CN109188404A - A kind of aided measurement device, measuring system and method detecting envelope for demarcating ultrasonic sensor - Google Patents
A kind of aided measurement device, measuring system and method detecting envelope for demarcating ultrasonic sensor Download PDFInfo
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- CN109188404A CN109188404A CN201811152517.7A CN201811152517A CN109188404A CN 109188404 A CN109188404 A CN 109188404A CN 201811152517 A CN201811152517 A CN 201811152517A CN 109188404 A CN109188404 A CN 109188404A
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- 238000005259 measurement Methods 0.000 title claims abstract description 63
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- 238000002604 ultrasonography Methods 0.000 description 4
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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
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
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Abstract
The present embodiments relate to a kind of for demarcating aided measurement device, measuring system and the method for ultrasonic sensor detection envelope.Aided measurement device includes: support rod, is arranged perpendicular to ground, and one end is fixed on ground；Telescopic rod, one end are fixedly connected with the other end of support rod and extend along the horizontal plane；First motor, is coupled to support rod, and driving support rod rotates so that telescopic rod at a predetermined angle and orients at a predetermined angle；Telescopic component is set on telescopic rod, the enabled flexible length to adjust telescopic rod of telescopic rod；And object, the calibration object measured when calibration detects envelope as ultrasonic sensor are suspended to the other end of telescopic rod by rigid suspension.The present invention also provides the methods of auxiliary calibration ultrasonic sensor detection envelope, realize that the detection envelope of ultrasonic sensor is demarcated together with the measuring device of calibration ultrasonic sensor, the efficiency for demarcating multiple ultrasonic sensors greatly improved, reduce the nominal time.
Description
Technical field
Present invention relates in general to data processing fields, and in particular to one kind is for demarcating ultrasonic sensor detection envelope
Aided measurement device, measuring system and corresponding measurement method.
Background technique
Ultrasonic sensor is used widely in each field.Such as in automatic Pilot, ultrasonic sensor is played
Very important effect, automatic driving vehicle perceive the environment of surrounding based on the measurement of ultrasonic sensor.Detecting envelope is
One important parameter of ultrasonic sensor characterizes the credible investigative range of ultrasonic sensor.
The application of ultrasonic sensor needs accurately detection envelope parameters under various scenes, but at present for measurement ultrasound
The detection envelope of wave sensor is usually manually to place reference test bar in the position for needing to measure, and passes through observation ultrasonic sensor
Signal judges whether detect reference test bar in the position, and then finally obtains the detection envelope of ultrasonic sensor.
Existing method is not only time-consuming and laborious, but also there are human errors, is also unable to satisfy the requirement of measuring accuracy.It is expected that
Be to provide a kind of technical solution that can demarcate to intelligent and high-efficiency ultrasonic sensor detection envelope.
Summary of the invention
In view of the above-mentioned problems, the embodiment of the present invention provides a kind of auxiliary for detecting envelope for demarcating ultrasonic sensor
Measuring device, measuring system and method realize highly efficient, accurate, robustness stronger ultrasonic sensor envelope calibration side
Method.
In the first aspect of the present invention, provide a kind of for demarcating the subsidiary dress of ultrasonic sensor detection envelope
It sets.The aided measurement device includes: support rod, is arranged perpendicular to ground, and one end is fixed on ground；Telescopic rod, one end with
The other end of support rod is fixedly connected and extends along the horizontal plane；First motor is coupled to support rod, drives support rod with pre-
Determine angle and rotate so that telescopic rod to orient at a predetermined angle；Telescopic component is set on telescopic rod, and it is flexible to enable telescopic rod
To adjust the length of telescopic rod；And object, the calibration measured when calibration detects envelope as ultrasonic sensor
Object is suspended to the other end of telescopic rod by rigid suspension.
In certain embodiments, aided measurement device further includes the second motor, and the second motor driven telescopic component is with predetermined
Telescopic telescopic rod.
In certain embodiments, aided measurement device further includes that controller, controller and first motor and the second motor connect
It connects, the operation of the turn around parameters control first motor based on the telescopic rod being calculated, and flexible based on what is be calculated
The warp parameter of bar controls the operation of the second motor.
In certain embodiments, telescopic rod is socket pipe, and telescopic component includes gear and brake, and brake passes through gear
It is coupled with the second motor, to drive socket pipe flexible by the positive and negative rotation of the second motor.
In certain embodiments, aided measurement device further includes the first communication module, is connect with controller, and reception comes from
The configuration information of main measuring device, main measuring device includes ultrasonic sensor, and controller parsing configuration information is to obtain
Turn around parameters and warp parameter.
In certain embodiments, rigid suspension includes the hold assembly for clamping object, or including buckling target
The snap part of object；Object is suspended in midair perpendicularly to the ground by rigid suspension.
In the second aspect of the present invention, provide a kind of for demarcating the measuring system of ultrasonic sensor detection envelope, packet
The aided measurement device as described in first aspect present invention and main measuring device are included, main measuring device includes: spy to be calibrated
Survey at least one ultrasonic sensor of envelope；Laser radar, be set to at least one ultrasonic sensor isometry position, fill
When the positioning rule being fixed on ground carrys out auxiliary calibration；And measurement processing device, it is coupled at least one ultrasonic sensor
And laser radar, based on aided measurement device it is autonomous traveling and at least one ultrasonic sensor carry out detection envelope mark
It is fixed.
In certain embodiments, main measuring device further includes the second communication module, to aided measurement device transmission configuration
Information.
In the third aspect of the present invention, provides and a kind of utilize described aided measurement device according to a first aspect of the present invention
In the method for auxiliary calibration ultrasonic sensor detection envelope.This method comprises: being based on configuration information, the steering of telescopic rod is calculated
Parameter and warp parameter, the configuration information include the movement routine of object, the operating interval duration of telescopic rod and the mesh
Mark the stay time of specific position of the object in the movement routine；Based on the turn around parameters and the warp parameter, generate
First control information is flexible to control first motor driving support rod rotation and control telescopic component, so that the telescopic rod exists
Predetermined position is reached in the operating interval duration；And the second control information is generated so that telescopic rod arrival is described pre-
Positioning, which postpones, stops the stay time.
In certain embodiments, method further include: from the ultrasonic sensor for being provided with detection envelope to be calibrated
Main measuring device receives the configuration information.
In certain embodiments, method further include: when the telescopic rod stops the stop in the pre-position
After length, it is flexible to control the first motor driving support rod rotation and control telescopic component to generate third control information, with
Toilet states telescopic rod and reaches next predetermined position in the operating interval duration.
In the fourth aspect of the present invention, a kind of method for demarcating ultrasonic sensor detection envelope is provided.This method
It include: to transmit the configuration information operated about the aided measurement device, the aided measurement device packet to aided measurement device
Include the object of the calibration object measured when calibration detects envelope as ultrasonic sensor；It will be located based on the object
Temporal information in predetermined positions multiple on predefined paths, determines whether the object reaches the first predetermined position；In response to
The object reaches first predetermined position, and the first ultrasonic sensor from main measuring device obtains the related mesh
Mark the detection information of object；Based on detection information, determine whether the first ultrasonic sensor detects object；In response to the first surpassing
Sonic sensor detects object, obtains the location information of object acquired in the laser radar at main measuring device；With
And the location information based on object, determine the detection envelope of the first ultrasonic sensor.
In certain embodiments, detection information includes the first detection letter for the echo-signal of the first ultrasonic sensor
Breath, wherein determining whether the first ultrasonic sensor detects that object includes: to detect in response to the instruction of the first detection information
Echo-signal intensity be greater than first threshold time be greater than second threshold, determine that the first ultrasonic sensor detects target
Object.
In certain embodiments, the detection envelope for determining the first ultrasonic sensor includes: by the location information of object
Be converted to the coordinate in first predetermined position at the first ultrasonic sensor visual angle；And coordinate is labeled as the first supersonic sensing
A part of the detection envelope of device.
In certain embodiments, main measuring device further includes at least one second ultrasonic sensor, and detection information includes
Second detection information of first ultrasonic sensor for the echo-signal of the second ultrasonic sensor, method further include: be based on
Second detection information, determines whether object is detected；And in response to determining that object is detected, based on object
Location information determines the indirect detection envelope of the first ultrasonic sensor and the second ultrasonic sensor.
In the fifth aspect of the invention, a kind of electronic equipment is provided.The equipment includes: processor；And it is stored with instruction
Memory, instruction promotes equipment to execute according to a third aspect of the present invention or fourth aspect is retouched when being executed by processor
The operation stated.
In the sixth aspect of the present invention, a kind of computer readable storage medium is provided, is stored with machine readable instruction,
Instruction makes machine execution according to a third aspect of the present invention or method described in fourth aspect when being executed as machine.
The scheme that envelope is detected for demarcating ultrasonic sensor that the embodiment of the present invention proposes, can demarcate more simultaneously
Efficiency greatly improved in a ultrasonic sensor, reduces the nominal time.Meanwhile using system operational parameters, example is reasonably arranged
The movement speed of such as object, the residence time, detectable signal various threshold values, improve testing result accuracy, reduce
Error.In addition, using lidar measurement physical location, so that calibration is more accurate.
Detailed description of the invention
Fig. 1 shows according to an embodiment of the invention for demarcating showing for the system of ultrasonic sensor detection envelope
Meaning property overlooks block diagram；
Fig. 2 shows the schematic block diagrams of the control section of aided measurement device according to an embodiment of the invention；
Fig. 3 shows the measurement parameter relationship of the control section of aided measurement device according to an embodiment of the invention
Schematic diagram；
Fig. 4 shows according to an embodiment of the invention for demarcating the stream of the method for ultrasonic sensor detection envelope
Cheng Tu；And
Fig. 5 shows the block diagram for being suitable for realizing the electronic equipment of the embodiment of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing, the present invention is described in more detail.But as known to those skilled in the art, the invention is not limited to attached drawings and following reality
Apply example.
As described herein, term " includes " and its various variants are construed as open-ended term, it means that " packet
It includes but is not limited to ".Term "based" is construed as " being based at least partially on ".Term " one embodiment " it is understood that
For " at least one embodiment ".Term " another embodiment " is construed as " at least one other embodiment ".
As previously mentioned, generalling use artificial fixed point for measurement ultrasonic sensor detection envelope at present, general detection is single
A ultrasonic sensor is just very time-consuming, and then needs in the application scenarios of multiple ultrasonic sensors more long.For example,
Multiple ultrasonic sensors would generally be set in automatic driving vehicle, not only need directly to measure the spy of each ultrasonic sensor
Survey envelope, it is also necessary to determine the detection envelope measured indirectly between ultrasonic sensor.Especially in industry application, batch vehicle
Also need the detection envelope of each ultrasonic sensor of accurate calibration.
The technical solution that the embodiment of the present invention provides can effectively solve the problems of the prior art, and efficiently and accurately is rapidly
Demarcate the detection envelope of ultrasonic sensor.The embodiment of the present invention is further described with reference to the accompanying drawing.
Fig. 1 shows according to an embodiment of the invention for demarcating the measurement system of ultrasonic sensor detection envelope
The diagrammatic top block diagram of system 100.As shown, measuring system 100 includes the dress of ultrasonic sensor to be calibrated detection envelope
Set 110 (being referred to as main measuring device) and the device 120 (referred to as aided measurement device) for auxiliary calibration.At one
In concrete application, for example, device 110 can be the vehicle with Function for Automatic Pilot comprising multiple ultrasonic sensor (examples
Such as 111 and 112), laser radar 113 and measurement processing device 114.
According to an embodiment of the invention, be equipped with laser radar 113 in means 110, compared to ultrasonic sensor,
With high-precision, high-resolution advantage, can be accurately positioned with the position of detecting objects, motion state etc..Using laser
Radar 113 can be used as standard setting device and carry out auxiliary calibration, can serve as the positioning rule being fixed on ground or coordinate
Axis.Laser radar 113 can be set at height identical as ultrasonic sensor.Measurement processing device 114 is for obtaining ultrasound
The signal of wave sensor 111 and 112 and laser radar 113 is simultaneously handled, and determines the spy of ultrasonic sensor 111 and 112
Survey envelope.
It can also include communication component 115 in device 110, realize the wireless communication function with device 120.For example, bluetooth
Module or other short-range communication (NFC) modules.Communication component 115 can be established logical with communication component corresponding in device 120
Interrogate link, transmission of configuration information, control instruction etc..
Device 120 includes suspension apparatus, and fixing suspention has the object that envelope is detected for demarcating ultrasonic sensor
121.Object 121 is the barrier that ultrasonic sensor 111 and 112 can sense, and can usually use standard testing bar, example
Such as the pvc pipe of φ 75mm.Suspension apparatus steadily can reach the predetermined position in path 122 (such as in figure by carry object 121
Crosspoint), so as to realize by ultrasonic sensor 111 and 112 complete detection envelope calibration.The specific structure of device 120
It will be described below.Before calibration starts, the ultrasonic sensor of calibration needed for device 110 needs to set.In one embodiment
In, such as in vehicle front measurement, then need to be arranged such as four ultrasonic sensors in front of unlocking vehicle and (be denoted as respectively
FOR, FCR, FCL, FOL) itself is measured and tri- information measured indirectly of FOR-FCR, FCR-FCL, FOL-FCL.Device
The mobile distance of suspension apparatus and residence time etc. can be ordinatedly arranged in 110 (or measurement processing devices 114) and device 120
Parameter.
As shown in Figure 1, object 121 is with suspension apparatus within the scope of the quasi- envelope in front of ultrasonic sensor 111 and 112
It is moved along path 122, stops certain time every a distance according to setting parameter.Ultrasonic wave passes the processing of device 110 at this time
The data of sensor 111 and 112 and laser radar 113.Suspension apparatus moves on later, repeats this process, until completing to advise
The path drawn.
It is appreciated that system 100 is only signal, for ease of description embodiment of the disclosure, not specifically illustrated and description
The other component of device 110, in order to avoid unnecessarily obscure the aspect of the embodiment of the present invention.In addition, measurement processing device 114 exists
It is shown as in system 100 in device 110, but it physically can independently be arranged.
The specific structure of measuring device 120 according to an embodiment of the invention is further described below with reference to Fig. 1.?
In the present embodiment, suspension apparatus include perpendicular to ground setting support rod 123, one end can by pedestal 124 or other
Suitable mode is fixed on ground.One end of telescopic rod 125 connects by the way that the other end of connecting component 126 and support rod 123 is fixed
It connects, and horizontally extending.
Support rod 123 is coupled to first motor 127, is rotated at a predetermined angle by the driving of first motor 127, and then so that
Telescopic rod 125 orients at a predetermined angle.Telescopic component 128 is additionally provided on telescopic rod 125, enable telescopic rod 125 it is flexible with
Adjust the length of telescopic rod 125.
In one embodiment, telescopic rod 125 can be implemented as telescopic sleeve, and telescopic component 128 includes gear, brake
Equal components, brake are coupled by gear and the second motor 129, to drive socket pipe to stretch by the positive and negative rotation of the second motor 129
Contracting, so as to adjust the length of telescopic rod 125.By this method, telescopic rod 125 is capable of each of the arrival of carry object 121 path 122
A position.
The object 121 of the calibration object measured when calibration detects envelope as ultrasonic sensor is outstanding by rigidity
Hang device 130 is suspended to the other end of telescopic rod 125, so that object 121 is stablized with holding in telescopic device moving process
And perpendicular to ground.Rigid suspension 130 may include hold assembly, such as be made of connecting rod and clamp.Rigidity is outstanding
Hang device 130 can also use snap part, and object 121 is suspended on downwards to 125 one end of telescopic rod securely.Clamping part
The outer diameter of the dimensional fits object 121 of part or snap part is arranged.
In order to measure ultrasonic sensor 111 and 112 effectively, telescopic rod 125 needs enough distances from the ground, preferably
Ground is higher than 2 meters.The length of rigid suspension 130 is set according to the actual situation, so that rigid suspension 130 and telescopic rod
125 do not influence the measurement of ultrasonic sensor 111 and 112 pair object 121, to be conducive to the ultrasonic sensor of device 110
111 and 112 can not cause detection judge by accident in the case where detecting objects 121.
Device 120 further includes communication module (not shown), can be short-range communication (NFC) module, such as blue
Tooth module etc. can also provide wired communication functions and external interface.Communication module can be communicated with device 110, can also be with
Other equipment are communicated, and configuration information, instruction, return data etc. are received.Communication module can be arranged in any of device 120
Suitable position.
In addition, measuring device 120 can also include alignment device (not shown), can be judged with aided measurement device 120
Whether object 121 is located at intersection shown in path 122.In one embodiment, path 122 is by evident to be measured
Region, image collecting device, the path image of 121 lower section of acquisition object has can be set in 121 bottom of object, and transmits
To the control section of measuring device 120, so as to the measurement process of further accurate fit measuring device 110.
It is appreciated that device 120 shown in Fig. 1 is only signal, embodiment of the disclosure for ease of description, not specifically
The other component of device 120 is shown and describes, in order to avoid unnecessarily obscure the aspect of the embodiment of the present invention.
Fig. 2 shows the schematic block diagrams of the control section 200 of measuring device 120.As shown, control section 200 is wrapped
Controller 210 is included, first motor 127, the second motor 129 and communication module 220 are respectively coupled to.May be used also control section 200
To include memory (not shown), various control parameters are stored.
Controller 210 can be the devices such as microprocessor, can be received from communication module 220 from device 110 or
The configuration parameter of other devices is simultaneously parsed.Configuration parameter include the travelling route figure of suspension apparatus, operating interval duration T1,
Stay time T2 etc., wherein travelling route figure can be as shown in figure 1 shown in path 122, when suspension apparatus will be with predetermined operation interval
Long T1 operation object reaches each intersection point, and stops predetermined time T2 in each intersection point.
Controller 210 controls the operation of first motor 127 according to configuration parameter, so that first motor 127 drives support rod
123 rotations, thus telescopic rod 125 is directed to specific direction with the rotation of support rod 123.Controller 210 is also according to configuration
The operation of the second motor of state modulator 129, so that the second motor 129 drives extensible member 128, to adjust the length of telescopic rod 125
Degree.By this method, object 121 is as suspension apparatus is moved to specific position along path 122 and stops, with adapting device 110
Measurement process.
Fig. 3 shows the signal of the measurement parameter relationship 300 of measuring device 120 according to an embodiment of the invention
Figure.Pre-set measuring route 122 can be loaded into measuring device 110 and measuring device 120, the control of measuring device 120
Device 210 processed determines the control parameter of first motor 127 and the second motor 129 at each measurement point position according to path 122.
As shown, controller 210 calculates the angle a at each point between telescopic rod 125 and reference axis y-axis, and
The amount of spin of the support rod 123 at each point is calculated based on angle a.Controller 210 also calculates telescopic rod at each point
125 length d, and calculate based on distance d the stroke of the telescopic component 128 at each point.
During controlling the movement of object 121, controller 210 is based on configuration information, as above calculates telescopic rod 125
Turn around parameters (such as a) and warp parameter (such as d).Based on turn around parameters and warp parameter, generate the first control information with
First amount of spin controls first motor 127 and support rod 123 is driven to rotate, so that telescopic rod 125 is directed at first point with angle a
Position, and the second motor 129 is controlled with the first stroke and drives telescopic component 128, so that telescopic rod 125 is flexible with distance d, from
And it reaches at the first point.
Process at first point of arrival is completed in scheduled operating interval duration T1, and then controller 210 generates
Second control information is so that telescopic rod 125 stops T2 duration at the first point.Then, controller 210 controls telescopic rod 125
Reach next point in operating interval duration T1, and stops T2 duration at next point.By this method, each measurement is completed
Measurement engagement process at point.
The process of the detection envelope of calibration ultrasonic sensor 111 and 112 is described by taking system 100 as an example below.Fig. 4 is shown
The flow chart according to an embodiment of the invention for detecting the method 400 of envelope for demarcating ultrasonic sensor, method 400
It (such as measurement processing device 114) can be realized at system 110.
410, when the object at aided measurement device reaches the first predetermined position along predefined paths, filled from main measurement
First ultrasonic sensor at the place of setting obtains the detection information in relation to object.In one embodiment, within system 100, in advance
Determine to be provided with multiple predetermined positions on path 122, in these pre-positions, the object 121 at device 120 can stop one section
Time.
In one embodiment, device 120 first passes through device 110 in advance or other equipment are configured, controller 210 according to
Path, speed of setting etc. control the movement of object 121 and stop in pre-position.
When object 121 reaches a certain predetermined position along predefined paths 122 with mobile telescopic rod 125, device
110 obtain the detection information of ultrasonic sensor 111.The setting information of 110 known devices 120 of device, being based on object will
Temporal information in multiple predetermined positions, can determine whether object reaches the first predetermined position.Further, due to super
Sonic sensor 111 issues ultrasonic signal, which will be by the reflection of barrier, that is, object 121.At this point, device 110
It obtains ultrasonic sensor 111 and detects the information for receiving the echo-signal of itself.
420, it is based on detection information, determines whether the first ultrasonic sensor detects object.In one embodiment
In, it can judge whether it examines according to the intensity of echo-signal detected by ultrasonic sensor 111 and/or duration
Measure object 121.
For example, when the time that detection information indicates that the sufficient intensity of the echo-signal detected is kept is greater than a certain threshold value,
Then determine that the first ultrasonic sensor detects object.As an example, object 121 for example stops 20 seconds in pre-position
Time, if the echo signal intensity detected that ultrasonic sensor is fed back is continued above a certain predetermined strength, it is determined that
Ultrasonic sensor 110 detects object 121；If signal strength is not always more than predetermined strength during 20 seconds, but
It was in the time higher than predetermined strength greater than 10 seconds, then device 110 determines that ultrasonic sensor 110 detects object 121；
If signal strength was in the time higher than predetermined strength less than or equal to 10 seconds, device 110 determines ultrasonic sensor 110
Object 121 is not detected.
430, if the first ultrasonic sensor detects object, the laser radar institute at main measuring device is obtained
The location information of the object of acquisition.At this point, the record of device 110 saves the reality of the obtained object 121 of laser radar 113
Position.
440, the location information based on object determines the detection envelope of the first ultrasonic sensor.Implement at one
In example, the location information of object 121 is converted to the coordinate in the predetermined position at 111 visual angle of ultrasonic sensor by device 110, with
Just the detection envelope of ultrasonic sensor 111 is marked.When determining that ultrasonic sensor 111 detects the object of pre-position
When 121, device 110 is by corresponding coordinate labeled as a part of the detection envelope of ultrasonic sensor 111.It is appreciated that pair
The conversion of coordinate position at the physical location of object 121 to 111 visual angle of ultrasonic sensor can also be completed in object 121
After all paths, the coordinate of ultrasonic sensor 111 is converted into during drawing envelope diagram.
For object 121 with next predetermined position that is moved to of telescopic rod 125, device 110 can be true according to method 400
Fixed whether record saves the location information that object 121 is in the pre-position.Mobile device 121 continues to complete predetermined road
Diameter, device 110 repeat the above process, and then draw and obtain the detection envelope of ultrasonic sensor 111.
In above process, each ultrasonic sensor in device 110 is drawn envelope and is independent from each other.For example,
By taking vehicle front is demarcated as an example, after all predetermined point bit tests finish, the detection packet of available each ultrasonic sensor
Network.At the same time, according to an embodiment of the invention, device 110 can also determine the packet that multiple ultrasonic sensors measure indirectly
Network.
In one embodiment, ultrasonic sensor 111 also detects the echo-signal for ultrasonic sensor 112, with
Determine measurement detection envelope indirectly.Specifically, this indirect measurement is encountered when the first ultrasonic sensor 111 issues signal
It is returned after object 121 and by 112 receives echo-signal of ultrasonic sensor.Similarly, device 110 is based on being directed to the echo
The detection information of signal, can determine whether object is detected；And when determining that object is detected, it can be based on
The location information of object determines the indirect detection envelope of ultrasonic sensor 111 Yu ultrasonic sensor 112.It can manage
Solution measures generation when being directed to the echo-signal of ultrasonic sensor 111 by the detection of ultrasonic sensor 112 when indirect, gained
The indirect measurement detection envelope arrived and the echo-signal that ultrasonic sensor 112 is as above directed to by the detection of ultrasonic sensor 111
Gained envelope is identical.
In the application scenarios that device 110 is automatic driving vehicle, when completing vehicle front calibration, each ultrasound has been obtained
The directly measurement of wave sensor and indirectly measurement envelope diagram.Vehicle front calibration in need ultrasonic sensor just all it is complete
At being then successively rear and side, the calibration to whole automobile ultrasonic sensor envelope can be completed.
The scheme for the calibration ultrasonic sensor detection envelope that the embodiment of the present invention proposes, can demarcate multiple ultrasounds simultaneously
Efficiency greatly improved in wave sensor, reduces the nominal time.Meanwhile using system operational parameters, such as target is reasonably arranged
Movement speed, residence time, various threshold values of detectable signal of object etc., improve testing result accuracy, reduce error.This
Outside, using lidar measurement physical location, so that calibration is more accurate.
Fig. 5 shows the block diagram for being suitable for realizing the electronic equipment 500 of the embodiment of the present invention.Equipment 500 can be used to
A part of realization device 110.As shown, equipment 500 includes processor 510.The operation of the control equipment 500 of processor 510
And function.For example, in certain embodiments, processor 510 can be by means of the finger that is stored in coupled memory 520
530 are enabled to execute various operations.Memory 520 can be any suitable type suitable for local technical environment, and can
Memory device, magnetic memory to be realized using any suitable data storage technology, including but not limited to based on semiconductor
Part and system, light storage device and system.It, can in equipment 500 although illustrate only a memory cell in Fig. 5
With the memory cell for having multiple physics different.
Processor 510 can be any suitable type suitable for local technical environment, and may include but unlimited
In general purpose computer, special purpose computer, microcontroller, digital signal controller (DSP) and based on controller multicore control
One or more of device framework is multiple.Equipment 500 also may include multiple processors 510.
When equipment 500 serves as controller 210, processor 510 promotes equipment 500 to execute movement when executing instruction 530,
When equipment 500 serves as measurement processing device 114, processor 510 promotes equipment 500 to hold when executing instruction 530
Action is made, to realize the method 400 described above with reference to Fig. 1-Fig. 4.According to an embodiment of the invention, movement includes: to auxiliary
Measuring device transmits the configuration information operated about the aided measurement device, and the aided measurement device includes being used as ultrasonic wave
The object of the sensor calibration object measured when calibration detects envelope；It will be on predefined paths based on the object
The temporal information in multiple predetermined positions, determines whether the object reaches the first predetermined position；It is arrived in response to the object
Up to first predetermined position, the first ultrasonic sensor from main measuring device obtains the detection letter in relation to the object
Breath；Based on detection information, determine whether the first ultrasonic sensor detects object；It is examined in response to the first ultrasonic sensor
Object is measured, the location information of object acquired in the laser radar at main measuring device is obtained；And it is based on object
Location information, determine the detection envelope of the first ultrasonic sensor.
In certain embodiments, detection information includes the first detection letter for the echo-signal of the first ultrasonic sensor
Breath, wherein determining whether the first ultrasonic sensor detects that object includes: to detect in response to the instruction of the first detection information
Echo-signal intensity be greater than first threshold time be greater than second threshold, determine that the first ultrasonic sensor detects target
Object.
In certain embodiments, the detection envelope for determining the first ultrasonic sensor includes: by the location information of object
Be converted to the coordinate in first predetermined position at the first ultrasonic sensor visual angle；And coordinate is labeled as the first supersonic sensing
A part of the detection envelope of device.
In certain embodiments, main measuring device further includes at least one second ultrasonic sensor, and detection information includes
Second detection information of first ultrasonic sensor for the echo-signal of the second ultrasonic sensor, method further include: be based on
Second detection information, determines whether object is detected；And in response to determining that object is detected, based on object
Location information determines the indirect detection envelope of the first ultrasonic sensor and the second ultrasonic sensor.
The embodiment of the present invention also provides a kind of computer readable storage medium, is stored with machine readable instruction, refers to
Order makes machine execute method having thus described the invention when being executed by machine.
It will be understood by those skilled in the art that in flow charts indicate or logic described otherwise above herein and/or
Step may be embodied in and appoint for example, being considered the order list of the executable instruction for realizing logic function
In what computer-readable medium, for instruction execution system, device or equipment (such as computer based system including processor
System or other can be from instruction execution system, device or equipment instruction fetch and the system executed instruction) use, or combine this
A little instruction execution systems, device or equipment and use.For the purpose of this specification, " computer-readable medium " can be it is any can be with
Include, store, communicate, propagate, or transport program is for instruction execution system, device or equipment or in conjunction with these instruction execution systems
System, device or equipment and the device used.
The more specific example (non-exhaustive list) of computer-readable medium include the following: there are one or more wirings
Electrical connection section (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium because can then be edited for example by carrying out optical scanner to paper or other media, interpret or when necessary with
Other suitable methods are handled electronically to obtain described program, are then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
More than, embodiments of the present invention are illustrated.But the present invention is not limited to above embodiment.It is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in guarantor of the invention
Within the scope of shield.
Claims (10)
1. a kind of for demarcating the aided measurement device of ultrasonic sensor detection envelope characterized by comprising
Support rod, is arranged perpendicular to ground, and one end is fixed on ground；
Telescopic rod, one end are fixedly connected with the other end of the support rod and extend along the horizontal plane；
First motor is coupled to the support rod, and the support rod is driven to rotate so that the telescopic rod at a predetermined angle
It orients at a predetermined angle；
Telescopic component is set on the telescopic rod, enables the flexible length to adjust the telescopic rod of the telescopic rod；With
And
Object, the calibration object measured when calibration detects envelope as ultrasonic sensor, passes through rigid suspended dress
Set the other end for being suspended to the telescopic rod.
2. aided measurement device according to claim 1, which is characterized in that it further include the second motor, second motor
The telescopic component is driven to stretch the telescopic rod with predetermined length.
3. aided measurement device according to claim 2, which is characterized in that it further include controller, the controller and institute
It states first motor to connect with second motor, the turn around parameters based on the telescopic rod control the behaviour of the first motor
Make, and the warp parameter based on the telescopic rod controls the operation of second motor.
4. aided measurement device according to claim 2, which is characterized in that the telescopic rod is socket pipe, described flexible
Component includes gear and brake, and the brake is coupled by the gear and second motor, to pass through described second
The positive and negative rotation of motor drives the socket pipe flexible.
5. aided measurement device according to claim 3, which is characterized in that further include the first communication module, with the control
Device connection processed, receives the configuration information for carrying out autonomous measuring device, and the main measuring device includes the ultrasonic sensor, and
And the controller parses the configuration information to obtain the turn around parameters and the warp parameter.
6. a kind of measuring system that envelope is detected for demarcating ultrasonic sensor, including such as any one of claim 1-5 institute
The aided measurement device stated and main measuring device, which is characterized in that the main measuring device includes:
At least one ultrasonic sensor of detection envelope to be calibrated；
Laser radar, be set to at least one described ultrasonic sensor isometry position, serve as the positioning being fixed on ground
Ruler carrys out auxiliary calibration；And
Measurement processing device is coupled at least one described ultrasonic sensor and the laser radar, is based on the auxiliary
Measuring device it is autonomous traveling and at least one described ultrasonic sensor carry out detection envelope calibration.
7. a kind of utilize aided measurement device according to any one of claims 1-5 with auxiliary calibration ultrasonic sensor
The method for detecting envelope characterized by comprising
Based on configuration information, the turn around parameters and warp parameter of telescopic rod are calculated, the configuration information includes that object is mobile
Predefined paths, the operating interval duration of telescopic rod and the object are in the stop of the specific position on the predefined paths
It is long；
Based on the turn around parameters and the warp parameter, the first control information is generated to control first motor driving support rod and turn
Dynamic and control telescopic component is flexible, so that the telescopic rod reaches predetermined position in the operating interval duration；And
The second control information is generated so that the telescopic rod stops the stay time after reaching the predetermined position.
8. the method according to the description of claim 7 is characterized in that further include:
The configuration information is received from the main measuring device for the ultrasonic sensor for being provided with detection envelope to be calibrated.
9. the method according to the description of claim 7 is characterized in that further include:
After the telescopic rod stops the stay time in the pre-position, it is described to control to generate third control information
First motor drives support rod rotation and control telescopic component flexible, so that the telescopic rod is in the operating interval duration
Reach next predetermined position.
10. a kind of method for demarcating ultrasonic sensor detection envelope characterized by comprising
The configuration information operated about the aided measurement device is transmitted to aided measurement device, the aided measurement device includes
Telescopic rod and the object for being suspended to described telescopic rod one end, the object is as ultrasonic sensor in calibration detection packet
Measured calibration object when network, the configuration information include the behaviour of the mobile predefined paths of the object, the telescopic rod
Make the stay time of the specific position of interval duration and the object in the movement routine；
Based on the object by the temporal information in multiple predetermined positions on predefined paths, determine whether the object arrives
Up to the first predetermined position；
First predetermined position is reached in response to the object, the first ultrasonic sensor from main measuring device obtains
Detection information in relation to the object；
Based on the detection information, determine whether first ultrasonic sensor detects the object；
The object is detected in response to first ultrasonic sensor, obtains the laser radar at the main measuring device
The location information of the acquired object；And
Based on the location information of the object, the detection envelope of first ultrasonic sensor is determined.
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| CN201811152517.7A CN109188404B (en) | 2018-09-29 | 2018-09-29 | Method for calibrating detection envelope of ultrasonic sensor |
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| CN201811152517.7A CN109188404B (en) | 2018-09-29 | 2018-09-29 | Method for calibrating detection envelope of ultrasonic sensor |
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| CN109188404B (en) | 2024-03-08 |
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