Lidar calibration components, methods, apparatuses, systems, and storage media

Abstract

The application discloses a kind of laser radar calibration assembly, method, device, system and storage medium, it is related to radar positioning technical field, the laser radar calibration assembly includes: calibration platform, for carrying mobile robot travel;Target feature code, is set on calibration platform;Purpose feature code is used for the feature code sensing device on mobile robot reading;Target obstacle, is connected on calibration platform;Target obstacle is used to reflect the target laser that positioning radar on mobile robot emits.This application discloses the laser radar calibration assembly can solve when there is pose deviation between laser radar coordinate system and vehicle body coordinate system, the technical problem that AMR autonomous mobile robot navigation precision is lower.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of radar positioning, in particular to a laser radar calibration assembly, a laser radar calibration method, a laser radar calibration device, a laser radar calibration system and a computer readable storage medium. BACKGROUND

[0002] AMR (Autonomous Mobile Robot) is a kind of robot with understanding ability and independent movement in its environment, which can detect road conditions and plan paths by means of sensing positioning device and related artificial intelligence algorithm, and can realize autonomous obstacle avoidance function. AMR autonomous mobile robot has been applied to automatic warehouse field, and can be used for autonomous execution of a series of processes such as goods warehousing, sorting, packaging and transfer.

[0003] The sensing and positioning function of AMR autonomous mobile robot is usually realized by means of laser radar on the vehicle body. The laser radar detects road conditions based on its own coordinate system. When there is deviation between the laser radar coordinate system and the vehicle body coordinate system, it is easy to cause the path parameters such as travel distance, speed and angle planned according to the detection result to be not matched with the actual pose of the vehicle body, thereby increasing the risk of collision between the vehicle body and obstacles, and the autonomous navigation precision is low. SUMMARY

[0004] The main purpose of the present application is to provide a laser radar calibration assembly, which aims to solve the technical problem of low navigation precision of AMR autonomous mobile robot when there is pose deviation between the laser radar coordinate system and the vehicle body coordinate system.

[0005] To achieve the above purpose, the present application provides a laser radar calibration assembly, which comprises:

[0006] A calibration platform for carrying mobile robot travel;

[0007] A target feature code is arranged on the calibration platform; the target feature code is used for feature code sensing device on the mobile robot to read;

[0008] A target obstacle is connected to the calibration platform; the target obstacle is used to reflect the target laser emitted by the positioning radar on the mobile robot.

[0009] Further, the laser radar calibration assembly further comprises a connecting plate, and the target feature code is arranged on the connecting plate by UV printing, and the connecting plate is locked on the calibration platform.

[0010] Further, the calibration platform has a laser line marking part;

[0011] The connecting plate is provided with a mark line in a UV printing manner, and the mark line is used for alignment with the laser marking line part.

[0012] Further, the target obstacle is provided with a laser cutting feature line, and the laser cutting feature line is used for alignment with the laser marking line part.

[0013] Further, the laser marking line part comprises a horizontal line part and a vertical line part intersecting with each other.

[0014] Further, the laser radar calibration assembly further comprises a foot fixing seat, the foot fixing seat is provided with a vertically extending connecting screw rod, the connecting screw rod is screwed with a first nut and a second nut; the calibration platform is provided with a connecting through hole, the connecting screw rod is arranged in the connecting through hole, the lower side of the calibration platform is arranged on the first nut, and the second nut is locked on the upper side of the calibration platform.

[0015] Further, the laser radar calibration assembly further comprises an inclined table, the high side of the inclined table is connected to the side of the calibration platform; the inclined table is used for the movement of the mobile robot, so that the mobile robot enters the calibration platform through the inclined table.

[0016] Further, the target obstacle comprises a first wedge and a second wedge; the first wedge has a first inclined surface, the second wedge has a second inclined surface, the first inclined surface and the second inclined surface are perpendicular to the calibration platform, the first inclined surface is arranged to be inclined from a direction away from the second wedge to a direction close to the target feature code, and the second inclined surface is arranged to be inclined from a direction away from the first wedge to a direction close to the target feature code.

[0017] Correspondingly, the application also provides a laser radar calibration method applied to the laser radar calibration assembly, and the laser radar calibration method comprises the following steps:

[0018] The mobile robot is controlled to enter the calibration platform;

[0019] When the mobile robot moves above the target feature code, the target feature code is read by a feature code sensing device on the mobile robot to obtain first pose information of the mobile robot relative to the target feature code;

[0020] Target laser is emitted to the target obstacle by a positioning radar on the mobile robot to obtain a point cloud data set of the target laser on the target obstacle, so that second pose information of the positioning radar relative to the target obstacle is obtained according to the point cloud data set;

[0021] acquire third pose information of the target feature code relative to the target obstacle;

[0022] calculate fourth pose information of the positioning radar relative to the mobile robot based on a coordinate conversion relationship between the first pose information, the second pose information and the third pose information.

[0023] Further, the step of calculating the fourth pose information of the positioning radar relative to the mobile robot based on the coordinate conversion relationship between the first pose information, the second pose information and the third pose information comprises:

[0024] The fourth pose information is calculated through the following coordinate conversion formula:

[0025]

[0026] wherein, the fourth pose information is, the first pose information is, the third pose information is, the second pose information is.

[0027] Correspondingly, the application further provides a laser radar calibration device, which comprises:

[0028] a traveling module configured to control the mobile robot to enter a calibration platform;

[0029] a reading module configured to read a target feature code through a feature code sensing device on the mobile robot when the mobile robot travels above the target feature code, so as to acquire first pose information of the mobile robot relative to the target feature code;

[0030] a collecting module configured to emit target laser to a target obstacle through a positioning radar on the mobile robot, so as to acquire a point cloud data set of the target laser on the target obstacle, and to acquire second pose information of the positioning radar relative to the target obstacle according to the point cloud data set;

[0031] a calling module configured to acquire third pose information of the target feature code relative to the target obstacle;

[0032] a calculating module configured to calculate fourth pose information of the positioning radar relative to the mobile robot based on a coordinate conversion relationship between the first pose information, the second pose information and the third pose information.

[0033] Correspondingly, the application also provides a laser radar calibration system, which comprises a memory, a processor and a computer program stored on the memory and executable on the processor, and the computer program realizes the steps of the laser radar calibration method when executed by the processor.

[0034] Correspondingly, the application also provides a computer readable storage medium, which stores a laser radar calibration program, and the laser radar calibration program realizes the steps of the laser radar calibration method when executed by a processor.

[0035] The laser radar calibration assembly provided by the application first controls the mobile robot to enter the calibration platform, and the mobile robot continuously emits target laser to the front through the positioning radar during the movement; when the mobile robot moves to above the target feature code, the feature code sensing device at the bottom of the mobile robot can read the target feature code, so as to obtain the pose information of the mobile robot (specifically, the vehicle body part of the mobile robot) relative to the target feature code; at the same time, the target laser emitted by the positioning radar is also emitted by the target obstacle in front, and the positioning radar can obtain the point cloud data set of the target laser on the target obstacle through the TOF technology, so as to obtain the pose information of the positioning radar relative to the target obstacle according to the point cloud data set; since the pose information of the target feature code relative to the calibration platform is known, and the pose information of the target obstacle relative to the calibration platform is known, the pose information of the target feature code relative to the target obstacle is also known; when the pose information of the mobile robot (specifically, the vehicle body part of the mobile robot) relative to the target feature code, the pose information of the positioning radar relative to the target obstacle and the pose information of the target feature code relative to the target obstacle are obtained at the same time, the closed-loop conversion relationship composed of the three known pose information and the unknown quantity (the pose information of the positioning radar relative to the mobile robot) is used to form the data correlation between the positioning radar coordinate system and the mobile robot coordinate system, so as to calculate the pose information of the positioning radar relative to the mobile robot (specifically, the vehicle body part of the mobile robot), so that the conversion between the positioning radar coordinate system and the mobile robot coordinate system is realized, the calibration operation of the positioning radar is completed in a software and hardware combined, high-precision and high-efficiency manner, the deviation between the path planning parameter and the actual pose of the mobile robot is eliminated, the risk of collision between the mobile robot and the obstacle is reduced, and the autonomous navigation precision is improved. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 It is a non-working state stereoscopic structure schematic diagram of an embodiment of the laser radar calibration assembly of the application;

[0037] Figure 2 It is a working state stereoscopic structure schematic diagram of an embodiment of the laser radar calibration assembly of the application;

[0038] Figure 3 Fig. 8 is a structural schematic diagram of a connecting plate in an embodiment of the laser radar calibration assembly of the present application;

[0039] Figure 4 Fig. 9 is a front structural schematic diagram of an embodiment of the laser radar calibration assembly of the present application;

[0040] Figure 5 Fig. 10 is a structural schematic diagram of an embodiment of the laser radar calibration device of the present application; Figure 4 Fig. 11 is an enlarged schematic diagram of A in Fig. 10;

[0041] Figure 6 Fig. 12 is a calibration logic schematic diagram of an embodiment of the laser radar calibration method of the present application;

[0042] Figure 7 Fig. 13 is a flow schematic diagram of an embodiment of the laser radar calibration method of the present application;

[0043] Figure 8 Fig. 14 is a structural schematic diagram of an embodiment of the laser radar calibration device of the present application;

[0044] Figure 9 Fig. 15 is a system structural schematic diagram of a hardware running environment involved in the embodiment of the present application.

[0045] BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Reference Name Reference Name 1 Marking platform 32 Second wedge block 2 Target feature code 41 Marking line 3 Target obstacle 61 Connecting screw rod 4 Connecting plate 62 First nut 5 Pressing plate 63 Second nut 6 Anchor fixing base 81 Feature code sensing device 7 Inclined table 82 Positioning radar 8 Mobile robot 311 First inclined surface 11 Laser marking line part 321 Second inclined surface 31 First wedge block

[0047] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0049] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0050] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included at least one of the features. In addition, if "and / or" or "and / or" appears throughout the text, it means that the three parallel schemes are included, for example, "A and / or B" includes A scheme, or B scheme, or A and B scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of the ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection required by the present application.

[0051] Referring to Figures 1 to 6 An embodiment of the present application provides a laser radar calibration assembly, which comprises:

[0052] A calibration platform 1 is used to carry the mobile robot 8; the mobile robot 8 can be an AMR autonomous mobile robot;

[0053] A target feature code 2 is arranged on the calibration platform 1; the target feature code is used for the feature code sensing device 81 on the mobile robot 8 to read; wherein the target feature code 2 includes but is not limited to a two-dimensional code, a bar code, which can be arranged on the upper surface of the calibration platform 1 by means of affixing, printing, engraving and the like; the feature code sensing device 81 can specifically include a code scanner and a supporting back-end module with data processing, analysis and the like functions; the code scanner can be arranged at the bottom of the mobile robot 8, so as to be opposite to the target feature code 2; when the target feature code 2 is read by the code scanner, the code scanner can transmit the acquired feature code data to the back-end module for data processing and analysis, so as to obtain the pose information of the feature code sensing device 81 relative to the target feature code 2; and since the pose of the feature code sensing device 81 relative to the mobile robot 8 (specifically the vehicle body part of the mobile robot 8) is known, the pose information of the mobile robot 8 (specifically the vehicle body part of the mobile robot 8) relative to the target feature code 2 can be obtained;

[0054] The target obstacle 3 is connected to the calibration platform 1, and is used to reflect the target laser emitted by the positioning radar 82 on the mobile robot 8. The reflection function of the target obstacle 3 can be realized by means of a reflective material or the structure of the target obstacle 3 itself. After the target laser is reflected, the positioning radar 82 can collect the point cloud data set of the target laser reaching the target obstacle 3 by the TOF (Time of flight) technology, and then directly calculate the coordinate conversion relationship of the target obstacle 3 coordinate system in the positioning radar 82 coordinate system by using the feature matching technology, and further obtain the pose information of the positioning radar 82 relative to the target obstacle 3.

[0055] In the specific implementation process, first, the mobile robot 8 is controlled to enter the calibration platform 1, and the mobile robot 8 continuously emits target laser to the front by the positioning radar 82 during the travel process. When the mobile robot 8 travels above the target feature code 2, the feature code sensing device 81 at the bottom of the mobile robot 8 can read the target feature code 2, so as to obtain the pose information of the mobile robot 8 (specifically the vehicle body part of the mobile robot 8) relative to the target feature code 2 at this time. At this time, the target laser emitted by the positioning radar 82 is also emitted by the target obstacle 3 in front, and the positioning radar 82 can obtain the point cloud data set of the target laser on the target obstacle 3 by the TOF technology, so as to obtain the pose information of the positioning radar 82 relative to the target obstacle 3 according to the point cloud data set. Since the pose information of the target feature code 2 relative to the calibration platform 1 is known, and the pose information of the target obstacle 3 relative to the calibration platform 1 is known, the pose information of the target feature code 2 relative to the target obstacle 3 is also known. As shown in Figure 6 When the pose information of the mobile robot 8 (specifically the vehicle body part of the mobile robot 8) relative to the target feature code 2, the pose information of the positioning radar 82 relative to the target obstacle 3, and the pose information of the target feature code 2 relative to the target obstacle 3 are obtained at the same time, the closed-loop conversion relationship composed of the three known pose information and the unknown quantity (the pose information of the positioning radar 82 relative to the mobile robot 8) can be used to form the data correlation between the coordinate system of the positioning radar 82 and the coordinate system of the mobile robot 8, so as to calculate the pose information of the positioning radar 82 relative to the mobile robot 8 (specifically the vehicle body part of the mobile robot 8), so as to realize the conversion between the coordinate system of the positioning radar 82 and the coordinate system of the mobile robot 8. The calibration operation of the positioning radar 82 is completed in a software and hardware combined, high-precision and high-efficiency manner, the deviation between the path planning parameter and the actual pose of the mobile robot 8 is eliminated, the risk of collision between the mobile robot 8 and the obstacle is reduced, and the autonomous navigation accuracy is improved.

[0056] Optionally, referring to Figures 1 to 5 , the laser radar calibration assembly further comprises a connecting plate 4, and the target feature code 2 is arranged on the connecting plate 4 by UV printing, and the connecting plate 4 is locked to the calibration platform 1.

[0057] Optionally, referring to Figures 1 to 5 , the calibration platform 1 has a laser line part 11;

[0058] The connecting plate 4 is provided with a mark line 41 by UV printing, and the mark line 41 is used for alignment with the laser line part 11.

[0059] Optionally, referring to Figures 1 to 5 , the target obstacle 3 is provided with a laser cutting feature line, and the laser cutting feature line is used for alignment with the laser line part 11.

[0060] Optionally, referring to Figures 1 to 5 , the laser line part 11 includes a horizontal line part and a vertical line part intersecting with each other.

[0061] According to the above positioning radar 82 calibration process, the pose deviation of the target feature code 2 relative to the calibration platform 1 will directly affect the calibration accuracy of the positioning radar 82. In actual application, the target feature code 2 of the adaptive feature code sensing device 81 is usually small in size; in order to improve the installation accuracy of the target feature code 2, the target feature code 2 and the mark line 41 are printed on the connecting plate 4 which is large in size by UV (Ultra-Violet Ray) printing at one time; the calibration platform 1 also has a horizontal and vertical laser line part 11 etched thereon (the laser line part 11 is completed by a laser cutting machine during processing and cutting); when the connecting plate 4 is installed on the calibration platform 1, only the mark line 41 and the laser line part 11 are aligned one by one, and then the connecting plate 4 can be locked on the calibration platform 1 by a threaded fastener, so that the pose deviation of the target feature code 2 relative to the calibration platform 1 can be eliminated to the greatest extent; optionally, after the connecting plate 4 is locked on the calibration platform 1, the connecting plate 4 can be flattened by the locking pressing plate 5.

[0062] Similarly, the pose deviation of the target obstacle 3 relative to the calibration platform 1 will also directly affect the calibration accuracy of the positioning radar 82. The laser cutting method is used to set the laser cutting feature line on the target obstacle 3; the calibration platform 1 also has a horizontal and vertical laser line part 11 etched thereon (the laser line part 11 is completed by a laser cutting machine during processing and cutting); when the target obstacle 3 is installed, only the laser cutting feature line and the laser line part 11 are aligned one by one, and then the target obstacle 3 can be locked on the calibration platform 1 by a threaded fastener, so that the pose deviation of the target obstacle 3 relative to the calibration platform 1 can be eliminated to the greatest extent.

[0063] Based on the above setting, without precision machining of the calibration platform 1 or precision machining and positioning of the target feature code 2 and the target obstacle 3, higher installation precision can be obtained at a lower cost, the pose deviation of the target feature code 2 relative to the target obstacle 3 is reduced, and the calibration precision is improved.

[0064] Optionally, referring to Figures 1 to 5 , the laser radar calibration assembly further comprises a foot fixing base 6, the foot fixing base 6 is provided with a vertically extending connecting screw rod 61, the connecting screw rod 61 is screwed with a first nut 62 and a second nut 63; the calibration platform 1 is provided with a connecting through hole, the connecting screw rod 61 is arranged in the connecting through hole, the lower side of the calibration platform 1 is arranged on the first nut 62, and the second nut 63 is locked on the upper side of the calibration platform 1.

[0065] The foot fixing base 6 can be provided with a plurality of foot fixing bases corresponding to the edges and corners of the calibration platform 1, which can be fixed to the floor through expansion bolts; the connecting screw rod 61 can be vertically welded on the foot fixing base 6; by adjusting the heights of the first nut 62 and the second nut 63 of each foot fixing base 6, the height and levelness of the calibration platform 1 between the first nut 62 and the second nut 63 can be conveniently adjusted to adapt to different application scenarios.

[0066] Optionally, referring to Figures 1 to 5 , the laser radar calibration assembly further comprises an inclined table 7, the high side of the inclined table 7 is connected to the side of the calibration platform 1; the inclined table 7 can be fixed to the floor through expansion bolts.

[0067] The inclined table 7 is used for the mobile robot 8 to travel, so that the mobile robot 8 can travel to the calibration platform 1 with a certain ground clearance through the inclined table 7, and the calibration operation is more convenient to perform.

[0068] Optionally, referring to Figures 1 to 5 , the target obstacle 3 comprises a first wedge 31 and a second wedge 32; the first wedge 31 has a first inclined surface 311, and the second wedge 32 has a second inclined surface 321, the first inclined surface 311 and the second inclined surface 321 are perpendicular to the calibration platform 1, the first inclined surface 311 is arranged to be inclined from a direction away from the second wedge 32 to a direction close to the target feature code 2, and the second inclined surface 321 is arranged to be inclined from a direction away from the first wedge 31 to a direction close to the target feature code 2.

[0069] The first wedge 31 and the second wedge 32 are arranged as shown, preferably, the first inclined surface 311 and the second inclined surface 321 are arranged symmetrically about the advancing direction of the mobile robot 8; based on the inclination angle of the first inclined surface 311 and the second inclined surface 321, the target laser emitted by the positioning radar 82 is only horizontally projected to any position in the first inclined surface 311 and the second inclined surface 321, and can be finally accurately reflected back to the positioning radar 82 through the reflection of the two inclined surfaces in turn.

[0070] It should be noted that other contents of the laser radar calibration assembly disclosed in the embodiments of the present application can refer to the prior art, which will not be described here.

[0071] Referring to Figure 9 , Figure 9 The laser radar calibration system structure diagram of the hardware running environment involved in the embodiment of the present application.

[0072] As Figure 9 shown, the laser radar calibration system can include a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to realize the connection and communication between the components. The user interface 1003 can include a display screen (Display) and an input unit such as a keyboard (Keyboard). The optional user interface 1003 can also include a standard wired interface and a wireless interface. The network interface 1004 can optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WIRELESS FIDELITY, WIFI) interface). The memory 1005 can be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable non-volatile memory (Non Volatile Memory, NVM) such as a disk memory. The memory 1005 can also be an independent storage device from the aforementioned processor 1001.

[0073] Those skilled in the art can understand Figure 9 that the structure shown in the figure does not constitute a limitation on the laser radar calibration system, and can include more or fewer components than the figure, or combine certain components, or different component arrangements.

[0074] As Figure 9 shown, the memory 1005 as a storage medium can include an operating system, a data storage module, a network communication module, a user interface module, and a laser radar calibration program.

[0075] In Figure 9The electronic device shown, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 in the electronic device of the application and the memory 1005 can be arranged in the electronic device, the electronic device calls the laser radar calibration program stored in the memory 1005 through the processor 1001, and executes the laser radar calibration method provided by the embodiment of the application.

[0076] The embodiment of the application provides a laser radar calibration method, which refers to Figure 6 And Figure 7 Wherein Figure 7 It is a flowchart of an embodiment of the laser radar calibration method.

[0077] In the embodiment, the laser radar calibration method comprises the following steps:

[0078] S1, control the mobile robot 8 to enter the calibration platform 1;

[0079] S2, when the mobile robot 8 travels above the target feature code 2, the target feature code 2 is read by the feature code sensing device 81 on the mobile robot 8 to obtain the first pose information of the mobile robot 8 relative to the target feature code 2; specifically, the feature code sensing device 81 can include a code scanner and a back-end module with data processing, analysis and other functions, when the target feature code 2 is read by the code scanner, the code scanner can transmit the obtained feature code data to the back-end module for data processing and analysis to obtain the pose information of the feature code sensing device 81 relative to the target feature code 2, and since the pose of the feature code sensing device 81 relative to the mobile robot 8 (specifically the vehicle body part of the mobile robot 8) is known, the first pose information of the mobile robot 8 (specifically the vehicle body part of the mobile robot 8) relative to the target feature code 2 can be obtained;

[0080] S3, the positioning radar 82 on the mobile robot 8 emits target laser to the target obstacle 3 to obtain the point cloud data set of the target laser on the target obstacle 3, so as to obtain the second pose information of the positioning radar 82 relative to the target obstacle 3 according to the point cloud data set; specifically, the target obstacle 3 can reflect the target laser emitted by the positioning radar 82, when the target laser is reflected, the positioning radar 82 can collect the point cloud data set of the target laser reaching the target obstacle 3 through the TOF (Time of flight, time of flight) technology, and then the coordinate conversion relationship of the target obstacle 3 coordinate system in the positioning radar 82 coordinate system is directly calculated by using the feature matching technology, and then the second pose information of the positioning radar 82 relative to the target obstacle 3 is obtained;

[0081] S4, acquire third pose information of the target feature code 2 relative to the target obstacle 3; since the pose information of the target feature code 2 relative to the calibration platform 1 is known, and the pose information of the target obstacle 3 relative to the calibration platform 1 is known, the third pose information of the target feature code 2 relative to the target obstacle 3 is also known;

[0082] S5, based on the coordinate conversion relationship between the first pose information, the second pose information and the third pose information, calculate the fourth pose information of the positioning radar 82 relative to the mobile robot 8.

[0083] Specifically, as shown in Figure 6 the first pose information, the second pose information, the third pose information and the fourth pose information form a closed-loop conversion relationship, and the positioning radar 82 coordinate system can be associated with the coordinate system of the mobile robot 8. Thus, based on three known quantities, the fourth pose information of the positioning radar 82 relative to the mobile robot 8 (specifically, the vehicle body part of the mobile robot 8) can be calculated.

[0084] Based on the above method, the conversion between the positioning radar 82 coordinate system and the mobile robot 8 coordinate system can be realized, and the calibration operation of the positioning radar 82 can be completed in a software and hardware combined, high-precision and high-efficiency manner. The deviation between the path planning parameters and the actual pose of the mobile robot 8 is eliminated, the risk of collision between the mobile robot 8 and the obstacle is reduced, and the autonomous navigation accuracy is improved.

[0085] Optionally, step S5 comprises:

[0086] S51, the fourth pose information is calculated by the following coordinate system conversion formula:

[0087]

[0088] wherein, the fourth pose information is the first pose information is the third pose information is the second pose information is.

[0089] The embodiment shows a specific algorithm for calculating the unknown quantity (the fourth pose information) according to three known quantities based on the closed-loop relationship of the first pose information, the second pose information, the third pose information and the fourth pose information; wherein the first pose information can be a coordinate conversion relationship of the target feature code 2 in the vehicle body coordinate system of the mobile robot 8 in the form of a matrix, the second pose information can be a coordinate conversion relationship of the target obstacle 3 coordinate system in the positioning radar 82 coordinate system in the form of a matrix, the third pose information can be a coordinate conversion relationship of the target feature code 2 in the target obstacle 3 coordinate system in the form of a matrix, and the fourth pose information can be a coordinate conversion relationship of the positioning radar 82 coordinate system and the mobile robot 8 vehicle body coordinate system in the form of a matrix; is an inverse matrix of the matrix corresponding to the third pose information, is an inverse matrix of the matrix corresponding to the second pose information.

[0090] Correspondingly, referring to Figure 8 The embodiment of the present application also provides a laser radar calibration device, which comprises:

[0091] The traveling module 10 is used for controlling the mobile robot 8 to enter the calibration platform 1.

[0092] The reading module 20 is used for reading the target feature code 2 by the feature code sensing device 81 on the mobile robot 8 when the mobile robot 8 travels above the target feature code 2, so as to obtain the first pose information of the mobile robot 8 relative to the target feature code 2.

[0093] The acquisition module 30 is used for emitting target laser to the target obstacle 3 by the positioning radar 82 on the mobile robot 8, so as to obtain a point cloud data set of the target laser on the target obstacle 3, and then obtain the second pose information of the positioning radar 82 relative to the target obstacle 3 according to the point cloud data set.

[0094] The calling module 40 is used for obtaining the third pose information of the target feature code 2 relative to the target obstacle 3.

[0095] The calculation module 50 is used for calculating the fourth pose information of the positioning radar 82 relative to the mobile robot 8 based on the coordinate conversion relationship among the first pose information, the second pose information and the third pose information.

[0096] Correspondingly, the present application also provides a computer readable storage medium, which stores a laser radar calibration program, and the laser radar calibration program is executed by a processor to realize the steps of the above laser radar calibration method.

[0097] In the present embodiment, the computer readable storage medium can include, but is not limited to, any type of disk (including floppy disks, hard disks, optical disks, CD-ROMs, and magneto-optical disks), ROM (Read-Only Memory), RAM (Random Access Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic cards or optical cards, and various media capable of storing program codes.

[0098] The laser radar calibration device, the laser radar calibration system, and the computer readable storage medium can be configured to correspond to the laser radar calibration method, and the specific steps of the laser radar calibration method can refer to the above embodiments. Since the laser radar calibration device, the laser radar calibration system, and the computer readable storage medium adopt all the technical solutions corresponding to the above embodiments, they at least have all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one.

[0099] It should be noted that in this document, the terms "comprise", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or system. Without more limitations, the element defined by the statement "comprises a" does not exclude the presence of another identical element in the process, method, article or system that includes the element.

[0100] The above-mentioned serial numbers of the embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0101] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be realized by means of software and necessary general hardware platforms, of course, they can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application or the parts that contribute to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a plurality of instructions for making a terminal device (which can be a mobile phone, computer, server, or network device, etc.) execute the methods described in various embodiments of the present application.

[0102] The above merely describes the preferred embodiments of the present application, and is not intended to limit the patent scope of the present application, and any equivalent structure or equivalent process conversion, or direct or indirect application in other related technical fields, which are made by using the content of the present application specification and drawings, are also included in the patent protection scope of the present application.

Claims

1. A method for calibrating a lidar, applied to a lidar calibration assembly, characterized in that, The laser radar calibration assembly comprises: a calibration platform for carrying the mobile robot to travel; a target feature code arranged on the calibration platform, the target feature code being used for reading by a feature code sensor on the mobile robot; a target obstacle connected to the calibration platform, the target obstacle being used for reflecting target laser emitted by a positioning radar on the mobile robot; The laser radar calibration method comprises the following steps: controlling the mobile robot to enter the calibration platform; when the mobile robot travels above the target feature code, reading the target feature code by the feature code sensor on the mobile robot to obtain first pose information of the mobile robot relative to the target feature code; emitting target laser to the target obstacle by the positioning radar on the mobile robot to obtain a point cloud data set of the target laser on the target obstacle, so as to obtain second pose information of the positioning radar relative to the target obstacle according to the point cloud data set; obtaining third pose information of the target feature code relative to the target obstacle; calculating fourth pose information of the positioning radar relative to the mobile robot based on the coordinate conversion relationship between the first pose information, the second pose information and the third pose information; wherein the first pose information, the second pose information, the third pose information and the fourth pose information form a closed-loop conversion relationship, and the coordinate system of the positioning radar and the coordinate system of the mobile robot form data association.

2. The lidar calibration method of claim 1, wherein, The laser radar calibration assembly further comprises a connecting plate, the target feature code is arranged on the connecting plate by UV printing, and the connecting plate is locked on the calibration platform.

3. The lidar calibration method of claim 2, wherein, The calibration platform has a laser line marking part; the connecting plate has a mark line arranged thereon by UV printing, and the mark line is used for aligning with the laser line marking part; and / or, the target obstacle has a laser cutting feature line arranged thereon, and the laser cutting feature line is used for aligning with the laser line marking part.

4. The lidar calibration method of claim 3, wherein, The laser line marking part comprises intersecting horizontal lines and vertical lines.

5. The lidar calibration method of claim 1, wherein, The laser radar calibration assembly further comprises a foundation fixing seat, the foundation fixing seat has a vertically extending connecting screw rod arranged thereon, the connecting screw rod has a first nut and a second nut screwed thereon, the calibration platform has a connecting through hole, the connecting screw rod is arranged in the connecting through hole, the lower side of the calibration platform is arranged on the first nut, and the second nut is locked on the upper side of the calibration platform; and / or, the laser radar calibration assembly further comprises an inclined table, the high side of the inclined table is connected to the side of the calibration platform, and the inclined table is used for the mobile robot to travel, so that the mobile robot enters the calibration platform through the inclined table. And / or, the target obstacle includes a first wedge and a second wedge; the first wedge has a first inclined surface, the second wedge has a second inclined surface, the first inclined surface and the second inclined surface are perpendicular to the calibration platform, the first inclined surface is arranged to be inclined from a direction away from the second wedge horizontally to a direction close to the target feature code horizontally, and the second inclined surface is arranged to be inclined from a direction away from the first wedge horizontally to a direction close to the target feature code horizontally.

6. The lidar calibration method of claim 1, wherein, The step of calculating the fourth pose information of the positioning radar relative to the mobile robot based on the coordinate system conversion relationship between the first pose information, the second pose information and the third pose information comprises: The fourth pose information is calculated through the following coordinate system conversion formula: wherein, is the fourth pose information, is the first pose information, is the third pose information, is the second pose information.

7. A lidar calibration device for implementing the lidar calibration method according to any one of claims 1 to 6, characterized in that, The laser radar calibration device comprises: The traveling module is configured to control the mobile robot to enter the calibration platform. The reading module is configured to read the target feature code through a feature code sensing device on the mobile robot when the mobile robot travels above the target feature code, so as to obtain the first pose information of the mobile robot relative to the target feature code. The acquisition module is configured to emit target laser to the target obstacle through the positioning radar on the mobile robot, so as to obtain a point cloud data set of the target laser on the target obstacle, and to obtain the second pose information of the positioning radar relative to the target obstacle according to the point cloud data set. The calling module is configured to obtain the third pose information of the target feature code relative to the target obstacle. The calculation module is configured to calculate the fourth pose information of the positioning radar relative to the mobile robot based on the coordinate conversion relationship between the first pose information, the second pose information and the third pose information.

8. A lidar calibration system, comprising: The laser radar calibration system comprises a memory, a processor and a computer program stored on the memory and executable on the processor, and the computer program is executed by the processor to realize the steps of the laser radar calibration method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a laser radar calibration program, and the laser radar calibration program is executed by the processor to realize the steps of the laser radar calibration method according to any one of claims 1 to 6.

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