学 一种三维激光扫描仪内参数标定方法及装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101865996A (zh) * 2010-05-19 2010-10-20 北京航空航天大学 一种用于机载激光雷达俯仰角偏差实时补偿的方法与装置
WO2018176274A1 (fr) * 2017-03-29 2018-10-04 SZ DJI Technology Co., Ltd. Système de capteur lidar à petit facteur de forme
CN109270551A (zh) * 2018-11-02 2019-01-25 广西师范大学 一种面阵扫描式激光远距离三维测量系统

Also Published As

Publication number Publication date
CN111902732A (zh) 2020-11-06

Similar Documents

Publication Publication Date Title
WO2020177077A1 (fr) Carte d'étalonnage, procédé d'étalonnage de paramètre de profondeur, appareil de détection et système d'étalonnage
WO2022126427A1 (fr) Procédé de traitement de nuage de points, appareil de traitement de nuage de points, plateforme mobile, et support de stockage informatique
CN210142187U (zh) 一种距离探测装置
CN210038146U (zh) 测距模组、测距装置及可移动平台
US20210341610A1 (en) Ranging device
WO2020154980A1 (fr) Procédé d'étalonnage de paramètres externes d'un dispositif de détection, dispositif de traitement de données et système de détection
WO2020177076A1 (fr) Procédé et appareil d'étalonnage de l'état initial d'un appareil de détection
WO2020215252A1 (fr) Procédé de débruitage de nuage de points de dispositif de mesure de distance, dispositif de mesure de distance et plateforme mobile
CN111263898A (zh) 一种光束扫描系统、距离探测装置及电子设备
WO2020133384A1 (fr) Dispositif de télémétrie laser et plateforme mobile
WO2020237663A1 (fr) Procédé d'interpolation de nuage de points lidar multi-canal et appareil de télémétrie
US20210341588A1 (en) Ranging device and mobile platform
US20220082665A1 (en) Ranging apparatus and method for controlling scanning field of view thereof
WO2020155159A1 (fr) Procédé pour augmenter la densité d'échantillonnage de nuage de points, système de balayage de nuage de points et support d'enregistrement lisible
WO2020147121A1 (fr) Procédé de mesure de précipitations, dispositif de détection et support de stockage lisible
WO2020107379A1 (fr) Procédé de correction de réflectivité pour utilisation dans un appareil de télémétrie, et appareil de télémétrie
WO2022256976A1 (fr) Procédé et système de construction de données de valeur de vérité en nuage de points dense et dispositif électronique
WO2021026766A1 (fr) Procédé et dispositif de commande de la vitesse de rotation d'un moteur pour module de balayage, et dispositif de mesure de distance
WO2020142879A1 (fr) Procédé de traitement de données, dispositif de détection, dispositif de traitement de données et plateforme mobile
WO2020142909A1 (fr) Procédé de synchronisation de données, système de radar distribué, et plateforme mobile
WO2020142919A1 (fr) Dispositif de télémétrie et plateforme mobile
US20210333369A1 (en) Ranging system and mobile platform
WO2022226984A1 (fr) Procédé de commande de champ de vision de balayage, appareil de télémétrie et plateforme mobile
WO2022040937A1 (fr) Dispositif de balayage laser et système de balayage laser
WO2021138765A1 (fr) Procédé d'arpentage et de cartographie, dispositif d'arpentage et de cartographie, support de stockage et plate-forme mobile

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19917643

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19917643

Country of ref document: EP

Kind code of ref document: A1