CN115079111A - Zero calibration and compensation method, equipment and storage medium of radar scanning mechanism - Google Patents

Abstract

The invention provides a zero calibration and compensation method, equipment and a storage medium for a radar scanning mechanism, wherein the method comprises the following steps: and controlling one of the two rotating mechanisms to be kept static, controlling the other rotating mechanism to rotate to a plurality of different positions from the initial position, recording the distance between the radar detection unit and the target calibration plate when the rotating mechanism is at the plurality of different positions, and determining the zero offset of the rotating mechanism through the detection distance of the rotating mechanism at the initial position and the actual zero position. And then, controlling the rotating mechanism to rotate by a plurality of preset angles by taking the actual zero position as a reference, recording the detection distance between the radar detection unit and the target calibration plate when the rotating mechanism rotates to a plurality of preset angles, calculating a plurality of actual rotating angles of the rotating mechanism according to the detection distances of the rotating mechanism at the actual zero position and the preset angles, and determining a compensation model of the rotating mechanism. The calibration process provided by the invention is simple.

Description

Zero calibration and compensation method, equipment and storage medium of radar scanning mechanism

technical field

The invention relates to the technical field of radar calibration, in particular to a zero position calibration and compensation method, device and storage medium of a radar scanning mechanism.

Background technique

One of the main tasks of the radar scanning mechanism is to collect the position information of obstacles in the three-dimensional space, and then collect the distance information from the obstacles to the measurement system through electromagnetic wave detection. The zero error is an important technical index in the calibration of the radar scanning mechanism.

The zero position calibration of the rotating mechanism in the radar scanning mechanism requires the help of an encoder, and it is difficult to ensure that the zero point of the encoder of the rotating mechanism is completely coincident with the zero position of the rotating mechanism during the installation process. Therefore, the radar scanning mechanism needs to be calibrated after installation. Zero calibration.

At present, on the one hand, the zero position calibration of the radar scanning mechanism usually uses a laser tracker, but its cost is high and the calibration process is complicated. On the other hand, the radar scanning mechanism needs to detect the height of the material in the warehouse and then calculate the actual inventory of the material, which requires the radar scanning mechanism to have high motion accuracy to avoid deviations. However, the geometric error of the radar scanning mechanism is impossible. Therefore, how to calibrate the zero position of the radar scanning mechanism and compensate the existing zero position error has become a technical problem that needs to be solved urgently at present.

SUMMARY OF THE INVENTION

Embodiments of the present invention provide a zero position calibration and compensation method, device and storage medium for a radar scanning mechanism, so as to solve the problem that the current zero position calibration process of the radar scanning mechanism is relatively complicated.

In a first aspect, an embodiment of the present invention provides a zero position calibration and compensation method for a radar scanning mechanism. The radar scanning mechanism includes a radar mounting surface, a first rotating mechanism, a second rotating mechanism, and a radar detection unit. The first rotating mechanism rotates. Or swing mounted on the radar installation surface, the second rotating mechanism is hinged on the free end of the first rotating mechanism, the radar detection unit is arranged on the free end of the second rotating mechanism, wherein the rotation axis of the second rotating mechanism and the rotation of the first rotating mechanism The axes are perpendicular to each other, and the zero calibration and compensation methods include:

When performing zero calibration and compensation on the target rotation mechanism, control the rotation mechanisms other than the target rotation mechanism in the first rotation mechanism and the second rotation mechanism to remain stationary, and control the target rotation mechanism to rotate from the initial position to multiple different positions, and record the target rotation mechanism. The detection distance between the radar detection unit and the target calibration plate when the rotation mechanism is in multiple different positions, the target rotation mechanism is the first rotation mechanism or the second rotation mechanism, the target calibration plate is located in the detection area of the radar detection unit, and the target calibration plate parallel or perpendicular to the radar mounting surface;

According to the detection distance of the target rotation mechanism at the initial position and the actual zero position, determine the zero position offset of the target rotation mechanism, wherein the actual zero position is the position of the target rotation mechanism when the detection distance is the shortest;

Based on the actual zero position, control the target rotation mechanism to rotate at multiple preset angles, and record the detection distance between the radar detection unit and the target calibration plate when the target rotation mechanism rotates to multiple preset angles;

The multiple actual rotation angles of the target rotation mechanism are calculated according to the detection distances of the target rotation mechanism at the actual zero position and multiple preset angles, and a compensation model of the target rotation mechanism is constructed according to the multiple preset angles and multiple actual rotation angles.

In a possible implementation manner, controlling the rotation mechanisms other than the target rotation mechanism in the first rotation mechanism and the second rotation mechanism to remain stationary, specifically:

The rotation mechanisms other than the target rotation mechanism in the first rotation mechanism and the second rotation mechanism are controlled to be in a first position and remain stationary at the first position, and the first position is the position when the corresponding rotation mechanism is perpendicular to the target calibration plate.

In a possible implementation, the zero offset θ ₀ of the target rotating mechanism is:

θ ₀ =arcos(r+l ₀ )/(r+ _l );

Among them, θ ₀ is the zero offset of the target rotating mechanism, r is the turning radius of the radar detection unit,

l is the detection distance between the radar detection unit and the target calibration plate when the target rotation mechanism is in the _initial position, and l ₀ is the detection distance between the radar detection unit and the target calibration plate when the target rotation mechanism is in the actual zero position.

In a possible implementation manner, the step of constructing a compensation model of the target rotation mechanism according to multiple preset angles and multiple actual rotation angles includes:

Using multiple preset angles as inputs and multiple actual rotation angles as outputs, data fitting processing is performed to obtain a compensation model representing the relationship between the actual rotation angle and the preset angle.

In a possible implementation manner, multiple preset angles are used as inputs and multiple actual rotation angles are used as outputs to perform data fitting processing, which specifically includes:

Perform data fitting processing on multiple preset angles and multiple actual rotation angles according to the least squares method.

In a possible implementation manner, the compensation model for the relationship between the actual rotation angle and the preset angle is:

θ=a*θ _x +b;

Among them, θ is the actual rotation angle, θ _x is the preset angle, and a and b are the coefficient values obtained by fitting.

In a possible implementation manner, the first rotation mechanism swings 180 degrees along the rotation axis of the first rotation mechanism, and the second rotation mechanism swings 180 degrees along the rotation axis of the second rotation mechanism.

In a possible implementation manner, the first rotation mechanism rotates 360 degrees along the rotation axis of the first rotation mechanism, and the second rotation mechanism swings 180 degrees along the rotation axis of the second rotation mechanism.

In a second aspect, an embodiment of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, when the processor executes the computer program The steps of the method described above in the first aspect or any possible implementation manner of the first aspect are implemented.

In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, implements the first aspect or any of the first aspect above. A possible implementation of the steps of the described method.

The beneficial effects that the embodiment of the present invention has compared with the prior art are:

When the present invention performs zero-position calibration and compensation on the target rotating mechanism, firstly, by controlling one of the first rotating mechanism or the second rotating mechanism to remain stationary, and controlling the other rotating mechanism to rotate from the initial position to a plurality of different positions, And record the distance between the radar detection unit and the target calibration plate when the rotating mechanism is in multiple different positions, and determine the zero offset of the rotating mechanism through the detection distance of the rotating mechanism at the initial position and the actual zero position . Then, control the rotating mechanism to rotate multiple preset angles based on the actual zero position, and record the detection distance between the radar detection unit and the target calibration plate when the rotating mechanism rotates to multiple preset angles, and pass The detection distance of the rotation mechanism at the actual zero position and a plurality of preset angles calculates a plurality of actual rotation angles of the rotation mechanism, and then determines the compensation model of the rotation mechanism. Therefore, the zero-position calibration of the radar scanning mechanism can be performed through the radar detection unit of the radar scanning mechanism itself, and the compensation model of the radar scanning mechanism can be obtained through a simple geometric relationship.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present invention. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is a schematic flowchart of a zero-position calibration and compensation method for a radar scanning mechanism provided by an embodiment of the present invention;

2 is a schematic structural diagram of a radar scanning mechanism provided by an embodiment of the present invention;

3 is a schematic structural diagram of another radar scanning mechanism provided by an embodiment of the present invention;

4 is a schematic structural diagram of the second rotating mechanism calibrated after the radar scanning mechanism in FIG. 2 is installed with a calibration plate according to an embodiment of the present invention;

5 is a schematic structural diagram of calibrating the first rotating mechanism after the radar scanning mechanism in FIG. 2 is installed with a calibration plate according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of zero position calibration of the second rotating mechanism of the radar scanning mechanism in FIG. 4 according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of zero position calibration of the first rotating mechanism of the radar scanning mechanism in FIG. 5 according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of error compensation of the second rotation mechanism of the radar scanning mechanism in FIG. 4 according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of error compensation of the first rotation mechanism of the radar scanning mechanism in FIG. 5 according to an embodiment of the present invention;

10 is a schematic structural diagram of a zero position calibration and compensation device of a radar scanning mechanism provided by an embodiment of the present invention;

FIG. 11 is a schematic diagram of an electronic device provided by an embodiment of the present invention.

Detailed ways

In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are set forth in order to provide a thorough understanding of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced in other embodiments without 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 invention with unnecessary detail.

In order to make the objectives, technical solutions and advantages of the present invention clearer, the following descriptions will be given through specific embodiments in conjunction with the accompanying drawings.

As described in the background art, the zero position of each rotating mechanism in the radar scanning mechanism needs to be determined with the help of an encoder, and it is difficult for the encoder to ensure that its zero point completely coincides with the zero position of the rotating mechanism during the installation process. Afterwards, zero calibration is required for each rotating mechanism.

However, the existing calibration methods with higher accuracy are more complicated and costly, while the simple calibration methods will have human errors and cannot meet the customer's demand for higher motion accuracy of the radar scanning mechanism.

In order to solve the problem of the prior art, as shown in FIG. 1 , an embodiment of the present invention provides a zero-position calibration and compensation method of a radar scanning mechanism, which is described in detail as follows:

Wherein, the radar scanning mechanism in this method includes a first rotating mechanism that is assembled on the radar installation surface by rotation or swing, and a second rotating mechanism hinged on the free end of the first rotating mechanism, and the rotation axis of the second rotating mechanism is the same as that of the first rotating mechanism. The rotation axes of the mechanisms are perpendicular to each other, and a radar detection unit is arranged at the free end of the second rotation mechanism. When the first rotating mechanism and the second rotating mechanism rotate, they will drive the radar detection unit to move.

FIG. 2 is a schematic structural diagram of an embodiment of the radar scanning mechanism. With reference to FIG. 2 , the radar scanning mechanism includes a first rotation mechanism 10 , a second rotation mechanism 20 and a radar detection unit. Wherein, the first rotating mechanism 10 can rotate 360 degrees along its rotating axis, and the second rotating mechanism 20 can swing 180 degrees along its rotating axis. The rotating end of the first rotating mechanism 10 is assembled on the radar installation surface, one end of the second rotating mechanism 20 is hinged with the free end of the first rotating mechanism 10 , and the free end of the second rotating mechanism 20 is provided with a radar detection unit. It should be noted here that the rotation axis of the second rotation mechanism 20 and the rotation axis of the first rotation mechanism 10 are spatially perpendicular to each other. For the convenience of subsequent description, the rotation axis of the first rotation mechanism 10 is referred to as the first axis 11 , and the rotation axis of the second rotation mechanism 20 is referred to as the second axis 21 .

When the radar scanning mechanism works, since the first rotating mechanism 10 can rotate 360 degrees along the first axis 11, the second rotating mechanism 20 can swing 180 degrees along the second axis 21, so that the radar detection unit can rotate along the first axis 11 and the two rotational dimensions of the second axis 21 are rotated.

FIG. 3 is a schematic structural diagram of another embodiment of the radar scanning mechanism. With reference to FIG. 3 , the radar scanning mechanism includes a first rotation mechanism 10 , a second rotation mechanism 20 and a radar detection unit. Wherein, the first rotation mechanism 10 can swing 180 degrees along its rotation axis, and the second rotation mechanism 20 can swing 180 degrees along its rotation axis. The swinging end of the first rotating mechanism 10 is hinged on the radar installation surface, one end of the second rotating mechanism 20 is hinged with the free end of the first rotating mechanism 10 , and the free end of the second rotating mechanism 20 is provided with a radar detection unit. It should be noted here that the rotation axis of the second rotation mechanism 20 and the rotation axis of the first rotation mechanism 10 are spatially perpendicular to each other. For the convenience of subsequent description, the rotation axis of the first rotation mechanism 10 is referred to as the first axis 11 , and the rotation axis of the second rotation mechanism 20 is referred to as the second axis 21 .

When the radar scanning mechanism is working, since the first rotating mechanism 10 can swing 180 degrees along the first axis 11, the second rotating mechanism 20 can swing 180 degrees along the second axis 21, so that the radar detection unit can swing along the first axis 11 and the two rotational dimensions of the second axis 21 are rotated.

It should be noted that the radar scanning mechanisms shown in FIG. 2 and FIG. 3 are only two applicable embodiments of the zero-position calibration and compensation methods provided by the embodiments of the present invention, and are not limited. For other types of radar scanning mechanisms, Similarly, the zero-position calibration and compensation method provided by the embodiments of the present invention can be applied to perform zero-position calibration and compensation, which will not be listed one by one here.

The radar scanning mechanism in Fig. 2 and Fig. 3 have the same method for zero calibration and compensation. Taking the radar scanning mechanism in FIG. 2 as an example, the method of zero calibration and compensation will be described here.

The zero-position calibration and compensation method of the radar scanning mechanism is described in detail as follows:

Step S110, when performing zero calibration and compensation on the target rotation mechanism, control the rotation mechanisms other than the target rotation mechanism in the first rotation mechanism and the second rotation mechanism to remain stationary, and control the target rotation mechanism to rotate from the initial position to a plurality of different positions. , and record the detection distance between the radar detection unit and the target calibration plate when the target rotation mechanism is in multiple different positions.

The zero-position calibration and compensation method in the embodiment of the present invention is used to perform zero-position calibration and compensation for the first rotating mechanism and the second rotating mechanism in the radar scanning mechanism. The rotation mechanism is calibrated and compensated separately. Wherein, the rotation mechanism to be calibrated and compensated for the zero position is marked as the target rotation mechanism, and the target rotation mechanism is the first rotation mechanism or the second rotation mechanism.

In order to realize the zero-position calibration and compensation of the radar scanning mechanism, it is necessary to set a calibration plate in the radar detection area, and the calibration plate can be a flat plate with a spacing pattern array. Conversion relationship, thereby greatly improving the accuracy of detection and measurement. In some embodiments, in order to perform zero calibration and compensation for the first rotating mechanism and the second rotating mechanism, respectively, two calibration plates may be provided in the detection area of the radar detection unit, one of which is used for the first calibration plate. The rotation mechanism is calibrated, and another calibration plate is used to calibrate the second rotation mechanism. And among the two calibration boards, one of the calibration boards is parallel to the radar installation surface, and the other calibration board is perpendicular to the radar installation surface.

In one embodiment, the two calibration plates may be respectively denoted as the first calibration plate 32 and the second calibration plate 31 . The second calibration plate 31 is used to calibrate the second rotating mechanism 20 , and the first calibration plate 32 is used to calibrate the first rotating mechanism 10 . The placement position of the calibration plate in the radar detection space satisfies the following conditions: the first calibration plate 32 is perpendicular to the radar installation surface, and the second calibration plate 31 is parallel to the radar installation surface. When the first rotation mechanism 10 or the second rotation mechanism to be calibrated is When 20 is at the actual zero position, the distance between the first rotating mechanism 10 and the first calibration plate 32 is the shortest, and the distance between the second rotating mechanism 20 and the second calibration plate 31 is the shortest.

4 and 5 , for the radar scanning mechanism, the swinging end of the first rotating mechanism 10 is hinged on the radar mounting surface, and one end of the second rotating mechanism 20 is hinged with the free end of the first rotating mechanism 10 . Ideally, when the zero position is displayed on the respective encoders of the first rotating mechanism 10 and the second rotating mechanism 20 as 0 degrees, both the first rotating mechanism 10 and the second rotating mechanism 20 are perpendicular to the radar installation surface. . In actual situations, due to various installation or structural errors, when the respective encoders of the first rotation mechanism 10 and the second rotation mechanism 20 are displayed as 0 degrees, the first rotation mechanism 10 and the second rotation mechanism 20 are installed with the radar. The surface is not vertical, but has a certain angular deviation, so it needs to be zero-calibrated. Taking the zero position state, the radar installation surface is perpendicular to the first rotating mechanism 10 as an example, at this time, the first calibration plate 32 is perpendicular to the radar installation surface, and the second calibration plate 31 is parallel to the radar installation surface. During position calibration and compensation, the first calibration plate 32 and the second calibration plate 31 are used to reflect the detection wave transmitted by the radar detection unit to the target point of the first calibration plate 32 or the second calibration plate 31 back to the radar detection unit. The distance between the radar detection unit and the target point on the calibration board can be calculated by the principle of ranging.

When performing zero calibration and compensation on the radar scanning mechanism, the radar detection unit is in a working state, and then by controlling the rotation of the first rotation mechanism 10 and the second rotation mechanism 20, the radar detection unit is driven to run to the first calibration plate and the second rotation mechanism respectively. A plurality of different positions of the second calibration plate, and the detection data of the radar detection unit from the first calibration plate or the second calibration plate are respectively recorded.

When determining the zero position and compensation model of the second rotating mechanism, keep the first rotating mechanism stationary, control the second rotating mechanism 20 to rotate to multiple different positions, and record the radar detection when the second rotating mechanism 20 is at multiple different positions. The detection data of the unit distance from the second calibration plate 31 . In order to facilitate calibration, as shown in FIG. 4 , the first rotating mechanism 10 can be kept perpendicular to the second calibration plate 31 , and the first rotating mechanism 10 can be kept stationary, and then the second rotating mechanism 20 can be controlled to rotate to multiple different positions.

Similarly, when determining the zero position and compensation model of the first rotating mechanism, keep the second rotating mechanism 20 stationary, control the first rotating mechanism 10 to rotate to multiple different positions, and record when the first rotating mechanism 10 is in multiple different positions. In the position, the radar detection unit is the detection data of the distance from the first calibration plate 32 . In order to facilitate calibration, as shown in FIG. 5 , the second rotating mechanism 20 can be kept perpendicular to the first calibration plate 32 , and the second rotating mechanism 20 can be kept stationary to control the first rotating mechanism 10 to rotate to multiple different positions.

Step S120: Determine the zero position offset of the target rotating mechanism according to the detection distance of the target rotating mechanism at the initial position and the actual zero position.

The actual zero position is the position of the target rotating mechanism when the detection distance is the shortest, and the initial position is that after the radar scanning mechanism is installed on the radar mounting surface, the respective encoders of the first rotating mechanism 10 or the second rotating mechanism 20 are displayed as 0 position in degrees.

When calibrating the zero position of the second rotating mechanism 20, keep the first rotating mechanism 10 stationary, so as to ensure that the radar scanning mechanism only moves in one plane, so that the zero position of the second rotating mechanism 20 can be calibrated and compensated .

Specifically, as shown in FIG. 4 , after keeping the first rotating mechanism 10 stationary, the first rotating mechanism 10 can be kept perpendicular to the second calibration plate 31 , and the second rotating mechanism 20 can be controlled to rotate from the initial position of the second rotating mechanism 20 to the actual zero position of the second rotary mechanism 20 . The initial position of the second rotating mechanism 20 here is the zero position of the second rotating mechanism 20 itself, and the actual zero position of the second rotating mechanism 20 is that when the second rotating mechanism 20 rotates, the radar detection unit is perpendicular to the second calibration plate 31 . The position of the radar detection unit is the position when the detection data of the radar detection unit is the smallest from the second calibration plate 31 . Then, the detection data of the radar detection unit from the second calibration plate 31 at the initial position of the second rotating mechanism 20 and the actual zero position of the second rotating mechanism 20 are respectively recorded.

Based on the above detection data, and according to the geometric relationship, the zero offset of the second rotating mechanism can be determined. As shown in FIG. 6 , when the second rotating mechanism 20 is at the initial position of the second rotating mechanism 20 and the actual zero position of the second rotating mechanism 20 , the recorded detection data of the radar detection unit from the second calibration plate 31 respectively, according to the geometric The relationship between the initial position of the second rotating mechanism 20 and the zero position offset of the actual zero position can be determined.

The specific calculation process is as follows:

The zero position offset between the initial position of the second rotating mechanism 20 and the actual zero position of the second rotating mechanism 20 is θ ₀ ,

θ ₀ =arcos(r+l ₀ )/(r+ _l );

Wherein, r is the turning radius of the radar detection unit, l is the detection data of the radar detection unit at the _initial position from the second calibration plate 31, and _l0 is the detection data of the radar detection unit at the actual zero position from the second calibration plate 31.

When calibrating the zero position of the first rotating mechanism 10, keep the second rotating mechanism 20 stationary, so as to ensure that the radar scanning mechanism only moves in one plane, so that the zero position of the first rotating mechanism 10 can be calibrated and compensated .

Specifically, as shown in FIG. 5 , after the second rotating mechanism 20 is kept stationary, the second rotating mechanism 20 can be kept perpendicular to the first calibration plate 32 to control the first rotating mechanism 10 from the initial position of the first rotating mechanism 10 Rotate to the actual zero position of the first rotary mechanism 10 . The initial position of the first rotating mechanism 10 here is the zero position of the first rotating mechanism 10 itself, and the actual zero position of the first rotating mechanism 10 is that when the first rotating mechanism 10 rotates, the radar detection unit is perpendicular to the first calibration plate 32 . The position of the radar detection unit is the position when the detection data of the radar detection unit is the smallest from the first calibration plate 32 . Then, the detection data of the radar detection unit from the first calibration plate 32 at the initial position of the first rotating mechanism 10 and the actual zero position of the first rotating mechanism 10 are recorded respectively.

In the same way, based on the above detection data, the zero offset of the first rotating mechanism can be determined according to the geometric relationship. As shown in FIG. 7 , when the first rotation mechanism 10 is at the initial position of the first rotation mechanism 10 and the actual zero position of the first rotation mechanism 10 , the detection data of the radar detection units respectively recorded from the first calibration plate 32 respectively are determined to determine The amount of zero position offset between the initial position of the first rotating mechanism 10 and the actual zero position.

The specific calculation process is as follows:

The zero position offset between the initial position of the first rotating mechanism 10 and the actual zero position of the first rotating mechanism 10 is α ₀ ,

α ₀ =arcos(r+k ₀ )/(r+ _k );

Among them, r is the turning radius of the radar detection unit, k is the detection data of the radar detection unit at the _initial position from the first calibration plate 32, and k ₀ is the detection data of the radar detection unit at the initial position from the first calibration plate 32.

Step S130: Control the target rotation mechanism to rotate at multiple preset angles based on the actual zero position, and record the detection distance between the radar detection unit and the target calibration plate when the target rotation mechanism rotates to multiple preset angles.

After the actual zero position of the second rotating mechanism 20 is determined, the first rotating mechanism 10 is still kept still, the second rotating mechanism 20 is controlled to rotate from the actual zero position of the second rotating mechanism 20 to a plurality of preset angles, and the radar detection is recorded correspondingly. The detection data of the unit distance from the second calibration plate 31 .

Similarly, after the actual zero position of the first rotating mechanism 10 is determined, the second rotating mechanism 20 is still kept still, and the first rotating mechanism 10 is controlled to rotate from the actual zero position of the first rotating mechanism 10 by a plurality of preset angles, corresponding to The detection data of the radar detection unit from the first calibration plate 32 are recorded.

Step S140: Calculate multiple actual rotation angles of the target rotation mechanism according to the detection distances of the target rotation mechanism at the actual zero position and multiple preset angles, and construct the target rotation mechanism according to the multiple preset angles and multiple actual rotation angles. Compensation model.

Since both the first rotation mechanism and the second rotation mechanism of the radar scanning mechanism have geometric errors, there will also be errors between the actual rotation angle and the preset angle of the first rotation mechanism and the second rotation mechanism.

After determining the actual zero position of the second rotating mechanism 20 and controlling the second rotating mechanism 20 to rotate from the actual zero position of the second rotating mechanism 20 to a plurality of preset angles, the distance between the radar detection unit and the second calibration plate 31 is detected by the obtained radar detection unit. data, the deviation angle between the actual zero position and the initial position of the second rotating mechanism 20 and the error compensation model can be calculated according to the geometric relationship.

Specifically, as shown in FIG. 8 , based on the detection data of the radar detection unit from the second calibration plate 31 corresponding to all preset angles, and the distance between the radar detection unit at the actual zero position of the second rotating mechanism 20 and the second calibration plate 31 By detecting the data, all actual rotation angles corresponding to when the second rotating mechanism 20 is rotated according to all preset angles can be determined. It should be noted that the preset angle is the angle at which the second rotation mechanism 20 starts to rotate from its actual zero position.

For example: the preset angle set by the second rotating mechanism 20 is θ _x , and the detection data of the corresponding radar detection unit at θ _x is l _x . Due to the geometric error of the mechanism, the actual rotation angle θ is different from the preset angle θ There is an error between _x , and the actual rotation angle θ of the second rotating mechanism 20 can be calculated according to the geometric relationship in FIG. 8, and the calculation method is as follows:

θ=arcos(r+l _x )/(r+l ₀ ).

The error compensation model of the second rotating mechanism 20 can be established by fitting all the preset angles and all the actual rotation angles corresponding to all the preset angles.

Specifically, an error model between the preset angle and the actual rotation angle may be established by using the least squares method, and the format is for example: θ=a*θ _x +b. Among them, θ is the actual rotation angle, θ _x is the preset angle, and a and b are the coefficient values obtained by fitting.

Similarly, the calculation of the error compensation model of the first rotation mechanism 10 is the same as the calculation principle of the second rotation mechanism 20 .

After determining the actual zero position of the first rotating mechanism 10 and controlling the first rotating mechanism 10 to rotate a plurality of preset angles from the actual zero position of the first rotating mechanism 10 , the distance between the radar detection unit and the first calibration plate 32 is detected by the obtained radar detection unit. data, the deviation angle and the error compensation model of the first rotating mechanism 10 can be calculated according to the geometric relationship.

Specifically, as shown in FIG. 9 , based on the detection data of the radar detection unit corresponding to all preset angles from the first calibration plate 32 , the distance between the radar detection unit at the actual zero position of the first rotation mechanism 10 and the first calibration plate 32 By detecting the data, all actual rotation angles corresponding to when the first rotating mechanism 10 is rotated according to all preset angles are determined. It should be noted that the preset angle here is the angle at which the first rotating mechanism 10 swings from its actual zero position.

For example, the preset angle set by the first rotating mechanism 10 is α _x , and the detection data of the corresponding radar detection unit at α _x is k _x . Due to the geometric error of the mechanism, the actual rotation angle α and the preset angle α are There is an error between _x , and the actual rotation angle α of the first rotation mechanism 10 can be calculated according to the geometric relationship in FIG. 9 , and the calculation method is as follows:

α=arcos(r+k _x )/(r+k ₀ ).

The error compensation model of the first rotating mechanism 10 can be established by fitting all the preset angles and all the actual rotation angles corresponding to all the preset angles.

Specifically, an error model between the preset rotation angle and the actual rotation angle can be established by using the least square method, and the format is for example: α=c*α _x +d. Among them, α is the actual rotation angle, α _x is the set preset angle, and c and d are the coefficient values obtained by fitting.

When the present invention performs zero-position calibration and compensation on the target rotating mechanism, firstly, by controlling one of the first rotating mechanism or the second rotating mechanism to remain stationary, and controlling the other rotating mechanism to rotate from the initial position to a plurality of different positions, And record the distance between the radar detection unit and the target calibration plate when the rotating mechanism is in multiple different positions, and determine the zero offset of the rotating mechanism through the detection distance of the rotating mechanism at the initial position and the actual zero position . Then, control the rotating mechanism to rotate multiple preset angles based on the actual zero position, and record the detection distance between the radar detection unit and the target calibration plate when the rotating mechanism rotates to multiple preset angles, A plurality of actual rotation angles of the rotation mechanism are calculated through the detection distances of the rotation mechanism at the actual zero position and a plurality of preset angles, and a compensation model of the rotation mechanism is determined. Therefore, the zero-position calibration of the radar scanning mechanism can be performed through the radar detection unit of the mechanism itself, and the compensation model of the radar scanning mechanism can be obtained through a simple geometric relationship.

The zero position calibration and compensation method of the radar scanning mechanism will be described in detail below with reference to the radar scanning mechanism in FIG. 2 .

Install the radar scanning mechanism shown in Figure 2 into the detection space, and install two calibration boards, as shown in Figure 4.

Keep the first rotation mechanism 10 perpendicular to the second calibration plate 31, and keep the first rotation mechanism 10 stationary, and control the second rotation mechanism 20 to rotate from the initial position of the second rotation mechanism 20, wherein the initial position of the second rotation mechanism 20 The joint rotation angle is 0 degrees, and the detection data from the radar detection unit to the second calibration plate 31 at this _time is 1 = 200.29 mm. The second rotating mechanism 20 is controlled to swing left and right. When the detection data of the radar detection unit from the second calibration plate 31 is the smallest, that is, the position where the radar detection unit is perpendicular to the second calibration plate 31 is the actual zero position of the second rotating mechanism 20. The detection data at the time is l ₀ =200.25mm.

Due to the geometric error of the radar scanning mechanism, there is an error between the rotation angle read by the encoder of the radar scanning mechanism and the actual rotation angle θ ₀ of the second rotating mechanism 20 . The actual rotation angle θ ₀ of the second rotating mechanism 20 can be obtained according to the geometric relationship. , there is the following functional relationship between the actual rotation angle θ ₀ and the rotation radius r=83mm of the radar detection unit _, and the detection data l and l ₀ measured by the radar detection unit:

θ ₀ =arcos(r+l ₀ )/(r+ _l );

Therefore, the deviation angle between the actual zero position and the initial position of the second rotating mechanism 20 can be calculated as θ ₀ =0.963°, that is, when the second rotating mechanism 20 reaches its initial position, it will reach its actual position by rotating 0.963° in the forward direction. zero.

Continue to keep the first rotating mechanism 10 perpendicular to the second calibration plate 31, and keep the first rotating mechanism 10 stationary, so that the second rotating mechanism 20 swings in a positive direction, and the preset angles of the swing are 10°, 12°, and 14° respectively. , 16°, 18°, 20°, 22°, 24°, 26°, 28°, 30°, the detection data of the recorded radar detection unit are: 204.99mm, 207.06mm, 209.5mm, 212.37mm, 215.65mm, 319.4mm, 223.65mm, 228.43mm, 233.7mm, 239.58mm, 246.14mm. Due to the geometric error of the radar scanning mechanism, there is an error between the actual rotation angle θ of the second rotating mechanism 20 and the preset rotation angle θ _x , and the actual rotation angle is calculated according to the geometric relationship:

θ=arcos(r+l _x )/(r+l ₀ );

The calculated actual rotation angles θ are 10.41°, 12.44°, 14.45°, 16.47°, 18.48°, 20.5°, 22.53°, 24.56°, 26.57°, 28.59°, 30.62°, respectively. Use the least square method to establish the error model between the preset rotation angle θ _x and the actual rotation angle θ:

θ=1.0102*θ _x +0.3073;

Finally, the deviation angle θ ₀ =0.963° between the actual zero position of the second rotating mechanism 20 and the initial position, and the error compensation model of the second rotating mechanism 20 are input into the control program of the second rotating mechanism 20 to complete the second rotation Compensation of agency 20.

Then, the zero position, the zero position deviation angle, and the error compensation model of the first rotating mechanism 10 are determined.

First, keep the second rotating mechanism 20 perpendicular to the first calibration plate 32, and keep the second rotating mechanism 20 stationary, and control the first rotating mechanism 10 to rotate from the initial position of the first rotating mechanism 10, wherein the first rotating mechanism 10 The joint rotation angle at the initial position is 0 degrees, and the detection data from the radar detection unit to the first calibration plate 32 at this time is k = _180.18 mm. The first rotating mechanism 10 is swung left and right, when the radar detection unit rotates forward to a certain angle, the value of the detection data is the smallest, that is, the position where the radar detection unit is perpendicular to the first calibration plate 32 is the actual zero position of the first rotating mechanism 10 , the detection data at this time is k ₀ =180.11mm.

Due to the geometric error of the radar scanning mechanism, there is an error between the rotation angle read by the encoder of the radar scanning mechanism and the actual rotation angle α0 of the first rotating mechanism 10. The actual rotation angle _α0 of the first rotating mechanism ₁₀ can be obtained according to the geometric relationship, There is the following functional relationship between the actual rotation angle α ₀ and the rotation radius of the radar detection unit r=83mm, and the detection data k _early and k ₀ measured by the radar detection unit:

α ₀ =arcos(r+k ₀ )/(r+ _k );

Therefore, the deviation angle between the actual zero position of the first rotating mechanism 10 and the initial position can be calculated as α ₀ =1.32°, that is, when the second rotating mechanism 20 reaches the initial position, it will reach its actual zero position by rotating 1.32° in the forward direction. bit.

Continue to keep the second rotating mechanism 20 perpendicular to the first calibration plate 32, and keep the second rotating mechanism 20 stationary, so that the first rotating mechanism 10 swings in a positive direction, and the preset angles of the swing are 10°, 12°, and 14° respectively. , 16°, 18°, 20°, 22°, 24°, 26°, 28°, 30°, the detection data of the recorded radar detection unit are: 184.57mm, 186.5mm, 188.77mm, 191.42mm, 194.34mm, 197.97mm, 201.89mm, 206.31mm, 211.23mm, 216.68mm, 222.74mm. Due to the geometric error of the radar scanning mechanism, there is an error between the actual rotation angle α of the first rotating mechanism 10 and the preset rotation angle α _x , and the actual rotation angle is calculated according to the geometric relationship:

α=arcos(r+k _x )/(r+k ₀ );

The calculated actual rotation angles α are 10.48°, 12.5°, 14.5°, 16.51°, 18.53°, 20.54°, 22.55°, 24.57°, 26.59°, 28.6°, 30.62°, respectively. Use the least squares method to establish the error model between the set rotation angle α _x and the actual rotation angle α:

α=1.0069*α _x +0.4073;

Finally, the deviation angle α ₀ =1.32° between the actual zero position of the first rotating mechanism 10 and the initial position, and the error compensation model of the first rotating mechanism 10 are input into the control program of the first rotating mechanism 10 to complete the first rotation Institution 10 Compensation.

In the embodiment of the present invention, in the process of zero position calibration and error compensation of the radar scanning mechanism, the zero position and the zero position deviation angle of the radar scanning mechanism can be determined by using the geometric relationship of the detection data of the radar detection unit that comes with it. . After the zero position is determined again, the error compensation model of the two rotating mechanisms can be determined according to the geometric relationship, and the zero position calibration method is simple.

It should be understood that the size of the sequence numbers of the steps in the above embodiments does not mean the sequence of execution, and the execution sequence of each process should be determined by its functions and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

The following are apparatus embodiments of the present invention, and for details that are not described in detail, reference may be made to the above-mentioned corresponding method embodiments.

FIG. 10 shows a schematic structural diagram of the zero position calibration and compensation device of the radar scanning mechanism provided by the embodiment of the present invention. For the convenience of description, only the part related to the embodiment of the present invention is shown, and the details are as follows:

As shown in FIG. 10 , the zero position calibration and compensation device 1000 of the radar scanning mechanism, the radar scanning mechanism includes a radar mounting surface, a first rotating mechanism, a second rotating mechanism and a radar detection unit, and the first rotating mechanism rotates or swings and is assembled on the radar The installation surface, the second rotating mechanism is hinged on the free end of the first rotating mechanism, the radar detection unit is arranged on the free end of the second rotating mechanism, wherein the rotating axis of the second rotating mechanism and the rotating axis of the first rotating mechanism are perpendicular to each other, zero The position calibration and compensation device 1000 includes:

The first rotation module 1100 is used to control the rotation mechanisms other than the target rotation mechanism in the first rotation mechanism and the second rotation mechanism to remain stationary when performing zero calibration and compensation on the target rotation mechanism, and control the target rotation mechanism from the initial position. Rotate to multiple different positions, record the detection distance between the radar detection unit and the target calibration plate when the target rotation mechanism is in multiple different positions. The target rotation mechanism is the first rotation mechanism or the second rotation mechanism, and the target calibration plate is located in the radar detection unit. within the detection area and the target calibration plate is parallel or perpendicular to the radar mounting surface;

The zero offset module 1200 is used to determine the zero offset of the target rotation mechanism according to the detection distance of the target rotation mechanism at the initial position and the actual zero position, wherein the actual zero position is where the target rotation mechanism is located when the detection distance is the shortest s position;

The second rotation module 1300 is used to control the target rotation mechanism to rotate at multiple preset angles based on the actual zero position, and record the difference between the target rotation mechanism and the target calibration plate detected by the radar detection unit when the target rotation mechanism rotates to multiple preset angles. detection distance between

The compensation determination module 1400 is configured to calculate a plurality of actual rotation angles of the target rotation mechanism according to the detection distance of the target rotation mechanism at the actual zero position and a plurality of preset angles, and construct the structure according to the plurality of preset angles and the plurality of actual rotation angles Compensation model for the target rotation mechanism.

In a possible implementation manner, the first rotation module 1100 is configured to control the rotation mechanisms other than the target rotation mechanism in the first rotation mechanism and the second rotation mechanism to be in a first position and remain stationary at the first position, the first rotation mechanism The position is the position when the corresponding rotating mechanism is perpendicular to the target calibration plate.

In a possible implementation, the zero offset θ ₀ of the target rotating mechanism is:

θ ₀ =arcos(r+l ₀ )/(r+ _l );

Among them, θ ₀ is the zero offset of the target rotation mechanism, r is the turning radius of the radar detection unit, l is the detection distance between the radar detection unit and the target calibration plate when the target rotation mechanism is at the _initial position, and l ₀ is The detection distance between the radar detection unit and the target calibration plate when the target rotation mechanism is at the actual zero position.

In a possible implementation manner, the compensation determination module 1400 is configured to use multiple preset angles as inputs and multiple actual rotation angles as outputs, perform data fitting processing, and obtain a data representing the relationship between the actual rotation angle and the preset angle. Compensation model.

In a possible implementation manner, the compensation determination module 1400 is configured to perform data fitting processing on multiple preset angles and multiple actual rotation angles according to the least square method.

In a possible implementation manner, the compensation model for the relationship between the actual rotation angle and the preset angle is:

θ=a*θ _x +b;

Among them, θ is the actual rotation angle, θ _x is the preset angle, and a and b are the coefficient values obtained by fitting.

In a possible implementation manner, the first rotation mechanism swings 180 degrees along the rotation axis of the first rotation mechanism, and the second rotation mechanism swings 180 degrees along the rotation axis of the second rotation mechanism.

In a possible implementation manner, the first rotation mechanism rotates 360 degrees along the rotation axis of the first rotation mechanism, and the second rotation mechanism swings 180 degrees along the rotation axis of the second rotation mechanism.

FIG. 11 is a schematic diagram of an electronic device provided by an embodiment of the present invention. As shown in FIG. 11 , the electronic device 11 of this embodiment includes: a processor 110 , a memory 111 , and a computer program 112 stored in the memory 111 and executable on the processor 110 . When the processor 110 executes the computer program 112 , the steps in the above-mentioned embodiments of the zero-position calibration and compensation method of each radar scanning mechanism are implemented, for example, steps 110 to 140 shown in FIG. 1 . Alternatively, when the processor 30 executes the computer program 32 , the functions of the modules in the above-mentioned device embodiments, for example, the functions of the modules 1100 to 1400 shown in FIG. 10 , are implemented.

Exemplarily, the computer program 112 may be divided into one or more modules, and the one or more modules are stored in the memory 111 and executed by the processor 110 to complete the present invention. The one or more modules may be a series of computer program instruction segments capable of accomplishing specific functions, and the instruction segments are used to describe the execution process of the computer program 112 in the electronic device 11 . For example, the computer program 112 may be divided into modules 1100 to 1400 shown in FIG. 10 .

The electronic device 11 may include, but is not limited to, a processor 110 and a memory 111 . Those skilled in the art can understand that FIG. 11 is only an example of the electronic device 11 , and does not constitute a limitation on the electronic device 11 , and may include more or less components than those shown in the figure, or combine some components, or different components For example, the electronic device may further include an input and output device, a network access device, a bus, and the like.

The so-called processor 110 may be a central processing unit (Central Processing Unit, CPU), and may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 111 may be an internal storage unit of the electronic device 11 , such as a hard disk or a memory of the electronic device 11 . The memory 111 may also be an external storage device of the electronic device 11, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) equipped on the electronic device 11 card, flash card (Flash Card) and so on. Further, the memory 111 may also include both an internal storage unit of the electronic device 11 and an external storage device. The memory 111 is used to store the computer program and other programs and data required by the electronic device. The memory 111 may also be used to temporarily store data that has been output or will be output.

Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. Module completion, that is, dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated in one processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit, and the above-mentioned integrated units may adopt hardware. It can also be realized in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing from each other, and are not used to limit the protection scope of the present application. For the specific working processes of the units and modules in the above-mentioned system, reference may be made to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

In the foregoing embodiments, the description of each embodiment has its own emphasis. For parts that are not described or described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of the present invention.

In the embodiments provided by the present invention, it should be understood that the disclosed apparatus/electronic device and method may be implemented in other manners. For example, the above-described embodiments of the apparatus/electronic device are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units. Or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

The integrated modules/units, if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable storage medium. Based on this understanding, the present invention can implement all or part of the processes in the methods of the above embodiments, and can also be completed by instructing relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the program is executed by the processor, the steps of the above-mentioned embodiments of the zero position calibration and compensation method of each radar scanning mechanism can be implemented. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form, and the like. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, removable hard disk, magnetic disk, optical disk, computer memory, Read-Only Memory (ROM), Random Access Memory (Random Access Memory, RAM), electric carrier signal, telecommunication signal, software distribution medium, etc. It should be noted that the content contained in the computer-readable media may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer-readable media Excluded are electrical carrier signals and telecommunication signals.

The above-mentioned embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it is still possible to implement the foregoing implementations. The technical solutions described in the examples are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the within the protection scope of the present invention.

Claims (10)

1. A zero-position calibration and compensation method for a radar scanning mechanism, wherein the radar scanning mechanism comprises a radar mounting surface, a first rotating mechanism, a second rotating mechanism and a radar detection unit, and the first rotating mechanism rotates Or swivel mounted on the radar installation surface, the second rotating mechanism is hinged on the free end of the first rotating mechanism, the radar detection unit is arranged on the free end of the second rotating mechanism, wherein the second rotating mechanism The rotation axis of the mechanism is perpendicular to the rotation axis of the first rotation mechanism, and the zero calibration and compensation method includes: When zero-position calibration and compensation are performed on the target rotation mechanism, the rotation mechanisms other than the target rotation mechanism in the first rotation mechanism and the second rotation mechanism are controlled to remain stationary, and the target rotation mechanism is controlled to rotate from the initial position at most different positions, record the detection distance between the radar detection unit and the target calibration plate when the target rotation mechanism is in a plurality of different positions, the target rotation mechanism is a first rotation mechanism or a second rotation mechanism, the target The calibration plate is located in the detection area of the radar detection unit, and the target calibration plate is parallel or perpendicular to the radar installation surface; According to the detection distance of the target rotation mechanism at the initial position and the actual zero position, the zero position offset of the target rotation mechanism is determined, wherein the actual zero position is the position of the target rotation mechanism when the detection distance is the shortest location; Based on the actual zero position, control the target rotation mechanism to rotate at multiple preset angles, and record when the target rotation mechanism rotates to multiple preset angles, the radar detection unit detects and the target is calibrated Detection distance between boards; A plurality of actual rotation angles of the target rotation mechanism are calculated according to the detection distance of the target rotation mechanism at the actual zero position and a plurality of preset angles, and a plurality of the preset angles and the plurality of the actual rotation angles are calculated. A compensation model for the target rotation mechanism is constructed. 2. The zero-position calibration and compensation method according to claim 1, characterized in that, controlling the rotation mechanisms other than the target rotation mechanism in the first rotation mechanism and the second rotation mechanism to remain stationary, specifically: Control the rotation mechanisms other than the target rotation mechanism in the first rotation mechanism and the second rotation mechanism to be in a first position, and remain stationary at the first position, the first position is the corresponding rotation mechanism and the target rotation mechanism. Describe the position of the target calibration plate when it is vertical. 3. The zero-position calibration and compensation method according to claim 1, wherein the zero-position offset θ ₀ of the target rotating mechanism is: θ ₀ =arcos(r+l ₀ )/(r+ _l ); Wherein, r is the turning radius of the radar detection unit, l is the detection distance between the radar detection unit and the target calibration plate when the target rotation mechanism is in the _initial position, and _l0 is the target rotation mechanism The detection distance between the radar detection unit and the target calibration plate at the actual zero position. 4 . The zero-position calibration and compensation method according to claim 1 , wherein the step of constructing a compensation model of the target rotating mechanism according to a plurality of the preset angles and a plurality of the actual rotation angles comprises the following steps: 5 . : Using a plurality of the preset angles as inputs and a plurality of the actual rotation angles as outputs, data fitting processing is performed to obtain a compensation model representing the relationship between the actual rotation angles and the preset angles. 5. The zero-position calibration and compensation method according to claim 4, wherein the data fitting process is performed by using a plurality of the preset angles as input and a plurality of the actual rotation angles as an output, and specifically include: A data fitting process is performed on a plurality of the preset angles and a plurality of the actual rotation angles according to the least squares method. 6. The zero-position calibration and compensation method according to claim 5, wherein the compensation model of the relationship between the actual rotation angle and the preset angle is: θ=a*θ _x +b; Among them, θ is the actual rotation angle, θ _x is the preset angle, and a and b are the coefficient values obtained by fitting. 7. The zero-position calibration and compensation method according to any one of claims 1 to 6, wherein the first rotation mechanism swings 180 degrees along the rotation axis of the first rotation mechanism, and the second rotation mechanism The mechanism swings 180 degrees along the rotation axis of the second rotation mechanism. 8 . The zero-position calibration and compensation method according to claim 1 , wherein the first rotating mechanism rotates 360 degrees along the axis of rotation of the first rotating mechanism, and the second rotating mechanism rotates 360 degrees. 9 . The mechanism swings 180 degrees along the rotation axis of the second rotation mechanism. 9. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements the computer program as claimed in the claims The steps of any one of 1 to 8 of the method. 10. A computer-readable storage medium storing a computer program, characterized in that, when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented .

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