LiDAR emission angle calibration method and device

Abstract

This disclosure provides a method and apparatus for calibrating the emission angle of a lidar, relating to the field of autonomous driving technology, specifically lidar calibration technology. One specific embodiment of the method includes: controlling a rotating module to drive the lidar to scan along a preset trajectory, obtaining a first light spot generated on a light-receiving plate; recording a first angle at which the motor of the rotating module is positioned when the first light spot is on the light-receiving plate; determining the emission angle of the lidar based on the first angle; and calibrating based on the emission angle of the lidar. This embodiment can eliminate the problem of inaccurate ranging caused by lidar emission angle errors.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving technology, specifically to the field of lidar calibration technology. Background Technology

[0002] LiDAR is one of the core sensors for autonomous driving, capable of accurately outputting the distance and orientation information of targets. In high-level autonomous driving applications, the detection accuracy of LiDAR largely determines the perception accuracy. The data output by LiDAR includes the distance value, horizontal angle, and vertical angle of the measured point, which are used to reconstruct the three-dimensional coordinates of the measured point. During production, the angles of LiDAR are preset. However, due to manufacturing errors and time drift, there may be deviations between the actual and theoretical angle values. If theoretical values ​​are used when reconstructing the point cloud from orientation and distance, the accuracy of the point cloud will decrease, thus affecting the detection accuracy of the LiDAR.

[0003] LiDAR emission angle calibration refers to the process of accurately calibrating the horizontal and vertical angles of a LiDAR when emitting laser signals. By calibrating the emission angle, the coordinates of the point cloud data acquired by the LiDAR in space can be made more precise, improving the performance of the LiDAR in applications such as 3D measurement, target detection, and environmental perception. Traditional methods often use manual alignment and calibration, which is difficult to automate in batches and whose accuracy is hard to guarantee. Summary of the Invention

[0004] This disclosure presents a method and apparatus for calibrating the emission angle of a lidar.

[0005] In a first aspect, embodiments of this disclosure propose a method for calibrating the emission angle of a lidar, comprising: controlling a rotation module to drive the lidar to scan along a preset trajectory to obtain a first light spot generated on a light-receiving plate; recording the first angle at which the motor of the rotation module is located when the first light spot is on the light-receiving plate; determining the emission angle of the lidar based on the first angle; and calibrating based on the emission angle of the lidar.

[0006] Secondly, this disclosure provides a lidar emission angle calibration device, comprising: a control module configured to control a rotation module to drive the lidar to scan along a preset trajectory to obtain a first light spot generated on a light-receiving plate; a recording module configured to record the first angle at which the motor of the rotation module is located when the first light spot is on the light-receiving plate; a determination module configured to determine the emission angle of the lidar based on the first angle; and a calibration module configured to perform calibration based on the emission angle of the lidar.

[0007] Thirdly, embodiments of this disclosure provide an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform a method as described in any implementation of the first aspect.

[0008] Fourthly, embodiments of this disclosure provide a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform a method as described in any implementation of the first aspect.

[0009] Fifthly, embodiments of this disclosure provide a computer program product, including a computer program that, when executed by a processor, implements the method as described in any of the implementations of the first aspect.

[0010] The lidar emission angle calibration method provided in this disclosure can be used for automatic calibration of the emission angle during lidar production or during lidar use, thereby eliminating the problem of inaccurate ranging caused by lidar emission angle errors.

[0011] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0012] Other features, objects, and advantages of this disclosure will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings. The drawings are provided for a better understanding of the invention and are not intended to limit the scope of this disclosure. Wherein:

[0013] Figure 1 This is a schematic diagram of the structure of a lidar emission angle calibration device;

[0014] Figure 2 This is a schematic diagram of the central anchor point;

[0015] Figure 3 This is a schematic diagram showing the origin of the light spot coinciding with the central anchor point;

[0016] Figure 4 This is a flowchart of an embodiment of the lidar emission angle calibration method according to the present disclosure;

[0017] Figure 5 This is a schematic diagram of a vertical zig-zag scan;

[0018] Figure 6This is a flowchart of yet another embodiment of the lidar emission angle calibration method according to the present disclosure;

[0019] Figure 7 This is a flowchart of another embodiment of the lidar emission angle calibration method according to the present disclosure;

[0020] Figure 8 This is a schematic diagram of a structure of an embodiment of the lidar emission angle calibration device according to the present disclosure;

[0021] Figure 9 This is a block diagram of an electronic device used to implement the lidar emission angle calibration method of the embodiments of this disclosure. Detailed Implementation

[0022] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0023] It should be noted that, unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other. This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0024] Figure 1 A schematic diagram of the laser radar emission angle calibration device is shown.

[0025] like Figure 1 As shown, the lidar emission angle calibration device may include a visual recognition box 100, a controller 200, and an emission angle adjustment device 300.

[0026] The lidar 400 can be mounted on the emission angle adjustment device 300 to fix the lidar 400, thereby ensuring the stability and accuracy of the equipment during the angle calibration process.

[0027] The visual recognition box 100 may include a light-receiving plate 110, a camera 120, and a housing 130.

[0028] The light-receiving plate 110 can be used to receive the laser emitted by the lidar 400 and generate a light spot on it. The light-receiving plate 110 has a central anchor point located at its center. Figure 2 As shown, a schematic diagram of the central anchor point is presented. The light-receiving plate 110 is rectangular, and the central anchor point is located at the center of the rectangle.

[0029] The camera 120 can be used to capture images of the light-receiving plate 110 and send the images of the light-receiving plate 110 to the controller 200.

[0030] The housing 130 can be used to support the light-receiving plate 110. Furthermore, the camera 120 can be mounted inside the housing 130 with its lens facing the light-receiving plate 110 to capture images of the light-receiving plate 110.

[0031] The controller 200 can be used to determine the distance deviation between the origin of the light spot and the center anchor point on the image of the light receiving plate 110, and control the emission angle adjustment device 300 to adjust the emission angle of the lidar 400 until the distance deviation is less than a preset distance deviation threshold. The preset distance deviation threshold is typically 0, meaning the origin of the light spot coincides with the center anchor point. Figure 3 As shown, it illustrates a schematic diagram where the origin of the light spot coincides with the central anchor point.

[0032] The controller 200 may include, but is not limited to, controllers based on various architectures such as FPGA (Field Programmable Gate Array), CPLD (Complex Programmable Logic Device), ARM (Advanced RISC Machines), MCU (Microcontroller Unit), and x86.

[0033] The controller 200 is communicatively connected to the camera 120 of the vision recognition box 100. The camera 120 captures images of the light receiving plate 110 and can send them to the controller 200, thereby facilitating the controller 200 to determine the distance deviation between the origin of the light spot and the center anchor point.

[0034] The emission angle adjustment device 300 is communicatively connected to the controller 200 and can adjust the emission angle of the lidar 400 under the control of the controller 200. Typically, under the control of the controller 200, each time the emission angle of the lidar 400 is adjusted, the emission angle adjustment device 300 calculates the distance deviation between the origin of the light spot and the center anchor point, and then controls the emission angle adjustment device 300 to adjust the emission angle of the lidar 400 again to further reduce the distance deviation. After multiple adjustments, the distance deviation is reduced until it is less than a preset distance deviation threshold.

[0035] The launch angle adjustment device 300 may include a driver 310, a first rotation module 320, a second rotation module 330, a first bracket 340, a second bracket 350, a support device 360, and a gyroscope module 370.

[0036] The driver 310 can be used to drive the first rotation module 320 and the second rotation module 330 to rotate. The first rotation module 320 and the second rotation module 330 are equipped with motors, and the driver 310 drives the motors to realize the rotation of the first rotation module 320 and the second rotation module 330.

[0037] The first rotation module 320 can be used to drive the lidar 400 to rotate in the horizontal direction, so that the lidar 400 can perform left and right scanning of the laser beam.

[0038] The second rotation module 330 can be used to drive the lidar 400 to rotate in the pitch direction, so that the lidar 400 can perform up and down scanning of the laser beam.

[0039] The first bracket 340 can be mechanically connected to the second rotating module 330, and the lidar 400 is mounted on the first bracket 340 to fix the lidar 400, thereby ensuring the stability and accuracy of the equipment during the angle calibration process.

[0040] The second bracket 350 can be mechanically connected to the first rotating module 320 and the second rotating module 330.

[0041] The gyroscope module 370 can be mounted on the first bracket 340 together with the lidar 400. It measures the angular deviation between the mounting plane of the lidar 400 and the horizontal plane and sends the measurement data to the controller 200. The controller 200 can control the driver 310 to extend or retract the support device 360 ​​until the angular deviation is less than a preset angular deviation threshold. The preset angular deviation threshold is typically 0, meaning the mounting plane of the lidar 400 is horizontal.

[0042] The support device 360 ​​can be used to support components of the emission adjustment device 300 and level the mounting plane of the lidar 400. The support device 360 ​​may include a first leg 361, a second leg 362, and a third leg 363. A first telescopic module may be installed on the first leg 361 for adjusting the length of the first leg 361. A second telescopic module may be installed on the second leg 362 for adjusting the length of the second leg 362.

[0043] The driver 310 can also be used to drive the first telescopic module and the second telescopic module to extend and retract. The first and second telescopic modules are equipped with motors, and the driver 310 drives the motors to achieve the extension and retraction of the first and second telescopic modules.

[0044] Continue to refer to Figure 4 The diagram illustrates a flow 400 of an embodiment of a lidar emission angle calibration method according to the present disclosure. This lidar emission angle calibration method includes the following steps:

[0045] Step 401: Control the rotating module to drive the lidar to scan along a preset trajectory to obtain the first light spot generated on the light receiving plate.

[0046] In this embodiment, the control rotation module drives the lidar to scan along a preset trajectory, which can obtain the first light spot generated on the light receiving plate.

[0047] Typically, the lidar emission angle calibration equipment undergoes system self-testing and initialization, with the motor position of the rotating module being reset to zero. Subsequently, the lidar is powered on, and the rotating module is controlled to drive the lidar to scan along a preset trajectory (such as vertical Zig-Zag scanning), causing the lidar's laser beam to illuminate the laser plate and generate the first light spot.

[0048] The laser radar emission angle calibration equipment may include a vision recognition box, a controller, and an emission angle adjustment device.

[0049] The emission adjustment device may include a rotation module. The rotation module is equipped with a motor, which drives the rotation of the module, thereby causing the lidar to rotate. For example, the rotation module may include a first rotation module and a second rotation module. The first rotation module is equipped with a first motor, which drives the first motor to rotate the module, thereby causing the lidar to rotate horizontally, enabling the lidar to scan the laser beam left and right. The second rotation module is equipped with a second motor, which drives the second motor to rotate the module, thereby causing the lidar to rotate in the pitch direction, enabling the lidar to scan the laser beam up and down.

[0050] Zig-Zag scanning is a LiDAR scanning method used for rapidly acquiring point cloud data. Zig-Zag scanning alternates between horizontal and vertical directions, forming a zigzag scanning path. Figure 5 A schematic diagram of vertical zig-zag scanning is shown.

[0051] The visual recognition box may include a light-receiving plate. The light-receiving plate can be used to receive the laser emitted by the lidar, generating light spots on it. Here, the distribution information of the light spots can be analyzed, and each light spot can be numbered for subsequent processing. The light spot distribution information may include, but is not limited to, the number of light spots, the number of rows and columns, and sparse distribution characteristics, etc.

[0052] Step 402: Record the first angle at which the motor of the rotating module is located when the first light spot is on the light receiving plate.

[0053] In this embodiment, the first angle at which the motor of the rotating module is positioned when the first light spot is on the light-receiving plate is recorded. This first angle is a coarse angle and can be used to guide the calibration of the emission angle.

[0054] Step 403: Determine the emission angle of the lidar based on the first angle.

[0055] In this embodiment, the emission angle of the lidar is determined based on the first angle.

[0056] Because the motor driving the rotating module rotates the lidar, there is a corresponding relationship between the motor's initial angle and the lidar's emission angle. Using this relationship, the initial angle can be converted into the lidar's emission angle. The lidar's emission angle is the angle between the line connecting the first light spot and the lidar's origin, and the x-axis. The x-axis lies in a spatial coordinate system, specifically on a plane parallel to the lidar's mounting plane, originating at the lidar's origin and pointing in a direction with a horizontal angle of α2. α2 is a preset fixed value for the lidar, explicitly marked on its outer casing.

[0057] In some embodiments, the initial angle of the motor of the rotating module is obtained, and the difference between the first angle and the initial angle is calculated as the emission angle of the lidar. For example, if the initial angle of the second motor is α0 and the current angle of the second motor is α1, then α1-α0 is the vertical angle between the line connecting the light spot and the origin of the lidar and the x-axis. If the initial angle of the first motor is β0 and the current angle of the first motor is β1, then β1-β0 is the horizontal angle between the line connecting the light spot and the origin of the lidar and the x-axis.

[0058] It should be noted that lidar is usually leveled before being powered on, so the values ​​of α0 and β0 are usually 0.

[0059] Step 404: Calibrate based on the emission angle of the lidar.

[0060] In this embodiment, calibration is performed based on the emission angle of the lidar. Specifically, calibration is performed on emission angles that meet certain conditions.

[0061] It should be noted that lidar typically has N (N is a positive integer) transmission channels. Starting from the first transmission channel, steps 401-404 are executed to complete the calibration of the first transmission channel. The calibration of the next transmission channel is then performed in the same manner until all N transmission channels are calibrated.

[0062] The lidar emission angle calibration method provided in this disclosure can be used for automatic calibration of the emission angle during lidar production or during lidar use, thereby eliminating the problem of inaccurate ranging caused by lidar emission angle errors.

[0063] Further reference Figure 6The diagram illustrates a flow 600 of another embodiment of the lidar emission angle calibration method according to this disclosure. This lidar emission angle calibration method includes the following steps:

[0064] Step 601: Control the rotating module to drive the lidar to scan along a preset trajectory to obtain the first light spot generated on the light receiving plate.

[0065] Step 602: Record the first angle at which the motor of the rotating module is located when the first light spot is on the light receiving plate.

[0066] In this embodiment, the specific operations of steps 601-602 have been described. Figure 4 The steps 401-402 in the illustrated embodiment are described in detail and will not be repeated here.

[0067] Step 603: Drive the motor of the rotating module to the first angle to obtain the second light spot generated on the light receiving plate.

[0068] In this embodiment, the motor of the rotating module is driven to a first angle to obtain a second light spot generated on the light receiving plate.

[0069] The motor driving the rotating module to the first angle can drive the lidar to rotate, so that the lidar beam falls on the light receiving plate and generates a second light spot on the light receiving plate.

[0070] Step 604: Obtain an image of the light-receiving plate.

[0071] In this embodiment, an image of the light-receiving plate is acquired. The visual recognition box may further include a camera. The camera can be used to capture images of the light-receiving plate.

[0072] Step 605: Calculate the distance deviation between the origin of the second light spot on the image of the light-gathering plate and the center anchor point of the light-gathering plate.

[0073] In this embodiment, the distance deviation between the origin of the second light spot on the image of the light-attracting plate and the center anchor point of the light-attracting plate is calculated.

[0074] Typically, by using an image recognition algorithm to identify the image of the receiving plate, the coordinates of the origin of the second light spot and the coordinates of the center anchor point of the receiving plate can be obtained, and then the distance deviation between the origin of the second light spot and the center anchor point of the receiving plate can be calculated.

[0075] Step 606: Determine whether the distance deviation is less than the preset deviation threshold.

[0076] In this embodiment, it is determined whether the distance deviation is less than a preset deviation threshold. If the distance deviation is less than the preset deviation threshold, step 608 is executed; if the distance deviation is not less than the preset deviation threshold, step 607 is executed. The preset distance deviation threshold is typically 0, meaning the origin of the light spot coincides with the center anchor point.

[0077] Step 607: Drive the rotation module until the distance deviation is less than the preset distance deviation threshold.

[0078] In this embodiment, if the distance deviation is not less than a preset deviation threshold, the rotation module is driven to rotate the lidar, reducing the distance deviation between the origin of the light spot and the center anchor point until the distance deviation is less than the preset distance deviation threshold.

[0079] Step 608: Record the second angle currently held by the motor of the rotating module.

[0080] In this embodiment, if the distance deviation is less than a preset deviation threshold, the second angle currently occupied by the motor of the rotating module is recorded. Since it has been calibrated, the second angle is a fine angle.

[0081] Step 609: Determine the emission angle of the lidar based on the second angle.

[0082] In this embodiment, the emission angle of the lidar is determined based on the second angle.

[0083] Because the motor driving the rotating module rotates the lidar, there is a corresponding relationship between the second angle of the motor and the lidar's emission angle. Using this relationship, the second angle can be converted into the lidar's emission angle. The lidar's emission angle is the angle between the line connecting the second light spot and the lidar's origin, and the x-axis. The x-axis lies in a spatial coordinate system, specifically on a plane parallel to the lidar's mounting plane, originating from the lidar's origin and pointing in a direction with a horizontal angle of α2. α2 is a preset fixed value for the lidar, explicitly marked on its outer casing.

[0084] In some embodiments, the initial angle of the rotating module's motor is obtained, and the difference between the second angle and the initial angle is calculated as the emission angle of the lidar. For example, if the initial angle of the second motor is α0 and the current angle of the second motor is α1, then α1-α0 is the vertical angle between the line connecting the light spot and the lidar origin and the x-axis. If the initial angle of the first motor is β0 and the current angle of the first motor is β1, then β1-β0 is the horizontal angle between the line connecting the light spot and the lidar origin and the x-axis.

[0085] It should be noted that lidar is usually leveled before being powered on, so the values ​​of α0 and β0 are usually 0.

[0086] Step 610: Determine whether the launch angle is within the preset angle range.

[0087] In this embodiment, it is determined whether the emission angle is within a preset angle range. If the emission angle is within the preset angle range, step 611 is executed; if the emission angle is outside the preset angle range, step 612 is executed.

[0088] Step 611: Write the emission angle as a correction parameter into the lidar.

[0089] In this embodiment, if the emission angle is within a preset angle range, the emission angle is written into the lidar as a correction parameter.

[0090] Step 612: Determine that the launch angle inspection is unqualified.

[0091] In this embodiment, if the launch angle is outside the preset angle range, the launch angle inspection is determined to be unqualified.

[0092] Here, the measured value is compared with the standard value to check if it is within the reasonable error range. If it is not within the range, the inspection is considered unqualified; if it is within the range, the measured value needs to be set as the true value of the emission angle and written into the lidar as a calibration parameter.

[0093] from Figure 6 It can be seen from this that, with Figure 4 Compared to the corresponding embodiments, the flow 600 of the lidar emission angle calibration method in this embodiment emphasizes the calibration step. Therefore, the scheme described in this embodiment achieves lidar emission angle measurement through position feedback, enabling fully automated inspection and calibration, thus improving calibration efficiency. Furthermore, it is simple to test, has high calibration accuracy, is not dependent on site accuracy, and offers high flexibility.

[0094] Further reference Figure 7 The diagram illustrates a flow 700 of another embodiment of the lidar emission angle calibration method according to the present disclosure. This lidar emission angle calibration method includes the following steps:

[0095] Step 701: Level the lidar.

[0096] In this embodiment, the lidar is leveled before calibration begins.

[0097] In some embodiments, the angle between the mounting plane of the lidar and the horizontal plane is obtained; if the angle is not less than a preset angle threshold, the mounting plane of the lidar is adjusted until the angle is less than the preset angle threshold; if the angle is less than the preset angle threshold, leveling is completed.

[0098] The emission angle adjustment device may also include a gyroscope module and a support device. The gyroscope module can be mounted on the support device together with the lidar, thereby enabling the measurement of the angular deviation between the lidar's mounting plane and the horizontal plane. A telescopic module is mounted on the support device, which extends or retracts until the angular deviation is less than a preset angular deviation threshold. For example, the support device may include a first leg, a second leg, and a third leg. A first telescopic module may be mounted on the first leg for adjusting its length. A second telescopic module may be mounted on the second leg for adjusting its length. Extending or retracting the first and / or second telescopic modules adjusts the angular deviation. The preset angular threshold is typically 0, meaning the lidar's mounting plane is horizontal.

[0099] Step 702: Configure the operating mode of the lidar to the emission-only mode and lock the position of the lidar's scanning device.

[0100] In this embodiment, the operating mode of the lidar is configured to emit light without scanning, and the position of the lidar's scanning device is locked, thereby preventing the internal scanning of the lidar from interfering with the calibration.

[0101] Typically, the lidar is first scanned horizontally to the horizontal direction of the line connecting the light spot and the lidar origin, with the angle between the line and the x-axis being 0. Then, the lidar is configured to operate in the light emission non-scanning mode, and the scanning device position is locked.

[0102] Step 703: Control the rotating module to drive the lidar to scan along a preset trajectory to obtain the first light spot generated on the light receiving plate.

[0103] Step 704: Record the first angle at which the motor of the rotating module is located when the first light spot is on the light receiving plate.

[0104] Step 705: Determine the emission angle of the lidar based on the first angle.

[0105] Step 706: Calibrate based on the emission angle of the lidar.

[0106] In this embodiment, the specific operations of steps 703-706 have been described. Figure 4 The steps 401-404 in the illustrated embodiment are described in detail and will not be repeated here.

[0107] from Figure 7 It can be seen from this that, with Figure 5Compared to the corresponding embodiments, the process 700 of the lidar emission angle calibration method in this embodiment adds a leveling step and a locking step. Therefore, the scheme described in this embodiment achieves automatic leveling of the device through angle feedback. By locking the lidar's scanning device, interference from the lidar's internal scanning is avoided during calibration.

[0108] Further reference Figure 8 As an implementation of the methods shown in the above figures, this disclosure provides an embodiment of a lidar emission angle calibration device, which is similar to... Figure 4 Corresponding to the method embodiments shown, this device can be specifically applied to various electronic devices.

[0109] like Figure 8 As shown, the lidar emission angle calibration device 800 of this embodiment may include: a control module 801, a recording module 802, a determination module 803, and a calibration module 804. The control module 801 is configured to control the rotation module to drive the lidar to scan along a preset trajectory to obtain a first light spot generated on the light-receiving plate; the recording module 802 is configured to record the first angle at which the motor of the rotation module is positioned when the first light spot is on the light-receiving plate; the determination module 803 is configured to determine the emission angle of the lidar based on the first angle; and the calibration module 804 is configured to perform calibration based on the emission angle of the lidar.

[0110] In this embodiment, the specific processing of the control module 801, recording module 802, determining module 803, and calibration module 804 in the lidar emission angle calibration device 800, and the resulting technical effects, can be found in the following references: Figure 4 The relevant descriptions of steps 401-404 in the corresponding embodiments will not be repeated here.

[0111] In some optional implementations of this embodiment, the determining module 803 includes: a first driving submodule configured to drive the motor of the rotating module to a first angle to obtain a second light spot generated on the light-receiving plate; an acquisition submodule configured to acquire an image of the light-receiving plate; a calculation submodule configured to calculate the distance deviation between the origin of the second light spot on the image of the light-receiving plate and the center anchor point of the light-receiving plate; a second driving submodule configured to drive the rotating module if the distance deviation is greater than a preset deviation threshold until the distance deviation is not greater than the preset distance deviation threshold; a recording submodule configured to record the second angle at which the motor of the rotating module is located if the distance deviation is not greater than the preset deviation threshold; and a determining submodule configured to determine the emission angle of the lidar based on the second angle.

[0112] In some optional implementations of this embodiment, the determining submodule is further configured to: obtain the initial angle of the motor of the rotating module; calculate the difference between the second angle and the initial angle as the emission angle of the lidar.

[0113] In some optional implementations of this embodiment, the calibration module 804 is further configured to: if the emission angle is within a preset angle range, write the emission angle as a correction parameter into the lidar; if the emission angle is outside the preset angle range, determine that the emission angle test is unqualified.

[0114] In some optional implementations of this embodiment, the lidar emission angle calibration device 800 further includes a leveling module configured to level the lidar.

[0115] In some optional implementations of this embodiment, the leveling module is further configured to: obtain the angle between the mounting plane of the lidar and the horizontal plane; if the angle is not less than a preset angle threshold, adjust the mounting plane of the lidar until the angle is less than the preset angle threshold; if the angle is less than the preset angle threshold, complete the leveling.

[0116] In some optional implementations of this embodiment, the lidar emission angle calibration device 800 further includes: a configuration module configured to configure the lidar's operating mode to a light emission non-scanning mode, and to lock the lidar's scanning device position.

[0117] The collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved in the technical solution disclosed herein comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0118] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0119] Figure 9 A schematic block diagram of an example electronic device 900 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described herein and claimed by the author.

[0120] like Figure 9As shown, device 900 includes a computing unit 901, which can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) 902 or a computer program loaded from storage unit 908 into random access memory (RAM) 903. RAM 903 may also store various programs and data required for the operation of device 900. The computing unit 901, ROM 902, and RAM 903 are interconnected via bus 904. Input / output (I / O) interface 905 is also connected to bus 904.

[0121] Multiple components in device 900 are connected to I / O interface 905, including: input unit 906, such as keyboard, mouse, etc.; output unit 907, such as various types of monitors, speakers, etc.; storage unit 908, such as disk, optical disk, etc.; and communication unit 909, such as network card, modem, wireless transceiver, etc. Communication unit 909 allows device 900 to exchange information / data with other devices through computer networks such as the Internet and various telecommunications networks.

[0122] The computing unit 901 can be various general-purpose and special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 901 performs the various methods and processes described above, such as the lidar emission angle calibration method. For example, in some embodiments, the lidar emission angle calibration method can be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as storage unit 908. In some embodiments, part or all of the computer program can be loaded and installed on device 900 via ROM 902 and communication unit 909. When the computer program is loaded into RAM 903 and executed by computing unit 901, one or more steps of the lidar emission angle calibration method described above can be performed. Alternatively, in other embodiments, the computing unit 901 can be configured to perform the lidar emission angle calibration method by any other suitable means (e.g., by means of firmware).

[0123] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0124] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0125] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0126] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0127] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0128] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, distributed system servers, or servers incorporating blockchain technology.

[0129] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution provided in this disclosure can be achieved, and this is not limited herein.

[0130] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A laser radar emitting angle calibration method, comprising: controlling a rotating module to drive a laser radar to scan according to a preset trajectory to obtain a first light spot generated on a light receiving plate; recording a first angle of a motor of the rotating module when the first light spot is on the light receiving plate; determining an emitting angle of the laser radar based on the first angle; calibrating based on the emitting angle of the laser radar; the determining the emitting angle of the laser radar based on the first angle comprises: driving the motor of the rotating module to the first angle to obtain a second light spot generated on the light receiving plate; obtaining an image of the light receiving plate; calculating a distance deviation between an origin of the second light spot on the image of the light receiving plate and a center anchor point of the light receiving plate; if the distance deviation is greater than a preset deviation threshold, driving the rotating module until the distance deviation is not greater than the preset deviation threshold; if the distance deviation is not greater than the preset deviation threshold, recording a second angle of the motor of the rotating module currently located; determining the emitting angle of the laser radar based on the second angle.

2. The method of claim 1, wherein, the determining the emitting angle of the laser radar based on the second angle comprises: obtaining an initial angle of the motor of the rotating module; calculating a difference between the second angle and the initial angle as the emitting angle of the laser radar.

3. The method of claim 1, wherein, the calibrating based on the emitting angle of the laser radar comprises: if the emitting angle is within a preset angle range, writing the emitting angle as a correction parameter into the laser radar; if the emitting angle is outside the preset angle range, determining that the emitting angle is unqualified.

4. The method of claim 1, wherein, Before the controlling the rotating module to drive the laser radar to scan according to the preset trajectory to obtain the first light spot generated on the light receiving plate, further comprising: leveling the laser radar.

5. The method of claim 4, wherein, the leveling the laser radar comprises: obtaining an included angle between a mounting plane of the laser radar and a horizontal plane; if the included angle is not less than a preset included angle threshold, adjusting the mounting plane of the laser radar until the included angle is less than the preset included angle threshold; if the included angle is less than the preset included angle threshold, completing leveling.

6. The method of any one of claims 1-5, wherein, Before the controlling the rotating module to drive the laser radar to scan according to the preset trajectory to obtain the first light spot generated on the light receiving plate, further comprising: configuring a working mode of the laser radar as a light-emitting non-scanning mode, and locking a position of a scanning device of the laser radar. 7.A laser radar emitting angle calibration device, comprising: a control module configured to control a rotating module to drive a laser radar to scan according to a preset trajectory to obtain a first light spot generated on a light receiving plate; a recording module configured to record a first angle of a motor of the rotating module when the first light spot is on the light receiving plate; a determining module configured to determine an emitting angle of the laser radar based on the first angle; a calibration module configured to calibrate based on the emitting angle of the laser radar; the determining module comprises: a first driving submodule configured to drive the motor of the rotating module to the first angle to obtain a second light spot generated on the light receiving plate; An acquisition sub-module configured to acquire an image of the light receiving plate; A calculation sub-module configured to calculate a distance deviation between an origin of the second light spot on the image of the light receiving plate and a center anchor point of the light receiving plate; A second driving sub-module configured to drive the rotation module until the distance deviation is not greater than the preset deviation threshold if the distance deviation is greater than the preset deviation threshold; A recording sub-module configured to record a second angle at which the motor of the rotation module is located if the distance deviation is not greater than the preset deviation threshold; A determination sub-module configured to determine a launch angle of the laser radar based on the second angle.

8. The apparatus of claim 7, wherein, The determination sub-module is further configured to: acquire an initial angle of the motor of the rotation module; calculate a difference between the second angle and the initial angle as the launch angle of the laser radar.

9. The apparatus of claim 7, wherein, The calibration module is further configured to: write the launch angle as a correction parameter into the laser radar if the launch angle is within a preset angle range; determine that the launch angle fails the test if the launch angle is outside the preset angle range.

10. The apparatus of claim 7, wherein, The device further comprises: a leveling module configured to level the laser radar.

11. The apparatus of claim 10, wherein, The leveling module is further configured to: acquire an included angle between a mounting plane of the laser radar and a horizontal plane; adjust the mounting plane of the laser radar until the included angle is less than a preset included angle threshold if the included angle is not less than the preset included angle threshold; complete leveling if the included angle is less than the preset included angle threshold.

12. The apparatus of any one of claims 7-11, wherein, The device further comprises: a configuration module configured to configure a working mode of the laser radar as a light-emitting non-scanning mode, and lock a position of a scanning device of the laser radar.

13. An electronic device comprising: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.

14. A non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1-6.

15. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-6.

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