LiDAR-based monitoring equipment and calibration methods

Abstract

This invention belongs to the field of monitoring equipment technology. Given the inability to guarantee the accuracy of existing lidar monitoring, this invention discloses a lidar-based monitoring device and calibration method. It acquires an image of a target object using a camera and determines whether the object's size is greater than or less than a preset threshold. If the object's size is found to be greater than or less than the preset threshold, the elevation and horizontal angle installation errors of the lidar are calculated and obtained, and the lidar is adjusted based on these errors. This reduces data processing complexity and improves monitoring accuracy.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of monitoring equipment, and particularly relates to a laser radar-based monitoring equipment and a correction method. BACKGROUND

[0002] In waterway traffic and road traffic, the flow statistics and state monitoring of vehicles are very important. In waterway management and road management, the flow statistics and state monitoring can often provide key information and play an auxiliary role in the decision-making of traffic management.

[0003] At present, most of the waterway monitoring adopts the laser radar monitoring mode; the laser radar monitoring mode is composed of a transmitting system, a receiving system and an information processing part.

[0004] However, the position and posture of the laser radar are mostly fixed and cannot be adjusted. In actual use, due to the divergence characteristics of the laser radar light, the farther the target is from the laser radar, the smaller the point density is, and the closer the target is to the laser radar, the larger the point density is. Too small point density brings great difficulty to target identification and detection. Too large point density leads to too much information of the target, which puts high requirements on the data processing capacity and is not conducive to accurate monitoring. SUMMARY

[0005] In view of the problem that the accuracy of the existing laser radar monitoring cannot be guaranteed, one of the purposes of the present application is to provide a laser radar-based monitoring equipment and a correction method, which can keep the characteristics of different objects consistent, thereby reducing the difficulty of data processing and being conducive to improving the accuracy of monitoring.

[0006] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0007] A laser radar-based monitoring equipment comprises a support frame serving as a basis for installing other components; a camera installed on the support frame; a laser radar installed on the support frame; a horizontal adjustment assembly for adjusting the horizontal angle of the laser radar; a pitch adjustment assembly for adjusting the pitch angle of the laser radar; and a control host connected in signal with the camera, the laser radar, the horizontal adjustment assembly and the pitch adjustment assembly.

[0008] In one of the technical solutions disclosed in the application, the control host comprises a judgment unit configured to judge the position and size of a target object according to the image of the camera; an acquisition unit configured to acquire the pitch angle and horizontal angle of the current posture of the laser radar; a calculation unit configured to calculate the pitch angle and horizontal angle of the target posture of the laser radar corresponding to the point cloud data parameters of the laser radar and the target object, and calculate the pitch angle installation error value and the horizontal angle installation error value; and an adjustment unit configured to adjust the horizontal adjustment assembly and the pitch adjustment assembly according to the pitch angle installation error value and the horizontal angle installation error value calculated by the calculation unit, so that the scanning picture of the laser radar includes the target object.

[0009] In one of the technical solutions disclosed in the application, the pitch adjustment assembly comprises a rotating seat mounted on the support frame, a rotating arm rotatably mounted on the support frame, and a first driving structure connected to one end of the rotating arm to drive the rotating arm to rotate, wherein the horizontal adjustment assembly is connected to the other end of the rotating arm.

[0010] In one of the technical solutions disclosed in the application, the horizontal adjustment assembly comprises a mounting seat connected to the other end of the rotating arm, a moving track mounted on the mounting seat, a sliding seat movably mounted on the moving track, and a second driving structure connected to the sliding seat to drive the sliding seat to move, wherein the laser radar is slidably mounted on the moving track and moves synchronously with the movable chain.

[0011] In one of the technical solutions disclosed in the application, the support frame comprises a stand and a top seat.

[0012] The camera, the laser radar, the horizontal adjustment assembly and the pitch adjustment assembly are all mounted on the top seat.

[0013] In one of the technical solutions disclosed in the application, the height of the stand is adjustable.

[0014] In one of the technical solutions disclosed in the application, the stand comprises a main rod having a plurality of first positioning hole groups linearly distributed downward at the upper portion thereof, a secondary rod sleeved on the main rod and having a plurality of second positioning hole groups at the lower portion thereof matched with the first positioning hole groups of the main rod, and a connecting piece penetrating the hole coinciding with the first positioning hole groups and the second positioning hole groups.

[0015] A laser radar correction method for a monitoring device having a camera and a laser radar, comprising:

[0016] S1: judging whether the position and size of a target object in the image are greater than or less than a preset threshold according to the image captured by the camera;

[0017] S2: When the size of the target object is greater than or less than the threshold value, the pitch angle and the horizontal angle of the target attitude of the laser radar for detecting the target object are determined according to the position and the size of the target object;

[0018] S3: The pitch angle and the horizontal angle of the current attitude of the laser radar are acquired, and the pitch angle installation error value and the horizontal angle installation error value of the laser radar are determined;

[0019] S4: The laser radar is controlled to be adjusted from the current attitude to the target attitude according to the pitch angle installation error value and the horizontal angle installation error value.

[0020] In one of the technical solutions disclosed in the application, the determination of the pitch angle and the horizontal angle of the target attitude of the laser radar for detecting the target object comprises:

[0021] The point cloud data parameters of the laser radar are acquired, and the pitch angle and the horizontal angle of the target attitude of the laser radar are calculated according to the size and the position of the target object.

[0022] In one of the technical solutions disclosed in the application, the acquisition of the point cloud data parameters of the laser radar comprises:

[0023] The point cloud of the laser radar is projected on a reference surface to obtain a reference surface point set, a space coordinate system is established according to the reference surface point set, and the pitch angle and the horizontal angle of the target attitude of the laser radar are calculated by using a three-dimensional space rotation matrix method based on the space coordinate information of the target object.

[0024] As can be seen from the above description, compared with the prior art, the application has the following beneficial effects:

[0025] Whether the size of the target object is greater than or less than a preset threshold value is determined according to the image of the target object acquired by the camera; if there is a target object whose size is greater than or less than a preset threshold value, the pitch angle installation error value and the horizontal angle installation error value of the laser radar are calculated and acquired, and the laser radar is adjusted according to the pitch angle installation error value and the horizontal angle installation error value, so that the characteristics of different target objects remain consistent, thereby reducing the difficulty of data processing and being beneficial to improving the accuracy of monitoring BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings needed to be used in the embodiments or the related art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0027] Figure 1 It is a structural schematic diagram of the monitoring device of the present application.

[0028] Figure 2 It is a structural schematic diagram of the horizontal adjustment assembly and the pitch adjustment assembly of the monitoring device of the present application.

[0029] Figure 3 It is a structural block diagram of the control host of the present application.

[0030] Label: 1 - support frame; 11 - stand; 111 - main rod; 112 - auxiliary rod; 113 - connecting piece; 114 - first positioning hole group; 115 - second positioning hole group; 12 - top seat; 2 - camera; 3 - laser radar; 4 - horizontal adjustment assembly; 41 - mounting seat; 42 - moving track; 43 - sliding seat; 5 - pitch adjustment assembly; 51 - rotating seat; 52 - rotating arm; 53 - first driving structure; 531 - screw rod; 532 - driving motor; 6 - control host; 61 - judging unit; 62 - obtaining unit; 63 - calculating unit; 64 - adjusting unit. DETAILED DESCRIPTION

[0031] In the following, only certain exemplary embodiments are simply described. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the present application. Therefore, the drawings and the description are considered to be exemplary in nature rather than limiting.

[0032] In the description of the present application, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0033] In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0034] In the present application, unless specifically defined and limited otherwise, the terms "mounting", "connected", "connection", "fixed", and the like should be interpreted broadly, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection, and can also be communication; can be directly connected, or indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0035] In the present application, unless specifically defined and limited otherwise, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "over" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher in horizontal height than the second feature. The first feature "under", "below" and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is lower in horizontal height than the second feature.

[0036] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0037] Embodiment 1

[0038] The embodiments of the present application disclose a laser radar correction method, which is suitable for a monitoring device with a camera and a laser radar, and includes the following steps:

[0039] S1: According to the image captured by the camera, it is judged whether the position and size of the target object in the image are greater than or less than a preset threshold value.

[0040] S2: When the size of the target object is greater than or less than the threshold value, according to the position and size of the target object, the pitch angle and the horizontal angle of the target pose of the laser radar detecting the target object are determined.

[0041] S3: The pitch angle and the horizontal angle of the current pose of the laser radar are obtained, and the pitch angle installation error value and the horizontal angle installation error value of the laser radar are determined.

[0042] S4: According to the pitch angle installation error value and the horizontal angle installation error value, the laser radar is controlled to adjust from the current pose to the target pose.

[0043] This method can determine whether the size of the target object is greater than or less than a preset threshold based on the image of the target object acquired by the camera. If the size of the target object is greater than or less than the preset threshold, the method calculates and obtains the elevation angle installation error value and the horizontal angle installation error value of the lidar, and adjusts the lidar according to the elevation angle installation error value and the horizontal angle installation error value to make the characteristics of different target objects consistent, thereby reducing the difficulty of data processing and improving the accuracy of monitoring.

[0044] In some embodiments, step S2, determining the pitch and horizontal angles of the target attitude of the lidar detecting the target object, includes acquiring point cloud data parameters of the lidar, acquiring spatial coordinate information of the target object based on the point cloud data parameters, and calculating the pitch and horizontal angles of the target attitude of the lidar based on the spatial coordinate information.

[0045] This embodiment can establish a spatial coordinate system through a deep learning network or PCA algorithm, and use the three-dimensional spatial rotation moment method to calculate the pitch and horizontal angles of the lidar target attitude. This is existing technology and will not be described in detail here.

[0046] Example 2

[0047] This invention discloses a monitoring device based on lidar, the structure of which is shown in the attached figure. Figure 1 ~Attached Figure 3 As shown, it includes a support frame 1, a camera 2, a lidar 3, a horizontal adjustment component 4, a pitch adjustment component 5, and a control host 6.

[0048] Specifically, as shown in the attached document Figure 1 As shown, the support frame 1 includes a column 11 and a top seat 12 mounted on the top of the column 11.

[0049] As attached Figure 2 As shown, the pitch adjustment assembly 5 includes a rotating base 51, a rotating arm 52, and a first drive structure 53.

[0050] The rotating base 51 is mounted on the top base 12. The middle part of the rotating arm 52 is rotatably connected to the rotating base 51. The first drive structure 53 is connected to one end of the rotating arm 52 to make the rotating arm 52 rotate.

[0051] The other end of the horizontal adjustment assembly 4 and the rotating arm 52 are connected, including a mounting base 41, a moving track 42, a sliding base 43, and a second drive structure (not shown in the figure).

[0052] Specifically, the other end of the mounting base 41 and the rotating arm 52 are connected and fixed. The moving track 41 is mounted on the mounting base 41. The sliding seat 43 is slidably mounted on the moving track 42. The second drive structure is connected to the sliding seat 43 to drive the sliding seat 43 to move.

[0053] The lidar 3 is mounted on the sliding base 43.

[0054] In actual use, the first drive structure 53 can drive the rotating seat 51 to rotate, so that the mounting seat 41 can rotate synchronously, thereby adjusting the pitch angle of the lidar 3; at the same time, the second drive structure can drive the sliding seat 43 to move along the moving track 42, thereby adjusting the horizontal angle of the lidar 3, thus meeting the monitoring needs under the circumstances and improving the accuracy of monitoring.

[0055] In this embodiment, the moving track 42 is a circular track or a straight track.

[0056] More specifically, the first drive structure 53 includes a screw 531 and a drive motor 532. The screw 531 is screwed to one end of the rotating arm 52. The drive motor 532 and the screw 531 are connected in a transmission connection.

[0057] It is understandable that the first drive structure 53 can also adopt other structures, such as electric telescopic rods, rack and pinion transmission structures, etc., which are common in the prior art and pose no difficulty to those skilled in the art.

[0058] The second drive structure can be driven by a motor or rack and pinion drive, etc., and this embodiment is not limited to this.

[0059] The control host 6 is connected to the camera 2 and the lidar 3 by signal, and can transmit signals to the horizontal adjustment component 4 and the pitch adjustment component 5 to control the operation of the horizontal adjustment component 4 and the pitch adjustment component 5, so as to realize the automatic adjustment of the pitch angle and horizontal angle of the lidar 3 to complete the calibration.

[0060] Specifically, as shown in the attached document Figure 3 As shown, the control host 6 includes a judgment unit 61, an acquisition unit 62, a calculation unit 63, and an adjustment unit 64.

[0061] The judgment unit 61 is used to determine the position and size of the target object based on the image from the camera. The acquisition unit 62 is used to acquire the pitch and horizontal angles of the current attitude of the lidar 3. The calculation unit 63 is used to acquire the point cloud data parameters of the lidar 3 and the pitch and horizontal angles of the target attitude of the lidar 3 corresponding to the target object, and calculate the installation error values ​​of the pitch and horizontal angles. The adjustment unit 64 can adjust the horizontal adjustment component 4 and the pitch adjustment component 5 according to the installation error values ​​of the pitch and horizontal angles calculated by the calculation unit 63, so that the pitch and horizontal angles of the lidar 3 are automatically adjusted in real time, ensuring the consistency of the target object features of the lidar 3 and reducing the difficulty of data processing.

[0062] In some embodiments, considering that the monitoring equipment needs to be used in different scenarios, the height of the column 11 is adjustable, and it includes a main pole 111, a secondary pole 112 and a connector 113.

[0063] Specifically, the upper part of the main rod 111 is provided with a plurality of downwardly linearly distributed first positioning hole groups 114. The auxiliary rod 112 is movably sleeved on the main rod 111, and its lower part is provided with a second positioning hole group 115 that mates with the first positioning hole group 114. The connector 113 passes through the overlapping hole of the first positioning hole group 114 and the second positioning hole group 115 to achieve fixation. Thus, the height of the column 11 can be adjusted to meet different needs in different application scenarios.

[0064] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A lidar calibration method for a monitoring device equipped with a camera and a lidar, characterized in that, The method comprises: determining whether the position and size of the target object in the image are greater than or less than a preset threshold according to the image captured by the camera; when the size of the target object is greater than or less than the threshold, determining the pitch angle and the horizontal angle of the target pose of the laser radar for detecting the target object according to the position and size of the target object; obtaining the pitch angle and the horizontal angle of the current pose of the laser radar, and determining the pitch angle installation error value and the horizontal angle installation error value of the laser radar; controlling the laser radar to adjust from the current pose to the target pose according to the pitch angle installation error value and the horizontal angle installation error value.

2. The lidar calibration method of claim 1, wherein, The determination of the pitch angle and the horizontal angle of the target pose of the laser radar for detecting the target object comprises: obtaining the point cloud data parameters of the laser radar, obtaining the spatial coordinate information of the target object, and calculating the pitch angle and the horizontal angle of the target pose of the laser radar.

3. The lidar calibration method of claim 2, wherein, The obtaining of the point cloud data parameters of the laser radar comprises: obtaining a set of reference plane points projected by the point cloud of the laser radar on a reference plane, establishing a spatial coordinate system according to the set of reference plane points, and calculating the pitch angle and the horizontal angle of the target pose of the laser radar by using a three-dimensional space rotation matrix method based on the spatial coordinate information of the target object.

4. A laser radar-based monitoring device, characterized by The method comprises: a support frame as a basis for installing other components; a camera installed on the support frame; a laser radar installed on the support frame; a horizontal adjustment assembly for adjusting the horizontal angle of the laser radar; a pitch adjustment assembly for adjusting the pitch angle of the laser radar; a control host connected in signal with the camera, the laser radar, the horizontal adjustment assembly, and the pitch adjustment assembly; The control host comprises: a determination unit for determining the position and size of the target object according to the image of the camera; an obtaining unit for obtaining the pitch angle and the horizontal angle of the current pose of the laser radar; a calculation unit for obtaining the point cloud data parameters of the laser radar and the pitch angle and the horizontal angle of the target pose of the laser radar corresponding to the target object, and calculating the pitch angle installation error value and the horizontal angle installation error value; an adjustment unit for adjusting the horizontal adjustment assembly and the pitch adjustment assembly according to the pitch angle installation error value and the horizontal angle installation error value of the calculation unit, so as to realize the automatic adjustment of the horizontal angle and the pitch angle of the laser radar.

5. The lidar-based monitoring device of claim 4, wherein, The pitch adjustment assembly comprises: a rotating seat installed on the support frame; a rotating arm rotatably installed on the support frame; a first driving structure connected with one end of the rotating arm to drive the rotating arm to rotate; wherein the horizontal adjustment assembly is connected with the other end of the rotating arm.

6. The lidar-based monitoring device of claim 5, wherein, The horizontal adjustment assembly comprises: a mounting seat connected with the other end of the rotating arm; a moving track installed on the mounting seat; a sliding seat slidably installed on the moving track; a second driving structure connected with the sliding seat to drive the sliding seat to move; wherein the laser radar is installed on the sliding seat.

7. The lidar-based monitoring device of claim 4, wherein, The support frame comprises a stand and a top seat; The camera, the laser radar, the horizontal adjustment assembly and the pitching adjustment assembly are all mounted on the top base.

8. The lidar-based monitoring device of claim 7, wherein, The height of the column is adjustable.

9. The lidar-based monitoring device of claim 8, wherein, The column comprises: a main rod, the upper part of which is provided with a plurality of first positioning hole groups distributed linearly downward; a sub rod, sleeved on the main rod, the lower part of which is provided with a second positioning hole group matched with the positioning hole group of the main rod; a connecting piece, penetrating the hole coinciding with the first positioning hole group and the second positioning hole group.

Images