CN111175725A - Automatic calibration system and calibration method for vehicle-mounted multi-line laser radar - Google Patents
Automatic calibration system and calibration method for vehicle-mounted multi-line laser radar Download PDFInfo
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Abstract
The invention belongs to the technical field of automatic driving environment perception, and particularly relates to an automatic calibration system and a calibration method for a vehicle-mounted multi-line laser radar. The system comprises a rack sliding rail device, a calibration device, a control device, a laser transmitting and receiving device and a sliding block device; the slide rail device is in sliding fit with the slide block; the calibration device is fixed on a sliding block device; the laser transmitting and receiving devices are fixed on the two sliding block devices; the control box in the sliding block device is wirelessly connected with the control device; the control device is in line connection with the laser transmitting and receiving device; the control device is connected with the PC through wires. The invention relates to an automatic calibration system and a calibration method for a vehicle-mounted multi-line laser radar, which can automatically and accurately measure coordinates of a vehicle coordinate system, do not need manual parameter measurement or manual adjustment of a calibration device, are simple to operate, have high calibration precision and greatly improve calibration efficiency, and are suitable for batch calibration of external parameters of the vehicle-mounted laser radar.
Description
Technical Field
The invention belongs to the technical field of automatic driving environment perception, and particularly relates to an automatic calibration system and a calibration method for a vehicle-mounted multi-line laser radar.
Background
In recent years, with the rapid development of the automatic driving technology, the lidar is widely applied to the automatic driving environment perception due to the advantages of high measurement precision, large range measurement range, no influence of light change and the like, and with the improvement of the manufacturing process, the manufacturing cost of the lidar gradually decreases, and the lidar is further promoted to be widely applied to the automatic driving technology.
In autopilot systems, the lidar is typically mounted on the roof of the vehicle. The point cloud data information acquired by the laser radar when in use is based on the coordinate system of the laser radar, a plurality of sensors often acquire external environment information in an automatic driving system, and in order to conveniently process the information of the plurality of sensors, the data of each sensor needs to be unified to a vehicle body coordinate system. Therefore, the laser radar needs to be subjected to external parameter calibration before use, and data information of the laser radar is unified to a vehicle body coordinate system to be convenient for a vehicle control system to process.
In the prior art, common laser radar external parameter calibration methods mainly include two methods, namely traditional manual measurement calibration and calibration of calibration objects. In the traditional manual calibration, the horizontal, longitudinal and vertical offset distances between the origin of a laser radar coordinate system and the origin of a vehicle coordinate system are measured by manually using measuring tools such as a measuring tape and the like, and then a pitch angle, a roll angle and a yaw angle of the laser radar under a vehicle coordinate system are measured by using an angle measuring instrument. The calibration object measurement calibration is to use a calibration plate with a specific shape, scan the calibration plate through a laser radar to obtain point cloud data, then perform three-dimensional reconstruction on the calibration plate, and solve calibration parameters by using a geometric relation.
The traditional manual measurement calibration method is simple in principle, but the measurement precision is greatly influenced by the operation of an operator and a measuring tool, and the position of the origin of a vehicle body coordinate system is not easy to determine during measurement, so that the measurement result has large errors and uncertainty. The calibration method for the calibration object is simple in required equipment and easy to operate, but the placement position of the calibration plate has specific requirements with a vehicle body coordinate system, adjustment and movement are difficult, a specific adjusting device is needed, the intensity of point clouds returned by the laser radar on calibration plates of different materials and different colors is different, and control point selection is difficult to master during three-dimensional reconstruction.
Disclosure of Invention
The invention provides an automatic calibration system and a calibration method for a vehicle-mounted multi-line laser radar, which can automatically and accurately measure coordinates of a vehicle coordinate system, do not need manual measurement of parameters or manual adjustment of a calibration device, are simple to operate, have high calibration precision and greatly improved calibration efficiency, are suitable for batch calibration of external parameters of the vehicle-mounted laser radar, and overcome the defects of difficulty in accurate establishment of the vehicle coordinate system, large manual measurement error, low calibration efficiency and the like in the conventional laser radar calibration technology.
The technical scheme of the invention is described as follows by combining the attached drawings:
a vehicle-mounted multi-line laser radar automatic calibration system comprises a rack slide rail device 1, a calibration device 3, a control device 5, two laser transmitting and receiving devices 4 and five slide block devices 2; the slide rail device 1 is in sliding fit with the five slide block devices 2; the calibration device 3 is fixed on a sliding block device 2; the two laser transmitting and receiving devices 4 are fixed on the two sliding block devices 2; a control box 2-2 in the sliding block device 2 is wirelessly connected with a control device 5; the control device 5 is in wired connection with the laser transmitting and receiving device 4; the control device 5 is connected with a PC through a wire.
The rack sliding rail device 1 comprises a transverse rack sliding rail 1-1, a longitudinal long rack sliding rail 1-2, a longitudinal short rack sliding rail 1-3 and a plurality of roller mechanisms 1-4; the transverse rack sliding rail 1-1, the longitudinal long rack sliding rail 1-2 and the longitudinal short rack sliding rail 1-3 are all T-shaped sliding rails with rack structures; two ends of the transverse rack sliding rail 1-1 are fixed on the horizontal ground; the longitudinal long rack sliding rail 1-2 and the longitudinal short rack sliding rail 1-3 are perpendicular to the transverse rack sliding rail 1-1 and are in sliding fit with each other through the two sliding block devices 2; the longitudinal short rack sliding rail 1-3 is also in sliding fit with a sliding block device 2; the longitudinal long rack sliding rail 1-2 is also in sliding fit with the two sliding block devices 2; a plurality of roller mechanisms 1-4 are arranged below the longitudinal long rack sliding rail 1-2 and the longitudinal short rack sliding rail 1-3; the roller mechanism 1-4 comprises rollers 1-42, wheel shafts 1-43, fixing plates 1-41 and electromagnetic locking devices 1-44; the upper ends of the fixing plates 1-41 are fixed on the longitudinal long rack sliding rail 1-2 and the longitudinal short rack sliding rail 1-3 through screws; the rollers 1-42 are connected with the two ends of the fixing plates 1-41 through wheel shafts 1-43; the electromagnetic locking device 1-44 comprises a fixed seat 1-441, a return spring 1-442, a rotating shaft 1-443 and a friction plate 1-444; the friction plate 1-444 is connected with a return spring 1-442; in a non-working state, the lower half part of the friction plate 1-444 is in contact with the fixed seat 1-441; after the power is supplied, the lower half parts of the friction plates 1-444 are separated from the fixed seats 1-441 to press the wheel shafts 1-43, and the friction plates 1-444 rotate around the rotating shafts 1-443.
The sliding block device 2 further comprises a shell 2-1, a stepping motor 2-3, a speed reducing mechanism 2-4, a gear shaft 2-5 and a moving gear 2-6; the lower end of the shell 2-1 is provided with a sliding chute matched with the transverse rack sliding rail 1-1, the longitudinal long rack sliding rail 1-2 and the longitudinal short rack sliding rail 1-3; the control box 2-2, the stepping motor 2-3 and the gear shaft 2-5 are fixed on the shell 2-1; the speed reducing mechanism 2-4 and the moving gear 2-6 are connected with the gear shaft 2-5 through keys; the control box 2-2 is in communication connection with a control device 5; the speed reducing mechanism 2-4 comprises a driving gear and a driven gear meshed with the driving gear; an output shaft of the stepping motor 2-3 is connected with the motion gear 2-6; the tooth profile parameters of the moving gears 2-6 are matched with the transverse rack sliding rails 1-1.
The calibration device 3 comprises a calibration target 3-1, a base 3-2 and an adjusting nut 3-3; the calibration target 3-1 is formed by splicing three mutually perpendicular isosceles right triangles, and the intersection point of the three surfaces is a target point; the lower end of the calibration target 3-1 is provided with a support rod with accurate scales, and the support rod is provided with a plurality of annular grooves convenient to fix; the upper end of the base 3-2 is provided with a supporting rod sleeve, and the supporting rod sleeve is fixed with an annular groove of the supporting rod through an adjusting nut 3-3; the base 3-2 is fixed on the top of the slider device 2.
The laser transmitting and receiving device 4 comprises a laser transmitter 4-1 and a laser receiver 4-2; the laser emitter 4-1 is fixed at the top of the sliding block device 2; the laser receiver 4-2 is fixed on the top of the sliding block device 2 and the base 3-2.
A calibration method of an automatic calibration system of a vehicle-mounted multi-line laser radar comprises the following steps:
firstly, measuring and establishing a vehicle body coordinate system;
step two, adjusting the calibration target 3-1 to a proper height and direction;
moving the calibration target 3-1, acquiring multiple groups of point cloud data and acquiring a coordinate matrix of the target point under a vehicle body coordinate system;
processing the point cloud data to obtain a coordinate matrix of a target point under a laser radar coordinate system;
and step five, constructing an equation and solving a calibration matrix.
The specific method of the first step comprises the following steps:
the transverse rack sliding rail 1-1 is installed and fixed on the ground, and the interval between the longitudinal long rack sliding rail 1-2 and the longitudinal short rack sliding rail 1-3 is larger than the width of a calibrated vehicle; driving a calibration vehicle to a position between two longitudinal slide rails in a direction perpendicular to a transverse rack slide rail 1-1, wherein front wheels do not exceed the transverse slide rails; a data transmission line connecting the laser radar and the PC end is connected, and the control device 5 starts the two sliding block devices 2 arranged on the transverse rack sliding rail 1-1 to move towards the middle; when the longitudinal long rack sliding rail 1-2 and the longitudinal short rack sliding rail 1-3 are attached to the outer side of the wheel, the sliding block stops moving, and meanwhile, the electromagnetic locking device of the roller mechanism 1-4 locks the wheel to prevent the longitudinal long rack sliding rail 1-2 and the longitudinal short rack sliding rail 1-3 from moving; then the two slide block devices 2 provided with the laser transmitter 4-1 and the laser receiver 4-2 move to the initial position at the tail part of the vehicle, the initial position is set according to the length of the vehicle, and the laser transmitter 4-1 and the laser receiver 4-2 are on the same straight line at the moment; the control device 5 controls the two sliding block devices 2 to simultaneously move from the initial positions to the direction of the vehicle head at the same speed at a constant speed until the sliding block devices move to the connecting positions of the transverse rack sliding rail 1-1, the longitudinal long rack sliding rail 1-2 and the longitudinal short rack sliding rail 1-3; in the process, the laser transmitter 4-1 always transmits laser beams to the laser receiver 4-2, when the laser transmitter 4-1 and the laser receiver 4-2 are shielded by wheels, the laser receiver 4-2 cannot temporarily receive laser signals, the length of the wheelbase of a calibrated vehicle can be accurately measured and calculated by calculating the shielding time interval, and in addition, the width of the vehicle can be calculated by measuring the time length from the time when the laser transmitter 4-1 transmits laser to the time when the receiver 4-2 receives the laser signals, so that a vehicle body coordinate system can be established.
The specific method of the second step is as follows:
adjusting an adjusting nut 3-3 on the calibration target 3-1, and adjusting the height and the angle of the calibration target 3-1 to the position where the laser radar can completely scan three surfaces of the calibration target 3-1.
The third step is specifically as follows:
a technician sends an instruction to the control device 5 from the PC end, the control device 5 controls the sliding block device 2 provided with the calibration target 3-1 to move to a specified distance in a corresponding direction according to the instruction, and the moving distance of the calibration target 3-1 and the three-dimensional coordinate of a target point of the calibration target 3-1 under a vehicle body coordinate system are measured and calculated through the work of the laser transmitter 4-1 and the laser receiver 4-2 in the moving process; after the movement is finished, the slider device 2 sends the coordinates of the target point to the control device 5 through wireless communication, and then technicians collect point cloud data of the laser radar and acquire the coordinates of the corresponding target point under the vehicle body coordinate system from the control device 5; moving the position of the calibration target 3-1 for multiple times according to the method, collecting four or more groups of laser radar point cloud data and a target point coordinate matrix X under a vehicle body coordinate system, wherein the final row of completion is 1 so as to conveniently solve the calibration matrix;
the concrete method of the fourth step is as follows:
and importing the obtained laser radar point cloud coordinate data into Matlab, processing the point cloud data by using a characteristic value method, and fitting an equation of three planes of the calibration target 3-1 in a laser radar coordinate system:
where x ', y ', z ' are coordinate quantities in the radar coordinate system, A1、B1、C1,A2、B2、C2,A3、B3、C3Coefficients and constants of the three plane equations are respectively;
the three plane equations can be combined to solve the three-dimensional coordinates x ', y ' and z ' of the target point under the laser radar coordinate system; the coordinate data of the four groups of target points can be solved by repeating the process, so that a coordinate matrix X' of the target points in the laser radar coordinate system is obtained;
the concrete method of the fifth step is as follows:
the mutual conversion of the two three-dimensional coordinate systems relates to rotation and translation operations, wherein the rotation comprises rotation amount around an X, Y, Z axis of a target coordinate system, the translation comprises translation amount along the direction of the target coordinate system X, Y, Z, and the rotation amount and the translation amount are integrated into a matrix to obtain a rotation translation matrix which is the solved calibration matrix; and (3) setting the obtained calibration matrix as R, wherein the matrix is a 4X4 matrix and comprises 12 unknowns, obtaining two coordinate matrixes X and X' through the third step and the fourth step, and obtaining a group of non-homogeneous linear equation sets according to a conversion principle:
in the formula, a to l are the rotation and translation transformation relations between two coordinate systems, the parameters have no unit, and the matrix calibration matrix R can be solved by solving the equation set.
The invention has the beneficial effects that:
1. the vehicle body coordinate system is established through laser measurement and calculation, the coordinates (x, y, z) of a target point under the vehicle body coordinate system can be accurately determined, large measurement errors caused by manual measurement are avoided, and the accuracy of a calibration system is ensured to a certain extent;
2. the calibration target 3-1 adopts a combined plane, and compared with calibration objects with other shapes, the laser radar can fully scan the calibration target 3-1 and acquire more point cloud data meeting the requirements. The precision obtained by fitting the point cloud plane by adopting a characteristic value method is higher, and meanwhile, errors caused by measurement contingency are avoided. The three-dimensional coordinates of the target point under the laser radar coordinate system are obtained through a simultaneous plane equation, so that the problem of accuracy reduction caused by the fact that the (x, y) and z are decoupled and fitted separately in the traditional method is solved;
3. the calibration target 3-1 is automatically moved by the sliding block device 2 and the accurate target point coordinate is returned, so that uncertain errors caused by manual movement are avoided. The device can move continuously, and can finish the collection of a plurality of groups of calibration data in a short time, thereby greatly improving the calibration efficiency;
4. the slide rail device is flexible to move, high in calibration efficiency, suitable for calibration vehicles with various vehicle body widths and capable of being used for batch calibration of vehicle-mounted laser radar devices;
5. the set of calibration system manufactured by adopting the higher precision standard can be used for verifying the correctness of other calibration methods and calibration algorithms, and provides a verification method for the development of the laser radar calibration algorithm.
Drawings
FIG. 1 is a schematic diagram of a coordinate system for establishing a vehicle body;
FIG. 2 is a schematic diagram of a calibration process of the automatic calibration system;
FIG. 3 is an isometric view of the calibration system configuration;
FIG. 4 is an isometric view of the roller mechanism;
FIG. 5 is a cross-sectional view of a locking electromagnetic locking device;
figure 6a is an isometric view of a slider device;
FIG. 6b is a schematic diagram of the internal structure of the slider device;
fig. 7 is an axonometric view of the structure of the calibration device.
In the figure: 1. a rack and slide rail device; 2. a slider device; 3. a calibration device; 4. a laser emitting and receiving device; 5. a control device; 1-1, a transverse rack slide rail; 1-2, a longitudinal long rack sliding rail; 1-3, a longitudinal short rack slide rail; 1-4, a roller mechanism; 1-41, a fixing plate; 1-42, rollers; 1-43, wheel axle; 1-44, electromagnetic locking device; 1-441, a fixed seat; 1-442, a return spring; 1-443, rotating shaft; 1-444, friction plate; 2-1, a shell; 2-2, a control box; 2-3, a stepping motor; 2-4, a speed reducing mechanism; 2-5, gear shaft; 2-6, a motion gear; 3-1, calibrating a target; 3-2, a base; 3-3, adjusting a nut; 4-1, a laser emitter; 4-2, laser receiver.
Detailed Description
Vehicle laser radar calibration principle:
the laser radar is installed and fixed on the top of the vehicle, and the coordinate systems of the laser radar and the vehicle have a determined relative position relation. In the calibration process, a coordinate conversion matrix R is solved, so that the three-dimensional coordinate under the laser radar coordinate system can be converted into the vehicle body coordinate system, and an upper control system of the automatic driving system can accurately control the vehicle according to the information of the sensing layer.
Principle of vehicle body coordinate system establishment:
referring to fig. 1, in the system, two longitudinal slide rails are attached to the outer side of the wheel, so that the longitudinal axis of the established vehicle body coordinate system is ensured to coincide with the longitudinal center line of the actual vehicle. A coordinate system O consisting of a longitudinal long rack slide rail 1-2 and a transverse rack slide rail 1-1 is set1X1Y1Z1Starting from the rear of the vehicle with the laser transmitter 4-1 and the laser receiver 4-2, it is moved forward synchronously with the speed v and is timed from the initial position. In the moving process, due to the shielding of the rear wheel and the front wheel, two time periods of not receiving laser signals appear at one end of the laser receiver 4-2, and the end time t of the first shielding time period is recorded1To the start time t of the second occlusion period2And the time t when the movement reaches the end3recording the time △ t from the beginning of the laser emitted by the laser emitter 4-1 to the time when the receiver receives the laser signal, and calculating the slide rail coordinate system O by using the measured data1X1Y1Z1And the vehicle body coordinate system OConversion relationship of XYZ:
△x＝C△t/2；△y＝v[t3-(t1+t2)/2]
where C is the propagation speed of light in vacuum.
Wherein x, y and z are coordinate values of the vehicle body coordinate system, and x1,y1,z1Is the coordinate quantity of the slide rail coordinate system.
The calibration system obtains the working principle of target point data:
after laser beams emitted by a laser emitting device of the laser radar are shot on three planes of the calibration target 3-1, a receiving device receives reflected laser signals so as to obtain point cloud coordinate data of the three planes. And (3) processing the coordinate data by utilizing Matlab under the laser radar coordinate system, fitting equations of three planes by a characteristic value method and a singular value decomposition algorithm, and combining the equations of the three planes to obtain the coordinates (x ', y ', z ') of the corresponding target point under the laser radar coordinate system.
For the coordinates of the target point under the vehicle body coordinate system, the distance delta y from the target point to the origin of the slide rail coordinate system is measured by the laser transmitter 4-1 and the laser receiver 4-21And Z1 axis coordinate is Deltaz1May be automatically acquired by the system. Thereby obtaining it at O1X1Y1Z1The coordinates of (0, Δ y)1，Δz1) Then through O1X1Y1Z1The coordinate of the target point under the vehicle body coordinate system is (x, y, z) ═ Δ x, Δ y + Δ y by the conversion relation between the coordinate system and the OXYZ coordinate system1，Δz1)。
And moving the 3-1 position of the calibration target, repeating the steps to obtain data of four or more groups of target points, and then solving the calibration matrix.
Referring to fig. 2, the system for automatically calibrating the vehicle-mounted multi-line laser radar comprises a rack slide rail device 1, a calibration device 3, a control device 5, two laser transmitting and receiving devices 4 and five slide block devices 2. The laser radar is arranged at the top of the calibrated vehicle, the calibrated vehicle drives into a proper position in the vehicle-mounted multi-line laser radar automatic calibration system, and the PC end is respectively connected with the laser radar and the control device 5 of the calibration system through data transmission lines.
Referring to fig. 3, 4 and 5, the rack-and-slide device 1 includes a transverse rack-and-slide 1-1, a longitudinal long rack-and-slide 1-2, a longitudinal short rack-and-slide 1-3 and a plurality of roller mechanisms 1-4.
Two ends of the transverse rack sliding rail 1-1 are fixed on the horizontal ground; the longitudinal long rack sliding rail 1-2 and the longitudinal short rack sliding rail 1-3 are perpendicular to the transverse rack sliding rail 1-1 and are in sliding fit with each other through the two sliding block devices 2; the longitudinal short rack sliding rail 1-3 is also in sliding fit with a sliding block device 2; the longitudinal long rack sliding rail 1-2 is also in sliding fit with the two sliding block devices 2; a plurality of roller mechanisms 1-4 are arranged below the longitudinal long rack sliding rail 1-2 and the longitudinal short rack sliding rail 1-3.
The cross sections of the transverse rack sliding rail 1-1, the longitudinal long rack sliding rail 1-2 and the longitudinal short rack sliding rail 1-3 are T-shaped, a rack structure is processed at the upper end of the transverse rack sliding rail, the main body part of the transverse rack sliding rail is made of aluminum alloy materials, the rack part is alloy steel subjected to surface treatment, and the two parts are spliced into a whole through laser welding. The longitudinal long rack sliding rail 1-2 and the longitudinal short rack sliding rail 1-3 can move left and right transversely through the movable sliding block device 2. The roller mechanism 1-4 comprises rollers 1-42, wheel shafts 1-43, fixing plates 1-41 and electromagnetic locking devices 1-44, and is fixedly arranged at the bottoms of the longitudinal long rack sliding rail 1-2 and the longitudinal short rack sliding rail 1-3 through screws; the electromagnetic locking device 1-44 comprises a fixed seat 1-441, a return spring 1-442, a rotating shaft 1-443 and a friction plate 1-444; the fixing seat 1-441 of the electromagnetic locking device 1-44 is installed on the side surface of the fixing plate 1-41, after the longitudinal long rack sliding rail 1-2 and the longitudinal short rack sliding rail 1-3 move to the designated positions, the electromagnetic locking device 1-44 is electrified to generate electromagnetic force to overcome the spring tension of the return spring 1-442 to enable the friction plate 1-444 to rotate around the rotating shaft 1-443, so that the lower half part of the friction plate 1-444 presses the wheel shaft 1-43, at this time, the roller 1-42 is locked, and the position of the longitudinal rack sliding rail cannot change due to external disturbance. The whole weight of the slide rail is light, the wear resistance of the rack part is good, and the manufacturing precision has certain requirements.
Referring to fig. 6a and 6b, the slider device 2 comprises a housing 2-1, a control box 2-1, a stepping motor 2-3, a speed reducing mechanism 2-4, a gear shaft 2-5 and a moving gear 2-6, and in the system, a total of five slider devices 2 are adopted for controlling the automatic movement of a calibration target 3-1, a laser emission receiving device 4, a longitudinal long rack slide rail 1-2 and a longitudinal short rack slide rail 1-3.
The lower end of the shell 2-1 is provided with a sliding chute matched with the transverse rack sliding rail 1-1, the longitudinal long rack sliding rail 1-2 and the longitudinal short rack sliding rail 1-3; the control box 2-2, the stepping motor 2-3 and the gear shaft 2-5 are fixed on the shell 2-1; the speed reducing mechanism 2-4 and the moving gear 2-6 are connected with the gear shaft 2-5 through keys; the control box 2-2 receives signals of the control device 5 through wireless communication so as to control the rotation of the stepping motor 2-3 and return corresponding information to the control device 5. The control box 2-2 is the prior art and comprises a motor control chip STSTSTSPIN 820 and a communication module SKB 369. The speed reducing mechanism 2-4 comprises a driving gear and a driven gear meshed with the driving gear; an output shaft of the stepping motor 2-3 is connected with the moving gear 2-6, and the transmitted power is transmitted to the moving gear 2-6; the tooth profile parameters of the moving gear 2-6 are matched with the transverse rack sliding rail 1-1, and the moving gear 2-6 drives the sliding block device 2 to move for a corresponding distance in a corresponding direction when rotating.
Referring to fig. 7, the calibration device 3 includes a calibration target 3-1, a base 3-2 and an adjusting nut 3-3.
The calibration target 3-1 is formed by splicing three mutually perpendicular isosceles right triangles, and the intersection point of the three surfaces is a target point; the lower end of the calibration target 3-1 is provided with a support rod with accurate scales, and the support rod is provided with a plurality of annular grooves convenient to fix; the upper end of the base 3-2 is provided with a supporting rod sleeve, and the supporting rod sleeve is fixed with an annular groove of the supporting rod through an adjusting nut 3-3; the base 3-2 is fixed on the top of the sliding block device 2 through screws. The adjusting nut 3-3 is used for adjusting the height and the direction of the calibration target 3-1, and a calibration person can adjust the calibration target 3-1 to a proper height and direction according to the specific condition of a calibration vehicle, so that complete point cloud data point information can be collected conveniently.
Referring to fig. 3 and 7, the laser emitting and receiving device 4 includes a laser emitter 4-1 and a laser receiver 4-2; the system adopts two sets of laser transmitting and receiving devices 4 which are respectively used for measuring and establishing a vehicle body coordinate system and measuring the position coordinate of the calibration target 3-1, the two sets of devices are installed and fixed on the top of a sliding block and a calibration target base at corresponding positions, the installation heights of the transmitter and the receiver are the same, and the installation surfaces are parallel to each other.
Referring to fig. 2, the control device 5 is a prior art, and mainly includes a processor chip EPM570IM100C6N, a memory M25P40-VMN6TP, and a communication module SKB369, and is provided with a data input/output port, and the control device 5 is installed and fixed at the right end of the transverse rack slide rail 1-1. The control device 5 controls the slider device 2 to move according to corresponding instructions through wireless connection, controls the laser transmitting and receiving device 4 to operate through wired connection, receives and processes data information returned by the slider and the laser transmitting and receiving device 4, and transmits the processed data to the PC end through a data transmission line. The processor chip EPM570IM100C6N and the memories M25P40-VMN6TP carry out calculation processing and storage on the data returned by the slider device 2 and the laser emission device 4, and simultaneously the processor chip sends corresponding control commands to the slider device 2 and the laser emission device 4; the communication module SKB369 is in wireless connection and communication with the communication module in the slider control box 2-2, so that the function of bidirectional data transmission between the control device 5 and the slider device 2 is realized.
The method for specifically calibrating the vehicle-mounted multi-line laser radar automatic calibration system comprises the following steps:
firstly, measuring and establishing a vehicle body coordinate system;
the transverse rack sliding rail 1-1 is installed and fixed on the ground, and the interval between the longitudinal long rack sliding rail 1-2 and the longitudinal short rack sliding rail 1-3 is larger than the width of the calibrated vehicle. And (3) driving the calibration vehicle to the position between the two longitudinal slide rails in the direction perpendicular to the transverse rack slide rail 1-1, wherein the front wheel does not exceed the transverse slide rail. And a data transmission line connecting the laser radar and the PC end is connected, the controller starts the two sliding blocks arranged on the transverse rack sliding rail 1-1 to move towards the middle, when the two sliding rails are attached to the outer side of the wheel, the sliding blocks stop moving, and meanwhile, the electromagnetic locking device on the roller wheel locks the wheel to prevent the sliding rails from moving. Then the two slide block devices 2 provided with the laser transmitter 4-1 and the laser receiver 4-2 move to the initial position at the tail of the vehicle, the initial position can be set according to the length of the vehicle, and the laser transmitter 4-1 and the laser receiver 4-2 are on the same straight line. The control device 5 controls the two sliding block devices 2 to simultaneously move from the initial positions to the direction of the vehicle head at the same speed and at the same speed until the connecting positions of the transverse rack sliding rail 1-1 and the two longitudinal rack sliding rails are reached. In the process, the laser transmitter 4-1 always transmits laser beams to the laser receiver 4-2, when the laser transmitter 4-1 and the laser receiver 4-2 are shielded by wheels, the laser receiver 4-2 cannot temporarily receive laser signals, the length of the wheelbase of a calibrated vehicle can be accurately measured and calculated by calculating the shielding time interval, and in addition, the width of the vehicle can be calculated by measuring the time length from the time when the laser transmitter 4-1 transmits laser to the time when the laser receiver 4-2 receives the laser signals, so that a vehicle body coordinate system can be established.
Step two, adjusting the calibration target 3-1 to a proper height and direction;
adjusting an adjusting nut 3-3 on the calibration target 3-1, and adjusting the height and the angle of the calibration target 3-1 to the position where the laser radar can basically and completely scan three surfaces of the calibration target 3-1.
Moving the calibration target 3-1, and acquiring a plurality of groups of point cloud data and a coordinate matrix of the target point under a vehicle body coordinate system;
a technician sends an instruction to the control device 5 from the PC end, the control device 5 controls the sliding block provided with the calibration target 3-1 to move a specified distance in a corresponding direction according to the instruction, and the moving distance of the calibration target 3-1 and the three-dimensional coordinate of a target point of the calibration target 3-1 in a vehicle body coordinate system are measured and calculated through the work of the laser transmitter 4-1 and the laser receiver 4-2 in the moving process. After the movement is completed, the sliding block sends the coordinates of the target point to the control device 5 through wireless communication, and then technicians collect point cloud data of the laser radar and acquire the coordinates of the corresponding target point under the vehicle body coordinate system from the control device 5. The position of the calibration target 3-1 is moved for multiple times according to the method, four or more groups of laser radar point cloud data and a target point coordinate matrix X under a vehicle body coordinate system are collected, and the final row of completion is 1 so as to conveniently solve the calibration matrix.
Processing the point cloud data to obtain a coordinate matrix of a target point under a laser radar coordinate system;
and importing the obtained laser radar point cloud coordinate data into Matlab, processing the point cloud data by using a characteristic value method, and fitting an equation of three planes of the calibration target 3-1 in a laser radar coordinate system:
where x ', y ', z ' are coordinate quantities in the radar coordinate system, A1、B1、C1,A2、B2、C2,A3、B3、C3Coefficients and constants of the three plane equations are respectively;
the three plane equations can be combined to solve the three-dimensional coordinates (x ', y ', z ') of the target point under the laser radar coordinate system. The coordinates of the four groups of target point data can be solved by repeating the process, so that a coordinate matrix X' of the target points in the laser radar coordinate system is obtained.
And step five, constructing an equation and solving a calibration matrix.
The mutual conversion of the two three-dimensional coordinate systems relates to rotation and translation, wherein the rotation comprises rotation around an X, Y, Z axis of a target coordinate system, the translation comprises translation along the direction of the target coordinate system X, Y, Z, and the rotation and translation are integrated into a matrix to obtain a rotation and translation matrix, namely the obtained calibration matrix. And (3) setting the obtained calibration matrix as R, wherein the matrix is a 4X4 matrix and comprises 12 unknowns, and obtaining two coordinate matrixes X and X' through the third step and the fourth step to obtain a group of non-homogeneous linear equation sets according to a conversion principle.
In the formula, a to l are the rotation and translation transformation relations between two coordinate systems, the parameters have no unit, and the matrix calibration matrix R can be solved by solving the equation set.
Claims (7)
1. The automatic calibration system for the vehicle-mounted multi-line laser radar is characterized by comprising a rack slide rail device (1), a calibration device (3), a control device (5), two laser transmitting and receiving devices (4) and five slide block devices (2); the slide rail device (1) is in sliding fit with the five slide block devices (2); the calibration device (3) is fixed on a sliding block device (2); the two laser transmitting and receiving devices (4) are fixed on the two sliding block devices (2); a control box (2-2) in the sliding block device (2) is in wireless connection with a control device (5); the control device (5) is in wired connection with the laser transmitting and receiving device (4); the control device (5) is in wired connection with the PC.
2. The automatic calibration system of the vehicle-mounted multiline laser radar according to claim 1, wherein the rack slide rail device (1) comprises a transverse rack slide rail (1-1), a longitudinal long rack slide rail (1-2), a longitudinal short rack slide rail (1-3) and a plurality of roller mechanisms (1-4); the transverse rack sliding rail (1-1), the longitudinal long rack sliding rail (1-2) and the longitudinal short rack sliding rail (1-3) are all T-shaped sliding rails with rack structures; two ends of the transverse rack sliding rail (1-1) are fixed on the horizontal ground; the longitudinal long rack sliding rail (1-2) and the longitudinal short rack sliding rail (1-3) are perpendicular to the transverse rack sliding rail (1-1) and are in sliding fit with the two sliding block devices (2); the longitudinal short rack sliding rail (1-3) is also in sliding fit with a sliding block device (2); the longitudinal long rack sliding rail (1-2) is also in sliding fit with the two sliding block devices (2); a plurality of roller mechanisms (1-4) are arranged below the longitudinal long rack sliding rail (1-2) and the longitudinal short rack sliding rail (1-3); the roller mechanism (1-4) comprises rollers (1-42), a wheel shaft (1-43), a fixing plate (1-41) and an electromagnetic locking device (1-44); the upper ends of the fixing plates (1-41) are fixed on the longitudinal long rack sliding rail (1-2) and the longitudinal short rack sliding rail (1-3) through screws; the rollers (1-42) are connected with the two ends of the fixing plates (1-41) through wheel shafts (1-43); the electromagnetic locking device (1-44) comprises a fixed seat (1-441), a return spring (1-442), a rotating shaft (1-443) and a friction plate (1-444); the friction plate (1-444) is connected with a return spring (1-442); in a non-working state, the lower half part of the friction plate (1-444) is in contact with the fixed seat (1-441); after the power is on, the lower half part of the friction plate (1-444) is separated from the fixed seat (1-441) to press the wheel shaft (1-43), and the friction plate (1-444) rotates around the rotating shaft (1-443).
3. The automatic calibration system of the vehicle-mounted multiline laser radar according to claim 1, wherein the slider device (2) further comprises a shell (2-1), a stepping motor (2-3), a speed reducing mechanism (2-4), a gear shaft (2-5) and a moving gear (2-6); the lower end of the shell (2-1) is provided with a sliding chute matched with the transverse rack sliding rail (1-1), the longitudinal long rack sliding rail (1-2) and the longitudinal short rack sliding rail (1-3); the control box (2-2), the stepping motor (2-3) and the gear shaft (2-5) are fixed on the shell (2-1); the speed reducing mechanism (2-4) and the moving gear (2-6) are connected with the gear shaft (2-5) through keys; the control box (2-2) is in communication connection with the control device (5); the speed reducing mechanism (2-4) comprises a driving gear and a driven gear meshed with the driving gear; the output shaft of the stepping motor (2-3) is connected with the motion gear (2-6); the tooth profile parameters of the moving gears (2-6) are matched with the transverse rack sliding rails (1-1).
4. The automatic calibration system of the vehicle-mounted multiline laser radar according to claim 1, characterized in that the calibration device (3) comprises a calibration target (3-1), a base (3-2) and an adjusting nut (3-3); the calibration target (3-1) is formed by splicing three mutually perpendicular isosceles right triangles, and the intersection point of the three surfaces is a target point; the lower end of the calibration target (3-1) is provided with a support rod with accurate scales, and the support rod is provided with a plurality of annular grooves convenient to fix; the upper end of the base (3-2) is provided with a supporting rod sleeve, and the supporting rod sleeve is fixed with an annular groove of the supporting rod through an adjusting nut (3-3); the base (3-2) is fixed on the top of the sliding block device (2).
5. The automatic calibration system of the vehicle-mounted multiline lidar according to claim 1, wherein the laser transmitting and receiving device (4) comprises a laser transmitter (4-1) and a laser receiver (4-2); the laser emitter (4-1) is fixed at the top of the sliding block device (2); the laser receiver (4-2) is fixed on the top of the sliding block (2) and the base (3-2).
6. The calibration method of the automatic calibration system for the vehicle-mounted multiline laser radar according to any one of claims 1 to 5, which comprises the following steps:
firstly, measuring and establishing a vehicle body coordinate system;
step two, adjusting the calibration target (3-1) to a proper height and direction;
moving the calibration target (3-1), acquiring a plurality of groups of point cloud data and acquiring a coordinate matrix of the target point under a vehicle body coordinate system;
processing the point cloud data to obtain a coordinate matrix of a target point under a laser radar coordinate system;
and step five, constructing an equation and solving a calibration matrix.
7. The calibration method of the automatic calibration system of the vehicle-mounted multiline laser radar as claimed in claim 6, wherein the specific method of the first step is as follows:
the transverse rack sliding rail (1-1) is arranged and fixed on the ground, and the interval between the longitudinal long rack sliding rail (1-2) and the longitudinal short rack sliding rail (1-3) is larger than the width of a calibrated vehicle; the calibration vehicle is driven to a position between two longitudinal slide rails in a direction perpendicular to the transverse rack slide rail (1-1), and the front wheels do not exceed the transverse slide rails; a data transmission line connecting the laser radar and the PC end is connected, and the control device (5) starts the two sliding block devices (2) arranged on the transverse rack sliding rail (1-1) to move towards the middle; when the longitudinal long rack sliding rail (1-2) and the longitudinal short rack sliding rail (1-3) are attached to the outer side of the wheel, the sliding block stops moving, and meanwhile, the electromagnetic locking device (1-44) of the roller mechanism (1-4) locks the wheel to prevent the longitudinal long rack sliding rail (1-2) and the longitudinal short rack sliding rail (1-3) from moving; then two sliding block devices (2) provided with a laser transmitter (4-1) and a laser receiver (4-2) move to the initial position of the tail of the vehicle, the initial position is set according to the length of the vehicle, and the laser transmitter (4-1) and the laser receiver (4-2) are on the same straight line at the moment; the control device (5) controls the two sliding block devices (2) to simultaneously move from the initial positions to the direction of the vehicle head at the same speed and at the same speed until the sliding block devices move to the connecting positions of the transverse rack sliding rail (1-1), the longitudinal long rack sliding rail (1-2) and the longitudinal short rack sliding rail (1-3); in the process, the laser transmitter (4-1) always transmits laser beams to the laser receiver (4-2), when the laser transmitter (4-1) and the laser receiver (4-2) are shielded by wheels, the laser receiver (4-2) cannot temporarily receive laser signals, the length of the wheelbase of a calibrated vehicle can be accurately measured and calculated by calculating the shielding time interval, and the width of the vehicle can be calculated by measuring the time length from the time when the laser transmitter (4-1) transmits laser to the time when the receiver (4-2) receives the laser signals, so that a vehicle body coordinate system can be established;
the specific method of the second step is as follows:
adjusting an adjusting nut (3-3) on the calibration target (3-1), and adjusting the height and the angle of the calibration target (3-1) to the position where the laser radar can completely scan three surfaces of the calibration target (3-1);
the third step is specifically as follows:
a technician sends an instruction to a control device (5) from a PC (personal computer) end, the control device (5) controls a slider device (2) provided with a calibration target (3-1) to move a specified distance in a corresponding direction according to the instruction, and the moving distance of the calibration target (3-1) and the three-dimensional coordinate of a target point of the calibration target (3-1) under a vehicle body coordinate system are measured and calculated through the work of a laser transmitter (4-1) and a laser receiver (4-2) in the moving process; after the movement is finished, the slider device (2) sends the coordinates of the target point to the control device (5) through wireless communication, and then technicians collect point cloud data of the laser radar and acquire the coordinates of the corresponding target point under the vehicle body coordinate system from the control device (5); moving the position of the calibration target (3-1) for multiple times according to the method, collecting four or more groups of laser radar point cloud data and a target point coordinate matrix X under a vehicle body coordinate system, wherein the final row of completion is 1 so as to conveniently solve the calibration matrix;
the concrete method of the fourth step is as follows:
and importing the obtained point cloud coordinate data of the laser radar into Matlab, processing the point cloud data by using a characteristic value method, and fitting an equation of three planes of the calibration target (3-1) in a laser radar coordinate system:
where x ', y ', z ' are coordinate quantities in the radar coordinate system, A1、B1、C1,A2、B2、C2,A3、B3、C3Coefficients and constants of the three plane equations are respectively;
the three plane equations can be combined to solve the three-dimensional coordinates (x ', y ', z ') of the target point in the laser radar coordinate system; the coordinate data of the four groups of target points can be solved by repeating the process, so that a coordinate matrix X' of the target points in the laser radar coordinate system is obtained;
the concrete method of the fifth step is as follows:
the mutual conversion of the two three-dimensional coordinate systems relates to rotation and translation operations, wherein the rotation comprises rotation amount around an X, Y, Z axis of a target coordinate system, the translation comprises translation amount along the direction of the target coordinate system X, Y, Z, and the rotation amount and the translation amount are integrated into a matrix to obtain a rotation translation matrix which is the solved calibration matrix; and (3) setting the obtained calibration matrix as R, wherein the matrix is a 4X4 matrix and comprises 12 unknowns, obtaining two coordinate matrixes X and X' through the third step and the fourth step, and obtaining a group of non-homogeneous linear equation sets according to a conversion principle:
in the formula, a to l are the rotation and translation transformation relations between two coordinate systems, the parameters have no unit, and the matrix calibration matrix R can be solved by solving the equation set.
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