CN109212544A - A kind of target range detection method, apparatus and system - Google Patents
A kind of target range detection method, apparatus and system Download PDFInfo
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- CN109212544A CN109212544A CN201811054815.2A CN201811054815A CN109212544A CN 109212544 A CN109212544 A CN 109212544A CN 201811054815 A CN201811054815 A CN 201811054815A CN 109212544 A CN109212544 A CN 109212544A
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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Abstract
The invention discloses a kind of target range detection methods, apparatus and system, this method comprises: receiving the reflection laser beam returned from detection target；The reflection laser Shu Jinhang is handled to obtain reflection signal；One of amplitude comparator as actual use in multiple amplitude comparators is determined by the reflection signal；Corrected threshold is determined by the amplitude comparator of the actual use；Detection target range is determined according to the reflection signal and the corrected threshold.Scheme through the invention, can be with precise measurement distance, speed and track, and identifies target type.
Description
Technical field
The present invention relates to laser acquisition fields, in particular to a kind of detection method and system that can detect target range,
And the type of detection target can be distinguished.
Background technique
Pulsed three-dimensional laser radar based on time-of-flight method has due to using pulsed laser as light source
The features such as far measuring distance, frequency are high, low in energy consumption, is widely used in the fields such as three-dimensional modeling, environment sensing.Time-of-flight method
The time difference Δ T at pulsed three-dimensional laser radar recording laser impulse ejection moment and the diffusing reflection echo impulse time of reception, multiplies
With light velocity C, the round-trip distance of laser radar and testee can be calculated.It is swept by pitch orientation and horizontal direction light beam
It retouches, the three-dimensional appearance information of testee can be obtained.
Influencing a key factor of range measurement accuracy in the prior art is laser pulse emission moment and echo reception
The measurement accuracy of the time difference Δ T at moment.According to time-of-flight method ranging formula:
L=1/2 (C* Δ T)
In formula, L is tested distance, and C is the light velocity.It can be calculated from above formula, the timing error of 1ns can introduce the ranging of 15cm
Error.Since transmitting laser pulse is after different reflectivity object diffusing reflection, echo impulse amplitude changes very greatly.For laser arteries and veins
Rushing width is 5 to 10 nanosecond pulse formula laser radars, judges that the echo impulse arrival moment can cause nanosecond by constant level
Grade time measurement error, that is, tens centimetres of range measurement error, have seriously affected the application range of three-dimensional laser radar
And measurement accuracy.
Document 1:CN107272011A is disclosed the present invention relates to a kind of time point discrimination method, time point identification system and is swashed
Ligh-ranging system, it is characterised in that the echo impulse detected when by measurement is divided into two-way；Peak holding processing is carried out all the way,
For converting a DC level for echo impulse, DC level voltage value is the peak value electricity of echo impulse for peak holding processing
Pressure, and the decaying of setting ratio is carried out to DC level；Another way carry out delay disposal, delay disposal be used for echo impulse into
The delay of row nanosecond, retardation is it is ensured that time delay caused by being greater than peak holding and decaying；By the DC level after decaying
As echo impulse at the time of carrying out voltage value comparison with the echo impulse after delay, and voltage value comparison result changed
It arrives the moment, when the amplitude of echo impulse changes, the voltage value that time point identifies level also changes therewith, and realization does not depend on
Identify with the time point of echo strength.The present invention is widely used in pulse type laser range-measurement system, or is based on different light beam scanning sides
In the ranging of the two dimension or three-dimensional laser radar system of formula.
107340523 A of document 2:CN discloses a kind of good the testing the speed based on heterodyne detection of laser of anti-interference ability
Away from system and the distance measuring method that tests the speed.The range-measurement system that tests the speed include laser, optical path emitting module, optical path receiving unit, processor,
Beam splitter, bundling device and focal plane array detector；The input terminal of beam splitter is connected with the output end of laser；Beam splitter separates
Two ways of optical signals in: optical signal is sent into and optical path emitting module and is projected in target to be measured all the way, and another way optical signal is straight
It picks into bundling device；Optical path receiving unit receives the echo-signal, and the input terminal of bundling device is converged to after being filtered；It closes
Beam device is used to carry out optical signal all the way that beam splitter separates and the echo-signal difference frequency signal that relevant mixing obtains；Jiao Ping
Area array detector samples difference frequency signal, is handled, is sent into processor after analog-to-digital conversion；Processor obtains target to be measured
Speed and range information.
205941886 U of document 3:CN, discloses a kind of three-dimensional laser radar range-measurement system, and system from successively setting up and down
Be equipped with: for object to be measured emit laser and receive target reflect laser signal laser radar rotating part；For driving
The rotating mechanism of the laser radar rotating part；Laser signal for the target reflection to acquisition is handled and is driven rotation
The laser radar fixed part of rotation mechanism；The laser radar rotating part and laser radar fixed part are connected by the rotating mechanism
It connects.The utility model generates the laser with certain subtended angle using mechanical rotation scan mechanism, realizes one-dimensional in vertical direction
Scanning realizes the one-dimensional scanning in horizontal direction using rotary scanning machine, to realize a certain range of 3-D scanning, realizes
To the orientation recognition of Target scalar.
It is above-mentioned to be all made of a detection comparator in the prior art to detect target range, however due to detection comparator
Correction coefficient is to determine in advance for some distance, but in actual detection, different detection ranges are for correction coefficient
It is required that being different, there may be cumulative errors for the distance that individual detection comparator determines at this time, so as to cause detection
Precision is not able to satisfy actual demand.
In addition, existing laser range finder, also cannot be distinguished from the type for specifically detecting target, it is right in certain application scenarios
In different types of target, need to be treated differently.
In order to solve the above technical problems, the present invention provides a kind of target range detection systems, comprising:
Laser range finder transmitter is used for detection objective emission exploring laser light beam；
Laser range finder receiver includes: multiple amplitude comparators, a detection comparator and a signal processor；
The laser range finder receiver receives the reflection laser beam returned from detection target, to the reflection laser beam into
Reflection signal is obtained after row processing, and reflection signal is sent to the multiple amplitude comparator and detection comparator；
The multiple amplitude comparator exports comparison result to signal processor, obtains corrected threshold；
The detection comparator determines detection target range according to reflection signal and corrected threshold.
The system according to the present invention, it is preferred that one or more amplitudes are activated according to the level of the reflection signal
Comparator.
The system according to the present invention, it is preferred that the signal processor is according to the output signal of the amplitude comparator that is activated
Corrected threshold is determined with the amplitude threshold of amplitude comparator.
The system according to the present invention, it is preferred that predefine the different correction coefficient and vibration of the multiple amplitude comparator
Width threshold value, different correction coefficient and amplitude threshold correspond to different detection range ranges；
And different amplitude thresholds is inputted to the multiple amplitude comparator.
The system according to the present invention, it is preferred that further include: infrared detector (IR), for detecting the temperature of detection target,
And detection target type is determined according to the temperature.
The system according to the present invention, it is preferred that further include signal receiving module, amplifier module, noise level processing mould
Block, when m- voltage transformation module；
The signal receiving module receives reflection laser beam level signal, and is sent to the amplifier module and carries out signal
Enhanced processing；
Level signal Jing Guo enhanced processing is sent respectively to the detection comparator, noise electricity by the amplifier module
Flat processing module and multiple amplitude comparators；
The multiple amplitude comparator receives different amplitude thresholds, and based on the received level signal be activated or not by
Activation, the one or more amplitude comparators being activated export comparison signal and arrive according to the level signal and amplitude threshold of input
Signal processor；
The signal processor determines corrected threshold according to one or more comparison signals of input, and exports and give detection ratio
Compared with device；
Level signal determines simultaneously output noise level to noise level processing module based on the received；
The detection comparator is determined according to the level signal, noise level and corrected threshold of input generates a detection arteries and veins
Punching, and it is sent to time-voltage transformation module；
When m- voltage transformation module determine laser beam from transmitting laser to the time for reaching detection target according to direct impulse
Difference.
In order to solve the above technical problems, the present invention provides a kind of method of determining target velocity, by one of above-mentioned
Method detects range difference and time difference of the target in different location, and target is calculated according to range difference and time difference
Movement velocity vector, comprising: velocity magnitude and directional velocity.
With the method for the invention it is preferred to, a threshold speed is preset, according to target speed and speed threshold
The relationship of value, determines target type.
With the method for the invention it is preferred to, according to target position, determine the motion profile of target, and transport according to target
Dynamic rail mark predicts the motion profile of target.
With the method for the invention it is preferred to, according to the target trajectory, determine target type.
With the method for the invention it is preferred to, by judging whether sudden change velocity magnitude and direction determine target
Target type.In order to solve the above technical problems, the present invention provides a kind of target acquisition information sharing systems, which is characterized in that
Including the detection device described in one of above-mentioned, the target range information that each detection obtains is mutually shared.
The system according to the present invention, it is preferred that the system determined using one of above-mentioned method the speed of target, type or
Motion profile, each detection device mutually share following information: speed, type or the motion profile of the target.
In order to solve the above technical problems, the invention also discloses a kind of target range detection methods, comprising the following steps:
Step S1 receives the reflection laser beam returned from detection target.
Step S2 handles the reflection laser Shu Jinhang to obtain reflection signal.
Step S3 determines one of vibration as actual use in multiple amplitude comparators by the reflection signal
Width comparator.
One or more amplitude comparators are activated according to the level of the reflection signal.
If the amplitude comparator of activation is greater than one, according to the level and various amplitude ratio of the reflection signal
Determine one in multiple amplitude comparators using the activation as the Amplitude Comparison actually used compared with the amplitude threshold of device
Device.
Predefine the different correction coefficient and amplitude threshold of the multiple amplitude comparator, different correction coefficient and amplitude
Threshold value corresponds to different detection range ranges；
And different amplitude thresholds is inputted to the multiple amplitude comparator.
Step S4 determines corrected threshold by the amplitude comparator of the actual use.
Step S5 determines detection target range according to the reflection signal and the corrected threshold.
Further, it is also possible to detect the temperature of detection target, and detection target type is determined according to the temperature.
Comparator determines that laser beam detects mesh from transmitting laser to arrival according to the reflection signal and the corrected threshold
The target time difference, and the distance for detecting target is determined according to flying time technology.
Using technical solution of the present invention, following technical effect is achieved: can be with the distance of accurately detecting target；With red
The Airborne Lidar brake of outer detecting function, can detect target type；Track and the speed of target movement are analyzed, and is assessed
Detecting target is human body sensing alarm or false alarm；Target information is shared: tracking invader simultaneously passes its feature and track
Give adjacent sensors.
Detailed description of the invention
Described herein the drawings are intended to provide a further understanding of the invention, constitutes part of this application, but
It does not constitute improper limitations of the present invention, in the accompanying drawings:
Fig. 1 is the structural schematic diagram of target range detection system in the prior art；
Fig. 2 is the composition figure of laser range finder transmitter in the prior art；
Fig. 3 is the composition figure of laser range finder receiver in the prior art；
Fig. 4 is the composition figure of laser range finder receiver in the present invention；
Fig. 5 is the structural schematic diagram of the target range detection system in the present invention；
Fig. 6 is that the present invention utilizes target range detection system detection target velocity and track schematic diagram.
Specific embodiment
Come that the present invention will be described in detail below in conjunction with attached drawing and specific embodiment, illustrative examples therein and says
It is bright to be only used to explain the present invention but not as a limitation of the invention.
Referring to Fig.1, the laser radar detection device of standard include: laser range finder transmitter 1, laser range finder receiver 2,
Reflecting mirror 3, motor 4, communication and control module 5 and signal processor 6.Led to by the laser beam that laser range finder transmitter 1 generates
Cross the raw rotation of reflecting mirror hair 3.The movement of motor 4 is controlled by control and communication module 5.Laser range finder laser beam contacts any object
After body, it can be reflected onto reflecting mirror 3, and be reflected to laser range finder receiver 2 again from reflecting mirror 3.The signal is by signal
Reason device 6 is handled, and is such as detected real goal object, then can be sent information to user.
Fig. 2 is the composition block diagram of laser range finder transmitter 1.Laser range finder transmitter 1 includes: timer 11, switch
Mode power 12, current driver 13, laser diode 14, power supply 15.
Laser emission timer 11 is triggered by transmitting trigger signal, timer 11 sends a laser open signal to electricity
Flow driver 13.Timer, which is sent, simultaneously closes pulse signal to switched-mode power supply 12, and switched-mode power supply 12 is by power supply
15 provide power supplys, and switched-mode power supply 12 is motivated by pulse signal, to the transmission high level of current driver 13, while to laser
Rangefinder transmitter 2 sends APD level.Current driver 13 receives laser open signal and high level, sends an electric current arteries and veins
It rushes to laser diode 14 to be sent out laser beam.Meanwhile current driver 13 can be sent out to laser range finder transmitter 2
Send the signal for starting measurement.
Fig. 3 is the composition block diagram of laser range finder receiver 2 in the prior art.Laser range finder receiver 2 includes: voltage
Temperature correction module 21, APD22, amplifier 23, noise level module 24, detection comparator module 25, when m- voltage transformation mould
Block 26, voltage 27, buffer 28.
Voltage temperature correction module 21 receives the APD voltage that sends from laser range finder transmitter 1, to the APD voltage into
APD22 is sent to after the correction of row voltage temperature.APD22 is received simultaneously from the detection reflected laser beam of target.APD22 docking
The optical signal of receipts carries out being converted to level signal, is sent to amplifier 23, and amplifier 23 puts received level signal
After big processing, while being sent to noise level module 24 and detection comparator module 25.Noise level module 24 is extracted received
Noise compensation level in level signal, and it is sent to detection comparator module 25, while detection threshold is inputed into detection ratio
Compared with device module 25.The detection threshold of detection comparator module 25 is slightly above noise compensation level.When received level signal is higher than
When detection threshold, comparator can generate a direct impulse.Direct impulse can entry time-voltage or Time-digital conversion mould
Block 26, and value range is converted to, it is sent to buffer 28, to obtain range simulation pulse.Power module 27 above-mentioned each moulds
Block provides power supply.
However, for laser range finder receiver 2 shown in Fig. 3, since the correction coefficient of detection comparator is preparatory needle
Some distance is determined, but in actual detection, requirement of the different detection ranges for correction coefficient is different, at this time
There may be cumulative errors for the distance that individual detection comparator determines, are not able to satisfy practical need so as to cause detection accuracy
It asks.
In addition, existing laser range finder, also cannot be distinguished from the type for specifically detecting target, it is right in certain application scenarios
In different types of target, need to be treated differently.
It is laser range finder receiver 2 proposed by the present invention such as Fig. 4.It is set as shown, laser range finder receiver 2 removes
It is equipped with except functional module in the prior art, is additionally provided with additional 4 amplitude comparator 29-32, there are 4 amplitude thresholds
Value, is divided into 4 grades for input reference signal.Allow to estimate signal level.The output signal of 4 amplitude comparators connects
It is connected to signal processor, and is used for correcting range value.For this 4 grades, each grade has a correction coefficient, correction system
Number can be counted investigative range.Laser range finder measurement apart from when, set correction coefficient.It carries out as follows:
1. placing various sizes of target apart from upper in multiple measurements.Compared with biggish target, lesser target is generated
Signal it is smaller.
2. reading the distance of laser range finder before counting corrected value.
3. before corrected value is counted, measuring distance and arriving at a distance from laser range finder, the difference between the two is to correct
Coefficient.
The amplitude comparator number being activated depends on the signal level received.For low level signal, such as from small
The signal that reflectance target or weak reflectance target reflect back, can only activate an amplitude comparator, and from strong reflection or big target
The signal that reflection comes can all activate 4 amplitude comparators.
Resulting correcting range is very accurate, and can distinguish two similar targets.For example, can detect
To the invader to creep or the target for walking close to enclosure wall.
The solution of the present invention provided by Fig. 4, can more accurately detection range, particularly with small-sized, apart from phase
It closely is possible to the object being difficult to differentiate between, the people for example to creep and ground against people and wall of wall standing etc..
As shown in figure 3, existing only one comparator of laser range finder receiver, sets a certain distance range,
Such as 0-40 meters.And multiple amplitude comparator 29-32 of the invention can be divided into same distance range different levels, such as at 4
In the case of amplitude comparator, each amplitude comparator is responsible for the distance of 10 meters of covering.Since each amplitude comparator requires
Typing correction coefficient, and error is accumulative, therefore is compared within the scope of certain distance by the detection comparator repeatedly corrected
It is more accurate in the distance that the detection comparator measurement corrected only once obtains.Assuming that 4 amplitude comparator 29-32 are born respectively
The detection range of duty is 0-10 meters, 10-20 meters, 20-30 meters, and 4 investigative ranges of 30-40 rice.As an object actual range is
15.2 meters, in the case of not considering other factors, then fall into investigative range i.e. 10-20 meters of second amplitude comparator 30 this
One section, it is thus more accurate come the estimation for carrying out signal level to it by second amplitude comparator 30.
The calculation of correction coefficient are as follows: if actual range is 15.2 meters, the distance for measuring reading is 15.5 meters, then corrects
Value is above-mentioned apart from 0.3 meter of its difference, or is scaled percentage.
The activation of amplitude comparator is determined by the size of the signal level of testee.The size of signal level is by measured object
The factors such as size, reflectance and the distance of body determine.And wherein influence of the distance to signal level is maximum.If object is real
15.2 meters of border distance, and its reflective level is enough greatly to activate all amplitude comparator 29-32 very much.When amplitude comparator 29-32 will
After the output of comparison result level 1- level 4 is to signal processor, signal processor will be determined according to the size of signal level will
The result of second amplitude comparator 30 is as final detection threshold.It is finally still to be detected by second amplitude comparator 30
Its distance, and other three comparators being activated will not do anything being activated.
As shown in figure 5, in this invention, laser range finder receiver 2 is also in relation with having used an infrared detector 7.
The infrared detector 7 works independently of laser range finder receiver 2.During the scanning process, reflecting mirror 3 will be in receiver visual field
In the region heat radiation that detects be reflected to the infrared detector 7.Signal processor 6 then calculates the statistics of ambient temperature
And create infrared detection threshold.When invader passes through scanning area, the temperature measured in specific visual field can change, and
Issue alarm signal.
Therefore, in conjunction with the description of Fig. 4-5, laser radar detection device of the invention is with the following functions:
A. there is hot-probing/infrared acquisition function Airborne Lidar brake.
B. goal behavior: the track of analysis target movement and speed, and assess detection target be human body sensing alarm or
False alarm.
C. target information is shared: tracking invader simultaneously sends its feature and track to adjacent sensors.
Such as Fig. 6, goal behavior analytic function is described, which need to be completed by multiple laser radar detection devices.In Fig. 6
In, the working principle of laser radar detection device is fast laser scanning, it is ensured that testee is visited in its scanning range by multiple spot
It surveys to sketch out movement track and calculate speed.Speed is by record detection time and distance (i.e. TOF flight time skill
Art) be calculated.
Due to being aware of action trail and speed, it can predict when and where testee next detection about occurs
In the scanning range of device, therefore, second detector can reduce detection threshold preferably to detect object again.If
The movement track of object is non-natural, for example has very unexpected steering variation etc., can make certain judgements for example non-human, can
It can be the large birds.
Hot sensor detector 7 continues working together with laser radar, and the task of hot sensor detector 7 is to eliminate to be believed by detection
Rate of false alarm caused by number weak detects the very low to improve Effect on Detecting of critical value setting at this time.In such cases, heat sensing is visited
Device is surveyed for eliminating rate of false alarm.This mode can reduce laser radar detection critical value, to expand investigative range.
In order to distinguish target by the speed for detecting target, and will not go to calculate the mesh moved in a manner of non-natural
Mark.Need to be arranged a threshold speed, when the threshold speed of the speed ratio settings of detection target is high, it can be determined that the detection mesh
It is designated as the target of undesired detection, such as the mankind.Therefore, birds and fast driving can be shielded, are only alarmed human intruders.This
Outside, if the target sudden change direction of motion, it also may determine that the desired non-human invades.
Such as Fig. 6, sub-block sharing functionality of the invention is described, refers to a sensor from the sensor near it
Learn invader close to it.
This characteristic to a large area or encloses the case where boundary protects for several sensors.It is scanned when target reaches
When the boundary in region, its size, speed and position is transmitted to invader by communication protocol and is possible to the sensor that can enter
In scanning area.This improves detectivity and reduces rate of false alarm.
Target is detected and is tracked by No. 1 laser radar detection device.The path A of invader is transmitted to No. 2 laser radar detections
Device.Then, No. 2 laser radar detection devices are expected in D point perimeter detection to invader.D point detect smaller and reflectivity compared with
Low target understands some difficulties.In the case where knowing that invader can enter No. 2 laser radar detection device scanning area D points, lead to
Crossing, which temporarily reduces critical value, allows No. 2 laser radar detection devices to think that echo signal is lower than detection critical value.No. 2 laser radar detections
Device can detect target and track path B.
The invention also discloses a kind of target range detection methods, comprising the following steps:
Step S1 receives the reflection laser beam returned from detection target.
Step S2 handles the reflection laser Shu Jinhang to obtain reflection signal.
Step S3 determines one of vibration as actual use in multiple amplitude comparators by the reflection signal
Width comparator.
One or more amplitude comparators are activated according to the level of the reflection signal.
If the amplitude comparator of activation is greater than one, according to the level and various amplitude ratio of the reflection signal
Determine one in multiple amplitude comparators using the activation as the Amplitude Comparison actually used compared with the amplitude threshold of device
Device.
Predefine the different correction coefficient and amplitude threshold of the multiple amplitude comparator, different correction coefficient and amplitude
Threshold value corresponds to different detection range ranges；
And different amplitude thresholds is inputted to the multiple amplitude comparator.
Step S4 determines corrected threshold by the amplitude comparator of the actual use.
Step S5 determines detection target range according to the reflection signal and the corrected threshold.
Further, it is also possible to detect the temperature of detection target, and detection target type is determined according to the temperature.
Comparator determines that laser beam detects mesh from transmitting laser to arrival according to the reflection signal and the corrected threshold
The target time difference, and the distance for detecting target is determined according to flying time technology.
Scheme through the invention obtains following technical effect:
It can have hot-probing/infrared acquisition function laser radar detection.
It can be with the distance of accurately detecting target；Airborne Lidar brake with hot-probing function, can detect target
Type；Track and the speed of target movement are analyzed, and assessing detection target is human body sensing alarm or false alarm；Target letter
Breath is shared: tracking invader simultaneously sends its feature and track to adjacent sensors.
All the embodiments in this specification are described in a progressive manner, the highlights of each of the examples are with
The difference of other embodiments, the same or similar parts between the embodiments can be referred to each other.
It should be understood by those skilled in the art that, the embodiment of the embodiment of the present invention can provide as method, system or calculate
Machine program product.Therefore, the embodiment of the present invention can be used complete hardware embodiment, complete software embodiment or combine software and
The form of the embodiment of hardware aspect.Moreover, the embodiment of the present invention can be used one or more wherein include computer can
With in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of program code
The form of the computer program product of implementation.
The embodiment of the present invention be referring to according to the method for the embodiment of the present invention, terminal device (system) and computer program
The flowchart and/or the block diagram of product describes.It should be understood that flowchart and/or the block diagram can be realized by computer program instructions
In each flow and/or block and flowchart and/or the block diagram in process and/or box combination.It can provide these
Computer program instructions send terminal to general purpose computer, special purpose computer, embedded transmitter or other programmable datas and set
Standby transmitter is to generate a machine, so that being held by the transmitter that computer or other programmable datas send terminal device
Capable instruction generates for realizing in one or more flows of the flowchart and/or one or more blocks of the block diagram
The system of specified function.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable datas transmission terminal device
In computer-readable memory operate in a specific manner, so that instruction stored in the computer readable memory generates packet
The manufacture of instruction system is included, which realizes in one side of one or more flows of the flowchart and/or block diagram
The function of being specified in frame or multiple boxes.
These computer program instructions can also be loaded into computer or other programmable datas are sent on terminal device, so that
Series of operation steps are executed on computer or other programmable terminal equipments to generate computer implemented transmission, thus
The instruction executed on computer or other programmable terminal equipments is provided for realizing in one or more flows of the flowchart
And/or in one or more blocks of the block diagram specify function the step of.
Although the preferred embodiment of the embodiment of the present invention has been described, once a person skilled in the art knows bases
This creative concept, then additional changes and modifications can be made to these embodiments.So the following claims are intended to be interpreted as
Including preferred embodiment and fall into all change and modification of range of embodiment of the invention.
Finally, it is to be noted that, herein, the terms "include", "comprise" or its any other variant are intended to
Cover non-exclusive inclusion, so that including that process, method, article or the terminal device of a series of elements not only include
Those elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of person's terminal device.In the absence of more restrictions, the element limited by sentence "including a ...",
Be not precluded is including that there is also other identical elements in the process, method of the element, article or terminal device.
Above to a kind of object detection method provided by the present invention and system, it is described in detail, it is used herein
A specific example illustrates the principle and implementation of the invention, and the above embodiments are only used to help understand
Method and its core concept of the invention；At the same time, for those skilled in the art is having according to the thought of the present invention
There will be changes in body embodiment and application range, in conclusion the content of the present specification should not be construed as to the present invention
Limitation.
Claims (19)
1. a kind of target range detection method characterized by comprising
Receive the reflection laser beam returned from detection target；
The reflection laser Shu Jinhang is handled to obtain reflection signal；
One of amplitude comparator as actual use in multiple amplitude comparators is determined by the reflection signal；
Corrected threshold is determined by the amplitude comparator of the actual use；
Detection target range is determined according to the reflection signal and the corrected threshold.
2. the method as described in claim 1, it is characterised in that: activate one or more according to the level of the reflection signal
A amplitude comparator.
3. method according to claim 2, it is characterised in that: if the amplitude comparator of activation is greater than one, according to institute
The amplitude threshold of the level and various amplitude comparator of stating reflection signal determines multiple Amplitude Comparisons using the activation
One in device is as the amplitude comparator actually used.
4. the method as described in claim 1, it is characterised in that: predefine the different correction systems of the multiple amplitude comparator
Several and amplitude threshold, different correction coefficient and amplitude threshold correspond to different detection range ranges；And to the multiple amplitude ratio
Different amplitude thresholds is inputted compared with device.
5. the method as described in claim 1, it is characterised in that: further include: the temperature of detection detection target, and according to the temperature
Degree determines detection target type.
6. the method as described in claim 1, it is characterised in that: comparator is true according to the reflection signal and the corrected threshold
Determine laser beam from transmitting laser to reach detection target time difference, and according to flying time technology determine detection target away from
From.
7. a kind of target range detection device characterized by comprising
Laser range finder transmitter is used for detection objective emission exploring laser light beam；
Laser range finder receiver includes: multiple amplitude comparators, a detection comparator and a signal processor；
The laser range finder receiver receives the reflection laser beam returned from detection target, at the reflection laser Shu Jinhang
Reflection signal is obtained after reason, and reflection signal is sent to the multiple amplitude comparator and detection comparator；
The multiple amplitude comparator exports comparison result to signal processor, obtains corrected threshold；
The detection comparator determines detection target range according to reflection signal and corrected threshold.
8. device as claimed in claim 7, it is characterised in that: activate one or more according to the level of the reflection signal
A amplitude comparator.
9. device as claimed in claim 8, it is characterised in that: the signal processor is defeated according to the amplitude comparator that is activated
The amplitude threshold of signal and amplitude comparator determines corrected threshold out.
10. device as claimed in claim 7, it is characterised in that: predefine the different corrections of the multiple amplitude comparator
Coefficient and amplitude threshold, different correction coefficient and amplitude threshold correspond to different detection range ranges；
And different amplitude thresholds is inputted to the multiple amplitude comparator.
11. device as claimed in claim 7, it is characterised in that: further include: infrared detector (IR), for detecting detection mesh
Target temperature, and detection target type is determined according to the temperature.
12. the device as described in one of claim 7-11, it is characterised in that: further include signal receiving module, amplifier module,
Noise level processing module, when m- voltage transformation module；
The signal receiving module receives reflection laser beam level signal, and is sent to the amplifier module and carries out signal amplification
Processing；
Level signal Jing Guo enhanced processing is sent respectively to the detection comparator, at noise level by the amplifier module
Manage module and multiple amplitude comparators；
The multiple amplitude comparator receives different amplitude thresholds, and level signal is activated or is not swashed based on the received
It is living, level signal and amplitude threshold of the one or more amplitude comparators being activated according to input, output comparison signal to letter
Number processor；
The signal processor determines corrected threshold according to one or more comparison signals of input, and exports and compare to detection
Device；
Level signal determines simultaneously output noise level to noise level processing module based on the received；
The detection comparator is determined according to the level signal, noise level and corrected threshold of input generates a direct impulse,
And it is sent to time-voltage transformation module；
When m- voltage transformation module determine laser beam from transmitting laser to the time difference for reaching detection target according to direct impulse.
13. a kind of method of determining target velocity detects a target in different positions by the method for one of such as claim 1-6
The range difference set and time difference, and the movement velocity vector of target is calculated according to range difference and time difference, comprising: speed is big
Small and directional velocity.
14. according to the method for claim 13, a threshold speed is preset, according to target speed and speed threshold
The relationship of value, determines target type.
15. according to the method for claim 13, according to target position, determining the motion profile of target, and transport according to target
Dynamic rail mark predicts the motion profile of target.
16. method as claimed in claim 15 determines target type according to the target trajectory.
17. method as claimed in claim 13, by judging whether sudden change velocity magnitude and direction determine mesh to target
Mark type.
18. a kind of target acquisition information sharing system, which is characterized in that including multiple spies as described in one of claim 7-12
Device is surveyed, the target range information that each detection obtains is mutually shared.
19. target trajectory detection system as claimed in claim 18, which uses the method such as one of claim 13-17
Determine that the speed, type or motion profile of target, each detection device mutually share following information: speed, the class of the target
Type or motion profile.
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