Calibration method and device for yaw angle of laser radar of unmanned mining truck

Abstract

A calibration method and device for a yaw angle of a laser radar of an unmanned mining truck, relating to the technical field of yaw angle calibrations. The method comprises: performing a preliminary calibration of a first yaw angle of the laser radar of the unmanned mining truck (S1); acquiring a section of traveling trajectory of the unmanned mining truck, erecting a pole at a preset distance from the traveling trajectory, parking the truck on the trajectory or within a preset range of the trajectory, and transforming the traveling trajectory and the pole into a global coordinate system by means of a positioning system and the laser radar of the unmanned mining truck (S2); the unmanned mining truck approaching the pole from far to near along the traveling trajectory; and after every preset length traveled by the truck, calculating the distance from the unmanned mining truck to the pole and a perpendicular distance from the center point of the pole to the traveling trajectory once to obtain a plurality of sets of measurement values of the distance from the unmanned mining truck to the pole and the perpendicular distance from the center point of the pole to the traveling trajectory (S3); determining a yaw angle offset of the laser radar of the unmanned mining truck relative to a truck body on the basis of the plurality of sets of measurement values of the distance from the unmanned mining truck to the pole and the perpendicular distance from the center point of the pole to the traveling trajectory (S4); and calibrating a second yaw angle of the laser radar of the unmanned mining truck on the basis of the first yaw angle of the laser radar of the unmanned mining truck and the yaw angle offset of the laser radar of the unmanned mining truck relative to the truck body (S5). By means of the method, the yaw angle of the laser radar can be calibrated more accurately and quickly.

Description

A method and device for calibrating a heading angle of a laser radar of an unmanned mine car TECHNICAL FIELD

[0001] The present application belongs to the technical field of heading angle calibration, and particularly relates to a method and device for calibrating a heading angle of a laser radar of an unmanned mine car. BACKGROUND

[0002] The main sensor laser radar installed on the unmanned mine car needs to be calibrated with the vehicle body. When the vehicle is running, the perceived obstacles can be correctly transformed to the correct position relative to the vehicle body. The current mainstream solution is to place the vehicle in the calibration workshop and calibrate it through the reference objects in the workshop. However, as the unmanned mine car is used in the wild, the vehicle body is too large, and even if it is calibrated in the factory, the laser radar will be disassembled during transportation and needs to be reassembled and recalibrated in the wild. During the calibration in the wild, due to the lack of accurate reference objects and the lack of experience of the calibration personnel, the calibration result usually has a large error, especially the radar heading angle yaw and the vehicle body heading angle yaw are difficult to coincide. Since the laser radar heading and the vehicle body heading do not coincide, obstacles in front of the vehicle body may also be transformed to one side of the vehicle body, thereby causing safety problems in autonomous driving. SUMMARY

[0003] In view of the deficiencies of the prior art, the purpose of the present application is to provide a method and device for calibrating a heading angle of a laser radar of an unmanned mine car, which solves the problems of low precision and low efficiency of manual calibration in the prior art.

[0004] In a first aspect of the present application, a method for calibrating a heading angle of a laser radar of an unmanned mine car is provided, comprising:

[0005] Preliminary calibration of a first heading angle of the laser radar of the unmanned mine car;

[0006] Obtaining a driving trajectory of the unmanned mine car, erecting a rod at a predetermined distance of the driving trajectory, and parking the vehicle on the driving trajectory or within a predetermined range of the driving trajectory, and transforming the driving trajectory and the rod to a global coordinate system by the positioning system and the laser radar of the unmanned mine car;

[0007] The unmanned mine car approaches the rod along the driving trajectory from far to near, and the distance from the unmanned mine car to the rod and the vertical distance from the center point of the rod to the driving trajectory are calculated once every predetermined length of driving of the vehicle to obtain a plurality of measurement values of the distance from the unmanned mine car to the rod and the vertical distance from the center point of the rod to the driving trajectory;

[0008] Determining a heading angle offset value of the laser radar of the unmanned mine car relative to the vehicle body according to the plurality of measurement values of the distance from the unmanned mine car to the rod and the vertical distance from the center point of the rod to the driving trajectory;

[0009] The second heading angle of the laser radar of the unmanned mine car is calibrated according to the first heading angle of the laser radar of the unmanned mine car and the heading angle offset value of the laser radar of the unmanned mine car relative to the car body.

[0010] Further, in the above-mentioned method for calibrating the heading angle of the laser radar of the unmanned mine car, the first heading angle of the laser radar of the unmanned mine car is preliminarily calibrated, comprising:

[0011] The positioning system of the unmanned mine car and the laser radar of the unmanned mine car are both calibrated to the center of the rear axle of the unmanned mine car, and the first heading angle of the laser radar of the unmanned mine car is preliminarily calibrated.

[0012] Further, in the above-mentioned method for calibrating the heading angle of the laser radar of the unmanned mine car, the driving track and the rod are transformed into the global coordinate system by the positioning system and the laser radar of the unmanned mine car, comprising:

[0013] The global positioning value of the driving track in the positioning system is determined, and the driving track is transformed into the global coordinate system;

[0014] The initial calibration parameters of the rod in the laser radar coordinate system and the global positioning value of the rod in the positioning system are determined;

[0015] The rod is transformed into the global coordinate system according to the initial calibration parameters of the rod in the laser radar coordinate system and the global positioning value of the rod in the positioning system.

[0016] Further, in the above-mentioned method for calibrating the heading angle of the laser radar of the unmanned mine car, the vertical distance from the center point of the rod to the driving track is calculated, comprising:

[0017] The rod is identified;

[0018] The centroid of all radar point clouds of the rod in the XY plane of the global coordinate system is calculated;

[0019] The XY plane distance from the centroid to all points on the driving track is calculated;

[0020] The two track points with the shortest distance are screened out;

[0021] A straight line is determined according to the two track points with the shortest distance;

[0022] The XY plane distance from the centroid to the straight line is calculated to obtain the measured value of the vertical distance from the center point of the rod to the driving track.

[0023] Further, in the above-mentioned method for calibrating the heading angle of the laser radar of the unmanned mine car, the heading angle offset value of the laser radar is determined according to the distance from the unmanned mine car to the rod and the measured value of the vertical distance from the center point of the rod to the driving track, which is calculated by the following formula:

[0024] The conversion into a matrix is:

[0025] Solving the above matrix equation obtains sinθ, and the heading angle offset value is obtained according to sinθ.

[0026] Wherein, (m1, d1), (m2, d2) … (m n ,d n ) represent a plurality of groups of unmanned mine car to rod distance and rod center point to the vertical distance of the driving track measurement value, θ represents the heading angle offset value, and d represents the vertical distance from the rod center to the track true value.

[0027] Further, in the above-mentioned kind of unmanned mine car laser radar heading angle calibration method, the second heading angle of the unmanned mine car laser radar is calibrated according to the first heading angle of the unmanned mine car laser radar and the heading angle offset value of the unmanned mine car laser radar relative to the vehicle body, comprising:

[0028] The first heading angle of the unmanned mine car laser radar is compensated according to the heading angle offset value of the unmanned mine car laser radar relative to the vehicle body, and the second heading angle of the unmanned mine car laser radar is calibrated.

[0029] Further, in the above-mentioned kind of unmanned mine car laser radar heading angle calibration method, the rod is identified, comprising:

[0030] The bounding box of the rod is trained to obtain a rod identification model;

[0031] The rod is identified through the rod identification model.

[0032] The second aspect of the present application also proposes an unmanned mine car laser radar heading angle calibration device, comprising:

[0033] The first calibration module is used for preliminary calibration of the first heading angle of the unmanned mine car laser radar;

[0034] The acquisition module and the transformation module are used for acquiring a section of driving track of the unmanned mine car, standing a rod at a preset distance of the driving track, parking the vehicle on the track or within a preset range of the track, and transforming the driving track and the rod into a global coordinate system through the positioning system and the laser radar of the unmanned mine car;

[0035] The calculation module is used for the unmanned mine car to approach the rod along the driving track from far to near, and the unmanned mine car to rod distance and the vertical distance from the rod center point to the driving track are calculated once every preset length of the vehicle to obtain a plurality of groups of unmanned mine car to rod distance and rod center point to the vertical distance of the driving track measurement value;

[0036] The determining module is configured to determine the heading angle offset value of the laser radar of the unmanned mine car relative to the car body according to the measured values of the distances from the unmanned mine car to the pole and the vertical distances from the center point of the pole to the driving track.

[0037] The second calibrating module is configured to calibrate the second heading angle of the laser radar of the unmanned mine car according to the first heading angle of the laser radar of the unmanned mine car and the heading angle offset value of the laser radar of the unmanned mine car relative to the car body.

[0038] The third aspect of the present application further provides an electronic device, comprising a processor and a memory.

[0039] The processor is configured to execute the method for calibrating the heading angle of the laser radar of the unmanned mine car by calling the program or instructions stored in the memory.

[0040] The fourth aspect of the present application further provides a computer readable storage medium, which stores a program or instructions, and the program or instructions enable the computer to execute the method for calibrating the heading angle of the laser radar of the unmanned mine car.

[0041] The present application has the following beneficial effects: the present application calibrates the first heading angle of the laser radar of the unmanned mine car preliminarily, obtains a driving track of the unmanned mine car, sets up a pole at a preset distance of the driving track, parks the car on the track or within a preset range of the track, and converts the driving track and the pole to a global coordinate system through the positioning system and the laser radar of the unmanned mine car; the unmanned mine car approaches the pole along the driving track from far to near, and the distance from the unmanned mine car to the pole and the vertical distance from the center point of the pole to the driving track are calculated once every preset length of the car, so as to obtain a plurality of measured values of the distances from the unmanned mine car to the pole and the vertical distances from the center point of the pole to the driving track; the heading angle offset value of the laser radar of the unmanned mine car relative to the car body is determined according to the measured values of the distances from the unmanned mine car to the pole and the vertical distances from the center point of the pole to the driving track; and the first heading angle of the laser radar of the unmanned mine car is compensated by the heading angle offset value of the laser radar of the unmanned mine car relative to the car body, so as to calibrate the second heading angle of the laser radar of the unmanned mine car, which can calibrate the heading angle of the laser radar more accurately and quickly. BRIEF DESCRIPTION OF DRAWINGS

[0042] The accompanying drawings are included to provide a further understanding of embodiments of the application, and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments of the application and, together with the description, serve to explain the principles of the application. In the drawings:

[0043] FIG. 1 is a diagram of a method for calibrating the heading angle of the laser radar of the unmanned mine car according to an embodiment of the present application;

[0044] Fig. 2 is a diagram of a method for calculating the vertical distance from the center point of a rod to a driving track according to an embodiment of the present application;

[0045] Fig. 3 is a diagram of a method for identifying a rod according to an embodiment of the present application;

[0046] Fig. 4 is a diagram of a device for calibrating the heading angle of a laser radar of a mine car according to an embodiment of the present application;

[0047] Fig. 5 is a schematic block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0048] In order to make the personnel in the art better understand the technical solutions in the embodiments of the present application, the technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments. It should be understood that these descriptions are only exemplary, and are not used to limit the scope of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor should fall within the scope of protection of the present application.

[0049] In addition, in the following description, the description of well-known structures and techniques is omitted to avoid unnecessary confusion of the concepts disclosed in the present application.

[0050] In the description of the present application, the terms "first", "second", "third" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance. The terms "mounting", "connecting", "connecting" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0051] The exemplary embodiments will be described in detail below with reference to the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of methods and systems consistent with some aspects of the present application as detailed in the appended claims.

[0052] The present application provides a method and device for calibrating the heading angle of a laser radar of a mine car, an electronic device and a storage medium, which can calibrate the heading angle of the laser radar more accurately and quickly.

[0053] Method embodiments

[0054] Figure 1 is a kind of unmanned mine car laser radar heading angle calibration method provided by the embodiment of the present application.

[0055] In the first aspect of the present application, a kind of unmanned mine car laser radar heading angle calibration method is proposed, combined with Figure 1, including S1-S5 five steps:

[0056] S1: preliminary calibration of the first heading angle of the laser radar of unmanned mine car.

[0057] Specifically, in the embodiment of the present application, the first heading angle of the laser radar of unmanned mine car is preliminary calibrated by determining that the positioning system of unmanned mine car and the laser radar of unmanned mine car are both calibrated to the center of the rear axle of unmanned mine car.

[0058] S2: obtain a section of driving trajectory of unmanned mine car, a pole is erected at a preset distance of driving trajectory, the vehicle is parked on the trajectory or within the preset range of trajectory, and the driving trajectory and the pole are transformed into global coordinate system by the positioning system and the laser radar of unmanned mine car.

[0059] Specifically, in the embodiment of the present application, a section of driving trajectory of unmanned mine car is obtained by camera, a pole is erected at a preset distance of driving trajectory, the preset distance here is the vertical distance between the pole and the driving trajectory, which can be 1m, 2m, 3m, etc., without limiting the protection scope of the present application; the vehicle is parked on the trajectory or within the preset range of trajectory, which can be any position on the trajectory or any position near the trajectory, and the preset range can be any point on the circle with the center of the trajectory as the center; the pole is initially perceived by the laser radar and is in the laser radar coordinate system, the trajectory is perceived by the positioning system when recording, and the driving trajectory and the pole are transformed into global coordinate system by the positioning system and the laser radar, which is convenient for subsequent coordinate value processing.

[0060] S3: unmanned mine car approaches the pole along the driving trajectory from far to near, the distance from unmanned mine car to the pole and the vertical distance from the center of the pole to the driving trajectory are calculated once every preset length of vehicle driving, to obtain a plurality of measurement values of the distance from unmanned mine car to the pole and the vertical distance from the center of the pole to the driving trajectory.

[0061] Specifically, in the embodiment of the present application, the preset length can be 1m, 2m, etc., without limiting the protection scope of the present application, for example, the distance from unmanned mine car to the pole and the vertical distance from the center of the pole to the driving trajectory are calculated once every 1m of vehicle driving, to obtain a plurality of measurement values of the distance from unmanned mine car to the pole and the vertical distance from the center of the pole to the driving trajectory, here, the plurality of measurement values of the distance from unmanned mine car to the pole and the vertical distance from the center of the pole to the driving trajectory are measurement values, not actual values.

[0062] For example, the length of the track is 20 m, and the vehicle travels 1 m each time, and 20 sets of measurements of the distance from the unmanned mine car to the rod and the vertical distance from the center of the rod to the track are obtained.

[0063] S4: determining the heading angle offset value of the laser radar of the unmanned mine car relative to the vehicle body according to the multiple sets of measurements of the distance from the unmanned mine car to the rod and the vertical distance from the center of the rod to the track.

[0064] Specifically, in the embodiments of the present application, the method for determining the heading angle offset value of the laser radar of the unmanned mine car relative to the vehicle body according to the multiple sets of measurements of the distance from the unmanned mine car to the rod and the vertical distance from the center of the rod to the track is described in detail below.

[0065] S5: calibrating the second heading angle of the laser radar of the unmanned mine car according to the first heading angle of the laser radar of the unmanned mine car and the heading angle offset value of the laser radar of the unmanned mine car relative to the vehicle body.

[0066] Specifically, in the embodiments of the present application, calibrating the second heading angle of the laser radar of the unmanned mine car according to the first heading angle of the laser radar of the unmanned mine car and the heading angle offset value of the laser radar of the unmanned mine car relative to the vehicle body makes the calibrated heading angle of the laser radar more accurate.

[0067] Further, in the above-mentioned method for calibrating the heading angle of the laser radar of the unmanned mine car, the first heading angle of the laser radar of the unmanned mine car is preliminarily calibrated, comprising:

[0068] The positioning system of the unmanned mine car and the laser radar of the unmanned mine car are both calibrated to the center of the rear axle of the unmanned mine car, and the first heading angle of the laser radar of the unmanned mine car is preliminarily calibrated.

[0069] Specifically, in the embodiments of the present application, the first heading angle of the laser radar of the unmanned mine car is preliminarily calibrated, but the precision is low and there is a large error.

[0070] Further, in the above-mentioned method for calibrating the heading angle of the laser radar of the unmanned mine car, the track and the rod are transformed into the global coordinate system by the positioning system and the laser radar of the unmanned mine car, comprising: transforming the track into the global coordinate system and transforming the rod into the global coordinate system.

[0071] Specifically, in the embodiments of the present application, the track is transformed into the global coordinate system, comprising: determining the global positioning value of the track in the positioning system and transforming the track into the global coordinate system; the rod is transformed into the global coordinate system, comprising: determining the initial calibration parameters of the rod in the laser radar coordinate system and the global positioning value of the rod in the positioning system; and transforming the rod into the global coordinate system according to the initial calibration parameters of the rod in the laser radar coordinate system and the global positioning value of the rod in the positioning system.

[0072] Figure 2 is a method for calculating the vertical distance from the center of the rod to the driving track provided by an embodiment of the present application.

[0073] Further, in the above-mentioned method for calibrating the heading angle of the laser radar of the unmanned mine car, the measurement of the vertical distance from the center of the rod to the driving track is calculated, which includes six steps of S21 to S26 in combination with Figure 2:

[0074] S21: identifying the rod.

[0075] S22: calculating the centroid of all radar point clouds of the rod in the XY plane of the global coordinate system.

[0076] S23: calculating the XY plane distance from the centroid to all points on the driving track.

[0077] S24: screening out the two track points with the shortest distance;

[0078] S25: determining a straight line according to the two track points with the shortest distance;

[0079] S26: calculating the XY plane distance from the centroid to the straight line to obtain the measurement of the vertical distance from the center of the rod to the driving track.

[0080] Specifically, in the embodiment of the present application, the rod is identified by training the rod through deep learning and the like; after the rod is identified, the centroid of all radar point clouds of the rod in the XY plane of the global coordinate system is calculated to obtain the center point of the rod; the XY plane distance from the center point of the rod to all points on the driving track is calculated, the two track points with the shortest distance are screened out from the XY plane distance from the center point of the rod to all points on the driving track, a straight line is determined according to the two track points with the shortest distance, and the XY plane distance from the centroid to the straight line is calculated to obtain the measurement of the vertical distance from the center of the rod to the driving track.

[0081] Further, in the above-mentioned method for calibrating the heading angle of the laser radar of the unmanned mine car, the heading angle offset value of the laser radar is determined according to the distance from the plurality of unmanned mine cars to the rod and the measurement of the vertical distance from the center of the rod to the driving track, which is calculated by the following formula:

[0082] The conversion into a matrix is:

[0083] The solution of the above-mentioned matrix equation obtains sinθ, and the heading angle offset value is obtained according to sinθ;

[0084] wherein (m1, d1), (m2, d2) … (m n ,d n) represents the measured value of the distance from the group of unmanned mine cars to the pole and the vertical distance from the center of the pole to the running track, and represents the heading angle offset value, and d represents the true value of the vertical distance from the center of the pole to the track.

[0085] Specifically, in the embodiment of the application, the sinθ obtained by solving the matrix equation can be obtained by the SVD decomposition method.

[0086] Further, in the above-mentioned unmanned mine car laser radar heading angle calibration method, the second heading angle of the unmanned mine car laser radar is calibrated according to the first heading angle of the unmanned mine car laser radar and the heading angle offset value of the unmanned mine car laser radar relative to the vehicle body, comprising:

[0087] The first heading angle of the unmanned mine car laser radar is compensated according to the heading angle offset value of the unmanned mine car laser radar relative to the vehicle body, and the second heading angle of the unmanned mine car laser radar is calibrated.

[0088] Specifically, in the embodiment of the application, the first heading angle of the unmanned mine car laser radar is compensated according to the heading angle offset value of the unmanned mine car laser radar relative to the vehicle body, and the second heading angle of the unmanned mine car laser radar is calibrated, so that the accuracy of the calibrated second heading angle is higher.

[0089] Fig. 3 is a method for identifying a pole provided by an embodiment of the application.

[0090] Further, in the above-mentioned unmanned mine car laser radar heading angle calibration method, in combination with Fig. 3, the pole is identified, comprising two steps of S31 to S32:

[0091] S31: training the bounding box of the pole to obtain a pole identification model;

[0092] S32: identifying the pole through the pole identification model.

[0093] Specifically, in the embodiment of the application, the bounding box of the pole is trained to obtain a pole identification model, which can be trained by a deep learning method such as BevFusion, and the bounding box of the pole is identified through the pole identification model.

[0094] Device embodiment

[0095] Fig. 4 is a device for calibrating the heading angle of the unmanned mine car laser radar provided by an embodiment of the application.

[0096] The second aspect of the application also proposes a device for calibrating the heading angle of the unmanned mine car laser radar, in combination with Fig. 4, comprising:

[0097] The first calibration module 41 is used for preliminary calibration of the first heading angle of the unmanned mine car laser radar.

[0098] Specifically, in the embodiment of the present application, the first calibration module 41 preliminarily calibrates the first heading angle of the laser radar of the unmanned mine car by determining that the positioning system of the unmanned mine car and the laser radar of the unmanned mine car are both calibrated to the center of the rear axle of the unmanned mine car.

[0099] The acquisition module 42 and the transformation module 43 are used to acquire a driving track of the unmanned mine car, and a rod is erected at a preset distance of the driving track. The vehicle is parked on the track or within a preset range of the track, and the driving track and the rod are transformed into a global coordinate system by the positioning system and the laser radar of the unmanned mine car.

[0100] Specifically, in the embodiment of the present application, the acquisition module 42 acquires a driving track of the unmanned mine car by a camera, and a rod is erected at a preset distance of the driving track. The preset distance herein is the vertical distance between the rod and the driving track, which can be 1 m, 2 m, 3 m, etc., and does not limit the protection scope of the present application; the vehicle is parked on the track or within a preset range of the track, which can be any position on the track or any position near the track, and the preset range can be any point on a circle with the center of the track as the center; the rod is initially perceived by the laser radar and is in the laser radar coordinate system, and the track is perceived by the positioning system when recording, and the transformation module 43 transforms the driving track and the rod into the global coordinate system by the positioning system and the laser radar, which is convenient for subsequent coordinate value processing.

[0101] The calculation module 44 is used for the unmanned mine car to approach the rod along the driving track from far to near, and the distance from the unmanned mine car to the rod and the vertical distance from the center of the rod to the driving track are calculated once every preset length of the vehicle to obtain multiple sets of measured values of the distance from the unmanned mine car to the rod and the vertical distance from the center of the rod to the driving track.

[0102] Specifically, in the embodiment of the present application, the preset length can be 1 m, 2 m, etc., and does not limit the protection scope of the present application. For example, the distance from the unmanned mine car to the rod and the vertical distance from the center of the rod to the driving track are calculated once every 1 m of the vehicle to obtain multiple sets of measured values of the distance from the unmanned mine car to the rod and the vertical distance from the center of the rod to the driving track.

[0103] Exemplarily, the length of the track is 20 m, and the distance from the unmanned mine car to the rod and the vertical distance from the center of the rod to the driving track are calculated once every 1 m of the vehicle to obtain 20 sets of measured values of the distance from the unmanned mine car to the rod and the vertical distance from the center of the rod to the driving track.

[0104] The determination module 45 is used to determine the heading angle offset value of the laser radar of the unmanned mine car relative to the vehicle body according to the multiple sets of measured values of the distance from the unmanned mine car to the rod and the vertical distance from the center of the rod to the driving track.

[0105] Specifically, in the embodiments of the present application, the determining module 45 determines the yaw angle offset value of the laser radar of the unmanned mine car relative to the car body according to the measured values of the distances from the unmanned mine car to the poles and the vertical distances from the center points of the poles to the driving track.

[0106] The second calibration module 46 is configured to calibrate the second yaw angle of the laser radar of the unmanned mine car according to the first yaw angle of the laser radar of the unmanned mine car and the yaw angle offset value of the laser radar of the unmanned mine car relative to the car body.

[0107] Specifically, in the embodiments of the present application, the second calibration module 46 calibrates the second yaw angle of the laser radar of the unmanned mine car according to the first yaw angle of the laser radar of the unmanned mine car and the yaw angle offset value of the laser radar of the unmanned mine car relative to the car body, so that the calibrated yaw angle of the laser radar is more accurate.

[0108] The third aspect of the present application further provides an electronic device, comprising: a processor and a memory.

[0109] The processor is configured to execute the calibration method of the yaw angle of the laser radar of the unmanned mine car by invoking the program or the instruction stored in the memory.

[0110] The fourth aspect of the present application further provides a computer readable storage medium, which stores a program or an instruction, and the program or the instruction causes a computer to execute the calibration method of the yaw angle of the laser radar of the unmanned mine car.

[0111] FIG. 5 is a schematic block diagram of an electronic device according to an embodiment of the present application.

[0112] As shown in FIG. 5, the electronic device includes at least one processor 501, at least one memory 502 and at least one communication interface 503. The various components in the electronic device are coupled together by a bus system 504. The communication interface 503 is configured to perform information transmission between the electronic device and an external device. It can be understood that the bus system 504 is configured to realize the connection communication between the components. In addition to the data bus, the bus system 504 also includes a power bus, a control bus and a status signal bus. However, in order to clearly illustrate, various buses are marked as the bus system 504 in FIG. 3.

[0113] It can be understood that the memory 502 in the embodiments can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories.

[0114] In some embodiments, the memory 502 stores the following elements, executable units or data structures, or a subset of them, or an extended set of them: an operating system and an application program.

[0115] The operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, for implementing various basic services and processing hardware-based tasks. The application programs include various application programs, such as a media player (Media Player), a browser (Browser), and the like, for implementing various application services. The program for implementing any of the methods of calibrating a heading angle of a laser radar of a mine unmanned vehicle according to the embodiments of the present application can be included in the application programs.

[0116] In the embodiments of the present application, the processor 501 can call the program or instruction stored in the memory 502, specifically, the program or instruction stored in the application program, and the processor 501 is configured to execute the steps of each of the methods of calibrating a heading angle of a laser radar of a mine unmanned vehicle according to the embodiments of the present application.

[0117] Preliminarily calibrating a first heading angle of a laser radar of a mine unmanned vehicle;

[0118] Obtaining a driving track of the mine unmanned vehicle, erecting a rod at a preset distance of the driving track, parking the vehicle on the driving track or within a preset range of the driving track, and transforming the driving track and the rod into a global coordinate system by using a positioning system and the laser radar of the mine unmanned vehicle;

[0119] The mine unmanned vehicle approaches the rod along the driving track from far to near, and the distance from the mine unmanned vehicle to the rod and the vertical distance from the center point of the rod to the driving track are calculated once every preset length of driving, to obtain a plurality of measurement values of the distance from the mine unmanned vehicle to the rod and the vertical distance from the center point of the rod to the driving track;

[0120] Determining a heading angle offset value of the laser radar of the mine unmanned vehicle relative to the vehicle body according to the plurality of measurement values of the distance from the mine unmanned vehicle to the rod and the vertical distance from the center point of the rod to the driving track;

[0121] Calibrating a second heading angle of the laser radar of the mine unmanned vehicle according to the first heading angle of the laser radar of the mine unmanned vehicle and the heading angle offset value of the laser radar of the mine unmanned vehicle relative to the vehicle body.

[0122] Any of the methods provided by the unmanned mine car laser radar heading angle calibration method provided by the embodiments of the present application can be applied in the processor 501 or implemented by the processor 501. The processor 501 can be an integrated circuit chip with a signal processing capability. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in the processor 501 or the instruction in the form of software. The above processor 501 can be a general processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general processor can be a microprocessor or the processor can also be any conventional processor.

[0123] The steps of any of the methods provided by the unmanned mine car laser radar heading angle calibration method provided by the embodiments of the present application can be directly embodied as hardware decoding processor execution completion or combined execution completion by hardware and software units in the decoding processor. The software unit can be located in a random memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register and other mature storage media in the art. The storage medium is located in the memory 502, and the processor 501 reads the information in the memory 502, and combines the hardware to complete the steps of the method.

[0124] Those skilled in the art can understand that although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments means to be within the scope of the present application and form different embodiments.

[0125] Those skilled in the art can understand that the description of each embodiment is focused on, and the part not described in detail in a certain embodiment can refer to the related description of other embodiments.

[0126] Although the embodiments of the present application are described in conjunction with the drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes are all within the scope defined by the appended claims. Above, only specific embodiments of the present application are described, but the protection scope of the present application is not limited thereto, and any skilled person in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0127] The above merely illustrates the specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any skilled person in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements shall be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for calibrating a heading angle of a laser radar of an unmanned mine vehicle, characterized in that, The method comprises the following steps: Preliminary calibration of the first heading angle of the laser radar of the unmanned mine car; Obtaining a driving track of the unmanned mine car, erecting a rod at a preset distance of the driving track, and parking the car on the track or within a preset range of the track, and transforming the driving track and the rod to a global coordinate system through the positioning system and the laser radar of the unmanned mine car; The unmanned mine car approaches the rod along the driving track from far to near, and the distance from the unmanned mine car to the rod and the vertical distance from the center point of the rod to the driving track are calculated once every preset length of driving, to obtain a plurality of measurement values of the distance from the unmanned mine car to the rod and the vertical distance from the center point of the rod to the driving track; Determining the heading angle offset value of the laser radar of the unmanned mine car according to the plurality of measurement values of the distance from the unmanned mine car to the rod and the vertical distance from the center point of the rod to the driving track; Calibrating the second heading angle of the laser radar of the unmanned mine car according to the first heading angle of the laser radar of the unmanned mine car and the heading angle offset value of the laser radar of the unmanned mine car relative to the car body.

2. The method of claim 1, wherein, The preliminary calibration of the first heading angle of the laser radar of the unmanned mine car comprises the following steps: Determining that the positioning system of the unmanned mine car and the laser radar of the unmanned mine car are both calibrated to the center of the rear axle of the unmanned mine car, and preliminarily calibrating the first heading angle of the laser radar of the unmanned mine car.

3. The method of claim 1, wherein, The transformation of the driving track and the rod to the global coordinate system through the positioning system and the laser radar of the unmanned mine car comprises the following steps: Determining the global positioning value of the driving track in the positioning system, and transforming the driving track to the global coordinate system; Determining the initial calibration parameters of the rod in the laser radar coordinate system and the global positioning value of the rod in the positioning system; Transforming the rod to the global coordinate system according to the initial calibration parameters of the rod in the laser radar coordinate system and the global positioning value of the rod in the positioning system.

4. The method of claim 1, wherein, The calculation of the vertical distance from the center point of the rod to the driving track comprises the following steps: Identifying the rod; Calculating the XY plane distance from the centroid to all points on the driving track; Screening out the two track points with the shortest distance; Determining a straight line according to the two track points with the shortest distance; Calculating the XY plane distance from the centroid to the straight line to obtain the measurement value of the vertical distance from the center point of the rod to the driving track. Solving the above matrix equation to obtain sinθ, and obtaining θ according to sinθ to obtain the heading angle offset value; 5. The method of claim 1, wherein, The heading angle offset value of the laser radar is determined according to the measured values of the distances from the plurality of unmanned mine cars to the rod and the vertical distances from the center point of the rod to the running track, and is calculated by the following formula: The conversion into a matrix is: The calibration of the second heading angle of the laser radar of the unmanned mine car according to the first heading angle of the laser radar of the unmanned mine car and the heading angle offset value of the laser radar of the unmanned mine car relative to the car body comprises the following steps: Wherein (m1, d1), (m2, d2)…(m n , d n ) represent the measured values of the distance from the unmanned mine car to the rod and the vertical distance from the rod center to the running track, θ represents the heading angle offset value, d represents the true value of the vertical distance from the rod center to the track, n is the number of measurements, m1 to m n are n times of measurement values of the distance from the mine car coordinate center to the rod center, d1 to d n are n times of measurement values of the vertical distance from the rod center to the track.

6. The method of claim 1, wherein, Compensating and calibrating the second heading angle of the laser radar of the unmanned mine car according to the first heading angle of the laser radar of the unmanned mine car and the heading angle offset value of the laser radar of the unmanned mine car relative to the car body. The identification of the rod comprises the following steps:

7. The method of claim 4, wherein, Training the bounding box of the rod to obtain a rod identification model; Identifying the rod through the rod identification model. The method comprises the following steps:

8. A device for calibrating the heading angle of a laser radar of an unmanned mine vehicle, characterized in that A first calibration module is configured to preliminarily calibrate the first heading angle of the laser radar of the unmanned mine car; ​ An acquisition module and a transformation module are configured to acquire a driving track of the unmanned mine vehicle, and to transform the driving track and a rod at a preset distance of the driving track into a global coordinate system by using a positioning system and a laser radar of the unmanned mine vehicle, wherein the unmanned mine vehicle is parked on the driving track or within a preset range of the driving track. A calculation module is configured to calculate a distance between the unmanned mine vehicle and the rod and a vertical distance between a center point of the rod and the driving track when the unmanned mine vehicle approaches the rod along the driving track, and to obtain a plurality of measurement values of the distance between the unmanned mine vehicle and the rod and the vertical distance between the center point of the rod and the driving track. A determination module is configured to determine a heading angle offset value of the laser radar of the unmanned mine vehicle relative to the vehicle body according to the plurality of measurement values of the distance between the unmanned mine vehicle and the rod and the vertical distance between the center point of the rod and the driving track. A second calibration module is configured to calibrate a second heading angle of the laser radar of the unmanned mine vehicle according to a first heading angle of the laser radar of the unmanned mine vehicle and the heading angle offset value of the laser radar of the unmanned mine vehicle relative to the vehicle body.

9. An electronic device, comprising: The method comprises the following steps: a processor and a memory; the processor is configured to execute the method according to any one of claims 1 to 7 by calling programs or instructions stored in the memory.

10. A computer-readable storage medium, characterized in that, the computer readable storage medium stores programs or instructions, and the programs or instructions enable the computer to execute the method according to any one of claims 1 to 7.

Images