CN116699559A - Coupling method applied to coupling system of multi-laser radar - Google Patents
Coupling method applied to coupling system of multi-laser radar Download PDFInfo
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- CN116699559A CN116699559A CN202310595073.9A CN202310595073A CN116699559A CN 116699559 A CN116699559 A CN 116699559A CN 202310595073 A CN202310595073 A CN 202310595073A CN 116699559 A CN116699559 A CN 116699559A
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- 238000010168 coupling process Methods 0.000 title claims abstract description 67
- 230000008878 coupling Effects 0.000 title claims abstract description 54
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 54
- 230000001131 transforming effect Effects 0.000 claims abstract description 6
- 230000004927 fusion Effects 0.000 claims abstract description 4
- 239000011159 matrix material Substances 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 7
- 238000013519 translation Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 2
- 230000009466 transformation Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000001808 coupling effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The application discloses a coupling method applied to a coupling system of a multi-laser radar, which comprises the following steps: calibrating internal parameters; a multi-radar spatial distribution, so that the laser radars keep a basic geometrical distribution position, wherein geometrical parameters among the laser radars comprise an offset d in the X, Y, Z axial direction x ，d y ，d z And rotation angles γ, β, α about X, Y, Z axes; calibrating external parameters; and collecting and fusing data, and transforming the point cloud data of the laser radar into the same coordinate system. According to the coupling method, a plurality of low-line-number laser radars are coupled, the coupling platform enables the low-line-number laser radars to meet geometric parameters, emergent rays of the laser radars are uniformly inserted into the emergent rays of the reference laser radars, point cloud data are added, and point cloud data fusion is carried out.
Description
The present application is a divisional application of chinese application No. 201710510980.3, the foregoing of which is incorporated by reference in the present document.
Technical Field
The application relates to the technical field of laser detection, in particular to a coupling method applied to a coupling system of a multi-laser radar.
Background
The laser radar is a radar system for detecting the position, speed and other characteristic quantities of a target by emitting laser beams, and the working principle is that the laser radar emits detection laser beams to the target, then compares the received signals reflected from the target with the emitted signals, and obtains relevant information of the target, such as parameters of the distance, azimuth, altitude, speed, gesture, even shape and the like of the target after proper processing.
Due to the inherent advantage of the laser radar to the environmental perception, the laser radar becomes a main sensor for detecting the environment by the automatic driving technology. The laser radars on the market mainly comprise 16 lines, 32 lines and 64 lines, wherein the larger the line number is, the more abundant the obtained point cloud data is. In addition, the laser radar belongs to optical, mechanical and electrical integrated products, and has high precision requirement, high manufacturing difficulty and higher price as the number of lines is larger. The low-line number laser radar has relatively low cost, but the obtained point cloud data is also less.
Disclosure of Invention
The embodiment of the application provides a multi-laser radar coupling platform and a multi-laser radar coupling system, which can acquire abundant point cloud data and reduce cost.
In order to solve the technical problems, the embodiment of the application discloses the following technical scheme:
in a first aspect, a coupling platform for multiple lidars is provided, where the coupling platform includes at least 2 bases for mounting lidars, the top surface of the base is a mounting surface, the mounting surfaces are inclined in the same direction, and the inclination angles of each mounting surface are different.
Preferably, the angle between adjacent emergent rays of the laser radar is theta, one mounting surface is arbitrarily selected as a reference surface, the inclination angle of the reference surface is alpha, and the inclination angles of the rest mounting surfaces are (alpha+theta/N), (alpha+2theta/N), … … and (alpha+ (N-1) theta/N).
Preferably, the laser radar comprises N (N=2n, N is larger than or equal to 1) bases, the included angle between adjacent emergent rays of the laser radar is theta, one mounting surface is arbitrarily selected as a reference surface, the inclination angle of the reference surface is alpha, and the inclination angles of the rest mounting surfaces are (alpha+theta/N), (alpha+2theta/N), … … and (alpha+ (N-1) theta/N).
Preferably, the base comprises n base groups, and each base group comprises two adjacent bases.
Preferably, the difference between the inclination angles of the two mounting surfaces of the base group is θ/2.
Preferably, the center of each of the mounting surfaces is located at the same height.
Preferably, the bases are positioned on the same straight line, and the distances between any two adjacent bases are equal.
Preferably, the mounting surface rotates around an X axis to realize inclination, and the X axis passes through the center of the mounting surface and is perpendicular to the main direction of outgoing light rays of the laser radar.
Preferably, a light barrier is further arranged between the adjacent bases.
In a second aspect, a coupling system of multiple lidars is provided, including a coupling platform of multiple lidars, 2 the coupling platform is relatively arranged, and further including a lidar arranged between the coupling platforms, two ends of the lidar are fixed by the base of the coupling platform.
The application discloses a coupling platform and a system of multiple laser radars, wherein the coupling platform comprises at least 2 bases for installing the laser radars, the top surfaces of the bases are mounting surfaces, the mounting surfaces incline towards the same direction, and the inclination angles of each mounting surface are different; in the use, two coupling platforms are arranged oppositely, and the laser radar is arranged between the coupling platforms, and two ends of the laser radar are fixed through bases of the coupling platforms. When the coupling platform enables a plurality of low-line-number laser radars to be coupled, geometric parameters are met, emergent rays of the laser radars are uniformly inserted into the emergent rays of the reference laser radars, so that point cloud data are increased, scanning effect with the high-line-number laser radars is achieved, and cost is reduced. The coupling system couples a plurality of low-line-number laser radars, and compared with a single laser radar, the point cloud data can be increased, so that a rich data source is provided for subsequent data processing; the use effect of the high-line-number laser radar is even exceeded, and the cost is far lower than that of the high-line-number laser radar.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a coupling platform of a multi-lidar according to an embodiment of the present application;
FIG. 2 is a front view of FIG. 1;
FIG. 3a is a cross-sectional view taken along line A-A of FIG. 2;
FIG. 3B is a cross-sectional view taken along line B-B of FIG. 2;
FIG. 3C is a cross-sectional view taken along line C-C of FIG. 2;
FIG. 3D is a view in cross section D-D of FIG. 2;
fig. 4a is a schematic diagram showing light distribution before coupling of outgoing light of the multi-lidar according to an embodiment of the present application;
fig. 4b is a schematic diagram showing an optical fiber distribution after coupling of outgoing light of the multi-laser radar according to an embodiment of the present application;
FIG. 5 is a schematic diagram showing a multi-lidar coupling effect according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a coupling platform of a multi-lidar according to a second embodiment of the present application;
fig. 7 is a schematic structural diagram of a coupling system of a multi-lidar according to a third embodiment of the present application;
fig. 8 is a flowchart of a multi-lidar coupling method according to a third embodiment of the present application.
Reference numerals
100. A coupling platform; 110. a base; 111. a first mounting surface; 112. a second mounting surface; 113. a third mounting surface; 114. a fourth mounting surface; 120. a boss; 130. a fixing hole; 140. a fixed bottom plate; 150. a light barrier; 200. a coupling platform; 210. a base; 211. a first mounting surface; 212. a second mounting surface; 213. a third mounting surface; 300. a coupling platform; 310. and (5) laser radar.
Detailed Description
The following embodiment of the application provides a coupling platform and a coupling system of a multi-laser radar, so that the laser radar meets the geometric parameters during coupling, and the same effect as that of a high-line number laser radar is realized.
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Embodiment one:
as shown in fig. 1, the coupling platform 100 includes 4 bases 110 for mounting lidar, the distance between any two adjacent bases 110 is equal, and the distance between the bases 110 is determined by the combination of the width of the location to be mounted and the effective view angle range that the lidar is expected to reach; the top surface of the base 110 is a mounting surface, and a first mounting surface 111, a second mounting surface 112, a third mounting surface 113 and a fourth mounting surface 114 are sequentially arranged from left to right; the center of each mounting surface is positioned at the same height; taking a connecting line at the center of the mounting surface as an X axis, and rotating the mounting surface around the X axis to realize inclination; the mounting faces are inclined in the same direction and the inclination angle of each mounting face is different.
An annular boss 120 is circumferentially arranged on the mounting surface, and a fixing hole 130 is formed in the mounting surface; the laser Lei Daka is installed in the boss 120 and fixed through the fixing hole 130. The base 110 is arranged on the fixed bottom plate 140; fixed base plate 140 facilitates the overall installation of coupling platform 100 for use.
As shown in fig. 2 and fig. 3 a-3 d, the laser radar comprises 4 bases 110, the included angle between adjacent emergent rays of the laser radar is θ, one installation surface is arbitrarily selected as a reference surface, the inclination angle of the reference surface is α, and the inclination angles of the other 3 installation surfaces are (α+θ/4), (α+θ/2), and (α+3θ/4).
Comprises 2 base groups, each base group comprises 2 adjacent bases 110; the difference of the inclination angles of the 2 mounting surfaces of the base group is theta/2; the base groups formed by the 2 bases 110 are used as the minimum units, in the use process, the base groups of each minimum unit can meet the geometric parameters of the coupling of the emergent laser beams, and the base groups of a plurality of minimum units can also meet the geometric parameters of the coupling of the emergent laser beams after being combined, so that the base groups are convenient to replace and adjust in use.
For example, the included angle between the adjacent outgoing rays of the laser radar is 2 °, the third mounting surface 113 is selected as a reference surface, the inclination angle of the reference surface is 11 °, the inclination angles of the remaining 3 mounting surfaces are 11.5 °, 12 °, 12.5 °, the inclination angles of the first mounting surface 111 are 11.5 °, the inclination angle of the second mounting surface 112 is 12.5 °, and the inclination angle of the fourth mounting surface 114 is 12 °; the first mounting surface 111 and the second mounting surface 112 belong to one base group, the difference in inclination angle between them is 1 °, the third mounting surface 113 and the fourth mounting surface 114 belong to the other base group, and the difference in inclination angle between them is also 1 °.
As shown in fig. 4a and 4b, two adjacent outgoing rays of a reference lidar are shown in fig. 4a, and the reference lidar is mounted on a reference plane; the rest laser radars are arranged on the rest mounting surfaces, and the emergent rays of the rest laser radars are uniformly inserted into the emergent rays of the reference laser radars through the set geometric azimuth distribution; as shown in fig. 4b, the outgoing light rays of the remaining 3 lidars are uniformly inserted between two adjacent outgoing light rays of the reference lidar. The remaining outgoing light rays are also distributed as such.
As shown in fig. 5, a light barrier 150 is further disposed between adjacent bases 110; the light barrier 150 prevents mutual interference between lidars. The scanning range of the emergent rays of the 4 laser radars is shown in fig. 5, the emergent rays of the laser radars are m beams, and after the multi-laser radars are coupled: in the figure, the effective scanning emergent ray of the M1 area is M beams, the effective scanning emergent ray of the M2 area is 2M beams, the effective scanning emergent ray of the M3 area is 3M beams, and the effective scanning emergent ray of the M4 area is 4M beams. For example, the laser radar has 16 outgoing light beams, and after multiple laser radars are coupled: in the figure, 16 beams of effective scanning emergent light are in an M1 area, 32 beams of effective scanning emergent light are in an M2 area, 48 beams of effective scanning emergent light are in an M3 area, and 64 beams of effective scanning emergent light are in an M4 area; the scanning effect of the M4 area is the same as that of the 64-line laser radar of the high-line beam.
Embodiment two:
as shown in fig. 6, the coupling platform 200 includes 3 bases 210 for mounting lidar, and the distances between any two adjacent bases 210 are equal; the top surface of the base 210 is a mounting surface, and a first mounting surface 211, a second mounting surface 212 and a third mounting surface 213 are sequentially arranged from left to right; the center of each mounting surface is positioned at the same height; taking a connecting line at the center of the mounting surface as an X axis, and rotating the mounting surface around the X axis to realize inclination; the mounting faces are inclined in the same direction and the inclination angle of each mounting face is different.
The included angle between the adjacent emergent rays of the laser radar is theta, one mounting surface is arbitrarily selected as a reference surface, the inclination angle of the reference surface is alpha, and the inclination angles of the other 2 mounting surfaces are (alpha+theta/3) and (alpha+2theta/3).
For example, the included angle between adjacent outgoing rays of the lidar is 3 °, the second mounting surface is selected as the reference surface, the inclination angle of the reference surface is 11 °, the inclination angles of the remaining 3 mounting surfaces are 12 ° and 13 °, the inclination angles of the first mounting surface 211 and the third mounting surface 213 are 12 ° respectively.
The first embodiment and the second embodiment of the application disclose a multi-laser radar coupling platform, which is used for installing a plurality of laser radars for coupling, so that geometric parameters are met when the laser radars are coupled, and emergent rays of the laser radars are uniformly inserted into the emergent rays of the reference laser radars, thereby increasing point cloud data and realizing the same scanning effect as the high-line number laser radars; the cost is reduced, and various use scenes are satisfied.
Embodiment III:
as shown in fig. 7, the 300,2 coupling platforms 300 including the multiple lidars are disposed opposite to each other, and further include a lidar 310 disposed between the coupling platforms 300, and two ends of the lidar 310 are fixed by bases of the coupling platforms 300.
As shown in fig. 8, the multi-lidar coupling process includes the following steps:
step S301: calibrating internal parameters; the space coordinate of the point cloud data acquired by the laser radar is accurate, and the distance measurement D, the pitch angle psi and the horizontal rotation angle theta of the laser radar are mainly corrected.
Step S302: a multi-radar spatial distribution; the laser radars are kept at a basic geometric distribution position, and the geometric parameters among the laser radars are as follows: offset d in the X, Y, Z axial direction x ，d y ，d z And rotation angles gamma, beta, alpha about the X, Y, Z axis.
Step S303: calibrating external parameters; by geometrical parameters (d) of the radar spatial distribution x ，d y ，d z Gamma, beta, alpha) determines a rotation matrix R between multiple lidars 3x3 And a translation matrix T 3x1 The formula is as follows:
step S304: collecting and fusing data; and transforming the point cloud data of the plurality of laser radars into the same coordinate system. Illustratively, 2 lidar couplings: the coordinate system of the first radar is W, and the coordinates of the acquired point cloud data can be expressed as (x) w ,y w ,z w ) The method comprises the steps of carrying out a first treatment on the surface of the The coordinate system of the second radar is U, and the coordinates of the acquired point cloud data can be expressed as (x) u ,y u ,z u ) The method comprises the steps of carrying out a first treatment on the surface of the By rotating the matrix R based on the coordinate system W of the first radar 3x3 And translationTransformation matrix T 3x1 Transforming the point cloud data of the second radar to the coordinate system W of the first radar to realize data fusion of the first radar and the second radar, wherein the calculation formula is as follows:
the third embodiment of the application discloses a coupling system of multiple laser radars, which is used for coupling multiple laser radars, wherein the laser radars are arranged between coupling platforms to be fixed, so that geometric parameters are met when the laser radars are coupled, emergent rays of the laser radars are uniformly inserted into the emergent rays of the reference laser radars, and point cloud data are increased; and the point cloud data acquired by each laser radar are subjected to data fusion, so that the high-line number laser radar is replaced, and the cost is reduced.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.
The embodiments of the present application described above do not limit the scope of the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the scope of the present application.
Claims (5)
1. The coupling method of the coupling system applied to the multi-laser radar comprises a coupling platform and the laser radar, wherein the coupling platform comprises N bases for mounting the laser radar, N is more than or equal to 2, the top surface of the base is a mounting surface, an included angle between adjacent emergent rays of the laser radar is theta, one mounting surface is arbitrarily selected as a reference surface, the inclination angle of the reference surface is alpha, the inclination angles of the rest mounting surfaces are (alpha+theta/N), (alpha+2theta/N), … …, (alpha+ (N-1) theta/N), and two ends of the laser radar are fixed through the bases of the coupling platform, and the coupling method is characterized by comprising the following steps:
calibrating internal parameters;
a multi-radar spatial distribution, so that the laser radars keep a basic geometrical distribution position, wherein geometrical parameters among the laser radars comprise an offset d in the X, Y, Z axial direction x ，d y ，d z And rotation angles γ, β, α about X, Y, Z axes;
calibrating external parameters;
and collecting and fusing data, and transforming the point cloud data of the laser radar into the same coordinate system.
2. The coupling method applied to a coupling system of a multi-lidar according to claim 1, wherein the internal reference calibration includes correcting a range D, a pitch angle ψ, and a horizontal rotation angle θ of the lidar.
3. The coupling method applied to the coupling system of the multi-lidar according to claim 1 or 2, wherein the external parameter calibration comprises: by geometrical parameters (d) of the radar spatial distribution x ，d y ，d z Gamma, beta, alpha) determines a rotation matrix R between multiple lidars 3x3 And a translation matrix T 3x1 。
4. A coupling method for a coupling system for multiple lidar according to claim 3, characterized in that the said geometrical parameters (d x ，d y ，d z Gamma, beta, alpha) determines a rotation matrix R between multiple lidars 3x3 And a translation matrix T 3x1 The formula is as follows:
5. the coupling method applied to the coupling system of multiple lidars according to claim 1 or 2, wherein the number of the lidars is 2, the 2 lidars are a first radar and a second radar, respectively, the coordinate system of the first radar is W, and the coordinates of the point cloud data acquired by the first radar are expressed as (x w ,y w ,z w ) The method comprises the steps of carrying out a first treatment on the surface of the The coordinate system of the second radar is U, and the coordinates of the point cloud data acquired by the second radar are expressed as (x) u ,y u ,z u ) The method is characterized in that the steps of collecting and fusing data, and transforming the point cloud data of the laser radar into the same coordinate system comprise the following steps:
by rotating the matrix R based on the coordinate system W of the first radar 3x3 And a translation transformation matrix T 3x1 Transforming the point cloud data of the second radar to the coordinate system W of the first radar to realize data fusion of the first radar and the second radar, wherein the calculation formula is as follows:
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| CN202310595073.9A CN116699559A (en) | 2017-06-29 | 2017-06-29 | Coupling method applied to coupling system of multi-laser radar |
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| CN202310595073.9A CN116699559A (en) | 2017-06-29 | 2017-06-29 | Coupling method applied to coupling system of multi-laser radar |
| CN201710510980.3A CN107238828B (en) | 2017-06-29 | 2017-06-29 | Multi-laser radar coupling platform and system |
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| CN107966701B (en) * | 2017-11-14 | 2019-12-27 | 北京无线电测量研究所 | Radar inclination angle measuring method and device |
| CN110678780B (en) * | 2019-05-16 | 2022-04-12 | 深圳市速腾聚创科技有限公司 | Laser receiving array, laser radar and intelligent sensing equipment |
| CN114047496A (en) * | 2021-10-14 | 2022-02-15 | 中国第一汽车股份有限公司 | Multi-laser-radar adjustable coupling system and method |
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| CN207037074U (en) * | 2017-06-29 | 2018-02-23 | 深圳市速腾聚创科技有限公司 | The coupling platform and system of a kind of multilasered optical radar |
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