CN106872995B - 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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- CN106872995B CN106872995B CN201710243926.7A CN201710243926A CN106872995B CN 106872995 B CN106872995 B CN 106872995B CN 201710243926 A CN201710243926 A CN 201710243926A CN 106872995 B CN106872995 B CN 106872995B
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- 238000001514 detection method Methods 0.000 title abstract description 151
- 230000004888 barrier function Effects 0.000 claims abstract description 170
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- 238000004519 manufacturing process Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
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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 devices, wherein, this method comprises: judging 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 projects if target laser radar scans in target acquisition region to first object barrier；If so, obtaining detection data acquired when target acquisition region described in the laser radar scanning adjacent with the target laser radar；Based on the detection data, determine the target acquisition region with the presence or absence of dangerous obstacles.The embodiment of the present invention solves the problems, such as that barrier blocks dangerous barrier in the shadow region of scanning light beam formation, additionally it is possible to eliminate the blind spot to obstacle detection special-shaped 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 devices.
Background technique
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 limit, is more than safety with discovery
The barrier of range size avoids bringing danger to the train run at high speed.
Current this circuitry obstacle safety monitoring system passes through acquisition echo distance, holder orientation angle information and sensor
With monitoring region relative position information, position, movement velocity and the direction of barrier, and disturbance of analysis object pair is determined by calculation
The threat degree of traffic safety.
In practical applications, scanning light beam is easy to be blocked by the barrier close to laser radar position, 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 can not perceive.In shadow region if there is biggish dangerous obstacles, then for the train or vehicle in traveling
It will cause major safety risks.
Summary of the invention
The embodiment of the present invention provides a kind of laser radar detection method and device, is able to solve barrier and blocks scanning light beam
In the shadow region of formation the problem of dangerous barrier, additionally it is possible to eliminate to the blind of obstacle detection special-shaped in search coverage
Point.
In a first aspect, the embodiment of the invention provides a kind of laser radar detection methods, comprising:
If target laser radar scans in target acquisition region to first object barrier, the target laser radar is judged
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 projects
Mark setting value；
If so, obtaining acquired when target acquisition region described in the laser radar scanning adjacent with the target laser radar
Detection data；
Based on the detection data, determine the target acquisition region with the presence or absence of dangerous obstacles.
Second aspect, the embodiment of the invention also provides a kind of laser radar detection devices, comprising:
Judgment module judges institute if scanning in target acquisition region to first object barrier 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 projects
The target set point of dangerous obstacles；
Module is obtained, for visiting if so, obtaining target described in the laser radar scanning adjacent with the target laser radar
Survey detection data acquired when region；
Determining module determines the target acquisition region with the presence or absence of dangerous obstacles for being based on the detection data.
Technical solution provided in an embodiment of the present invention, if target laser radar scans in target acquisition region 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 when 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, be able to solve barrier block scanning light beam formation shadow region in deposit
The dangerous obstacles the problem of, additionally it is possible to eliminate the blind spot to obstacle detection special-shaped in search coverage.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, of the invention other
Feature, objects and advantages will become more apparent upon:
Fig. 1 a is a kind of laser radar detection method flow diagram provided in an embodiment of the present invention；
Fig. 1 b is the principle that first object barrier provided in an embodiment of the present invention blocks that scanning light beam forms shadow region
Figure；
Fig. 1 c is that a kind of elimination first object barrier provided in an embodiment of the present invention blocks scanning light beam formation shadow region
The schematic diagram in domain；
Fig. 1 d is the schematic diagram 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 is the schematic diagram that a kind of pair of target acquisition region provided in an embodiment of the present invention is detected；
Fig. 1 f be target laser radar provided in an embodiment of the present invention be end laser radar when detection principle figure；
Fig. 2 a is another laser radar detection method flow diagram provided in an embodiment of the present invention；
Fig. 2 b is that the first set distance value that the embodiment of the present invention is provided after a kind of target laser radar scanning is set with second
The schematic diagram calculation of set a distance value；
Fig. 3 a is another laser radar detection method flow diagram provided in an embodiment of the present invention；
Schematic diagram when Fig. 3 b is a kind of each laser radar detection 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 structural block diagram.
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 limiting the invention.It also should be noted that in order to just
In description, only some but not all contents related to the present invention are shown in the drawings.
Fig. 1 a is a kind of laser radar detection method flow diagram provided in an embodiment of the present invention, and the present embodiment is applicable to respectively
The case where kind laser radar detection, this method can be executed by the detection device of laser radar provided in an embodiment of the present invention,
The mode that software and/or hardware can be used in the device is realized.The method be applied to multiple two-dimensional laser radar detections, it is multi-thread swash
The case where three-dimensional laser radar detection of optical radar detection or various dimensions rotation.As shown in Figure 1a, which comprises
S110: if target laser radar scans in target acquisition region to first object barrier, judge that the target swashs
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 projects
The target set point of object.
The principle of laser radar detection is as follows: emission detection signal (such as scanning light beam), the slave obstacle that then will be received
The reflected signal of object (light beam e.g., being reflected back) 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, posture, even shape parameter,
To which barrier is detected and be identified.
In the present embodiment, search coverage is pre-set region, search coverage can for round, 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 the region for 15 meters to 45 meters distances.Wherein, target acquisition region is the search coverage of target laser radar, each laser
Radar corresponds to a search coverage.First object barrier is times that target laser radar scans in target acquisition region
It anticipates a barrier, first object barrier may be not dangerous barrier, it is also possible to for special-shaped barrier, special-shaped barrier
Generally dangerous obstacles.
In the present embodiment, detection data is received according to target laser radar, determines the position of the barrier scanned,
If the barrier of scanning, in target acquisition region, which is first object barrier.For judging dangerous obstacles
Target set point can be set as needed, when the size value of barrier be greater than target set point when, judge the barrier
Judge the barrier for not dangerous barrier when the size value of barrier is less than target set point for dangerous obstacles.
In embodiments of the present invention, each laser radar for monitoring the barrier in rail track automatically.Each laser radar
It is positioned close to the position of rail track, the region where rail track is not set, search coverage contains preset
Rail track region.If target laser radar scans in target acquisition region to first object barrier, target laser is judged
Whether the scanning light beam of radar emission is less than in the length value of first object barrier for judging that the target of dangerous obstacles is set
Definite value.Wherein, the length value that the scanning light beam of target laser radar emission is projected in first object barrier, calculating can be
Following method: determine first object barrier to target laser radar according to the echo of the first object barrier reflection received
Distance, according to the scanning light beam pair of the distance of first object barrier to target laser radar and target laser radar emission
The length value for answering the radian value of the angle of divergence to determine that scanning light beam projects 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, it obtains acquired when the laser radar scanning target acquisition region adjacent with target laser radar
Detection data may include: that acquisition scans in corresponding effective search coverage with the adjacent laser radar of target laser radar
Acquired detection data when target acquisition region.Wherein, effective search coverage is had by the position of laser radar, laser radar
The factors such as effect detection range are determined, the performance of the scan period and laser radar of effective detection range and laser radar
Parameter is related, each laser radar corresponds to an effective search coverage.
In the present embodiment, optionally, described to obtain described in the laser radar scanning adjacent with the target laser radar
Acquired detection data when target acquisition region, comprising: 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.Pass through acquisition as a result,
Detection data when two neighboring laser radar scanning target acquisition region can accurately identify the danger in target acquisition region
Barrier.And if the length value that projects on first object barrier of the scanning light beam of target laser radar emission is greater than and is used for
Judge the target set point of dangerous obstacles, also the available one of laser radar adjacent with the target laser radar
The detection data acquired when scanning target detection region in the effective search coverage of correspondence.
In the present embodiment, if the length that the scanning light beam of target laser radar emission projects on first object barrier
Value is greater than the target set point for judging dangerous obstacles, determines that the first object barrier is dangerous obstacles, sends report
Alert information.If the scanning light beam of target laser radar emission is less than in the length value that first object barrier projects for judging danger
The target set point of dangerous barrier, since the transmitting of first object barrier shelter target laser radar is swept in target acquisition region
Retouching light beam will form the shadow region for being sufficient to accommodate 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 be target acquisition region；13 be the first mesh
Mark barrier；14 shadow regions formed for the scanning light beam of first object barrier shelter target laser radar transmitting；15 are
Barrier in shadow region.If laser radar N scanning is to first object barrier 13, first object barrier 13 blocks scanning
Light beam forms a certain size shadow region 14 in target acquisition region 12, then the barrier 15 for being located at shadow region 14 will not
It can be detected.
Therefore, if target laser radar is scanned in target acquisition region to first object barrier, 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 projects
Value needs to obtain detection data acquired when the laser radar scanning target acquisition region adjacent with target laser radar, with
It determines that target acquisition region whether there is dangerous obstacles, and also can determine the shadow region with the presence or absence of dangerous obstacles
Object.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 object reflects to form, for example, emit the time of scanning light beam under corresponding detection angle, receive echo when
Between, receive the performance number etc. of echo.
In the present embodiment, the quantity of first object barrier can be one, be also possible to multiple.When first object hinders
When the quantity of object being hindered to be multiple, if what the scanning light beam of target laser radar emission was projected in a wherein first object barrier
Length value is less than the target set point for judging dangerous obstacles, the available laser radar adjacent with target laser radar
Acquired detection data when scanning target detection region.If 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, also available adjacent with target laser radar
Laser radar scanning target acquisition region when acquired detection data.
In the present embodiment, optionally, described if so, obtaining the laser radar scanning adjacent with the target laser radar
Acquired detection data when the target acquisition region, if may include: the scanning light beam of the target laser radar emission
It is less than the target set point 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
Mark detection data acquired when search coverage；Wherein, the scanning light beam of the target laser radar emission is in dangerous obstacles
The length value of projection is greater than the target set point.
Specifically, if the scanning light beam of target laser radar emission is equal in the length value that all first object barriers project
Less than target set point, detection acquired when 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 when region.
For another example, if the length value that the scanning light beam of target laser radar emission is projected in a wherein first object barrier
Less than target set point, and the length value that the scanning light beam of target laser radar emission is projected in another first object barrier
Greater than target set point, warning message is sent to warn staff, does not obtain the laser radar adjacent with target laser radar
Acquired detection data when scanning target detection region, being capable of quick hazard recognition barrier.
S130: being based on the detection data, determines the target acquisition region with the presence or absence of 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 with the presence or absence of dangerous obstacles.
Optionally, described to be based on the detection data, determine the target acquisition region with the presence or absence of dangerous obstacles, packet
It includes: based on the detection data, determining the second target disorders that the laser radar scanning adjacent with the target laser radar arrives
The position of object；If the second target obstacle is located at the target acquisition region, judge adjacent with the target laser radar
Whether the scanning light beam of laser radar transmitting is greater than the target set point in the length value that second target obstacle projects；
If so, determining that second target obstacle is dangerous obstacles.Wherein, second target obstacle and first object obstacle
Object is different barriers；Or second target obstacle and the first object barrier are same barrier.Second mesh
The quantity of mark barrier can be one, be also possible to multiple.
Specifically, detection data acquired when adjacent with target laser radar laser radar scanning target acquisition region
It may is that under each detection angle, the time of the laser radar transmitting scanning light beam adjacent with target laser radar, receive echo
Time etc..Wherein, the scanning light beam that echo is emitted by the laser radar adjacent with target laser radar is through the second target disorders
Object is reflected 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 target laser radar distance, and according to the second mesh
Distance and corresponding detection angle of the barrier to target laser radar are marked, determines the position of the second target obstacle.
In the present embodiment, when the quantity of the second target obstacle is 1, since 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 quantity of the second target obstacle is multiple, its in multiple second target obstacles
He one can be same barrier with first object barrier, and can also include other barriers, other obstacles
Object can be the scanning light beam positioned at the transmitting of first object barrier shelter target laser radar and be formed in target acquisition region
In shadow region, other regions in target acquisition region can also be located at.In the present embodiment, first object barrier may
For not dangerous barrier, it is also possible to for 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 first object barrier 13 is arrived in the scanning of target acquisition region 12, if the scanning light beam of laser radar N transmitting is first
The length that target obstacle 13 projects is less than the target set point for judging dangerous obstacles, can't send warning message.
But first object barrier 13 block laser radar N transmitting scanning light beam formed shadow region 14 in there are barriers
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 is when being scanned target acquisition region 12 in effective search coverage, in addition to that can scan to first
Outside target obstacle 13, additionally it is possible to be scanned, and can be scanned to the barrier in shadow region 14 to shadow region 14
15.As illustrated in figure 1 c, 16 be the scanning target detection region 12 laser radar N-1 when effective search coverage, 17 be laser radar
N-1 scanning target detection region 12, and use region when 10% echo power detection.Since laser radar N-1 can be swept
The shadow region 14 in target acquisition region 12 is retouched, therefore, when laser radar N is scanned in target acquisition region 12 to the first mesh
When marking barrier 13, if the scanning light beam of laser radar N transmitting is less than in the length that first object barrier 13 projects for sentencing
The target set point of disconnected dangerous obstacles, the detection data obtained when needing to obtain the laser radar scanning target detection region N-1
(or obtaining the detection data that laser radar N-1 is obtained when scanning target detection region in the effective search coverage of correspondence), 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 length value that the scanning light beam of laser radar transmitting is projected in the barrier 15 is big
In for judging the target set point of dangerous obstacles, judge the barrier 15 for dangerous obstacles.
For another 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 in target acquisition region 12, first object barrier is arrived in scanning to laser radar N
When 13, if the scanning light beam of laser radar N transmitting is less than in the length that first object barrier 13 projects for judging dangerous barrier
Hinder the target set point of object, warning message can't be sent.Since first object barrier is special-shaped barrier, it is more likely that be
Dangerous obstacles not can determine that whether first object barrier is non-dangerous obstacles according to the detection result of laser radar N.
As shown in Figure 1 d, 16 effective search coverage when being the scanning target detection region laser radar N-1,17 sweep for laser radar N-1
Region when retouching target acquisition region, and being detected using 10% echo power.Laser radar N-1 is right in effective search coverage
It is different from the direction of scanning light beam of laser radar N transmitting when target acquisition region 12 is scanned, 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 emits respectively.Therefore, according to sharp
The detection data that optical radar N-1 is obtained when scanning target detection region in the effective search coverage of correspondence, can determine its transmitting
The length value that is projected in first object barrier of scanning light beam, if the length value is greater than the target for judging dangerous obstacles
When setting value, judge first object barrier for dangerous obstacles.Thus, it is possible to eliminate the blind spot of special-shaped obstacle detection.
It should be noted that for ease of description, when the scanning light beam of target laser radar emission is in first object obstacle
The length value of object projection illustratively used when being less than the target set point for judging dangerous obstacles, in Fig. 1 c and Fig. 1 d with
An adjacent laser radar of target laser radar detects the barrier in target acquisition region, but Fig. 1 c and Fig. 1 d institute
The detection mode shown 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 detect 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 swashs
Optical radar N is adjacent.When the corresponding target acquisition region 12 laser radar N-1 scanning laser radar N in effective search coverage, institute
The region scanned is M1, and the left side positioned at target acquisition region 12 is half side.Similarly, laser radar N+1 is in effective search coverage
When the corresponding target acquisition region 12 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 covers the major part in the corresponding target acquisition region 12 laser radar N, and the target of only very little is blind
Area M3 is not covered with.Since the position of laser radar N-1, laser radar N and laser radar N+1 are different, target acquisition region
The shadow region that the scanning light beam that not dangerous barrier in 12 blocks each laser radar transmitting is formed is not identical.Therefore, lead to
Cross laser radar N-1 and laser radar N+1 detection acquired when scanning target detection region in effective search coverage respectively
Data can accurately identify the dangerous obstacles in target acquisition region, eliminate not dangerous barrier and block 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 that the scanning light beam for working as target laser radar emission is projected in first object barrier
When less than for judging the target set point of dangerous obstacles, and target laser radar is end laser radar, can also be added
Auxiliary laser radar detects target acquisition region, and according to auxiliary laser radar scanning target acquisition region when is acquired
Detection data determine target acquisition region with the presence or absence of dangerous obstacles, can accurately detect barrier, guarantee traffic safety.
Wherein, end laser radar is located at beginning or the end of multilasered optical radar detection group, the laser adjacent with end laser radar
The quantity of radar is 1.
Specifically, as shown in Figure 1 f, laser radar N is end laser radar, N+1 laser radar is adjacent with laser radar N.
Since laser radar N+1 is in effective search coverage when scanning target detection region 12, the region M2 scanned can not be covered
Target acquisition region 12, therefore need to add auxiliary laser radar N0 and target acquisition region 12 is scanned, auxiliary laser radar
For N0 in effective search coverage when scanning target detection region 12, the region scanned is M0 (shadow region in Fig. 1 f).Its
In, M2 and M0 cover target acquisition region 12, therefore, when laser radar N is end laser radar, needs to add auxiliary and swash
Optical radar is obtained when scanning target detection region in effective search coverage by auxiliary laser radar N0 and laser radar N+1
The detection data taken determines target acquisition region with the presence or absence of dangerous obstacles.It should be noted that 18 swash in Fig. 1 f for auxiliary
Effective search coverage when the optical radar scanning target detection region 12 N0,19 be laser radar N+1 scanning target detection 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 computing platform, is carried out by computing platform to the detection data received
It calculates, determines target acquisition region with the presence or absence of dangerous obstacles.Or the corresponding computing platform of each laser radar, respectively
It can be realized data sharing between computing platform, the corresponding computing platform of target laser radar can obtain and target laser radar
Detection data in the corresponding computing platform of adjacent laser radar determines target acquisition region by the detection data got
It is interior to whether there is dangerous obstacles.
A kind of radar detection method provided in this embodiment, if target laser radar scans in target acquisition region to first
Target obstacle, and the scanning light beam of target laser radar emission is set in the projected length value of first object barrier less than target
Definite value, acquired detection data when by based on the laser radar scanning target acquisition region adjacent with target laser radar,
Determine that target acquisition region with the presence or absence of dangerous obstacles, is able to solve barrier and blocks in the shadow region of scanning light beam formation
The problem of dangerous barrier, additionally it is possible to eliminate the blind spot to obstacle detection special-shaped in search coverage.
On the basis of the above embodiments, described when the quantity of the laser radar adjacent with target laser radar is 2
The detection method of laser radar further include: judge first object search coverage and the target area that the second target acquisition region is 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 value of distance is greater than the target set point for judging dangerous obstacles, control between any two points in target blind area
The system laser radar adjacent with target laser radar is mobile, to reduce the laser radar and target adjacent with target laser radar
The distance between laser radar.
Wherein, first object search coverage are as follows: the mesh that a upper laser radar scanning adjacent with target laser radar arrives
Mark the region in search coverage；Second target acquisition region are as follows: 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 formed M1 and M2.If distance between any two points in the M3 of target blind area
Maximum value be greater than target set point for judging dangerous obstacles, it is mobile to control laser radar N+1 and laser radar N-1,
Reduce laser radar N+1, laser radar N-1 with the distance between laser radar N respectively, to reduce the area of target blind area,
It is more accurate to the detection of target acquisition region barrier, it ensure that traffic safety.
On the basis of the above embodiments, in order to reduce the area of target blind area, each laser radar can also be carried out more
It changes, the replacement longer laser radar of effective detection range is detected.
Fig. 2 a is that a kind of radar detection method flow chart that the present embodiment two provides on the basis of the above embodiments can
Choosing, obtain detection number acquired when target acquisition region described in the laser radar scanning adjacent with the target laser radar
According to, comprising:
It obtains the first object barrier and blocks 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 the setting condition for accommodating dangerous obstacles, obtain adjacent with the target laser radar
Laser radar detection data acquired when scanning the target acquisition region in the effective search coverage of correspondence.
Based on above-mentioned optimization, as shown in Figure 2 a, technical solution provided in this embodiment includes:
S210: if target laser radar scans in target acquisition region to first object barrier, judge that the target swashs
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 projects
The target set point of object.
S220: it obtains the first object barrier and blocks the scanning light beam of the target laser radar emission in the mesh
Mark the shadow region that search coverage is formed.
S230: it if the shadow region meets the setting condition for accommodating dangerous obstacles, obtains 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, it if the shadow region meets the setting condition for accommodating dangerous obstacles, obtains
It takes when scanning the target acquisition region in corresponding effective search coverage with the adjacent laser radar of the target laser radar
Acquired detection data, comprising: if the maximum value of the distance between two points in the shadow region is greater than the goal-setting
Value obtains and scans the Track Production Area in corresponding effective search coverage with the adjacent laser radar of the target laser radar
Acquired detection data when domain.
Specifically, if the maximum value of the distance between two points in shadow region is greater than the target for judging dangerous obstacles
Setting value determines the scanning target detection for there may be dangerous obstacles, needing to obtain adjacent laser radar in shadow region
Acquired detection data when 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 accommodate dangerous obstacles setting condition be also possible to: be also possible to the first set distance
Maximum value in value and the second set distance value is greater than the target set point for judging dangerous obstacles.Wherein, the first setting
Distance value are as follows: 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 set distance value are as follows: described remote
Hold the distance between intersection point and laser radar, with first object barrier shelter target laser radar transmitting scanning light beam when pair
The product for the angle of divergence radian value answered.And the setting condition that shadow region meets receiving dangerous obstacles can also be other tools
Body form.
Alternatively, specifically, by the first set distance value of the point-to-point transmission of the shadow region and the second set distance value into
Row compares；If the maximum value in the first set distance value and the second set distance value is greater than the target for judging dangerous obstacles
Setting value obtains the laser radar adjacent with target laser radar and is obtained when scanning target detection region in effective search coverage
The detection data taken, 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 set distance value and the second set distance value with the first above-mentioned set distance value, the second set distance
It is worth identical, is not repeated.
As shown in Figure 2 b, L1Scanning light beam and target acquisition region side for target laser radar emission under certain scanning angle
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 when scanning light beam, then in the present embodiment, L3As first setting
Distance value, the second set distance value L4Are as follows: L1With the product of β.It should be noted that target laser radar emission is swept in Fig. 2 b
The distal end intersection point for retouching light beam and target acquisition region edge is two (D point and E points), can according to need one of selection.
Specifically, by the first set distance value L3With the second set distance value L4It compares, obtains maximum value, if this is most
Big value is greater than the target set point for judging dangerous obstacles, obtains the laser radar adjacent with target laser radar effective
Detection data acquired when scanning target detection region in search coverage, to determine target acquisition region with the presence or absence of dangerous barrier
Hinder object and to determine shadow region with the presence or absence of dangerous obstacles.
S240: being based on the detection data, determines the target acquisition region with the presence or absence of dangerous obstacles.
As a result, by judging that shadow region meets the condition of receiving dangerous obstacles, obtain adjacent with target laser radar
Laser radar scanning target acquisition region acquired in detection data, can be improved the efficiency of the detection of laser radar.
Fig. 3 a is a kind of detection method flow chart 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, comprising:
Based on the detection data that the target laser radar obtains, 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 scanning the target acquisition region in effective search coverage.
Based on above-mentioned optimization, as shown in Figure 3a, technical solution provided in this embodiment includes:
S310: if target laser radar scans in target acquisition region to first object barrier, judge that the target swashs
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 projects
The target set point of object.
S320: if so, based on the detection data that the target laser radar obtains, the first object barrier is determined
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: the position based on the first object barrier obtains the laser thunder adjacent with the target laser radar
Up to detection data acquired when scanning the target acquisition region 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, comprising: the position based on the first mesh barrier determines first object distance and the second target range；If described first
Target range is less than second target range, obtains a upper laser radar adjacent with the target laser radar corresponding
Detection data acquired when the target acquisition region is scanned in effective search coverage；If the first object distance is greater than institute
The second target range is stated, is obtained with the adjacent next laser radar of the target laser radar in corresponding effective search coverage
Scan detection data acquired when the target acquisition region.
Wherein, the first object distance are as follows: a upper laser radar adjacent with the target laser radar and described
The distance between first object barrier；Second target range are as follows: adjacent with the target laser radar is next sharp
The distance between optical radar and the first object barrier.
Specifically, according to the position of first object barrier, a 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 size relation of two target ranges determines and obtains a upper laser radar or next laser radar scanning target acquisition region
When the detection data that obtains.
As shown in Figure 3b, target laser radar is laser radar N, a upper laser radar adjacent with target laser radar
It is respectively laser radar N-1 and laser radar N+1 with next laser radar.By the first object barrier in target acquisition region 12
Object 13 is hindered to be compared respectively with the distance between laser radar N-1, laser radar N+1.If first object barrier 13 and swash
The distance between optical radar N-1 is smaller, obtains detection data acquired when the scanning target detection region laser radar N-1, with
Judge in target acquisition region with the presence or absence of dangerous obstacles.
S340: being based on the detection data, determines the target acquisition region with the presence or absence of dangerous obstacles.
The position for passing through first object barrier as a result, determines and obtains the laser thunder adjacent with the target laser radar
Up to detection data acquired when scanning the target acquisition region in the effective search coverage of correspondence, detection obstacle can be improved
The efficiency of object.
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 for executing
A kind of laser radar detection method, as shown in figure 4, described device includes judgment module 410, obtains module 420 and determining module
430。
Wherein, judgment module 410, if being scanned in target acquisition region to first object obstacle for target laser radar
Object, judges whether the scanning light beam of the target laser radar emission is less than in the length value that the first object barrier projects
For judging the target set point of dangerous obstacles；
Module 420 is obtained, for if so, obtaining target described in the laser radar scanning adjacent with the target laser radar
Acquired detection data when search coverage；
Determining module 430 determines the target acquisition region with the presence or absence of dangerous obstacles for being based on the detection data
Object.
Further, the acquisition module 420, if the scanning light beam for the target laser radar emission is 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 when domain；
Wherein, the scanning light beam of the target laser radar emission is greater than the mesh in the length value that dangerous obstacles project
Mark setting value.
Further, the acquisition module includes shadow region acquiring unit 421 and the first detection data acquiring unit
422；
The shadow region acquiring unit 421 blocks the target laser thunder for obtaining the first object barrier
The shadow region formed up to the scanning light beam of transmitting in the target acquisition region；
The first detection data acquiring unit 422 accommodates setting for dangerous obstacles if meeting for the shadow region
Fixed condition obtains and scans the target spy in corresponding effective search coverage with the adjacent laser radar of the target laser radar
Survey detection data acquired when region.
Further, the shadow region acquiring unit 421, if for the distance between two points in the shadow region
Maximum value is greater than the target set point, obtains with the adjacent laser radar of the target laser radar in corresponding effective detecting area
Detection data acquired when the target acquisition region is scanned in domain.
Further, the acquisition module 420 includes position acquisition unit 423 and the second detection data acquiring unit 424；
The position acquisition unit 423, the detection data for being obtained based on the target laser radar determine described
The position of one target obstacle；
Second detection data acquiring unit 424 obtains and the mesh for the position based on the first object barrier
The spy acquired when scanning the target acquisition region in the effective search coverage of correspondence of mark laser radar adjacent laser radar
Measured 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 greater 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 are as follows: a upper laser radar adjacent with the target laser radar and described
The distance between first object barrier；Second target range are as follows: 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 further include:
Control module 440, the target area formed for judging first object search coverage and the second target acquisition region
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 value of distance is greater than the target set point, control and the mesh between any two points in the target blind area
The adjacent laser radar for marking laser radar is mobile, to reduce the laser radar and the mesh adjacent with the target laser radar
Mark the distance between laser radar；
Wherein, first object search coverage are as follows: a upper laser radar scanning adjacent with the target laser radar arrives
The target acquisition region in region；
Second target acquisition region are as follows: what the next laser radar scanning adjacent with the target laser radar 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 being based on the detection data, the determining and target laser radar
The position for the second target obstacle that adjacent laser radar scanning arrives；
If the second target obstacle is located at the target acquisition region, judgement is adjacent with the target laser radar to swash
Whether the scanning light beam of optical radar transmitting is greater than the target set point in the length value that second target obstacle projects；
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 and the first object barrier are same barrier.
A kind of laser radar detection device provided in this embodiment, if target laser radar is arrived in the scanning of target acquisition region
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 when by based on the laser radar scanning target acquisition region adjacent with target laser radar
According to determining target acquisition region with the presence or absence of dangerous obstacles, be able to solve the shadow region that barrier blocks scanning light beam formation
In domain the problem of dangerous barrier, additionally it is possible to eliminate the blind spot to obstacle detection special-shaped in search coverage.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (6)
1. a kind of laser radar scanning method characterized by comprising
When laser radar is scanned in search coverage to target obstacle, and the first scanning light beam of laser radar transmitting is in institute
The length value of target obstacle projection is stated when being less than the target set point for judging dangerous obstacles, obtains the target disorders
Object blocks first scanning light beam in the shadow region that the search coverage is formed；
If the shadow region meets the setting condition for accommodating dangerous obstacles, control the laser radar it is mobile it is preset away from
From；
It controls the position of the laser radar after movement to be scanned again, with the determination shadow region with the presence or absence of danger
Barrier, and/or with the determination target obstacle whether be dangerous obstacles；
Wherein, if the shadow region meets the setting condition for accommodating dangerous obstacles, the laser radar is mobile pre-
If distance, comprising:
If the maximum value of the distance between two points in the shadow region is greater than the target set point, the laser radar is moved
Move preset distance；
The position of the control laser radar after movement is scanned again, whether there is with the determination shadow region
Dangerous obstacles, and/or with the determination target obstacle whether be dangerous obstacles, comprising:
It controls the position of the laser radar after movement to be scanned again, so that shadow region described in the laser radar scanning
Domain；
When the first object length value of the barrier for the shadow region scanned is greater than the target set point, institute is judged
Stating the barrier in shadow region is dangerous obstacles；Wherein, the first object length value is the laser radar in movement
The length value of barrier projection of second scanning light beam of position transmitting afterwards in the shadow region；And/or
It controls the laser radar to be scanned again in current location, so that the laser radar scans the target barrier again
Hinder object；
When the second target length value of the target obstacle scanned is greater than the target set point, target barrier is judged
Hindering object is dangerous obstacles, wherein the second target length value is the of the position transmitting of the laser radar after movement
The length value that two scanning light beams are projected in the target obstacle.
2. if the method according to claim 1, wherein the shadow region meets receiving dangerous obstacles
Setting condition, by the mobile preset distance of the laser radar, comprising:
First set distance value of the point-to-point transmission of the shadow region is compared with the second set distance value；
If the maximum value in the first set distance value and the second set distance value is greater than the target set point, by institute
State the mobile preset distance of laser radar；
Wherein, the first set distance value are as follows: the distal end intersection point at first scanning light beam and the search coverage edge and
The distance between mobile front position of the laser radar, subtract the target obstacle to the laser radar move front position it
Between distance；
The second set distance value are as follows: the distance between the distal end intersection point and the mobile front position of the laser radar and institute
State the product that target obstacle blocks corresponding angle of divergence radian value when first scanning light beam.
3. if the method according to claim 1, wherein the shadow region meets receiving dangerous obstacles
Setting condition, by the mobile preset distance of the laser radar, comprising:
If the shadow region meets the setting condition for accommodating dangerous obstacles, the laser radar is moved into preset distance,
So that the length value on each side in target overlapping region is less than the target set point；
Wherein, the target overlapping region are as follows: the target obstacle blocks the position transmitting of the laser radar after movement
The second scanning light beam with the shadow region that the search coverage is formed, with the target obstacle block it is described first scanning
Light beam is in the overlapping region for the shadow region that the search coverage is formed.
4. a kind of laser radar scanning device characterized by comprising
Shadow region obtains module, for scanning in search coverage to target obstacle, and the laser radar when laser radar
First scanning light beam of transmitting is less than in the length value that the target obstacle projects for judging that the target of dangerous obstacles is set
When definite value, obtains the target obstacle and block first scanning light beam in the shadow region that the search coverage is formed；
Mobile module controls the laser radar if meeting the setting condition for accommodating dangerous obstacles for the shadow region
Mobile preset distance；
Determining module is scanned for controlling the position of the laser radar after movement, again with the determination shadow region
Whether domain is dangerous obstacles with the presence or absence of dangerous obstacles, and/or with the determination target obstacle；
Wherein, the mobile module is used for:
If the maximum value of the distance between two points in the shadow region is greater than the target set point, the laser radar is moved
Move preset distance；
The determining module is used for:
It controls the position of the laser radar after movement to be scanned again, so that shadow region described in the laser radar scanning
Domain；
When the first object length value of the barrier for the shadow region scanned is greater than the target set point, institute is judged
Stating the barrier in shadow region is dangerous obstacles；Wherein, the first object length value is the laser radar in movement
The length value of barrier projection of second scanning light beam of position transmitting afterwards in the shadow region；And/or
It controls the laser radar to be scanned again in current location, so that the laser radar scans the target barrier again
Hinder object；
When the second target length value of the target obstacle scanned is greater than the target set point, target barrier is judged
Hindering object is dangerous obstacles, wherein the second target length value is the of the position transmitting of the laser radar after movement
The length value that two scanning light beams are projected in the target obstacle.
5. device according to claim 4, which is characterized in that the mobile module is used for:
First set distance value of the point-to-point transmission of the shadow region is compared with the second set distance value；
If the maximum value in the first set distance value and the second set distance value is greater than the target set point, by institute
State the mobile preset distance of laser radar；
Wherein, the first set distance value are as follows: the distal end intersection point at first scanning light beam and the search coverage edge and
The distance between mobile front position of the laser radar, subtract the target obstacle to the laser radar move front position it
Between distance；
The second set distance value are as follows: the distance between the distal end intersection point and the mobile front position of the laser radar and institute
State the product that target obstacle blocks corresponding angle of divergence radian value when first scanning light beam.
6. device according to claim 4, which is characterized in that the mobile module is used for:
If the shadow region meets the setting condition for accommodating dangerous obstacles, the laser radar is moved into preset distance,
So that the length value on each side in target overlapping region is less than the target set point；Wherein, the target overlapping region are as follows: described
Target obstacle blocks the second scanning light beam of the position transmitting of the laser radar after movement in the search coverage shape
At shadow region, with the target obstacle block first scanning light beam in the shadow region that the search coverage is formed
The overlapping region in domain.
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| CN109683153B (en) * | 2017-10-18 | 2021-06-29 | 百度在线网络技术（北京）有限公司 | Radar scanning device, method and device |
| CN108008401B (en) * | 2017-11-27 | 2021-08-10 | 广州华洲信息科技有限公司 | Portable laser rangefinder |
| DE102017222258A1 (en) * | 2017-12-08 | 2019-06-13 | Robert Bosch Gmbh | Method for a LIDAR device for detecting a hidden object |
| JP7103405B2 (en) * | 2018-03-28 | 2022-07-20 | 日本電気株式会社 | Monitoring control device, monitoring system, monitoring control method and program |
| US11892540B2 (en) | 2018-09-03 | 2024-02-06 | Hitachi Astemo, Ltd. | Vehicle-mounted radar system |
| WO2020133223A1 (en) * | 2018-12-28 | 2020-07-02 | 深圳市大疆创新科技有限公司 | Target detection method, radar, vehicle and computer-readable storage medium |
| CN111766607A (en) * | 2019-03-13 | 2020-10-13 | 科沃斯机器人股份有限公司 | Self-moving equipment and non-contact obstacle detection device |
| CN109932727B (en) * | 2019-04-19 | 2021-11-19 | 洛阳顶扬光电技术有限公司 | Method for improving long-distance measurement precision in laser distance measurement system |
| CN114002687A (en) * | 2020-07-14 | 2022-02-01 | 北醒（北京）光子科技有限公司 | A detection method based on lidar |
| CN113885042B (en) * | 2021-08-17 | 2022-06-03 | 哈尔滨工业大学 | 1.55 mu m single photon coherent laser radar detection method and device |
| CN114973564A (en) * | 2022-04-28 | 2022-08-30 | 北京机械设备研究所 | A method and device for detecting remote personnel intrusion under no-light conditions |
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