CN114002687A - Detection method based on laser radar - Google Patents
Detection method based on laser radar Download PDFInfo
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- CN114002687A CN114002687A CN202010672579.1A CN202010672579A CN114002687A CN 114002687 A CN114002687 A CN 114002687A CN 202010672579 A CN202010672579 A CN 202010672579A CN 114002687 A CN114002687 A CN 114002687A
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- 238000001514 detection method Methods 0.000 title claims abstract description 61
- 238000000034 method Methods 0.000 claims abstract description 21
- 230000007547 defect Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000011895 specific detection Methods 0.000 description 2
- 238000007429 general method Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
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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
- G01S17/04—Systems determining the presence of a target
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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
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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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
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
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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
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
- G01S17/875—Combinations of systems using electromagnetic waves other than radio waves for determining attitude
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the invention relates to the field of laser radars, in particular to a detection method based on the laser radars, which comprises at least one laser radar, wherein the laser radar is used for acquiring point cloud data information in a detected area and determining the state of the detected area according to the point cloud data information acquired by the laser radar, and the state of the detected area comprises whether an object exists and/or the state information of the object. The detection method based on the laser radar makes up the defects that the detection capability of the vision sensor is limited in distance and space position and the detection range of the single-point laser radar is small, and obtains more state information of the object in the detected area in the detection process.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a detection method based on a laser radar.
Background
When detecting a detection area, the general methods of a visual sensor, a ground marker and the like have limited information acquisition capability, and cannot directly and accurately acquire distance information of a target object in the detected area.
Lidar is a radar system that detects the distance of a target by emitting a laser beam. The working principle is to transmit a detection signal (detection beam) to the target, compare the received signal (echo) reflected from the target with the transmitted detection signal, and after appropriate processing, obtain the relevant information of the target. The single-point laser radar has a small coverage area and can only detect targets in a small detection view field angle.
According to the embodiment of the application, in a specific detection area, three-dimensional point cloud data are obtained based on the laser radar, the defect that the detection capability of a vision sensor is limited in distance and space positions is overcome, the defect that the detection range of a single-point laser radar is small is overcome, and more state information of objects in the detected area is obtained in the detection process.
Disclosure of Invention
In view of this, an embodiment of the present invention provides a detection method based on a laser radar, including at least one laser radar, where the laser radar is configured to acquire point cloud data information in a detected area, and determine a state of the detected area according to the point cloud data information acquired by the laser radar, where the state of the detected area includes whether there is an object and/or state information of the object.
According to a specific implementation manner of the embodiment of the invention, the point cloud data information acquired by the laser radar comprises a distance value and spatial angle data of a detected target relative to the laser radar, the detection field angle of the laser radar is 80-90 degrees horizontally and 10-30 degrees vertically, and the angular resolution in the vertical direction is 0.05-0.2 degree.
According to a specific implementation manner of the embodiment of the invention, more than 3 laser radars are arranged at different positions of a detected area, and detection coverage areas of the laser radars are partially overlapped.
According to a specific implementation of the embodiment of the present invention, the state information of the object includes attitude information, and/or a moving speed, and/or a position within the detected region, and/or a volume of the object.
According to a specific implementation manner of the embodiment of the invention, whether an object exists in a detected area is determined according to point cloud data information acquired by a laser radar, and the method comprises the following steps: receiving and storing the distance information detected by the laser radar, judging at least two distance information change trends, and determining whether an object exists in a detected area or not based on the change trends, wherein the distance value is reduced based on the change trends, and the object enters the detected area; and based on the change trend, the distance value is increased, and the object is separated from the detected area.
According to a specific implementation manner of the embodiment of the invention, whether an object exists in a detected area is determined according to point cloud data information acquired by a laser radar, and the method comprises the following steps: setting a distance baseline, wherein the distance baseline is the distance between a laser radar and the surface of a detected area, receiving and storing distance information detected by the laser radar, and obtaining the difference value between the distance information detected by the laser radar and the distance baseline, wherein when the absolute value of the difference value is greater than a set threshold value, an object is in the detected area.
According to a specific implementation manner of the embodiment of the invention, the detected area is an airport, whether an airplane or a vehicle is in the detected area or not is detected, and the state information of the airplane is obtained.
According to a specific implementation manner of the embodiment of the invention, the obtaining of the state information of the aircraft comprises:
the position, and/or the speed of movement, and/or the attitude of the aircraft within the detected region is obtained.
According to a specific implementation manner of the embodiment of the invention, the method for determining the movement speed of the airplane in the detected area according to the point cloud data information acquired by the laser radar comprises the following steps: and acquiring and storing the point cloud data information detected by the laser radar, identifying the airplane according to the point cloud data, determining the change of the point cloud data corresponding to the airplane in a set time interval, and calculating the movement speed of the airplane based on the change.
According to a specific implementation manner of the embodiment of the invention, the method for determining the attitude of the airplane in the detected area according to the point cloud data information acquired by the laser radar comprises the following steps: and acquiring and storing first point cloud data information detected by the laser radar, removing corresponding ground data and interference data in the point cloud data, acquiring second point cloud data, extracting characteristic points corresponding to the airplane in the second point cloud data, and identifying the airplane and the attitude of the airplane according to the characteristic points.
According to the embodiment of the invention, in a specific detection area, three-dimensional point cloud data are obtained based on the laser radar, the defects that the detection capability of a vision sensor is limited in distance and space position and the detection range of a single-point laser radar is small are overcome, and more state information of an object in the detected area is obtained in the detection process.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of a detection method according to an embodiment of the present application.
Fig. 2 is a schematic diagram of an airport detection method according to an embodiment of the present application.
Fig. 3 is a schematic flow chart illustrating a process of determining whether an object exists in a detected region according to an embodiment of the present application.
Fig. 4 is a schematic diagram illustrating a flow of objects entering or leaving a detected region according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. It should be clear that embodiments and features of embodiments in the present application can be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or device.
The embodiment of the application provides a detection method based on laser radar, obtains the three-dimensional point cloud data information of the detected area, thereby realizes the detection of the state in the detected area, and whether there are target objects, foreign matters and the like in the detected area can be monitored, and the object is identified and the state information of the object is obtained through the data obtained by the laser radar detection.
The detected area scene is, for example, an airport, a rail transit route, and the like. In the detected area 301 of the airport as shown in fig. 1, it is necessary to detect and recognize the position and state information of an airplane, a ground vehicle, a person, and the like in the airport in real time. In one embodiment, the method comprises the steps of determining whether objects exist in a detected area through three-dimensional point cloud data acquired by a laser radar, identifying an airplane from the objects, and obtaining the taxiing speed, the attitude, the traveling direction and/or the airplane type information of the airplane in the airport. In other embodiments, the detected area is a track, and the track, and whether foreign objects exist in the track and around the track are identified through point cloud data obtained by a laser radar, and information such as distance, size or material of the foreign objects is judged.
The laser radar used in the detection process can be used for detecting and obtaining three-dimensional point cloud data information. The three-dimensional point cloud data information comprises distance information and space angle position information. The lidar typically has a wide range of detection angles, such as detection field angles of 90-150 degrees horizontally and 10-60 degrees vertically. In one embodiment, the detection field angle is 80-90 degrees horizontally, 10 degrees vertically or 30 degrees vertically. In one embodiment, 533000-800000 three-dimensional point cloud distance data are obtained within the detection field angle every second. The angular resolution is 0.05-0.2 degree horizontally and 0.05-0.2 degree vertically. Each point in the point cloud data includes distance and detection angle information.
In one embodiment, the detection distance of the laser radar is 4 m-300 m, and the laser radar can identify an object with the reflectivity of 10% at 300 m.
As shown in fig. 2, a lidar-based detection method 100 includes at least one lidar 201, where the lidar 201 is configured to acquire point cloud data information in a detected area. The point cloud data includes: and distance data and angle position information between the object in the detected area and the laser radar. The detection method determines the state of a detected area according to point cloud data information acquired by a laser radar, wherein the state of the detected area comprises whether an object exists and/or state information of the object.
In an alternative embodiment, the detection method 100 comprises a first lidar 201 having a detection field of view range 401, a second lidar 202 having a detection field of view range 402, and a third lidar 203 having a detection field of view range 403, the three lidar covering detection areas, the detection field of view ranges partially overlapping. The overlapping portions overlap two by two or all three. The number of the laser radars is determined according to the size of the detected area and the field detection capability of the laser radars.
The state of the object comprises the attitude, and/or the speed of movement, and/or the position within the detected area, and/or object volume information of the object. In one embodiment, the detected area is an airport, three-dimensional point cloud data obtained by laser radar is used for identifying whether an object exists in the detected area in the airport, the position of the object in the detected area, and identifying which objects are airplanes from the detected objects. Further, the position of the airplane, the movement speed and the volume of the airplane and the attitude of the airplane are judged through the three-dimensional point cloud data corresponding to the airplane. The attitude of the aircraft includes the direction in which the aircraft head is located, and the like. Further, by establishing an airplane three-dimensional model database, the airplane model can be identified through the point cloud data of the airplane detected by the laser radar.
According to the detection method based on the laser radar, whether an object exists in a detected area or not is identified through three-dimensional point cloud data obtained by the laser radar. In one embodiment, the detected area is an airport, and whether an object exists in the detected area or not and whether an airplane exists in the detected area or not are determined through point cloud data obtained by laser radar.
Determining whether an object exists in a detected area according to point cloud data information acquired by a laser radar, as shown in fig. 3, the method includes: and receiving and storing the distance information detected by the laser radar, and judging at least two distance information change trends. Determining whether the detected area has an object or not based on the change trend, wherein the detected area has an object entering therein based on the change trend that the distance information is reduced as shown in fig. 4; and increasing the distance information based on the change trend, and enabling the object to leave the detected area.
Further, the fact that an object enters the detected area is determined through point cloud data of the laser radar, and whether the object in the detected area is an airplane or not is judged in an airport scene.
In other alternative embodiments, the determination of whether there is an object in the detected area is made by setting a distance baseline. Specifically, determining whether an object exists in a detected area according to point cloud data information acquired by a laser radar includes: setting a distance baseline which is the distance between the laser radar and the surface of the detected area, receiving and storing the distance information detected by the laser radar, and obtaining the difference value between the distance information detected by the laser radar and the distance baseline, wherein when the absolute value of the difference value is greater than a set threshold value, an object enters the detected area. In this embodiment, the threshold value setting process is set in consideration of the detection error of the laser radar itself each time and the size of the detected object. For example, if the distance detection error of a certain type of laser radar is 1 meter, an object smaller than 1 meter cannot be identified, a distance change threshold value can be set to be 1.5 meters or 2 meters, and when the absolute value of the difference between the distance value in the point cloud data detected by the laser radar and the distance baseline is larger than 1.5 meters, it is determined that an object enters or leaves.
The movement speed of the object can be obtained through the point cloud data of the laser radar. In an embodiment thereof, the lidar calculates the distance based on Time of Flight (TOF). The lidar emits probe signal light that exits to the outside environment and is reflected off an object (i.e., an echo signal), and the lidar calculates the distance based on the time difference between the emitted and received echo signals. In the detection process of the laser radar, the detection times per second can be set, and the detection period of each time per second is known. For example, in one embodiment, the lidar detects 5-20 times per second, i.e., obtains 5-20 sets of three-dimensional point cloud data per second.
The airport is taken as a detected area, and the example illustrates that the movement speed of the airplane in the detected area is determined according to the point cloud data information acquired by the laser radar. The method comprises the following steps: acquiring and storing the point cloud data information detected by the laser radar, identifying the airplane according to the point cloud data, determining the distance change information of the point cloud data corresponding to the airplane in a certain time interval, for example, calculating the movement speed information of the airplane based on the distance change value and the time interval, wherein the distance change value is based on the change value of the distance in the point cloud data corresponding to the airplane detected within 1 second and at intervals of 1 second. Because three-dimensional point cloud data is obtained through the laser radar, the movement speed of the airplane in different vector directions can be obtained.
The attitude of the object can be obtained through the point cloud data of the laser radar. In one embodiment, an airport is taken as a detected area, and the method for determining the attitude information of the airplane in the detected area according to the point cloud data information acquired by the laser radar is illustrated. The attitude information includes identifying a direction in which the aircraft head is facing.
Specifically, determining the attitude of the airplane in the detected area according to the point cloud data information acquired by the laser radar comprises the following steps: and acquiring and storing the first point cloud data information detected by the laser radar. And removing corresponding ground data and interference data in the point cloud data based on the first point cloud data to obtain point cloud data information corresponding to one or more airplanes in the detected area, namely second point cloud data. The interference data is removed, for example, point cloud data corresponding to a small object is removed, for example, the number of points of the point cloud data in a certain area is determined, and if the number of points is less than a set threshold, the small object is determined, and information that is not needed to be focused in the embodiment is removed.
And extracting the characteristic points corresponding to the airplane in the second point cloud data. The characteristic points comprise characteristics of the second point cloud data such as mass center, empennage length, fuselage length and wing length.
And identifying the airplane and the airplane attitude according to the characteristic points. And determining the direction of the head of the airplane based on the point cloud data of the empennage and the fuselage. The direction of the straight line where the machine head is located is judged through the machine body, and the direction where the machine head is located is determined through the position of the tail wing.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A detection method based on laser radar is characterized by comprising at least one laser radar used for acquiring point cloud data information in a detected area,
determining the state of the detected area according to the point cloud data information acquired by the laser radar,
the state of the detected area includes whether an object is present and/or state information of the object.
2. The detection method according to claim 1,
the point cloud data information acquired by the laser radar comprises a distance value and spatial angle data of a detected target relative to the laser radar, the detection field angle of the laser radar is 80-90 degrees horizontally and 10-30 degrees vertically, and the angular resolution in the vertical direction is 0.05-0.2 degree.
3. The detection method according to claim 1,
the laser radars are more than 3 and are arranged at different positions of a detected area, and detection coverage areas of the laser radars are partially overlapped.
4. The detection method according to claim 1,
the state information of the object comprises attitude information of the object, and/or a movement speed, and/or a position within the detected area, and/or a volume of the object.
5. The detection method according to claim 1,
determining whether an object exists in a detected area according to point cloud data information acquired by a laser radar, wherein the method comprises the following steps:
receiving and storing the range information detected by the laser radar,
at least two distance information change trends are judged,
determining whether the detected area has an object based on the variation trend,
wherein, based on the change trend that the distance value is reduced, an object enters the detected area; and based on the change trend, the distance value is increased, and the object is separated from the detected area.
6. The detection method according to claim 1,
determining whether an object exists in a detected area according to point cloud data information acquired by a laser radar, wherein the method comprises the following steps:
setting a distance baseline, wherein the distance baseline is the distance between the laser radar and the surface of the detected area,
receiving and storing the range information detected by the laser radar,
obtaining the difference value between the range information detected by the laser radar and the range base line,
and when the absolute value of the difference is larger than a set threshold value, an object exists in the detected area.
7. The detection method according to claim 1,
the detected area is an airport, whether an airplane or a vehicle is in the detected area or not is detected, and state information of the airplane is obtained.
8. The detection method of claim 7, wherein obtaining status information of the aircraft comprises:
the position, and/or the speed of movement, and/or the attitude of the aircraft within the detected region is obtained.
9. The detection method according to claim 8, wherein determining the movement speed of the airplane in the detected area according to the point cloud data information acquired by the laser radar comprises:
acquiring and storing the point cloud data information detected by the laser radar,
the aircraft is identified according to the point cloud data,
determining the change of the point cloud data corresponding to the airplane in a set time interval,
calculating the movement speed of the aircraft based on the change.
10. The detection method according to claim 8, wherein determining the attitude of the aircraft in the detected area according to the point cloud data information acquired by the laser radar comprises:
acquiring and storing first point cloud data information detected by the laser radar,
eliminating corresponding ground data and interference data in the point cloud data to obtain second point cloud data,
extracting the characteristic points corresponding to the airplanes in the second point cloud data,
and identifying the airplane and the airplane attitude according to the characteristic points.
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