Laser radar angle calibration method and device, equipment, storage medium and product

Abstract

The invention relates to a laser radar angle calibration method and device, equipment, a storage medium and a product. The method comprises the following steps: controlling a first rotating mirror to scan a to-be-measured object based on a first initial light emitting coded value to obtain a reference point cloud; acquiring a second initial light-emitting coded value based on the first initial light-emitting coded value and a preset coded value increment, and controlling a second rotating mirror to scan the to-be-measured object based on the second initial light-emitting coded value to obtain a to-be-calibrated point cloud; adjusting the second initial light emitting coded value to enable the to-be-calibrated point cloud to coincide with the reference point cloud; calculating a coding value variable of the second rotating mirror relative to a preset coding value increment based on the adjusted second initial light emitting coding value, the first initial light emitting coding value and the preset coding value increment; and the initial light emitting coding values of the remaining rotating mirrors are sequentially adjusted, so that the to-be-calibrated point clouds of the remaining rotating mirrors coincide with the reference point clouds, and coding value variables of the remaining rotating mirrors are recorded. By adopting the method, the light emitting angles of all the rotating mirrors can be the same, and point cloud shaking is prevented.

Description

Technical Field

[0001] The present application relates to the field of laser radar technology, and in particular to a laser radar angle calibration method, device, equipment, storage medium and product. Background Art

[0002] As an important scanning form, the laser radar system based on the rotating mirror is widely used in mass-produced laser radar products. The rotating mirror is composed of three or more reflectors in a ring and is driven by a motor to rotate. This scanning form of laser radar often has the advantages of large field of view, high frame rate, and long distance measurement.

[0003] The two adjacent frames of the point cloud output by the rotating mirror laser radar come from the two adjacent surfaces of the rotating mirror. To ensure that the field of view and angular resolution of the point cloud in a single direction remain basically unchanged, it is necessary to ensure that the light output angle of each surface of the rotating mirror is consistent. The current practice adopted in the industry is to use the motor encoder to obtain the encoding value corresponding to a certain angle. In one cycle of the rotating mirror rotation, the angle that needs to trigger the laser emission and measurement is specified. Each angle has its corresponding encoding value. Whenever the encoding value corresponding to a certain light output angle is triggered, a measurement is started. However, in actual applications, due to factors such as differences in the rotating mirror itself and usage loss, the initial light output angle of each rotating mirror may deviate, which causes the point cloud to shake. Summary of the invention

[0004] Based on this, it is necessary to provide a laser radar angle calibration method, device, equipment, storage medium and product that can make the light output angle of each rotating mirror the same in order to address the above-mentioned technical problems.

[0005] In a first aspect, the present application provides a laser radar angle calibration method, comprising: Controlling a first rotating mirror of the radar to be calibrated to scan the object to be measured based on the first starting light emission code value to obtain a reference point cloud, wherein the radar to be calibrated includes a plurality of rotating mirrors; Acquire a second initial light emitting code value based on the first initial light emitting code value and a preset code value increment, and control the second rotating mirror of the radar to be calibrated to scan the object to be measured based on the second initial light emitting code value to obtain a point cloud to be calibrated; Adjusting the second starting light output coding value so that the point cloud to be calibrated coincides with the reference point cloud; Calculating the code value variable of the second rotating mirror surface relative to the preset code value increment based on the adjusted second starting light output code value, the first initial light output code value and the preset code value increment; The starting light emitting coding values ​​of the remaining rotating mirrors of the radar to be calibrated are adjusted in sequence so that the point cloud to be calibrated of each remaining rotating mirror coincides with the reference point cloud, and the coding value variables of each remaining rotating mirror are recorded.

[0006] In one embodiment, controlling the first rotating mirror of the radar to be calibrated to scan the object to be measured based on the first starting light emission code value to obtain a reference point cloud includes: When the first starting light emitting coding value is reached, the light emitting timing is triggered, and the first rotating mirror is controlled to scan the object to be measured within a measuring period to obtain a frame point cloud reflected by the object to be measured, and the frame point cloud is determined as a reference point cloud. In one of the embodiments, after controlling the first rotating mirror of the radar to be calibrated to scan the object to be measured based on the first starting light emission code value, the method further includes: The starting light emitting angle of the first rotating mirror surface corresponding to the first starting light emitting coding value is recorded. In one embodiment, the step of obtaining a second initial light emitting coding value based on the first initial light emitting coding value and a preset coding value increment, and controlling the second rotating mirror of the radar to be calibrated to scan the object to be measured based on the second initial light emitting coding value, comprises: Summing the first initial light emitting coding value and the preset coding value increment to obtain the second initial light emitting coding value; When the second starting light emitting code value is reached, the second rotating mirror is controlled to scan the object to be measured.

[0007] In one embodiment, the step of calculating the coding value variable of the second rotating mirror relative to the preset coding value increment based on the adjusted second starting light emitting coding value, the first initial light emitting coding value and the preset coding value increment comprises: Calculate a first difference between the adjusted second initial light-emitting coding value and the first initial light-emitting coding value; A second difference value is calculated by subtracting the preset code value increment from the first difference value, and the second difference value is determined as the code value variable.

[0008] In one embodiment, the method further comprises: The rotating mirror surface with the smallest absolute value of the encoding value variable is used as the reference rotating mirror surface. When recalibration is required, the reference rotating mirror surface is used as the first rotating mirror surface.

[0009] In a second aspect, the present application also provides a laser radar angle calibration device, comprising: A first scanning module is used to control a first rotating mirror of the radar to be calibrated to scan the object to be measured based on a first starting light emission code value to obtain a reference point cloud, wherein the radar to be calibrated includes a plurality of rotating mirrors; A second scanning module is used to obtain a second initial light emitting code value based on the first initial light emitting code value and a preset code value increment, and control the second rotating mirror of the radar to be calibrated to scan the object to be measured based on the second initial light emitting code value to obtain a point cloud to be calibrated; An adjustment module, used for adjusting the second starting light emission code value so that the point cloud to be calibrated coincides with the reference point cloud; A calculation module, configured to calculate a code value variable of the second rotating mirror surface relative to the preset code value increment based on the adjusted second starting light emission code value, the first initial light emission code value and the preset code value increment; The calibration module is used to sequentially adjust the starting light emission coding values ​​of the remaining rotating mirrors of the radar to be calibrated so that the calibrated point cloud of each remaining rotating mirror coincides with the reference point cloud, and record the coding value variables of each remaining rotating mirror.

[0010] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented: Controlling a first rotating mirror of the radar to be calibrated to scan the object to be measured based on the first starting light emission code value to obtain a reference point cloud, wherein the radar to be calibrated includes a plurality of rotating mirrors; Acquire a second initial light emitting code value based on the first initial light emitting code value and a preset code value increment, and control the second rotating mirror of the radar to be calibrated to scan the object to be measured based on the second initial light emitting code value to obtain a point cloud to be calibrated; Adjusting the second starting light output coding value so that the point cloud to be calibrated coincides with the reference point cloud; Calculating the code value variable of the second rotating mirror surface relative to the preset code value increment based on the adjusted second starting light output code value, the first initial light output code value and the preset code value increment; The starting light emitting coding values ​​of the remaining rotating mirrors of the radar to be calibrated are adjusted in sequence so that the point cloud to be calibrated of each remaining rotating mirror coincides with the reference point cloud, and the coding value variables of each remaining rotating mirror are recorded.

[0011] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented: Controlling a first rotating mirror of the radar to be calibrated to scan the object to be measured based on the first starting light emission code value to obtain a reference point cloud, wherein the radar to be calibrated includes a plurality of rotating mirrors; Acquire a second initial light emitting code value based on the first initial light emitting code value and a preset code value increment, and control the second rotating mirror of the radar to be calibrated to scan the object to be measured based on the second initial light emitting code value to obtain a point cloud to be calibrated; Adjusting the second starting light output coding value so that the point cloud to be calibrated coincides with the reference point cloud; Calculating the code value variable of the second rotating mirror surface relative to the preset code value increment based on the adjusted second starting light output code value, the first initial light output code value and the preset code value increment; The starting light emitting coding values ​​of the remaining rotating mirrors of the radar to be calibrated are adjusted in sequence so that the point cloud to be calibrated of each remaining rotating mirror coincides with the reference point cloud, and the coding value variables of each remaining rotating mirror are recorded.

[0012] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor: Controlling a first rotating mirror of the radar to be calibrated to scan the object to be measured based on the first starting light emission code value to obtain a reference point cloud, wherein the radar to be calibrated includes a plurality of rotating mirrors; Acquire a second initial light emitting code value based on the first initial light emitting code value and a preset code value increment, and control the second rotating mirror of the radar to be calibrated to scan the object to be measured based on the second initial light emitting code value to obtain a point cloud to be calibrated; Adjusting the second starting light output coding value so that the point cloud to be calibrated coincides with the reference point cloud; Calculating the code value variable of the second rotating mirror surface relative to the preset code value increment based on the adjusted second starting light output code value, the first initial light output code value and the preset code value increment; The starting light emitting coding values ​​of the remaining rotating mirrors of the radar to be calibrated are adjusted in sequence so that the point cloud to be calibrated of each remaining rotating mirror coincides with the reference point cloud, and the coding value variables of each remaining rotating mirror are recorded.

[0013] The above-mentioned laser radar angle calibration method, device, computer equipment, computer-readable storage medium and computer program product obtain the coding value variable corresponding to the same light output angle of multiple rotating mirrors through calibration, and use the angle corresponding to this value as the starting measurement position of each point cloud of the laser radar, thereby ensuring that the field of view range of each rotating mirror in a single direction remains unchanged and there will be no problem of point cloud shaking. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 Schematic diagram of a process of laser radar angle calibration method in one embodiment; Figure 2 A schematic diagram of a module of a laser radar angle calibration system in one embodiment; Figure 3 A schematic diagram of a logic flow of coding value calibration in one embodiment; Figure 4 A logic flow diagram of light emission timing generation in one embodiment; Figure 5 is a structural block diagram of a laser radar angle calibration device in one embodiment; Figure 6 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0017] In one embodiment, Figure 1 As shown, a laser radar angle calibration method is provided. It can be understood that the method can be applied to a terminal, a server, or a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps: Step 101, controlling a first rotating mirror of a radar to be calibrated to scan an object to be measured based on a first starting light emission code value to obtain a reference point cloud, wherein the radar to be calibrated includes a plurality of rotating mirrors; Step 102, obtaining a second initial light emitting code value based on the first initial light emitting code value and a preset code value increment, controlling the second rotating mirror of the radar to be calibrated to scan the object to be measured based on the second initial light emitting code value, and obtaining a point cloud to be calibrated; Step 103, adjusting the second starting light output code value so that the point cloud to be calibrated coincides with the reference point cloud; Step 104, calculating the code value variable of the second rotating mirror surface relative to the preset code value increment based on the adjusted second starting light output code value, the first initial light output code value and the preset code value increment; Step 105, sequentially adjusting the starting light emission coding values ​​of the remaining rotating mirrors of the radar to be calibrated so that the calibrated point cloud of each remaining rotating mirror coincides with the reference point cloud, and recording the coding value variables of each remaining rotating mirror.

[0018] For the convenience of description, the calibration angle in this embodiment takes the horizontal angle as an example, and in some other cases, it can also be used for the calibration of the vertical angle.

[0019] Exemplarily, the first rotating mirror can be any rotating mirror of the radar to be calibrated. For the sake of ease of description and distinction, the first rotating mirror is referred to here. The second rotating mirror is a rotating mirror adjacent to the first rotating mirror. The object to be measured is placed at the horizontal angle starting position of the scanning range of the first rotating mirror. The point cloud obtained by scanning at this time is used as a reference point cloud for subsequent calibration reference.

[0020] The preset code value increment corresponds to a preset mechanical angle, that is, the angle of rotation of the rotating mirror. After controlling the second rotating mirror of the radar to be calibrated to scan the object to be measured based on the second starting light emitting code value, it can be seen that the point cloud to be calibrated and the reference point cloud at this time do not overlap. The second starting light emitting code value is adjusted to adjust the starting light emitting angle of the second rotating mirror. When the point cloud to be calibrated and the reference point cloud are aligned, it means that the starting light emitting angles of the second rotating mirror and the first rotating mirror are the same.

[0021] Similarly, the initial light emission angle of each rotating mirror is calibrated one by one in the order of the first rotating mirror, the second rotating mirror, and the remaining rotating mirrors, and the starting light emission coding value and coding value variable when their initial light emission angles are the same are obtained.

[0022] For example, this embodiment can be applied to Figure 2 The laser radar angle calibration system shown, Figure 2 The laser radar angle calibration system includes: a controller such as an FPGA (Field Programmable Gate Array), a motor encoder, and a laser radar transceiver unit.

[0023] according to Figure 2 The generation process of a trigger signal can be obtained: the coding value corresponding to the starting light angle of the horizontal field of view of each surface of the rotating mirror is obtained according to the calibration. After receiving the value, the controller triggers the start of the measurement cycle of the current rotating mirror surface, and completes the first horizontal angle measurement of this frame point cloud at the light angle corresponding to the coding value. The internal logic of the controller generates a trigger signal for periodic measurement, driving the transceiver unit to complete the transmission and reception of a fixed time period.

[0024] In the above-mentioned laser radar angle calibration method, the starting light emission coding value and coding value variable corresponding to the same horizontal field of view starting light emission angle of each surface of the rotating mirror are determined by comparing single-sided point clouds in pairs. After the starting light emission angle coding value of each surface is triggered, it is measured by emitting light in a fixed time period. Within a frame of measurement period, each horizontal angle scanning period is fixed, and calibration is used to ensure that the horizontal field of view range of each surface of the rotating mirror remains unchanged, and there will be no problem of point cloud shaking.

[0025] In an exemplary embodiment, the controlling the first rotating mirror of the radar to be calibrated to scan the object to be measured based on the first starting light emission code value to obtain a reference point cloud includes: When the first starting light emitting coding value is reached, the light emitting timing is triggered, and the first rotating mirror is controlled to scan the object to be measured within a measuring period to obtain a frame point cloud reflected by the object to be measured, and the frame point cloud is determined as a reference point cloud. See also Figure 3 The starting light emission coding value is related to the starting light emission angle of the current mirror. Whenever the starting light emission angle coding value is reached, the transceiver module is triggered to perform a measurement. At the same time, the light emission timing is triggered. As long as the number of scan lines in the current frame has not reached the number of complete lines on a surface, the transceiver module is triggered to perform measurement according to a fixed cycle. The measurement stops when the number of scan lines in a frame ends.

[0026] This is because the current mass-produced rotating mirror laser radar achieves horizontal scanning in a way that requires the encoder's angular resolution to be at least higher than the rotating mirror mechanical angle corresponding to the laser radar's horizontal angular resolution, and because of the fluctuation in the rotating mirror's rotation speed, the horizontal angle scanning interval Δt varies, and the greater the rotation speed fluctuation, the greater the Δt change. In certain application scenarios of rotating mirror scanning, the requirements described above may not be met. This embodiment can make each horizontal angle scanning period fixed within a frame's measurement period, thereby enhancing the stability of the rotating mirror scanning.

[0027] In an exemplary embodiment, after controlling the first rotating mirror of the radar to be calibrated to scan the object to be measured based on the first starting light emission code value, the method further includes: The starting light emitting angle of the first rotating mirror surface corresponding to the first starting light emitting coding value is recorded.

[0028] In this embodiment, the starting light emission angle at this time is recorded, and the starting light emission angles of the remaining rotating mirrors are the same as the starting light emission angle of the rotating mirror, which proves the effectiveness of the calibration method of this embodiment.

[0029] In an exemplary embodiment, the step of obtaining a second initial light emitting coding value based on the first initial light emitting coding value and a preset coding value increment, and controlling the second rotating mirror of the radar to be calibrated to scan the object to be measured based on the second initial light emitting coding value, comprises: The first initial light emitting coding value and the preset coding value increment are summed to obtain the second initial light emitting coding value; when the second initial light emitting coding value is reached, the second rotating mirror is controlled to scan the object to be measured.

[0030] Specifically, in an exemplary embodiment, the calculating the coding value variable of the second rotating mirror surface relative to the preset coding value increment based on the adjusted second starting light emitting coding value, the first initial light emitting coding value and the preset coding value increment includes: Calculate a first difference between the adjusted second starting light-emitting coding value and the first initial light-emitting coding value; calculate a second difference between the first difference and the preset coding value increment, and determine the second difference as the coding value variable.

[0031] In an exemplary embodiment, the method further comprises: The rotating mirror surface with the smallest absolute value of the encoding value variable is used as the reference rotating mirror surface. When recalibration is required, the reference rotating mirror surface is used as the first rotating mirror surface.

[0032] In this way, when calibration is required later, the adjustment amount of the starting angle encoding value of the remaining surface can be reduced, thereby reducing the error generated during the adjustment process.

[0033] In order to explain this embodiment in more detail, a specific embodiment is described here. Figure 4 , Figure 4 It shows the generation process of the light-emitting timing when scanning the entire frame: First, a preset code value increment is fixed, taking the mechanical angle as an example, which is roughly increased by 90°. The preset code value increment determined in this way is used as the basic value, and the appropriate code value variable adjusted is superimposed on it as the fine-tuning value of each rotating mirror. First, a normal point cloud scan is performed, and a test object is placed in the scanning scene at the horizontal angle starting position of the point cloud of the first rotating mirror to obtain the reference point cloud.

[0034] Get the point cloud display of the first rotating mirror and the second rotating mirror. Before adjustment, you will see that the two frames of the point cloud of the object to be measured do not overlap (that is, the reference point cloud and the point cloud to be calibrated). At this time, you can fix the starting light angle encoding value of the first rotating mirror, fine-tune the encoding value variable of the other side, and when the point cloud edge of the object to be measured has been aligned, record the encoding value variable of the second rotating mirror in front.

[0035] The N (N>= 3) faces of the rotating mirror are adjusted in pairs to obtain the encoding value variables of all faces.

[0036] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0037] Based on the same inventive concept, the embodiment of the present application also provides a laser radar angle calibration device for implementing the laser radar angle calibration method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more laser radar angle calibration device embodiments provided below can refer to the limitations of the laser radar angle calibration method above, and will not be repeated here.

[0038] In an exemplary embodiment, Figure 5 As shown, a laser radar angle calibration device 500 is provided, wherein: A first scanning module 501 is used to control a first rotating mirror of the radar to be calibrated to scan the object to be measured based on a first starting light emission code value to obtain a reference point cloud, wherein the radar to be calibrated includes a plurality of rotating mirrors; A second scanning module 502 is used to obtain a second initial light emission code value based on the first initial light emission code value and a preset code value increment, and control the second rotating mirror of the radar to be calibrated to scan the object to be measured based on the second initial light emission code value to obtain a point cloud to be calibrated; An adjustment module 503 is used to adjust the second starting light output code value so that the point cloud to be calibrated coincides with the reference point cloud; A calculation module 504 is used to calculate the code value variable of the second rotating mirror surface relative to the preset code value increment based on the adjusted second starting light output code value, the first initial light output code value and the preset code value increment; The calibration module 505 is used to adjust the starting light emission coding values ​​of the remaining rotating mirrors of the radar to be calibrated in sequence so that the calibrated point cloud of each remaining rotating mirror coincides with the reference point cloud, and record the coding value variables of each remaining rotating mirror.

[0039] Each module in the above-mentioned laser radar angle calibration device can be implemented in whole or in part by software, hardware and their combination. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0040] In an exemplary embodiment, a computer device is provided, the internal structure diagram of the computer device can be as follows: Figure 6 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a laser radar angle calibration method is implemented.

[0041] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0042] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented: Controlling a first rotating mirror of the radar to be calibrated to scan the object to be measured based on the first starting light emission code value to obtain a reference point cloud, wherein the radar to be calibrated includes a plurality of rotating mirrors; Acquire a second initial light emitting code value based on the first initial light emitting code value and a preset code value increment, and control the second rotating mirror of the radar to be calibrated to scan the object to be measured based on the second initial light emitting code value to obtain a point cloud to be calibrated; Adjusting the second starting light output coding value so that the point cloud to be calibrated coincides with the reference point cloud; Calculating the code value variable of the second rotating mirror surface relative to the preset code value increment based on the adjusted second starting light output code value, the first initial light output code value and the preset code value increment; The starting light emitting coding values ​​of the remaining rotating mirrors of the radar to be calibrated are adjusted in sequence so that the point cloud to be calibrated of each remaining rotating mirror coincides with the reference point cloud, and the coding value variables of each remaining rotating mirror are recorded.

[0043] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0044] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0045] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0046] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0047] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A laser radar angle calibration method, characterized in that: The method comprises: Controlling a first rotating mirror of the radar to be calibrated to scan the object to be measured based on the first starting light emission code value to obtain a reference point cloud, wherein the radar to be calibrated includes a plurality of rotating mirrors; Acquire a second initial light emitting code value based on the first initial light emitting code value and a preset code value increment, and control the second rotating mirror of the radar to be calibrated to scan the object to be measured based on the second initial light emitting code value to obtain a point cloud to be calibrated; Adjusting the second starting light output coding value so that the point cloud to be calibrated coincides with the reference point cloud; Calculating the code value variable of the second rotating mirror surface relative to the preset code value increment based on the adjusted second starting light output code value, the first initial light output code value and the preset code value increment; The starting light emitting coding values ​​of the remaining rotating mirrors of the radar to be calibrated are adjusted in sequence so that the point cloud to be calibrated of each remaining rotating mirror coincides with the reference point cloud, and the coding value variables of each remaining rotating mirror are recorded.

2. The method according to claim 1, characterized in that The method of controlling the first rotating mirror of the radar to be calibrated to scan the object to be measured based on the first starting light emission code value to obtain a reference point cloud includes: When the first starting light emitting coding value is reached, the light emitting timing is triggered, and the first rotating mirror is controlled to scan the object to be measured within a measuring period to obtain a frame point cloud reflected by the object to be measured, and the frame point cloud is determined as a reference point cloud.

3. The method according to claim 2, characterized in that After controlling the first rotating mirror of the radar to be calibrated to scan the object to be measured based on the first starting light emission code value, the method further includes: The starting light emitting angle of the first rotating mirror surface corresponding to the first starting light emitting coding value is recorded.

4. The method according to claim 1, characterized in that: The step of obtaining a second initial light emitting coding value based on the first initial light emitting coding value and a preset coding value increment, and controlling the second rotating mirror of the radar to be calibrated to scan the object to be measured based on the second initial light emitting coding value, comprises: Summing the first initial light emitting coding value and the preset coding value increment to obtain the second initial light emitting coding value; When the second starting light emitting code value is reached, the second rotating mirror is controlled to scan the object to be measured.

5. The method according to claim 1, characterized in that The calculating, based on the adjusted second starting light emitting coding value, the first initial light emitting coding value and the preset coding value increment, the coding value variable of the second rotating mirror surface relative to the preset coding value increment comprises: Calculate a first difference between the adjusted second initial light-emitting coding value and the first initial light-emitting coding value; A second difference value is calculated by subtracting the preset code value increment from the first difference value, and the second difference value is determined as the code value variable.

6. The method according to claim 1, characterized in that The method further comprises: The rotating mirror surface with the smallest absolute value of the encoding value variable is used as the reference rotating mirror surface. When recalibration is required, the reference rotating mirror surface is used as the first rotating mirror surface.

7. A laser radar angle calibration device, characterized in that: The device comprises: A first scanning module is used to control a first rotating mirror of the radar to be calibrated to scan the object to be measured based on a first starting light emission code value to obtain a reference point cloud, wherein the radar to be calibrated includes a plurality of rotating mirrors; A second scanning module is used to obtain a second initial light emitting code value based on the first initial light emitting code value and a preset code value increment, and control the second rotating mirror of the radar to be calibrated to scan the object to be measured based on the second initial light emitting code value to obtain a point cloud to be calibrated; An adjustment module, used for adjusting the second starting light emission code value so that the point cloud to be calibrated coincides with the reference point cloud; A calculation module, configured to calculate a code value variable of the second rotating mirror surface relative to the preset code value increment based on the adjusted second starting light output code value, the first initial light output code value and the preset code value increment; The calibration module is used to sequentially adjust the starting light emission coding values ​​of the remaining rotating mirrors of the radar to be calibrated so that the calibrated point cloud of each remaining rotating mirror coincides with the reference point cloud, and record the coding value variables of each remaining rotating mirror.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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