Calibration method, device and storage medium for laser radar installation angle on carrier

Abstract

The present invention provides a calibration method, device and storage medium for the installation angle of a laser radar on a carrier, and relates to the field of coal mine excavation technology. The method comprises: determining a first coordinate system with a first center as a coordinate origin, determining a second coordinate system with a second center as a coordinate origin, and determining a third coordinate system with a third center as a coordinate origin, wherein the first center is the center position of the carrier, the second center is the center position of a calibration site, and the third center is the center position of the laser radar; determining the coordinates of the first center in the second coordinate system, determining the coordinates of the second center in the first coordinate system; determining the real coordinates of the fifth center in the first coordinate system; determining a first Euler angle between the third coordinate system and the first coordinate system, and determining the estimated coordinates of the fifth center in the first coordinate system; and when the error between the estimated coordinates and the real coordinates is not greater than a first threshold, using the first Euler angle as an available Euler angle to determine the installation angle of the laser radar on the carrier.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine excavation, and in particular to a method, a device and a storage medium for calibrating the installation angle of a laser radar on a carrier. Background Art

[0002] In recent years, with the development of unmanned driving and unmanned operation technologies for vehicles, mining equipment, AGVs and other equipment, LiDAR has become an important component of the carrier perception layer. The installation position and angle of the LiDAR installed on the carrier need to be as accurate as possible to ensure that the carrier can be accurately positioned in unmanned driving and unmanned operation scenarios. How to provide a simple, reliable and widely applicable method for calibrating the installation angle of LiDAR on the carrier is an urgent problem that needs to be solved. Summary of the invention

[0003] In order to solve or improve at least one of the above-mentioned technical problems, an object of the present invention is to provide a method for calibrating the installation angle of a laser radar on a carrier.

[0004] Another object of the present invention is to provide an electronic device.

[0005] Another object of the present invention is to provide a readable storage medium.

[0006] Another object of the present invention is to provide a chip.

[0007] To achieve the above-mentioned purpose, the first aspect of the present invention provides a calibration method for the installation angle of a laser radar on a carrier. The calibration method for the installation angle of the laser radar on the carrier is implemented by a calibration system. The calibration method for the installation angle of the laser radar on the carrier includes: determining a first coordinate system with a first center as a coordinate origin, determining a second coordinate system with a second center as a coordinate origin, and determining a third coordinate system with a third center as a coordinate origin, wherein the first center is the center position of the carrier of the calibration system, the second center is the center position of the calibration site of the calibration system, and the third center is the center position of the laser radar of the calibration system; determining the coordinates of the first center in the second coordinate system, and determining the coordinates of the second center in the first coordinate system; determining the true coordinates of the fifth center in the first coordinate system, and the fifth center is the center position of the laser target of the calibration system; determining a first Euler angle between the third coordinate system and the first coordinate system, and determining the estimated coordinates of the fifth center in the first coordinate system according to the first Euler angle; when the error between the estimated coordinates and the true coordinates is not greater than a first threshold, using the first Euler angle as the available Euler angle of the third coordinate system and the first coordinate system, and determining the installation angle of the laser radar on the carrier according to the available Euler angle.

[0008] According to the technical solution of the method for calibrating the installation angle of the laser radar on the carrier provided by the present invention, the estimated coordinates of the fifth center in the first coordinate system are determined according to the first Euler angle, and when the error between the estimated coordinates and the true coordinates is not greater than the first threshold, the first Euler angle is used as the available Euler angle of the third coordinate system and the first coordinate system, and the installation angle of the laser radar on the carrier is determined according to the available Euler angle. The method for calibrating the installation angle of the laser radar on the carrier provided by the present invention has the advantages of being simple, reliable and having a wide range of applications, and the calibration process does not require high control accuracy of the carrier itself.

[0009] The calibration method of the installation angle of the laser radar on the carrier is implemented by a calibration system. The calibration system includes a carrier, a calibration site, a laser radar and a laser target. Specifically, the laser radar is arranged on the carrier. The laser target is arranged at the calibration site, and the laser target is relatively fixed to the calibration site. The laser radar is used to send a detection signal (laser beam) to the laser target. The laser target is used to send a reflection signal to the laser radar. By comparing the reflection signal with the detection signal and performing appropriate processing, parameters such as distance, azimuth, height, speed, attitude and shape can be obtained. Optionally, the laser target is a laser target ball. Optionally, the number of laser targets is at least one, that is, the laser targets can be one, two or more, and the laser targets are flexibly set according to actual needs. On this basis, when the number of laser targets is multiple, the distance between different laser targets and the distance between the laser target and the carrier are flexibly set according to the actual application scenario.

[0010] Further, a first coordinate system with the first center as the coordinate origin is determined, and the first center is the center position of the carrier. A second coordinate system with the second center as the coordinate origin is determined, and the second center is the center position of the calibration site. A third coordinate system with the third center as the coordinate origin is determined, and the third center is the center position of the laser radar. Optionally, a fourth coordinate system with the fourth center as the coordinate origin is determined, and the fourth center is the center position of the inertial navigation system. The fifth center is the center position of the laser target. Optionally, the inertial navigation system is installed at a corner of the carrier so that the coordinate axis of the fourth coordinate system is approximately parallel to the edge of the carrier. Optionally, the Euler angle between the first coordinate system and the fourth coordinate system is the second Euler angle. When the X-axis of the first coordinate system is parallel to the X-axis of the fourth coordinate system, the Y-axis of the first coordinate system is parallel to the Y-axis of the fourth coordinate system, and the Z-axis of the first coordinate system is parallel to the Z-axis of the fourth coordinate system, the second Euler angle is 0.

[0011] Optionally, the calibration site has a grid (1m×1m). The second center (the center position of the calibration site) is the point on the ground of the calibration site projected by the fifth center (the center position of the laser target). Optionally, the X-axis and Y-axis of the second coordinate system are parallel to the sides of the grid, respectively. Optionally, the carrier is a tunneling machine, and of course it can also be other types of equipment or machinery.

[0012] The specific steps of the calibration method for the installation angle of the laser radar on the carrier include:

[0013] The first step is to determine the first coordinate system with the first center as the coordinate origin, determine the second coordinate system with the second center as the coordinate origin, and determine the third coordinate system with the third center as the coordinate origin. The first center is the center position of the carrier of the calibration system, the second center is the center position of the calibration site of the calibration system, and the third center is the center position of the laser radar of the calibration system. The purpose of this step is to determine three coordinate systems (the first coordinate system, the second coordinate system, and the third coordinate system) to provide a basis for obtaining various parameters in subsequent steps.

[0014] The second step is to determine the coordinates of the first center in the second coordinate system, and the coordinates of the second center in the first coordinate system. Determine the coordinates of the center position of the carrier (the first center) in the calibration coordinate system (the second coordinate system); determine the coordinates of the center position of the calibration site (the second center) in the carrier coordinate system (the first coordinate system).

[0015] The third step is to determine the real coordinates of the fifth center in the first coordinate system. The fifth center is the center position of the laser target of the calibration system. Determine the coordinates of the center position of the laser target (fifth center) in the carrier coordinate system (first coordinate system), and use this coordinate as the real coordinate.

[0016] The fourth step is to determine the first Euler angle between the third coordinate system and the first coordinate system, and determine the estimated coordinates of the fifth center in the first coordinate system according to the first Euler angle. The Euler angle is used to determine a set of three independent angular parameters of the position of a fixed-point rotating rigid body. The estimated coordinates of the fifth center in the first coordinate system are determined by calculating the rotation matrix according to the first Euler angle. Optionally, the coordinates of the fifth center in the third coordinate system are determined, and then the coordinates of the fifth center in the first coordinate system are determined, and these coordinates are used as the estimated coordinates.

[0017] Step 5: When the error between the estimated coordinates and the true coordinates is not greater than the first threshold, the first Euler angle is used as the available Euler angle between the third coordinate system and the first coordinate system, and the installation angle of the laser radar on the carrier is determined according to the available Euler angle. Optionally, the installation angle is the installation azimuth of the laser radar on the carrier. Optionally, for each first Euler angle, the error between the estimated coordinates and the true coordinates is calculated, so that the first Euler angle with the smallest error is the available Euler angle between the third coordinate system and the first coordinate system.

[0018] In the technical solution defined in the present invention, a method for calibrating the installation angle of a laser radar on a carrier is provided, wherein the estimated coordinates of the fifth center in the first coordinate system are determined according to the first Euler angle, and when the error between the estimated coordinates and the true coordinates is not greater than the first threshold, the first Euler angle is used as the available Euler angle of the third coordinate system and the first coordinate system, and the installation angle of the laser radar on the carrier is determined according to the available Euler angle. The method for calibrating the installation angle of a laser radar on a carrier provided by the present invention has the advantages of being simple, reliable, and having a wide range of applications, and the calibration process does not require high control accuracy of the carrier itself.

[0019] In addition, the above technical solution provided by the present invention may also have the following additional technical features:

[0020] In some technical solutions, optionally, a first Euler angle between the third coordinate system and the first coordinate system is determined, and the estimated coordinates of the fifth center in the first coordinate system are determined based on the first Euler angle, including: determining the coordinates of the fifth center in the third coordinate system, determining the coordinates of the third center in the first coordinate system, determining the first Euler angle between the third coordinate system and the first coordinate system, and determining the estimated coordinates of the fifth center in the first coordinate system by a first formula.

[0021] In the technical solution, the step of determining the estimated coordinates according to the first Euler angle includes:

[0022] Determine the coordinates of the fifth center in the third coordinate system, determine the coordinates of the third center in the first coordinate system, determine the first Euler angle between the third coordinate system and the first coordinate system, and determine the estimated coordinates of the fifth center in the first coordinate system by the first formula. Determine the first Euler angle between the two coordinate systems. Optionally, determine the coordinates of the fifth center in the third coordinate system, and then determine the coordinates of the fifth center in the first coordinate system, and use the coordinates as the estimated coordinates.

[0023] In some technical solutions, optionally, the first formula is:

[0024] in, represents the coordinates of the third center in the first coordinate system, represents the coordinates of the fifth center in the third coordinate system, A represents the first Euler angle, Represents estimated coordinates.

[0025] In this technical solution, the coordinates of the fifth center in the first coordinate system are determined by calculating the rotation matrix according to the first Euler angle, and the coordinates are used as estimated coordinates.

[0026] It should be noted that A represents the first Euler angle by means of a rotation matrix. Optionally, A is in, Calculated according to angleY(i). angleY(i) represents the row vector composed of the angles of the first coordinate system rotating around the Y axis of the third coordinate system. Calculated according to angleX(j). angleX(j) represents the row vector composed of the angles of the first coordinate system rotating around the X-axis of the third coordinate system. Calculated according to angleZ(k). angleZ(k) represents the row vector composed of the angles of the first coordinate system rotating around the Z axis of the third coordinate system.

[0027] In some technical schemes, optionally, when the error between the estimated coordinates and the true coordinates is not greater than a first threshold, the first Euler angle is used as the available Euler angle between the third coordinate system and the first coordinate system, and the installation angle of the laser radar on the carrier is determined according to the available Euler angle, including: judging whether the error between the estimated coordinates and the true coordinates is not greater than the first threshold, and generating a first judgment result; if the first judgment result is yes, using the first Euler angle as the available Euler angle between the third coordinate system and the first coordinate system, and determining the installation angle of the laser radar on the carrier according to the available Euler angle; if the first judgment result is no, the first Euler angle is not an available Euler angle.

[0028] In this technical solution, under the premise of knowing the estimated coordinates and the real coordinates, the steps of determining the installation angle of the laser radar on the carrier include:

[0029] Determine whether the error between the estimated coordinates and the real coordinates is not greater than a first threshold, and generate a first determination result. The purpose of this step is to compare the error between the estimated coordinates and the real coordinates with the first threshold to determine whether the first Euler angle is an available Euler angle.

[0030] If the first judgment result is yes, the first Euler angle is used as the available Euler angle between the third coordinate system and the first coordinate system, and the installation angle of the laser radar on the carrier is determined based on the available Euler angle. When it is determined that the error between the estimated coordinates and the true coordinates is not greater than the first threshold, the first Euler angle is used as the available Euler angle between the third coordinate system and the first coordinate system, and the installation angle of the laser radar on the carrier is determined based on the available Euler angle. Optionally, the installation angle is the installation azimuth of the laser radar on the carrier. Optionally, for each first Euler angle, the error between the estimated coordinates and the true coordinates is calculated so that the first Euler angle with the smallest error is the available Euler angle between the third coordinate system and the first coordinate system.

[0031] If the first judgment result is no, the first Euler angle is not an available Euler angle. When it is determined that the error between the estimated coordinates and the true coordinates is greater than the first threshold, it means that the first Euler angle is not an available Euler angle, and the process returns to the step of determining the first Euler angle between the third coordinate system and the first coordinate system, and determining the estimated coordinates of the fifth center in the first coordinate system according to the first Euler angle.

[0032] In some technical schemes, optionally, the calibration method of the installation angle of the laser radar on the carrier also includes: before determining the coordinates of the first center in the second coordinate system and determining the coordinates of the second center in the first coordinate system, determining a fourth coordinate system with the fourth center as the coordinate origin, and the fourth center is the center position of the inertial navigation system of the calibration system.

[0033] In this technical solution, the purpose of this step is to determine an inertial navigation system coordinate system (fourth coordinate system) with the center position (fourth center) of the inertial navigation system as the coordinate origin.

[0034] In some technical solutions, optionally, among the three coordinate axes of the fourth coordinate system, at least one coordinate axis is parallel to an edge of the carrier.

[0035] In this technical solution, this design method, by using the entity as a reference point (edge), is conducive to coordinate conversion between multiple coordinate systems.

[0036] In some technical solutions, optionally, the Euler angle between the first coordinate system and the fourth coordinate system is a second Euler angle, and the second Euler angle is not greater than a second threshold.

[0037] In this technical solution, the correlation between the first coordinate system and the fourth coordinate system is determined, and based on the fourth coordinate system, the first coordinate system with the first center as the coordinate origin is determined.

[0038] In some technical solutions, optionally, the second Euler angle is 0.

[0039] In this technical solution, this design method is conducive to coordinate conversion between multiple coordinate systems.

[0040] A second aspect of the present invention provides an electronic device, comprising a processor, a memory, and a program or instruction stored in the memory and executable on the processor. When the program or instruction is executed by the processor, the steps of the method for calibrating the installation angle of a laser radar on a carrier in any of the above-mentioned technical solutions are implemented.

[0041] A third aspect of the present invention provides a readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the steps of the method for calibrating the installation angle of the laser radar on the carrier in any of the above technical solutions.

[0042] A fourth aspect of the present invention provides a chip, which includes a processor and a communication interface, wherein the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the steps of the method for calibrating the installation angle of the laser radar on the carrier in any of the above technical solutions.

[0043] Additional aspects and advantages of the technical solutions of the present invention will become apparent in the following description or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A first flow chart of a method for calibrating the installation angle of a laser radar on a carrier according to an embodiment of the present invention is shown;

[0045] Figure 2 A second flow chart of a method for calibrating the installation angle of a laser radar on a carrier according to an embodiment of the present invention is shown;

[0046] Figure 3 shows a side view of a calibration system according to one embodiment of the present invention;

[0047] Figure 4 A top view of a calibration system according to an embodiment of the present invention is shown;

[0048] Figure 5 A schematic diagram of the installation structure of a laser target according to an embodiment of the present invention is shown;

[0049] Figure 6 A schematic diagram of position calibration of a laser target according to an embodiment of the present invention is shown;

[0050] Figure 7 A structural block diagram of an electronic device according to an embodiment of the present invention is shown;

[0051] Figure 8 A schematic diagram of the hardware structure of an electronic device according to an embodiment of the present invention is shown.

[0052] in, Figures 3 to 6 The corresponding relationship between the reference numerals and the component names is as follows:

[0053] 300: calibration system; 310: carrier; 320: calibration site; 321: slide rail; 330: laser radar; 340: laser target; 350: inertial navigation system. DETAILED DESCRIPTION

[0054] In order to more clearly understand the above-mentioned purposes, features and advantages of the embodiments of the present invention, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0055] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the embodiments of the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0056] Refer to the following Figures 1 to 8 The present invention describes a method, device and storage medium for calibrating the installation angle of a laser radar on a carrier according to some embodiments of the present invention.

[0057] In one embodiment of the present invention, the calibration method of the installation angle of the laser radar on the carrier is implemented by the calibration system 300. Figure 3 and Figure 4 As shown, the calibration system 300 includes a carrier 310, a calibration site 320, a laser radar 330 and a laser target 340. Specifically, the laser radar 330 is arranged on the carrier 310. The laser target 340 is arranged at the calibration site 320, and the laser target 340 is relatively fixed to the calibration site 320. The laser radar 330 is used to send a detection signal (laser beam) to the laser target 340. The laser target 340 is used to send a reflection signal to the laser radar 330. By comparing the reflection signal with the detection signal and performing appropriate processing, parameters such as distance, azimuth, height, speed, attitude and shape can be obtained. Optionally, the laser target 340 is a laser target ball. Optionally, the number of laser targets 340 is at least one, that is, the laser targets 340 can be one, two or more, and the laser targets 340 can be flexibly set according to actual needs. On this basis, when there are multiple laser targets 340 , the distances between different laser targets 340 and the distance between the laser target 340 and the carrier 310 are flexibly set according to actual application scenarios.

[0058] like Figure 5 and Figure 6 As shown, a slide rail 321 is provided on the top of the calibration site 320. The laser target 340 is slidably connected to the slide rail 321 to change the position of the laser target 340 in the calibration site 320.

[0059] Further, a first coordinate system with the first center as the coordinate origin is determined, and the first center is the center position of the carrier 310. A second coordinate system with the second center as the coordinate origin is determined, and the second center is the center position of the calibration site 320. A third coordinate system with the third center as the coordinate origin is determined, and the third center is the center position of the laser radar 330. Optionally, a fourth coordinate system with the fourth center as the coordinate origin is determined, and the fourth center is the center position of the inertial navigation system 350. The fifth center is the center position of the laser target 340. Optionally, the inertial navigation system 350 is installed at a corner of the carrier 310 so that the coordinate axis of the fourth coordinate system is approximately parallel to the edge of the carrier 310. Optionally, the Euler angle between the first coordinate system and the fourth coordinate system is the second Euler angle. When the X-axis of the first coordinate system is parallel to the X-axis of the fourth coordinate system, the Y-axis of the first coordinate system is parallel to the Y-axis of the fourth coordinate system, and the Z-axis of the first coordinate system is parallel to the Z-axis of the fourth coordinate system, the second Euler angle is 0.

[0060] Optionally, the calibration site 320 has a grid (1m×1m). The second center (the center position of the calibration site 320) is the point on the ground of the calibration site 320 projected by the fifth center (the center position of the laser target 340). Optionally, the X-axis and Y-axis of the second coordinate system are parallel to the sides of the grid. Optionally, the carrier 310 is a tunneling machine, and of course it can also be other types of equipment or machinery.

[0061] like Figure 1 As shown, the specific steps of the calibration method for the installation angle of the laser radar on the carrier include:

[0062] S102, determine the first coordinate system with the first center as the coordinate origin, determine the second coordinate system with the second center as the coordinate origin, determine the third coordinate system with the third center as the coordinate origin, the first center is the center position of the carrier of the calibration system, the second center is the center position of the calibration site of the calibration system, and the third center is the center position of the laser radar of the calibration system. The purpose of this step is to determine three coordinate systems (the first coordinate system, the second coordinate system, and the third coordinate system) to provide a basis for obtaining various parameters in subsequent steps.

[0063] S104, determine the coordinates of the first center in the second coordinate system, determine the coordinates of the second center in the first coordinate system. Determine the coordinates of the center position of the carrier (first center) in the calibration coordinate system (second coordinate system); determine the coordinates of the center position of the calibration site (second center) in the carrier coordinate system (first coordinate system).

[0064] S106, determine the real coordinates of the fifth center in the first coordinate system, the fifth center is the center position of the laser target of the calibration system. Determine the coordinates of the center position of the laser target (fifth center) in the carrier coordinate system (first coordinate system), and use this coordinate as the real coordinate.

[0065] S108, determining the first Euler angle between the third coordinate system and the first coordinate system, and determining the estimated coordinates of the fifth center in the first coordinate system according to the first Euler angle. The Euler angle is used to determine a set of three independent angular parameters of the position of a fixed-point rotating rigid body. The estimated coordinates of the fifth center in the first coordinate system are determined by calculating the rotation matrix according to the first Euler angle. Optionally, the coordinates of the fifth center in the third coordinate system are determined, and then the coordinates of the fifth center in the first coordinate system are determined, and the coordinates are used as the estimated coordinates.

[0066] S110, when the error between the estimated coordinates and the true coordinates is not greater than the first threshold, the first Euler angle is used as the available Euler angle between the third coordinate system and the first coordinate system, and the installation angle of the laser radar on the carrier is determined according to the available Euler angle. Optionally, the installation angle is the installation azimuth of the laser radar on the carrier. Optionally, for each first Euler angle, the error between the estimated coordinates and the true coordinates is calculated, so that the first Euler angle with the smallest error is the available Euler angle between the third coordinate system and the first coordinate system.

[0067] In the technical solution defined in the present invention, a method for calibrating the installation angle of a laser radar on a carrier is provided, wherein the estimated coordinates of the fifth center in the first coordinate system are determined according to the first Euler angle, and when the error between the estimated coordinates and the true coordinates is not greater than the first threshold, the first Euler angle is used as the available Euler angle of the third coordinate system and the first coordinate system, and the installation angle of the laser radar on the carrier is determined according to the available Euler angle. The method for calibrating the installation angle of a laser radar on a carrier provided by the present invention has the advantages of being simple, reliable, and having a wide range of applications, and the calibration process does not require high control accuracy of the carrier itself.

[0068] In one embodiment according to the present invention, Figure 2 As shown, the specific steps of the calibration method for the installation angle of the laser radar on the carrier include:

[0069] S202, determine the first coordinate system with the first center as the coordinate origin, determine the second coordinate system with the second center as the coordinate origin, determine the third coordinate system with the third center as the coordinate origin, the first center is the center position of the carrier of the calibration system, the second center is the center position of the calibration site of the calibration system, and the third center is the center position of the laser radar of the calibration system. The purpose of this step is to determine three coordinate systems (the first coordinate system, the second coordinate system, and the third coordinate system) to provide a basis for obtaining various parameters in subsequent steps.

[0070] S204, determine the coordinates of the first center in the second coordinate system, determine the coordinates of the second center in the first coordinate system. Determine the coordinates of the center position of the carrier (first center) in the calibration coordinate system (second coordinate system); determine the coordinates of the center position of the calibration site (second center) in the carrier coordinate system (first coordinate system).

[0071] S206, determine the real coordinates of the fifth center in the first coordinate system, the fifth center is the center position of the laser target of the calibration system. Determine the coordinates of the center position of the laser target (fifth center) in the carrier coordinate system (first coordinate system), and use this coordinate as the real coordinate.

[0072] S208, determining the coordinates of the fifth center in the third coordinate system, determining the coordinates of the third center in the first coordinate system, determining the first Euler angle between the third coordinate system and the first coordinate system, and determining the estimated coordinates of the fifth center in the first coordinate system by using the first formula. Determine the first Euler angle between the two coordinate systems. Optionally, determine the coordinates of the fifth center in the third coordinate system, and then determine the coordinates of the fifth center in the first coordinate system, and use the coordinates as the estimated coordinates.

[0073] S210, judging whether the error between the estimated coordinates and the real coordinates is not greater than a first threshold, and generating a first judgment result. The purpose of this step is to compare the error between the estimated coordinates and the real coordinates with the first threshold to judge whether the first Euler angle is an available Euler angle.

[0074] S212, if the first judgment result is yes, the first Euler angle is used as the available Euler angle between the third coordinate system and the first coordinate system, and the installation angle of the laser radar on the carrier is determined according to the available Euler angle. When it is determined that the error between the estimated coordinates and the true coordinates is not greater than the first threshold, the first Euler angle is used as the available Euler angle between the third coordinate system and the first coordinate system, and the installation angle of the laser radar on the carrier is determined according to the available Euler angle. Optionally, the installation angle is the installation azimuth of the laser radar on the carrier. Optionally, for each first Euler angle, the error between the estimated coordinates and the true coordinates is calculated, so that the first Euler angle with the smallest error is the available Euler angle between the third coordinate system and the first coordinate system.

[0075] S214, if the first judgment result is no, the first Euler angle is not an available Euler angle. When it is determined that the error between the estimated coordinates and the true coordinates is greater than the first threshold, it means that the first Euler angle is not an available Euler angle, and the process returns to S208 (determine the first Euler angle of the third coordinate system and the first coordinate system, and determine the estimated coordinates of the fifth center in the first coordinate system by calculating the rotation matrix according to the first Euler angle).

[0076] In the technical solution defined in the present invention, a method for calibrating the installation angle of a laser radar on a carrier is provided, wherein the estimated coordinates of the fifth center in the first coordinate system are determined according to the first Euler angle, and when the error between the estimated coordinates and the true coordinates is not greater than the first threshold, the first Euler angle is used as the available Euler angle of the third coordinate system and the first coordinate system, and the installation angle of the laser radar on the carrier is determined according to the available Euler angle. The method for calibrating the installation angle of a laser radar on a carrier provided by the present invention has the advantages of being simple, reliable, and having a wide range of applications, and the calibration process does not require high control accuracy of the carrier itself.

[0077] In some embodiments, optionally, the first formula is:

[0078] in, represents the coordinates of the third center in the first coordinate system, represents the coordinates of the fifth center in the third coordinate system, A represents the first Euler angle, Denotes the estimated coordinates. The coordinates of the fifth center in the first coordinate system are determined by calculating the rotation matrix according to the first Euler angle, and these coordinates are used as the estimated coordinates.

[0079] It should be noted that A represents the first Euler angle by means of a rotation matrix. Optionally, A is in, Calculated according to angleY(i). angleY(i) represents the row vector composed of the angles of the first coordinate system rotating around the Y axis of the third coordinate system. Calculated according to angleX(j). angleX(j) represents the row vector composed of the angles of the first coordinate system rotating around the X-axis of the third coordinate system. Calculated according to angleZ(k). angleZ(k) represents the row vector composed of the angles of the first coordinate system rotating around the Z axis of the third coordinate system.

[0080] In some embodiments, optionally, the steps of the method for calibrating the installation angle of the laser radar on the carrier further include:

[0081] Before determining the coordinates of the first center in the second coordinate system and determining the coordinates of the second center in the first coordinate system, determine a fourth coordinate system with the fourth center as the coordinate origin, and the fourth center is the center position of the inertial navigation system of the calibration system. The purpose of this step is to determine the inertial navigation system coordinate system (fourth coordinate system) with the center position of the inertial navigation system (fourth center) as the coordinate origin.

[0082] In some embodiments, optionally, at least one of the three coordinate axes of the fourth coordinate system is parallel to an edge of the carrier. This design facilitates coordinate conversion between multiple coordinate systems by using the entity as a reference point (edge).

[0083] In some embodiments, optionally, the Euler angle between the first coordinate system and the fourth coordinate system is a second Euler angle, and the second Euler angle is not greater than a second threshold. The correlation between the first coordinate system and the fourth coordinate system is determined, and the first coordinate system with the first center as the coordinate origin is determined according to the fourth coordinate system.

[0084] In some embodiments, optionally, the second Euler angle is 0. This design is conducive to coordinate conversion between multiple coordinate systems.

[0085] In one embodiment according to the present invention, Figure 7 As shown, the electronic device 400 includes a processor 402 and a memory 404. The memory 404 stores programs or instructions that can be run on the processor 402. When the program or instructions are executed by the processor 402, the various steps of the calibration method for the installation angle of the laser radar on the carrier in any of the above-mentioned embodiments are implemented, and the same technical effect can be achieved. To avoid repetition, they are not repeated here.

[0086] It should be noted that the electronic device 400 in the embodiment of the present application includes the above-mentioned mobile electronic device and non-mobile electronic device.

[0087] Figure 8 A schematic diagram of the hardware structure of an electronic device to implement an embodiment of the present application.

[0088] The electronic device 500 includes but is not limited to: a radio frequency unit 501, a network module 502, an audio output unit 503, an input unit 504, a sensor 505, a display unit 506, a user input unit 507, an interface unit 508, a memory 509 and a processor 510.

[0089] Those skilled in the art will appreciate that the electronic device 500 may also include a power source (such as a battery) for supplying power to various components, and the power source may be logically connected to the processor 510 through a power management system, thereby implementing functions such as managing charging, discharging, and power consumption management through the power management system. Figure 8 The electronic device structure shown in the figure does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently, which will not be described in detail here.

[0090] The processor 510 is used to determine a first coordinate system with the first center as the coordinate origin, determine a second coordinate system with the second center as the coordinate origin, and determine a third coordinate system with the third center as the coordinate origin, wherein the first center is the center position of the carrier of the calibration system, the second center is the center position of the calibration site of the calibration system, and the third center is the center position of the laser radar of the calibration system;

[0091] Determine the coordinates of the first center in the second coordinate system, and determine the coordinates of the second center in the first coordinate system;

[0092] Determine the real coordinates of the fifth center in the first coordinate system, the fifth center being the center position of the laser target of the calibration system;

[0093] determining a first Euler angle between the third coordinate system and the first coordinate system, and determining estimated coordinates of the fifth center in the first coordinate system according to the first Euler angle;

[0094] When the error between the estimated coordinates and the true coordinates is not greater than a first threshold, the first Euler angle is used as the available Euler angle between the third coordinate system and the first coordinate system, and the installation angle of the laser radar on the carrier is determined according to the available Euler angle.

[0095] It should be understood that in the embodiment of the present application, the input unit 504 may include a graphics processor (GPU) 5041 and a microphone 5042, and the graphics processor 5041 processes the image data of a static picture or video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The display unit 506 may include a display panel 5061, and the display panel 5061 may be configured in the form of a liquid crystal display, an organic light emitting diode, etc. The user input unit 507 includes a touch panel 5071 and at least one of other input devices 5072. The touch panel 5071 is also called a touch screen. The touch panel 5071 may include two parts: a touch detection device and a touch controller. Other input devices 5072 may include, but are not limited to, a physical keyboard, function keys (such as a volume control button, a switch button, etc.), a trackball, a mouse, and a joystick, which will not be repeated here.

[0096] The memory 509 can be used to store software programs and various data. The memory 509 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, an application program or instructions required for at least one function (such as a sound playback function, an image playback function, etc.), etc. In addition, the memory 509 may include a volatile memory or a non-volatile memory, or the memory 509 may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDRSDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a synchronous link dynamic random access memory (SLDRAM) and a direct memory bus random access memory (DRRAM). The memory 509 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.

[0097] The processor 510 may include one or more processing units; optionally, the processor 510 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to an operating system, a user interface, and application programs, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It is understandable that the modem processor may not be integrated into the processor 510.

[0098] It should be noted that the calibration method of the installation angle of the laser radar on the carrier can be implemented in various different ways according to specific features and / or example applications. For example, these methods can be implemented by a combination of hardware, firmware and / or software. For example, in hardware implementation, the processor can be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, electronic devices, other equipment units for performing the above functions and / or combinations thereof.

[0099] In one embodiment of the present invention, a readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for calibrating the installation angle of the laser radar on the carrier in any of the above embodiments are implemented.

[0100] It should be noted that the readable storage medium can be a tangible device that can retain and store instructions for use by the instruction execution device. The readable storage medium can be an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the above devices, but is not limited thereto. A non-exhaustive list of more specific examples of readable storage media includes: portable computer floppy disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), static random access memories (SRAM), portable compact disk read-only memories (CD-ROM), digital versatile disks (DVD), memory cards, floppy disks, encoding mechanical devices (such as punched cards or grooves with raised structures with instructions recorded) and any suitable combination of the above devices. The readable storage medium used herein should not be understood as a transmission signal itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media, or electrical signals transmitted through wires.

[0101] In one embodiment of the present invention, the chip includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the steps of the method for calibrating the installation angle of the laser radar on the carrier in any of the above embodiments.

[0102] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0103] In one embodiment according to the present invention, a computer program product is stored in a storage medium, and the program product is executed by at least one processor to implement the various processes of the calibration method of the installation angle of the laser radar on the carrier as in any of the above embodiments, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0104] In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0105] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “front” and “back” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, cannot be understood as a limitation on the present invention.

[0106] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0107] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for calibrating the installation angle of a laser radar on a carrier, characterized in that: The calibration method of the installation angle of the laser radar on the carrier is implemented by a calibration system, and the calibration method of the installation angle of the laser radar on the carrier includes: Determine a first coordinate system with the first center as the coordinate origin, determine a second coordinate system with the second center as the coordinate origin, and determine a third coordinate system with the third center as the coordinate origin, wherein the first center is the center position of the carrier of the calibration system, the second center is the center position of the calibration site of the calibration system, and the third center is the center position of the laser radar of the calibration system; Determine the coordinates of the first center in the second coordinate system to determine the coordinates of the center position of the carrier in the calibration coordinate system, and determine the coordinates of the second center in the first coordinate system to determine the coordinates of the center position of the calibration site in the carrier coordinate system; Determine the real coordinates of the fifth center in the first coordinate system, the fifth center being the center position of the laser target of the calibration system, and the second center being the point on the ground of the calibration site projected by the fifth center; determining a first Euler angle between the third coordinate system and the first coordinate system, and determining an estimated coordinate of the fifth center in the first coordinate system according to the first Euler angle; When the error between the estimated coordinates and the true coordinates is not greater than a first threshold, using the first Euler angle as an available Euler angle between the third coordinate system and the first coordinate system, and determining the installation angle of the laser radar on the carrier according to the available Euler angle; The determining a first Euler angle between the third coordinate system and the first coordinate system, and determining an estimated coordinate of the fifth center in the first coordinate system according to the first Euler angle, comprises: Determine the coordinates of the fifth center in the third coordinate system, determine the coordinates of the third center in the first coordinate system, determine a first Euler angle between the third coordinate system and the first coordinate system, and determine the estimated coordinates of the fifth center in the first coordinate system by using a first formula; The first formula is: in, represents the coordinates of the third center in the first coordinate system, represents the coordinates of the fifth center in the third coordinate system, A represents the first Euler angle, represents the estimated coordinates.

2. The method for calibrating the installation angle of the laser radar on the carrier according to claim 1, characterized in that: When the error between the estimated coordinates and the real coordinates is not greater than a first threshold, using the first Euler angle as an available Euler angle between the third coordinate system and the first coordinate system, and determining the installation angle of the laser radar on the carrier according to the available Euler angle, comprising: Determine whether an error between the estimated coordinates and the real coordinates is not greater than a first threshold, and generate a first determination result; If the first judgment result is yes, using the first Euler angle as the available Euler angle between the third coordinate system and the first coordinate system, and determining the installation angle of the laser radar on the carrier according to the available Euler angle; If the first judgment result is no, then the first Euler angle is not the available Euler angle.

3. The method for calibrating the installation angle of the laser radar on the carrier according to claim 1, characterized in that: Also includes: Before determining the coordinates of the first center in the second coordinate system and determining the coordinates of the second center in the first coordinate system, a fourth coordinate system with a fourth center as the coordinate origin is determined, and the fourth center is the center position of the inertial navigation system of the calibration system.

4. The method for calibrating the installation angle of the laser radar on the carrier according to claim 3, characterized in that: Among the three coordinate axes of the fourth coordinate system, at least one coordinate axis is parallel to an edge of the carrier.

5. The method for calibrating the installation angle of the laser radar on the carrier according to claim 3, characterized in that: The Euler angle between the first coordinate system and the fourth coordinate system is a second Euler angle, and the second Euler angle is not greater than a second threshold.

6. The method for calibrating the installation angle of the laser radar on the carrier according to claim 5, characterized in that: The second Euler angle is 0.

7. An electronic device, characterized in that: It comprises a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein when the program or the instruction is executed by the processor, the steps of the method for calibrating the installation angle of the laser radar on the carrier as described in any one of claims 1 to 6 are implemented.

8. A readable storage medium, characterized in that: The readable storage medium stores a computer program, which, when executed by a processor, implements the steps of a method for calibrating the installation angle of a laser radar on a carrier as described in any one of claims 1 to 6.

9. A chip, characterized in that: The chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run a program or instruction to implement the steps of the method for calibrating the installation angle of the laser radar on the carrier as described in any one of claims 1 to 6.

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