Calibration method of vehicle-mounted 2D laser test system and electronic equipment

Abstract

The invention provides a calibration method of a vehicle-mounted 2D laser test system and electronic equipment. The method comprises the steps that a calibration beam is fixed to a rail through a fixing and adjusting device, the calibration beam is adjusted to be perpendicular to the rail, the center point of the calibration beam is aligned with the center point of a train body, and the calibration beam is parallel to the bottom plane of the train body; controlling the 2D laser displacement sensor to scan the characteristic gauge block to obtain a measurement value corresponding to the characteristic gauge block; and calibrating the vehicle-mounted 2D laser test system according to the measured value. According to the invention, the calibration precision of the vehicle-mounted 2D laser test system can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle detection, and particularly to a calibration method for an in-vehicle 2D laser test system and an electronic device. Background Art

[0002] Due to its high test accuracy, 2D laser displacement sensors are often used in the dynamic detection of vehicle systems and track systems. For example, in the field of dynamic detection of vehicle systems, most vehicle dynamic gauge verification is based on the dynamic gauge continuous test technology of 2D laser displacement sensors to obtain the dynamic profile of the train during operation and ensure the safe operation of the train. In the field of track detection, the inertial reference method is often used to detect whether the track is smooth to ensure the running safety and comfort of the train. The most critical content in the inertial reference method is to measure the displacement between the tooling beam and the left and right rails through a 2D laser displacement sensor, and then obtain the unevenness of the left and right rails through inertial correction.

[0003] In the related art, a 2D laser displacement sensor is usually installed on a tooling beam, and the tooling beam is arranged at the bottom of the train to form an in-vehicle 2D laser test system for dynamic detection of vehicle systems and track systems. Before performing dynamic detection using the in-vehicle 2D laser test system, it is necessary to calibrate the 2D laser displacement sensor therein to obtain the rotation relationship and translation relationship of the 2D laser displacement sensor relative to the vehicle body coordinate system. Here, the rotation relationship and translation relationship will directly affect the dynamic detection accuracy.

[0004] Currently, the rotation relationship and translation relationship of the 2D laser displacement sensor relative to the vehicle body coordinate system are mostly calculated through the design dimensions of the tooling beam and in combination with the vehicle body structure dimensions to achieve the calibration of the in-vehicle 2D laser test system.

[0005] However, there are many connection structures on the tooling beam, resulting in a deviation between its actual size and the design size. Moreover, when the 2D laser displacement sensor is installed on the tooling beam, there is a certain installation error, leading to a deviation in the calibration result, which in turn affects the dynamic detection accuracy of vehicle systems and track systems. Summary of the Invention

[0006] Embodiments of the present invention provide a calibration method for an in-vehicle 2D laser test system and an electronic device to improve the calibration accuracy of the in-vehicle 2D laser test system.

[0007] In a first aspect, embodiments of the present invention provide a calibration method for an in-vehicle 2D laser test system,

[0008] The vehicle-mounted 2D laser test system includes: a 2D laser displacement sensor and a tooling beam. The 2D laser displacement sensor is installed on the tooling beam, and the tooling beam is installed at the bottom of the train. The train is parked on the track.

[0009] The method is applied to a calibration beam, and a fixed adjustment device and a characteristic block are arranged on the calibration beam.

[0010] The method includes:

[0011] Fix the calibration beam on the track through the fixed adjustment device, and adjust the calibration beam to be perpendicular to the track. The center point of the calibration beam is aligned with the center point of the train body, and the calibration beam is parallel to the bottom plane of the train body.

[0012] Control the 2D laser displacement sensor to scan the characteristic block to obtain the measured value corresponding to the characteristic block.

[0013] Calibrate the vehicle-mounted 2D laser test system according to the measured value.

[0014] In a possible implementation manner, the number of the fixed adjustment devices is two, and each fixed adjustment device corresponds to one rail of the track. The fixed adjustment device includes: a fixed adjustment part and a right-angle straightedge. One side of the right-angle straightedge is in close contact with the calibration beam.

[0015] The adjusting the calibration beam to be perpendicular to the track includes:

[0016] Adjust the longitudinal angle of the calibration beam through the fixed adjustment part to make the other side of the right-angle straightedge fit the rail, so that the calibration beam and the track are perpendicular.

[0017] In a possible implementation manner, scales with a preset length are processed at both ends of the calibration beam. Line laser sensors are respectively arranged at the same vertical height on both sides of the train body.

[0018] Adjusting the center point of the calibration beam to be aligned with the center point of the train body and the calibration beam to be parallel to the bottom plane of the train body includes:

[0019] Respectively control each line laser sensor to emit laser vertically downward to collect the distance between each line laser sensor and the calibration beam, and determine the position of the laser spot formed on the scales at both ends of the calibration beam.

[0020] Adjust the horizontal position of the calibration beam through the fixed adjustment part until the horizontal distances from the laser spots to the left and right ends of the calibration beam are equal, so as to achieve the alignment of the center point of the calibration beam with the center point of the train body.

[0021] Adjust the vertical position of the calibration beam through the fixed adjustment part until the distance values collected by each line laser sensor are the same, so as to make the calibration beam parallel to the bottom plane of the train car body.

[0022] In a possible implementation manner, the 2D laser displacement sensor includes: a first 2D laser displacement sensor arranged on the left side of the center point of the tooling beam, and a second 2D laser displacement sensor arranged on the right side of the center point of the tooling beam;

[0023] The characteristic quantity block is installed at a preset position in the non-scale area in the middle of the calibration beam. The characteristic quantity block includes: a first characteristic quantity block and a second characteristic quantity block located on the left side of the center point of the calibration beam and spaced from the center point of the calibration beam by different distances, and a third characteristic quantity block and a fourth characteristic quantity block located on the right side of the center point of the calibration beam and spaced from the center point of the calibration beam by different distances;

[0024] Controlling the 2D laser displacement sensor to scan the characteristic quantity block to obtain the measurement value corresponding to the characteristic quantity block includes:

[0025] Controlling the first 2D laser displacement sensor to scan the first characteristic quantity block and the second characteristic quantity block to obtain the measurement values corresponding to the first characteristic quantity block and the second characteristic quantity block;

[0026] Controlling the second 2D laser displacement sensor to scan the third characteristic quantity block and the fourth characteristic quantity block to obtain the measurement values corresponding to the third characteristic quantity block and the fourth characteristic quantity block.

[0027] In a possible implementation manner, calibrating the vehicle-mounted 2D laser test system according to the measurement value includes:

[0028] Based on the measurement value, respectively determine the rotation angles of each 2D laser displacement sensor in the vehicle body coordinate system; the coordinate origin of the vehicle body coordinate system is the center point of the train car body, the first coordinate axis of the vehicle body coordinate system is along the direction perpendicular to the track at the bottom of the train, and the second coordinate axis of the vehicle body coordinate system is along the vertical direction of the train height;

[0029] Based on the rotation angle, respectively determine the rotation matrix between each sensor coordinate system and the vehicle body coordinate system; the coordinate origin of the sensor coordinate system is the center point of the 2D laser displacement sensor, the first coordinate axis of the sensor coordinate system is along the horizontal direction of the 2D laser displacement sensor, and the second coordinate axis of the sensor coordinate system is along the vertical direction of the 2D laser displacement sensor;

[0030] Based on the rotation matrix, respectively determine the translation matrix between each sensor coordinate system and the vehicle body coordinate system.

[0031] In a possible implementation, the measured value of the first feature quantity block is (y L1 , z L1 ), the measured value of the second feature quantity block is (y L2 , z L2 ), the measured value of the third feature quantity block is (y R1 , z R1 ), and the measured value of the fourth feature quantity block is (y R2 , z R2 );

[0032] Based on the measured values, respectively determining the rotation angles of the 2D laser displacement sensors in the vehicle body coordinate system includes:

[0033] According to respectively determining the rotation angles of the 2D laser displacement sensors in the vehicle body coordinate system;

[0034] wherein, θ L represents the rotation angle of the first 2D laser displacement sensor in the vehicle body coordinate system, and θ R represents the rotation angle of the second 2D laser displacement sensor in the vehicle body coordinate system.

[0035] In a possible implementation, based on the rotation angles, respectively determining the rotation matrices between the sensor coordinate systems and the vehicle body coordinate system includes:

[0036] According to determining the rotation matrix between the sensor coordinate system corresponding to the first 2D laser displacement sensor and the vehicle body coordinate system;

[0037] According to determining the rotation matrix between the sensor coordinate system corresponding to the second 2D laser displacement sensor and the vehicle body coordinate system;

[0038] wherein, Rot L represents the rotation matrix between the sensor coordinate system corresponding to the first 2D laser displacement sensor and the vehicle body coordinate system, Rot R represents the rotation matrix between the sensor coordinate system corresponding to the second 2D laser displacement sensor and the vehicle body coordinate system, θ L represents the rotation angle of the 2D laser displacement sensor on one side of the center point of the tooling beam in the vehicle body coordinate system, and θ R represents the rotation angle of the 2D laser displacement sensor on the other side of the center point of the tooling beam in the vehicle body coordinate system.

[0039] In a possible implementation, determining the translation matrices between each sensor coordinate system and the vehicle body coordinate system based on the rotation matrix respectively includes:

[0040] Based on the product of the measurement value and the rotation matrix, determining the rotated value after the measurement value is transformed by the rotation matrix;

[0041] Based on the rotated value and the coordinate value of the feature block in the vehicle body coordinate system, determining the translation matrix between the sensor coordinate system and the vehicle body coordinate system.

[0042] In a possible implementation, the coordinate values of the second feature block and the third feature block in the vehicle body coordinate system are (-Y1, -Z0) and (Y2, Z0) respectively; the rotated values of the second feature block and the third feature block are (y L2 ', z L2 ') and (y R1 ', z R1 ') respectively;

[0043] The determining the translation matrix between the sensor coordinate system and the vehicle body coordinate system based on the rotated value and the coordinate value of the feature block in the vehicle body coordinate system includes:

[0044] According to determining the translation matrix between the sensor coordinate system corresponding to the first 2D laser displacement sensor and the vehicle body coordinate system;

[0045] According to determining the translation matrix between the sensor coordinate system corresponding to the second 2D laser displacement sensor and the vehicle body coordinate system;

[0046] where Mov L represents the translation matrix between the sensor coordinate system corresponding to the first 2D laser displacement sensor and the vehicle body coordinate system, and Mov R represents the translation matrix between the sensor coordinate system corresponding to the second 2D laser displacement sensor and the vehicle body coordinate system.

[0047] In a second aspect, an embodiment of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the method described in the first aspect or any possible implementation of the first aspect above are implemented.

[0048] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the steps of the method described in the first aspect above or any possible implementation manner of the first aspect are implemented.

[0049] An embodiment of the present invention provides a calibration method and an electronic device for an on-vehicle 2D laser test system. By setting the calibration beam perpendicular to the track, the calibration beam parallel to the bottom plane of the train, and the center point of the calibration beam aligned with the center point of the train body, the rotation relationship and translation relationship between the calibration beam and the 2D laser displacement sensor on the tooling beam can be used to reflect the rotation relationship and translation relationship between the vehicle body and the 2D laser displacement sensor on the tooling beam. Furthermore, by scanning the characteristic measuring blocks on the calibration beam with the 2D laser displacement sensor, the rotation matrix and translation matrix between the vehicle body coordinate system and the sensor coordinate system can be determined, thereby realizing the calibration work of the on-vehicle 2D laser test system. Moreover, compared with the method of calibrating only through the design dimensions of the tooling beam and the structural dimensions of the vehicle body in the related art, the embodiment of the present invention uses a calibration beam that can reflect the actual rotation relationship and translation relationship between the train vehicle body and the on-vehicle 2D laser test system for calibration, which can effectively eliminate the calibration errors caused by design deviations and installation deviations, effectively improve the accuracy of the calibration result, and further improve the test accuracy of the on-vehicle 2D laser test system. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings without creative efforts based on these drawings.

[0051] Figure 1 is a schematic structural diagram for calculating the translation amount of a 2D laser displacement sensor in the related art;

[0052] Figure 2 is a schematic structural diagram for calculating the rotation amount of a 2D laser displacement sensor in the related art;

[0053] Figure 3 is a schematic structural diagram of the calibration beam provided by an embodiment of the present invention;

[0054] Figure 4 is a flowchart for implementing the calibration method of the on-vehicle 2D laser test system provided by an embodiment of the present invention;

[0055] Figure 5 is a schematic position diagram between the calibration beam and the on-vehicle 2D laser test system during the calibration process provided by an embodiment of the present invention;

[0056] Figure 6 It is a schematic diagram of the longitudinal adjustment of the calibration beam provided by an embodiment of the present invention;

[0057] Figure 7 It is a top view of the calibration beam provided by an embodiment of the present invention;

[0058] Figure 8 It is a schematic diagram of the horizontal adjustment and centering adjustment of the calibration beam provided by an embodiment of the present invention;

[0059] Figure 9 It is a schematic structural diagram of the fixed adjustment part provided by an embodiment of the present invention;

[0060] Figure 10 It is a comparison diagram before and after the centering adjustment of the calibration beam provided by an embodiment of the present invention;

[0061] Figure 11 It is a comparison diagram before and after the horizontal adjustment of the calibration beam provided by an embodiment of the present invention;

[0062] Figure 12 It is a schematic diagram of the sensor coordinate system and the vehicle body coordinate system during the calibration process provided by an embodiment of the present invention;

[0063] Figure 13 It is a diagram of the left and right track profile data collected by the on-vehicle 2D laser test system provided by an embodiment of the present invention;

[0064] Figure 14 It is a diagram of the left and right track profile data in the vehicle body coordinate system provided by an embodiment of the present invention;

[0065] Figure 15 It is a technical route diagram of the calibration process of the on-vehicle 2D laser test system provided by an embodiment of the present invention;

[0066] Figure 16 It is a schematic diagram of the electronic device provided by an embodiment of the present invention. Detailed implementation manners

[0067] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present invention. However, those skilled in the art should clearly understand that the present invention can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present invention.

[0068] In the field of dynamic detection of vehicle systems, to ensure the safe operation of trains, it is necessary to check the vehicle gauge before the vehicle is put into use. The core work of vehicle gauge checking is to obtain the dynamic profile of the vehicle during operation, that is, the displacement of the vehicle profile line in the vertical and horizontal directions, also known as the dynamic envelope of the vehicle. The dynamic gauge continuous test technology based on 2D laser displacement sensors can continuously obtain the dynamic envelope of the vehicle when it runs on the whole line, and the measurement accuracy is relatively high. At present, 2D laser displacement sensors are mostly used for vehicle gauge checking. In the field of track detection, since the track quality directly affects the running safety and comfort of trains, it is necessary to detect track irregularities. At present, the inertial reference method is often used, and the most crucial content is to measure the displacement between the tooling beam and the left and right rails by 2D laser displacement sensors, and then obtain the irregularities of the left and right rails through inertial correction.

[0069] Thus, 2D laser displacement sensors are widely used in the dynamic detection of vehicle systems and track systems. In related technologies, 2D laser displacement sensors are usually installed on the tooling beam, and the tooling beam is set at the bottom of the train to form an on-vehicle 2D laser test system to achieve the dynamic detection of vehicle systems and track systems. Before using the on-vehicle 2D laser test system for dynamic detection, it is necessary to calibrate the 2D laser displacement sensor in it to obtain the rotation relationship and translation relationship of the 2D laser displacement sensor relative to the vehicle body coordinate system, that is, the rotation matrix and translation matrix of the sensor coordinate system where the 2D laser displacement sensor is located relative to the vehicle body coordinate system.

[0070] The 2D laser displacement sensor is composed of a diffractive laser emission device and a matrix camera, and is installed on the tooling beam. Among them, the diffractive laser emission device emits a linear laser perpendicular to the longitudinal direction of the rail to form a strip-shaped light band of the rail profile. At the same time, the matrix camera collects the laser image. After the camera and the diffractive laser emission device are solved through the corresponding imaging model, the laser band can be point-clouded to obtain the spatial point coordinates corresponding to the laser band. However, it should be noted that the obtained spatial point cloud is the two-dimensional coordinates on the laser plane, rather than the three-dimensional space points. And the coordinate system of the point cloud is the sensor coordinate system. Due to the measurement range requirements, the sensor is usually installed obliquely. And due to the existence of installation errors, the tilt angles of the structured light sensors on both sides of the track will be inconsistent. Therefore, in order to unify the coordinate systems of the two 2D laser displacement sensors, it is necessary to calibrate the 2D laser displacement sensor to obtain the rotation matrix and displacement matrix of the sensor coordinate system relative to the vehicle body coordinate system. Here, the rotation matrix and translation matrix will directly affect the dynamic detection accuracy.

[0071] Currently, the rotational relationship and translational relationship of the 2D laser displacement sensor relative to the vehicle body coordinate system are mostly calculated through the design dimensions of the tooling beam and in combination with the vehicle body structure dimensions, so as to calibrate the on-vehicle 2D laser test system. Refer to Figure 1 and Figure 2 , in the related technologies, it is mostly defaulted that the tooling beam is completely centered with the vehicle body, so that the horizontal distances YL and YR and the vertical distances ZL and ZR between the 2D laser displacement sensors on the left and right sides and the vehicle body center can be calculated by using the design dimensions of the tooling beam and the vehicle body structure dimensions. Through the designed included angle of the 2D laser displacement sensor, the designed included angles between the 2D laser displacement sensors on the left and right sides and the horizontal plane are determined as θL and θR respectively, and this designed included angle is determined as the designed included angle between the 2D laser displacement sensor and the bottom plane of the vehicle body, so as to calibrate the on-vehicle 2D laser test system.

[0072] However, there are the following disadvantages in calibrating by using the design dimensions of the tooling beam and the vehicle body structure dimensions:

[0073] 1. There are many connection structures on the tooling beam, resulting in a deviation between its actual size and the design size;

[0074] 2. When the 2D laser displacement sensor is installed on the tooling beam, there is a certain installation error;

[0075] 3. It cannot be ensured that the tooling beam is completely centered with the vehicle body during the installation process of the tooling beam, which brings a large error to calculating the translation amount of the 2D laser displacement sensor relative to the vehicle body

[0076] 4. When measuring the rotation angle of the 2D laser displacement sensor relative to the vehicle body, it is defaulted that the vehicle body is horizontal, and the designed included angle between the 2D laser displacement sensor and the horizontal plane is directly determined as the rotation angle of the 2D laser displacement sensor relative to the vehicle body. In reality, affected by factors such as vehicle load distribution, suspension system assembly, and track conditions, the vehicle body is not completely horizontal. Therefore, it is not advisable to directly select the designed included angle value between the tooling beam for installing the 2D laser displacement sensor and the horizontal plane.

[0077] In summary, the method of calibrating by using the design dimensions of the tooling beam and the vehicle body structure dimensions in the related technologies cannot effectively guarantee the calibration accuracy, easily leads to deviation in the calibration result, and further affects the dynamic detection accuracy of the vehicle system and the track system.

[0078] With the idea of improving the calibration accuracy of the on-vehicle 2D laser test system, in the embodiments of the present invention, on the basis of setting the calibration beam perpendicular to the track, the calibration beam parallel to the bottom plane of the train, and the center point of the calibration beam aligned with the center point of the train body, the rotation relationship and translation relationship between the calibration beam and the 2D laser displacement sensor on the tooling beam are used to reflect the rotation relationship and translation relationship between the vehicle body and the 2D laser displacement sensor on the tooling beam. Then, by using the 2D laser displacement sensor to scan the characteristic blocks on the calibration beam, the rotation matrix and translation matrix between the vehicle body coordinate system and the sensor coordinate system are determined, so as to realize the calibration work of the on-vehicle 2D laser test system. Compared with the calibration method in the related technology that only calibrates through the design dimensions of the tooling beam and the structural dimensions of the vehicle body, the embodiments of the present invention use the calibration beam that can reflect the actual rotation relationship and translation relationship between the train body and the on-vehicle 2D laser test system for calibration, which can effectively eliminate the calibration errors caused by problems such as design deviation, installation deviation, vehicle body tilt, and misalignment between the vehicle body and the tooling beam, effectively improve the accuracy of the calibration result, and further improve the test accuracy of the on-vehicle 2D laser test system.

[0079] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will be described through specific embodiments with reference to the accompanying drawings.

[0080] Before introducing the calibration method of the on-vehicle 2D laser test system, the calibration beam and the on-vehicle 2D machine tool test system will be introduced first. Refer to Figure 1 and Figure 2 , the on-vehicle 2D laser test system includes: a 2D laser displacement sensor and a tooling beam. The 2D laser displacement sensor is installed on the tooling beam, and the tooling beam is installed at the bottom of the train, and the train is parked on the track.

[0081] Here, there are usually two 2D laser displacement sensors in the on-vehicle 2D laser test system, and they are respectively arranged on both sides of the center point of the tooling beam.

[0082] Refer to Figure 3 , the calibration beam is provided with a fixed adjustment device and characteristic blocks. The calibration beam is fixed on the rail of the train track through the fixed adjustment device. The calibration method of the on-vehicle 2D laser test system provided by the embodiments of the present invention is applied to this calibration beam.

[0083] Figure 4 The following is the implementation flowchart of the calibration method of the on-vehicle 2D laser test system provided by the embodiments of the present invention, which is described in detail as follows:

[0084] Step 401, fix the calibration beam on the track through the fixed adjustment device, and adjust the calibration beam to be perpendicular to the track, the center point of the calibration beam to be aligned with the center point of the train body, and the calibration beam to be parallel to the bottom plane of the train body.

[0085] See Figure 5 Figure 5 , the calibration beam is fixed on the steel rails on both sides of the track through the fixed adjustment device. The fixed adjustment device can adjust the spatial position of the calibration beam. In the embodiment of the present invention, the spatial position of the calibration beam is adjusted through the fixed adjustment device so that the calibration beam is perpendicular to the track, the center point of the calibration beam is aligned with the center point of the train car body, and the calibration beam is parallel to the bottom plane of the train car body.

[0086] Here, by adjusting the calibration beam to be perpendicular to the track, the center point of the calibration beam is aligned with the center point of the train car body, and the calibration beam is parallel to the bottom plane of the train car body, it can be ensured that the calibration beam and the test section of the on-vehicle 2D laser test system are in the same longitudinal section and parallel to the car body underframe.

[0087] In the embodiment of the present invention, through the above adjustment, the calibration beam and the train car body can be in the same car body coordinate system. Furthermore, by using the rotation relationship and translation relationship between the calibration beam and the 2D laser displacement sensor on the tooling beam, the rotation relationship and translation relationship between the car body and the 2D laser displacement sensor on the tooling beam can be reflected. Then, by scanning the characteristic block on the calibration beam with the 2D laser displacement sensor, the rotation matrix and translation matrix between the car body coordinate system and the sensor coordinate system can be determined, so as to realize the calibration work of the on-vehicle 2D laser test system.

[0088] Step 402: Control the 2D laser displacement sensor to scan the characteristic block to obtain the measurement value corresponding to the characteristic block;

[0089] Step 403: Calibrate the on-vehicle 2D laser test system according to the measurement value.

[0090] Here, the measurement value refers to the coordinate value of the characteristic block in the sensor coordinate system where the 2D laser displacement sensor is located.

[0091] In the embodiment of the present invention, the above measurement value can be processed based on the calibration parameter calculation method using SVD decomposition. Finally, the translation matrix and rotation matrix between the sensor coordinate system and the car body coordinate system can be obtained, and the mapping relationship between the sensor coordinate system and the car body coordinate system can be established to complete the calibration of the on-vehicle 2D laser test system.

[0092] Compared with the prior art, in the embodiment of the present invention, on the basis that the calibration beam is set perpendicular to the track, the calibration beam is parallel to the bottom plane of the train, and the center point of the calibration beam is aligned with the center point of the train body, the rotation relationship and translation relationship between the calibration beam and the 2D laser displacement sensor on the tooling beam are used to reflect the rotation relationship and translation relationship between the train body and the 2D laser displacement sensor on the tooling beam. Furthermore, by scanning the characteristic blocks on the calibration beam with the 2D laser displacement sensor, the rotation matrix and translation matrix between the train body coordinate system and the sensor coordinate system are determined, so as to realize the calibration work of the on-vehicle 2D laser test system. Compared with the method of calibration only by the design dimensions of the tooling beam and the structural dimensions of the train body in the related art, the embodiment of the present invention uses the calibration beam that can reflect the actual rotation relationship and translation relationship between the train body and the on-vehicle 2D laser test system for calibration, which can effectively eliminate the calibration errors caused by problems such as design deviation, installation deviation, train body tilt, and misalignment between the train body and the tooling beam, effectively improve the accuracy of the calibration result, and further improve the test accuracy of the on-vehicle 2D laser test system.

[0093] The following introduces the specific adjustment process of the calibration beam.

[0094] See Figure 5 and Figure 6 , the number of fixed adjustment devices is two, and each fixed adjustment device corresponds to one rail of the track. The calibration beam is fixed on the rails on both sides of the track through the fixed adjustment devices. The fixed adjustment device includes: a fixed adjustment part and a right-angle ruler, and one side of the right-angle ruler is closely attached to the calibration beam;

[0095] During the process of adjusting the calibration beam to be perpendicular to the track, the longitudinal angle of the calibration beam is adjusted through the fixed adjustment part, so that the other side of the right-angle ruler is attached to the rail, so that the calibration beam and the track are perpendicular.

[0096] As Figure 6 shown, by respectively adjusting the positions of the fixed adjustment parts on the rail, the longitudinal angle of the calibration beam can be adjusted so that the other sides of the right-angle rulers are all attached to the rail, thereby realizing that the calibration beam is perpendicular to the track. Here, the longitudinal angle refers to the angle between the calibration beam and the longitudinal direction of the rail.

[0097] In the embodiment of the present invention, through the right-angle ruler, the longitudinal adjustment of the calibration beam can be realized so that the calibration beam is perpendicular to the track.

[0098] In some embodiments, see Figure 7 and Figure 8 , scales with a preset length are processed at both ends of the calibration beam; line laser sensors are respectively arranged at the same vertical height on both sides of the train body.

[0099] During the process of aligning the center point of the calibration beam with the center point of the train car body and making the calibration beam parallel to the bottom plane of the train car body, the line laser sensors can be respectively controlled to emit laser vertically downward to collect the distances between the line laser sensors and the calibration beam, and determine the positions of the laser points formed on the scale rulers at both ends of the calibration beam.

[0100] On the one hand, the horizontal position of the calibration beam is adjusted by the fixed adjustment part until the horizontal distances from the laser points to the left and right ends of the calibration beam are equal, so as to align the center point of the calibration beam with the center point of the train car body.

[0101] On the other hand, the vertical position of the calibration beam is adjusted by the fixed adjustment part until the distance values collected by the line laser sensors are the same, so as to make the calibration beam parallel to the bottom plane of the train car body.

[0102] Here, the line laser sensor can emit laser to measure the distance between the line laser and the calibration beam. At the same time, the laser hits the scale rulers on the left and right sides of the calibration beam, and can also detect whether the center point of the calibration beam is aligned with the center point of the train car body.

[0103] See Figure 9 , the fixed adjustment part is adsorbed on the steel rails on both sides of the track via the contact fulcrum and the strong magnet. At the same time, a horizontal adjustment knob and a height adjustment knob are also provided on the fixed adjustment part. Among them, by adjusting the horizontal adjustment button, the calibration beam can be controlled to horizontally move in the left - right direction as shown in Figure 9 , so as to adjust the center point of the calibration beam to be aligned with the center point of the train car body and realize the centering adjustment of the calibration beam. By adjusting the height adjustment button, the calibration beam can be controlled to move up and down in the vertical direction as shown in Figure 9 , so that the calibration beam is parallel to the bottom plane of the train car body and realize the horizontal adjustment of the calibration beam.

[0104] Here, the scale rulers on both sides of the calibration beam take the end points at both ends of the calibration beam as the scale zero points respectively. Thus, it can be directly detected whether the center point of the calibration beam is aligned with the center point of the train car body according to whether the scale values corresponding to the laser points are the same. See Figure 10 , before the centering adjustment, the scale values corresponding to the laser points formed by the line laser sensors on both sides of the train car body on the scale rulers on the left and right sides of the calibration beam are 24 cm and 26 cm respectively. After the adjustment is completed, the scale values corresponding to the laser points formed by the line laser sensors on both sides of the train car body on the scale rulers on the left and right sides of the calibration beam are both 25 cm. At this time, it is determined that the center point of the calibration beam is aligned with the center point of the train car body.

[0105] See Figure 11, before horizontal adjustment, the distance values collected by the line laser sensors on both sides of the train car body are 234 cm and 236 cm respectively. After adjustment, the distance values collected by the line laser sensors on both sides of the train car body are both 235 cm. At this time, it is determined that the calibration beam is parallel to the bottom plane of the train car body.

[0106] On the basis of the completion of the calibration beam adjustment, the calibration method will be introduced in detail below.

[0107] See Figure 1 and Figure 2 , the 2D laser displacement sensors in the on-vehicle 2D laser test system include: a first 2D laser displacement sensor arranged on the left side of the center point of the tooling beam, and a second 2D laser displacement sensor arranged on the right side of the center point of the tooling beam.

[0108] Correspondingly, the characteristic blocks on the calibration beam in the embodiments of the present invention may include: a first characteristic block and a second characteristic block located on the left side of the center point of the calibration beam and spaced from the center point of the calibration beam by different distances, and a third characteristic block and a fourth characteristic block located on the right side of the center point of the calibration beam and spaced from the center point of the calibration beam by different distances. Among them, the first characteristic block and the second characteristic block are used to calibrate the first 2D laser displacement sensor. The third characteristic block and the fourth characteristic block are used to calibrate the second 2D laser displacement sensor. Here, each characteristic block is installed at a preset position in the non-scale area in the middle of the calibration beam.

[0109] The calibration beam in the embodiments of the present invention may be an aluminum rectangular cross-section beam. Exemplarily, see Figure 3 , the length of the calibration beam is 2600 mm. Taking the center point of the calibration beam as the zero point, a first characteristic block (OL1) is set at a position 750 mm to the left of the center point; a second characteristic block (OL2) is set at a position 650 mm to the left of the center point; a third characteristic block (OR1) is set at a position 650 mm to the right of the center point; a fourth characteristic block (OR2) is set at a position 750 mm to the right of the center point. Each characteristic block is 20 mm long, 40 mm wide, and 10 mm high.

[0110] When controlling the 2D laser displacement sensor to scan the characteristic blocks, the first 2D laser displacement sensor can be controlled to scan the first characteristic block and the second characteristic block to obtain the measurement values corresponding to the first characteristic block and the second characteristic block; the second 2D laser displacement sensor can be controlled to scan the third characteristic block and the fourth characteristic block to obtain the measurement values corresponding to the third characteristic block and the fourth characteristic block.

[0111] In some embodiments, when calibrating the vehicle-mounted 2D laser test system according to the measured values, the rotation angles of each 2D laser displacement sensor in the vehicle body coordinate system can be determined based on the measured values first; then, based on the rotation angles, the rotation matrices between each sensor coordinate system and the vehicle body coordinate system can be determined respectively; finally, based on the rotation matrices, the translation matrices between each sensor coordinate system and the vehicle body coordinate system can be determined respectively.

[0112] See Figure 12 , the origin of the vehicle body coordinate system is the center point of the train vehicle body, the first coordinate axis Y of the vehicle body coordinate system C is along the direction perpendicular to the track at the bottom of the train, and the second coordinate axis Z of the vehicle body coordinate system C is along the vertical direction of the train height. The origin of the sensor coordinate system is the center point of the 2D laser displacement sensor, and the first coordinate axis (Y 2DL and Y 2DR ) of the sensor coordinate system is along the horizontal direction of the 2D laser displacement sensor, and the second coordinate axis (Z 2DL and Z 2DR ) of the sensor coordinate system is along the vertical direction of the 2D laser displacement sensor.

[0113] Among them, the measured value of the first feature block O L1 can be expressed as (y L1 , z L1 ), the measured value of the second feature block O L2 is (y L2 , z L2 ), the measured value of the third feature block O R1 is (y R1 , z R1 ), and the measured value of the fourth feature block O R2 is (y R2 , z R2 );

[0114] According to the rotation angles of each 2D laser displacement sensor in the vehicle body coordinate system can be determined respectively;

[0115] Among them, θ L represents the rotation angle of the first 2D laser displacement sensor in the vehicle body coordinate system, and θ R represents the rotation angle of the second 2D laser displacement sensor in the vehicle body coordinate system.

[0116] On this basis, through the coordinate axis transformation relationship, the rotation transformation matrices between the corresponding sensor coordinate systems and the vehicle body coordinate system of the 2D laser displacement sensors on the left and right sides can be obtained.

[0117] In some embodiments, according to Determine the rotation matrix between the sensor coordinate system corresponding to the first 2D laser displacement sensor and the vehicle body coordinate system;

[0118] According to Determine the rotation matrix between the sensor coordinate system corresponding to the second 2D laser displacement sensor and the vehicle body coordinate system;

[0119] Among them, Rot L represents the rotation matrix between the sensor coordinate system corresponding to the first 2D laser displacement sensor and the vehicle body coordinate system, Rot R represents the rotation matrix between the sensor coordinate system corresponding to the second 2D laser displacement sensor and the vehicle body coordinate system, θ L represents the rotation angle of the 2D laser displacement sensor located on one side of the center point of the tooling beam in the vehicle body coordinate system, θ R represents the rotation angle of the 2D laser displacement sensor located on the other side of the center point of the tooling beam in the vehicle body coordinate system.

[0120] In some embodiments, when respectively determining the translation matrix between each sensor coordinate system and the vehicle body coordinate system based on the rotation matrix, the rotated value of the measurement value after being transformed by the rotation matrix can be first determined based on the product of the measurement value and the rotation matrix; then, based on the rotated value and the coordinate value of the characteristic quantity block in the vehicle body coordinate system, the translation matrix between the sensor coordinate system and the vehicle body coordinate system is determined.

[0121] Here, according to Determine the rotated value of the measurement value of the second characteristic quantity block after being transformed by the rotation matrix;

[0122] According to Determine the rotated value of the measurement value of the third characteristic quantity block after being transformed by the rotation matrix;

[0123] In the embodiments of the present invention, the coordinate values of the second characteristic quantity block and the third characteristic quantity block in the vehicle body coordinate system can be respectively expressed as (-Y1, -Z0) and (Y2, Z0); the rotated values of the second characteristic quantity block and the third characteristic quantity block can be respectively expressed as (y L2 ', z L2 ') and (y R1 ', z R1 ');

[0124] When determining the translation matrix, according to Determine the translation matrix between the sensor coordinate system corresponding to the first 2D laser displacement sensor and the vehicle body coordinate system;

[0125] According to Determine the translation matrix between the sensor coordinate system corresponding to the second 2D laser displacement sensor and the vehicle body coordinate system;

[0126] Among them, Mov L represents the translation matrix between the sensor coordinate system corresponding to the first 2D laser displacement sensor and the vehicle body coordinate system, and Mov R represents the translation matrix between the sensor coordinate system corresponding to the second 2D laser displacement sensor and the vehicle body coordinate system.

[0127] According to the above, the rotation matrix and translation matrix between the sensor coordinate system corresponding to the first 2D laser displacement sensor and the vehicle body coordinate system, and the rotation matrix and translation matrix between the sensor coordinate system corresponding to the second 2D laser displacement sensor and the vehicle body coordinate system can be obtained respectively, so as to complete the calibration work of the vehicle-mounted 2D laser test system.

[0128] Any coordinate point P(y, z) measured by any 2D laser displacement sensor in the vehicle-mounted 2D laser test system can be converted into the coordinate point P'(Y, Z) in the vehicle body coordinate system, and the conversion relationship is:

[0129]

[0130] Among them, Rot represents the rotation matrix between the sensor coordinate system corresponding to this 2D laser displacement sensor and the vehicle body coordinate system, and Mov represents the translation matrix between the sensor coordinate system corresponding to this 2D laser displacement sensor and the vehicle body coordinate system.

[0131] On the basis of the completed calibration, the above calibration results can be used for actual measurement. Refer to Figure 13 When the train is in a stationary state, the left and right track profile data measured by each 2D laser displacement sensor in the vehicle-mounted 2D laser test system are as Figure 13 shown. After rotating the profile scatter point coordinates in Figure 13 according to the rotation matrix in the calibration results and then translating them according to the translation matrix in the calibration results, the left and right track profile scatter points in the vehicle body coordinate system can be obtained. As Figure 14 shown.

[0132] Identify Figure 14 the characteristic points on the left and right sides in

[0133] and determine the angle of the line connecting the left and right characteristic points in the vehicle body coordinate system, which is the torsion angle of the vehicle profile line. And the midpoint coordinates of this line are the translation vector of the vehicle profile line, so as to realize the verification work of the vehicle profile line. Here, the characteristic points can be the highest point of the profile or the gauge measurement point. The gauge measurement point is the data point 16 mm below the highest point. Figure 15, in the embodiment of the present invention, by providing a scale and a fixing and adjusting device (including a fixing and adjusting part and a right-angle straightedge) on the calibration beam, and cooperating with a line laser sensor, the centering adjustment, horizontal adjustment and longitudinal adjustment of the calibration beam can be realized, so that the calibration beam is perpendicular to the track, the center point of the calibration beam is aligned with the center point of the train car body, and the calibration beam is parallel to the bottom plane of the train car body.

[0134] On this basis, by controlling the 2D laser displacement sensor to scan the characteristic blocks on the calibration beam, data measurement can be realized, and on the basis of data measurement, a translation matrix and a rotation matrix can be calculated by using a calibration algorithm to realize the calibration work of the on-vehicle 2D laser test system.

[0135] Figure 16 is a schematic diagram of the electronic device provided by the embodiment of the present invention. As Figure 16 shown, the electronic device 16 of this embodiment includes: a processor 160, a memory 161, and a computer program 162 stored in the memory 161 and executable on the processor 160. When the processor 160 executes the computer program 162, the steps in the embodiments of the above-mentioned calibration methods of various on-vehicle 2D laser test systems are implemented, such as Figure 4 the steps 401 to 403 shown.

[0136] Exemplarily, the computer program 162 can be divided into one or more modules / units, and the one or more modules / units are stored in the memory 161 and executed by the processor 160 to complete the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, and this instruction segment is used to describe the execution process of the computer program 162 in the electronic device 16.

[0137] The electronic device 16 can be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The electronic device 16 may include, but is not limited to, a processor 160 and a memory 161. Those skilled in the art can understand that Figure 16 is only an example of the electronic device 16, and does not constitute a limitation on the electronic device 16. It may include more or fewer components than shown in the figure, or combine some components, or different components. For example, the electronic device may further include input and output devices, network access devices, a bus, etc.

[0138] The so-called processor 160 may be a Central Processing Unit (CPU), or may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0139] The memory 161 may be an internal storage unit of the electronic device 16, such as the hard disk or memory of the electronic device 16. The memory 161 may also be an external storage device of the electronic device 16, such as a plug-in hard disk equipped on the electronic device 16, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. Further, the memory 161 may also include both the internal storage unit of the electronic device 16 and the external storage device. The memory 161 is used to store the computer program and other programs and data required by the electronic device. The memory 161 may also be used to temporarily store data that has been output or will be output.

[0140] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules as needed, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiments can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working processes of the units and modules in the above system can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0141] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0142] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0143] In the embodiments provided by the present invention, it should be understood that the disclosed device / electronic device and method can be implemented in other ways. For example, the device / electronic device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the couplings or direct couplings or communication connections shown or discussed with each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical or other forms.

[0144] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0145] In addition, the functional units in each embodiment of the present invention can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0146] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above-described embodiment methods of the present invention, it can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of the above-described calibration method embodiments of each vehicle-mounted 2D laser test system. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device that can carry the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. The above-described embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A calibration method for an in-vehicle 2D laser test system, characterized in that, The vehicle-mounted 2D laser test system includes: a 2D laser displacement sensor and a tooling beam. The 2D laser displacement sensor is installed on the tooling beam, and the tooling beam is installed at the bottom of the train; the train is parked on the track; The method is applied to a calibration beam, and a fixed adjustment device and a characteristic block are arranged on the calibration beam; The method includes: Fix the calibration beam on the track through the fixed adjustment device, and adjust the calibration beam to be perpendicular to the track. The center point of the calibration beam is aligned with the center point of the train body, and the calibration beam is parallel to the bottom plane of the train body; Control the 2D laser displacement sensor to scan the characteristic block to obtain the measured value corresponding to the characteristic block; Calibrate the vehicle-mounted 2D laser test system according to the measured value.

2. The calibration method of the in-vehicle 2D laser test system according to claim 1, wherein The number of the fixed adjustment devices is two, and each fixed adjustment device corresponds to one rail of the track; the fixed adjustment device includes: a fixed adjustment part and a right-angle ruler, and one side of the right-angle ruler is closely attached to the calibration beam; The adjusting the calibration beam to be perpendicular to the track includes: Adjust the longitudinal angle of the calibration beam through the fixed adjustment part, so that the other side of the right-angle ruler is attached to the rail, so that the calibration beam and the track are perpendicular.

3. The calibration method of the in-vehicle 2D laser test system according to claim 1 or 2, characterized in that, Scales with a preset length are processed at both ends of the calibration beam; line laser sensors are respectively arranged at the same vertical height on both sides of the train body; Adjusting the center point of the calibration beam to be aligned with the center point of the train body, and the calibration beam is parallel to the bottom plane of the train body includes: Respectively control each line laser sensor to emit laser vertically downward to collect the distance between each line laser sensor and the calibration beam, and determine the position of the laser spot formed on the scales at both ends of the calibration beam; Adjust the horizontal position of the calibration beam through the fixed adjustment part until the horizontal distances from the laser spot to the left and right ends of the calibration beam are equal, so as to align the center point of the calibration beam with the center point of the train body; Adjust the vertical position of the calibration beam through the fixed adjustment part until the distance values collected by each line laser sensor are the same, so as to make the calibration beam parallel to the bottom plane of the train body.

4. The calibration method of the in-vehicle 2D laser test system according to claim 1, characterized in that, The 2D laser displacement sensor includes: a first 2D laser displacement sensor arranged on the left side of the center point of the tooling beam, and a second 2D laser displacement sensor arranged on the right side of the center point of the tooling beam; The characteristic block is installed at a preset position in the non-scale area in the middle of the calibration beam. The characteristic block includes: a first characteristic block and a second characteristic block located on the left side of the center point of the calibration beam and spaced from the center point of the calibration beam by different distances, and a third characteristic block and a fourth characteristic block located on the right side of the center point of the calibration beam and spaced from the center point of the calibration beam by different distances; The controlling the 2D laser displacement sensor to scan the characteristic block to obtain the measured value corresponding to the characteristic block includes: Control the first 2D laser displacement sensor to scan the first characteristic block and the second characteristic block to obtain the measured values corresponding to the first characteristic block and the second characteristic block; Control the second 2D laser displacement sensor to scan the third feature block and the fourth feature block, and obtain the measurement values corresponding to the third feature block and the fourth feature block.

5. The calibration method of the vehicle-mounted 2D laser test system according to claim 4, characterized in that, Calibrating the vehicle-mounted 2D laser test system according to the measurement values includes: Based on the measurement values, respectively determine the rotation angles of each 2D laser displacement sensor in the vehicle body coordinate system; the coordinate origin of the vehicle body coordinate system is the center point of the train body, the first coordinate axis of the vehicle body coordinate system is along the direction perpendicular to the track at the bottom of the train, and the second coordinate axis of the vehicle body coordinate system is along the vertical direction of the train height; Based on the rotation angles, respectively determine the rotation matrices between each sensor coordinate system and the vehicle body coordinate system; the coordinate origin of the sensor coordinate system is the center point of the 2D laser displacement sensor, the first coordinate axis of the sensor coordinate system is along the horizontal direction of the 2D laser displacement sensor, and the second coordinate axis of the sensor coordinate system is along the vertical direction of the 2D laser displacement sensor; Based on the rotation matrices, respectively determine the translation matrices between each sensor coordinate system and the vehicle body coordinate system.

6. The calibration method of the vehicle-mounted 2D laser test system according to claim 5, wherein: The measured value of the first characteristic quantity block is (y L1 , z L1 ), the measured value of the second characteristic quantity block is (y L2 , z L2 ), the measured value of the third characteristic quantity block is (y R1 , z R1 ), and the measured value of the fourth characteristic quantity block is (y R2 , z R2 ); The step of respectively determining the rotation angles of each 2D laser displacement sensor in the vehicle body coordinate system based on the measurement values includes: According to respectively determine the rotation angles of each 2D laser displacement sensor in the vehicle body coordinate system; Among them, θ L represents the rotation angle of the first 2D laser displacement sensor in the vehicle body coordinate system, and θ R represents the rotation angle of the second 2D laser displacement sensor in the vehicle body coordinate system.

7. The calibration method of the in-vehicle 2D laser test system according to claim 5 or 6, characterized in that, The step of respectively determining the rotation matrices between each sensor coordinate system and the vehicle body coordinate system based on the rotation angles includes: According to Determine the rotation matrix between the sensor coordinate system corresponding to the first 2D laser displacement sensor and the vehicle body coordinate system; According to Determine the rotation matrix between the sensor coordinate system corresponding to the second 2D laser displacement sensor and the vehicle body coordinate system; Among them, Rot L represents the rotation matrix between the sensor coordinate system corresponding to the first 2D laser displacement sensor and the vehicle body coordinate system, Rot R represents the rotation matrix between the sensor coordinate system corresponding to the second 2D laser displacement sensor and the vehicle body coordinate system, θ L represents the rotation angle of the 2D laser displacement sensor located on one side of the center point of the tooling beam in the vehicle body coordinate system, θ R represents the rotation angle of the 2D laser displacement sensor located on the other side of the center point of the tooling beam in the vehicle body coordinate system.

8. The calibration method of the vehicle-mounted 2D laser test system according to claim 5 or 6, characterized in that, The step of respectively determining the translation matrices between each sensor coordinate system and the vehicle body coordinate system based on the rotation matrices includes: Based on the product of the measurement values and the rotation matrix, determine the rotation values after the measurement values are transformed by the rotation matrix; Based on the rotation values and the coordinate values of the feature block in the vehicle body coordinate system, determine the translation matrix between the sensor coordinate system and the vehicle body coordinate system.

9. The calibration method of the vehicle-mounted 2D laser test system according to claim 7, characterized in that The coordinate values of the second characteristic quantity block and the third characteristic quantity block in the vehicle body coordinate system are (-Y1, -Z0) and (Y2, Z0) respectively; the rotation values of the second characteristic quantity block and the third characteristic quantity block are (y L2 ', z L2 ') and (y R1 ', z R1 ') respectively; The step of determining the translation matrix between the sensor coordinate system and the vehicle body coordinate system based on the rotation values and the coordinate values of the feature block in the vehicle body coordinate system includes: According to Determine the translation matrix between the sensor coordinate system corresponding to the first 2D laser displacement sensor and the vehicle body coordinate system; According to determine the translation matrix between the sensor coordinate system corresponding to the second 2D laser displacement sensor and the vehicle body coordinate system; Among them, Mov L represents the translation matrix between the sensor coordinate system corresponding to the first 2D laser displacement sensor and the vehicle body coordinate system, and Mov R represents the translation matrix between the sensor coordinate system corresponding to the second 2D laser displacement sensor and the vehicle body coordinate system.

10. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the calibration method of the vehicle-mounted 2D laser test system according to any one of claims 1 to 9 above.

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