CN112558045B - Offline acceptance method for multi-line laser radar function of automatic driving equipment - Google Patents
Offline acceptance method for multi-line laser radar function of automatic driving equipment Download PDFInfo
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- CN112558045B CN112558045B CN202011437265.XA CN202011437265A CN112558045B CN 112558045 B CN112558045 B CN 112558045B CN 202011437265 A CN202011437265 A CN 202011437265A CN 112558045 B CN112558045 B CN 112558045B
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- 238000001514 detection method Methods 0.000 claims abstract description 42
- 238000007689 inspection Methods 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 5
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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
- G01S7/497—Means for monitoring or calibrating
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to the field of inspection methods of multi-line laser radar functions, in particular to an offline inspection method of automatic driving equipment, which comprises the steps of firstly establishing a scanning detection platform, wherein the scanning detection platform comprises an equipment parking area, a motion track, a mobile trolley, a target object and a detection system; secondly, the automatic driving equipment to be checked and accepted off line moves to an equipment parking area; thirdly, starting scanning work of the multi-line laser radar, starting the mobile trolley to move, and generating laser scanning data by the multi-line laser radar; the fourth detection system acquires laser scanning data and judges whether the frame number of the laser scanning target object in one time period in the laser scanning data is consistent with the theoretical frame number or not; the method can be used for rapidly and effectively detecting whether the functions of the multi-line laser radar are normal or not, is particularly suitable for mass production offline acceptance, has accurate and reliable acceptance results, is easy to implement, and is simple in use and operation process.
Description
Technical Field
The invention relates to the field of automatic driving and multi-line laser radar function inspection methods.
Background
Along with the rapid development of intelligent science and technology, the application of the multi-line laser radar is more and more extensive, and especially the application of the multi-line laser radar in some automatic driving equipment is more indispensable, and in the automatic driving equipment, the multi-line laser radar obtains laser scanning data for judging the surrounding environment and objects of a vehicle by simultaneously transmitting and receiving a plurality of laser beams to achieve laser scanning within a range of 360 degrees. Therefore, it is very important that the function of the multi-line laser radar can be used normally on the automatic driving device, and the automatic driving device is a basic requirement for realizing safe and effective automatic driving.
At present, there are various functional inspection methods for the multi-line laser radar, but according to the use of the multi-line laser radar on different outdoor mobile devices, the installation of the multi-line laser radar at different positions on the devices, and the like, the existing functional inspection methods are not necessarily applicable, are not necessarily capable of achieving comprehensive detection of functions, and are capable of effectively detecting the requirements of required functions, such as whether the response frequency of a laser scanning function meets the normal requirements, whether azimuth deviation occurs in laser scanning data, whether the laser scanning data accords with a real scene or not, and the like.
Disclosure of Invention
The invention aims to provide an offline checking and accepting method for the multi-line laser radar function of automatic driving equipment, which can rapidly and effectively detect whether the function of the multi-line laser radar is normal or not and is particularly suitable for offline checking and accepting of the multi-line laser radar function of the automatic mass production driving equipment.
In order to achieve the above purpose, the technical scheme of the invention is as follows: a method for checking and accepting offline of multi-line laser radar function of automatic driving equipment comprises the following steps,
the method comprises the steps that firstly, a scanning detection platform is established in advance, the scanning detection platform comprises an equipment parking area, a moving track, a moving trolley, a target object and a detection system, the equipment parking area is used for automatic driving equipment to park at fixed points, directionally and horizontally, the moving track is transversely arranged in front of one side of the automatic driving equipment headstock where the equipment parking area is correspondingly parked according to a set distance position, the moving trolley is provided with a driving device for driving the moving trolley to move on the moving track, the moving trolley is controlled to start and stop by an independent controller or is controlled to start and stop by the detection system, and the target object is vertically arranged on the moving trolley;
step two, moving the automatic driving equipment to be checked and accepted off line to an equipment parking area, and parking according to fixed points and directional positions required by the use of the scanning detection platform;
step three, starting scanning work of the multi-line laser radar on the automatic driving equipment, starting the mobile trolley to move according to the set moving speed, and generating laser scanning data by the multi-line laser radar;
step four, the detection system acquires laser scanning data, judges whether the frame number of the laser scanning target object in one time period in the laser scanning data is consistent with the theoretical frame number of the laser scanning target object in the corresponding time period calculated by known data, judges that the laser scanning frequency is qualified if the frame number is consistent with the theoretical frame number, and judges that the laser scanning frequency is unqualified if the frame number is not consistent with the theoretical frame number;
and calculating whether the clustering of the target object exists in the laser scanning data or not through a clustering method, judging that the laser scanning is wrong and unqualified if the clustering exists, judging whether the coordinates of the central point of the clustering accord with the coordinate system of the multi-line laser radar or not if the clustering exists, judging that the function of the multi-line laser radar is accepted and qualified if the clustering does not accord with the coordinate system of the multi-line laser radar, and judging that the laser scanning is wrong and unqualified if the clustering does not accord with the coordinate system of the multi-line laser radar.
By adopting the technical scheme, the invention has the beneficial effects that: the acceptance method of the invention obtains the laser scanning data through the target object which moves by scanning the multi-line laser radar to calculate, analyze and judge the result, and particularly judges whether the clustering exists by judging whether the number of laser scanning frames in a time accords with the theoretical number of frames or not and adopting a clustering method, and judges whether the coordinate of a clustering center point accords with the coordinate system of the multi-line laser radar or not so as to judge whether the scanning frequency of the multi-line laser radar and the laser scanning data accord with the actual scene or not, thereby determining whether the multi-line laser radar can be normally used.
Drawings
Fig. 1 is a schematic diagram of a layout structure of a scanning detection platform of an automatic driving device multi-line laser radar function offline acceptance method.
Detailed Description
In order to further explain the technical scheme of the invention, the invention is explained in detail by specific examples.
In this embodiment, the autopilot device uses an unmanned autopilot road cleaning vehicle as an example, as shown in the figure, the height of the vehicle 1 is about one meter four, the number of wheels 2 at the bottom is 3, the number of front wheels 2 is 1, the number of rear wheels is 2, the bottom of the vehicle head is a road cleaning device, and the multi-line laser radar 4 is installed in the middle part of the top surface of the vehicle head.
The invention discloses a method for checking and accepting offline of multi-line laser radar function of automatic driving equipment, which comprises the following steps,
step one, a scanning detection platform 3 is pre-established, the platform can be an independent operation workshop, no other substances influencing the laser scanning result exist around the platform, and factors influencing the detection structure are avoided, wherein the scanning detection platform 3 comprises a vehicle parking 31 area for parking a detection vehicle 1 and a detection system (not shown in the figure) for carrying out detection acceptance operation, a moving track 32, a moving trolley 33 and a target object 34.
In this embodiment, the device parking area 31 is provided for positioning, orienting and horizontally parking the autopilot device 1, the device parking area 31 is provided with wheel positioning points corresponding to 3 wheels 2 of the vehicle, the wheel positioning points are simple and can be provided with grooves 311 corresponding to positions of the wheels 2, the bottom surface of the grooves 311 can be concave arc surfaces corresponding to the circumferences of the wheels, which is favorable for rapid embedded fixed point positioning, the lowest points of the three grooves 311 are on the same horizontal plane, the width of the grooves 311 is preferably corresponding to the width of the wheels 2 or slightly larger than the width of the wheels, which is preferably not more than 1 cm, so as to avoid affecting the detection accuracy, and in order to facilitate the embedding of the wheels into the grooves 311, a splayed wheel guiding structure 313 can be arranged at the driving end of the grooves 311, and a forward stop 312 can be arranged at the front end of the grooves 311 corresponding to facilitate the embedding of the front wheels, thereby achieving the detection of the autopilot device 1 to the fixed point, orienting and horizontally and meeting the platform detection requirements.
The moving track 32 is transversely disposed in front of the front side of the equipment parking area 31 corresponding to the parked autopilot equipment 1 according to a set distance position, as shown in the figure, the set distance position is preferably not exceeding the preferred scanning distance detected by laser scanning, the length of the moving track 32 is preferably greater than the width of the vehicle 1, and the moving travel of the moving track is exemplified by 2 meters.
The moving trolley 33 is provided with a driving device (not visible in the figure) for driving the moving trolley 33 to move on the moving track 32, the moving trolley 33 is controlled to start and stop by an independent controller or controlled to start and stop by a detection system, namely, the moving trolley 33 is provided with a wired or wireless controller for manually controlling the starting and stopping of the moving trolley 33 and is not related to the detection system, but is independently controlled, or the moving trolley 33 is connected with the detection system in a wired or wireless way, and the starting and stopping of the moving trolley 33 are controlled by the detection system.
The target object 34 is vertically installed on the moving trolley 33, and the target object 34 may be a human-shaped prop or other profiling props.
Step two, the autopilot device 1 to be checked and accepted off line is controlled to move to the device parking area 31, and is parked according to the fixed point and the directional position required by the use of the scanning detection platform 3, and the vehicle 1 of the embodiment of the present invention is driven to have 3 wheels 2 embedded into the corresponding grooves 311, so as to achieve the parking requirement.
Step three, starting scanning operation of the multi-line laser radar 4 on the autopilot device 1, and simultaneously controlling the detection system to start the mobile trolley 44 to move at a set moving speed, wherein in the embodiment, the moving stroke of the moving track 32 is 2 meters, the moving speed of the mobile trolley 33 is set to move one meter per second, and the multi-line laser radar 4 generates laser scanning data;
step four, the detection system obtains the laser scanning data, the detection system is the program designed according to the need, can be carried in the electronic equipment such as the computer, tablet personal computer, mobile phone, etc., can be used, obtain the laser scanning data can be connected with system of the vehicle through the wired or wireless way, thus obtain the laser scanning data, after the detection system obtains the laser scanning data, calculate the processing according to the programmed program, the invention calculates and processes and is the frame number of the laser scanning target object in a time slot in the laser scanning data first and calculates the theoretical frame number of the laser scanning target object in the corresponding time slot through the known data to judge whether the laser scanning data accords with, for example the above-mentioned movement orbit 32 is 2 meters, the movement speed of the mobile trolley 33 is one meter per second, the frequency of the multi-line laser radar 4 is 10 hertz per second, then the mobile trolley 33 is moved 2 meters on the movement orbit 32 theoretically, the laser scanning data should have 20 frames, if the laser scanning data have 18-22 frames, judge the laser scanning frequency is qualified, if the laser scanning data does not reach 18 frames, judge the frequency is not qualified;
and calculating whether the clustering of the target object 34 exists in the laser scanning data through a clustering method, judging that the laser scanning is wrong and unqualified if the clustering exists, judging whether the coordinates of the clustering center point accord with the coordinate system of the multi-line laser radar 4 if the clustering center point coordinates accord with the coordinate system of the multi-line laser radar, judging that the multi-line laser radar function is accepted, judging that the laser scanning is wrong and unqualified if the clustering center point coordinates do not accord with the coordinate system of the multi-line laser radar, and giving unqualified judging data by a detection system.
After the detection, the automatic driving device 1 can exit the scanning detection platform 3, and a technician can process the unqualified judgment data given by the detection system corresponding to the multi-line laser radar, such as replacement of the multi-line laser radar, parameter adjustment and the like.
In summary, the offline acceptance method for the multi-line laser radar function of the automatic driving equipment disclosed by the invention is simple to operate, accurate, effective and reliable in acceptance result, and the layout structure of the scanning detection platform 3 constructed by the acceptance method provided by the embodiment of the invention can achieve the advantages of simple layout structure, low manufacturing cost, simplicity and rapidness in use and operation, and easiness in implementation of the function effect, and is particularly suitable for detection on a production line of the automatic driving equipment for mass production.
The above examples and drawings are not intended to limit the form or form of the invention, and any suitable variations or modifications thereto by those of ordinary skill in the art should be considered without departing from the scope of the invention.
Claims (1)
1. A method for checking and accepting the offline of the multi-line laser radar function of automatic driving equipment is characterized in that the checking and accepting method is as follows,
the method comprises the steps that firstly, a scanning detection platform is established in advance, the scanning detection platform comprises an equipment parking area, a moving track, a moving trolley, a target object and a detection system, the equipment parking area is used for automatic driving equipment to park at fixed points, directionally and horizontally, the moving track is transversely arranged in front of one side of the automatic driving equipment headstock where the equipment parking area is correspondingly parked according to a set distance position, the moving trolley is provided with a driving device for driving the moving trolley to move on the moving track, the moving trolley is controlled to start and stop by an independent controller or is controlled to start and stop by the detection system, and the target object is vertically arranged on the moving trolley;
step two, moving the automatic driving equipment to be checked and accepted off line to an equipment parking area, and parking according to fixed points and directional positions required by the use of the scanning detection platform;
step three, starting scanning work of the multi-line laser radar on the automatic driving equipment, starting the mobile trolley to move according to the set moving speed, and generating laser scanning data by the multi-line laser radar;
step four, the detection system acquires laser scanning data, judges whether the frame number of the laser scanning target object in one time period in the laser scanning data is consistent with the theoretical frame number of the laser scanning target object in the corresponding time period calculated by known data, judges that the laser scanning frequency is qualified if the frame number is consistent with the theoretical frame number, and judges that the laser scanning frequency is unqualified if the frame number is not consistent with the theoretical frame number;
and calculating whether the clustering of the target object exists in the laser scanning data or not through a clustering method, judging that the laser scanning is wrong and unqualified if the clustering exists, judging whether the coordinates of the central point of the clustering accord with the coordinate system of the multi-line laser radar or not if the clustering exists, judging that the function of the multi-line laser radar is accepted and qualified if the clustering does not accord with the coordinate system of the multi-line laser radar, and judging that the laser scanning is wrong and unqualified if the clustering does not accord with the coordinate system of the multi-line laser radar.
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