WO2022121311A1 - 一种具有多线激光雷达智能设备的下线验收方法 - Google Patents
一种具有多线激光雷达智能设备的下线验收方法 Download PDFInfo
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- 238000009434 installation Methods 0.000 claims abstract description 26
- 238000012545 processing Methods 0.000 claims abstract description 7
- 238000004458 analytical method Methods 0.000 claims abstract description 5
- 238000001514 detection method Methods 0.000 claims description 77
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 2
- 238000007689 inspection Methods 0.000 abstract description 11
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
Definitions
- the invention relates to the field of offline acceptance methods for installation and use of multi-line laser radars.
- multi-line lidar With the rapid development of intelligent technology, the application of multi-line lidar is becoming more and more extensive, especially in some autonomous driving equipment.
- the laser beam reaches the laser scanning within a 360-degree range, and the laser scanning data is obtained for the judgment of the surrounding environment and objects of the vehicle. Therefore, the precise installation of multi-line lidars on automatic driving equipment and the normal use of functions are very important, which are the basic requirements for automatic driving equipment to achieve safe and effective automatic driving.
- the technical solution of the present invention is: an offline acceptance method with multi-line laser radar intelligent equipment.
- the acceptance method is as follows. Step 1. Establish a scanning detection platform in advance, and the scanning detection platform includes an equipment parking area, a scanning benchmark, and a motion track. , mobile trolley, target object and detection system; the equipment parking area is for intelligent equipment to be fixed, oriented, and parked horizontally; the scanning benchmark corresponding to the front of the intelligent equipment parked in the equipment parking area is set vertically according to the set distance position, the said The scanning benchmarks are vertically erected at multiple intervals; the motion track is set horizontally at a set distance between the front of the correspondingly parked smart devices in the equipment parking area and the scanning benchmarks, and the mobile trolley is equipped with a moving trolley that drives the mobile trolley to move.
- the driving device moving on the track, the mobile trolley is controlled by an independent controller to start and stop or controlled by the detection system, and the target object is erected and installed on the mobile trolley; step 2, move the intelligent equipment to be offline for acceptance to The equipment parking area shall be parked according to the fixed point and directional position required by the scanning detection platform; step 3, start the scanning work of the multi-line lidar on the smart device, and the scanning work includes the multi-line lidar laser scanning of multiple scanning benchmarks, and Generate the installation detection laser scanning data, and start the mobile car to move at the set moving speed, the multi-line lidar performs laser scanning at the same time, and generate the function detection laser scanning data; Step 4, the detection system obtains the installation detection laser scanning data and functions Detect the laser scanning data for data processing, analysis and judgment.
- the processing and analysis judgment includes frequency judgment, cluster judgment, level judgment and orientation judgment; the frequency judgment is such that the detection system detects the laser scanning data through the function to judge one of the data. Whether the number of frames of the target object scanned by the laser in the time period is consistent with the theoretical frame number of the target object scanned by the laser in the corresponding time period calculated from the known data. Qualified, the clustering judgment is as follows. The clustering method calculation function is used to detect whether there is a cluster of target objects in the laser scanning data. If it does not exist, it is judged that there is an error in the laser scanning.
- the detection laser scanning data adopts the least squares method to fit the straight line equation of the multi-line lidar scanning each scanning benchmark in the multi-line lidar coordinate system.
- the equation is as follows:
- X , Y , Z are the variables of the scanning point in the multi-line lidar coordinate system
- x 1, y 1, z 1 are the coordinates of a point in the multi-line lidar coordinate system
- m is the direction along the X axis
- n In order to be along the Y- axis direction, p is along the Z -axis direction, calculate the value of p in the Z -axis direction of each scanning benchmark, and then calculate the mean value of p of multiple scanning benchmarks, and place each scanning benchmark on the multi-line.
- k is the slope of the straight line
- b is the intercept of the straight line
- the acceptance results obtained by the acceptance method of the above method steps are accurate, reliable, and easy to implement.
- the use and operation process of the scanning detection platform and the detection use are simple and the detection speed is fast.
- the multi-line laser radar scans the moving target object to obtain the function detection laser scanning data to calculate and analyze the result. Specifically, it is determined by whether the number of laser scanning frames in a time period conforms to the theoretical frame number and using the clustering method to judge. Whether the cluster exists or not, and whether the coordinates of the cluster center point conform to the coordinate system of the multi-line lidar can be used to judge whether the scanning frequency of the multi-line lidar and whether the laser scanning data is consistent with the actual scene to determine whether the multi-line lidar can be used normally.
- the accurate judgment of the installation of the multi-line lidar is based on the above-mentioned horizontal judgment and orientation judgment.
- the acceptance method of the present invention uses the multi-line laser radar to scan a plurality of scanning benchmarks to obtain the installation detection laser scanning data to judge the direction angle, the roll angle and the pitch angle, which is exactly corresponding to the multi-line laser radar.
- the value of k of a straight line on the X and Y planes is used to determine whether the direction angle of the multi-line laser scanning radar is 0 degrees corresponding to the front, and whether the roll angle and pitch angle are horizontal.
- FIG. 1 is a schematic diagram of the use layout structure of a scanning detection platform with an offline acceptance method for a multi-line laser radar intelligent device according to the invention.
- the intelligent device takes an unmanned automatic driving road cleaning vehicle as an example.
- the height of the vehicle 1 is about one meter four
- the bottom wheel is three
- one front wheel is two two
- the bottom of the front of the vehicle is a road cleaning device
- the multi-line laser radar 4 is installed in the middle part of the top surface of the front of the vehicle.
- the present invention discloses an offline acceptance method with a multi-line laser radar intelligent device.
- the acceptance method is as follows.
- Step 1 Establish a scanning detection platform 3 in advance. material, to avoid the existence of factors affecting the detection structure, the scanning detection platform 3 includes an equipment parking area 31 for parking the detection vehicle 1, a scanning benchmark 35 as a laser scanning target during detection, and a detection system for inspection and acceptance operations (Fig. (not shown) and a moving track 32 , a moving trolley 33 , and a target object 34 .
- the equipment parking area 31 is used for fixed-point, directional, and horizontal parking of the intelligent equipment (vehicle 1).
- the equipment parking area 31 corresponds to the three wheels of the above-mentioned vehicle.
- the wheel positioning point can simply be provided with a groove 311 corresponding to the position of each wheel.
- the bottom surface of the groove 311 can be a concave arc surface corresponding to the circumference of the wheel, which is conducive to fast embedding and positioning.
- the lowest point of the groove 311 is on the same horizontal plane.
- the width of the groove 311 should correspond to the width of the wheel or slightly larger than the width of the wheel, preferably no more than 1 cm, so as to avoid affecting the detection accuracy.
- a figure-eight wheel guide structure 313 can be set at the driving end of the groove 311, and a forward stop 312 can be set at the front end of the groove 311 for the front wheel to be embedded in, which can easily achieve convenience and speed.
- the automatic driving device 1 is driven to a fixed-point, directional, and horizontal detection and parking position to meet the platform detection requirements.
- the scanning benchmark 35 is vertically arranged in front of the front side of the vehicle 1 corresponding to the parked vehicle 1 in the equipment parking area 31 according to the set distance position, and corresponds to the scanning of the multi-line laser radar 4 on the front of the vehicle.
- the spacing distance is suitable to not exceed the preferred scanning distance of laser scanning detection.
- the scanning benchmarks 35 are vertically erected at multiple intervals. In this embodiment, the scanning benchmarks 35 are vertically erected at three intervals, and the middle One corresponding to the 0-direction angle of the multi-line LiDAR 4 is directly in front, and the two adjacent ones are set at the same interval.
- the height of each scanning benchmark 35 is greater than 1.5 meters from the height of the horizontal plane of the equipment parking area 31, which is higher than the vehicle. 1 height, in order to meet the scanning range of the multi-line laser radar 4, the width of each scanning benchmark 35 should be about 5 cm.
- the mobile trolley 33 is equipped with a drive device (not visible in the figure) that drives the mobile trolley 33 to move on the moving track 32 .
- 33 is a controller with wired or wireless for manual control of the mobile trolley 33 is not associated with the detection system, but is independently controlled, or the mobile trolley 33 is wired or wirelessly connected to the detection system, which is sent by the detection system. Controlling the start and stop of the mobile trolley 33 is described in the present embodiment as being controlled by a detection system.
- the target object 34 is erected and installed on the mobile trolley 33.
- the target object 34 can be a humanoid prop or other profiling props, etc.
- the above-mentioned scanning benchmark 35 is behind the target object 34. Such a structure can avoid multi-line laser radar. 4 When scanning the target object 34, it is affected by the scanning bar 35.
- Step 2 Control the vehicle 1 to be taken off the assembly line to move to the equipment parking area 31, and park it according to the fixed point and directional position required by the use of the scanning detection platform 3.
- the vehicle 1 in this embodiment runs to three wheels are embedded in the corresponding concave.
- step 3 start the scanning work of the multi-line laser radar 4 on the vehicle 1, the scanning work includes the multi-line laser radar 4 performing laser scanning on the plurality of scanning benchmarks 35, and generating installation detection laser scanning data , and, start the mobile trolley 33 to move at the set moving speed, the multi-line laser radar 4 performs laser scanning at the same time, and generates functional detection laser scanning data;
- step 4 the detection system obtains installation detection laser scanning data and functional detection laser scanning data Perform data processing, analysis and judgment, including frequency judgment, cluster judgment, level judgment, and orientation judgment; here, the detection system is a program designed according to needs, and can be installed in electronic devices such as computers, tablet computers, and mobile phones.
- the laser scanning data can be connected to the system of the device in a wired or wireless way, so as to obtain the data.
- the program calculates and processes the data; the frequency judgment is like this, the detection system detects the laser scanning data through the function to judge the number of frames of the laser scanning target object 34 in a time period in the data data and calculates the corresponding time period through the known data.
- the function detection laser scanning data should have 20 frames, and at this time, if the function detection laser scanning data has 18-22 frames of data, it is considered to be consistent. Then it is judged that the laser scanning frequency is qualified. If the laser scanning data does not reach 18 frames, it does not match, and the laser scanning frequency is judged to be unqualified.
- the clustering judgment is as follows.
- the clustering method calculation function Whether there is a target in the laser scanning data is detected by the clustering method calculation function.
- the clustering of the object 34 if it does not exist, it is judged that the laser scanning has an error and is unqualified. If it exists, it is judged whether the coordinates of the cluster center point conform to the coordinate system of the multi-line lidar 4, and if so, it is judged that the multi-line lidar function is accepted. If it does not meet, it is judged that the laser scanning has errors and unqualified; the horizontal judgment and orientation judgment are like this, the detection system adopts the least squares method to fit the multi-line laser radar 4 to scan each scanning benchmark 35 by installing the detection laser scanning data.
- the straight line equation of the multi-line lidar 4 coordinate system the equation is as follows,
- X , Y , Z are the variables of the scanning point in the multi-line lidar coordinate system
- x 1, y 1, z 1 are the coordinates of a point in the multi-line lidar coordinate system
- m is the direction along the X axis
- n In order to be along the Y- axis direction, p is along the Z -axis direction, the value of the Z -axis direction p of each scanning benchmark 35 is calculated, and then the mean value of p of the plurality of scanning benchmarks 35 is calculated, and each scanning benchmark 35 is calculated.
- the detection system judges that the offline acceptance of the multi-line lidar has passed; in the above frequency judgment, cluster judgment, level judgment and/or orientation judgment When there is unqualified in the detection system, the detection system judges that the offline acceptance of the multi-line lidar is not passed, and gives the judgment data of unqualified.
- the vehicle 1 can exit the scanning inspection platform 3. If the offline inspection fails, the technician will perform the corresponding processing of the multi-line lidar 4 according to the unqualified judgment data given by the inspection system, such as The replacement, parameter adjustment, installation adjustment, etc. of the multi-line laser radar 4 are processed. After the processing is completed, go back to the above steps to perform laser scanning detection again (until the qualified conditions of step 4 are reached).
- a method for offline acceptance of an intelligent device with multi-line laser radar disclosed in the present invention has the advantages of simple operation, accurate, effective and reliable acceptance results, and can directly provide correction data, which is beneficial to the detection of multi-line laser radar.
- the layout structure of the scanning detection platform 3 built according to the acceptance method of the embodiment of the present invention can achieve simple layout structure, low cost, simple and fast operation and operation, easy to implement and realize functions, and is especially suitable for mass production of automatic driving Equipment production line testing and use.
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Abstract
一种具有多线激光雷达（4）的智能设备的下线验收方法，一先建立扫描检测平台（3），扫描检测平台（3）包括设备停放区（31）、扫描标杆（35）、运动轨道（32）、移动小车（33）、目标物体（34）和检测系统；二将要下线验收的自动驾驶设备移动至设备停放区（31），且根据扫描检测平台（3）使用要求的定点、定向位置停放；三启动多线激光雷达（4）的扫描工作，生成激光扫描数据；步骤四、检测系统获取数据，进行数据的处理分析判断包括频率判断、聚类判断、水平判断和朝向判断得出验收判断结构，方法能够快速且有效的检测多线激光雷达（4）的安装是否精准、功能是否正常，验收结果精准、可靠，且易于实施，扫描检测平台（3）的使用操作过程简单，特别适合用于量产自动驾驶设备对多线激光雷达（4）的下线验收使用。
Description
本发明涉及多线激光雷达的安装使用下线验收方法领域。
随着智能科技的快速发展，多线激光雷达的应用越来越广泛，特别是在一些自动驾驶设备上的使用更是不可或缺，在自动驾驶设备中多线激光雷达通过同时发射和接收多束激光达到360度范围内的激光扫描，获得激光扫描数据用于车辆周围环境、物体的判断。因此，在自动驾驶设备上多线激光雷达的精准安装、功能能够正常使用这两点是非常重要的，是自动驾驶设备实现安全有效自动驾驶的基本要求。
目前，对于多线激光雷达是否精准安装和功能是否能够正常使用的检测方法有多种，但是根据多线激光雷达在不同的室外移动设备上的使用、在设备上不同位置的安装等等，现有的检测方法不一定能够适用，不一定能够达到功能的全面检测，能够有效检测所需的功能正常的要求，能够有效检测所需的精度，例如，检测激光扫描功能的响应频率是否达到正常要求、检测激光扫描数据是否出现方位偏差、检测激光扫描数据是否与现实场景相符等等，因此，现有的一些多线激光雷达是否精准安装和功能是否能够正常使用的检测方法并不适于用于量产自动驾驶设备对多线激光雷达安装的下线验收。
现有的一些多线激光雷达是否精准安装和功能是否能够正常使用的检测方法并不适于用于量产自动驾驶设备对多线激光雷达安装的下线验收。
本发明的技术方案是：一种具有多线激光雷达智能设备的下线验收方法，验收方法如下， 步骤一、预先建立扫描检测平台，所述扫描检测平台包括设备停放区、扫描标杆、运动轨道、移动小车、目标物体和检测系统；所述设备停放区供智能设备定点、定向、水平停放；所述扫描标杆对应设备停放区停放的智能设备的前方按设定的距离位置垂直设置，所述扫描标杆为多根间隔垂直立设；所述运动轨道在设备停放区对应停放的智能设备的前方与扫描标杆之间按设定的距离位置横向设置，所述移动小车搭载有带动移动小车在运动轨道上移动的驱动装置，所述移动小车为独立控制器控制启停或由检测系统控制启停，所述目标物体立设安装在移动小车上；步骤二、将要下线验收的智能设备移动至设备停放区，且根据扫描检测平台使用要求的定点、定向位置停放；步骤三、启动智能设备上多线激光雷达的扫描工作，扫描工作包括多线激光雷达对多根扫描标杆进行激光扫描，且生成安装检测激光扫描数据，以及，启动移动小车按设定的移动速度移动，多线激光雷达同时进行激光扫描，且生成功能检测激光扫描数据；步骤四、检测系统获取安装检测激光扫描数据和功能检测激光扫描数据进行数据的处理分析判断，所述处理分析判断包括频率判断、聚类判断、水平判断和朝向判断；所述频率判断是这样的，检测系统通过功能检测激光扫描数据判断数据中一个时间段内激光扫描目标物体的帧数与通过已知的数据计算相应时间段内激光扫描目标物体的理论帧数是否相符，如果相符则判断激光扫描频率合格，如果不相符则判断激光扫描频率不合格，所述聚类判断是这样的，通过聚类方法计算功能检测激光扫描数据中是否存在目标物体的聚类，如果不存在则判断激光扫描出现错误不合格，如果存在则判断聚类中心点坐标是否符合多线激光雷达的坐标系，如果符合则判断多线激光雷达功能验收合格，如果不符合则判断激光扫描出现错误不合格；所述水平判断和朝向判断是这样的，检测系统通过安装检测激光扫描数据采用最小二乘法拟合出多线激光雷达扫描各根扫描标杆在多线激光雷达坐标系的直线方程，方程如下，
其中
X
、
Y
、
Z为扫描点在多线激光雷达坐标系的变量，
x1、
y1、
z1为某个点在多线激光雷达坐标系下的坐标，
m为沿
X轴方向，
n为沿
Y轴方向，
p为沿
Z轴方向，计算得出各根扫描标杆的
Z轴方向
p
的值，再计算得出多根扫描标杆的
p的均值，以及将各根扫描标杆在多线激光雷达坐标系下的
X
、
Y平面的中心拟合成一条在
X
、
Y平面上的一条直线，根据下面的公式计算得出k的值，y=kx+b,其中x、y为直线上的点在
X
、
Y平面上的坐标，k为直线的斜率，b为直线的截距，判断
p的均值是否接近于1（[-0.998, 0.998]区间内）和k的值是否接近于0 ([-0.002, 0.002]区间内)，如果
p的均值为接近于1，且k的值为接近于0，则判断多线激光雷达安装的翻滚角、俯仰角、方向角合格（安装为水平且O向角朝向正前方状态），结束检测，如果
p的均值为不接近于1和/或k的值为不接近于0，则判断多线激光雷达的安装存在偏向为安装不合格；在上述频率判断、聚类判断、水平判断和朝向判断均为合格时检测系统判断多线激光雷达的下线验收通过；在上述频率判断、聚类判断、水平判断和/或朝向判断中存在不合格时检测系统判断多线激光雷达的下线验收不通过，并给出存在不合格的判断数据。
上述方法步骤的验收方法获得的验收结果精准、可靠，且易于实施，扫描检测平台和检测使用的使用操作过程简单，检测速度快，特别适用于量产自动驾驶设备生产线上检测使用，从而实现本发明的上述目的效果。
上述方法中对多线激光雷达扫描移动的目标物体获得功能检测激光扫描数据来计算分析判断得出结果，具体的通过一个时间段内的激光扫描帧数是否符合理论帧数以及采用聚类方法判断聚类是否存在，聚类中心点坐标是否符合多线激光雷达的坐标系来判断多线激光雷达的扫描频率、激光扫描数据是否与现实场景相符从而来确定多线激光雷达是否能正常使用。
上述方法中对多线激光雷达的安装精准判断是通过上述的水平判断和朝向判断，这两者的判断有三个依据，分别是多线激光雷达的方向角是否为0向角对应正前方，俯仰角和翻滚角是否为水平，本发明的验收方法通过多线激光雷达扫描多根扫描标杆获得安装检测激光扫描数据来判断方向角、翻滚角和俯仰角，这正是对应了多线激光雷达的安装精准判断的三个依据，一次扫描多根标杆综合计算分析判断得出结果，具体的是采用最小二乘法拟合出多线激光雷达扫描多根扫描标杆在多线激光雷达坐标系的直线方程，计算得出各根扫描标杆的
p的值，再计算得出多根扫描标杆
p的均值，以及计算得出各根扫描标杆在多线激光雷达坐标系下的
X
、
Y平面的中心拟合成一条在
X
、
Y平面上的一条直线的k的值，从而判断多线激光扫描雷达的方向角是否为0度角对应正前方，翻滚角和俯仰角是否为水平。
图1是发明涉及的一种具有多线激光雷达智能设备的下线验收方法的扫描检测平台使用布局结构示意图。
本实施例中智能设备以一种无人自动驾驶的道路清洁车辆为例，如图中所示，该车辆1高度约在一米四左右，底部的车轮为3个，1个前轮2两个后轮，车头底部为道路清扫装置，多线激光雷达4安装设置在车头的顶面中间部位。
本发明公开的一种具有多线激光雷达智能设备的下线验收方法，验收方法如下，步骤一、预先建立扫描检测平台3，该平台可为独立操作车间，平台周围无其他影响激光扫描结果的物质，避免影响检测结构的因素存在，所述扫描检测平台3包括用于停放检测车辆1的设备停放区31、作为检测时激光扫描目标的扫描标杆35和进行检测验收操作的检测系统（图中未示出）以及运动轨道32、移动小车33、目标物体34。
所述设备停放区31供智能设备（车辆1）定点、定向、水平停放，本实施例中，设备停放区31对应上述车辆的3个车轮分别设有车轮定位点，如图中所示，所述车轮定位点简易的可为对应供各车轮的位置设置凹槽311，所述凹槽311的底面可为与车轮圆周对应的内凹圆弧面，有利于快速的嵌入定点定位，三个凹槽311的最低点为在同一水平面上，凹槽311的宽度宜与车轮宽度对应或略大于车轮宽度，大于最好不超过1厘米，避免影响检测精准度，为方便车轮嵌入凹槽311，如图中所示，可在凹槽311的驶入端设置八字形的车轮导向结构313，还有对应供前轮嵌入的凹槽311的前端可设置前进挡块312，即可简易的达到方便快速使得自动驾驶设备1行使至定点、定向、水平的检测停放位置，达到平台检测要求。
所述扫描标杆35在设备停放区31对应停放的车辆1车头一侧的前方按设定的距离位置垂直设置，对应供车头上的多线激光雷达4扫描，扫描标杆35与设备停放区31的间隔距离，以不超出于激光扫描检测的较佳扫描距离为宜，所述扫描标杆35为多根间隔垂直立设，本实施例中，所述扫描标杆35为3根间隔垂直立设，中间的一根对应多线激光雷达4的0向角正前方，旁边两根以相同的间隔距离设置，各扫描标杆35的高度从设备停放区31的水平面高度算起高度大于1.5米，高于车辆1高度，以符合达到多线激光雷达4的扫描范围，各扫描标杆35的宽度宜为5厘米左右。
所述运动轨道32在设备停放区31对应停放的车辆1车头一侧的前方与扫描标杆35之间按设定的距离位置横向设置，如图中所示，设定的距离位置以不超出于激光扫描检测的较佳扫描距离为宜，运动轨道32的长度宜大于车辆1宽度，本实施例以运动轨道的运动行程为2米为例。
所述移动小车33搭载有带动移动小车33在运动轨道32上移动的驱动装置（图中不可见），所述移动小车33为独立控制器控制启停或由检测系统控制启停，即移动小车33为具有有线或无线的控制器供人工操控移动小车33的启停与检测系统不相关联，而是独立控制的，或者是移动小车33是有线或无线的与检测系统连接，由检测系统来控制移动小车33的启停，本实施例中以采用由检测系统来控制的方式来说明。
所述目标物体34立设安装在移动小车33上，目标物体34可为人形道具或其他仿形道具等，上述扫描标杆35相对于目标物体34在后方，这样的结构设置能够避免多线激光雷达4扫描目标物体34时受扫描标杆35的影响。
步骤二、将要下线验收的车辆1控制移动至设备停放区31，且根据扫描检测平台3使用要求的定点、定向位置停放，本实施例的车辆1行使至3个车轮都嵌入到对应的凹槽311内即达到了停放要求；步骤三、启动车辆1上多线激光雷达4的扫描工作，扫描工作包括多线激光雷达4对多根扫描标杆35进行激光扫描，且生成安装检测激光扫描数据，以及，启动移动小车33按设定的移动速度移动，多线激光雷达4同时进行激光扫描，且生成功能检测激光扫描数据；步骤四、检测系统获取安装检测激光扫描数据和功能检测激光扫描数据进行数据的处理分析判断，所述处理分析判断包括频率判断、聚类判断、水平判断和朝向判断；这里检测系统为根据需要编程设计的程序，可搭载在计算机、平板电脑、手机等电子设备内使用，获取车辆1上的多线激光雷达的安装检测激光扫描数据和功能检测激光扫描数据可通过有线或无线的方式与设备的系统连接，从而获取数据，在检测系统获取数据后，根据编写的程序进行数据的计算处理；所述频率判断是这样的，检测系统通过功能检测激光扫描数据判断数据数据中一个时间段内激光扫描目标物体34的帧数与通过已知的数据计算相应时间段内激光扫描目标物体34的理论帧数是否相符，例如本实施例中上述运动轨道32为2米，移动小车33的移动速度为每秒移动一米，多线激光雷达4的频率为每秒10赫兹，那么理论上移动小车33在运动轨道32上移动完2米，功能检测激光扫描数据应该会有20帧，而这时如果的功能检测激光扫描数据有18-22帧的数据都算为符合，则判断激光扫描频率合格，如果激光扫描数据没有达到18帧，则不相符，判断激光扫描频率不合格，所述聚类判断是这样的，通过聚类方法计算功能检测激光扫描数据中是否存在目标物体34的聚类，如果不存在则判断激光扫描出现错误不合格，如果存在则判断聚类中心点坐标是否符合多线激光雷达4的坐标系，如果符合则判断多线激光雷达功能验收合格，如果不符合则判断激光扫描出现错误不合格；所述水平判断和朝向判断是这样的，检测系统通过安装检测激光扫描数据采用最小二乘法拟合出多线激光雷达4扫描各根扫描标杆35在多线激光雷达4坐标系的直线方程，方程如下，
其中
X
、
Y
、
Z为扫描点在多线激光雷达坐标系的变量，
x1、
y1、
z1为某个点在多线激光雷达坐标系下的坐标，
m为沿
X轴方向，
n为沿
Y轴方向，
p为沿
Z轴方向，计算得出各根扫描标杆35的
Z轴方向
p
的值，再计算得出多根扫描标杆35的
p的均值，以及将各根扫描标杆35在多线激光雷达4坐标系下的
X
、
Y平面的中心拟合成一条在
X
、
Y平面上的一条直线，根据下面的公式计算得出k的值，y=kx+b，其中x、y为直线上的点在
X
、
Y平面上的坐标，k为直线的斜率，b为直线的截距，判断
p的均值是否接近于1（[-0.998, 0.998]区间内）和k的值是否接近于O ([-0.002, 0.002]区间内)，如果
p的均值为接近于1，且k的值为接近于O，则判断多线激光雷达安装的翻滚角、俯仰角、方向角合格（安装为水平且O向角朝向正前方状态），结束检测，如果
p的均值为不接近于1和/或k的值为不接近于O，则判断多线激光雷达的安装存在偏向为安装不合格；在上述频率判断、聚类判断、水平判断和朝向判断均为合格时检测系统判断多线激光雷达的下线验收通过；在上述频率判断、聚类判断、水平判断和/或朝向判断中存在不合格时检测系统判断多线激光雷达的下线验收不通过，并给出存在不合格的判断数据。
下线验收通过的结束检测，车辆1即可退出扫描检测平台3,对于下线验收不通过的，技术人员根据检测系统给出的不合格的判断数据进行多线激光雷达4的对应处理，如多线激光雷达4的更换、参数调整、安装调整等的处理，处理完成后重回上述步骤重新进行激光扫描检测（直至达到步骤四的合格条件）。
综上所述，本发明公开的一种具有多线激光雷达的智能设备的下线验收方法，操作简单，验收结果精准、有效、可靠，可直接给出校正数据，有利于多线激光雷达的快速校正，根据本发明实施例的验收方法搭建的扫描检测平台3的布局结构可达到布局结构简单，造价成本低，使用操作简单、快速，易于投入实施实现功能作用，特别适用于量产自动驾驶设备生产线上检测使用。
Claims (1)
- 一种具有多线激光雷达智能设备的下线验收方法，其特征在于：验收方法如下，步骤一、预先建立扫描检测平台，所述扫描检测平台包括设备停放区、扫描标杆、运动轨道、移动小车、目标物体和检测系统；所述设备停放区供智能设备定点、定向、水平停放；所述扫描标杆对应设备停放区停放的智能设备的前方按设定的距离位置垂直设置，所述扫描标杆为多根间隔垂直立设；所述运动轨道在设备停放区对应停放的智能设备的前方与扫描标杆之间按设定的距离位置横向设置，所述移动小车搭载有带动移动小车在运动轨道上移动的驱动装置，所述移动小车为独立控制器控制启停或由检测系统控制启停，所述目标物体立设安装在移动小车上；步骤二、将要下线验收的智能设备移动至设备停放区，且根据扫描检测平台使用要求的定点、定向位置停放；步骤三、启动智能设备上多线激光雷达的扫描工作，扫描工作包括多线激光雷达对多根扫描标杆进行激光扫描，且生成安装检测激光扫描数据，以及，启动移动小车按设定的移动速度移动，多线激光雷达同时进行激光扫描，且生成功能检测激光扫描数据；步骤四、检测系统获取安装检测激光扫描数据和功能检测激光扫描数据进行数据的处理分析判断，所述处理分析判断包括频率判断、聚类判断、水平判断和朝向判断；所述频率判断是这样的，检测系统通过功能检测激光扫描数据判断数据中一个时间段内激光扫描目标物体的帧数与通过已知的数据计算相应时间段内激光扫描目标物体的理论帧数是否相符，如果相符则判断激光扫描频率合格，如果不相符则判断激光扫描频率不合格，所述聚类判断是这样的，通过聚类方法计算功能检测激光扫描数据中是否存在目标物体的聚类，如果不存在则判断激光扫描出现错误不合格，如果存在则判断聚类中心点坐标是否符合多线激光雷达的坐标系，如果符合则判断多线激光雷达功能验收合格，如果不符合则判断激光扫描出现错误不合格；所述水平判断和朝向判断是这样的，检测系统通过安装检测激光扫描数据采用最小二乘法拟合出多线激光雷达扫描各根扫描标杆在多线激光雷达坐标系的直线方程，方程如下，
X 、Y 、Z为扫描点在多线激光雷达坐标系的变量， x1、 y1、 z1为某个点在多线激光雷达坐标系下的坐标，m为沿 X轴方向，n为沿 Y轴方向，p为沿 Z轴方向，计算得出各根扫描标杆的 Z轴方向 p 的值，再计算得出多根扫描标杆的 p的均值，以及将各根扫描标杆在多线激光雷达坐标系下的 X 、Y平面的中心拟合成一条在 X 、Y平面上的一条直线，根据下面的公式计算得出k的值，y=kx+bx、y为直线上的点在 X 、Y平面上的坐标，k为直线的斜率，b为直线的截距，判断 p的均值是否接近于1（[-0.998, 0.998]区间内）和k的值是否接近于0 ([-0.002, 0.002]区间内)，如果 p的均值为接近于1，且k的值为接近于0，则判断多线激光雷达安装的翻滚角、俯仰角、方向角合格（安装为水平且O向角朝向正前方状态），结束检测，如果 p的均值为不接近于1和/或k的值为不接近于0，则判断多线激光雷达的安装存在偏向为安装不合格；在上述频率判断、聚类判断、水平判断和朝向判断均为合格时检测系统判断多线激光雷达的下线验收通过；在上述频率判断、聚类判断、水平判断和/或朝向判断中存在不合格时检测系统判断多线激光雷达的下线验收不通过，并给出存在不合格的判断数据。
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- 2021-07-13 WO PCT/CN2021/106042 patent/WO2022121311A1/zh active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205787112U (zh) * | 2016-05-24 | 2016-12-07 | 奇瑞汽车股份有限公司 | 一种车载激光雷达的检测装置 |
| CN107247268A (zh) * | 2017-05-16 | 2017-10-13 | 深圳市速腾聚创科技有限公司 | 多线激光雷达系统及其水平安装角度的校正方法 |
| KR20200059755A (ko) * | 2018-11-21 | 2020-05-29 | 주식회사 레오모터스 | 라이다 센서 검증시험 모의장치 |
| CN109782258A (zh) * | 2018-12-26 | 2019-05-21 | 北京百度网讯科技有限公司 | 车辆激光雷达的位置检测方法、装置及存储介质 |
| CN111337910A (zh) * | 2020-03-31 | 2020-06-26 | 新石器慧通（北京）科技有限公司 | 一种雷达检验方法及装置 |
| CN112558046A (zh) * | 2020-12-07 | 2021-03-26 | 福建（泉州）哈工大工程技术研究院 | 一种具有多线激光雷达智能设备的下线验收方法 |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118226458A (zh) * | 2024-05-22 | 2024-06-21 | 盛视科技股份有限公司 | 基于激光雷达的车底对中查验方法及车底查验系统 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112558046B (zh) | 2021-10-15 |
| CN112558046A (zh) | 2021-03-26 |
| KR20230114277A (ko) | 2023-08-01 |
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