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Multi-line laser radar calibration method, device and system

A multi-line laser and calibration method technology, which is applied to radio wave measurement systems and instruments, can solve the problems of slow calibration speed, inability to determine the zero-degree angle position, and low calibration accuracy, so as to achieve rapid detection and improve calibration speed and accuracy Effect

Inactive Publication Date: 2020-07-17
LEISHEN INTELLIGENT SYST CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] However, when calibrating the vertical angles of adjacent laser emitters in the above method, the angle measurement of a single laser emitter is performed first, and then the angle between adjacent laser emitters is obtained according to the angle measurement result of a single laser emitter. The actual vertical angle, so the zero-degree angle position cannot be determined, and the calibration speed is slow. In addition, when there is an error in the stepping motor, it will also lead to low calibration accuracy of the vertical angle between adjacent laser emitters, making the calibration effect poor

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  • Multi-line laser radar calibration method, device and system
  • Multi-line laser radar calibration method, device and system
  • Multi-line laser radar calibration method, device and system

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Embodiment 1

[0045] figure 1 It is a schematic flow chart of a multi-line laser radar calibration method provided by the embodiment of the present invention. This embodiment is applicable to the scene of calibrating the vertical angle between adjacent laser transmitters in the multi-line laser radar. The method can It is performed by a multi-line laser radar calibration device, which can be composed of hardware and / or software, and can be integrated into a multi-line laser radar calibration system. The method specifically includes the following:

[0046] S101. Collect spot images formed by laser beams emitted by at least two laser transmitters in the multi-line lidar in a calibration environment, where the calibration environment includes at least two reference points with a preset distance.

[0047] Before executing S101, in the embodiment of the present invention, a multi-line lidar calibration environment can be built first, and the multi-line lidar can be placed in the calibration env...

Embodiment 2

[0095] image 3 It is a schematic flowchart of a multi-line lidar calibration method provided in Embodiment 2 of the present invention. On the basis of Embodiment 1, this embodiment performs a calibration between the adjacent laser transmitters stored according to the multi-line lidar. The theoretical vertical angle is further optimized for calibrating the actual vertical angle between the adjacent laser emitters. Such as image 3 As shown, the method is as follows:

[0096] S301. Collect spot images formed by laser beams emitted by at least two laser transmitters in the multi-line lidar in a calibration environment, where the calibration environment includes at least two reference points with a preset distance.

[0097] S302. Determine a first distance between adjacent light spots in the light spot image according to the light spot image and the preset distance.

[0098] S303. According to the laser beam received by the multi-line laser radar, determine a second distance b...

Embodiment 3

[0116] Figure 4 It is a schematic flowchart of another multi-line lidar calibration method provided by Embodiment 3 of the present invention. This embodiment is applicable to the scene of calibrating the vertical angle between adjacent laser transmitters in multi-line lidar. The method can be performed by a multi-line laser radar calibration device, which can be composed of hardware and / or software, and can be integrated into a multi-line laser radar calibration system. The method specifically includes the following:

[0117] S401. Collect spot images formed by laser beams emitted by at least two laser transmitters in the multi-line lidar in a calibration environment, where the calibration environment includes at least two reference points with a preset distance.

[0118] In this embodiment, the multi-line laser radar is fixed at a preset pose, so that the light spot formed by the multi-line laser beam emitted by the multi-line laser radar in the calibration environment is p...

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Abstract

The embodiment of the invention discloses a multi-line laser radar calibration method, device and system. The method comprises the steps of collecting light spot images formed by laser beams emitted by at least two laser emitters in the multi-line laser radar in a calibration environment, wherein the calibration environment comprises at least two reference points with a preset distance; determining a first distance between adjacent light spots in the light spot image according to the light spot image and a preset distance; determining a second distance between the first light spot in the adjacent light spots and the multi-line laser radar and a third distance between the second light spot in the adjacent light spots and the multi-line laser radar according to the laser beams received by the multi-line laser radar; and according to the first distance, the second distance and the third distance, determining an actual vertical angle between adjacent laser emitters in the multi-line laserradar, and calibrating the actual vertical angle between the adjacent laser emitters. According to the embodiment of the invention, the calibration speed and accuracy of the multi-line laser radar areimproved.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of laser radar, and in particular to a calibration method, device and system for multi-line laser radar. Background technique [0002] Multi-line laser radar is a kind of laser radar. It uses multiple laser transmitters to emit multiple laser beams to detect the position of obstacles, the orientation of obstacles, and the distance between obstacles and other information. Usually, some laser transmitters in multi-line laser radar are installed in a vertical arrangement (also called a linear array arrangement), and there is a certain vertical angle between adjacent laser transmitters to achieve Perform a certain range of detection in the vertical direction. [0003] Due to technological problems, there will be errors between the actual installation positions of the multiple laser transmitters in the multi-line laser radar and the designed installation positions, which makes the actual ve...

Claims

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Application Information

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IPC IPC(8): G01S7/497
CPCG01S7/497
Inventor 胡小波刘云备
Owner LEISHEN INTELLIGENT SYST CO LTD
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