Laser radar coordinate determination method and device, equipment and storage medium

Abstract

The invention discloses a laser radar coordinate determination method and device, equipment and a storage medium, and relates to the technical field of laser radar coordinate correction, and the method comprises the steps: obtaining the offset of the optical center of a transmitting lens relative to the center of a laser radar in a first direction and the offset of the optical center of the transmitting lens in a second direction, the first direction is perpendicular to the second direction; acquiring a distance measurement value under the center of the laser radar and correcting the distance measurement value to a corrected distance measurement value under the optical center of a transmitting lens; obtaining an azimuth angle and a pitch angle of each laser beam, and obtaining a rotation angle of the laser radar; and according to the corrected distance measurement value, the offset in the first direction, the offset in the second direction, the azimuth angle, the pitch angle, the rotation angle and a distance correction model, determining corrected laser radar measurement point coordinates. According to the method, the distance measurement value is corrected and the offset is introduced, so that the distance correction model is obtained, and the error of laser radar coordinate acquisition can be further reduced.

Description

Technical Field

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

[0002] With the development of society, people gradually pay attention to the development and utilization of laser radar. People can obtain the three-dimensional coordinate data of the measurement point through laser radar. With the advancement of science and technology, people have more stringent requirements for the three-dimensional coordinate data obtained by laser radar. However, the existing mechanical laser radar has errors in distance measurement due to the misalignment between the center of the laser radar and the optical center of the transmitting lens, and does not take into account the deviation of the offset and the azimuth and pitch angles. There may be errors in the internal reference calibration process, which affects the accuracy of the three-dimensional coordinate data of the measurement point. Summary of the invention

[0003] The main purpose of this application is to provide a laser radar coordinate determination method, device, equipment and storage medium, aiming to solve the technical problem of inaccurate three-dimensional coordinate data of laser radar measurement points in the prior art.

[0004] To achieve the above object, the present application proposes a laser radar coordinate determination method, which is applied to a laser radar device, wherein the laser radar device includes multiple pairs of symmetrically arranged laser transmitting devices and receiving devices installed on a rotor, and the laser radar coordinate system origin of the laser radar device and the optical center of the transmitting lens are coplanar at equal heights, and the method includes:

[0005] Obtaining an offset of the optical center of the transmitting lens relative to the center of the laser radar in a first direction and an offset in a second direction, wherein the first direction is perpendicular to the second direction;

[0006] Obtain the distance measurement value at the center of the laser radar and correct it to the corrected distance measurement value at the optical center of the transmitting lens;

[0007] and obtaining the azimuth and elevation angles of each laser beam, and the rotation angle of the laser radar;

[0008] The corrected laser radar measurement point coordinates are determined according to the corrected distance measurement value, the offset in the first direction, the offset in the second direction, the azimuth angle, the pitch angle, the rotation angle and the distance correction model.

[0009] In one embodiment, the step of obtaining the offset of the optical center of the transmitting lens relative to the center of the laser radar in the first direction and the offset in the second direction comprises:

[0010] Acquiring model structure information of the laser radar device;

[0011] Obtaining structural parameter information in the laser radar device according to the model structure information;

[0012] The offset of the optical center of the transmitting lens relative to the center of the laser radar in the first direction and the offset in the second direction are extracted from the structural parameter information.

[0013] In one embodiment, the step of obtaining the distance measurement value at the center of the laser radar and correcting it to the corrected distance measurement value at the optical center of the transmitting lens includes:

[0014] Obtain a spherical coordinate system with the origin of the laser radar coordinate system as the center at the optical center of the transmitting lens;

[0015] Correct the distance measurement value from the measuring point to the center of the laser radar to the distance measurement value from the measuring point to the optical center of the transmitting lens.

[0016] In one embodiment, the step of obtaining the azimuth angle and the elevation angle of each laser beam comprises:

[0017] Obtain a spherical coordinate system with the origin of the laser radar coordinate system as the center at the optical center of the transmitting lens;

[0018] Calibration is performed according to the optical center of the transmitting lens and the spherical coordinate system to obtain the azimuth angle and the pitch angle of each laser beam.

[0019] In one embodiment, before the step of determining the corrected coordinates of the laser radar measurement point according to the corrected distance measurement value, the offset in the first direction, the offset in the second direction, the azimuth, the pitch angle, the rotation angle and the distance correction model, the step further includes:

[0020] Obtaining a corrected laser radar measurement point coordinate expression according to the corrected distance measurement value at the optical center of the transmitting lens, the azimuth angle, the pitch angle, the offset in the first direction, and the offset in the second direction;

[0021] Transform according to the corrected laser radar measurement point coordinate expression and the coordinate relationship of the distance measurement value at the center of the laser radar to obtain the functional relationship of the corrected distance measurement value at the optical center of the transmitting lens;

[0022] A solution is obtained according to the functional relationship to obtain a distance correction model.

[0023] In one embodiment, the step of solving the functional relationship to obtain the distance correction model includes:

[0024] Obtaining a corresponding relationship between a corrected distance measurement value at the optical center of the transmitting lens and a distance measurement value at the center of the laser radar, the rotation angle, the azimuth angle, the pitch angle, the offset in the first direction, and the offset in the second direction;

[0025] The functional relationship is solved according to the corresponding relationship to obtain a distance correction model.

[0026] In one embodiment, the step of obtaining the corresponding relationship between the corrected distance measurement value at the optical center of the transmitting lens and the distance measurement value at the center of the laser radar, the offset in the first direction, the offset in the second direction, the rotation angle, the azimuth angle, and the pitch angle includes:

[0027] Acquire a simultaneous relationship between the offset in the first direction, the offset in the second direction, the azimuth angle, and the pitch angle;

[0028] The correspondence between the corrected distance measurement value at the optical center of the transmitting lens and the distance measurement value at the center of the laser radar is obtained according to the joint relationship.

[0029] In addition, to achieve the above purpose, the present application also proposes a laser radar coordinate determination device, the laser radar coordinate determination device comprising:

[0030] An acquisition module, used to acquire an offset of the optical center of the transmitting lens relative to the center of the laser radar in a first direction and an offset in a second direction, wherein the first direction is perpendicular to the second direction;

[0031] The acquisition module is also used to obtain the distance measurement value corrected from the distance measurement value at the center of the laser radar to the distance measurement value at the optical center of the transmitting lens;

[0032] The acquisition module is also used to acquire the azimuth and elevation angles of each laser beam and the rotation angle of the laser radar;

[0033] A calculation module is used to determine the corrected coordinates of the laser radar measurement point according to the corrected distance measurement value, the offset in the first direction, the offset in the second direction, the azimuth angle, the pitch angle, the rotation angle and the distance correction model.

[0034] In addition, to achieve the above-mentioned purpose, the present application also proposes a laser radar coordinate determination device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the laser radar coordinate determination method as described above.

[0035] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the laser radar coordinate determination method described above are implemented.

[0036] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the laser radar coordinate determination method described above.

[0037] One or more technical solutions proposed in this application have at least the following technical effects:

[0038] By obtaining the offset of the optical center of the transmitting lens relative to the center of the laser radar in the first direction and the offset in the second direction, wherein the first direction is perpendicular to the second direction; obtaining the distance measurement value under the center of the laser radar and correcting it to the corrected distance measurement value under the optical center of the transmitting lens; and obtaining the azimuth and pitch angle of each laser beam, and obtaining the rotation angle of the laser radar; according to the corrected distance measurement value, the offset in the first direction, the offset in the second direction, the azimuth, pitch angle, rotation angle and the distance correction model, the corrected laser radar measurement point coordinates are determined. Compared with the prior art, the present application reduces the error of the coordinate point three-dimensional data calculation by correcting the distance measurement value to obtain the distance correction model, and improves the accuracy of the three-dimensional data of the laser radar point coordinates. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0041] Figure 1 A schematic diagram of a flow chart provided for the first embodiment of the laser radar coordinate determination method of the present application;

[0042] Figure 2 A brief schematic diagram of the internal structure of the laser radar in the laser radar coordinate determination method of this application;

[0043] Figure 3 A brief schematic diagram of the laser radar coordinate system in the laser radar coordinate determination method of this application;

[0044] Figure 4 A simplified schematic diagram of the laser radar coordinate system defined in the laser radar coordinate determination method of this application using the "left-back-up" method;

[0045] Figure 5 A brief flowchart diagram of the second embodiment of the laser radar coordinate determination method of the present application;

[0046] Figure 6 A brief flowchart diagram of the third embodiment of the laser radar coordinate determination method of the present application;

[0047] Figure 7 This is a schematic diagram of the module structure of the laser radar coordinate determination device according to an embodiment of the present application;

[0048] Figure 8 Schematic diagram of the device structure of the hardware operating environment involved in the laser radar coordinate determination method in the embodiment of the present application.

[0049] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0050] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0051] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0052] The main solutions of the embodiments of this application are:

[0053] Since the current mainstream method for determining laser radar coordinates is still that the laser radar emits laser pulses and receives reflected signals, uses the speed of light and the laser round-trip time to calculate the distance information of the measurement point, and the laser radar records the angle information of the emitted and received laser pulses, and calculates the three-dimensional coordinate data of the measurement point through distance information, angle information and auxiliary equipment. This method of determining laser radar coordinates will cause measurement errors due to the misalignment between the laser radar center and the optical center of the transmitting lens, which will in turn cause errors in the three-dimensional coordinate calculation results.

[0054] The present application provides a solution, defines a distance measurement value based on the optical center of the transmitting lens, and then obtains a distance correction model, which not only corrects the distance measurement value, but also reduces the error of the distance measurement, and improves the accuracy of the three-dimensional coordinate data of the measurement point in the lidar coordinate system.

[0055] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a laser radar coordinate determination device, etc. The following takes the laser radar coordinate determination system as an example to illustrate this embodiment and the following embodiments.

[0056] Based on this, the embodiment of the present application provides a method for determining laser radar coordinates, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the laser radar coordinate determination method of the present application.

[0057] In this embodiment, the laser radar coordinate determination method includes steps S10 to S40:

[0058] Step S10, obtaining the offset of the optical center of the transmitting lens relative to the center of the laser radar in a first direction and an offset in a second direction, wherein the first direction is perpendicular to the second direction.

[0059] It should be noted that in a LiDAR system, the optical center of the transmitting lens usually refers to the optical center of the lens in the laser transmitting system. This concept is very important in the optical design of LiDAR because it affects the collimation and divergence of the laser beam, which in turn affects the ranging accuracy and field of view of the entire system. In addition, the center of the LiDAR can be understood as the origin of the LiDAR coordinate system.

[0060] In addition, the offset of the optical center of the transmitting lens relative to the center of the laser radar in the first direction is the offset of the optical center of the transmitting lens relative to the origin of the laser radar coordinate system in the x direction, and the offset in the second direction is the offset of the optical center of the transmitting lens relative to the origin of the laser radar coordinate system in the y direction.

[0061] In addition, the offset in the first direction and the offset in the second direction are both related to the structure of the laser radar itself, and the offset in the first direction and the offset in the second direction can be obtained through the laser radar CAD model.

[0062] Specifically, refer to Figure 2 , Figure 2 This is a brief schematic diagram of the internal structure of the laser radar. Taking the TM-16 laser radar as an example, there are 16 pairs of laser transmitting and receiving devices fixedly installed on the rotor in the TM-16 shell, which are rotated by the internal motor to perform 360° scanning in the horizontal direction. Figure 2 The laser radar coordinate system and its rotation center axis z are shown. Please refer to the origin of the coordinate system Figure 2The reference center in the laser radar coordinate system is a right-handed coordinate system, where O is the origin of the laser radar coordinate system and S is the optical center of the transmitting lens. The two are coplanar and have a constant offset between them, where the offset b is the offset of the optical center of the transmitting lens relative to the origin of the laser radar coordinate system in the x-axis direction, and the offset h is the offset of the optical center of the transmitting lens relative to the origin of the laser radar coordinate system in the y-axis direction.

[0063] It can be understood that by defining the offsets b and h of the fixed transmitting lens optical center S relative to the lidar center O, the parameters that need to be calibrated can be reduced and the calibration process can be simplified.

[0064] Step S20, obtaining the distance measurement value at the center of the laser radar and correcting it to the corrected distance measurement value at the optical center of the transmitting lens.

[0065] It should be noted that the distance measurement value at the center of the laser radar is d, and the distance measurement value at the center of the laser radar can be directly obtained. Specifically, refer to Figure 2 , T is the position of the measurement point; Laser is the laser transmitter; APD is an avalanche photon diode (APD). Each laser beam is emitted from the laser transmitter and reflected twice by the optical path folding reflector, and then emitted from the optical center S of the transmitting lens; after diffuse reflection on the target surface, it returns to the laser radar through the receiving lens, and then reflects twice by the optical path folding reflector, and performs photoelectric signal conversion at the avalanche photodiode to complete the flight time measurement and obtain the distance measurement value d.

[0066] In addition, the corrected distance measurement value at the optical center of the transmitting lens is d′. It should be noted that d′ at this time is not a parameter with a specific value, but the parameter d′ lays a solid foundation for the subsequent calculation of the three-dimensional coordinates of the lidar measurement point, and will become a parameter with a specific value in subsequent steps.

[0067] Specifically, refer to Figure 3 , Figure 3 is a brief schematic diagram of the laser radar coordinate system, T′ is the position of the measurement point based on the laser radar coordinate system, where d=|OT′|, d′=|ST′|.

[0068] It can be understood that correcting the distance measurement value d at the center O of the laser radar to the distance measurement value d′ at the optical center S of the transmitting lens can effectively reduce the measurement error and point cloud distortion.

[0069] Step S30, and obtaining the azimuth and elevation angles of each laser beam, and obtaining the rotation angle of the laser radar.

[0070] It should be noted that the azimuth angle usually refers to the angle of the laser beam relative to a reference direction (usually north or directly in front of the device) when the lidar rotates in the horizontal plane. The azimuth angle changes continuously. Usually in a 360-degree rotation scan of the lidar, the azimuth angle will increase from 0 degrees to 360 degrees, covering the entire horizontal field of view.

[0071] In addition, the pitch angle usually refers to the angle of the laser beam in the vertical plane, describing the position of the laser beam relative to the horizontal plane of the device. For single-line lidars, the pitch angle is usually fixed because they usually only scan in one plane, but for multi-line or solid-state lidars, the pitch angle can be varied, allowing the laser beam to scan in the vertical direction.

[0072] In addition, a typical mechanical rotating LiDAR will have an encoder installed on its rotating mechanism to track its azimuth in real time. When the LiDAR rotates, the encoder reading will change, and the angle of this rotation is the rotation angle. Figure 4 , Figure 4 This is a simplified schematic diagram of the laser radar coordinate system defined in a "left-back-up" manner, where the rotation angle ω is defined relative to the positive direction of the y-axis, and the clockwise direction is positive in the top view.

[0073] In addition, by introducing the lidar structural parameters, the number of parameters that need to be calibrated is reduced and the calibration process is simplified. Therefore, during the calibration process, it is only necessary to calibrate each laser beam of the lidar relative to the optical center of the transmitting lens to obtain the azimuth angle α and pitch angle β.

[0074] The correction values ​​α and β for the azimuth and elevation angles of the laser beam are introduced to improve the accuracy of angle measurement and the precision of point cloud data.

[0075] Step S40, determining the corrected coordinates of the laser radar measurement point according to the corrected distance measurement value, the offset in the first direction, the offset in the second direction, the azimuth angle, the pitch angle, the rotation angle and the distance correction model.

[0076] It should be noted that the distance correction model is a three-dimensional coordinate data calculation model for the lidar measurement point. The three-dimensional coordinates of the lidar measurement point can be output by inputting the distance measurement value, azimuth, pitch angle, rotation angle, offset in the first direction and offset in the second direction.

[0077] This embodiment provides a method for determining laser radar coordinates, obtaining the offset of the optical center of the transmitting lens relative to the center of the laser radar in the first direction and the offset in the second direction, wherein the first direction is perpendicular to the second direction; obtaining the distance measurement value under the center of the laser radar and correcting it to the corrected distance measurement value under the optical center of the transmitting lens; and obtaining the azimuth and pitch angle of each laser beam, and obtaining the rotation angle of the laser radar; determining the corrected laser radar measurement point coordinates according to the corrected distance measurement value, the offset in the first direction, the offset in the second direction, the azimuth, the pitch angle, the rotation angle and the distance correction model. By correcting the distance measurement value to obtain the distance correction model, the error of the three-dimensional data calculation of the coordinate point is reduced, and the accuracy of the three-dimensional data of the laser radar point coordinates is improved.

[0078] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 5 , S10 may include steps S101 to S103:

[0079] Step S101, obtaining model structure information of the laser radar device.

[0080] It should be noted that the model structure information of the lidar device usually includes the laser emitting unit, scanning system, receiving optical system, signal processing system, control hardware, power management, structural casing, cooling system, interface, software, performance parameters, environmental adaptability, size and weight, etc.

[0081] Step S102, obtaining structural parameter information in the laser radar device according to the model structure information.

[0082] It should be noted that the structural parameter information in the laser radar device includes detection distance, ranging accuracy, angular resolution, field of view, number of output points and wiring harness, etc.

[0083] Step S103, extracting the offset of the optical center of the transmitting lens relative to the center of the laser radar in the first direction and the offset in the second direction from the structural parameter information.

[0084] It should be noted that this extraction process includes but is not limited to the system actively identifying the information contained in the structural parameter information about the offset of the optical center of the transmitting lens relative to the center of the laser radar in the first direction and the offset in the second direction.

[0085] This step of introducing the lidar's own structural parameters to determine the offset not only simplifies the parameter calibration process, but also provides a solid foundation for the subsequent calculation of the lidar measurement point coordinates.

[0086] Based on the first and second embodiments of the present application, in the third embodiment of the present application, the same or similar contents as those in the first and second embodiments can be referred to the above description, and will not be described in detail later. Figure 6 , before step S40, steps S401 to S403 are also included:

[0087] Step S401, obtaining a corrected laser radar measurement point coordinate expression according to the corrected distance measurement value at the optical center of the transmitting lens, the azimuth angle, the pitch angle, the offset in the first direction, and the offset in the second direction.

[0088] It should be noted that the corrected laser radar measurement point coordinate expression is obtained when the laser radar is not rotating, that is, when the rotation angle is zero. Specifically, the corrected laser radar measurement point coordinate expression is shown in the following formula 1:

[0089]

[0090] In addition, the corrected distance measurement value d′ at the optical center of the transmitting lens at this time is an unknown value, while the azimuth angle α and the pitch angle β, the offset b in the first direction and h in the second direction are all specific values ​​obtained and known in the above steps.

[0091] Step S402, transforming according to the corrected laser radar measurement point coordinate expression and the coordinate relationship of the distance measurement value at the center of the laser radar to obtain a functional relationship of the corrected distance measurement value at the optical center of the transmitting lens.

[0092] Specifically, obtain the corresponding relationship between the corrected distance measurement value at the optical center of the transmitting lens and the distance measurement value at the center of the laser radar, the rotation angle, the azimuth angle, the pitch angle, the offset in the first direction, and the offset in the second direction, referring to Figure 3 It can be seen that d = |OT′|, d′ = |ST′|, since |OT′|2 = x 2 +y 2 +z 2 , combined with equation 1, we can get a quadratic equation about d′, as shown in equation 2 below:

[0093] d′ 2 +2·cosβ·(h·cosα-b·sinα)·d′ 2 +b 2 +h 2 -d 2 =0 (Formula 2)

[0094] In addition, after obtaining the joint relationship between the offset in the first direction, the offset in the second direction, the azimuth angle and the pitch angle, specifically, let B = cosβ*(h*cosα-b*sinα)>0 (Formula 3); the corresponding relationship between the corrected distance measurement value at the optical center of the transmitting lens and the distance measurement value at the center of the laser radar can be obtained according to the joint relationship. Specifically, according to Formula 2 and Formula 3, it can be obtained At this time, the corrected distance measurement value d′ at the optical center of the emitting lens is a specific value, for example, the corrected distance measurement value d′ at this time may be 200m.

[0095] Step S403, solving according to the functional relationship to obtain a distance correction model.

[0096] It should be noted that, by solving the functional relationship, that is, according to equations 1 and 4, and introducing the rotation angle ω of the laser radar, the specific distance correction model can be obtained as follows:

[0097]

[0098] At this time, all the parameter values: the corrected distance measurement value d′ at the optical center of the transmitting lens, the azimuth angle α and the pitch angle β, the offset b in the first direction and h in the second direction, and the rotation angle ω are all specific values, and this distance correction model can be calculated at any time, that is, no matter how many degrees the laser radar rotates, the three-dimensional data of the coordinates of the point to be measured can be calculated through the distance correction model.

[0099] This embodiment integrates distance correction, azimuth correction and data generation into an efficient processing flow by defining and acquiring a distance correction model.

[0100] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the laser radar coordinate determination method of the present application. More forms of simple transformations based on this technical concept are all within the scope of protection of the present application.

[0101] This application also provides a laser radar coordinate determination device, please refer to Figure 7 , the laser radar coordinate determination device comprises:

[0102] An acquisition module 10 is used to acquire an offset of the optical center of the transmitting lens relative to the center of the laser radar in a first direction and an offset in a second direction, wherein the first direction is perpendicular to the second direction;

[0103] The acquisition module 10 is also used to obtain the distance measurement value corrected from the distance measurement value at the center of the laser radar to the distance measurement value at the optical center of the transmitting lens;

[0104] The acquisition module 10 is also used to acquire the azimuth and elevation angles of each laser beam and the rotation angle of the laser radar;

[0105] The calculation module 20 is used to determine the corrected coordinates of the laser radar measurement point according to the corrected distance measurement value, the offset in the first direction, the offset in the second direction, the azimuth angle, the pitch angle, the rotation angle and the distance correction model.

[0106] The laser radar coordinate determination device provided by the present application adopts the laser radar coordinate determination method in the above embodiment, which can solve the technical problem of inaccurate three-dimensional coordinate data of laser radar measurement points in the prior art. Compared with the prior art, the beneficial effects of the laser radar coordinate determination device provided by the present application are the same as the beneficial effects of the laser radar coordinate determination method provided by the above embodiment, and other technical features in the laser radar coordinate determination device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0107] In one embodiment, the acquisition module 10 is also used to acquire model structure information of the laser radar device; obtain structural parameter information in the laser radar device based on the model structure information; and extract the offset of the optical center of the transmitting lens relative to the laser radar center in the first direction and the offset in the second direction from the structural parameter information.

[0108] In one embodiment, the acquisition module 10 is also used to obtain a spherical coordinate system with the origin of the laser radar coordinate system as the center at the optical center of the transmitting lens; and correct the distance measurement value from the measuring point to the center of the laser radar to the distance measurement value from the measuring point to the optical center of the transmitting lens.

[0109] In one embodiment, the acquisition module 10 is also used to acquire a spherical coordinate system with the origin of the laser radar coordinate system as the center at the optical center of the transmitting lens; and calibrate according to the optical center of the transmitting lens and the spherical coordinate system to obtain the azimuth and elevation angles of each laser beam.

[0110] In one embodiment, the calculation module 20 is also used to obtain a corrected laser radar measurement point coordinate expression based on the corrected distance measurement value at the optical center of the transmitting lens, the azimuth, the pitch angle, the offset in the first direction, and the offset in the second direction; transform the coordinate relationship of the corrected laser radar measurement point coordinate expression and the distance measurement value at the center of the laser radar to obtain a functional relationship of the corrected distance measurement value at the optical center of the transmitting lens; solve according to the functional relationship to obtain a distance correction model.

[0111] In one embodiment, the calculation module 20 is also used to obtain the correspondence between the corrected distance measurement value at the optical center of the transmitting lens and the distance measurement value at the center of the laser radar, the rotation angle, the azimuth angle, the pitch angle, the offset in the first direction, and the offset in the second direction; the functional relationship is solved according to the corresponding relationship to obtain a distance correction model.

[0112] In one embodiment, the calculation module 20 is also used to obtain the joint relationship between the offset in the first direction, the offset in the second direction, the azimuth angle and the pitch angle; and obtain the correspondence between the corrected distance measurement value at the optical center of the transmitting lens and the distance measurement value at the center of the laser radar according to the joint relationship.

[0113] The present application provides a laser radar coordinate determination device, which includes: at least one processor; and a memory that is communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the laser radar coordinate determination method in the above-mentioned embodiment one.

[0114] Reference below Figure 8 , which shows a schematic diagram of the structure of a laser radar coordinate determination device suitable for implementing the embodiment of the present application. The laser radar coordinate determination device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 8 The laser radar coordinate determination device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0115] like Figure 8As shown, the laser radar coordinate determination device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the laser radar coordinate determination device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the laser radar coordinate determination device to communicate wirelessly or wired with other devices to exchange data. Although the laser radar coordinate determination device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0116] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0117] The laser radar coordinate determination device provided by the present application adopts the laser radar coordinate determination method in the above embodiment, which can solve the technical problem of inaccurate three-dimensional coordinate data of laser radar measurement points in the prior art. Compared with the prior art, the beneficial effects of the laser radar coordinate determination device provided by the present application are the same as the beneficial effects of the laser radar coordinate determination method provided by the above embodiment, and the other technical features in the laser radar coordinate determination device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0118] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0119] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0120] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the laser radar coordinate determination method in the above-mentioned embodiment.

[0121] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0122] The above-mentioned computer-readable storage medium may be included in the laser radar coordinate determination device; or it may exist independently without being assembled into the laser radar coordinate determination device.

[0123] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the laser radar coordinate determination device, the laser radar coordinate determination device: obtains the offset of the optical center of the transmitting lens relative to the laser radar center in the first direction and the offset in the second direction, wherein the first direction is perpendicular to the second direction; obtains the distance measurement value at the center of the laser radar and corrects it to the corrected distance measurement value at the optical center of the transmitting lens; and obtains the azimuth and pitch angles of each laser beam, and obtains the rotation angle of the laser radar; determines the corrected laser radar measurement point coordinates according to the corrected distance measurement value, the offset in the first direction, the offset in the second direction, the azimuth, the pitch angle, the rotation angle and the distance correction model.

[0124] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0125] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0126] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0127] The readable storage medium provided in this application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned laser radar coordinate determination method, and can solve the technical problem of inaccurate three-dimensional coordinate data of laser radar measurement points in the prior art. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the laser radar coordinate determination method provided in the above-mentioned embodiment, and will not be repeated here.

[0128] The present application also provides a computer program product, including a computer program, which implements the steps of the laser radar coordinate determination method as described above when executed by a processor.

[0129] The computer program product provided by this application can solve the technical problem of inaccurate three-dimensional coordinate data of laser radar measurement points in the prior art. Compared with the prior art, the beneficial effects of the computer program product provided by this application are the same as the beneficial effects of the laser radar coordinate determination method provided by the above embodiment, which will not be repeated here.

[0130] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A laser radar coordinate determination method, characterized in that: The laser radar coordinate determination method is applied to a laser radar device, wherein the laser radar device comprises a plurality of pairs of symmetrically arranged laser emitting devices and receiving devices mounted on a rotor, wherein the laser radar coordinate system origin and the optical center of the emitting lens of the laser radar device are coplanar at equal heights, and the method comprises: Obtaining an offset of the optical center of the transmitting lens relative to the center of the laser radar in a first direction and an offset in a second direction, wherein the first direction is perpendicular to the second direction; Obtain the distance measurement value at the center of the laser radar and correct it to the corrected distance measurement value at the optical center of the transmitting lens; and obtaining the azimuth and elevation angles of each laser beam, and the rotation angle of the laser radar; The corrected laser radar measurement point coordinates are determined according to the corrected distance measurement value, the offset in the first direction, the offset in the second direction, the azimuth angle, the pitch angle, the rotation angle and the distance correction model.

2. The method according to claim 1, characterized in that, The step of obtaining the offset of the optical center of the transmitting lens relative to the center of the laser radar in the first direction and the offset in the second direction comprises: Acquiring model structure information of the laser radar device; Obtaining structural parameter information in the laser radar device according to the model structure information; The offset of the optical center of the transmitting lens relative to the center of the laser radar in the first direction and the offset in the second direction are extracted from the structural parameter information.

3. The method according to claim 1, characterized in that The step of obtaining the distance measurement value at the center of the laser radar and correcting it to the corrected distance measurement value at the optical center of the transmitting lens comprises: Obtain a spherical coordinate system with the origin of the laser radar coordinate system as the center at the optical center of the transmitting lens; Correct the distance measurement value from the measuring point to the center of the laser radar to the distance measurement value from the measuring point to the optical center of the transmitting lens.

4. The method according to claim 1, characterized in that The step of obtaining the azimuth angle and the pitch angle of each laser beam comprises: Obtain a spherical coordinate system with the origin of the laser radar coordinate system as the center at the optical center of the transmitting lens; Calibration is performed according to the optical center of the transmitting lens and the spherical coordinate system to obtain the azimuth angle and the pitch angle of each laser beam.

5. The method according to claim 1, characterized in that Before the step of determining the corrected coordinates of the laser radar measurement point according to the corrected distance measurement value, the offset in the first direction, the offset in the second direction, the azimuth, the pitch angle, the rotation angle and the distance correction model, the step also includes: Obtaining a corrected laser radar measurement point coordinate expression according to the corrected distance measurement value at the optical center of the transmitting lens, the azimuth angle, the pitch angle, the offset in the first direction, and the offset in the second direction; Transform according to the corrected laser radar measurement point coordinate expression and the coordinate relationship of the distance measurement value at the center of the laser radar to obtain the functional relationship of the corrected distance measurement value at the optical center of the transmitting lens; A solution is obtained according to the functional relationship to obtain a distance correction model.

6. The method according to claim 5, characterized in that The step of solving the functional relationship to obtain the distance correction model comprises: Obtaining a corresponding relationship between a corrected distance measurement value at the optical center of the transmitting lens and a distance measurement value at the center of the laser radar, the rotation angle, the azimuth angle, the pitch angle, the offset in the first direction, and the offset in the second direction; The functional relationship is solved according to the corresponding relationship to obtain a distance correction model.

7. The method according to claim 6, characterized in that The step of obtaining the corresponding relationship between the corrected distance measurement value at the optical center of the transmitting lens and the distance measurement value at the center of the laser radar, the offset in the first direction, the offset in the second direction, the rotation angle, the azimuth angle, and the pitch angle comprises: Acquire a simultaneous relationship between the offset in the first direction, the offset in the second direction, the azimuth angle, and the pitch angle; The correspondence between the corrected distance measurement value at the optical center of the transmitting lens and the distance measurement value at the center of the laser radar is obtained according to the joint relationship.

8. A laser radar coordinate determination device, characterized in that: The laser radar coordinate determination device comprises: An acquisition module, used to acquire an offset of the optical center of the transmitting lens relative to the center of the laser radar in a first direction and an offset in a second direction, wherein the first direction is perpendicular to the second direction; The acquisition module is also used to obtain the distance measurement value corrected from the distance measurement value at the center of the laser radar to the distance measurement value at the optical center of the transmitting lens; The acquisition module is also used to acquire the azimuth and elevation angles of each laser beam and the rotation angle of the laser radar; A calculation module is used to determine the corrected coordinates of the laser radar measurement point according to the corrected distance measurement value, the offset in the first direction, the offset in the second direction, the azimuth angle, the pitch angle, the rotation angle and the distance correction model.

9. A laser radar coordinate determination device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the laser radar coordinate determination method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the laser radar coordinate determination method as described in any one of claims 1 to 7 are implemented.

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