Zero position calibration and compensation method, device and storage medium of radar scanning mechanism

Abstract

The present invention provides a zero-position calibration and compensation method, device and storage medium for a radar scanning mechanism, wherein the method comprises: controlling one of two rotating mechanisms to remain stationary, controlling the other rotating mechanism to rotate from an initial position to a plurality of different positions, and recording the distance between a radar detection unit and a target calibration plate when the rotating mechanism is at a plurality of different positions, and determining the zero-position offset of the rotating mechanism by detecting the distance of the rotating mechanism at the initial position and the actual zero position. Then, the rotating mechanism is controlled to rotate to a plurality of preset angles based on the actual zero position, and the detection distance between the radar detection unit and the target calibration plate when the rotating mechanism rotates to a plurality of preset angles is recorded, and a plurality of actual rotation angles of the rotating mechanism are calculated by detecting the distance of the rotating mechanism at the actual zero position and a plurality of preset angles, and determining the compensation model of the rotating mechanism. The calibration process provided by the present invention is simple.

Description

Technical Field

[0001] The present invention relates to the field of radar calibration technology, and in particular to a zero position calibration and compensation method, device and storage medium of a radar scanning mechanism. Background Art

[0002] One of the main tasks of the radar scanning mechanism is to collect the position information of obstacles in three-dimensional space, and then collect the distance information from the obstacles to the measurement system through electromagnetic wave detection. Zero error is an important technical indicator in the calibration of the radar scanning mechanism.

[0003] The zero position calibration of the rotating mechanism in the radar scanning mechanism requires the use of an encoder. However, during the installation process, it is difficult to ensure that the zero point of the rotating mechanism encoder completely coincides with the zero position of the rotating mechanism. Therefore, the radar scanning mechanism needs to be zero-calibrated after installation.

[0004] At present, on the one hand, the zero position calibration of the radar scanning mechanism usually adopts a laser tracker, but its cost is high and the calibration process is complicated. On the other hand, the radar scanning mechanism needs to detect the height of the materials in the warehouse and then calculate the actual inventory of the materials, which requires the radar scanning mechanism to have a high motion accuracy to avoid deviation. However, the geometric error of the radar scanning mechanism is inevitable. Therefore, how to calibrate the zero position of the radar scanning mechanism and compensate for the existing zero position error has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] The embodiment of the present invention provides a method, device and storage medium for zero position calibration and compensation of a radar scanning mechanism, so as to solve the problem that the current zero position calibration process of the radar scanning mechanism is relatively complicated.

[0006] In a first aspect, an embodiment of the present invention provides a zero position calibration and compensation method for a radar scanning mechanism, wherein the radar scanning mechanism includes a radar mounting surface, a first rotating mechanism, a second rotating mechanism, and a radar detection unit, wherein the first rotating mechanism is rotatably or swingably assembled on the radar mounting surface, the second rotating mechanism is hinged at the free end of the first rotating mechanism, and the radar detection unit is arranged at the free end of the second rotating mechanism, wherein the rotation axis of the second rotating mechanism is perpendicular to the rotation axis of the first rotating mechanism, and the zero position calibration and compensation method includes:

[0007] When zero-position calibration and compensation are performed on the target rotating mechanism, the rotating mechanisms other than the target rotating mechanism in the first rotating mechanism and the second rotating mechanism are controlled to remain stationary, and the target rotating mechanism is controlled to rotate from an initial position to a plurality of different positions, and the detection distance between the radar detection unit and the target calibration plate is recorded when the target rotating mechanism is at a plurality of different positions, the target rotating mechanism is the first rotating mechanism or the second rotating mechanism, the target calibration plate is located within the detection area of ​​the radar detection unit, and the target calibration plate is parallel or perpendicular to the radar mounting surface;

[0008] Determine the zero position offset of the target rotating mechanism according to the detection distance between the target rotating mechanism at the initial position and the actual zero position, wherein the actual zero position is the position of the target rotating mechanism when the detection distance is the shortest;

[0009] Based on the actual zero position, the target rotating mechanism is controlled to rotate to a plurality of preset angles, and the detection distance between the radar detection unit and the target calibration plate is recorded when the target rotating mechanism rotates to the plurality of preset angles;

[0010] A plurality of actual rotation angles of the target rotation mechanism are calculated according to the detection distances of the target rotation mechanism at the actual zero position and at a plurality of preset angles, and a compensation model of the target rotation mechanism is constructed according to the plurality of preset angles and the plurality of actual rotation angles.

[0011] In a possible implementation, the rotating mechanisms other than the target rotating mechanism in the first rotating mechanism and the second rotating mechanism are controlled to remain stationary, specifically:

[0012] The rotating mechanisms other than the target rotating mechanism in the first rotating mechanism and the second rotating mechanism are controlled to be in a first position and remain stationary at the first position, wherein the first position is a position when the corresponding rotating mechanism is perpendicular to the target calibration plate.

[0013] In a possible implementation, the zero position offset θ0 of the target rotation mechanism is:

[0014] θ0=arcos(r+l0) / (r+l 初 );

[0015] Among them, θ0 is the zero position offset of the target rotation mechanism, r is the rotation radius of the radar detection unit,

[0016] l 初 is the detection distance between the radar detection unit and the target calibration plate when the target rotating mechanism is in the initial position, and l0 is the detection distance between the radar detection unit and the target calibration plate when the target rotating mechanism is in the actual zero position.

[0017] In a possible implementation, the step of constructing a compensation model of a target rotation mechanism according to a plurality of preset angles and a plurality of actual rotation angles includes:

[0018] Taking a plurality of preset angles as input and a plurality of actual rotation angles as output, data fitting processing is performed to obtain a compensation model that characterizes the relationship between the actual rotation angle and the preset angle.

[0019] In a possible implementation, multiple preset angles are used as input and multiple actual rotation angles are used as output to perform data fitting processing, specifically including:

[0020] Data fitting processing is performed on multiple preset angles and multiple actual rotation angles according to the least squares method.

[0021] In a possible implementation, the compensation model of the relationship between the actual rotation angle and the preset angle is:

[0022] θ=a*θ x +b;

[0023] Among them, θ is the actual rotation angle, θ x is the preset angle, and a and b are the coefficient values ​​obtained by fitting.

[0024] In a possible implementation, the first rotating mechanism swings 180 degrees along the rotation axis of the first rotating mechanism, and the second rotating mechanism swings 180 degrees along the rotation axis of the second rotating mechanism.

[0025] In a possible implementation, the first rotating mechanism rotates 360 degrees along the rotation axis of the first rotating mechanism, and the second rotating mechanism swings 180 degrees along the rotation axis of the second rotating mechanism.

[0026] In a second aspect, an embodiment of the present invention provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the processor implements the steps of the method described in the first aspect or any possible implementation manner of the first aspect.

[0027] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in the first aspect or any possible implementation of the first aspect are implemented.

[0028] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0029] When the present invention performs zero-position calibration and compensation on the target rotating mechanism, first, by controlling one of the first rotating mechanism or the second rotating mechanism to remain stationary, controlling the other rotating mechanism to rotate from the initial position to multiple different positions, and recording the distance between the radar detection unit and the target calibration plate when the rotating mechanism is at multiple different positions, the zero-position offset of the rotating mechanism is determined by the detection distance of the rotating mechanism at the initial position and the actual zero position. Then, the rotating mechanism is controlled to rotate multiple preset angles based on the actual zero position, and the detection distance between the radar detection unit and the target calibration plate when the rotating mechanism rotates to multiple preset angles is recorded. The multiple actual rotation angles of the rotating mechanism are calculated by the detection distance of the rotating mechanism at the actual zero position and multiple preset angles, and then the compensation model of the rotating mechanism is determined. Therefore, the radar scanning mechanism can be zero-position calibrated by the radar detection unit of the radar scanning mechanism itself, and the compensation model of the radar scanning mechanism can be obtained by a simple geometric relationship. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0031] Figure 1 It is a flow chart of a zero position calibration and compensation method of a radar scanning mechanism provided by an embodiment of the present invention;

[0032] Figure 2 is a structural schematic diagram of a radar scanning mechanism provided by an embodiment of the present invention;

[0033] Figure 3 is a structural schematic diagram of another radar scanning mechanism provided by an embodiment of the present invention;

[0034] Figure 4 The embodiment of the present invention provides Figure 2 A schematic diagram of a structure in which the radar scanning mechanism in the embodiment calibrates the second rotating mechanism after the calibration plate is installed;

[0035] Figure 5 The embodiment of the present invention provides Figure 2 A schematic diagram of a structure in which the radar scanning mechanism in the embodiment calibrates the first rotating mechanism after the calibration plate is installed;

[0036] Figure 6 The embodiment of the present invention provides Figure 4 Schematic diagram of zero position calibration of the second rotating mechanism of the radar scanning mechanism;

[0037] Figure 7 The embodiment of the present invention provides Figure 5 A schematic diagram of zero position calibration of the first rotating mechanism of the radar scanning mechanism;

[0038] Figure 8 The embodiment of the present invention provides Figure 4 A schematic diagram of error compensation of a second rotating mechanism of a radar scanning mechanism;

[0039] Fig. 9 The embodiment of the present invention provides Figure 5 A schematic diagram of error compensation of a first rotating mechanism of a radar scanning mechanism;

[0040] Fig.10 It is a structural schematic diagram of a zero position calibration and compensation device for a radar scanning mechanism provided by an embodiment of the present invention;

[0041] Fig.11 is a schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0042] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0043] In order to make the purpose, technical solutions and advantages of the present invention more clear, specific embodiments will be described below in conjunction with the accompanying drawings.

[0044] As introduced in the background technology, the zero position of each rotating mechanism in the radar scanning mechanism needs to be determined with the help of an encoder. However, it is difficult to ensure that the zero point of the encoder completely coincides with the zero position of the rotating mechanism during installation. Therefore, each rotating mechanism needs to be calibrated for zero position after installation.

[0045] However, the existing calibration methods with higher accuracy are relatively complex and costly, while simple calibration methods may have human errors and cannot meet customers' requirements for higher motion accuracy of radar scanning mechanisms.

[0046] In order to solve the existing technical problems, such as Figure 1 As shown, an embodiment of the present invention provides a zero position calibration and compensation method for a radar scanning mechanism, which is described in detail as follows:

[0047] The radar scanning mechanism in the method includes a first rotating mechanism that is rotatably or swingably mounted on a radar mounting surface, a second rotating mechanism that is hinged at a free end of the first rotating mechanism, and a rotating axis of the second rotating mechanism is perpendicular to the rotating axis of the first rotating mechanism, and a radar detection unit is provided at the free end of the second rotating mechanism. When the first rotating mechanism and the second rotating mechanism rotate, the radar detection unit will be driven to move.

[0048] Figure 2 The structure diagram of the radar scanning mechanism is shown in FIG. Figure 2 , the radar scanning mechanism includes a first rotating mechanism 10, a second rotating mechanism 20 and a radar detection unit. Among them, the first rotating mechanism 10 can rotate 360 ​​degrees along its rotation axis, and the second rotating mechanism 20 can swing 180 degrees along its rotation axis. The rotating end of the first rotating mechanism 10 is assembled on the radar mounting surface, one end of the second rotating mechanism 20 is hinged to the free end of the first rotating mechanism 10, and the free end of the second rotating mechanism 20 is provided with a radar detection unit. It should be noted here that the rotation axis of the second rotating mechanism 20 is perpendicular to the rotation axis of the first rotating mechanism 10 in space. For the convenience of subsequent description, the rotation axis of the first rotating mechanism 10 is referred to as the first axis 11, and the rotation axis of the second rotating mechanism 20 is referred to as the second axis 21.

[0049] When the radar scanning mechanism is working, since the first rotating mechanism 10 can rotate 360 ​​degrees along the first axis 11 and the second rotating mechanism 20 can swing 180 degrees along the second axis 21, the radar detection unit can rotate along two rotation dimensions of the first axis 11 and the second axis 21.

[0050] Figure 3 It is a schematic diagram of the structure of another embodiment of the radar scanning mechanism, Figure 3 , the radar scanning mechanism includes a first rotating mechanism 10, a second rotating mechanism 20 and a radar detection unit. Among them, the first rotating mechanism 10 can swing 180 degrees along its rotation axis, and the second rotating mechanism 20 can swing 180 degrees along its rotation axis. The swing end of the first rotating mechanism 10 is hinged on the radar mounting surface, one end of the second rotating mechanism 20 is hinged to the free end of the first rotating mechanism 10, and the free end of the second rotating mechanism 20 is provided with a radar detection unit. It should be noted here that the rotation axis of the second rotating mechanism 20 and the rotation axis of the first rotating mechanism 10 are perpendicular to each other in space. For the convenience of subsequent description, the rotation axis of the first rotating mechanism 10 is referred to as the first axis 11, and the rotation axis of the second rotating mechanism 20 is referred to as the second axis 21.

[0051] When the radar scanning mechanism is working, since the first rotating mechanism 10 can swing 180 degrees along the first axis 11 and the second rotating mechanism 20 can swing 180 degrees along the second axis 21, the radar detection unit can rotate along two rotational dimensions of the first axis 11 and the second axis 21.

[0052] It should be noted that Figure 2 and Figure 3 The radar scanning mechanisms shown in the figures are only two embodiments applicable to the zero position calibration and compensation method provided in the embodiments of the present invention, and are not limiting. For other types of radar scanning mechanisms, the zero position calibration and compensation method provided in the embodiments of the present invention can also be applied to perform zero position calibration and compensation, which are not listed one by one here.

[0053] Figure 2 and Figure 3 The method of zero position calibration and compensation for the radar scanning mechanism in the embodiment is the same. Figure 2 Taking the radar scanning mechanism in the figure as an example, the method of zero position calibration and compensation is explained.

[0054] The zero position calibration and compensation method of the radar scanning mechanism are described in detail as follows:

[0055] Step S110, when the target rotating mechanism is zero-calibrated and compensated, the rotating mechanisms other than the target rotating mechanism in the first rotating mechanism and the second rotating mechanism are controlled to remain stationary, and the target rotating mechanism is controlled to rotate from an initial position to multiple different positions, and the detection distance between the radar detection unit and the target calibration plate is recorded when the target rotating mechanism is at multiple different positions.

[0056] The zero position calibration and compensation method of the embodiment of the present invention is used to perform zero position calibration and compensation on the first rotating mechanism and the second rotating mechanism in the radar scanning mechanism. In the specific implementation, the first rotating mechanism and the second rotating mechanism need to be calibrated and compensated respectively. The rotating mechanism to be zero position calibrated and compensated is recorded as the target rotating mechanism, and the target rotating mechanism is the first rotating mechanism or the second rotating mechanism.

[0057] In order to achieve zero-position calibration and compensation for the radar scanning mechanism, it is necessary to set a calibration plate in the radar detection area. The calibration plate can be a flat plate with a spacing pattern array. With such a setting, the conversion relationship between physical size and pixel can be determined through the calibration plate, thereby greatly improving the accuracy of detection and measurement. In some embodiments, in order to achieve zero-position calibration and compensation for the first rotating mechanism and the second rotating mechanism respectively, two calibration plates can be set in the detection area of ​​the radar detection unit, one of which is used to calibrate the first rotating mechanism, and the other is used to calibrate the second rotating mechanism. And of the two calibration plates, one is parallel to the radar mounting surface, and the other is perpendicular to the radar mounting surface.

[0058] In one embodiment, the two calibration plates can be respectively recorded as a first calibration plate 32 and a second calibration plate 31. The second calibration plate 31 is used to calibrate the second rotating mechanism 20, and the first calibration plate 32 is used to calibrate the first rotating mechanism 10. The placement position of the calibration plate in the radar detection space satisfies the following conditions: the first calibration plate 32 is perpendicular to the radar installation surface, the second calibration plate 31 is parallel to the radar installation surface, and when the first rotating mechanism 10 or the second rotating mechanism 20 to be calibrated is at the actual zero position, the distance between the first rotating mechanism 10 and the first calibration plate 32 is the shortest, and the distance between the second rotating mechanism 20 and the second calibration plate 31 is the shortest.

[0059] Combined with reference Figure 4 and Figure 5 For the radar scanning mechanism, the swing end of the first rotating mechanism 10 is hinged on the radar mounting surface, and one end of the second rotating mechanism 20 is hinged to the free end of the first rotating mechanism 10. Ideally, the zero position state is when the encoders of the first rotating mechanism 10 and the second rotating mechanism 20 display 0 degrees, and the first rotating mechanism 10 and the second rotating mechanism 20 are both perpendicular to the radar mounting surface. In actual situations, due to various installation or structural errors, when the encoders of the first rotating mechanism 10 and the second rotating mechanism 20 display 0 degrees, the first rotating mechanism 10 and the second rotating mechanism 20 are not perpendicular to the radar mounting surface, but there is a certain angle deviation, so they need to be calibrated at zero position. Taking the zero-position state where the radar mounting surface is perpendicular to the first rotating mechanism 10 as an example, at this time, the first calibration plate 32 is arranged perpendicular to the radar mounting surface, and the second calibration plate 31 is arranged parallel to the radar mounting surface. When performing zero-position calibration and compensation, the first calibration plate 32 and the second calibration plate 31 are used to reflect the detection wave emitted by the radar detection unit to the target point of the first calibration plate 32 or the second calibration plate 31 back to the radar detection unit. According to the radar ranging principle, the distance between the radar detection unit and the target point on the calibration plate can be calculated.

[0060] When the radar scanning mechanism is calibrated and compensated for zero position, the radar detection unit is put into working state, and then the rotation of the first rotating mechanism 10 and the second rotating mechanism 20 is controlled to drive the radar detection unit to run to multiple different positions of the first calibration plate and the second calibration plate respectively, and the detection data of the radar detection unit from the first calibration plate or the second calibration plate is recorded respectively.

[0061] When determining the zero position and compensation model of the second rotating mechanism, the first rotating mechanism is kept stationary, the second rotating mechanism 20 is controlled to rotate to a plurality of different positions, and the detection data of the radar detection unit from the second calibration plate 31 when the second rotating mechanism 20 is at a plurality of different positions are recorded respectively. In order to facilitate calibration, Figure 4 As shown, the first rotating mechanism 10 can be kept perpendicular to the second calibration plate 31 and kept stationary, and then the second rotating mechanism 20 can be controlled to rotate to a plurality of different positions.

[0062] Similarly, when determining the zero position and compensation model of the first rotating mechanism, the second rotating mechanism 20 is kept stationary, the first rotating mechanism 10 is controlled to rotate to a plurality of different positions, and the detection data of the radar detection unit from the first calibration plate 32 are recorded respectively when the first rotating mechanism 10 is at a plurality of different positions. Figure 5 As shown, the second rotating mechanism 20 can be kept perpendicular to the first calibration plate 32 and the second rotating mechanism 20 can be kept stationary, and the first rotating mechanism 10 can be controlled to rotate to a plurality of different positions.

[0063] Step S120: Determine the zero position offset of the target rotating mechanism according to the detection distance between the target rotating mechanism at the initial position and the actual zero position.

[0064] The actual zero position is the position of the target rotating mechanism when the detection distance is the shortest, and the initial position is the position when the encoder of the first rotating mechanism 10 or the second rotating mechanism 20 displays 0 degrees after the radar scanning mechanism is installed on the radar mounting surface.

[0065] When calibrating the zero position of the second rotating mechanism 20 , the first rotating mechanism 10 is kept stationary, thereby ensuring that the radar scanning mechanism moves only in one plane, so that the zero position of the second rotating mechanism 20 can be calibrated and compensated.

[0066] Specifically, Figure 4As shown, after keeping the first rotating mechanism 10 stationary, the first rotating mechanism 10 can be kept perpendicular to the second calibration plate 31, and the second rotating mechanism 20 can be controlled to rotate from the initial position of the second rotating mechanism 20 to the actual zero position of the second rotating mechanism 20. The initial position of the second rotating mechanism 20 here is the zero position of the second rotating mechanism 20 itself, and the actual zero position of the second rotating mechanism 20 is the position of the radar detection unit perpendicular to the second calibration plate 31 when the second rotating mechanism 20 rotates, that is, the position when the detection data of the radar detection unit from the second calibration plate 31 is the minimum. Then, the detection data of the radar detection unit from the second calibration plate 31 at the initial position of the second rotating mechanism 20 and the actual zero position of the second rotating mechanism 20 are recorded respectively.

[0067] Based on the above detection data and according to the geometric relationship, the zero position offset of the second rotating mechanism can be determined. Figure 6 As shown, when the second rotating mechanism 20 is at the initial position of the second rotating mechanism 20 and the actual zero position of the second rotating mechanism 20, the detection data of the radar detection unit at the distance from the second calibration plate 31 are recorded respectively. According to the geometric relationship, the zero position offset between the initial position of the second rotating mechanism 20 and the actual zero position can be determined.

[0068] The specific calculation process is as follows:

[0069] The zero position offset between the initial position of the second rotating mechanism 20 and the actual zero position of the second rotating mechanism 20 is θ0,

[0070] θ0=arcos(r+l0) / (r+l 初 );

[0071] Where r is the rotation radius of the radar detection unit, l 初 is the detection data of the radar detection unit at the initial position and the distance from the second calibration plate 31, and l0 is the detection data of the radar detection unit at the actual zero position and the distance from the second calibration plate 31.

[0072] When calibrating the zero position of the first rotating mechanism 10 , the second rotating mechanism 20 is kept stationary, thereby ensuring that the radar scanning mechanism moves only in one plane, so that the zero position of the first rotating mechanism 10 can be calibrated and compensated.

[0073] Specifically, Figure 5As shown, after keeping the second rotating mechanism 20 stationary, the second rotating mechanism 20 can be kept perpendicular to the first calibration plate 32, and the first rotating mechanism 10 can be controlled to rotate from the initial position of the first rotating mechanism 10 to the actual zero position of the first rotating mechanism 10. The initial position of the first rotating mechanism 10 here is the zero position of the first rotating mechanism 10 itself, and the actual zero position of the first rotating mechanism 10 is the position of the radar detection unit perpendicular to the first calibration plate 32 when the first rotating mechanism 10 rotates, that is, the position when the detection data of the radar detection unit from the first calibration plate 32 is the minimum. Then, the detection data of the radar detection unit from the first calibration plate 32 at the initial position of the first rotating mechanism 10 and the actual zero position of the first rotating mechanism 10 are recorded respectively.

[0074] Similarly, based on the above detection data and geometric relationship, the zero position offset of the first rotating mechanism can be determined. Figure 7 As shown, when the first rotating mechanism 10 is at the initial position of the first rotating mechanism 10 and the actual zero position of the first rotating mechanism 10, the detection data of the radar detection unit respectively recorded from the first calibration plate 32 are determined to determine the zero position offset between the initial position of the first rotating mechanism 10 and the actual zero position.

[0075] The specific calculation process is as follows:

[0076] The zero position offset between the initial position of the first rotating mechanism 10 and the actual zero position of the first rotating mechanism 10 is α0,

[0077] α0=arcos(r+k0) / (r+k 初 );

[0078] Where r is the rotation radius of the radar detection unit, k 初 is the detection data of the radar detection unit at the initial position and the distance from the first calibration plate 32, and k0 is the detection data of the radar detection unit at the initial position and the distance from the first calibration plate 32.

[0079] Step S130: Based on the actual zero position, the target rotation mechanism is controlled to rotate to a plurality of preset angles, and the detection distance between the target calibration plate and the radar detection unit is recorded when the target rotation mechanism rotates to the plurality of preset angles.

[0080] After determining the actual zero position of the second rotating mechanism 20, the first rotating mechanism 10 is still kept stationary, and the second rotating mechanism 20 is controlled to rotate from the actual zero position of the second rotating mechanism 20 to multiple preset angles, and the detection data of the radar detection unit from the second calibration plate 31 are recorded respectively.

[0081] Similarly, after determining the actual zero position of the first rotating mechanism 10, the second rotating mechanism 20 is still kept stationary, and the first rotating mechanism 10 is controlled to rotate from the actual zero position of the first rotating mechanism 10 to multiple preset angles, and the detection data of the radar detection unit from the first calibration plate 32 are recorded respectively.

[0082] Step S140, calculating multiple actual rotation angles of the target rotation mechanism according to the detection distances of the target rotation mechanism at the actual zero position and multiple preset angles, and constructing a compensation model of the target rotation mechanism according to the multiple preset angles and the multiple actual rotation angles.

[0083] Since both the first rotating mechanism and the second rotating mechanism of the radar scanning mechanism have geometric errors, there will also be errors between the actual rotation angles of the first rotating mechanism and the second rotating mechanism and the preset angles.

[0084] After determining the actual zero position of the second rotating mechanism 20 and controlling the second rotating mechanism 20 to rotate multiple preset angles from the actual zero position of the second rotating mechanism 20, the deviation angle and error compensation model between the actual zero position of the second rotating mechanism 20 and the initial position can be calculated based on the geometric relationship through the detection data of the radar detection unit from the second calibration plate 31.

[0085] Specifically, Figure 8 As shown, based on the detection data of the radar detection unit from the second calibration plate 31 corresponding to all preset angles and the detection data of the radar detection unit from the second calibration plate 31 at the actual zero position of the second rotating mechanism 20, all the actual rotation angles corresponding to the rotation of the second rotating mechanism 20 according to all preset angles can be determined. It should be noted that the preset angle is the angle at which the second rotating mechanism 20 rotates from its actual zero position.

[0086] For example, the preset angle of the second rotating mechanism 20 is θ x , in θ x The detection data of the corresponding radar detection unit is l x Due to the geometric error of the mechanism, the actual rotation angle θ is different from the preset angle θ x There is an error between Figure 8 The actual rotation angle θ of the second rotating mechanism 20 can be calculated by the geometric relationship in the following way:

[0087] θ=arcos(r+l x ) / (r+l0).

[0088] By fitting all preset angles and all actual rotation angles corresponding to all preset angles, an error compensation model of the second rotation mechanism 20 can be established.

[0089] Specifically, the least square method can be used to establish an error model between the preset angle and the actual rotation angle, the format is as follows: θ = a*θ x +b. Among them, θ is the actual rotation angle, θ x is the preset angle, and a and b are the coefficient values ​​obtained by fitting.

[0090] Likewise, the calculation principle of the error compensation model of the first rotating mechanism 10 is the same as that of the second rotating mechanism 20 .

[0091] After determining the actual zero position of the first rotating mechanism 10 and controlling the first rotating mechanism 10 to rotate by multiple preset angles from the actual zero position of the first rotating mechanism 10, the deviation angle and error compensation model of the first rotating mechanism 10 can be calculated according to the geometric relationship through the detection data of the radar detection unit from the first calibration plate 32.

[0092] Specifically, Fig. 9 As shown, based on the detection data of the radar detection unit from the first calibration plate 32 corresponding to all preset angles and the detection data of the radar detection unit from the first calibration plate 32 at the actual zero position of the first rotating mechanism 10, all actual rotation angles corresponding to the rotation of the first rotating mechanism 10 according to all preset angles are determined. It should be noted that the preset angle here is the angle at which the first rotating mechanism 10 swings from its actual zero position.

[0093] For example, the preset angle of the first rotating mechanism 10 is α x , in α x The detection data of the corresponding radar detection unit is k x Due to the geometric error of the mechanism, the actual rotation angle α is different from the preset angle α x There is an error between Fig. 9 The actual rotation angle α of the first rotating mechanism 10 can be calculated by the geometric relationship in the following way:

[0094] α=arcos(r+k x ) / (r+k0).

[0095] By fitting all preset angles and all actual rotation angles corresponding to all preset angles, an error compensation model of the first rotating mechanism 10 can be established.

[0096] Specifically, the least square method can be used to establish an error model between the preset rotation angle and the actual rotation angle, the format is as follows: α = c * α x +d. Among them, α is the actual rotation angle, α x is the preset angle, c and d are the coefficient values ​​obtained by fitting.

[0097] When the present invention performs zero-position calibration and compensation on the target rotating mechanism, first, by controlling one of the first rotating mechanism or the second rotating mechanism to remain stationary, controlling the other rotating mechanism to rotate from the initial position to multiple different positions, and recording the distance between the radar detection unit and the target calibration plate when the rotating mechanism is at multiple different positions, the zero-position offset of the rotating mechanism is determined by the detection distance of the rotating mechanism at the initial position and the actual zero position. Then, the rotating mechanism is controlled to rotate multiple preset angles based on the actual zero position, and the detection distance between the radar detection unit and the target calibration plate when the rotating mechanism rotates to multiple preset angles is recorded. The multiple actual rotation angles of the rotating mechanism are calculated by the detection distance of the rotating mechanism at the actual zero position and multiple preset angles, and the compensation model of the rotating mechanism is determined. Therefore, the radar scanning mechanism can be zero-position calibrated by the radar detection unit of the mechanism itself, and the compensation model of the radar scanning mechanism can be obtained by a simple geometric relationship.

[0098] Combine the following Figure 2 The radar scanning mechanism in the embodiment of the present invention is described in detail about the zero position calibration and compensation method of the radar scanning mechanism.

[0099] Will Figure 2 The radar scanning mechanism shown is installed in the detection space, and two calibration plates are installed. Figure 4 shown.

[0100] The first rotating mechanism 10 is kept perpendicular to the second calibration plate 31 and the first rotating mechanism 10 is kept stationary, and the second rotating mechanism 20 is controlled to rotate from the initial position of the second rotating mechanism 20, wherein the joint rotation angle of the initial position of the second rotating mechanism 20 is 0 degrees, and at this time, the detection data of the radar detection unit from the second calibration plate 31 is l 初 The second rotating mechanism 20 is controlled to swing left and right. When the detection data of the radar detection unit from the second calibration plate 31 is the smallest, that is, the position of the radar detection unit perpendicular to the second calibration plate 31 is the actual zero position of the second rotating mechanism 20, the detection data at this time is l0=200.25mm.

[0101] Due to the geometric error of the radar scanning mechanism, there is an error between the rotation angle read by the radar scanning mechanism encoder and the actual rotation angle θ0 of the second rotating mechanism 20. The actual rotation angle θ0 of the second rotating mechanism 20 can be obtained according to the geometric relationship. The actual rotation angle θ0 is related to the rotation radius r=83mm of the radar detection unit and the detection data l measured by the radar detection unit. 初 There is the following functional relationship between and l0:

[0102] θ0=arcos(r+l0) / (r+l 初 );

[0103] Therefore, it can be calculated that the deviation angle between the actual zero position and the initial position of the second rotating mechanism 20 is θ0=0.963°, that is, when the second rotating mechanism 20 reaches its initial position, it reaches its actual zero position by rotating 0.963° in the positive direction.

[0104] Continue to keep the first rotating mechanism 10 perpendicular to the second calibration plate 31, and keep the first rotating mechanism 10 stationary, so that the second rotating mechanism 20 swings in the positive direction, and the preset swing angles are 10°, 12°, 14°, 16°, 18°, 20°, 22°, 24°, 26°, 28°, and 30° respectively, and the detection data recorded by the radar detection unit are: 204.99mm, 207.06mm, 209.5mm, 212.37mm, 215.65mm, 319.4mm, 223.65mm, 228.43mm, 233.7mm, 239.58mm, and 246.14mm respectively. Due to the geometric error of the radar scanning mechanism, the actual rotation angle θ of the second rotating mechanism 20 is different from the preset rotation angle θ x There is an error between them. The actual rotation angle is calculated based on the geometric relationship:

[0105] θ=arcos(r+l x ) / (r+l0);

[0106] The actual rotation angles θ calculated were 10.41°, 12.44°, 14.45°, 16.47°, 18.48°, 20.5°, 22.53°, 24.56°, 26.57°, 28.59°, and 30.62°. The preset rotation angle θ was established using the least squares method. x The error model with the actual rotation angle θ:

[0107] θ=1.0102*θ x +0.3073;

[0108] Finally, the deviation angle θ0=0.963° between the actual zero position and the initial position of the second rotating mechanism 20 and the error compensation model of the second rotating mechanism 20 are input into the control program of the second rotating mechanism 20 to complete the compensation of the second rotating mechanism 20 .

[0109] Then, the zero position, zero position deviation angle and error compensation model of the first rotating mechanism 10 are determined.

[0110] First, keep the second rotating mechanism 20 perpendicular to the first calibration plate 32 and keep the second rotating mechanism 20 stationary, and control the first rotating mechanism 10 to rotate from the initial position of the first rotating mechanism 10, wherein the joint rotation angle of the initial position of the first rotating mechanism 10 is 0 degrees, and the detection data of the radar detection unit from the first calibration plate 32 is k初 =180.18mm. The first rotating mechanism 10 is swung left and right. When the radar detection unit is rotated to a certain angle in the positive direction, the value of the detection data is the smallest, that is, the position of the radar detection unit perpendicular to the first calibration plate 32 is the actual zero position of the first rotating mechanism 10. The detection data at this time is k0=180.11mm.

[0111] Due to the geometric error of the radar scanning mechanism, there is an error between the rotation angle read by the radar scanning mechanism encoder and the actual rotation angle α0 of the first rotating mechanism 10. The actual rotation angle α0 of the first rotating mechanism 10 can be obtained according to the geometric relationship. The actual rotation angle α0 is related to the rotation radius r=83mm of the radar detection unit and the detection data k measured by the radar detection unit. 初 There is the following functional relationship between k0:

[0112] α0=arcos(r+k0) / (r+k 初 );

[0113] Therefore, it can be calculated that the deviation angle between the actual zero position and the initial position of the first rotating mechanism 10 is α0=1.32°, that is, when the second rotating mechanism 20 reaches the initial position, it reaches its actual zero position by rotating 1.32° in the positive direction.

[0114] Continue to keep the second rotating mechanism 20 perpendicular to the first calibration plate 32, and keep the second rotating mechanism 20 stationary, so that the first rotating mechanism 10 swings in the positive direction, and the preset swing angles are 10°, 12°, 14°, 16°, 18°, 20°, 22°, 24°, 26°, 28°, and 30° respectively, and the detection data recorded by the radar detection unit are: 184.57mm, 186.5mm, 188.77mm, 191.42mm, 194.34mm, 197.97mm, 201.89mm, 206.31mm, 211.23mm, 216.68mm, and 222.74mm respectively. Due to the geometric error of the radar scanning mechanism, the actual rotation angle α of the first rotating mechanism 10 is different from the preset rotation angle α. x There is an error between them. The actual rotation angle is calculated based on the geometric relationship:

[0115] α=arcos(r+k x ) / (r+k0);

[0116] The actual rotation angles α are calculated to be 10.48°, 12.5°, 14.5°, 16.51°, 18.53°, 20.54°, 22.55°, 24.57°, 26.59°, 28.6°, and 30.62°. The least squares method is used to establish the set rotation angle α x The error model with the actual rotation angle α:

[0117] α=1.0069*α x +0.4073;

[0118] Finally, the deviation angle α0=1.32° between the actual zero position and the initial position of the first rotating mechanism 10 and the error compensation model of the first rotating mechanism 10 are input into the control program of the first rotating mechanism 10 to complete the compensation of the first rotating mechanism 10 .

[0119] In the embodiment of the present invention, during the zero position calibration and error compensation process of the radar scanning mechanism, the zero position and zero position deviation angle of the radar scanning mechanism can be determined by using the geometric relationship of the detection data of the radar detection unit provided by the radar scanning mechanism. After determining the zero position, the error compensation model of the two rotating mechanisms can also be determined according to the geometric relationship, and the zero position calibration method is simple.

[0120] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0121] The following is an embodiment of the device of the present invention. For details not described in detail therein, reference may be made to the corresponding method embodiment described above.

[0122] Fig.10 The structure diagram of the zero position calibration and compensation device of the radar scanning mechanism provided by the embodiment of the present invention is shown. For the convenience of description, only the part related to the embodiment of the present invention is shown, which is described in detail as follows:

[0123] like Fig.10 As shown, a zero position calibration and compensation device 1000 of a radar scanning mechanism, the radar scanning mechanism includes a radar mounting surface, a first rotating mechanism, a second rotating mechanism and a radar detection unit, the first rotating mechanism is rotatably or swingably assembled on the radar mounting surface, the second rotating mechanism is hinged at the free end of the first rotating mechanism, the radar detection unit is arranged at the free end of the second rotating mechanism, wherein the rotation axis of the second rotating mechanism is perpendicular to the rotation axis of the first rotating mechanism, and the zero position calibration and compensation device 1000 includes:

[0124] The first rotation module 1100 is used to control the rotation mechanisms other than the target rotation mechanism in the first rotation mechanism and the second rotation mechanism to remain stationary when zero-position calibration and compensation are performed on the target rotation mechanism, and to control the target rotation mechanism to rotate from an initial position to a plurality of different positions, and to record the detection distance between the radar detection unit and the target calibration plate when the target rotation mechanism is at a plurality of different positions, wherein the target rotation mechanism is the first rotation mechanism or the second rotation mechanism, and the target calibration plate is located within the detection area of ​​the radar detection unit and the target calibration plate is parallel or perpendicular to the radar mounting surface;

[0125] A zero position offset module 1200 is used to determine a zero position offset of a target rotating mechanism according to a detection distance between the target rotating mechanism at an initial position and an actual zero position, wherein the actual zero position is the position of the target rotating mechanism when the detection distance is the shortest;

[0126] The second rotation module 1300 is used to control the target rotation mechanism to rotate to multiple preset angles based on the actual zero position, and record the detection distance between the radar detection unit and the target calibration plate when the target rotation mechanism rotates to the multiple preset angles;

[0127] The compensation determination module 1400 is used to calculate multiple actual rotation angles of the target rotation mechanism according to the detection distances of the target rotation mechanism at the actual zero position and multiple preset angles, and to construct a compensation model of the target rotation mechanism according to the multiple preset angles and the multiple actual rotation angles.

[0128] In one possible implementation, the first rotation module 1100 is used to control a rotation mechanism other than the target rotation mechanism in the first rotation mechanism and the second rotation mechanism to be in a first position and remain stationary at the first position, where the first position is the position when the corresponding rotation mechanism is perpendicular to the target calibration plate.

[0129] In a possible implementation, the zero position offset θ0 of the target rotation mechanism is:

[0130] θ0=arcos(r+l0) / (r+l 初 );

[0131] Among them, θ0 is the zero position offset of the target rotation mechanism, r is the rotation radius of the radar detection unit, l 初 is the detection distance between the radar detection unit and the target calibration plate when the target rotating mechanism is in the initial position, and l0 is the detection distance between the radar detection unit and the target calibration plate when the target rotating mechanism is in the actual zero position.

[0132] In a possible implementation, the compensation determination module 1400 is used to take multiple preset angles as input and multiple actual rotation angles as output, perform data fitting processing, and obtain a compensation model that characterizes the relationship between the actual rotation angles and the preset angles.

[0133] In a possible implementation, the compensation determination module 1400 is used to perform data fitting processing on multiple preset angles and multiple actual rotation angles according to the least square method.

[0134] In a possible implementation, the compensation model of the relationship between the actual rotation angle and the preset angle is:

[0135] θ=a*θ x +b;

[0136] Among them, θ is the actual rotation angle, θ x is the preset angle, and a and b are the coefficient values ​​obtained by fitting.

[0137] In a possible implementation, the first rotating mechanism swings 180 degrees along the rotation axis of the first rotating mechanism, and the second rotating mechanism swings 180 degrees along the rotation axis of the second rotating mechanism.

[0138] In a possible implementation, the first rotating mechanism rotates 360 degrees along the rotation axis of the first rotating mechanism, and the second rotating mechanism swings 180 degrees along the rotation axis of the second rotating mechanism.

[0139] Fig.11 Schematic diagram of an electronic device provided by an embodiment of the present invention. Fig.11 As shown, the electronic device 11 of this embodiment includes: a processor 110, a memory 111, and a computer program 112 stored in the memory 111 and executable on the processor 110. When the processor 110 executes the computer program 112, the steps of the above-mentioned zero position calibration and compensation method embodiments of each radar scanning mechanism are implemented, such as Figure 1 Alternatively, when the processor 30 executes the computer program 32, the functions of each module in the above-mentioned device embodiments are realized, for example, Fig.10 Functions of modules 1100 to 1400 are shown.

[0140] Exemplarily, the computer program 112 may be divided into one or more modules, which are stored in the memory 111 and executed by the processor 110 to implement the present invention. The one or more modules may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program 112 in the electronic device 11. For example, the computer program 112 may be divided into Fig.10 Modules 1100 to 1400 are shown.

[0141] The electronic device 11 may include, but is not limited to, a processor 110 and a memory 111. Those skilled in the art will appreciate that Fig.11 It is only an example of the electronic device 11 and does not constitute a limitation of the electronic device 11. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0142] The processor 110 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0143] The memory 111 may be an internal storage unit of the electronic device 11, such as a hard disk or memory of the electronic device 11. The memory 111 may also be an external storage device of the electronic device 11, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 11. Further, the memory 111 may also include both an internal storage unit of the electronic device 11 and an external storage device. The memory 111 is used to store the computer program and other programs and data required by the electronic device. The memory 111 may also be used to temporarily store data that has been output or is to be output.

[0144] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0145] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0146] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0147] In the embodiments provided by the present invention, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0148] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0149] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0150] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the zero-position calibration and compensation method embodiments of the above-mentioned radar scanning mechanism can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device that can carry the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practices in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practices, computer-readable media does not include electrical carrier signals and telecommunication signals.

[0151] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A zero position calibration and compensation method for a radar scanning mechanism, characterized in that: The radar scanning mechanism includes a radar mounting surface, a first rotating mechanism, a second rotating mechanism and a radar detection unit, wherein the first rotating mechanism is rotationally or swingably mounted on the radar mounting surface, the second rotating mechanism is hinged at the free end of the first rotating mechanism, and the radar detection unit is arranged at the free end of the second rotating mechanism, wherein the rotation axis of the second rotating mechanism is perpendicular to the rotation axis of the first rotating mechanism, and the zero position calibration and compensation method includes: When zero-position calibration and compensation are performed on the target rotating mechanism, the rotating mechanisms other than the target rotating mechanism in the first rotating mechanism and the second rotating mechanism are controlled to remain stationary, and the target rotating mechanism is controlled to rotate from an initial position to a plurality of different positions, and the detection distance between the radar detection unit and the target calibration plate is recorded when the target rotating mechanism is at a plurality of different positions, the target rotating mechanism is the first rotating mechanism or the second rotating mechanism, the target calibration plate is located within the detection area of ​​the radar detection unit, and the target calibration plate is parallel or perpendicular to the radar mounting surface; Determining a zero position offset of the target rotating mechanism according to the detection distances of the target rotating mechanism at an initial position and an actual zero position, wherein the actual zero position is the position of the target rotating mechanism when the detection distance is the shortest; Taking the actual zero position as a reference, controlling the target rotation mechanism to rotate to a plurality of preset angles, and recording the detection distance between the radar detection unit and the target calibration plate when the target rotation mechanism rotates to the plurality of preset angles; A plurality of actual rotation angles of the target rotation mechanism are calculated according to the detection distances of the target rotation mechanism at the actual zero position and at a plurality of preset angles, and a compensation model of the target rotation mechanism is constructed according to the plurality of preset angles and the plurality of actual rotation angles.

2. The zero position calibration and compensation method according to claim 1, characterized in that: Controlling the rotating mechanisms other than the target rotating mechanism in the first rotating mechanism and the second rotating mechanism to remain stationary is specifically as follows: The rotating mechanisms other than the target rotating mechanism in the first rotating mechanism and the second rotating mechanism are controlled to be in a first position and remain stationary at the first position, wherein the first position is a position when the corresponding rotating mechanism is perpendicular to the target calibration plate.

3. The zero position calibration and compensation method according to claim 1, characterized in that: The zero position offset θ0 of the target rotation mechanism is: θ0=arcos(r+l0) / (r+l 初 ); Wherein, r is the rotation radius of the radar detection unit, l 初 is the detection distance between the radar detection unit and the target calibration plate when the target rotating mechanism is in the initial position, and l0 is the detection distance between the radar detection unit and the target calibration plate when the target rotating mechanism is in the actual zero position.

4. The zero position calibration and compensation method according to claim 1, characterized in that: The step of constructing the compensation model of the target rotation mechanism according to the plurality of preset angles and the plurality of actual rotation angles comprises: The plurality of preset angles are taken as input and the plurality of actual rotation angles are taken as output, and data fitting processing is performed to obtain a compensation model that characterizes the relationship between the actual rotation angle and the preset angle.

5. The zero position calibration and compensation method according to claim 4, characterized in that: The data fitting process is performed by taking the plurality of preset angles as input and the plurality of actual rotation angles as output, specifically comprising: Data fitting processing is performed on the plurality of preset angles and the plurality of actual rotation angles according to the least square method.

6. The zero position calibration and compensation method according to claim 5, characterized in that: The compensation model of the relationship between the actual rotation angle and the preset angle is: θ=a*θ x +b; Among them, θ is the actual rotation angle, θ x is the preset angle, and a and b are the coefficient values ​​obtained by fitting.

7. The zero position calibration and compensation method according to any one of claims 1 to 6, characterized in that: The first rotating mechanism swings 180 degrees along the rotation axis of the first rotating mechanism, and the second rotating mechanism swings 180 degrees along the rotation axis of the second rotating mechanism.

8. The zero position calibration and compensation method according to any one of claims 1 to 6, characterized in that: The first rotating mechanism rotates 360 degrees along the rotation axis of the first rotating mechanism, and the second rotating mechanism swings 180 degrees along the rotation axis of the second rotating mechanism.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

Images