CN106872995A - A kind of laser radar detection method and device - Google Patents
A kind of laser radar detection method and device Download PDFInfo
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- CN106872995A CN106872995A CN201710243926.7A CN201710243926A CN106872995A CN 106872995 A CN106872995 A CN 106872995A CN 201710243926 A CN201710243926 A CN 201710243926A CN 106872995 A CN106872995 A CN 106872995A
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- 238000001514 detection method Methods 0.000 title claims abstract description 168
- 230000004888 barrier function Effects 0.000 claims abstract description 174
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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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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Abstract
The embodiment of the invention discloses a kind of laser radar detection method and device, wherein, the method includes：If target laser radar judges whether the scanning light beam of the target laser radar emission is less than the target set point for judging dangerous obstacles in the length value that the first object barrier is projected in target acquisition region scanning to first object barrier；If so, obtaining detection data acquired during target acquisition region described in the Laser Radar Scanning adjacent with the target laser radar；Based on the detection data, determine that the target acquisition region whether there is dangerous obstacles.The embodiment of the present invention solves the problems, such as that barrier blocks dangerous barrier in the shadow region that scanning light beam is formed, additionally it is possible to eliminate the blind spot to special-shaped obstacle detection in search coverage.
Description
Technical field
The present invention relates to the radar exploration technique field, more particularly to a kind of laser radar detection method and device.
Background technology
Communications and transportation is with a very important position in national economy, and transportation safety is matters vital to national well-being and the people's livelihood.At present
Chinese Railway enterprise starts using laser radar to being scanned and measuring in railway operation safety gauge, to find to exceed safety
The barrier of range size, it is to avoid bring danger to the train run at high speed.
Current this circuitry obstacle safety monitoring system is by gathering echo distance, head orientation angle information and sensor
With monitored area relative position information, position, movement velocity and the direction of barrier, and disturbance of analysis thing pair are determined by calculating
The threat degree of traffic safety.
In actual applications, scanning light beam is easily subject to the barrier near laser radar position to block, along scanning light beam
Detection shadow region is formed in the very big region further from laser radar, laser radar system in shadow region to whether there is
Dangerous objects cannot be perceived.In shadow region if there is larger dangerous obstacles, then for the train or vehicle in traveling
Major safety risks will be caused.
The content of the invention
The embodiment of the present invention provides a kind of laser radar detection method and device, can solve the problem that barrier blocks scanning light beam
The problem of dangerous barrier in the shadow region of formation, additionally it is possible to eliminate in search coverage special-shaped obstacle detection it is blind
Point.
In a first aspect, a kind of laser radar detection method is the embodiment of the invention provides, including：
If target laser radar, to first object barrier, judges the target laser radar in the scanning of target acquisition region
Whether the scanning light beam of transmitting is less than the mesh for judging dangerous obstacles in the length value that the first object barrier is projected
Mark setting value；
If so, obtaining acquired during target acquisition region described in the Laser Radar Scanning adjacent with the target laser radar
Detection data；
Based on the detection data, determine that the target acquisition region whether there is dangerous obstacles.
Second aspect, the embodiment of the present invention additionally provides a kind of laser radar detection device, including：
Judge module, if judging institute to first object barrier in the scanning of target acquisition region for target laser radar
Whether the scanning light beam for stating target laser radar emission is less than for judging in the length value that the first object barrier is projected
The target set point of dangerous obstacles；
Acquisition module, for being visited if so, obtaining target described in the Laser Radar Scanning adjacent with the target laser radar
Survey detection data acquired during region；
Determining module, for based on the detection data, determining that the target acquisition region whether there is dangerous obstacles.
Technical scheme provided in an embodiment of the present invention, if target laser radar is in target acquisition region scanning to first object
Barrier, and the scanning light beam of target laser radar emission is less than goal-setting in the projected length value of first object barrier
Value, acquired detection data during by based on the Laser Radar Scanning target acquisition region adjacent with target laser radar, really
The search coverage that sets the goal whether there is dangerous obstacles, can solve the problem that barrier is deposited in blocking the shadow region that scanning light beam is formed
In the problem of dangerous obstacles, additionally it is possible to eliminate the blind spot to special-shaped obstacle detection in search coverage.
Brief description of the drawings
By the detailed description made to non-limiting example made with reference to the following drawings of reading, it is of the invention other
Feature, objects and advantages will become more apparent upon：
Fig. 1 a are a kind of laser radar detection method flow diagrams provided in an embodiment of the present invention；
Fig. 1 b are that first object barrier provided in an embodiment of the present invention blocks the principle that scanning light beam forms shadow region
Figure；
Fig. 1 c are that a kind of first object barrier that eliminates provided in an embodiment of the present invention blocks scanning light beam formation shadow region
The schematic diagram in domain；
Fig. 1 d are the schematic diagrams of special-shaped obstacle detection blind spot in a kind of target acquisition region provided in an embodiment of the present invention；
Fig. 1 e are a kind of schematic diagrams detected to target acquisition region provided in an embodiment of the present invention；
Fig. 1 f are detection principle figures when target laser radar provided in an embodiment of the present invention is termination laser radar；
Fig. 2 a are another laser radar detection method flow diagrams provided in an embodiment of the present invention；
Fig. 2 b are that the first setpoint distance value that the embodiment of the present invention is provided after a kind of target laser radar scanning sets with second
The schematic diagram calculation of set a distance value；
Fig. 3 a are another laser radar detection method flow diagrams provided in an embodiment of the present invention；
Schematic diagram when Fig. 3 b are a kind of each laser radar detections provided in an embodiment of the present invention；
Fig. 4 is that a kind of laser provided in an embodiment of the present invention arranges big detection device structured flowchart.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that, in order to just
Part rather than full content related to the present invention is illustrate only in description, accompanying drawing.
Fig. 1 a are a kind of laser radar detection method flow diagrams provided in an embodiment of the present invention, and the present embodiment is applicable to respectively
The situation of laser radar detection is planted, the method can be performed by the detection device of laser radar provided in an embodiment of the present invention,
The device can be realized by the way of software and/or hardware.Methods described be applied to multiple two-dimensional laser radar detections, it is multi-thread swash
The situation of the three-dimensional laser radar detection that optical radar is detected or various dimensions rotate.As shown in Figure 1a, methods described includes：
S110：If target laser radar, to first object barrier, judges that the target swashs in the scanning of target acquisition region
Whether the scanning light beam of optical radar transmitting is less than for judging dangerous obstacles in the length value that the first object barrier is projected
The target set point of thing.
The principle of laser radar detection is as follows：Emission detection signal (such as scanning light beam), then will receive from obstacle
The signal (light beam e.g., being reflected back) that thing is reflected is compared with the detectable signal for starting transmitting, makees proper treatment
Afterwards, so that it may obtain target object for information about, such as target range, orientation, height, speed, even attitude, shape parameter,
So as to barrier is detected and recognized.
In the present embodiment, search coverage is the region for pre-setting, search coverage can for circular, fan-shaped, rectangle or
Other shapes, the region being scanned in a certain order centered on laser radar.For example, search coverage is from laser thunder
Up to being 15 meters to the 45 meters regions of distance.Wherein, target acquisition region is the search coverage of target laser radar, each laser
Radar corresponds to a search coverage.First object barrier is appointing that target laser radar is scanned in target acquisition region
One barrier of meaning, first object barrier may be benign barrier, it is also possible to be special-shaped barrier, special-shaped barrier
Generally dangerous obstacles.
In the present embodiment, detection data is received according to target laser radar, it is determined that the position of the barrier for scanning,
If the barrier of scanning is in target acquisition region, the barrier is first object barrier.For judging dangerous obstacles
Target set point can be set as needed, when barrier size value be more than target set point when, judge the barrier
It is dangerous obstacles, when the size value of barrier is less than target set point, judges that the barrier is benign barrier.
In embodiments of the present invention, the barrier that each laser radar is used in automatic monitoring rail track.Each laser radar
The position of rail track is positioned close to, the region where rail track is not arranged on, search coverage contains default
Rail track region.If target laser radar, to first object barrier, judges target laser in the scanning of target acquisition region
Whether the scanning light beam of radar emission is less than for judging that the target of dangerous obstacles sets in the length value of first object barrier
Definite value.Wherein, the length value that the scanning light beam of target laser radar emission is projected in first object barrier, its calculating can be
Following method：First object barrier to target laser radar is determined according to the echo that the first object barrier for receiving reflects
Distance, the scanning light beam pair of distance and target laser radar emission according to first object barrier to target laser radar
The radian value of the angle of divergence is answered to determine the length value that scanning light beam is projected on first object barrier.
S120：If so, when obtaining target acquisition region described in the Laser Radar Scanning adjacent with the target laser radar
Acquired detection data.
In the present embodiment, obtain acquired during the Laser Radar Scanning target acquisition region adjacent with target laser radar
Detection data can include：The laser radar adjacent with target laser radar is obtained to be scanned in corresponding effective search coverage
Acquired detection data during target acquisition region.Wherein, effective search coverage is had by the position of laser radar, laser radar
The effect factor such as detection range is determined, the scan period of effective detection range and laser radar, and laser radar performance
Parameter is related, and each laser radar corresponds to an effective search coverage.
In the present embodiment, optionally, it is described to obtain described in the Laser Radar Scanning adjacent with the target laser radar
Acquired detection data during target acquisition region, including：Obtain two laser radars adjacent with the target laser radar
Acquired detection data when scanning the target acquisition region in the effective search coverage of correspondence respectively.Thus, by obtaining
Detection data during two neighboring Laser Radar Scanning target acquisition region, can accurately identify the danger in target acquisition region
Barrier.And if the length value that is projected on first object barrier of the scanning light beam of target laser radar emission is more than being used for
Judge the target set point of dangerous obstacles, it is also possible to obtain the one of laser radar adjacent with the target laser radar
The detection data acquired during scanning target detection region in the effective search coverage of correspondence.
In the present embodiment, if the length that is projected on first object barrier of the scanning light beam of target laser radar emission
Value determines that the first object barrier, for dangerous obstacles, sends report more than the target set point for judging dangerous obstacles
Alert information.If the scanning light beam of target laser radar emission is endangered in the length value that first object barrier is projected less than for judgement
The target set point of dangerous barrier, because the transmitting of first object barrier shelter target laser radar is swept in target acquisition region
Retouch light beam and can be formed and be enough to the shadow region for accommodating larger object, so that target laser radar detection is less than in shadow region
Barrier.
Specifically, as shown in Figure 1 b, target laser radar is laser radar N；12 is target acquisition region；13 is the first mesh
Mark barrier；14 is the shadow region of the scanning light beam formation of first object barrier shelter target laser radar transmitting；15 are
Barrier in shadow region.If first object barrier 13 is arrived in laser radar N scannings, first object barrier 13 blocks scanning
Light beam forms a certain size shadow region 14 in target acquisition region 12, then the barrier 15 positioned at shadow region 14 will not
Can be detected.
Therefore, if target laser radar is scanned to first object barrier in target acquisition region, and target laser thunder
Scanning light beam up to transmitting is less than the goal-setting for judging dangerous obstacles in the length value that first object barrier is projected
Value, it is necessary to obtain detection data acquired during the Laser Radar Scanning target acquisition region adjacent with target laser radar, with
Target acquisition region is determined with the presence or absence of dangerous obstacles, and also can determine that the shadow region whether there is dangerous obstacles
Thing.Wherein, the detection data of each laser radar can be laser radar transmitting scanning light beam under each detection angle through obstacle
The echo data that thing is reflected to form, for example, correspondence detection angle under, launch scanning light beam time, receive echo when
Between, receive performance number of echo etc..
In the present embodiment, the quantity of first object barrier can be one, or multiple.When first object barrier
Hinder the quantity of thing for it is multiple when, if the scanning light beam of target laser radar emission first object barrier projection wherein
Length value can obtain the laser radar adjacent with target laser radar less than the target set point for judging dangerous obstacles
Acquired detection data during scanning target detection region.If or the scanning light beam of target laser radar emission at two or
The length value of other quantity first object barrier projection is less than target set point, it is also possible to obtain adjacent with target laser radar
Laser Radar Scanning target acquisition region when acquired detection data.
In the present embodiment, optionally, it is described if so, obtaining the Laser Radar Scanning adjacent with the target laser radar
Acquired detection data during the target acquisition region, can include：If the scanning light beam of the target laser radar emission
The target set point is less than in the length value of first object barrier projection, and the target laser radar is in the mesh
When mark search coverage does not scan dangerous obstacles, mesh described in the Laser Radar Scanning adjacent with the target laser radar is obtained
Acquired detection data during mark search coverage；Wherein, the scanning light beam of the target laser radar emission is in dangerous obstacles
The length value of projection is more than the target set point.
If specifically, the scanning light beam of target laser radar emission is equal in the length value that all first object barriers are projected
Less than target set point, detection acquired during the Laser Radar Scanning target acquisition region adjacent with target laser radar is obtained
Data.For example, the quantity of first object barrier is 2, if the scanning light beam of target laser radar emission is in 2 first objects
The length value of barrier projection is respectively less than target set point, obtains the Laser Radar Scanning target adjacent with target laser radar and visits
Survey detection data acquired during region.
And for example, if the scanning light beam of the target laser radar emission length value that a first object barrier is projected wherein
Less than the length value that the scanning light beam of target set point, and target laser radar emission is projected in another first object barrier
More than target set point, send warning message and the laser radar adjacent with target laser radar is obtained to warn staff, not
Acquired detection data during scanning target detection region, being capable of quick hazard recognition barrier.
S130：Based on the detection data, determine that the target acquisition region whether there is dangerous obstacles.
It is acquired when in the present embodiment, based on the Laser Radar Scanning target acquisition region adjacent with target laser radar
Detection data, determine target acquisition region whether there is dangerous obstacles.
Optionally, it is described based on the detection data, determine the target acquisition region with the presence or absence of dangerous obstacles, bag
Include：Based on the detection data, it is determined that the second target disorders that the Laser Radar Scanning adjacent with the target laser radar is arrived
The position of thing；If the second target obstacle of institute is located at the target acquisition region, judge adjacent with the target laser radar
Whether the scanning light beam of laser radar transmitting is more than the target set point in the length value that second target obstacle is projected；
If so, determining that second target obstacle is dangerous obstacles.Wherein, second target obstacle and first object obstacle
Thing is different barriers；Or second target obstacle and the first object barrier are same barrier.Second mesh
The quantity for marking barrier can be one, or multiple.
Specifically, detection data acquired during adjacent with target laser radar Laser Radar Scanning target acquisition region
Can be：Under each detection angle, the laser radar adjacent with target laser radar launches the time of scanning light beam, receives echo
Time etc..Wherein, the scanning light beam that echo is launched by the laser radar adjacent with target laser radar is through the second target disorders
Thing reflects and is formed.According under each detection angle, the laser radar transmitting scanning light beam adjacent with target laser radar when
Between and receive time of echo, can determine the second target obstacle to the distance of target laser radar, and according to the second mesh
Mark barrier determines the position of the second target obstacle to the distance and corresponding detection angle of target laser radar.
In the present embodiment, when the quantity of the second target obstacle is 1, because adjacent with target laser radar is swashed
Optical radar can scan first object barrier (target laser radar scanning to barrier) in target acquisition region, therefore,
Second target obstacle can be same barrier with first object barrier.
In the present embodiment, when the second target obstacle quantity for it is multiple when, its in multiple second target obstacles
He one can be same barrier with first object barrier, and also other barriers, other obstacles can be included
The scanning light beam that thing can be located at the transmitting of first object barrier shelter target laser radar is formed in target acquisition region
In shadow region, it is also possible to other regions in target acquisition region.In the present embodiment, first object barrier may
It is benign barrier, it is also possible to be special-shaped barrier.
As illustrated in figure 1 c, target laser radar is laser radar N, and laser radar N-1 is adjacent with laser radar N.Work as laser
Radar N is when the scanning of target acquisition region 12 is to first object barrier 13, if the scanning light beam of laser radar N transmittings is first
The length of the projection of target obstacle 13 can't send warning message less than the target set point for judging dangerous obstacles.
But there is barrier in the shadow region 14 that the scanning light beam that first object barrier 13 blocks laser radar N transmittings is formed
15, and the barrier 15 is likely to be dangerous obstacles, and laser radar N can not detect the barrier in shadow region 14
15.And laser radar N-1 to target acquisition region 12 in effective search coverage when being scanned, except that can scan to first
Outside target obstacle 13, additionally it is possible to which shadow region 14 is scanned, and can scan to the barrier in shadow region 14
15.As illustrated in figure 1 c, 16 be laser radar N-1 scanning target detection regions 12 when effective search coverage, 17 is laser radar
N-1 scanning target detections region 12, and the region during echo power detection of use 10%.Because laser radar N-1 can sweep
The shadow region 14 in target acquisition region 12 is retouched, therefore, when laser radar N is scanned to the first mesh in target acquisition region 12
During mark barrier 13, if the scanning light beam of laser radar N transmittings is less than for sentencing in the length that first object barrier 13 is projected
The target set point of disconnected dangerous obstacles is, it is necessary to obtain the detection data obtained during laser radar N-1 scanning target detection regions
(or obtaining the detection data that laser radar N-1 is obtained in the effective search coverage of correspondence during scanning target detection region), and
Determine whether the barrier is dangerous obstacles by detection data.Specifically, the shadow region 14 that laser radar N-1 is scanned
Middle barrier 15 is the second target obstacle, if the scanning light beam of laser radar transmitting is big in the length value that the barrier 15 is projected
In the target set point for judging dangerous obstacles, judge that the barrier 15 is dangerous obstacles.
And for example, when first object barrier is special-shaped barrier, as shown in Figure 1 d, target laser radar is laser radar
N, laser radar N and laser radar N-1 are adjacent.When laser radar N is in the scanning of target acquisition region 12 to first object barrier
When 13, if the scanning light beam of laser radar N transmittings is less than for judging dangerous barrier in the length that first object barrier 13 is projected
Hinder the target set point of thing, warning message can't be sent.Because first object barrier is special-shaped barrier, it is more likely that be
Dangerous obstacles, the result of detection according to laser radar N not can determine that whether first object barrier is non-dangerous obstacles.
As shown in Figure 1 d, 16 be laser radar N-1 scanning target detection regions when effective search coverage, 17 sweep for laser radar N-1
Retouch target acquisition region, and the region during echo power detection of use 10%.Laser radar N-1 is right in effective search coverage
When target acquisition region 12 is scanned, the direction from the scanning light beam that laser radar N launches is different, so, laser radar N-1
It is different in the length value of the projection of first object barrier 13 with the scanning light beam that laser radar N launches respectively.Therefore, according to sharp
The detection data that optical radar N-1 is obtained in the effective search coverage of correspondence during scanning target detection region, can determine that it is launched
The length value that is projected in first object barrier of scanning light beam, if the length value is more than the target for judging dangerous obstacles
During setting value, judge that first object barrier is dangerous obstacles.Thus, it is possible to eliminate the blind spot of special-shaped obstacle detection.
It should be noted that for convenience of description, when the scanning light beam of target laser radar emission is in first object obstacle
Thing projection length value less than for judge dangerous obstacles target set point when, in Fig. 1 c and Fig. 1 d exemplary use with
An adjacent laser radar of target laser radar is detected to the barrier in target acquisition region, but Fig. 1 c and Fig. 1 d institutes
The detection mode for showing is only a kind of example, in an embodiment of the present invention, can also be used adjacent with target laser radar
Two laser radars are detected to the barrier in target acquisition region.
For example, as shown in fig. le, target laser radar is laser radar N, laser radar N+1 and laser radar N-1 and swash
Optical radar N is adjacent.During the corresponding target acquisition regions 12 of laser radar N-1 scanning laser radar N in effective search coverage, institute
The region scanned is M1, positioned at the left half side of target acquisition region 12.Similarly, laser radar N+1 is in effective search coverage
During the corresponding target acquisition regions 12 of scanning laser radar N, the region scanned is M2, positioned at the right side in target acquisition region 12
It is half side.Wherein, M1 and M2 cover the major part in the corresponding target acquisition regions 12 of laser radar N, and the target of only very little is blind
Area M3 is not covered with.Because the position of laser radar N-1, laser radar N and laser radar N+1 is different, target acquisition region
Benign barrier in 12 blocks the shadow region of the scanning light beam formation of each laser radar transmitting and differs.Therefore, lead to
Cross laser radar N-1 and laser radar N+1 detections acquired during scanning target detection region in effective search coverage respectively
Data, can accurately identify the dangerous obstacles in target acquisition region, and elimination benign barrier blocks scanning light beam and formed
Shadow region, solve the problems, such as dangerous barrier in shadow region.
It should be noted that the length value projected in first object barrier when the scanning light beam of target laser radar emission
During less than for the target set point for judging dangerous obstacles, and target laser radar is termination laser radar, can also be added
Auxiliary laser radar is detected to target acquisition region, and acquired during according to auxiliary laser radar scanning target acquisition region
Detection data determine target acquisition region with the presence or absence of dangerous obstacles, being capable of accurate detecting obstacles thing, it is ensured that traffic safety.
Wherein, termination laser radar is located at beginning or the end of multilasered optical radar detection group, the laser adjacent with termination laser radar
The quantity of radar is 1.
Specifically, as shown in Figure 1 f, laser radar N is termination laser radar, N+1 laser radars are adjacent with laser radar N.
Because laser radar N+1 is in effective search coverage during scanning target detection region 12, the region M2 for scanning can not be covered
Target acquisition region 12, therefore need addition auxiliary laser radar N0 to be scanned target acquisition region 12, auxiliary laser radar
In effective search coverage during scanning target detection region 12, the region scanned is M0 (shadow region in Fig. 1 f) to N0.Its
In, M2 and M0 covers target acquisition region 12, therefore, swash, it is necessary to add auxiliary when laser radar N is termination laser radar
Optical radar, is obtained in effective search coverage by auxiliary laser radar N0 and laser radar N+1 during scanning target detection region
The detection data for taking determines that target acquisition region whether there is dangerous obstacles.It should be noted that in Fig. 1 f, 18 swash for auxiliary
Effective search coverage during optical radar N0 scanning target detection regions 12,19 is laser radar N+1 scanning target detections region 12
When effective search coverage.
It should be noted that above-mentioned radar detection method can by target laser radar, and with target laser radar
The detection data of adjacent laser radar is sent to a calculating platform, and the detection data for receiving is carried out by calculating platform
Calculate, determine that target acquisition region whether there is dangerous obstacles.Or each laser radar one calculating platform of correspondence, respectively
Data sharing can be realized between calculating platform, the corresponding calculating platform of target laser radar can be obtained and target laser radar
Detection data in the corresponding calculating platform of adjacent laser radar, target acquisition region is determined by the detection data for getting
It is interior with the presence or absence of dangerous obstacles.
A kind of radar detection method that the present embodiment is provided, if target laser radar is scanned to first in target acquisition region
Target obstacle, and the scanning light beam of target laser radar emission sets in the projected length value of first object barrier less than target
Definite value, acquired detection data during by based on the Laser Radar Scanning target acquisition region adjacent with target laser radar,
Target acquisition region is determined with the presence or absence of dangerous obstacles, in can solve the problem that the shadow region that barrier blocks scanning light beam formation
The problem of dangerous barrier, additionally it is possible to eliminate the blind spot to special-shaped obstacle detection in search coverage.
It is described when the quantity of the laser radar adjacent with target laser radar is 2 on the basis of above-described embodiment
The detection method of laser radar also includes：Judge the target area that first object search coverage and the second target acquisition region are formed
Whether the target acquisition region is all covered；If it is not, obtaining the target that target acquisition region is not covered by target area
Blind area；If the maximum of distance, more than the target set point for judging dangerous obstacles, is controlled between any two points in target blind area
The system laser radar movement adjacent with target laser radar, to reduce laser radar and the target adjacent with target laser radar
The distance between laser radar.
Wherein, first object search coverage is：The mesh that a upper Laser Radar Scanning adjacent with target laser radar is arrived
Region in mark search coverage；Second target acquisition region is：The next Laser Radar Scanning adjacent with target laser radar
To target acquisition region in region；The laser radar adjacent with target laser radar include a upper laser radar and
Next laser radar.
As shown in fig. le, M1 is first object search coverage, and M2 is the second target acquisition region.In target acquisition region
In, target blind area M3 is not covered by the target area that M1 and M2 is formed.If distance between any two points in the M3 of target blind area
Maximum more than for judging the target set point of dangerous obstacles, control laser radar N+1 and laser radar N-1 movements,
Laser radar N+1, laser radar N-1 is set to reduce with the distance between laser radar N respectively, to reduce the area of target blind area,
Detection to target acquisition region barrier is more accurate, it is ensured that traffic safety.
On the basis of above-described embodiment, in order to reduce the area of target blind area, each laser radar can also be carried out more
Change, change effective detection range laser radar more long and detected.
Fig. 2 a are a kind of radar detection method flow charts that the present embodiment two is provided, on the basis of above-described embodiment, can
Choosing, obtain detection number acquired during target acquisition region described in the Laser Radar Scanning adjacent with the target laser radar
According to, including：
Obtain the first object barrier and block the scanning light beam of the target laser radar emission and visited in the target
Survey the shadow region that region is formed；
If the shadow region meets accommodates imposing a condition for dangerous obstacles, obtain adjacent with the target laser radar
The detection data acquired when scanning the target acquisition region in the effective search coverage of correspondence of laser radar.
Based on above-mentioned optimization, as shown in Figure 2 a, the technical scheme that the present embodiment is provided includes：
S210：If target laser radar, to first object barrier, judges that the target swashs in the scanning of target acquisition region
Whether the scanning light beam of optical radar transmitting is less than for judging dangerous obstacles in the length value that the first object barrier is projected
The target set point of thing.
S220：Obtain the first object barrier and block the scanning light beam of the target laser radar emission in the mesh
The shadow region that mark search coverage is formed.
S230：If the shadow region meets accommodates imposing a condition for dangerous obstacles, obtain and the target laser thunder
Acquired detection data when scanning the target acquisition region in the effective search coverage of correspondence up to adjacent laser radar.
In the present embodiment, optionally, if the shadow region meets accommodates imposing a condition for dangerous obstacles, obtain
When taking the laser radar adjacent with the target laser radar and scanning the target acquisition region in the effective search coverage of correspondence
Acquired detection data, including：If the maximum of the distance between two points in the shadow region is more than the goal-setting
Value, obtains the laser radar adjacent with the target laser radar and scans the Track Production Area in the effective search coverage of correspondence
Acquired detection data during domain.
If specifically, the maximum of the distance between two points in shadow region is more than the target for judging dangerous obstacles
Setting value, determines to there may be dangerous obstacles, it is necessary to obtain the scanning target detection of adjacent laser radar in shadow region
Acquired detection data during region, to determine target acquisition region with the presence or absence of dangerous obstacles and to determine shadow region
With the presence or absence of dangerous obstacles.
Or shadow region meet receiving imposing a condition for dangerous obstacles can also be：It can also be the first setpoint distance
Maximum in value and the second setpoint distance value is more than the target set point for judging dangerous obstacles.Wherein, the first setting
Distance value is：The scanning light beam of target laser radar emission and the distal end intersection point and target laser radar at target acquisition region edge
The distance between, the distance between subtract first object barrier to target laser radar.Second setpoint distance value is：It is described remote
End the distance between intersection point and laser radar and first object barrier shelter target laser radar transmitting scanning light beam when pair
The product of the angle of divergence radian value answered.And shadow region meets imposing a condition for receiving dangerous obstacles and can also be that other have
Body form.
Or, specifically, the first setpoint distance value of the point-to-point transmission of the shadow region and the second setpoint distance value are entered
Row compares；If the maximum in the first setpoint distance value and the second setpoint distance value is more than the target for judging dangerous obstacles
Setting value, obtains the laser radar adjacent with target laser radar and is obtained during scanning target detection region in effective search coverage
The detection data for taking, to determine target acquisition region with the presence or absence of dangerous obstacles and to determine shadow region with the presence or absence of danger
Dangerous barrier.First setpoint distance value and the second setpoint distance value with above-mentioned the first setpoint distance value, the second setpoint distance
Value is identical, is not repeated.
As shown in Figure 2 b, L1It is the scanning light beam of target laser radar emission under certain scanning angle and target acquisition region side
The distance between distal end intersection point and target laser radar site of edge, L2It is first object barrier between target laser radar
Distance, D and E are the scanning light beam of target laser radar emission and the distal end intersection point at target acquisition region edge, and β is the first mesh
Mark barrier blocks the corresponding angle of divergence radian value during scanning light beam, then in the present embodiment, L3As first setting
Distance value, the second setpoint distance value L4For：L1With the product of β.It should be noted that in Fig. 2 b, target laser radar emission is swept
The distal end intersection point that light beam is retouched with target acquisition region edge is two (D points and E points), can as needed select one of them.
Specifically, by the first setpoint distance value L3With the second setpoint distance value L4Contrasted, obtained maximum, if this is most
Big value obtains the laser radar adjacent with target laser radar effective more than the target set point for judging dangerous obstacles
Detection data acquired during scanning target detection region in search coverage, to determine that target acquisition region hinders with the presence or absence of dangerous
Hinder thing and to determine that shadow region whether there is dangerous obstacles.
S240：Based on the detection data, determine that the target acquisition region whether there is dangerous obstacles.
Thus, meet the condition for accommodating dangerous obstacles by judging shadow region, obtain adjacent with target laser radar
Laser Radar Scanning target acquisition region acquired in detection data, it is possible to increase the efficiency of the detection of laser radar.
Fig. 3 a are a kind of detection method flow charts of laser radar provided in an embodiment of the present invention, in the base of above-described embodiment
It is optionally, described to obtain target acquisition region when institute described in the Laser Radar Scanning adjacent with the target laser radar on plinth
The detection data of acquisition, including：
Based on the detection data that the target laser radar is obtained, the position of the first object barrier is determined；
Based on the position of the first object barrier, the laser radar adjacent with the target laser radar is obtained right
Answer detection data acquired when the target acquisition region is scanned in effective search coverage.
Based on above-mentioned optimization, as shown in Figure 3 a, the technical scheme that the present embodiment is provided includes：
S310：If target laser radar, to first object barrier, judges that the target swashs in the scanning of target acquisition region
Whether the scanning light beam of optical radar transmitting is less than for judging dangerous obstacles in the length value that the first object barrier is projected
The target set point of thing.
S320：If so, the detection data obtained based on the target laser radar, determines the first object barrier
Position.
In the present embodiment, target laser radar determine the position of first object barrier method and, with target laser
The adjacent laser radar of radar determines that the method for the second target disorders object location is identical, is not repeated.
S330：Based on the position of the first object barrier, the laser thunder adjacent with the target laser radar is obtained
The acquired detection data when target acquisition region is scanned in the effective search coverage of correspondence.
In the present embodiment, optionally, the position based on the first object barrier, obtains and swashs with the target
Optical radar adjacent laser radar detection number acquired when scanning the target acquisition region in the effective search coverage of correspondence
According to, including：Based on the position of the first mesh barrier, first object distance and the second target range are determined；If described first
Target range is less than second target range, obtains a upper laser radar adjacent with the target laser radar in correspondence
Detection data acquired during the target acquisition region is scanned in effective search coverage；If the first object distance is more than institute
The second target range is stated, the acquisition next laser radar adjacent with the target laser radar is in the effective search coverage of correspondence
Scan detection data acquired during the target acquisition region.
Wherein, the first object distance is：A upper laser radar adjacent with the target laser radar and described
The distance between first object barrier；Second target range is：Adjacent with the target laser radar is next sharp
The distance between optical radar and the first object barrier.
Specifically, position according to a first object barrier upper laser radar adjacent with target laser radar with
And the position of next laser radar, determine first object distance and the second target range；And according to first object distance and
The magnitude relationship of two target ranges, it is determined that obtaining a upper laser radar or next Laser Radar Scanning target acquisition region
When the detection data that obtains.
As shown in Figure 3 b, target laser radar is laser radar N, a upper laser radar adjacent with target laser radar
Laser radar N-1 and laser radar N+1 are respectively with next laser radar.By the first object barrier in target acquisition region 12
Thing 13 is hindered to be compared with the distance between laser radar N-1, laser radar N+1 respectively.If first object barrier 13 with swash
The distance between optical radar N-1 is smaller, obtains detection data acquired during laser radar N-1 scanning target detection regions, with
Judge to whether there is dangerous obstacles in target acquisition region.
S340：Based on the detection data, determine that the target acquisition region whether there is dangerous obstacles.
Thus, by the position of first object barrier, it is determined that obtaining the laser thunder adjacent with the target laser radar
The acquired detection data when target acquisition region is scanned in the effective search coverage of correspondence, it is possible to increase detecting obstacles
The efficiency of thing.
Fig. 4 is a kind of laser radar detection apparatus structure block diagram provided in an embodiment of the present invention, and described device is used to perform
A kind of laser radar detection method, as shown in figure 4, described device includes judge module 410, acquisition module 420 and determining module
430。
Wherein, judge module 410, if for target laser radar in target acquisition region scanning to first object obstacle
Thing, judges whether the scanning light beam of the target laser radar emission is less than in the length value that the first object barrier is projected
Target set point for judging dangerous obstacles；
Acquisition module 420, for if so, obtaining target described in the Laser Radar Scanning adjacent with the target laser radar
Acquired detection data during search coverage；
Determining module 430, for based on the detection data, determining that the target acquisition region whether there is dangerous obstacles
Thing.
Further, the acquisition module 420, if for the target laser radar emission scanning light beam described
The length value of one target obstacle projection is less than the target set point, and the target laser radar is in the Track Production Area
When dangerous obstacles are not scanned in domain, Track Production Area described in the Laser Radar Scanning adjacent with the target laser radar is obtained
Acquired detection data during domain；
Wherein, the scanning light beam of the target laser radar emission is more than the mesh in the length value that dangerous obstacles are projected
Mark setting value.
Further, the acquisition module includes the detection data acquiring unit of shadow region acquiring unit 421 and first
422；
The shadow region acquiring unit 421, the target laser thunder is blocked for obtaining the first object barrier
Up to the shadow region that the scanning light beam of transmitting is formed in the target acquisition region；
The first detection data acquiring unit 422, if meet accommodating setting for dangerous obstacles for the shadow region
Fixed condition, obtains the laser radar adjacent with the target laser radar and the target spy is scanned in the effective search coverage of correspondence
Survey detection data acquired during region.
Further, the shadow region acquiring unit 421, if for the distance between two points in the shadow region
Maximum is more than the target set point, obtains the laser radar adjacent with the target laser radar in the effective detecting area of correspondence
Detection data acquired during the target acquisition region is scanned in domain.
Further, the acquisition module 420 includes the detection data acquiring unit 424 of position acquisition unit 423 and second；
The position acquisition unit 423, for the detection data obtained based on the target laser radar, determines described
The position of one target obstacle；
Second detection data acquiring unit 424, for the position based on the first object barrier, obtains and the mesh
The spy acquired when scanning the target acquisition region in the effective search coverage of correspondence of mark laser radar adjacent laser radar
Survey data.
Further, the second detection data acquiring unit 424, for the position based on the first mesh barrier,
Determine first object distance and the second target range；
If first object distance is less than second target range, obtain adjacent with the target laser radar upper
One laser radar detection data acquired when scanning the target acquisition region in the effective search coverage of correspondence；
If the first object distance is more than second target range, under acquisition is adjacent with the target laser radar
One laser radar detection data acquired when scanning the target acquisition region in the effective search coverage of correspondence；
Wherein, the first object distance is：A upper laser radar adjacent with the target laser radar and described
The distance between first object barrier；Second target range is：Adjacent with the target laser radar is next sharp
The distance between optical radar and the first object barrier.
Further, the acquisition module 420, for obtaining two laser radars adjacent with the target laser radar
Acquired detection data when scanning the target acquisition region in the effective search coverage of correspondence respectively.
Further, described device also includes：
Control module 440, for judging the target area that first object search coverage and the second target acquisition region are formed
Whether the target acquisition region is all covered；
If it is not, obtaining the target blind area that the target acquisition region is not covered by the target area；
If the maximum of distance is more than the target set point, control and the mesh between any two points in the target blind area
The adjacent laser radar movement of mark laser radar, to reduce the laser radar and the mesh adjacent with the target laser radar
The distance between mark laser radar；
Wherein, first object search coverage is：A upper Laser Radar Scanning adjacent with the target laser radar is arrived
The target acquisition region in region；
The second target acquisition region is：What the next Laser Radar Scanning adjacent with the target laser radar was arrived
Region in the target acquisition region；
The laser radar adjacent with the target laser radar include a upper laser radar and it is described it is next swash
Optical radar.
Further, the determining module 430, for based on the detection data, it is determined that with the target laser radar
The position of the second target obstacle that adjacent Laser Radar Scanning is arrived；
If the second target obstacle of institute is located at the target acquisition region, judge adjacent with the target laser radar sharp
Whether the scanning light beam of optical radar transmitting is more than the target set point in the length value that second target obstacle is projected；
If so, determining that second target obstacle is dangerous obstacles；
Wherein, second target obstacle is different barriers from first object barrier；Or second target
Barrier is same barrier with the first object barrier.
A kind of laser radar detection device that the present embodiment is provided, if target laser radar is in target acquisition region, and scanning is arrived
First object barrier, and the scanning light beam of target laser radar emission is less than mesh in the projected length value of first object barrier
Mark setting value, acquired detection number during by based on the Laser Radar Scanning target acquisition region adjacent with target laser radar
According to, target acquisition region is determined with the presence or absence of dangerous obstacles, can solve the problem that barrier blocks the shadow region that scanning light beam is formed
The problem of dangerous barrier in domain, additionally it is possible to eliminate the blind spot to special-shaped obstacle detection in search coverage.
Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious changes,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although the present invention is carried out by above example
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
More other Equivalent embodiments can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (10)
1. a kind of laser radar detection method, it is characterised in that including：
If target laser radar, to first object barrier, judges the target laser radar emission in the scanning of target acquisition region
The length value that projects in the first object barrier of scanning light beam whether less than for judging that the target of dangerous obstacles sets
Definite value；
If so, obtaining spy acquired during target acquisition region described in the Laser Radar Scanning adjacent with the target laser radar
Survey data；
Based on the detection data, determine that the target acquisition region whether there is dangerous obstacles.
2. method according to claim 1, it is characterised in that
It is described if so, obtaining acquired during target acquisition region described in the Laser Radar Scanning adjacent with the target laser radar
Detection data, including：
If the scanning light beam of the target laser radar emission is less than described in the length value that the first object barrier is projected
Target set point, and the target laser radar is not when dangerous obstacles are scanned in the target acquisition region, obtains and institute
State detection data acquired during target acquisition region described in the adjacent Laser Radar Scanning of target laser radar；
Wherein, the scanning light beam of the target laser radar emission sets in the length value that dangerous obstacles are projected more than the target
Definite value.
3. method according to claim 1 and 2, it is characterised in that
It is described to obtain spy acquired during target acquisition region described in the Laser Radar Scanning adjacent with the target laser radar
Data are surveyed, including：
Obtain the first object barrier and block the scanning light beam of the target laser radar emission in the Track Production Area
The shadow region that domain is formed；
If the shadow region meets accommodates imposing a condition for dangerous obstacles, acquisition is adjacent with the target laser radar to swash
Optical radar detection data acquired when scanning the target acquisition region in the effective search coverage of correspondence.
4. method according to claim 3, it is characterised in that
If the shadow region meets accommodates imposing a condition for dangerous obstacles, obtain adjacent with the target laser radar
The detection data acquired when scanning the target acquisition region in the effective search coverage of correspondence of laser radar, including：
If the maximum of the distance between two points in the shadow region is more than the target set point, obtains and swash with the target
Optical radar adjacent laser radar detection number acquired when scanning the target acquisition region in the effective search coverage of correspondence
According to.
5. according to claim 1 or claim 2, it is characterised in that
It is described to obtain spy acquired during target acquisition region described in the Laser Radar Scanning adjacent with the target laser radar
Data are surveyed, including：
Based on the detection data that the target laser radar is obtained, the position of the first object barrier is determined；
Based on the position of the first object barrier, the laser radar adjacent with the target laser radar is obtained to that should have
Detection data acquired during the target acquisition region is scanned in effect search coverage.
6. method according to claim 5, it is characterised in that
The position based on the first object barrier, obtains the laser radar adjacent with the target laser radar right
Detection data acquired when the target acquisition region is scanned in effective search coverage is answered, including：
Based on the position of the first mesh barrier, first object distance and the second target range are determined；
If the first object distance is less than second target range, upper adjacent with the target laser radar is obtained
Laser radar detection data acquired when scanning the target acquisition region in the effective search coverage of correspondence；
If first object distance is more than second target range, obtain adjacent with the target laser radar next
Laser radar detection data acquired when scanning the target acquisition region in the effective search coverage of correspondence；
Wherein, the first object distance is：A upper laser radar adjacent with the target laser radar and described first
The distance between target obstacle；
Second target range is：The next laser radar adjacent with the target laser radar and the first object hinder
Hinder the distance between thing.
7. method according to claim 1 and 2, it is characterised in that
It is described to obtain spy acquired during target acquisition region described in the Laser Radar Scanning adjacent with the target laser radar
Data are surveyed, including：
Scanning is described in the effective search coverage of correspondence respectively to obtain two laser radars adjacent with the target laser radar
Acquired detection data during target acquisition region.
8. method according to claim 7, also includes：
Judge whether the target area that first object search coverage and the second target acquisition region are formed all covers the target
Search coverage；
If it is not, obtaining the target blind area that the target acquisition region is not covered by the target area；
If the maximum of distance is more than the target set point between any two points in the target blind area, control swashs with the target
The adjacent laser radar movement of optical radar, is swashed with reducing the laser radar adjacent with the target laser radar and the target
The distance between optical radar；
Wherein, the first object search coverage is：A upper Laser Radar Scanning adjacent with the target laser radar is arrived
The target acquisition region in region；
The second target acquisition region is：Described in next Laser Radar Scanning adjacent with the target laser radar is arrived
Region in target acquisition region；
The laser radar adjacent with the target laser radar includes a upper laser radar and next laser thunder
Reach.
9. method according to claim 1 and 2, it is characterised in that
It is described that the target acquisition region is determined with the presence or absence of dangerous obstacles based on the detection data, including：
Based on the detection data, it is determined that the second target disorders that the Laser Radar Scanning adjacent with the target laser radar is arrived
The position of thing；
If the second target obstacle of institute is located at the target acquisition region, the laser thunder adjacent with the target laser radar is judged
Whether the scanning light beam up to transmitting is more than the target set point in the length value that second target obstacle is projected；
If so, determining that second target obstacle is dangerous obstacles；
Wherein, second target obstacle is different barriers from first object barrier；Or second target disorders
Thing is same barrier with the first object barrier.
10. a kind of laser radar detection device, it is characterised in that including：
Judge module, if judging the mesh to first object barrier in the scanning of target acquisition region for target laser radar
Whether the scanning light beam of mark laser radar transmitting is less than for judging danger in the length value that the first object barrier is projected
The target set point of barrier；
Acquisition module, for if so, obtaining Track Production Area described in the Laser Radar Scanning adjacent with the target laser radar
Acquired detection data during domain；
Determining module, for based on the detection data, determining that the target acquisition region whether there is dangerous obstacles.
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