CN111902730A - Calibration plate, depth parameter calibration method, detection device and calibration system - Google Patents
Calibration plate, depth parameter calibration method, detection device and calibration system Download PDFInfo
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- CN111902730A CN111902730A CN201980005498.1A CN201980005498A CN111902730A CN 111902730 A CN111902730 A CN 111902730A CN 201980005498 A CN201980005498 A CN 201980005498A CN 111902730 A CN111902730 A CN 111902730A
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Abstract
The embodiment of the invention provides a calibration plate, a depth parameter calibration method, a detection device and a calibration system; wherein, the calibration board includes: the reflecting plate, be provided with two at least reflecting region on the surface of reflecting plate: a first reflective region and a second reflective region; the first reflection area is a total reflection area and is used for reflecting the light wave irradiated on the first reflection area so as to provide an echo in a first signal intensity interval for calibration; the second reflection area is a diffuse reflection area and comprises a plurality of sub-reflection areas, the sub-reflection areas have different reflectivities, and the second reflection area is used for reflecting the light waves irradiated on the second reflection area so as to provide echoes for calibrating other signal intensity intervals except the first signal intensity interval. Thus, the convenience of calibration can be improved.
Description
The invention relates to the technical field of detection, in particular to a calibration plate, a depth parameter calibration method, a detection device and a calibration system.
Detection devices such as laser radars can transmit detection signals to different directions, so that depth information, reflectivity information and the like of an object can be acquired according to echoes of different directions. In order to achieve accurate detection, detection devices such as laser radars need to be calibrated before use. In the calibration process of detection devices such as laser radars and the like, a certain number of calibration plates are generally arranged at different distances in front of the detection devices, so that echo signals with different signal strengths are collected, and therefore, the requirements on calibration places are high, and the operation is not simple and convenient enough.
Disclosure of Invention
The embodiment of the invention provides a calibration plate, a depth parameter calibration method, a detection device and a calibration system, which can reduce the requirement on a calibration place and have simple and convenient calibration process.
In a first aspect, an embodiment of the present invention provides a calibration plate, including: the reflecting plate, be provided with two at least reflecting region on the surface of reflecting plate: a first reflective region and a second reflective region;
the first reflection area is a total reflection area and is used for reflecting the light wave irradiated on the first reflection area so as to provide an echo in a first signal intensity interval for calibration;
the second reflection area is a diffuse reflection area and comprises a plurality of sub-reflection areas, the sub-reflection areas have different reflectivities, and the second reflection area is used for reflecting the light waves irradiated on the second reflection area so as to provide echoes for calibrating other signal intensity intervals except the first signal intensity interval.
In a second aspect, an embodiment of the present invention provides a method for depth parameter calibration, which is applied to a detection apparatus that emits light waves to a calibration plate according to the first aspect, and the method includes:
receiving echo signals with different signal intensities reflected by different reflection areas on the calibration plate, and respectively calculating to obtain corresponding depth values of the echo signals with different signal intensities according to the echo signals;
calculating depth compensation values respectively corresponding to the echo signals with different signal strengths according to the depth values respectively corresponding to the echo signals with different signal strengths and the actual distance value between the calibration plate and the detection device;
and obtaining the relation between the intensity of the echo signal of the detection device and the depth compensation value according to the depth compensation value respectively corresponding to the echo signals with different signal intensities and the signal intensity of the echo signal.
In a third aspect, an embodiment of the present invention provides a probe apparatus, where the probe apparatus includes at least a memory and a processor; the memory is connected with the processor through a communication bus and is used for storing computer instructions executable by the processor; the processor is configured to read computer instructions from the memory to implement the steps of the method of the second aspect.
In a fourth aspect, an embodiment of the present invention provides a calibration system, including: the detection device according to a third aspect and the calibration plate according to the first aspect, wherein the calibration plate is disposed in front of the detection device, the detection device is configured to emit a light wave to the calibration plate, receive echo signals with different signal intensities reflected by different reflection areas on the calibration plate, and respectively calculate depth values corresponding to the echo signals with different signal intensities according to the echo signals; calculating depth compensation values respectively corresponding to the echo signals with different signal strengths according to the depth values respectively corresponding to the echo signals with different signal strengths and the actual distance value between the calibration plate and the detection device; and obtaining the relation between the intensity of the echo signal of the detection device and the depth compensation value according to the depth compensation value respectively corresponding to the echo signals with different signal intensities and the signal intensity of the echo signal.
In the embodiment of the invention, different reflecting areas are arranged on the reflecting plate of the calibration plate and have different reflectivities respectively, so that light wave signals irradiated on the reflecting plate are reflected to different degrees to generate echo signals with different signal intensities; and then detection device such as laser radar can just can acquire the echo of different signal strength through setting up a calibration board when carrying out the depth parameter calibration, has more simple, convenient positive effect for prior art.
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a schematic structural diagram of a reflector according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of another reflector provided in the embodiments of the present invention;
FIG. 3 is a schematic structural diagram of a calibration board according to an embodiment of the present invention;
FIG. 4 is a block diagram of a probe apparatus according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a detection apparatus using a coaxial optical path according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of transmitting and receiving echoes provided by an embodiment of the invention;
FIG. 7 is a schematic flow chart illustrating a depth parameter calibration method according to an embodiment of the present invention;
FIG. 8 is a graph illustrating signal strength versus depth compensation according to an embodiment of the present invention;
FIG. 9 is a block diagram of a detection apparatus provided in an embodiment of the present invention;
FIG. 10 is a schematic diagram of a calibration system provided by an embodiment of the present invention;
fig. 11 is a perspective view of a movable platform according to an embodiment of the present invention.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Detection devices such as laser radars can transmit detection signals to different directions, so that data such as depth information and reflectivity information of an object can be acquired according to echo signals of different directions. In order to ensure the accuracy of the distance measurement of detection devices such as laser radars and the like, the detection devices such as the laser radars and the like need to be calibrated before being used; the calibration includes a depth parameter calibration. When the depth parameter calibration is carried out, in order to improve the calibration accuracy, echo signals with different signal intensities need to be collected, and the echo signals with different signal intensities are uniformly distributed in the whole signal intensity interval; in the related art, when acquiring echo signals with different signal intensities, calibration plates are generally respectively arranged at different distances from a detection device to achieve the purpose of acquiring the echo with different signal intensities.
Therefore, the embodiment of the invention provides a calibration plate, which comprises: the reflecting plate is provided with at least two reflecting areas with different reflectivities on the surface: a first reflective region and a second reflective region; the first reflection area is a total reflection area and is used for reflecting the light wave irradiated on the first reflection area by the detection device so as to provide an echo in a first signal intensity interval for calibration; the first signal strength interval includes the maximum signal strength that can be received by the detecting device, and the maximum signal strength that can be received is determined by the internal circuit structure of the detecting device itself, which is not limited in this embodiment of the present invention.
The second reflection area is a diffuse reflection area and comprises a plurality of sub-reflection areas, and each sub-reflection area has different reflectivity; the second reflection area is used for reflecting the light wave irradiated on the second reflection area so as to provide echoes of other signal intensity intervals except the first signal intensity interval for calibration. When the detection device is used for calibrating the depth parameters, the echo signals of which the signal intensity is uniformly distributed in the whole signal intensity interval which can be acquired by the detection device can be acquired through the calibration board.
The first reflection area can be provided with a total reflection patch or directly sprayed with a total reflection material. The second reflection area is used as a diffuse reflection area, and different sub-reflection areas can be formed by spraying diffuse reflection materials with different reflection rates; a film of a diffuse reflective material or the like having a different reflectance may be attached to the second reflective region. Alternatively, the second reflective area may be provided with a different color of cardboard having a different reflectivity.
Fig. 1 is a schematic structural diagram of a reflection plate according to an embodiment of the present invention. Referring to the embodiment shown in fig. 1, the second reflective area 100 of the reflective plate in this embodiment includes four sub-reflective areas, which are respectively: a first sub-reflective region 101, a second sub-reflective region 102, a third sub-reflective region 103, and a fourth sub-reflective region 104; in order to ensure that the signal intensity of the echo signal received by the detection device is uniformly distributed in the whole signal intensity interval as much as possible in the depth parameter calibration process, the first sub-reflection area 101, the second sub-reflection area 102, the third sub-reflection area 103 and the fourth sub-reflection area 104 respectively have different reflectivities; in this embodiment, the first reflective region 105 is disposed at the center of the second reflective region.
In order to ensure that a sufficient number of echoes with small signal intensity can be collected in the calibration process, in an optional embodiment, a third reflection area is further arranged on the reflecting plate, and the third reflection area is used for reflecting the light wave irradiated on the third reflection area so as to supplement the echoes with small signal intensity for providing depth parameter calibration.
The echo with a small signal intensity is an echo whose signal intensity is distributed in the vicinity of the minimum signal intensity that can be detected by the detection device.
It should be noted that, the arrangement positions, the number, and the areas of the first reflective region, the second reflective region, and the third reflective region on the reflective plate of the present invention, and the number of the sub-reflective regions included in the second reflective region are not limited.
The third reflection area can be provided with blind holes which are uniformly distributed, and the shape of the blind holes can be any shape such as round, square and the like. The light wave is reflected after irradiating the blind hole distribution area of the third reflection area so as to provide an echo of tiny signal intensity for depth parameter calibration.
The third reflective region may be provided with a grid formed by interweaving a plurality of threads having different reflectivities; the surface of the reflecting plate may be formed in a grid shape as the third reflecting region.
Fig. 2 is a schematic structural diagram of a reflection plate according to an embodiment of the present invention. Referring to fig. 2, in the present embodiment, the linear objects 107 are uniformly arranged on the third reflective area 106, the linear objects 107 are horizontally arranged, but not limited to this, the linear objects 107 may also be vertically arranged, or obliquely arranged, and the linear objects 107 may also be annularly arranged; further, the number and arrangement of the wires 107 is not limited herein.
Optionally, each adjacent two lines 107 of the third reflective region 106 have different reflectivities, so the lines 107 of the third reflective region 106 have at least two different reflectivities.
Optionally, the distance between adjacent lines 107 is greater than the maximum size of the spot of light impinging on the reflector plate; the maximum size of the spot is the largest numerical size of all the overall size parameters of the spot. For example, when the shape of the light spot is elliptical, all the overall dimension parameters of the light spot include: a major axis and a minor axis, the maximum size of the spot being the major axis of the spot; for another example, when the spot is circular in shape, the maximum size of the spot refers to the diameter of the spot. Therefore, only one line object is irradiated by one light spot at a time, and the processing process of the received echo signal by the detection device can be simplified compared with the condition that a plurality of line objects are simultaneously irradiated by one light spot.
Alternatively, the above-described line 107 may be formed by spraying materials having different reflectances to the surface of the reflective plate; or made of materials having different reflectivities, and the thread is fixed on the reflecting plate. For example, the films with different reflectivity are respectively coated on the metal wires with certain diameters, and the metal wires are fixed on the reflecting plate; it is also possible to use directly lines with different colors, which have different reflectivities.
In an embodiment of the invention, a difference between a maximum depth value and a minimum depth value corresponding to the reflection plate is smaller than a preset parameter. The difference between the maximum depth and the minimum depth corresponding to the reflecting plate is related to the distance between the detecting device and the reflecting plate and the size of the reflecting plate, and the depth of the central position of the reflecting plate is smaller than the depth of the edge of the reflecting plate. In this embodiment, when the reflective plate is disposed at a position ten meters in front of the detecting device, the predetermined parameter may be 1 cm. Furthermore, after the distance between the reflective plate and the detecting device is fixed, the size of the reflective plate should be such that the difference between the maximum depth value and the minimum depth value of the reflective plate is smaller than a preset parameter, and at this time, it can be approximately assumed that different positions on the reflective plate have the same depth value. It should be noted that, a person skilled in the art may set the preset parameter value according to actual requirements, and the embodiment of the present invention does not specifically limit this.
Taking the reflecting plate in the above embodiments as an example, the reflecting plate is disposed at a position ten meters in front of the detecting device, the reflecting plate is square, the size of the reflecting plate is 50 cm, and when the difference between the maximum depth value and the minimum depth value corresponding to the reflecting plate is less than 1 cm, it can be considered that different positions on the reflecting plate have the same depth value.
In the embodiment shown in fig. 2, the second reflection area 100 on the reflection plate includes eight sub-reflection areas, and the eight sub-reflection areas may be formed by splicing eight kinds of cardboard with different reflectivities, or may be directly formed by spraying eight kinds of diffuse reflection materials with different reflectivities onto the surface of the reflection plate.
It should be noted that the number of sub-reflection regions with different reflectivities included in the second reflection region 100 is not fixed, and in order to ensure that echo signals with widely and uniformly distributed signal intensities can be obtained when performing depth parameter calibration, the number of sub-reflection regions in the diffuse reflection region can be increased moderately without affecting the data amount of the received echo signals.
Fig. 3 is a schematic structural diagram of a calibration board provided in an embodiment of the present invention, and referring to fig. 3, the calibration board provided in this embodiment further includes: and a support mechanism 108, wherein the reflector is mounted above the support mechanism 108.
Optionally, the supporting mechanism 108 includes: the supporting rod is arranged above the base, and the reflecting plate is arranged above the supporting rod.
Optionally, a moving assembly 109 is installed below the supporting mechanism 108 for moving the supporting mechanism. The moving assembly 109 may be a roller or a slide rail, etc.
Optionally, the height of the supporting mechanism 108 is adjustable; for example, when the supporting mechanism 108 includes a supporting rod and a base, the supporting rod may be set to be a telescopic structure, and the height of the supporting mechanism may be adjusted by extending or retracting the supporting rod; and then the height of the reflecting plate from the ground can be adjusted.
Alternatively, the installation position of the reflection plate on the support mechanism 108 may be adjustable, and the height of the reflection plate from the ground may be adjusted by adjusting the position of the reflection plate on the support mechanism, and the offset position of the reflection plate with respect to the support mechanism may be adjusted.
The shape of the reflector may be square or circular, or may be other shapes, and is not limited herein.
The calibration plate provided by the embodiment of the invention can be applied to depth parameter calibration and initial state calibration of the detection device. The detection device can be electronic equipment such as a laser radar, laser ranging equipment and the like. In one embodiment, the detection device is used to sense external environmental information, such as distance information, orientation information, reflection intensity information, velocity information, etc. of environmental objects. In one implementation, the detection device may detect the distance from the detection device to the detection object by measuring a Time-of-Flight (TOF) Time of light propagation between the detection device and the detection object. Alternatively, the detecting device may detect the distance from the detecting object to the detecting device by other techniques, such as a distance measuring method based on phase shift (phase shift) measurement or a distance measuring method based on frequency shift (frequency shift) measurement, which is not limited herein.
For ease of understanding, the following describes an example of the ranging process with reference to the detecting device 400 shown in fig. 4.
As shown in fig. 4, the detection apparatus 400 may include a transmitting circuit 110, a receiving circuit 120, a sampling circuit 130, and an arithmetic circuit 140.
The transmit circuitry 110 may transmit a sequence of light pulses (e.g., a sequence of laser pulses). The receiving circuit 120 may receive the optical pulse train reflected by the detected object, perform photoelectric conversion on the optical pulse train to obtain an electrical signal, process the electrical signal, and output the electrical signal to the sampling circuit 130. The sampling circuit 130 may sample the electrical signal to obtain a sampling result. The arithmetic circuit 140 may determine the distance between the detection device 400 and the detected object based on the sampling result of the sampling circuit 130.
Optionally, the detecting device 400 may further include a control circuit 150, and the control circuit 150 may implement control of other circuits, for example, may control an operating time of each circuit and/or perform parameter setting on each circuit, and the like.
It should be understood that, although fig. 4 shows a detection device including a transmitting circuit, a receiving circuit, a sampling circuit and an arithmetic circuit for emitting a light beam to detect, the embodiment of the present application is not limited thereto, and the number of any one of the transmitting circuit, the receiving circuit, the sampling circuit and the arithmetic circuit may be at least two, and the at least two light beams are emitted in the same direction or in different directions respectively; the at least two light paths may be emitted simultaneously or at different times. In one example, the light emitting chips in the at least two transmitting circuits are packaged in the same module. For example, each transmitting circuit comprises a laser emitting chip, and die of the laser emitting chips in the at least two transmitting circuits are packaged together and accommodated in the same packaging space.
In some implementations, in addition to the circuit shown in fig. 4, the detecting device 400 may further include a scanning module 160 for changing the propagation direction of at least one laser pulse sequence emitted from the emitting circuit.
Here, a module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, and the operation circuit 140, or a module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, the operation circuit 140, and the control circuit 150 may be referred to as a ranging module, and the ranging module 150 may be independent of other modules, for example, the scanning module 160.
The detection device may adopt a coaxial optical path, that is, the light beam emitted from the detection device and the reflected light beam share at least part of the optical path in the detection device. For example, at least one path of laser pulse sequence emitted by the emitting circuit is emitted by the scanning module after the propagation direction is changed, and the laser pulse sequence reflected by the detector is emitted to the receiving circuit after passing through the scanning module. Alternatively, the detection device may also adopt an off-axis optical path, that is, the light beam emitted from the detection device and the reflected light beam are transmitted along different optical paths in the detection device. FIG. 5 shows a schematic diagram of one embodiment of the detection apparatus of the present invention employing a coaxial optical path.
The detection apparatus 500 comprises a ranging module 210, the ranging module 210 comprising an emitter 203 (which may comprise the above-described transmitting circuitry), a collimating element 204, a detector 205 (which may comprise the above-described receiving circuitry, sampling circuitry and arithmetic circuitry), and a path-altering element 206. The distance measuring module 210 is configured to emit a light beam, receive return light, and convert the return light into an electrical signal. Wherein the emitter 203 may be configured to emit a sequence of light pulses. In one embodiment, the transmitter 203 may emit a sequence of laser pulses. Optionally, the laser beam emitted by the emitter 203 is a narrow bandwidth beam having a wavelength outside the visible range. The collimating element 204 is disposed on an emitting light path of the emitter, and is configured to collimate the light beam emitted from the emitter 203, and collimate the light beam emitted from the emitter 203 into parallel light to be emitted to the scanning module. The collimating element is also for converging at least a portion of the return light reflected by the detector. The collimating element 204 may be a collimating lens or other element capable of collimating a light beam.
In the embodiment shown in fig. 5, the transmit and receive optical paths within the detection apparatus are combined by the optical path changing element 206 before the collimating element 204, so that the transmit and receive optical paths can share the same collimating element, making the optical path more compact. In other implementations, the emitter 203 and the detector 205 may use respective collimating elements, and the optical path changing element 206 may be disposed in the optical path after the collimating elements.
In the embodiment shown in fig. 5, since the beam aperture of the beam emitted from the emitter 203 is small and the beam aperture of the return light received by the detection device is large, the optical path changing element can adopt a small-area mirror to combine the emission optical path and the reception optical path. In other implementations, the optical path changing element may also be a mirror with a through hole, wherein the through hole is used for transmitting the outgoing light from the emitter 203, and the mirror is used for reflecting the return light to the detector 205. Therefore, the shielding of the bracket of the small reflector to the return light can be reduced in the case of adopting the small reflector.
In the embodiment shown in fig. 5, the optical path altering element is offset from the optical axis of the collimating element 204. In other implementations, the optical path altering element may also be located on the optical axis of the collimating element 204.
The detection apparatus 500 further includes a scanning module 202. The scanning module 202 is disposed on the emitting light path of the distance measuring module 201, and the scanning module 202 is configured to change the transmission direction of the collimated light beam 219 emitted by the collimating element 204, project the collimated light beam to the external environment, and project the return light beam to the collimating element 204. The return light is converged by the collimating element 204 onto the detector 205.
In one embodiment, the scanning module 202 may include at least one optical element for altering the propagation path of the light beam, wherein the optical element may alter the propagation path of the light beam by reflecting, refracting, diffracting, etc., the light beam. For example, the scanning module 202 includes a lens, mirror, prism, galvanometer, grating, liquid crystal, Optical Phased Array (Optical Phased Array), or any combination thereof. In one example, at least a portion of the optical element is moved, for example, by a driving module, and the moved optical element can reflect, refract, or diffract the light beam to different directions at different times. In some embodiments, multiple optical elements of the scanning module 202 may rotate or oscillate about a common axis 209, with each rotating or oscillating optical element serving to constantly change the direction of propagation of an incident beam. In one embodiment, the multiple optical elements of the scanning module 202 may rotate at different rotational speeds or oscillate at different speeds. In another embodiment, at least some of the optical elements of the scanning module 202 may rotate at substantially the same rotational speed. In some embodiments, the multiple optical elements of the scanning module may also be rotated about different axes. In some embodiments, the multiple optical elements of the scanning module may also rotate in the same direction, or in different directions; or in the same direction, or in different directions, without limitation.
In one embodiment, the scanning module 202 includes a first optical element 214 and a driver 216 coupled to the first optical element 214, the driver 216 configured to drive the first optical element 214 to rotate about the rotation axis 209, such that the first optical element 214 redirects the collimated light beam 219. The first optical element 214 projects the collimated beam 219 into different directions. In one embodiment, the angle between the direction of the collimated beam 219 after it is altered by the first optical element and the axis of rotation 209 changes as the first optical element 214 is rotated. In one embodiment, the first optical element 214 includes a pair of opposing non-parallel surfaces through which the collimated light beam 219 passes. In one embodiment, the first optical element 214 includes a prism having a thickness that varies along at least one radial direction. In one embodiment, the first optical element 214 comprises a wedge angle prism that refracts the collimated beam 219.
In one embodiment, the scanning module 202 further comprises a second optical element 215, the second optical element 215 rotating around a rotation axis 209, the rotation speed of the second optical element 215 being different from the rotation speed of the first optical element 214. The second optical element 215 is used to change the direction of the light beam projected by the first optical element 214. In one embodiment, the second optical element 115 is coupled to another driver 217, and the driver 217 drives the second optical element 215 to rotate. The first optical element 214 and the second optical element 215 may be driven by the same or different drivers, such that the first optical element 214 and the second optical element 215 rotate at different speeds and/or turns, thereby projecting the collimated light beam 219 into different directions in the ambient space, which may scan a larger spatial range. In one embodiment, the controller 218 controls the drivers 216 and 217 to drive the first optical element 214 and the second optical element 215, respectively. The rotation speed of the first optical element 214 and the second optical element 215 can be determined according to the region and the pattern expected to be scanned in the actual application. The drives 216 and 217 may include motors or other drives.
In one embodiment, second optical element 215 includes a pair of opposing non-parallel surfaces through which the light beam passes. In one embodiment, second optical element 215 includes a prism having a thickness that varies along at least one radial direction. In one embodiment, second optical element 215 comprises a wedge angle prism.
In one embodiment, the scan module 202 further comprises a third optical element (not shown) and a driver for driving the third optical element to move. Optionally, the third optical element comprises a pair of opposed non-parallel surfaces through which the light beam passes. In one embodiment, the third optical element comprises a prism having a thickness that varies along at least one radial direction. In one embodiment, the third optical element comprises a wedge angle prism. At least two of the first, second and third optical elements rotate at different rotational speeds and/or rotational directions.
Rotation of the optical elements in the scanning module 202 may project light in different directions, such as directions 211 and 213, thus scanning the space around the detection device 200. When the light 211 projected by the scanning module 202 hits the detection object 201, a part of the light is reflected by the detection object 201 to the detection device 200 in a direction opposite to the projected light 211. The return light 212 reflected by the object 201 passes through the scanning module 202 and then enters the collimating element 204.
The detector 205 is placed on the same side of the collimating element 204 as the emitter 203, and the detector 205 is used to convert at least part of the return light passing through the collimating element 204 into an electrical signal.
In one embodiment, each optical element is coated with an antireflection coating. Optionally, the thickness of the antireflection film is equal to or close to the wavelength of the light beam emitted by the emitter 203, which can increase the intensity of the transmitted light beam.
In one embodiment, a filter layer is coated on a surface of a component in the detection device, which is located on the light beam propagation path, or a filter is arranged on the light beam propagation path, and is used for transmitting at least a wavelength band in which the light beam emitted by the emitter is located and reflecting other wavelength bands, so as to reduce noise brought to the receiver by ambient light.
In some embodiments, the transmitter 203 may include a laser diode through which laser pulses in the order of nanoseconds are emitted. Further, the laser pulse reception time may be determined, for example, by detecting the rising edge time and/or the falling edge time of the electrical signal pulse. In this manner, the detecting apparatus 500 can calculate TOF using the pulse reception time information and the pulse emission time information, thereby determining the distance of the object 201 to the detecting apparatus 500.
The distance and orientation detected by the detection device 500 may be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like. In one embodiment, the detection device of the embodiment of the present invention may be applied to a mobile platform, and the detection device may be mounted on a platform body of the mobile platform. The mobile platform with the detection device can measure the external environment, for example, the distance between the mobile platform and an obstacle is measured for the purpose of avoiding the obstacle, and the external environment is mapped in two dimensions or three dimensions. In certain embodiments, the mobile platform comprises at least one of an unmanned aerial vehicle, an automobile, a remote control car, a robot, a camera. When the detection device is applied to the unmanned aerial vehicle, the platform body is a fuselage of the unmanned aerial vehicle. When the detection device is applied to an automobile, the platform body is the automobile body of the automobile. The vehicle may be an autonomous vehicle or a semi-autonomous vehicle, without limitation. When the detection device is applied to the remote control car, the platform body is the car body of the remote control car. When the detection device is applied to a robot, the platform body is the robot. When the detection device is applied to a camera, the platform body is the camera itself.
The calibration plate provided by the embodiment of the invention can be used for calibrating the initial state of the laser radar. And the laser radar collects the echo reflected by the calibration plate and calibrates the laser radar in an initial state by utilizing point cloud imaging of the total reflection area.
Referring to fig. 5, the lidar includes a scanning module 202, and a driver 216 and a driver 217 respectively drive a first optical element 214 and a second optical element 215 to rotate so as to change the emitting direction of the laser. The first optical element 214 and the second optical element 215 introduce a null during the mounting process, respectively assumed to be1And2this deviation can cause errors in the imaging of the scene, and therefore calibration of the initial state is required before the lidar is used, and the calibration is performed to obtain the zero offset of the first optical element 214 and the second optical element 215.
Specifically, after the laser radar emits light waves to the calibration plate, echo signals reflected by the calibration plate can be received; when the difference between the zero offsets of the first optical element 214 and the second optical element 215 is large, the images of the total reflection patches (for example, the total reflection area includes the total reflection patch) are separated, and two sets of point cloud images of the total reflection patches are obtained. First, the difference Δ in the null offset of the first optical element 214 and the second optical element 215 is defined as the following equation (1):
Δ＝2-1(1)
by solving the following formula (2), finding delta to minimize the distance between the central points of the two groups of total reflection patch point cloud images,
wherein, c1、c2Respectively representing the coordinates of the point cloud imaging central points of the two groups of total reflection patch points, d (c)1，c2) And representing the distance between the two groups of point cloud imaging center points of the total reflection patch.
Alternatively, two groups of point clouds of the total reflection patches can be projected on a two-dimensional plane, for example, a two-dimensional plane perpendicular to the central axis of the laser radar.
After delta is obtained according to the two groups of point clouds in a fitting mode, after the delta is corrected, the two groups of total reflection patch point clouds are converged together, and the situation of separation cannot occur; however, the pose of the total reflection patch may have an integral offset with respect to the true pose, and the first optical element 214 and the second optical element 215 need to be simultaneously superimposed by an angle θ to correct the integral offset. For example, a normal vector of the ground imaging is obtained, and an included angle between a direction vector of the normal vector projected onto a plane where the calibration plate is located and the vertical direction is θ.
Based on this, the null offset of the two prisms can be obtained:1＝θ，2＝θ+Δ
optionally, the number of the total reflection patches in the first reflection area of the reflection plate is multiple, so as to further improve the calibration accuracy.
It can be understood that when the number of the total reflection patches is multiple, two groups of point cloud images of each total reflection patch are firstly converged to obtain a difference value delta' of the zero offset according to the following formula (3),
wherein n is the number of total reflection patches, ci1，ci2Respectively representing the coordinates of the imaging center points of the two groups of point clouds of the ith total reflection patch, d (c)i1,ci2) And the distance between the imaging center points of the two groups of point clouds of the ith total reflection patch is represented.
The angle θ' corresponding to the correction of the global deviation of the first optical element and the second optical element is also obtained according to the method described above, and finally the null deviation of the two prisms is obtained:1＝θ’，2＝θ’+Δ’。
the calibration plate provided by the embodiment of the invention can be used for calibrating the depth parameters of the detection device. The detection device includes: laser radar, laser ranging devices, and the like.
Taking a laser radar as an example, the laser radar actively transmits a laser pulse signal to a detected object in the using process, receives a pulse signal reflected by the detected object, and calculates the distance of a light path through TOF (time of flight), specifically, calculates the depth of the detected object according to the time difference between the transmitted signal and the received reflected pulse signal and the propagation speed of the laser pulse signal. However, as shown in fig. 6, since the reflected laser pulse signals have a difference in signal intensity, the pulse width corresponding to the laser pulse signal having a large signal intensity is large, and the pulse width corresponding to the laser pulse signal having a weak signal intensity is small, when calculating the time for receiving the reflected pulse signal, the laser pulse signal having a large signal intensity and the laser pulse signal having a small signal intensity have a difference Δ t, and therefore, the depth value calculated by using the TOF has a difference, and the depth value differs from the actual depth value, and therefore, depth compensation is required; the depth compensation principle is that, for the calculated depth values corresponding to the echo signals with different signal strengths, a corresponding depth compensation value is added respectively to obtain an accurate depth.
The embodiment of the present invention further provides a depth parameter calibration method, which is applied to a detection device that emits light waves to the calibration plate described in the above embodiment, and as shown in fig. 7, the method includes the following steps S700 to S702:
step S700, receiving echo signals with different signal intensities reflected by different reflection areas on the calibration board, and respectively calculating to obtain depth values respectively corresponding to the echo signals with different signal intensities according to the echo signals.
The detection device transmits light waves to the calibration plate, receives echo signals with different signal intensities reflected by different reflection areas of the calibration plate, and calculates depth values (depth measurement values) corresponding to the echo signals with different signal intensities according to the received echo signals with different signal intensities.
And step S701, calculating depth compensation values respectively corresponding to the echo signals with different signal strengths according to the depth values respectively corresponding to the echo signals with different signal strengths and the actual distance value between the calibration plate and the detection device.
In this embodiment, the actual distance value between the calibration board and the detection device is used as the actual depth value of the calibration board. And then the detection device can calculate depth compensation values respectively corresponding to the echoes with different signal strengths according to the calculated depth values respectively corresponding to the echo signals with different signal strengths and the actual distance value between the calibration plate and the detection device.
Step S702, obtaining the relationship between the intensity of the echo signal of the detection device and the depth compensation value according to the depth compensation value respectively corresponding to the echo signal with different signal intensities and the signal intensity of the echo signal.
Optionally, in this embodiment, a functional image may be drawn according to the depth compensation value and the intensity of the echo signal respectively corresponding to the echo signals with different signal intensities, so as to obtain a functional relationship image between the intensity of the echo signal of the detection apparatus and the compensation value.
Optionally, a comparison table of different echo signal intensities and depth compensation values is constructed according to the depth compensation values respectively corresponding to the echo signals with different signal intensities and the intensity of the echo signal, and then the depth compensation values corresponding to the different echo signal intensities can be obtained by querying the comparison table.
Optionally, the depth compensation values corresponding to the obtained echo signals with different signal intensities and the signal intensities of the echo signals are fitted to obtain a relationship between the echo signal intensity and the depth compensation value of the detection device. For example, the depth compensation values corresponding to the echo signals with different signal intensities and the signal intensities of the echo signals are fitted by a least square method, so as to obtain a functional relation or a functional image to which the echo signal intensities and the depth compensation values of the detector belong.
To give a specific example, assume that the depth measurement value is d', the actual depth value is d, there is a deviation Δ d (depth compensation value) between them, and Δ d varies with the echo signal intensity. In the depth parameter calibration process, the probe device receives echo signals with different intensities, and based on the echo signals with different intensities, depth measurement values d 'corresponding to the echo signals with different intensities can be calculated, and meanwhile, an actual depth value d (the distance between the calibration plate and the probe device, for example, 10m) is known, so that Δ d (Δ d ═ d-d') corresponding to the echo signals with different signal intensities can be calculated. Fig. 8 is a schematic diagram of a relationship curve between the signal intensity of the echo and the depth compensation value, and as shown in fig. 8, the echoes with different signal intensities and their corresponding Δ d obtained by calculation by the detection device are presented as a plurality of discrete points in the above diagram, and a curve can be fitted based on the discrete points, so as to obtain an analytic expression of the curve, that is, a functional relationship expression to which the echo signal intensity and the depth compensation value of the detector belong, for example, a high-order polynomial expression.
Optionally, in the depth parameter calibration method, after the relationship between the intensity of the echo signal of the detection device and the depth compensation value is obtained, the relationship between the intensity of the echo signal and the depth compensation value, that is, the corresponding relationship between the intensity of the echo signal and Δ d, is output.
In the actual use process of the detection device, a corresponding depth measurement value d ' can be calculated based on the received echo signal, Δ d can be obtained according to the corresponding relation between the intensity of the echo signal obtained after the depth parameter calibration and the Δ d, and the actual depth value (d ' + Δ d) can be obtained by adding the d ' and the Δ d.
In an embodiment of the present invention, a detection apparatus is further provided, as shown in fig. 9, including at least a memory 1002 and a processor 1001; the memory 1002 is connected to the processor 1001 through a communication bus 1003, and is configured to store computer instructions executable by the processor 1001; the processor 1001 is configured to read computer instructions from the memory 1002 to implement: the steps of the method are shown in fig. 7.
In an embodiment, the detecting device includes a laser radar, a millimeter wave radar, and an ultrasonic radar. The skilled person can select the method according to a specific scenario, and the embodiment is not limited.
An embodiment of the present invention further provides a calibration system, and fig. 10 is a schematic diagram of the calibration system provided in the embodiment of the present invention. Referring to fig. 10, the system includes a detecting device 80 according to the embodiment shown in fig. 9 and a calibration board 90 according to the embodiment shown in fig. 1-3, the calibration board 90 is disposed in front of the detecting device, the detecting device 80 is configured to transmit light waves to the calibration board 90 and receive echo signals with different signal intensities reflected by different reflection areas on the calibration board, and depth values corresponding to the echo signals with different signal intensities are calculated respectively according to the echo signals; calculating depth compensation values respectively corresponding to the echo signals with different signal strengths according to the depth values respectively corresponding to the echo signals with different signal strengths and the actual distance value between the calibration plate and the detection device; and obtaining the relation between the echo signal intensity and the depth compensation value of the detection device according to the depth compensation value respectively corresponding to the echo signals with different signal intensities and the signal intensity of the echo signal.
The embodiment of the invention also provides a movable platform, and fig. 11 is a perspective view of the movable platform provided by the embodiment of the invention. Referring to fig. 11, the movable platform 1100 at least includes a body 1110, a power supply battery 1120 disposed on the body 1110, a power system 1130, and the detection device 1140 in the embodiment shown in fig. 9, where the detection device 1140 is used to detect a target scene, the power supply battery 1120 can supply power to the power system 1130, and the power system 1130 provides power to the movable platform 1100.
In one embodiment, the movable platform may include, but is not limited to: air vehicles such as unmanned aerial vehicles, land vehicles such as automobiles, water vehicles such as ships, and other types of motorized vehicles. The skilled person can select the method according to a specific scenario, and the embodiment is not limited.
For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The method and apparatus provided by the embodiments of the present invention are described in detail above, and the principle and the embodiments of the present invention are explained in detail herein by using specific examples, and the description of the embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (24)
- A calibration plate, comprising: the reflecting plate, be provided with two at least reflecting region on the surface of reflecting plate: a first reflective region and a second reflective region;the first reflection area is a total reflection area and is used for reflecting the light wave irradiated on the first reflection area so as to provide an echo in a first signal intensity interval for calibration;the second reflection area is a diffuse reflection area and comprises a plurality of sub-reflection areas, the sub-reflection areas have different reflectivities, and the second reflection area is used for reflecting the light waves irradiated on the second reflection area so as to provide echoes for calibrating other signal intensity intervals except the first signal intensity interval.
- The calibration plate of claim 1, wherein the reflection plate further comprises: a third reflective region; the third reflection area is used for reflecting the light wave irradiated on the third reflection area so as to supplement the echo providing the tiny signal intensity for calibration.
- The method of claim 2, wherein the third reflective region has uniformly disposed thereon: blind holes or a grid.
- Calibration plate according to claim 2, characterized in that the third reflection area is evenly provided with threads.
- Calibration plate according to claim 4, characterized in that the distance between adjacent wires is greater than the maximum size of the spot of light impinging on the reflection plate; wherein the maximum size is the largest size of the values in all the overall dimension parameters of the light spot.
- The calibration plate of claim 4, wherein the wires are formed by spraying materials having different reflectivities onto the reflection plate.
- The calibration plate of claim 4 wherein said wire is made of a material having a reflectivity, said wire being secured to said reflector plate.
- Calibration plate according to claim 1, characterized in that the first reflecting area is provided with total reflecting patches or sprayed with total reflecting material.
- Calibration plate according to claim 1, characterized in that the second reflection area is provided with cardboards of different colors, the reflectivity of which differs.
- The calibration plate of claim 1, wherein the difference between the maximum depth value and the minimum depth value corresponding to the reflection plate is smaller than a preset parameter.
- The calibration plate of claim 1, further comprising: and the reflecting plate is arranged above the supporting mechanism.
- Calibration plate according to claim 11, characterized in that a movement assembly is mounted below the support means for moving the support means.
- Calibration plate according to claim 11, characterized in that the height of the support means is adjustable.
- The calibration plate of claim 11 wherein the mounting position of the reflection plate on the support mechanism is adjustable.
- The calibration plate according to claim 1, wherein the shape of the reflection plate is a square or a circle.
- Calibration plate according to claim 1, characterized in that it is used for depth parameter calibration of a lidar.
- Calibration plate according to claim 1, characterized in that it is used for initial state calibration of a lidar.
- A method of depth parameter calibration, applied to a probe device which emits light waves towards a calibration plate according to any one of claims 1 to 17, the method comprising:receiving echo signals with different signal intensities reflected by different reflection areas on the calibration plate, and respectively calculating to obtain corresponding depth values of the echo signals with different signal intensities according to the echo signals;calculating depth compensation values respectively corresponding to the echo signals with different signal strengths according to the depth values respectively corresponding to the echo signals with different signal strengths and the actual distance value between the calibration plate and the detection device;and obtaining a relation between the intensity of the echo signal of the detection device and the depth compensation value according to the depth compensation value respectively corresponding to the echo signals with different signal intensities and the signal intensity of the echo signal.
- The method according to claim 18, wherein obtaining the relationship between the intensity of the echo signal of the probe and the depth compensation value according to the depth compensation value and the signal intensity of the echo signal corresponding to the echo signal with different signal intensities comprises:and fitting the depth compensation values respectively corresponding to the echo signals with different signal intensities and the signal intensities of the echo signals to obtain the relationship between the intensity of the echo signal of the detection device and the depth compensation value.
- The method of claim 19, wherein fitting the depth compensation values corresponding to the echo signals with different signal strengths and the signal strengths of the echo signals comprises:and fitting the depth compensation values respectively corresponding to the echo signals with different signal intensities and the signal intensities of the echo signals by a least square method.
- The method of claim 18, wherein the relationship between the intensity of the echo signal and the depth compensation value is expressed in any one of the following forms: tables, functional relationships, and images.
- A detection apparatus, comprising at least a memory and a processor; the memory is connected with the processor through a communication bus and is used for storing computer instructions executable by the processor; the processor is to read computer instructions from the memory to implement: the process steps of any one of claims 18 to 21.
- The probe apparatus of claim 22, wherein the probe apparatus comprises at least one of: laser radar, millimeter wave radar, ultrasonic radar.
- A calibration system, comprising: the detecting device according to claim 22 and the calibration plate according to any one of claims 1 to 17, wherein the calibration plate is disposed in front of the detecting device, the detecting device is configured to transmit light waves to the calibration plate, receive echo signals with different signal intensities reflected by different reflection areas on the calibration plate, and calculate depth values corresponding to the echo signals with different signal intensities respectively according to the echo signals; calculating depth compensation values respectively corresponding to the echo signals with different signal strengths according to the depth values respectively corresponding to the echo signals with different signal strengths and the actual distance value between the calibration plate and the detection device; and obtaining the relation between the intensity of the echo signal of the detection device and the depth compensation value according to the depth compensation value respectively corresponding to the echo signals with different signal intensities and the signal intensity of the echo signal.
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| PCT/CN2019/076996 WO2020177077A1 (en) | 2019-03-05 | 2019-03-05 | Calibration board, depth parameter calibration method, detection apparatus and calibration system |
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