CN113495257A - Angle calibration device and angle calibration method - Google Patents
Angle calibration device and angle calibration method Download PDFInfo
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- CN113495257A CN113495257A CN202010264337.9A CN202010264337A CN113495257A CN 113495257 A CN113495257 A CN 113495257A CN 202010264337 A CN202010264337 A CN 202010264337A CN 113495257 A CN113495257 A CN 113495257A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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Abstract
The invention discloses an angle calibration device and an angle calibration method, which comprise the following steps: the optical flat plate is arranged on a background ring on the optical flat plate, and the shooting component is used for shooting the background ring; and the inner wall of the background ring is provided with scale marks arranged along the circumferential direction of the background ring. The angle calibration device of the invention calibrates the scanning angle of the radar, automatically corrects the angle value of each point, determines the accuracy and stability of each angle value and reduces the measurement error. The inner wall of the background ring is marked with scale marks, and the light spot graph is automatically judged and analyzed by the upper computer, so that the efficiency is high, the influence of human errors is avoided, and the calibration precision is improved. And the scale marks are arranged along the circumferential direction of the inner wall of the background ring, so that when the radar rotates to emit light beams, the scale marks can still be used as reference objects to assist the analysis of the upper computer.
Description
Technical Field
The invention relates to the field of calibration, in particular to an angle calibration device and an angle calibration method.
Background
With the development of the laser radar technology, the laser radar has been widely applied to various fields such as environment modeling and profile measurement, and the requirements on the distance precision, the angle resolution and the scanning frequency of the laser radar are higher and higher. The angle pulse signal generated by collecting the position of a code wheel of a motor carried by the laser radar in the rotation process in real time is generally used as the angle of the object to be measured in the two-dimensional scanning process. However, the influence of the environment and installation position deviation on the rotation angle of the motor and the interference of circuit noise on the angle pulse signal cause the deviation of the actual angle of the object to be measured and the angle obtained by the angle pulse signal. And the scanning angle of the laser radar is lack of precision and stability due to the lack of a device for calibrating the scanning angle of the two-dimensional pulse laser radar in the prior art.
Disclosure of Invention
Based on the above, the invention provides an angle calibration device and an angle calibration method, aiming at overcoming the defect that the scanning angle of a laser radar is lack of precision and stability due to the lack of a device for calibrating the scanning angle of the radar in the prior art.
The technical scheme is as follows:
an angle calibration device, comprising: the optical flat plate is arranged on a background ring on the optical flat plate, and the shooting component is used for shooting the background ring; and the inner wall of the background ring is provided with scale marks arranged along the circumferential direction of the background ring.
The angle calibration device of the technical scheme calibrates the scanning angle of the radar, automatically corrects each point angle value, determines the accuracy and stability of each angle value, and reduces the measurement error. Specifically, when the angle calibration device of the technical scheme is used, a radar to be detected is placed on the optical flat plate, and the radar is located in the ring of the background ring; then, starting a radar, and irradiating light spots on the background ring by the radar; the shooting assembly captures the light spot on the background ring and transmits the image of the light spot to an upper computer; the upper computer determines the graph boundary of the light spot through an image algorithm, compares the graph boundary with the scale line on the background ring, determines the central position of the light spot and acquires the angle value of the light spot; the radar transmits an angle signal of a light beam emitted by the radar to the upper computer in real time; the upper computer performs reverse compensation correction on the angle value of the radar by comparing the angle value measured by the shooting component with the deviation of the angle signal sent by the radar; and the upper computer automatically writes the compensation value into the radar to finish correction. The inner wall of the background ring of the technical scheme is marked with scale marks, the spot graph is automatically judged and analyzed through the upper computer, the efficiency is high, the influence of human errors is avoided, and the calibration precision is improved. And the scale marks are arranged along the circumferential direction of the inner wall of the background ring, so that when the radar rotates to emit light beams, the scale marks can still be used as reference objects to assist the analysis of the upper computer. Meanwhile, the bottom of the background ring and the bottom of the radar to be detected are tightly attached to the high-flatness optical flat plate, so that the background ring is perpendicular to the scanning beam of the radar, and the analysis and calculation of an upper computer are facilitated. And, through the setting of optics flat board, avoid external light source or external object reverberation to the influence of shooing the subassembly formation of image, get rid of external interference.
In one embodiment, the shooting assembly and the background ring are arranged concentrically, so that the shooting precision is improved, and the position of a light spot can be shot well under the condition of angle change.
In one embodiment, the shooting assembly comprises a 360-degree panoramic camera, so that the radar emits light beams at any angle, and the shooting assembly can shoot light spots formed on the background ring.
In one embodiment, the angle calibration device further comprises an upper computer, and the upper computer is electrically connected with the shooting assembly. And the upper computer is also electrically connected with the radar to be tested, so that a test result can be quickly and accurately obtained through special evaluation software on the upper computer, not only is a manual error avoided, but also the correction time and the labor cost are saved.
In one embodiment, the inner wall of the background ring is a frosted wall. The problem that the shooting assembly is saturated due to excessive light reflection of the background ring is avoided, and meanwhile, the inner wall of the background ring is frosted, so that the consistency of the patterns of the light spots shot at all angles is high, and the accuracy of the upper computer in recognizing the position and the boundary of the light spots is improved.
In one embodiment, the background ring is made of a highly reflective material. The light spot projected onto the background ring by the radar can not be shot by the shooting component due to the fact that the reflectivity of the background ring is too low.
In one embodiment, the background ring is an aluminum background ring, a copper background ring or a stainless steel background ring, so that the reflectivity of the background ring is ensured, certain corrosion resistance is achieved, and the service life is long.
The technical scheme also provides an angle calibration method, which comprises the following steps:
placing a radar to be detected on the optical flat plate, and enabling the radar to be located in the ring of the background ring;
starting a radar, and irradiating light spots on the background ring by the radar;
the shooting assembly captures light spots on the background ring and transmits images of the light spots to an upper computer;
the upper computer determines the graph boundary of the light spot through an image algorithm, compares the graph boundary with the scale line on the background ring, determines the central position of the light spot and acquires the angle value of the light spot;
the radar transmits an angle signal of a light beam emitted by the radar to the upper computer in real time;
the upper computer performs reverse compensation correction on the angle value of the radar by comparing the angle value measured by the shooting component with the deviation of the angle signal sent by the radar;
and the upper computer automatically writes the compensation value into the radar to finish correction.
The inner wall of the background ring of the technical scheme is marked with scale marks, the spot graph is automatically judged and analyzed through the upper computer, the efficiency is high, the influence of human errors is avoided, and the calibration precision is improved. And the scale marks are arranged along the circumferential direction of the inner wall of the background ring, so that when the radar rotates to emit light beams, the scale marks can still be used as reference objects to assist the analysis of the upper computer. Meanwhile, the bottom of the background ring and the bottom of the radar to be detected are tightly attached to the high-flatness optical flat plate, so that the background ring is perpendicular to the scanning beam of the radar, and the analysis and calculation of an upper computer are facilitated. And, through the setting of optics flat board, avoid external light source or external object reverberation to the influence of shooing the subassembly formation of image, get rid of external interference.
The angle calibration device of the technical scheme calibrates the scanning angle of the radar, automatically corrects each point angle value, determines the accuracy and stability of each angle value, and reduces the measurement error.
In one embodiment, the radar, the shooting component and the background ring are all arranged concentrically, and the shooting component is arranged on the upper surface of the radar. The three are concentrically arranged, so that the calculation difficulty of the upper computer can be reduced, and the phenomenon that the measurement error is increased due to too complicated calculation is avoided.
In one embodiment, the upper computer defines the shape and the position of the light spot by a uniform gray scale method. When the light beams of all angles emitted by the radar are emitted, the judgment criteria of forming all light spots on the background ring are consistent, and the detection precision and the calibration precision are ensured.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an angle calibration apparatus according to an embodiment of the present invention;
FIG. 2 is a side view of FIG. 1;
fig. 3 is a top view of fig. 1.
Description of reference numerals:
10. an optical flat plate; 20. a background ring; 21. scale lines; 30. a shooting component; 40. a radar.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
An angle calibration device, comprising: the optical flat plate 10, the background ring 20 arranged on the optical flat plate 10, and the shooting component 30 for shooting the background ring 20; the inner wall of the background ring 20 is provided with scale marks 21 arranged along the circumferential direction of the background ring 20. Specifically, there are many scale marks 21, and many scale marks 21 evenly set up at intervals along the circumferencial direction of background ring 20, and 360 degrees on the inner wall of whole background ring 20 all are provided with scale mark 21 to guarantee that the facula of any position all can scale mark 21 is as the reference thing, the convenient calculation.
The angle calibration device of the embodiment calibrates the scanning angle of the radar 40, automatically corrects each point angle value, determines the accuracy and stability of each angle value, and reduces the measurement error. Specifically, when the angle calibration device of the present embodiment is used, the radar 40 to be detected is placed on the optical flat plate 10 such that the radar 40 is located within the ring of the background ring 20; subsequently, the radar 40 is switched on, and the radar 40 irradiates a light spot on the background ring 20; the shooting component 30 captures the light spot on the background ring 20 and transmits the image of the light spot to an upper computer; the upper computer determines the graph boundary of the light spot through an image algorithm, compares the graph boundary with the scale marks 21 on the background ring 20, determines the central position of the light spot and acquires the angle value of the light spot; the radar 40 transmits an angle signal of a light beam emitted by the radar to the upper computer in real time; the upper computer performs reverse compensation correction on the angle value of the radar 40 by comparing the deviation between the angle value measured by the shooting component 30 and the angle signal sent by the radar 40; the upper computer automatically writes the compensation value into the radar 40 to finish correction. The inner wall of the background ring 20 of the embodiment is marked with the scale marks 21, and the spot patterns are automatically judged and analyzed through the upper computer, so that the efficiency is high, the influence of human errors is avoided, and the calibration precision is improved. Moreover, the scale marks 21 are arranged along the circumferential direction of the inner wall of the background ring 20, so that when the radar 40 emits a light beam at a rotating angle, the scale marks 21 can still be used as a reference object to assist the analysis of an upper computer. Meanwhile, the bottom of the background ring 20 and the bottom of the radar 40 to be detected are tightly attached to the optical flat plate 10 with high flatness, so that the background ring 20 is perpendicular to the scanning beam of the radar 40, and the analysis and calculation of an upper computer are facilitated. Moreover, through the arrangement of the optical flat plate 10, the influence of the external light source or the reflected light of the external object on the imaging of the shooting assembly 30 is avoided, and the external interference is eliminated.
The camera module 30 of the present embodiment is concentrically installed with the background ring 20, so that the camera module 30 can improve the accuracy of photographing and can photograph the spot position even when the angle of the light beam projected by the radar 40 is changed.
The shooting assembly 30 of the present embodiment includes a 360-degree panoramic camera, the 360-degree panoramic camera is placed on the upper surface of the radar 40 and concentrically arranged with the background ring 20, so that the radar 40 emits light beams at any angle, and the shooting assembly 30 can shoot light spots formed on the background ring 20.
In other embodiments, the shooting assembly 30 may also be configured to be composed of at least two general cameras, the shooting range of the at least two general cameras is 360 degrees, the at least two general cameras are both placed on the upper surface of the radar 40, and the at least two general cameras are circumferentially arranged with the center of circle of the background ring 20 as the center of circle.
The angle calibration device of the present embodiment further includes an upper computer (not shown in the figure), and the upper computer is electrically connected to the shooting assembly 30. And the upper computer is also electrically connected with the radar 40 to be tested, so that a test result can be quickly and accurately obtained through special evaluation software on the upper computer, not only is a manual error avoided, but also the correction time and the labor cost are saved. Specifically, the radar 40 of the present embodiment is electrically connected to the upper computer through a network cable, and the shooting assembly 30 is electrically connected to the upper computer through a USB cable.
The inner wall of the background ring 20 according to the present embodiment is a frosted wall surface. The shooting assembly 30 is prevented from being saturated due to excessive light reflection of the background ring 20, and meanwhile, the inner wall of the background ring 20 is frosted, so that the consistency of the patterns of the light spots shot at all angles is high, and the accuracy of the upper computer in identifying the position and the boundary of the light spots is improved.
The background ring 20 according to the present embodiment is made of a highly reflective material. The light spots projected onto the background ring 20 by the radar 40 can not be shot by the shooting component 30 due to the low reflectivity of the background ring 20.
Specifically, the background ring 20 is an aluminum background ring 20, a copper background ring 20 or a stainless steel background ring 20, which not only ensures the reflectivity of the background ring 20, but also has certain corrosion resistance and long service life.
The present embodiment further provides an angle calibration method, including the following steps:
placing a radar 40 to be detected on the optical flat plate 10, and enabling the radar 40 to be located in the ring of the background ring 20;
turning on the radar 40, the radar 40 shining a spot on the background ring 20;
the shooting assembly 30 captures light spots on the background ring 20 and transmits images of the light spots to an upper computer;
the upper computer determines the graph boundary of the light spot through an image algorithm, compares the graph boundary with the scale marks 21 on the background ring 20, determines the central position of the light spot and acquires the angle value of the light spot;
the radar 40 is provided with an angle sensor, and the angle sensor transmits an angle signal of a light beam emitted by the radar 40 to the upper computer in real time;
the upper computer performs reverse compensation correction on the angle value of the radar 40 by comparing the deviation between the angle value measured by the shooting component 30 and the angle signal sent by the radar 40;
the upper computer automatically writes the compensation value into the radar 40 to finish correction.
In the embodiment, the two-dimensional pulse laser radar is taken as an example, and the angle calibration method can be adopted to compare and analyze the light spots projected by the radar 40 at different angles for multiple times, so as to obtain a final compensation value.
The inner wall of the background ring 20 of the embodiment is marked with the scale marks 21, and the upper computer can automatically judge and analyze the light spot pattern, so that the efficiency is high, the influence of human errors is avoided, and the calibration precision is improved. Moreover, the scale marks 21 are arranged along the circumferential direction of the inner wall of the background ring 20, so that when the radar 40 emits a light beam at a rotating angle, the scale marks 21 can still be used as a reference object to assist the analysis of an upper computer. Meanwhile, the bottom of the background ring 20 and the bottom of the radar 40 to be detected are tightly attached to the optical flat plate 10 with high flatness, so that the background ring 20 is perpendicular to the scanning beam of the radar 40, and the analysis and calculation of an upper computer are facilitated. Moreover, through the arrangement of the optical flat plate 10, the influence of external light sources or external object reflected light on the imaging of the shooting assembly 30 is avoided, and external interference is eliminated.
The angle calibration device of the embodiment calibrates the scanning angle of the radar 40, automatically corrects each point angle value, determines the accuracy and stability of each angle value, and reduces the measurement error.
In this embodiment, the radar 40, the shooting component 30 and the background ring 20 are all concentrically arranged, the shooting component 30 includes a 360-degree panoramic camera, and the 360-degree panoramic camera is disposed on the upper surface of the radar 40. The 360-degree panoramic camera, the background ring 20 and the radar 40 are concentrically arranged, so that the calculation difficulty of the upper computer can be reduced, and the phenomenon that the measurement error is increased due to too complicated calculation is avoided.
The upper computer of the embodiment defines the shape and the position of the light spot by a uniform gray scale method. When the light beams of various angles are emitted by the radar 40, the judgment criteria of forming each light spot on the background ring 20 are consistent, and the detection precision and the calibration precision are ensured.
Specifically, the image algorithm of the upper computer comprises a Canny edge detection algorithm, and the Canny edge detection algorithm comprises the following steps:
(1) the color image is converted into a grayscale image. Since the Canny algorithm is often used to solve gray-scale images, it is necessary to perform graying processing on color images. According to the different sensitivity degrees of human eyes to the 3 colors of light, namely red, green and blue, a common gray processing formula is obtained:
Gray-0.30R + 0.59G + 0.11B, where R represents the red component, G represents the green component, and B represents the blue component.
(2) Carrying out Gaussian blur on the image; and carrying out convolution processing on the gray level image and the Gaussian kernel to inhibit high-frequency noise in the image.
(3) Calculating the amplitude and angle of the image edge; the amplitude and angle of the image edge are obtained using a differential edge detection operator. According to the convolution operator, the gradient magnitude and the gradient direction value of the image in the two coordinate axis directions can be deduced.
(4) Non-maximum signal suppression processing (edge thinning); in order to eliminate the pixel points which do not belong to the edge, signal suppression is needed, namely, the local maximum point of the pixel points is found out from the found points, and the points which are not the local maximum are removed, so that the detailed position of the edge after thinning and the accurate edge are obtained.
(5) Performing double-threshold edge connection processing; a high threshold is determined for the resulting edge image to obtain an image with fewer false edges. However, because the set threshold is too large, some true edges are excluded, and the obtained image edges are not closed. Therefore, it is necessary to determine a low threshold again, and obtain a low threshold edge for connecting the image edges to reclose the edge.
The image algorithm of the upper computer further comprises contour feature extraction: the contour can be considered as a collection of a series of edges, and a complete object contour is obtained by combining the series of edges. And processing the binarized image by using the edge detection operator to obtain a binary image only containing the edge of the object, and solving a minimum bounding rectangle of the outline. After the bounding rectangle with the minimum outline is obtained, the side lengths L1 and L2 of a pair of adjacent sides of the rectangle are compared. And extracts the spot center position.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An angle calibration device, comprising: the optical flat plate is arranged on a background ring on the optical flat plate, and the shooting component is used for shooting the background ring; and the inner wall of the background ring is provided with scale marks arranged along the circumferential direction of the background ring.
2. The angular calibration device of claim 1, wherein the camera assembly is disposed concentrically with the background ring.
3. The angle calibration device of claim 1, wherein the camera assembly comprises a 360 degree panoramic camera.
4. The angle calibration device of claim 1, further comprising an upper computer electrically connected to the camera assembly.
5. The angle calibration device of claim 1, wherein the inner wall of the background ring is a frosted wall.
6. The angle calibration device of any one of claims 1-5, wherein the background ring is made of a highly reflective material.
7. The angle calibration device of any one of claims 1-5, wherein the background ring is an aluminum background ring, a copper background ring, or a stainless steel background ring.
8. An angle calibration method, comprising the steps of:
placing a radar to be detected on the optical flat plate, and enabling the radar to be located in the ring of the background ring;
starting a radar, and irradiating light spots on the background ring by the radar;
the shooting assembly captures the light spot on the background ring and transmits the image of the light spot to an upper computer;
the upper computer determines the graph boundary of the light spot through an image algorithm, compares the graph boundary with the scale line on the background ring, determines the central position of the light spot and acquires the angle value of the light spot;
the radar transmits an angle signal of a light beam emitted by the radar to the upper computer in real time;
the upper computer performs reverse compensation correction on the angle value of the radar by comparing the angle value measured by the shooting component with the deviation of the angle signal sent by the radar;
and the upper computer automatically writes the compensation value into the radar to finish correction.
9. The angle calibration method according to claim 8, wherein the radar, the camera assembly, and the background ring are concentrically arranged, and the camera assembly is disposed on an upper surface of the radar.
10. The angle calibration method according to claim 8 or 9, wherein the upper computer defines the shape and position of the light spot by a uniform gray scale method.
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| CN202010264337.9A CN113495257A (en) | 2020-04-07 | 2020-04-07 | Angle calibration device and angle calibration method |
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| CN202010264337.9A CN113495257A (en) | 2020-04-07 | 2020-04-07 | Angle calibration device and angle calibration method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118134916A (en) * | 2024-05-06 | 2024-06-04 | 深圳玩智商科技有限公司 | Line laser spot detection method and system |
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| CN104197830A (en) * | 2014-08-06 | 2014-12-10 | 青岛歌尔声学科技有限公司 | Method and system for correcting optical test fixture |
| CN105510899A (en) * | 2015-11-27 | 2016-04-20 | 皖江新兴产业技术发展中心 | Laser radar coaxial detection system and automatic calibration method therefor |
| CN106197479A (en) * | 2016-08-12 | 2016-12-07 | 河南省计量科学研究院 | A kind of portable incidence vane calibrating installation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118134916A (en) * | 2024-05-06 | 2024-06-04 | 深圳玩智商科技有限公司 | Line laser spot detection method and system |
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Application publication date: 20211012 |