CN110727277A - Control method and device of car washer with millimeter wave radar and intelligent car washer - Google Patents
Control method and device of car washer with millimeter wave radar and intelligent car washer Download PDFInfo
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- 238000004891 communication Methods 0.000 claims description 19
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- 238000012545 processing Methods 0.000 abstract description 6
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
- B60S3/04—Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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Abstract
The application relates to a control method and device for a car washer with a millimeter wave radar and an intelligent car washer, and relates to the technical field of data processing. The method comprises the following steps: acquiring point cloud data in a preset range based on the received echo signal of the millimeter wave radar; analyzing the point cloud data to obtain motion information and characteristic information of each detection object within a preset range; determining a target tracking object according to the characteristic information of each detection object, and determining a running path of the car washer according to the motion information of the target tracking object so as to track the target tracking object; in the running process of the car washer, whether the target tracking object generates a preset dangerous action or not is recognized according to the characteristic information of the target tracking object and a pre-trained action recognition model; and if the target tracking object generates a preset dangerous action, sending alarm information to a preset terminal device. By adopting the method and the device, car washing workers can be automatically tracked, and the anti-falling alarm function can be realized.
Description
Technical Field
The application relates to the technical field of data processing, in particular to a control method and device for a car washer with a millimeter wave radar and an intelligent car washer.
Background
At present, due to the rapid and large increase of the number of automobiles, industries involving automobile cleaning and beauty services are also rising. Among them, car washers with good water saving and high car washing efficiency are popular among more and more users.
However, based on current car washer, the user needs the manual work to remove the position of car washer when using car washer washing vehicle, just can wash each position of vehicle, leads to the user operation inconvenient, and user experience is relatively poor.
Disclosure of Invention
In order to solve the technical problems or at least partially solve the technical problems, the application provides a control method and a device of a car washer with a millimeter wave radar and an intelligent car washer.
In a first aspect, the application provides a control method for a car washer with a millimeter wave radar, and the method comprises the following steps:
acquiring point cloud data in a preset range based on the received echo signal of the millimeter wave radar;
analyzing the point cloud data to obtain motion information and characteristic information of each detection object in the preset range;
determining a target tracking object in each detection object according to the characteristic information of each detection object, and determining a running path of the car washer according to the motion information of the target tracking object;
controlling the car washer to run according to the running path so as to track the target tracking object;
in the running process of the car washer, identifying whether the target tracking object generates a preset dangerous action or not according to the characteristic information of the target tracking object and a pre-trained action identification model;
and if the target tracking object generates a preset dangerous action, sending alarm information to a preset terminal device.
Optionally, the determining a target tracking object in each detection object according to the feature information of each detection object includes:
determining the classification result of each detection object according to the characteristic information of each detection object and a pre-trained classification model;
and determining the target tracking object according to the classification result of each detection object.
Optionally, the feature information includes one or more of the following: micro-doppler shift, interference bandwidth, centroid, total bandwidth, frequency, height and standard deviation.
Optionally, the determining the driving path of the car washer according to the motion information of the target tracking object includes:
judging whether preset obstacle avoidance conditions are met or not according to the motion information of other detection objects except the target tracking object in the detection objects;
if the preset obstacle avoidance condition is met, determining a driving path of the car washer according to the motion information of the target tracking object, the motion information of the other detected objects and a preset dynamic path optimization algorithm;
and if the preset obstacle avoidance condition is not met, determining the running path of the car washer according to the motion information of the target tracking object and a preset shortest path algorithm.
Optionally, the preset obstacle avoidance condition may include at least one of the following conditions:
the distance between the other detection objects and the car washer is smaller than a preset distance threshold;
the other detection objects are positioned on the current driving route of the car washer;
and the motion tracks of other detection objects and the current running route of the car washer have intersection points, and the time difference of the car washer reaching the intersection points is less than or equal to the preset time.
In a second aspect, the present application provides a control device for a car washer with a millimeter wave radar, the device includes:
the acquisition module is used for acquiring point cloud data in a preset range based on the received echo signal of the millimeter wave radar;
the analysis module is used for analyzing the point cloud data to obtain motion information and characteristic information of each detection object in the preset range;
the determining module is used for determining a target tracking object in each detection object according to the characteristic information of each detection object and determining a running path of the car washer according to the motion information of the target tracking object;
the control module is used for controlling the car washer to run according to the running path so as to track the target tracking object;
the recognition module is used for recognizing whether the target tracking object generates a preset dangerous action or not according to the characteristic information of the target tracking object and a pre-trained action recognition model in the running process of the car washer;
and the sending module is used for sending alarm information to preset terminal equipment if the target tracking object generates preset dangerous actions.
The third aspect, the application provides an intelligence car washer, intelligence car washer includes millimeter wave radar, controlling means, telecontrol equipment and communication device:
the millimeter wave radar is used for acquiring point cloud data in a preset range based on the received echo signal;
the control device is used for analyzing the point cloud data to obtain motion information and characteristic information of each detection object in the preset range; determining a target tracking object in each detection object according to the characteristic information of each detection object, and determining a running path of the intelligent car washer according to the motion information of the target tracking object;
the control device is further used for controlling the motion device to drive according to the driving path so that the intelligent car washer can track the target tracking object;
the control device is further used for identifying whether the target tracking object generates a preset dangerous action or not according to the characteristic information of the target tracking object and a pre-trained action identification model in the running process of the car washer;
and the communication device is used for sending alarm information to preset terminal equipment if the target tracking object generates preset dangerous actions.
Optionally, the control device is specifically configured to:
determining the classification result of each detection object according to the characteristic information of each detection object and a pre-trained classification model;
and determining the target tracking object according to the classification result of each detection object.
Optionally, the feature information includes one or more of the following: micro-doppler shift, interference bandwidth, centroid, total bandwidth, frequency, height and standard deviation.
Optionally, the control device is specifically configured to:
judging whether preset obstacle avoidance conditions are met or not according to the motion information of other detection objects except the target tracking object in the detection objects;
if the preset obstacle avoidance condition is met, determining a driving path of the intelligent car washer according to the motion information of the target tracking object, the motion information of the other detected objects and a preset dynamic path optimization algorithm;
and if the preset obstacle avoidance condition is not met, determining the running path of the intelligent car washer according to the motion information of the target tracking object and a preset shortest path algorithm.
In a fourth aspect, the present application provides an electronic device, comprising: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus;
the memory is used for storing a computer program;
the processor is configured to, when executing the computer program, implement the method steps of the first aspect.
In a fifth aspect, the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the method steps of the first aspect described above.
In a sixth aspect, embodiments of the present application further provide a computer program product containing instructions, which when executed on a computer, cause the computer to perform the method steps of the first aspect.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages:
the embodiment of the application provides a control method of a car washer with a millimeter wave radar, in the method, point cloud data in a preset range can be obtained based on received echo signals of the millimeter wave radar, then the point cloud data are analyzed, motion information and characteristic information of all detection objects in the preset range are obtained, a target tracking object is determined in all the detection objects according to the characteristic information of all the detection objects, a running path of the car washer is determined according to the motion information of the target tracking object, and then the car washer is controlled to run according to the running path so as to track the target tracking object. And in the running process of the car washer, whether the target tracking object generates a preset dangerous action or not is recognized according to the characteristic information of the target tracking object and a pre-trained action recognition model, and if the target tracking object generates the preset dangerous action, alarm information is sent to preset terminal equipment. Through this scheme, can realize the tracking location to the target tracking object through the millimeter wave radar, and then control car washer tracking target tracking object and go to realized the automatic tracking of car washer to target tracking object (for example carwash workman), need not the position of artifical removal car washer, improved user experience. In addition, the scheme can also automatically detect whether dangerous actions (such as falling or slipping) occur to the target tracking object, so that the functions of falling prevention and automatic alarm are realized.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a flowchart of a control method for a car washer with a millimeter wave radar according to an embodiment of the present application;
fig. 2 is a flowchart of an example of a control method for a car washer with a millimeter wave radar according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a control device of a car washer with a millimeter wave radar according to an embodiment of the present application;
fig. 4 is a schematic structural view of an intelligent car washer provided in the embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The embodiment of the invention provides a control method of a car washer with a millimeter wave radar, which can be applied to the car washer, in particular to a control system of the car washer. A plurality of millimeter wave radars (namely millimeter wave radar groups) can be installed on the car washer, and each millimeter wave radar can be deployed in a plurality of directions of the car washer so as to realize 360-degree all-around detection of the car washer. In implementation, the specific setting position of the millimeter wave radar may be determined according to the detection range of the millimeter wave radar and the actual shape of the car washer, which is not limited in the embodiment of the present application.
The following describes in detail a control method of a car washer with a millimeter wave radar according to an embodiment of the present application with reference to a specific embodiment, and as shown in fig. 1, specific steps are as follows.
In the embodiment of the application, the millimeter wave radar can emit the electromagnetic wave in the millimeter wave frequency band within the preset range, then the millimeter wave radar can collect the echo Signal, perform analog-to-Digital conversion on the collected echo Signal, and then perform Digital Signal Processing (DSP) on the converted Signal to obtain the point cloud data.
And 102, analyzing the point cloud data to obtain motion information and characteristic information of each detection object in a preset range.
In the embodiment of the application, the motion information and the characteristic information of each detection object existing around the car washer (namely in a preset range) can be obtained by analyzing and calculating the processed signals. The motion information may include: the speed of the detection object, the distance of the detection object relative to the car washer, and the angle of the detection object relative to the driving direction of the car washer. The characteristic information may include a combination of one or more of the following: micro-doppler shift, interference bandwidth, centroid, total bandwidth, frequency, height and standard deviation. The process of obtaining motion information and feature information according to point cloud data belongs to the prior art, and is not repeated in the application.
And 103, determining a target tracking object in each detection object according to the characteristic information of each detection object, and determining the running path of the car washer according to the motion information of the target tracking object.
In the embodiment of the application, the target tracking object may be determined in each detection object according to the feature information of each detection object, then, the current position and the motion track of the target tracking object may be determined according to the motion information of the target tracking object (for example, the speed of the target tracking object, the distance of the target tracking object relative to the car washer, and the angle of the target tracking object relative to the driving direction of the car washer), and then, the driving path of the car washer may be determined according to the current position and the motion track of the target tracking object, so as to realize tracking and positioning of the target tracking object.
In one implementation, the car washer may store feature information (which may be referred to as reference feature information) of the target tracking object in advance. After the feature information of each detection object is determined, the feature information of each detection object may be compared with the reference feature information, target feature information matched with the reference feature information is determined, the detection object corresponding to the target feature information is determined as a target tracking object, and other detection objects except the target tracking object may be used as target obstacles.
In another implementation, the target tracking object may be determined according to a pre-trained classification model, and the specific processing procedure may be: determining the classification result of each detection object according to the characteristic information of each detection object and a pre-trained classification model; and determining the target tracking object according to the classification result of each detection object.
In the embodiment of the present application, the feature information of each detection object may be input to a classification model trained in advance, and a classification result of each detection object may be output, where the classification result may indicate that the detection object is a target tracking object or is not a target tracking object. Thus, the target tracking object can be determined based on the classification result of each detection object. For example, the classification result may be a car washer user or another object, where the classification result is a target tracking object that is a detection object of the car washer user, and the classification result is that the other object is not the target tracking object.
Optionally, the training process of the classification model may be: training samples are obtained, which may include positive and negative samples. The positive sample comprises characteristic information of a car washer user and a label belonging to the car washer user; the negative sample includes characteristic information of other objects, and a label not belonging to the car washer user. Then, the initial classification model can be trained according to the training samples and a preset training algorithm to obtain a trained classification model. The classification model may be implemented by any model having a classification function in the prior art, such as an SVM (Support Vector Machine), an LSSVM (Least square Support Vector Machine), and the like, which is not limited in the embodiment of the present application.
Optionally, the car washer can also automatically avoid obstacles, and the specific treatment process can be as follows: judging whether preset obstacle avoidance conditions are met or not according to the motion information of other detection objects except the target tracking object in the detection objects; if the preset obstacle avoidance condition is met, determining a driving path of the car washer according to the motion information of the target tracking object, the motion information of other detection objects and a preset dynamic path optimization algorithm; and if the preset obstacle avoidance condition is not met, determining the running path of the car washer according to the motion information of the target tracking object and a preset shortest path algorithm.
In the embodiment of the application, after the car washer is started, the current position information is initialized. After the target tracking object is determined, a plurality of driving paths can be planned according to the motion information of the target tracking object. Since other detection objects (i.e., target obstacles) except the target tracking object may exist in the driving path, in order to avoid collision or friction with the target obstacle, whether the self and the target obstacle meet the preset obstacle avoidance condition or not may be determined according to the motion information of the target obstacle. The preset obstacle avoidance condition may include at least one of the following conditions: the distance between the target barrier and the car washer is smaller than a preset distance threshold value; the target obstacle is positioned on the current driving route of the car washer; the motion track of the target obstacle and the current running route of the car washer have an intersection point, and the time difference of the car washer reaching the intersection point is less than or equal to the preset time.
If any one of the preset obstacle avoidance conditions is met, the car washer can determine the running path of the car washer according to the motion information of the target tracking object, the motion information of the target obstacle and a preset dynamic path optimization algorithm. Therefore, the running distance of the car washer can be shortest on the premise that the car washer avoids obstacles in real time. In addition, when reaching the preset condition of keeping away the obstacle, the car washer can also output collision alarm information through the speech output part of self, for example "be about to collide, please be careful" to other non-car washer user personnel such as suggestion children, old man avoid the car washer, prevent the collision. For example, when an obstacle is detected on the traveling path of the car washer, or the distance between the car washer and some surrounding object is smaller than a preset distance threshold, the car washer can be controlled to bypass. For another example, when it is detected that another detection object approaches the car washer, and the other detection object and the driving route of the car washer have an intersection, and the time difference of reaching the intersection is less than or equal to the preset time, the collision warning information may be output through a voice output component of the car washer, for example, "collision will be about to happen, caution is taken", the car washer is prevented from colliding with a person, and meanwhile, the driving route may be re-planned.
And if the preset obstacle avoidance condition is not met, determining the running path of the car washer according to the motion information of the target tracking object and a preset shortest path algorithm. Thus, the car washer can travel according to the shortest route without the target obstacle, and the power consumption of the car washer is reduced.
Optionally, any shortest path algorithm and dynamic path optimization algorithm in the prior art may be applied to the embodiment of the present application, and the embodiment of the present application is not limited.
And 104, controlling the car washer to run according to the running path so as to track the target tracking object.
In the embodiment of the application, after the driving path of the car washer is determined, the car washer can be controlled to drive according to the driving path, so that the tracking of the target tracking object is realized.
And 105, in the running process of the car washer, identifying whether the target tracking object generates a preset dangerous action or not according to the characteristic information of the target tracking object and a pre-trained action identification model.
In the embodiment of the application, a pre-trained motion recognition model can be stored in the car washer. After determining the feature information of the target tracking object, the feature information of the target tracking object may be input to a classification model trained in advance to recognize whether a preset dangerous action, such as a wrestling or slipping, occurs to the target tracking object.
And step 106, if the target tracking object generates a preset dangerous action, sending alarm information to a preset terminal device.
In the embodiment of the application, if the identified result is that the target tracking object generates a preset dangerous action, alarm information may be sent to a preset terminal device, where the alarm information may include event information (for example, slipping), positioning information of a user, time information, and the like. After receiving the alarm information, the terminal equipment can output the alarm information to prompt people to rescue the target tracking object. Therefore, when no worker is beside the target tracking object, the worker in the duty room is informed of the danger of the target tracking object and can rescue the target tracking object in time, and the timeliness of rescue is improved. If the result of the recognition is that the target tracking object does not have the preset dangerous action, the processing is not required.
Optionally, the car washer can also include voice output parts such as speaker, like this, when detecting that the target tracking object takes place predetermined dangerous action, can output alarm information through voice output part, the suggestion people around target tracking object takes place to tumble or slide to make people around can in time salvage target tracking object.
Optionally, the training process of the motion recognition model may be: training samples are obtained, which may include positive and negative samples. The positive sample comprises characteristic information when a preset dangerous action occurs and a label when the dangerous action occurs; the negative sample comprises characteristic information when the preset dangerous action does not occur and a label when the dangerous action does not occur. Then, the initial motion recognition model can be trained according to the training samples and a preset training algorithm to obtain the motion recognition model. The action recognition model may be implemented by any model with a recognition function in the prior art, such as an SVM (Support Vector Machine), an LSSVM (Least square Support Vector Machine), and the like, which is not limited in the embodiment of the present application.
Optionally, in this application embodiment, the car washer may further provide a leisure and entertainment function, and the specific treatment process may be: and when a preset playing instruction is received, acquiring the multimedia data and playing the multimedia data. In one implementation, a voice output component such as a speaker may be disposed in the car washer, and a user may receive the play instruction by performing a preset operation (for example, clicking a preset button, or performing control through a remote controller, or the like), and then the car washer may obtain multimedia data, for example, may obtain multimedia data stored in advance locally, or may obtain the multimedia data through the internet. The multimedia data may be data of any multimedia file such as songs, news, novels, and the like. The car washer can play the multimedia data through the voice output component, thereby providing the leisure and entertainment functions for users.
In the embodiment of the application, the target tracking object can be tracked and positioned through the millimeter wave radar, and then the car washer is controlled to track the target tracking object to drive, so that the car washer can automatically track the target tracking object (such as car washers), the position of the car washer is not required to be manually moved, and the user experience is improved. And the dynamic path real-time obstacle avoidance can be realized by tracking the motion tracks of other detection objects, so that collision or friction between the car washer and an obstacle is avoided, collision or abrasion is brought to the car washer, and the safety is improved. In addition, dangerous actions such as wrestling and sliding of workers can be detected, an alarm is given when the dangerous actions of the workers are detected, other workers can conveniently and timely stretch out of a rescuer for rescue, and the safety factor of other people is improved.
The embodiment of the application also provides an example of a control method for a car washer with the millimeter wave radar, and as shown in fig. 2, the control method specifically comprises the following steps.
And 204, judging whether preset obstacle avoidance conditions are met.
If the preset obstacle avoidance condition is satisfied, step 205 is executed.
If the preset obstacle avoidance condition is not satisfied, step 206 is executed.
And step 205, determining the driving path of the car washer according to the motion information of the target tracking object, the motion information of other detection objects and a preset dynamic path optimization algorithm.
And step 206, determining the driving path of the car washer according to the motion information of the target tracking object and a preset shortest path algorithm.
And step 207, controlling the car washer to run according to the running path so as to track the target tracking object.
And step 208, identifying whether the target tracking object generates a preset dangerous action or not according to the characteristic information of the target tracking object and a pre-trained action identification model.
If the target tracking object has a preset dangerous action, step 209 is executed.
And if the target tracking object generates preset dangerous actions, ending the process.
And step 209, sending alarm information to preset terminal equipment.
Based on the same technical concept, the embodiment of the present application further provides a control device for a car washer with a millimeter wave radar, as shown in fig. 3, the device includes:
an obtaining module 310, configured to obtain point cloud data within a preset range based on a received echo signal of the millimeter wave radar;
the analysis module 320 is configured to analyze the point cloud data to obtain motion information and feature information of each detection object within the preset range;
the determining module 330 is configured to determine a target tracking object in each detection object according to the feature information of each detection object, and determine a driving path of the car washer according to the motion information of the target tracking object;
the control module 340 is configured to control the car washer to travel according to the travel path so as to track the target tracking object;
the identification module 350 is configured to identify whether the target tracking object generates a preset dangerous action according to the feature information of the target tracking object and a pre-trained action identification model in the driving process of the car washer;
the sending module 360 is configured to send alarm information to a preset terminal device if the target tracking object generates a preset dangerous action.
Optionally, the determining module 330 is specifically configured to:
determining the classification result of each detection object according to the characteristic information of each detection object and a pre-trained classification model;
and determining the target tracking object according to the classification result of each detection object.
Optionally, the feature information includes one or more of the following: micro-doppler shift, interference bandwidth, centroid, total bandwidth, frequency, height and standard deviation.
Optionally, the determining module 330 is specifically configured to:
judging whether preset obstacle avoidance conditions are met or not according to the motion information of other detection objects except the target tracking object in the detection objects;
if the preset obstacle avoidance condition is met, determining a driving path of the car washer according to the motion information of the target tracking object, the motion information of the other detected objects and a preset dynamic path optimization algorithm;
and if the preset obstacle avoidance condition is not met, determining the running path of the car washer according to the motion information of the target tracking object and a preset shortest path algorithm.
Optionally, the preset obstacle avoidance condition may include at least one of the following conditions:
the distance between the other detection objects and the car washer is smaller than a preset distance threshold;
the other detection objects are positioned on the current driving route of the car washer;
and the motion tracks of other detection objects and the current running route of the car washer have intersection points, and the time difference of the car washer reaching the intersection points is less than or equal to the preset time.
In the embodiment of the application, the target tracking object can be tracked and positioned through the millimeter wave radar, and then the car washer is controlled to track the target tracking object to drive, so that the car washer can automatically track the target tracking object (such as car washers), the position of the car washer is not required to be manually moved, and the user experience is improved. And the dynamic path real-time obstacle avoidance can be realized by tracking the motion tracks of other detection objects, so that collision or friction between the car washer and an obstacle is avoided, collision or abrasion is brought to the car washer, and the safety is improved. In addition, dangerous actions such as wrestling and sliding of workers can be detected, an alarm is given when the dangerous actions of the workers are detected, and other workers can conveniently and timely stretch out of the rescue aid to rescue.
Based on the same technical concept, the embodiment of the present application further provides an intelligent car washer, as shown in fig. 4, the intelligent car washer includes a millimeter wave radar 1, a control device 2, a movement device 3, and a communication device 4:
the millimeter wave radar 1 is used for acquiring point cloud data in a preset range based on the received echo signal;
the control device 2 is used for analyzing the point cloud data to obtain motion information and characteristic information of each detection object within a preset range; determining a target tracking object in each detection object according to the characteristic information of each detection object, and determining a running path of the car washer according to the motion information of the target tracking object;
the control device 2 is also used for controlling the motion device 3 to drive according to the driving path so that the intelligent car washer tracks the target tracking object;
the control device 2 is also used for identifying whether the target tracking object generates a preset dangerous action or not according to the characteristic information of the target tracking object and a pre-trained action identification model in the running process of the car washer;
and the communication device 4 is used for sending alarm information to preset terminal equipment if the target tracking object generates preset dangerous actions.
Optionally, the control device 2 is specifically configured to:
determining the classification result of each detection object according to the characteristic information of each detection object and a pre-trained classification model;
and determining the target tracking object according to the classification result of each detection object.
Optionally, the feature information includes one or more of the following: micro-doppler shift, interference bandwidth, centroid, total bandwidth, frequency, height and standard deviation.
Optionally, the control device 2 is specifically configured to:
judging whether preset obstacle avoidance conditions are met or not according to the motion information of other detection objects except the target tracking object in the detection objects;
if the preset obstacle avoidance condition is met, determining a driving path of the car washer according to the motion information of the target tracking object, the motion information of other detection objects and a preset dynamic path optimization algorithm;
and if the preset obstacle avoidance condition is not met, determining the running path of the car washer according to the motion information of the target tracking object and a preset shortest path algorithm.
In the embodiment of the application, the target tracking object can be tracked and positioned through the millimeter wave radar, and then the car washer is controlled to track the target tracking object to drive, so that the car washer can automatically track the target tracking object (such as car washers), the position of the car washer is not required to be manually moved, and the user experience is improved. And the dynamic path real-time obstacle avoidance can be realized by tracking the motion tracks of other detection objects, so that collision or friction between the car washer and an obstacle is avoided, collision or abrasion is brought to the car washer, and the safety is improved. In addition, dangerous actions such as wrestling and sliding of workers can be detected, an alarm is given when the dangerous actions of the workers are detected, and other workers can conveniently and timely stretch out of the rescue aid to rescue.
An embodiment of the present application further provides an electronic device, as shown in fig. 5, the electronic device may include: the system comprises a processor 501, a communication interface 502, a memory 503 and a communication bus 504, wherein the processor 501, the communication interface 502 and the memory 503 are communicated with each other through the communication bus 504.
A memory 503 for storing a computer program;
the processor 501 is configured to implement the above steps when executing the computer program stored in the memory 503.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:
acquiring point cloud data in a preset range based on the received echo signal of the millimeter wave radar;
analyzing the point cloud data to obtain motion information and characteristic information of each detection object in the preset range;
determining a target tracking object in each detection object according to the characteristic information of each detection object, and determining a running path of the car washer according to the motion information of the target tracking object;
controlling the car washer to run according to the running path so as to track the target tracking object;
in the running process of the car washer, identifying whether the target tracking object generates a preset dangerous action or not according to the characteristic information of the target tracking object and a pre-trained action identification model;
and if the target tracking object generates a preset dangerous action, sending alarm information to a preset terminal device.
Optionally, the computer program, when executed by the processor, further implements the steps of:
determining the classification result of each detection object according to the characteristic information of each detection object and a pre-trained classification model;
and determining the target tracking object according to the classification result of each detection object.
Optionally, the computer program, when executed by the processor, further implements the steps of:
judging whether preset obstacle avoidance conditions are met or not according to the motion information of other detection objects except the target tracking object in the detection objects;
if the preset obstacle avoidance condition is met, determining a driving path of the car washer according to the motion information of the target tracking object, the motion information of the other detected objects and a preset dynamic path optimization algorithm;
and if the preset obstacle avoidance condition is not met, determining the running path of the car washer according to the motion information of the target tracking object and a preset shortest path algorithm.
Embodiments of the present application also provide a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the above-mentioned method steps.
Embodiments of the present application also provide a computer program product comprising instructions which, when run on a computer, cause the computer to perform the above-mentioned method steps.
It should be noted that, for the above-mentioned apparatus, electronic device, computer-readable storage medium and computer program product embodiments, since they are substantially similar to the method embodiments, the description is simple, and the relevant points can be referred to the partial description of the method embodiments.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A control method of a car washer with a millimeter wave radar is characterized by comprising the following steps:
acquiring point cloud data in a preset range based on the received echo signal of the millimeter wave radar;
analyzing the point cloud data to obtain motion information and characteristic information of each detection object in the preset range;
determining a target tracking object in each detection object according to the characteristic information of each detection object, and determining a running path of the car washer according to the motion information of the target tracking object;
controlling the car washer to run according to the running path so as to track the target tracking object;
in the running process of the car washer, identifying whether the target tracking object generates a preset dangerous action or not according to the characteristic information of the target tracking object and a pre-trained action identification model;
and if the target tracking object generates a preset dangerous action, sending alarm information to a preset terminal device.
2. The method according to claim 1, wherein the determining a target tracking object among the detection objects according to the feature information of the detection objects comprises:
determining the classification result of each detection object according to the characteristic information of each detection object and a pre-trained classification model;
and determining the target tracking object according to the classification result of each detection object.
3. The method of claim 1 or 2, wherein the feature information comprises a combination of one or more of: micro-doppler shift, interference bandwidth, centroid, total bandwidth, frequency, height and standard deviation.
4. The method of claim 1, wherein determining a travel path for a car wash based on the motion information of the target tracking object comprises:
judging whether preset obstacle avoidance conditions are met or not according to the motion information of other detection objects except the target tracking object in the detection objects;
if the preset obstacle avoidance condition is met, determining a driving path of the car washer according to the motion information of the target tracking object, the motion information of the other detected objects and a preset dynamic path optimization algorithm;
and if the preset obstacle avoidance condition is not met, determining the running path of the car washer according to the motion information of the target tracking object and a preset shortest path algorithm.
5. The method of claim 4, wherein the preset obstacle avoidance condition comprises at least one of:
the distance between the other detection objects and the car washer is smaller than a preset distance threshold;
the other detection objects are positioned on the current driving route of the car washer;
and the motion tracks of other detection objects and the current running route of the car washer have intersection points, and the time difference of the car washer reaching the intersection points is less than or equal to the preset time.
6. A control device of a car washer with a millimeter wave radar is characterized in that the device comprises:
the acquisition module is used for acquiring point cloud data in a preset range based on the received echo signal of the millimeter wave radar;
the analysis module is used for analyzing the point cloud data to obtain motion information and characteristic information of each detection object in the preset range;
the determining module is used for determining a target tracking object in each detection object according to the characteristic information of each detection object and determining a running path of the car washer according to the motion information of the target tracking object;
the control module is used for controlling the car washer to run according to the running path so as to track the target tracking object;
the recognition module is used for recognizing whether the target tracking object generates a preset dangerous action or not according to the characteristic information of the target tracking object and a pre-trained action recognition model in the running process of the car washer;
and the sending module is used for sending alarm information to preset terminal equipment if the target tracking object generates preset dangerous actions.
7. The utility model provides an intelligence car washer, its characterized in that, intelligence car washer includes millimeter wave radar, controlling means, telecontrol equipment and communication device:
the millimeter wave radar is used for acquiring point cloud data in a preset range based on the received echo signal;
the control device is used for analyzing the point cloud data to obtain motion information and characteristic information of each detection object in the preset range; determining a target tracking object in each detection object according to the characteristic information of each detection object, and determining a running path of the intelligent car washer according to the motion information of the target tracking object;
the control device is further used for controlling the motion device to drive according to the driving path so that the intelligent car washer can track the target tracking object;
the control device is further used for identifying whether the target tracking object generates a preset dangerous action or not according to the characteristic information of the target tracking object and a pre-trained action identification model in the running process of the car washer;
and the communication device is used for sending alarm information to preset terminal equipment if the target tracking object generates preset dangerous actions.
8. The intelligent car washer according to claim 7, wherein the control device is specifically configured to:
determining the classification result of each detection object according to the characteristic information of each detection object and a pre-trained classification model;
and determining the target tracking object according to the classification result of each detection object.
9. The intelligent car washer according to claim 7 or 8, wherein the characteristic information comprises a combination of one or more of the following: micro-doppler shift, interference bandwidth, centroid, total bandwidth, frequency, height and standard deviation.
10. The intelligent car washer according to claim 7, wherein the control device is specifically configured to:
judging whether preset obstacle avoidance conditions are met or not according to the motion information of other detection objects except the target tracking object in the detection objects;
if the preset obstacle avoidance condition is met, determining a driving path of the intelligent car washer according to the motion information of the target tracking object, the motion information of the other detected objects and a preset dynamic path optimization algorithm;
and if the preset obstacle avoidance condition is not met, determining the running path of the intelligent car washer according to the motion information of the target tracking object and a preset shortest path algorithm.
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