CN116008966A - Method and system for collecting pulse width correction information of laser radar - Google Patents
Method and system for collecting pulse width correction information of laser radar Download PDFInfo
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Abstract
The application provides a method, a system and a readable storage medium for acquiring pulse width correction information of a laser radar. The method comprises the following steps: for each laser, acquiring echo signals of calibration equipment with different detection distances to obtain n echo signals, wherein the calibration equipment comprises a plurality of reflecting devices with different reflectivities; determining a reference echo signal from n echo signals to obtain n-1 echo signals to be compensated; compensating the echo signal to be compensated according to the measured distance between the echo signal to be compensated and the reference echo signal to obtain a compensated echo signal; determining pulse widths and receiving times of different signal thresholds according to the reference echo signal and the compensated echo signal; and determining the correction quantity of each pulse width in the signal threshold according to the receiving time of the reference echo signal and the compensated echo signal. According to the method and the device, the laser radar scans a circle to obtain echo signals with different distances of each reflectivity, namely, echo signals with different intensities are obtained, manual cooperation is not needed, and calibration time is shortened.
Description
Technical Field
The application belongs to the technical field of laser radars, and particularly relates to a method and a system for acquiring pulse width correction information of a laser radar.
Background
The principle of the laser ranging technology is that the receiving time of an echo pulse signal is calculated through a fixed threshold value, and the distance is calculated according to the receiving time, but a certain deviation exists between the receiving time of the echo signal calculated based on the fixed threshold value and the actual receiving time. The existing solution is to manually calibrate the actual deviation values of echo signals with different intensities in advance, namely, a correction table. When the laser radar scans and measures distance, the receiving time of the echo signal determined based on the fixed threshold value is corrected according to the intensity of the echo signal, so that the real receiving time of the echo signal is obtained, and the distance measurement is completed.
If the distance is measured by a plurality of thresholds, the workload of manually calibrating the correction table of the thresholds is large.
Disclosure of Invention
The embodiment of the application provides a method, a system, electronic equipment, a readable storage medium and a computer program product for acquiring pulse width correction information of a laser radar, which can solve the problem of large manual calibration workload.
In a first aspect, an embodiment of the present application provides a method for collecting pulse width correction information of a laser radar, including:
For each laser in the laser radar, acquiring echo signals of calibration equipment with different detection distances to obtain n echo signals, wherein the calibration equipment comprises a plurality of reflecting devices with different reflectivities, and the echo signals are acquired after the laser transmits laser signals to the calibration equipment;
after the reference echo signals are determined in the n echo signals, n-1 echo signals to be compensated are obtained;
for each echo signal to be compensated, compensating the echo signal to be compensated according to the measured distance between the echo signal to be compensated and the reference echo signal to obtain a compensated echo signal, so that the compensated echo signal and the reference echo signal are aligned in distance;
determining pulse widths and receiving times of different signal thresholds in the reference echo signal and the compensated echo signal;
and determining the correction quantity of each pulse width according to the receiving time of the reference echo signal and the compensated echo signal aiming at each signal threshold value to obtain the pulse width correction information of the signal threshold value.
Optionally, the method further comprises:
acquiring a target echo signal of an object to be detected, wherein the target echo signal is acquired after the laser radar transmits a laser signal to the object to be detected, and the target echo signal comprises echo signals of all lasers;
Determining a target pulse width correction set according to the identification information of each laser according to the echo signal of each laser, wherein the target pulse width correction set comprises the pulse width correction information with different signal thresholds;
and correcting the echo signal of the laser according to the target pulse width correction set to obtain a corrected echo signal.
Optionally, the acquiring echo signals of calibration devices with different detection distances includes:
acquiring echo signals of a plurality of target points according to the index information of the target points for each calibration device to obtain the echo signals of the calibration device;
the target point index information is determined according to the angular resolution of the laser, the total number of points of the calibration equipment and the number of points of each reflecting device, and is used for representing the corresponding relation between the number of the target point and the ranging point in the calibration equipment.
Optionally, the measurement distance is measured by a distance measuring device, and the measurement distance is used for representing the distance between the distance measuring point of the calibration device and the laser radar.
Optionally, the compensating the echo signal to be compensated according to the measured distances of the echo signal to be compensated and the reference echo signal includes:
Determining a compensation distance of the echo signal to be compensated according to a difference value between the measurement distance of the echo signal to be compensated and the measurement distance of the reference echo signal;
and compensating the echo signal to be compensated according to the compensation distance.
In a second aspect, an embodiment of the present application provides a system for collecting pulse width correction information of a laser radar, including: the device comprises a laser adjusting device, an electronic device and a plurality of calibration devices, wherein the calibration devices are arranged on a plurality of collecting points with different distances, and the calibration devices comprise a plurality of reflecting devices with different reflectivities;
the laser adjusting device is used for adjusting a target laser to a target position, wherein the target laser is any laser in a laser radar;
the electronic equipment is used for acquiring echo signals of calibration equipment with different detection distances for each laser in the laser radar to obtain n echo signals, wherein the echo signals of the calibration equipment comprise echo signals of all reflection devices, and the echo signals are acquired after the laser emits laser signals to the calibration equipment;
the method is also used for obtaining n-1 echo signals to be compensated after the reference echo signals are determined in the n echo signals;
The method is also used for compensating the echo signals to be compensated according to the measured distance between the echo signals to be compensated and the reference echo signals for each echo signal to be compensated, and obtaining compensated echo signals so that the compensated echo signals are aligned with the reference echo signals in distance;
the method is also used for determining pulse widths and receiving time of different signal thresholds in the reference echo signal and the compensated echo signal;
and the pulse width correction information is used for determining the correction amount of each pulse width according to the receiving time of the reference echo signal and the compensated echo signal for each signal threshold value to obtain the pulse width correction information of the signal threshold value.
Optionally, the system further comprises: the ranging origin of the ranging equipment and the ranging origin of the laser radar are positioned in the same vertical direction;
the distance measuring equipment is used for measuring the distance of the distance measuring points of the calibration equipment aiming at each calibration equipment to obtain the measured distance between the distance measuring points and the laser radar.
Optionally, the ranging points include a first ranging point and a second ranging point, the first ranging point is an internal point of each reflecting device, and the second ranging point is an intersection point of two adjacent reflecting devices.
Optionally, the laser adjusting device is specifically configured to adjust a pitch angle of the laser radar, so as to adjust the target laser to a target position, and a laser signal emitted by the target laser is perpendicularly incident to the ranging point.
In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the method according to any one of the first aspects when executing the computer program.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium storing a computer program which, when executed by a processor, implements a method as in any one of the first aspects above.
In a fifth aspect, embodiments of the present application provide a computer program product, which, when run on an electronic device, causes the electronic device to perform the method of any one of the first aspects.
It will be appreciated that the advantages of the second to fifth aspects may be found in the relevant description of the first aspect, and are not described here again.
Compared with the prior art, the embodiment of the application has the beneficial effects that:
the calibration equipment of the embodiment of the application comprises a plurality of reflection devices with different reflectivities, so that the laser radar can scan one circle to obtain echo signals with different distances of the reflectivities, namely, the echo signals with different intensities are obtained, manual matching is not needed, and the calibration time is shortened.
Acquiring echo signals of calibration equipment with different detection distances by aiming at each laser in the laser radar to obtain n echo signals; after a reference echo signal is determined in n echo signals, n-1 echo signals to be compensated are obtained; and compensating the echo signals to be compensated according to the measured distances of the echo signals to be compensated and the reference echo signals to obtain compensated echo signals, so that the compensated echo signals are aligned with the reference echo signals in distance, and providing a basis for calculating the correction quantity of the pulse width of each echo signal under the condition that the obtained echo signals with different intensities are different in distance.
Determining pulse widths of different signal thresholds and corresponding receiving time in the reference echo signal and the compensated echo signal; for each signal threshold, the correction amount of each pulse width is determined according to the reference echo signal and the receiving time of the echo signal after compensation, so that the pulse width correction information of the signal threshold is obtained, the pulse width correction information of echo signals with different intensities under different signal thresholds is further obtained, manual cooperation is not needed, the workload of manual calibration is reduced, and the calibration efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a system provided in an embodiment of the present application;
FIG. 2 is a schematic diagram of two echo signals before alignment according to an embodiment of the present application;
FIG. 3 is a schematic diagram of two aligned echo signals according to an embodiment of the present application;
FIG. 4 is a schematic diagram of pulse width and receive time provided by an embodiment of the present application;
FIG. 5 is a first flowchart of a method for acquiring pulse width correction information according to an embodiment of the present disclosure;
FIG. 6 is an exemplary diagram of an application scenario provided by an embodiment of the present application;
FIG. 7 is a second flowchart of a method for acquiring pulse width correction information according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
Fig. 1 is a schematic diagram of a system according to an embodiment of the present application. As shown in fig. 1, the system includes: the laser adjusting device 10, the electronic device and the calibration devices 11, the calibration devices 11 are arranged on a plurality of collecting points with different distances, the calibration devices 11 comprise three reflecting devices 12, the reflectivity of each reflecting device 12 is different, and the laser radar 13 is arranged on the laser adjusting device 10.
The electronic device may be a terminal device such as a tablet computer, a wearable device, a notebook computer, an ultra-mobile personal computer (UMPC), a netbook, a personal digital assistant (personal digital assistant, PDA), or a server device such as a server, a cloud computing platform, etc., which is not limited in the specific type of the electronic device in the embodiment of the present application.
The calibration device is exemplified by a combined reflecting plate, and the reflecting means is a reflecting surface. Wherein the reflectivity of the reflecting surface is 3%, 10%, 40%, 90%, 150% or 200%.
The acquisition points are all arranged in the range of the laser radar. The user sets a plurality of acquisition points in the range in advance, and the detection distances corresponding to the acquisition points are different. And (3) placing calibration equipment on preset acquisition points, wherein one calibration equipment is placed at one acquisition point. Meanwhile, shielding is not formed between the calibration devices, so that the laser radar can scan a circle of echo signals with each reflectivity under different detection distances, echo signals with different intensities can be obtained, and the problem of large workload caused by manually shielding emitted light of the laser radar to obtain the echo signals with different intensities is solved.
And the laser adjusting device is used for adjusting the target laser to the target position, and the target laser is any laser in the laser radar.
In one possible implementation, the laser adjustment device is specifically configured to adjust a pitch angle of the laser radar to adjust the target laser to the target position, and the laser signal emitted by the target laser is perpendicularly incident to the ranging point.
In application, when the target laser is at the target position, the target laser is at the same level as the ranging point. The target laser emits a laser signal to the calibration device, the laser signal being perpendicularly incident to the ranging point. The laser signal is emitted to the calibration equipment when any laser is positioned at the target position, each laser scans one circle at the same position, all reflection surfaces can be scanned by each laser, and the influence of other external factors on echo signals is reduced.
The electronic equipment is used for acquiring echo signals of calibration equipment with different detection distances aiming at each laser in the laser radar to obtain n echo signals, wherein the echo signals of the calibration equipment comprise echo signals of all reflection devices.
In application, the laser scans a circle, transmits a laser signal to each calibration device, and the laser radar receives an echo signal reflected by each calibration device. Because the calibration device comprises reflecting surfaces with different reflectivities, the electronic device can receive echo signals with different detection distances for each reflectivity.
And the method is also used for obtaining n-1 echo signals to be compensated after the reference echo signals are determined in the n echo signals.
In application, the ranging points are set on the calibration device in advance. And the electronic equipment acquires echo signals returned from the ranging points to obtain n echo signals. By acquiring echo signals returned by the ranging points, the influence caused by acquiring echo signals returned by different points is avoided, so that accurate pulse width correction information is acquired.
Because the basis of manual calibration is echo signals with different intensities under the same distance, but the distances of a plurality of echo signals of each reflectivity are different, a reference echo signal needs to be determined, and other echo signals take the reference echo signal as a reference, so that a basis is provided for determining pulse width correction.
And the compensation module is also used for compensating the echo signals to be compensated according to the measured distance between the echo signals to be compensated and the reference echo signals for each echo signal to be compensated, and obtaining the echo signals after compensation so that the echo signals after compensation are aligned with the reference echo signals in distance.
In an application, the electronics determine an ADC echo waveform for n echo signals. Specifically, after converting the echo signal into an electrical signal, the electrical signal is converted by an ADC to obtain a digital signal.
And performing distance compensation on the ADC echo waveform of the echo signal to be compensated aiming at each echo signal to be compensated, so that the ADC echo waveform of the echo signal after compensation is aligned with the ADC echo waveform of the reference echo signal in distance. Fig. 2 is a schematic diagram before alignment of two echo signals according to an embodiment of the present application. As shown in fig. 2, the distance is represented by the echo time of the echo signal, and the distance is expressed in time in the figure, so that the correction amount can be conveniently calculated later. The measured distance of the echo signal to be compensated is different from the measured distance of the reference echo signal, and the ADC echo waveform of the echo signal to be compensated is not aligned with the ADC echo waveform of the reference echo signal, so that the pulse width correction amount is not beneficial to determination. Fig. 3 is a schematic diagram of two aligned echo signals according to an embodiment of the present application. As shown in fig. 3, after the distance compensation, the ADC echo waveform of the compensated echo signal is aligned with the ADC echo waveform of the reference echo signal. The signal threshold is a signal amplitude.
And the method is also used for determining pulse widths and corresponding receiving times of different signal thresholds in the reference echo signal and the compensated echo signal.
In application, after distance compensation, for each signal threshold, the pulse width and the reception time of each compensated echo signal, and the pulse width and the reception time of the reference echo signal are determined. The receiving time of the echo signal after compensation is determined according to the measured distance of the echo signal to be compensated, the echo time and the measured distance of the reference echo signal. Fig. 4 is a schematic diagram of pulse width and reception time provided in an embodiment of the present application. As shown in fig. 4, the pulse width of the echo signal after the first signal sub-threshold compensation is PW 12 The receiving time is T 12 The method comprises the steps of carrying out a first treatment on the surface of the The pulse width of the reference echo signal is PW 11 The receiving time is T 11 。
And the pulse width correction information is used for determining the correction quantity of each pulse width according to the receiving time of the reference echo signal and the compensated echo signal for each signal threshold value to obtain the pulse width correction information of the signal threshold value.
In application, for each signal threshold, calculating the difference between the receiving time of each compensated echo signal and the receiving time of the reference echo signal to obtain n-1 correction amounts corresponding to the pulse widths of the compensated echo signals; and simultaneously calculating the correction quantity of the pulse widths corresponding to the reference echo signals to obtain n pulse width correction quantities, and further obtaining pulse width correction information.
It can be understood that because of the difference between the lasers, pulse width correction information of different signal thresholds needs to be obtained for each laser, so that pulse width correction can be better performed on the echo signals of the lasers.
The pulse width calibration system of the embodiment comprises laser adjusting equipment, electronic equipment and a plurality of calibration equipment, wherein the calibration equipment comprises a plurality of reflecting devices with different reflectivities, so that the laser radar can scan one circle to obtain echo signals with different distances of the reflectivities, namely, the echo signals with different intensities are obtained, manual cooperation is not needed, and the calibration time is shortened.
The electronic equipment acquires echo signals of calibration equipment with different detection distances aiming at each laser in the laser radar to obtain n echo signals; after a reference echo signal is determined in n echo signals, n-1 echo signals to be compensated are obtained; and compensating the echo signals to be compensated according to the measured distances of the echo signals to be compensated and the reference echo signals to obtain compensated echo signals, so that the compensated echo signals are aligned with the reference echo signals in distance, and providing a basis for calculating the correction quantity of the pulse width of each echo signal under the condition that the obtained echo signals with different intensities are different in distance.
Determining pulse widths of different signal thresholds and corresponding receiving time in the reference echo signal and the compensated echo signal; for each signal threshold, the correction amount of each pulse width is determined according to the reference echo signal and the receiving time of the echo signal after compensation, so that the pulse width correction information of the signal threshold is obtained, the pulse width correction information of echo signals with different intensities under different signal thresholds is further obtained, manual cooperation is not needed, the workload of manual calibration is reduced, and the calibration efficiency is improved.
In one embodiment, the system further comprises: and the ranging origin of the ranging equipment and the ranging origin of the laser radar are positioned in the same vertical direction.
In an application, the distance measuring device comprises a rotation unit, a measurement unit. The measuring unit is arranged on the rotating unit, and the measuring unit is driven to rotate when the rotating unit horizontally rotates. The rotating unit is a motor or a turntable. The measuring unit is a single-point laser range finder. Correspondingly, the rotation center of the rotation unit and the ranging origin of the laser radar are positioned in the same vertical direction, so that the ranging origin of the ranging equipment and the ranging origin of the laser radar are positioned in the same vertical direction.
And the distance measuring equipment is used for measuring the distance of the distance measuring points of the calibration equipment aiming at each calibration equipment to obtain the measured distance between the distance measuring points and the laser radar.
In application, when the electronic device acquires the echo signal returned from the ranging point, the ranging device needs to measure the measured distance between the ranging point and the laser radar. Specifically, the distance measuring device rotates according to the rotation angle and then measures the distance of the distance measuring point. The rotation angle is obtained by the steps of: and determining the number of the separation points between the adjacent ranging points according to the number of the reflecting devices. The rotation angle is determined according to the number of the separation points between the adjacent ranging points and the angular resolution of the laser, so that the rotation unit can be aligned with the next ranging point after rotating by the rotation angle.
According to the embodiment, the distance measurement is carried out on the distance measurement points of the calibration equipment through the distance measurement equipment, so that the accurate distance of the echo signal can be obtained, and a basis is provided for obtaining the accurate pulse width correction quantity.
Corresponding to the systems described in the embodiments above, only the parts relevant to the embodiments of the present application are shown for ease of illustration.
Fig. 5 is a schematic flow chart of a first method for collecting pulse width correction information according to an embodiment of the present application. As shown in fig. 5, the method is applied to an electronic device in a pulse width calibration system, and includes:
s11: and acquiring echo signals of calibration equipment with different detection distances according to each laser in the laser radar to obtain n echo signals.
The calibration device comprises a plurality of reflecting devices with different reflectivities, and echo signals are obtained after the laser emits laser signals to the calibration device.
In one possible implementation manner, the electronic device obtains echo signals of a plurality of target points according to the index information of the target points for each calibration device, and obtains the echo signals of the calibration devices.
The target point index information is determined according to the angular resolution of the laser, the total number of points of the calibration equipment and the number of points of each reflecting device, and is used for representing the corresponding relation between the number of the target point and the ranging point in the calibration equipment. Specifically, after the laser scans a circle, the electronic device obtains point cloud data of a plurality of calibration devices. And acquiring the point cloud data of the calibration equipment according to the distance between the calibration equipment and the laser radar and the angular resolution of the laser. And determining the point number of each reflecting device according to the total number of points of the point cloud data of the calibration equipment. For each reflecting device, determining a target point and a corresponding number in the points of the reflecting device according to the position of the ranging point and the number of the points of each reflecting device.
S12: and after the reference echo signals are determined in the n echo signals, n-1 echo signals to be compensated are obtained.
S13: and compensating the echo signals to be compensated according to the measured distances of the echo signals to be compensated and the reference echo signals for each echo signal to be compensated, and obtaining the echo signals after compensation so that the echo signals after compensation are aligned with the reference echo signals in distance.
In application, the electronic device determines the compensation distance of the echo signal to be compensated according to the difference between the measurement distance of the echo signal to be compensated and the measurement distance of the reference echo signal; and compensating the echo signal to be compensated according to the compensation distance.
The measuring distance is obtained by measuring the distance measuring equipment and is used for representing the distance between the distance measuring point of the calibration equipment and the laser radar. In order to detect that the calibration device moves due to various reasons, the electronic device may store in advance a standard distance between each ranging point and the laser radar, compare the measured distance with the standard distance each time the measured distance is obtained, and execute an alarm operation when a difference between the measured distance and the standard distance is greater than a preset difference.
S14: and determining pulse widths and receiving times of different signal thresholds in the reference echo signal and the compensated echo signal.
Wherein, the formula for calculating the receiving time is as follows: t (T) i ’＝T i -(D i -D j )/C；T i ' is the reception time of the ith compensated echo signal, T i For the echo time of the ith echo signal to be compensated, di is the measured distance of the ith echo signal to be compensated, D j The measured distance of the reference echo signal is C, which is the propagation speed of light in air.
S15: and determining the correction quantity of each pulse width according to the receiving time of the reference echo signal and the compensated echo signal for each signal threshold value, and obtaining the pulse width correction information of the signal threshold value.
In application, the formula for calculating the correction amount is as follows: delta T i ＝T i ’-T j ；T j The reception time of the reference echo signal is the echo time of the reference echo signal.
Fig. 6 is an exemplary diagram of an application scenario provided in an embodiment of the present application. As shown in fig. 6, there are three calibration devices in the scene, each comprising three reflecting means. The center point of the reflecting means is selected as the inner point in this example, based on the ranging point comprising the inner point of each reflecting means and the boundary point of the adjacent two reflecting means. Point 20 in the figure is a first type of ranging point and point 21 is a second type of ranging point.
And the electronic equipment acquires the point cloud data of each calibration equipment according to the distance between the calibration equipment and the laser radar and the angular resolution of the laser. Taking one calibration device as an example for explanation, according to the point cloud data of the calibration device, the total number of points of the calibration device is determined to be 150, and then the number of points of each reflecting device is determined to be 50. For the first type of ranging points, the target point number of the first reflecting means is determined to be number 25. The number of target points of the second reflecting means is determined to be 75, and the number of target points of the third reflecting means is determined to be 125, based on the number of the reflecting means being 50. For the second type of ranging points, the number 50 of the target point of the first intersection point is determined. The number 100 of the target point of the second intersection is determined based on the number of points of the reflection device being 50. And obtaining index information of target points of the calibration equipment. Other calibration devices are similar.
Taking one laser in the laser radar 13 in fig. 6 as an example, the laser adjustment device adjusts the laser radar 13 to move the laser to the target position for scanning, and the situation of the laser signal incidence ranging point of the laser is shown in fig. 6. The electronic equipment acquires echo signals of 5 ranging points in one calibration equipment, namely 5 echo signals, according to the index information of the target point, and determines ADC echo waveforms of the 5 echo signals. Meanwhile, the measurement distances of 5 distance measurement points acquired by the distance measurement equipment are acquired.The other 2 calibration devices are similar. And the electronic equipment determines a reference echo signal from the 15 echo signals to obtain 14 echo signals to be compensated. Of the 15 echo signals, the ADC echo waveform of the 15 echo signals is determined to have a pulse width at a certain signal threshold. Taking a calibration device as an example for explanation, establishing a corresponding relation between the measurement distance of the first type of distance measurement point and the pulse width: d (D) 1 11 、PW 1 11 ；D 1 12 、PW 1 12 ；D 1 13 、PW 1 13 ；D 1 21 、PW 1 21 ；D 1 22 、PW 1 22 ；D 1 23 、PW 1 23 ；D 1 31 、PW 1 31 ；D 1 32 、PW 1 32 ；D 1 33 、PW 1 33 . Establishing a corresponding relation between the measurement distance of the second type of distance measurement points and the pulse width: d (D) 2 11 、PW 2 11 ；D 2 12 、PW 2 12 ；D 2 21 、PW 2 21 ；D 2 22 、PW 2 22 ；D 2 31 、PW 2 31 ；D 2 32 、PW 2 32 。
Aligning the echo signal to be compensated with the reference echo signal in distance and according to T i ’＝T i -(D i -D 1 ) and/C, calculating the receiving time of the echo signal after compensation. Establishing a corresponding relation between the receiving time and the pulse width: t (T) 1 11 、PW 1 11 ；T 1’ 12 、PW 1 12 ；T 1’ 13 、PW 1 13 ；T 1’ 21 、PW 1 21 ；T 1’ 22 、PW 1 22 ；T 1’ 23 、PW 1 23 ；T 1’ 31 、PW 1 31 ；T 1’ 32 、PW 1 32 ；T 1’ 33 、PW 1 33 ；T 2’ 11 、PW 2 11 ；T 2’ 12 、PW 2 12 ；T 2’ 21 、PW 2 21 ；T 2’ 22 、PW 2 22 ；T 2’ 31 、PW 2 31 ；T 2’ 32 、PW 2 32 。
The electronic equipment is according to delta T i ＝T i ’-T 1 The correction amount of the pulse width is calculated. Establishing a corresponding relation between the time correction quantity and the pulse width: delta T 1 11 、PW 1 11 ；ΔT 1’ 12 、PW 1 12 ；ΔT 1’ 13 、PW 1 13 ；ΔT 1’ 21 、PW 1 21 ；ΔT 1’ 22 、PW 1 22 ；ΔT 1’ 23 、PW 1 23 ；ΔT 1’ 31 、PW 1 31 ；ΔT 1’ 32 、PW 1 32 ；ΔT 1’ 33 、PW 1 33 ；ΔT 2’ 11 、PW 2 11 ；ΔT 2’ 12 、PW 2 12 ；ΔT 2’ 21 、PW 2 21 ；ΔT 2’ 22 、PW 2 22 ；ΔT 2’ 31 、PW 2 31 ；ΔT 2’ 32 、PW 2 32 . Other calibration devices are similar.
And repeating the steps to obtain the pulse width correction information of other signal thresholds respectively.
And the other lasers acquire pulse width correction information of a plurality of signal thresholds in the same way.
Fig. 7 is a second flowchart of a method for collecting pulse width correction information according to an embodiment of the present application. The method further comprises the steps of:
s21: and acquiring a target echo signal of the object to be detected.
The target echo signals are obtained after the laser radar transmits laser signals to the object to be detected, and the target echo signals comprise echo signals of all lasers.
In application, each laser in the lidar emits a laser signal to an object to be measured, and the electronic device acquires echo signals of the respective lasers with respect to the object to be measured.
S22: and determining a target pulse width correction set according to the identification information of the lasers aiming at the echo signals of each laser.
The target pulse width correction set comprises pulse width correction information of different signal thresholds.
In application, after the pulse width calibration step, the electronic device stores a plurality of pulse width correction sets. The electronic device searches a target pulse width correction set in a plurality of pulse width correction sets according to the serial numbers of the lasers.
S23: and correcting the echo signal of the laser according to the target pulse width correction set to obtain a corrected echo signal.
In the application, a correction amount corresponding to the pulse width is determined in a target pulse width correction set according to the pulse width of the echo signal of the laser, and the echo signal is corrected according to the correction amount.
According to the embodiment, the echo signals of the laser are corrected according to the target pulse width correction set, so that corrected echo signals are obtained, the echo signals of the laser can be accurately corrected, and accurate echo signals can be obtained.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.
Fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 8, the electronic apparatus 3 of this embodiment includes: at least one processor 30 (only one is shown in fig. 8), a memory 31 and a computer program 32 stored in the memory 31 and executable on the at least one processor 30, the processor 30 implementing the steps in any of the various method embodiments described above when executing the computer program 32.
The electronic device 3 may be a computing device such as a desktop computer, a notebook computer, a palm computer, a cloud server, etc. The electronic device 3 may include, but is not limited to, a processor 30, a memory 31. It will be appreciated by those skilled in the art that fig. 8 is merely an example of the electronic device 3 and is not meant to be limiting of the electronic device 3, and may include more or fewer components than shown, or may combine certain components, or may include different components, such as input-output devices, network access devices, etc.
The processor 30 may be a central processing unit (Central Processing Unit, CPU), the processor 30 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 31 may in some embodiments be an internal storage unit of the electronic device 3, such as a hard disk or a memory of the electronic device 3. The memory 31 may in other embodiments also be an external storage device of the electronic device 3, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the electronic device 3. Further, the memory 31 may also include both an internal storage unit and an external storage device of the electronic device 3. The memory 31 is used for storing an operating system, application programs, boot loader (BootLoader), data, other programs etc., such as program codes of the computer program etc. The memory 31 may also be used for temporarily storing data that has been output or is to be output.
It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
Embodiments of the present application also provide a computer readable storage medium storing a computer program, which when executed by a processor, may implement the steps in the above-described method embodiments.
Embodiments of the present application provide a computer program product which, when run on an electronic device, causes the electronic device to perform the steps of the method embodiments described above.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing device/terminal apparatus, recording medium, computer Memory, read-Only Memory (ROM), random access Memory (RAM, random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other manners. For example, the apparatus/network device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown 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 units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (11)
1. A method for acquiring pulse width correction information for a lidar, comprising:
for each laser in the laser radar, acquiring echo signals of calibration equipment with different detection distances to obtain n echo signals, wherein the calibration equipment comprises a plurality of reflecting devices with different reflectivities, and the echo signals are acquired after the laser transmits laser signals to the calibration equipment;
After the reference echo signals are determined in the n echo signals, n-1 echo signals to be compensated are obtained;
for each echo signal to be compensated, compensating the echo signal to be compensated according to the measured distance between the echo signal to be compensated and the reference echo signal to obtain a compensated echo signal, so that the compensated echo signal and the reference echo signal are aligned in distance;
determining pulse widths and receiving times of different signal thresholds in the reference echo signal and the compensated echo signal;
and determining the correction quantity of each pulse width according to the receiving time of the reference echo signal and the compensated echo signal aiming at each signal threshold value to obtain the pulse width correction information of the signal threshold value.
2. The method as recited in claim 1, further comprising:
acquiring a target echo signal of an object to be detected, wherein the target echo signal is acquired after the laser radar transmits a laser signal to the object to be detected, and the target echo signal comprises echo signals of all lasers;
determining a target pulse width correction set according to the identification information of each laser according to the echo signal of each laser, wherein the target pulse width correction set comprises the pulse width correction information with different signal thresholds;
And correcting the echo signal of the laser according to the target pulse width correction set to obtain a corrected echo signal.
3. The method according to claim 1, wherein the acquiring echo signals of calibration devices of different detection distances comprises:
acquiring echo signals of a plurality of target points according to the index information of the target points for each calibration device to obtain the echo signals of the calibration device;
the target point index information is determined according to the angular resolution of the laser, the total number of points of the calibration equipment and the number of points of each reflecting device, and is used for representing the corresponding relation between the number of the target point and the ranging point in the calibration equipment.
4. A method according to claim 3, wherein the measured distance is measured by a distance measuring device, the measured distance being used to characterize the distance between the distance measuring point of the calibration device and the lidar.
5. The method according to any one of claims 1-4, wherein compensating the echo signal to be compensated according to the measured distances of the echo signal to be compensated and the reference echo signal comprises:
Determining a compensation distance of the echo signal to be compensated according to a difference value between the measurement distance of the echo signal to be compensated and the measurement distance of the reference echo signal;
and compensating the echo signal to be compensated according to the compensation distance.
6. A system for collecting pulse width correction information for a lidar, comprising: the device comprises a laser adjusting device, an electronic device and a plurality of calibration devices, wherein the calibration devices are arranged on a plurality of collecting points with different distances, and the calibration devices comprise a plurality of reflecting devices with different reflectivities;
the laser adjusting device is used for adjusting a target laser to a target position, wherein the target laser is any laser in a laser radar;
the electronic equipment is used for acquiring echo signals of calibration equipment with different detection distances for each laser in the laser radar to obtain n echo signals, wherein the echo signals of the calibration equipment comprise echo signals of all reflection devices, and the echo signals are acquired after the laser emits laser signals to the calibration equipment;
the method is also used for obtaining n-1 echo signals to be compensated after the reference echo signals are determined in the n echo signals;
The method is also used for compensating the echo signals to be compensated according to the measured distance between the echo signals to be compensated and the reference echo signals for each echo signal to be compensated, and obtaining compensated echo signals so that the compensated echo signals are aligned with the reference echo signals in distance;
the method is also used for determining pulse widths and receiving time of different signal thresholds in the reference echo signal and the compensated echo signal;
and the pulse width correction information is used for determining the correction amount of each pulse width according to the receiving time of the reference echo signal and the compensated echo signal for each signal threshold value to obtain the pulse width correction information of the signal threshold value.
7. The system of claim 6, further comprising: the ranging origin of the ranging equipment and the ranging origin of the laser radar are positioned in the same vertical direction;
the distance measuring equipment is used for measuring the distance of the distance measuring points of the calibration equipment aiming at each calibration equipment to obtain the measured distance between the distance measuring points and the laser radar.
8. The system of claim 7, wherein the ranging points comprise a first type of ranging point and a second type of ranging point, the first type of ranging point being an interior point of each of the reflecting devices, the second type of ranging point being an intersection point of two adjacent reflecting devices.
9. The system according to any one of claims 6 to 8, wherein the laser adjustment device is specifically configured to adjust a pitch angle of the laser radar to adjust the target laser to a target position, and the laser signal emitted by the target laser is perpendicularly incident to the ranging point.
10. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of any one of claims 1 to 5 when executing the computer program.
11. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the method according to any one of claims 1 to 5.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116660873A (en) * | 2023-08-01 | 2023-08-29 | 佛山市兴颂机器人科技有限公司 | Precision compensation method, device and equipment for laser sensor and storage medium |
| CN116755100A (en) * | 2023-08-17 | 2023-09-15 | 深圳市速腾聚创科技有限公司 | Laser radar device and ranging adjustment method thereof |
| CN117310662A (en) * | 2023-09-26 | 2023-12-29 | 探维科技(苏州)有限公司 | Reflectivity calibration method, device and system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116660873A (en) * | 2023-08-01 | 2023-08-29 | 佛山市兴颂机器人科技有限公司 | Precision compensation method, device and equipment for laser sensor and storage medium |
| CN116660873B (en) * | 2023-08-01 | 2023-11-03 | 佛山市兴颂机器人科技有限公司 | Precision compensation method, device and equipment for laser sensor and storage medium |
| CN116755100A (en) * | 2023-08-17 | 2023-09-15 | 深圳市速腾聚创科技有限公司 | Laser radar device and ranging adjustment method thereof |
| CN116755100B (en) * | 2023-08-17 | 2024-02-02 | 深圳市速腾聚创科技有限公司 | Laser radar device and ranging adjustment method thereof |
| CN117310662A (en) * | 2023-09-26 | 2023-12-29 | 探维科技(苏州)有限公司 | Reflectivity calibration method, device and system |
| CN117310662B (en) * | 2023-09-26 | 2024-04-12 | 探维科技(苏州)有限公司 | Reflectivity calibration method, device and system |
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