Laser radar installation calibration method and device, terminal equipment and computer medium

Abstract

The application discloses a kind of installation calibration method, device, terminal equipment and computer medium of laser radar, comprising: control laser radar scanning device according to the scanning parameter of pre-set and the scanning is carried out to the intelligent robot around to obtain each positive orientation of the intelligent robot each corresponding each radar scanning data, wherein the scanning parameter contains scanning times and scanning range;Each target straight line is obtained based on each radar scanning data each corresponding each positive orientation, and each calibration angle value is determined based on each target straight line;The installation calibration result of the laser radar scanning device is determined based on each calibration angle value, pre-set standard mean threshold and pre-set standard deviation threshold.The present application achieves the technical effect that laser radar scanning device scans the multiple edges of calibration fixture to complete the installation calibration of laser radar scanning device, and improves the accuracy of calibration result.

Description

Technical Field

[0001] This invention relates to the field of intelligent robots, and in particular to a method, apparatus, terminal device, and computer-readable storage medium for installing and calibrating a lidar. Background Technology

[0002] With the development of the intelligent robot industry, lidar scanning devices are playing an increasingly important role in the daily work of intelligent robots. Therefore, the ability to accurately configure lidar scanning devices on intelligent robots has become a crucial aspect of the intelligent robot production process.

[0003] Currently, the process of configuring a LiDAR scanning device for an intelligent robot mainly involves placing the robot on a corresponding calibration fixture, assembling the LiDAR scanning device onto the robot at a preset theoretical installation angle, and then controlling the LiDAR scanning device to scan one side of the calibration fixture and determining whether the angle of the LiDAR device relative to the intelligent robot is a standard angle based on the scanning result. However, this results in the calibration result only referencing one outer edge of the calibration fixture. This leads to the calibration result depending on the accuracy of the target edge of the calibration fixture, and with the increase in the number of calibrations, the calibration fixture itself may deform, thus affecting subsequent calibration results. Summary of the Invention

[0004] This invention provides a method, apparatus, terminal device, and computer-readable storage medium for the installation and calibration of a lidar scanner. The aim is to complete the installation and calibration of the lidar scanner by scanning multiple edges of a calibration fixture, thereby improving the accuracy of the calibration results.

[0005] This invention provides a method for installing and calibrating a lidar, the method comprising the following steps:

[0006] The laser radar scanning device is controlled to scan the area around the intelligent robot according to preset scanning parameters to obtain the radar scanning data corresponding to each frontal orientation of the intelligent robot. The scanning parameters include the number of scans and the scanning range.

[0007] Based on the radar scanning data, the straight lines of each frontal orientation toward their respective targets are obtained, and the calibration angle values ​​are determined based on the straight lines of each target.

[0008] The installation calibration result of the lidar scanning device is determined based on the calibration angle values, the preset standard mean threshold, and the preset standard variance threshold.

[0009] Further, the step of controlling the lidar scanning device to scan the area around the intelligent robot according to preset scanning parameters to obtain the radar scanning data corresponding to each frontal orientation of the intelligent robot includes:

[0010] The laser radar scanning device is controlled to acquire distance data and angle data corresponding to each of the frontal orientations according to the scanning parameters. The distance data and angle data are the distance and angle between the intelligent robot and each point on the boundary of the calibration fixture.

[0011] Each of the distance data and the corresponding angle data is combined to obtain each of the radar scan data.

[0012] Further, the step of obtaining the straight lines facing each target from the front based on the radar scan data includes:

[0013] Based on the number of scans, each radar scan data is classified to obtain a data group to be fitted.

[0014] Each of the data sets to be fitted is fitted to obtain the target straight line.

[0015] Furthermore, the step of determining the calibration angle values ​​based on each of the target straight lines includes:

[0016] Perform a vertical rotation operation on each of the target lines to obtain the target transformed lines corresponding to each of the target lines;

[0017] Calculate the target angle difference data between the target transformation line and the frontal orientation, and mark the target angle difference data as the calibration angle value.

[0018] Furthermore, the installation calibration result includes calibration failure. The step of determining the installation calibration result of the lidar scanning device based on each calibration angle value, a preset standard mean threshold, and a preset standard variance threshold includes:

[0019] Determine the calibration mean and calibration variance values ​​corresponding to each of the calibration angle values;

[0020] The calibration mean value is compared with the standard mean threshold to obtain a first comparison result. When the first comparison result is that the calibration mean value is greater than the standard mean threshold, the calibration result is determined to be a calibration failure.

[0021] and / or;

[0022] The calibration variance value is compared with the standard variance threshold to obtain a second comparison result. When the second comparison result shows that the calibration variance value is greater than the standard variance threshold, the calibration result is determined to be a calibration failure.

[0023] Furthermore, the installation calibration result also includes successful calibration. The step of determining the installation calibration result of the lidar scanning device based on each calibration angle value, a preset standard mean threshold, and a preset standard variance threshold further includes:

[0024] When the first comparison result is that the calibration mean value is less than or equal to the standard mean threshold, and the second comparison result is that the calibration variance value is less than or equal to the standard variance threshold, the calibration result is determined to be successful.

[0025] Furthermore, the method also includes:

[0026] Read the preset theoretical installation angle and the edge information of the calibration fixture, and determine the standard mean threshold and the standard variance threshold based on the theoretical installation angle and the edge information.

[0027] Furthermore, to achieve the above objectives, the present invention also provides a lidar installation and calibration device, the device comprising:

[0028] The data acquisition module is used to control the lidar scanning device to scan the area around the intelligent robot according to preset scanning parameters to obtain the radar scanning data corresponding to each frontal orientation of the intelligent robot. The scanning parameters include the number of scans and the scanning range.

[0029] The data calculation module is used to obtain the straight lines of each frontal orientation towards each target based on the radar scanning data, and to determine the calibration angle values ​​based on the target straight lines.

[0030] The result confirmation module is used to determine the installation calibration result of the lidar scanning device based on the calibration angle values, the preset standard mean threshold, and the preset standard variance threshold.

[0031] In addition, to achieve the above objectives, the present invention also provides a terminal device, the terminal device comprising: a memory, a processor, and a laser radar installation and calibration program stored in the memory and executable on the processor, wherein when the laser radar installation and calibration program is executed by the processor, it implements the steps of the laser radar installation and calibration method as described above.

[0032] In addition, to achieve the above objectives, the present invention also provides a computer-readable storage medium storing an installation and calibration program for a lidar, wherein when the lidar installation and calibration program is executed by a processor, it implements the steps of the lidar installation and calibration method described above.

[0033] The present invention provides a method, apparatus, terminal device, and computer-readable storage medium for installing and calibrating a lidar. This method involves controlling a lidar scanning device to scan the area around an intelligent robot according to preset scanning parameters to obtain lidar scanning data corresponding to each frontal orientation of the intelligent robot. The scanning parameters include the number of scans and the scanning range. Based on the lidar scanning data, target lines corresponding to each frontal orientation are obtained, and calibration angle values ​​are determined based on these target lines. Finally, the installation and calibration results of the lidar scanning device are determined based on the calibration angle values, a preset standard mean threshold, and a preset standard variance threshold.

[0034] In this embodiment, the terminal device first places the intelligent robot on the calibration fixture and configures the radar scanning device on the intelligent robot. Then, the terminal device uses the radar scanning device to obtain distance and angle data between each point on the fixture boundary corresponding to the initial frontal orientation of the intelligent robot and the intelligent robot within the scanning range according to the preset scanning parameters and the number of scans included in the scanning parameters. The terminal device combines each distance data and the corresponding angle data to form radar scanning data. Then, the terminal device classifies the acquired radar scanning data according to the number of scans to obtain each data set to be fitted, and inputs each data set to be fitted into the data fitting device built into the terminal device. The data fitting device performs a fitting operation on each data set to be fitted to obtain each target line. The terminal device determines the angle difference value between each target line and the frontal orientation, and marks the angle difference value as the calibration angle value. Finally, the terminal device determines whether the installation and calibration result of the lidar scanning device is successful or unsuccessful based on each calibration angle value, a preset standard mean threshold, and a preset standard variance threshold.

[0035] Thus, this invention acquires radar data from different orientations by controlling a lidar scanning device, constructs target lines corresponding to each orientation based on the radar data, determines the calibration angle value of the lidar scanning device relative to the intelligent robot based on the target lines, and finally determines the installation calibration result of the lidar scanning device based on each calibration angle value, a preset standard mean threshold, and a standard variance threshold. This achieves the technical effect of enabling the lidar scanning device to scan multiple edges of the calibration fixture to complete the installation calibration of the lidar scanning device and improve the accuracy of the calibration results. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the structure of the terminal device in the hardware operating environment involved in the embodiments of the present invention;

[0037] Figure 2 This is a flowchart illustrating the first embodiment of the installation and calibration method for the lidar of the present invention.

[0038] Figure 3 This is a detailed flowchart illustrating step S10 of an embodiment of the installation and calibration method for the lidar of the present invention.

[0039] Figure 4 This is a detailed flowchart illustrating step S30 of an embodiment of the lidar installation and calibration method of the present invention;

[0040] Figure 5 This is a schematic diagram of the functional modules involved in an embodiment of the installation and calibration method for the lidar of the present invention.

[0041] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0042] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0043] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the terminal device structure of the hardware operating environment involved in the embodiments of the present invention.

[0044] The terminal device of this invention is for fixing a lidar scanning device on an intelligent robot, and the terminal device should be equipped with a calibration fixture.

[0045] like Figure 1As shown, the terminal device may 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 enable communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0046] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the terminal device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0047] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a data storage module, a network communication module, a user interface module, and an installation and calibration program for the lidar.

[0048] exist Figure 1 In the terminal 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 and the memory 1005 in the terminal device of the present invention can be set in the terminal device. The terminal device calls the installation and calibration program of the lidar stored in the memory 1005 through the processor 1001 and executes the installation and calibration method of the lidar provided in the embodiment of the present invention.

[0049] Based on the aforementioned terminal equipment, various embodiments of the installation and calibration method for the lidar of the present invention are provided.

[0050] Please refer to Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of a lidar installation and calibration method according to the present invention.

[0051] It should be understood that although the logical order is shown in the flowchart, in some cases, the installation and calibration method of the lidar of the present invention may of course be performed in a different order than that shown or described here.

[0052] The installation and calibration method for a lidar according to embodiments of the present invention is applied to an intelligent robot equipped with a lidar scanning device. The installation and calibration method for a lidar according to the present invention may include the following steps:

[0053] Step S10: Control the lidar scanning device to scan around the intelligent robot according to preset scanning parameters to obtain the radar scanning data corresponding to each frontal orientation of the intelligent robot. The scanning parameters include the number of scans and the scanning range.

[0054] In this embodiment, when the terminal device is running, it first places the intelligent robot on the calibration fixture and configures the radar scanning device on the intelligent robot. Then, the terminal device controls the radar scanning device to emit lasers according to preset scanning parameters to obtain the distance data and angle data between the intelligent robot and each point on the edge of the calibration fixture corresponding to each frontal orientation of the intelligent robot. The terminal device combines the distance data and angle data into radar scanning data.

[0055] For example, when the terminal device is running, it first places the intelligent robot to be installed on a rectangular calibration fixture on the terminal device, and controls the front of the intelligent robot to be perpendicular to one side of the calibration fixture. Simultaneously, the terminal device reads from the storage device to obtain the theoretical installation angle pre-stored by the developer, and installs the LiDAR scanning device on the intelligent robot according to this theoretical installation angle. Then, the terminal device enters the installation calibration mode. In this mode, the terminal device controls the laser emitting unit within the LiDAR scanning device to emit laser light towards the front of the intelligent robot, and scans within a preset range. The system acquires distance and angle data between each point on the edge of the calibration fixture within a range of -30° to the left and +30° to the right of the frontal orientation and the intelligent robot. Then, the intelligent robot acquires the distance and angle data within the scanning range multiple times according to a preset number of scans. Finally, the terminal device adjusts the frontal orientation of the intelligent robot clockwise to 90°, 180°, and 270° positions of the initial frontal orientation, and acquires the distance and angle data corresponding to each frontal orientation position again. The terminal device combines the distance and angle data corresponding to each frontal orientation to form radar scan data.

[0056] It should be noted that, in this embodiment, the scanning parameters mentioned above are set by the developer during the process of configuring the lidar scanning device on the intelligent robot. They mainly include the scanning range and number of scans of the lidar scanning device, and may also include other parameters such as the scanning order of the lidar scanning device. The various frontal orientations of the intelligent robot are also preset by the developer in the above process. In addition to the initial frontal orientation and the 90°, 180° and 270° positions adjusted clockwise to the initial frontal orientation mentioned in this embodiment, the frontal orientation of the intelligent robot can also be set differently according to different calibration fixtures and different lidar scanning devices. The installation and calibration method of the lidar in this invention does not limit this.

[0057] Further, please refer to Figure 3 , Figure 3 This is a detailed flowchart illustrating step S10 of an embodiment of the lidar installation and calibration method of the present invention. In one feasible embodiment, step S10 may specifically include:

[0058] Step S101: Control the lidar scanning device to acquire distance data and angle data corresponding to each of the frontal orientations according to the scanning parameters, wherein each of the distance data and angle data is: the distance and angle between each point on the boundary of the intelligent robot and the calibration fixture;

[0059] In this embodiment, the terminal device first reads the storage module to obtain the scanning parameters pre-stored by the developer. The terminal device controls the aforementioned laser radar scanning device to perform multiple scans of the preset range of the frontal orientation of the intelligent robot according to the scanning parameters, thereby obtaining the distance data and angle data between each point on the edge of the calibration fixture and the intelligent robot within the scanning range.

[0060] Step S102: Combine each of the distance data and the angle data corresponding to each of the distance data to obtain each of the radar scan data;

[0061] In this embodiment, the terminal device inputs the acquired distance data and angle data to the data processing device installed in the terminal device. The data processing device combines the distance data and angle data corresponding to the same edge point and the same number of scans into a radar scan data.

[0062] For example, the terminal device first reads the storage device to obtain the scanning parameters pre-stored by the developer, and determines the scanning range and number of scans in the scanning parameters. When the scanning range value is 30, it means that the LiDAR scanning device is controlled to scan the intelligent robot's frontal orientation within a range of ±30°. When the number of scans is 5, it means that the LiDAR scanning device is controlled to repeat the scan range 5 times. The terminal device controls the LiDAR scanning device to obtain the distance data and angle data between each point on the edge of the calibration fixture within the scanning range and the intelligent robot according to the number of scans. Then, the terminal device inputs the distance data and angle data into the data processing device built into the terminal device. The data processing device combines the distance data and the angle data corresponding to each distance data to obtain the radar scanning data.

[0063] Step S20: Based on the radar scanning data, obtain the straight lines of each frontal orientation towards the corresponding target, and determine the calibration angle values ​​based on each target straight line;

[0064] In this embodiment, the terminal device inputs the acquired radar scan data into its built-in data processing device. The data processing device classifies the radar scan data based on the scan number in the scan parameters, thereby combining radar scan data with the same scan number into a fitting data group. Then, based on each fitting data group and the scan number, the terminal device determines the target line corresponding to the frontal orientation. The terminal device inputs each target line into its built-in angle calculation device, which calculates the calibration angle values ​​based on each target line.

[0065] For example, the terminal device inputs the acquired radar scan data into a data processing device. The data processing device first reads the scan parameters and determines the number of scans based on the scan parameters. The data processing device then classifies the radar scan data based on the number of scans to group radar scan data corresponding to the same number of scans into a data set to be fitted. That is, when the number of scans is equal to 5, the data processing device classifies the radar scan data into 5 data sets to be fitted. At the same time, the data processing device calls the built-in data fitting unit to perform fitting operations on the angle data and distance data in each data set to be fitted using the least squares method to obtain the target line corresponding to each number of scans. After that, the terminal device inputs each target line into the angle calculation device built into the terminal device, and the angle calculation device obtains the calibration angle values ​​based on each target line.

[0066] Furthermore, in a feasible embodiment, the step S20 above, "obtaining the straight lines facing each target from the front based on the radar scanning data," may specifically include:

[0067] Step S201: Classify each radar scan data according to the number of scans to obtain each data group to be fitted;

[0068] In this embodiment, the terminal device inputs the acquired radar scan data and scan parameters to the data fitting device within the terminal device. The data fitting device determines the target radar scan data corresponding to each scan number in each radar scan data, and combines the distance data and angle data contained in each target radar scan data into each data set to be fitted.

[0069] Step S202: Perform a fitting operation on each of the data sets to be fitted to obtain each of the target lines;

[0070] In this embodiment, the terminal device uses a data fitting device to perform least squares fitting on each distance value and each angle value contained in each of the above-mentioned data sets to be fitted to obtain each target line corresponding to each data set to be fitted.

[0071] For example, the terminal device inputs the acquired radar scan data, frontal orientation data, and scan counts into a data fitting device within the terminal device. The data fitting device determines the radar scan data corresponding to the initial frontal orientation data, 90° frontal orientation data, 180° frontal orientation data, and 270° frontal orientation data. Based on the scanning technology, it combines the distance data and angle data contained in each target radar scan data to obtain each set of data to be fitted corresponding to each scan count. Then, the terminal device performs least squares calculations on the distance values ​​and angle values ​​contained in each set of data to be fitted to obtain the target straight lines corresponding to each scan count for the initial frontal orientation data, 90° frontal orientation data, 180° frontal orientation data, and 270° frontal orientation data.

[0072] Furthermore, in a feasible embodiment, the step of "determining each calibration angle value based on each of the target straight lines" in step S20 above may specifically include:

[0073] Step S203: Perform a vertical rotation operation on each of the target lines to obtain the target transformed lines corresponding to each of the target lines;

[0074] In this embodiment, the terminal device inputs the acquired target lines into the angle calculation device built into the terminal device, and the angle calculation device performs a vertical rotation operation on each target line to obtain the target transformation line corresponding to each target line.

[0075] Step S204: Calculate the target angle difference data between the target transformation line and the frontal orientation, and mark the target angle difference data as the calibration angle value;

[0076] In this embodiment, the terminal device calculates the target angle difference data between the target transformation line and the frontal orientation using the angle calculation device, and marks the angle difference data as the calibration angle value.

[0077] For example, the terminal device inputs the acquired target lines into the angle calculation device built into the terminal device. The angle calculation device performs a 90° vertical rotation operation on each target line to obtain the target transformation lines corresponding to the initial frontal orientation, 90° frontal orientation, 180° frontal orientation, and 270° frontal orientation. Then, the angle calculation device calculates the target angle difference data between each target transformation line and the frontal orientation corresponding to each target transformation line, and marks each target angle difference data as the aforementioned calibration angle value.

[0078] Step S30: Determine the installation calibration result of the lidar scanning device based on the calibration angle values, the preset standard mean threshold, and the preset standard variance threshold;

[0079] In this embodiment, the terminal device reads the storage module to obtain the standard mean threshold and standard variance threshold pre-stored by the developer. Simultaneously, the terminal device inputs each calibration angle value to the data calculation device, which calculates the calibration mean value and calibration variance value corresponding to each calibration angle value. Then, based on the first comparison result between the calibration mean value and the standard mean threshold, and the second comparison result between the calibration variance value and the standard variance threshold, the terminal device determines the calibration result between the laser radar device and each edge of the calibration fixture, and further determines whether the installation calibration result of the laser radar scanning device is successful or unsuccessful.

[0080] For example, the terminal device reads from the storage module to obtain the standard mean threshold and standard deviation threshold corresponding to the initial frontal orientation, the 90° frontal orientation, the 180° frontal orientation, and the 270° frontal orientation, which are pre-stored by the developer. Simultaneously, the terminal device inputs the calibration angle values ​​corresponding to each of the initial frontal orientation, the 90° frontal orientation, the 180° frontal orientation, and the 270° frontal orientation to the data calculation device. The data calculation device calculates the calibration mean value and calibration variance value corresponding to each calibration angle value. Then, the terminal device compares the calibration mean value corresponding to each of the initial frontal orientation, the 90° frontal orientation, the 180° frontal orientation, and the 270° frontal orientation with the standard mean threshold to obtain a first comparison result, and compares the calibration variance value with the standard variance threshold to obtain a second comparison result. Finally, based on the first comparison result and the second comparison result, the terminal device determines whether the installation calibration result of the lidar scanning device is successful or unsuccessful.

[0081] For further details, please refer to Figure 4 , Figure 4 This is a detailed flowchart illustrating step S30 of an embodiment of the lidar installation and calibration method of the present invention. In one feasible embodiment, step S30 may specifically include:

[0082] Step S301: Determine the calibration mean value and calibration variance value corresponding to each calibration angle value;

[0083] In this embodiment, the terminal device inputs the obtained calibration angle values ​​to the data calculation device, which calculates the mean of each calibration angle value to obtain the calibration mean value and calculates the variance of each calibration angle value to obtain the calibration variance value.

[0084] Step S302: Compare the calibrated mean value with the standard mean threshold to obtain a first comparison result. When the first comparison result is that the calibrated mean value is greater than the standard mean threshold, determine that the calibration result is a calibration failure.

[0085] In this embodiment, the terminal device inputs the obtained calibration mean value to the data comparison device in the terminal device. The data comparison device compares the calibration mean value with the standard mean threshold to obtain a first comparison result. When the terminal device determines that the calibration mean value is greater than the standard mean threshold, the terminal device determines that the installation calibration result of the laser radar scanning device is a calibration failure.

[0086] Step S303: Compare the calibration variance value with the standard deviation threshold to obtain a second comparison result. When the second comparison result is that the calibration variance value is greater than the standard deviation threshold, determine that the calibration result is a calibration failure.

[0087] In this embodiment, the terminal device inputs the obtained calibration variance value to the data comparison device in the terminal device. The data comparison device compares the calibration variance value with the standard variance threshold to obtain a second comparison result. When the terminal device determines that the second comparison result is that the calibration variance value is greater than the standard variance threshold, the terminal device determines that the installation calibration result of the lidar scanning device is a calibration failure.

[0088] For example, the terminal device inputs the calibration angle values ​​corresponding to the initial frontal orientation, the 90° frontal orientation, the 180° frontal orientation, and the 270° frontal orientation to the data calculation device. The data calculation device calculates the calibration mean value and calibration variance value corresponding to each frontal orientation according to the different frontal orientations. Then, the terminal device inputs the calibration mean value and calibration variance value to the data comparison device. The data comparison device compares the calibration mean value corresponding to each frontal orientation with the standard mean threshold value corresponding to each frontal orientation to obtain the first comparison result. When the terminal device determines that the calibration value is greater than the standard mean threshold value in the first comparison result, the terminal device determines that the installation calibration result of the laser radar scanning device is a calibration failure.

[0089] And / or,

[0090] The data comparison device compares the calibration variance value corresponding to each frontal orientation with the standard variance threshold corresponding to each frontal orientation to obtain a second comparison result. When the terminal device determines that the calibration variance value is greater than the standard variance threshold in the second comparison result, the terminal device determines that the installation calibration result of the above-mentioned lidar scanning device is a calibration failure.

[0091] Furthermore, in a feasible embodiment, step S30 above may further include:

[0092] Step S304: When the first comparison result is that the calibration mean value is less than or equal to the standard mean threshold, and the second comparison result is that the calibration variance value is less than or equal to the standard variance threshold, the calibration result is determined to be successful.

[0093] For example, the data comparison device in the terminal device compares the calibration mean value corresponding to each front orientation with the standard mean threshold value corresponding to each front orientation to obtain each first comparison result, and compares the calibration variance value corresponding to each front orientation with the standard variance threshold value corresponding to each front orientation to obtain each second comparison result. When the terminal device determines that the calibration value is less than or equal to the standard mean threshold value in the first comparison result and the calibration variance value is less than or equal to the standard variance threshold value in the second comparison result, the terminal device determines that the installation calibration result of the above-mentioned lidar scanning device is calibrated successfully.

[0094] Furthermore, in a feasible embodiment, the installation and calibration method of the lidar of the present invention may further include:

[0095] Step A10: Read the preset theoretical installation angle and the edge information of the calibration fixture, and determine the standard mean threshold and the standard variance threshold based on the theoretical installation angle and the edge information;

[0096] For example, the terminal device reads the storage device to obtain the standard installation angle between the aforementioned LiDAR scanning device and the intelligent robot, which is pre-stored by the developer, and determines the standard installation angle as the aforementioned theoretical installation angle. At the same time, the terminal device reads the edge information of the aforementioned calibration fixture. Then, the terminal device inputs the theoretical installation angle and the edge information into the angle calculation device within the terminal device. The angle calculation device determines the fluctuation range of the theoretical installation angle based on the edge information, and then determines the aforementioned standard mean threshold and the aforementioned standard variance threshold based on the fluctuation range.

[0097] In this embodiment, when the terminal device is running, it first places the intelligent robot on the calibration fixture and configures the radar scanning device on the intelligent robot. Then, the terminal device controls the radar scanning device to emit lasers according to preset scanning parameters to obtain distance data and angle data between the intelligent robot and each point on the edge of the calibration fixture corresponding to each frontal orientation. The terminal device combines each distance data and each angle data into radar scan data. Then, the terminal device inputs the acquired radar scan data into the data processing device built into the terminal device. The data processing device classifies the radar scan data based on the number of scans in the scanning parameters, thereby combining radar scan data with the same number of scans into a fitting data group. Afterward, the terminal device determines the positive... Facing the corresponding target lines, the terminal device inputs each target line into its built-in angle calculation device. The angle calculation device calculates the calibration angle values ​​based on each target line. Finally, the terminal device reads the storage module to obtain the standard mean threshold and standard variance threshold pre-stored by the developer. Simultaneously, the terminal device inputs each calibration angle value into the data calculation device, which calculates the calibration mean value and calibration variance value corresponding to each calibration angle value. Then, based on the first comparison result between the calibration mean value and the standard mean threshold, and the second comparison result between the calibration variance value and the standard variance threshold, the terminal device determines the calibration result between the laser radar device and the edges of the calibration fixture, and further determines whether the installation calibration result of the laser radar scanning device is successful or unsuccessful.

[0098] Thus, this invention acquires radar data from different orientations by controlling a lidar scanning device, constructs target lines corresponding to each orientation based on the radar data, determines the calibration angle value of the lidar scanning device relative to the intelligent robot based on the target lines, and finally determines the installation calibration result of the lidar scanning device based on each calibration angle value, a preset standard mean threshold, and a standard variance threshold. This achieves the technical effect of enabling the lidar scanning device to scan multiple edges of the calibration fixture to complete the installation calibration of the lidar scanning device and improve the accuracy of the calibration results.

[0099] In addition, the present invention also provides a lidar installation and calibration device, please refer to Figure 5 , Figure 5 This is a schematic diagram of the functional modules involved in an embodiment of the installation and calibration method for the lidar of the present invention, as shown below. Figure 5 As shown, the installation and calibration device for the lidar of the present invention includes:

[0100] The data acquisition module 10 is used to control the lidar scanning device to scan the area around the intelligent robot according to preset scanning parameters to obtain the radar scanning data corresponding to each frontal orientation of the intelligent robot. The scanning parameters include the number of scans and the scanning range.

[0101] The data calculation module 20 is used to obtain the straight lines of each frontal orientation towards each target based on the radar scanning data, and to determine the calibration angle values ​​based on the target straight lines.

[0102] The result confirmation module 30 is used to determine the installation calibration result of the lidar scanning device based on the calibration angle values, the preset standard mean threshold, and the preset standard variance threshold.

[0103] Furthermore, the data acquisition module 10 includes:

[0104] The data acquisition unit is used to control the lidar scanning device to acquire distance data and angle data corresponding to each of the frontal orientations according to the scanning parameters, wherein each of the distance data and angle data is the distance and angle between the intelligent robot and each point on the boundary of the calibration fixture;

[0105] A data combination unit is used to combine each of the distance data and the angle data corresponding to each of the distance data to obtain each of the radar scanning data.

[0106] Furthermore, the data computing module 20 includes:

[0107] A data classification unit is used to classify each radar scan data based on the number of scans to obtain each data group to be fitted.

[0108] The data fitting unit is used to perform a fitting operation on each of the data sets to be fitted to obtain each of the target straight lines.

[0109] Furthermore, the data computing module 20 also includes:

[0110] A line transformation unit is used to perform a vertical rotation operation on each of the target lines to obtain the target transformed lines corresponding to each of the target lines.

[0111] An angle calculation unit is used to calculate the target angle difference data between the target transformation line and the frontal orientation, and to mark the target angle difference data as a calibration angle value.

[0112] Furthermore, the installation calibration result includes calibration failure, and the result confirmation module 30 includes:

[0113] An angle processing unit is used to determine the calibration mean value and calibration variance value corresponding to each of the calibration angle values;

[0114] The first comparison unit is used to compare the calibrated mean value with the standard mean threshold to obtain a first comparison result. When the first comparison result is that the calibrated mean value is greater than the standard mean threshold, the calibration result is determined to be a calibration failure.

[0115] The second comparison unit is used to compare the calibration variance value with the standard variance threshold to obtain a second comparison result. When the second comparison result is that the calibration variance value is greater than the standard variance threshold, the calibration result is determined to be a calibration failure.

[0116] Furthermore, the installation calibration result also includes calibration success, and the result confirmation module 30 further includes:

[0117] The third comparison unit is used to determine that the calibration result is successful when the first comparison result is that the calibration mean value is less than or equal to the standard mean threshold and the second comparison result is that the calibration variance value is less than or equal to the standard variance threshold.

[0118] Furthermore, the data acquisition module 10 also includes:

[0119] The threshold calculation unit is used to read the preset theoretical installation angle and the edge information of the calibration fixture, and to determine the standard mean threshold and the standard variance threshold based on the theoretical installation angle and the edge information.

[0120] In addition, the present invention also provides a terminal device having a lidar installation and calibration program that can run on a processor. When the terminal device executes the lidar installation and calibration program, it implements the steps of the lidar installation and calibration method as described in any of the above embodiments.

[0121] The specific embodiments of the terminal device of the present invention are basically the same as the embodiments of the above-described installation and calibration method of lidar, and will not be described in detail here.

[0122] Furthermore, the present invention also provides a computer-readable storage medium storing an installation and calibration program for a lidar, wherein when the lidar installation and calibration program is executed by a processor, it implements the steps of the lidar installation and calibration method as described in any of the above embodiments.

[0123] The specific embodiments of the computer-readable storage medium of this invention are basically the same as the embodiments of the above-described installation and calibration methods for lidar, and will not be described in detail here.

[0124] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0125] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0126] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (for a terminal device that can fix a laser radar scanning device on an intelligent robot, and the terminal device should be equipped with a calibration fixture) to execute the methods described in the various embodiments of the present invention.

[0127] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A method for installing and calibrating a lidar, characterized in that, The installation and calibration method of the lidar includes the following steps: The laser radar scanning device is controlled to scan the area around the intelligent robot according to preset scanning parameters to obtain distance data and angle data corresponding to each frontal orientation of the intelligent robot. The scanning parameters include the number of scans and the scanning range. Each distance data and each angle data is the distance and angle between the intelligent robot and each point on the boundary of the calibration fixture. The distance data and the corresponding angle data are combined to obtain the radar scan data corresponding to each frontal orientation of the intelligent robot. Based on the number of scans, each radar scan data is classified to obtain a data group to be fitted. Each target line is obtained by performing a fitting operation on each of the data sets to be fitted. Perform a vertical rotation operation on each of the target lines to obtain the target transformed lines corresponding to each target line; Calculate the target angle difference data between the target transformation line and the frontal orientation, and mark the target angle difference data as the calibration angle value; The installation calibration result of the lidar scanning device is determined based on the calibration angle values, the preset standard mean threshold, and the preset standard variance threshold.

2. The installation and calibration method for a lidar as described in claim 1, characterized in that, The installation calibration result includes calibration failure. The step of determining the installation calibration result of the lidar scanning device based on each calibration angle value, a preset standard mean threshold, and a preset standard variance threshold includes: Determine the calibration mean and calibration variance values ​​corresponding to each of the calibration angle values; The calibration mean value is compared with the standard mean threshold to obtain a first comparison result. When the first comparison result is that the calibration mean value is greater than the standard mean threshold, the calibration result is determined to be a calibration failure. and / or; The calibration variance value is compared with the standard variance threshold to obtain a second comparison result. When the second comparison result shows that the calibration variance value is greater than the standard variance threshold, the calibration result is determined to be a calibration failure.

3. The installation and calibration method for a lidar as described in claim 2, characterized in that, The installation calibration result also includes successful calibration. The step of determining the installation calibration result of the lidar scanning device based on each calibration angle value, a preset standard mean threshold, and a preset standard variance threshold also includes: When the first comparison result is that the calibration mean value is less than or equal to the standard mean threshold, and the second comparison result is that the calibration variance value is less than or equal to the standard variance threshold, the calibration result is determined to be successful.

4. The installation and calibration method for a lidar as described in claim 1, characterized in that, The method further includes: Read the preset theoretical installation angle and the edge information of the calibration fixture, and determine the standard mean threshold and the standard variance threshold based on the theoretical installation angle and the edge information.

5. A calibration and installation device for a lidar, characterized in that, The device includes: The data acquisition module controls the lidar scanning device to scan the area around the intelligent robot according to preset scanning parameters to obtain distance data and angle data corresponding to each frontal orientation of the intelligent robot. The scanning parameters include the number of scans and the scanning range. Each distance and angle data represents the distance and angle between the intelligent robot and each point on the boundary of the calibration fixture. The module combines the distance data with the corresponding angle data to obtain the lidar scan data corresponding to each frontal orientation of the intelligent robot. The data calculation module is used to classify each radar scan data based on the number of scans to obtain each data group to be fitted; to perform a fitting operation on each data group to be fitted to obtain each target line; to perform a vertical rotation operation on each target line to obtain the target transformation line corresponding to each target line; to calculate the target angle difference data between the target transformation line and the frontal orientation, and to mark the target angle difference data as a calibration angle value. The result confirmation module is used to determine the installation calibration result of the lidar scanning device based on the calibration angle values, the preset standard mean threshold, and the preset standard variance threshold.

6. A terminal device, characterized in that, The terminal device includes: a memory, a processor, and a lidar installation and calibration program stored in the memory and executable on the processor. When the lidar installation and calibration program is executed by the processor, it implements the steps of the lidar installation and calibration method as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores an installation and calibration program for a lidar, which, when executed by a processor, implements the steps of the lidar installation and calibration method as described in any one of claims 1 to 4.

Images