CN113419251B - Gesture recognition, coding and decoding and communication method based on laser reflection - Google Patents
Gesture recognition, coding and decoding and communication method based on laser reflection Download PDFInfo
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- CN113419251B CN113419251B CN202110534289.5A CN202110534289A CN113419251B CN 113419251 B CN113419251 B CN 113419251B CN 202110534289 A CN202110534289 A CN 202110534289A CN 113419251 B CN113419251 B CN 113419251B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention discloses a gesture recognition, coding and decoding and communication method based on laser reflection, which specifically comprises a gesture recognition method based on laser reflection, an information coding and decoding method based on laser reflection and reflection material areas, an information coding and decoding method based on laser reflection and reflection material differences and a communication method based on laser reflection. The invention provides a coding and identification and stroboscopic communication protocol based on laser reflection, which utilizes the characteristic of a laser range finder for sensing external environment information to realize the functions of completing unmanned mutual communication, identifying specific objects, identifying information and the like by using a single sensing device of the laser range finder and matching with high-reflectivity materials, so that the laser range finder has more functionality, and simultaneously effectively reduces the phenomenon of redundancy of unmanned sensing elements and communication elements.
Description
Technical Field
The invention relates to the field of optical communication, in particular to a gesture recognition, coding and decoding and communication method based on laser reflection.
Background
With the continuous development of sensor technology, control systems and artificial intelligence, great progress has been made in the field of unmanned control. The laser range finders are more recently developed, and in military, the investigation robot can realize autonomous navigation by using the laser range finders, intelligent obstacle avoidance and independent completion of various investigation and combat tasks; on civilian, unmanned autonomous driving technology that utilizes laser range finder can help reducing the traffic accident in aspects such as autopilot and auxiliary driving system for solve urban traffic problem. The laser range finder can overcome the influence of illumination and weather when detecting the target, can improve the measurement accuracy and enlarge the measurement range, and can improve the anti-interference capability of target identification, so that the perception capability of surrounding environment is better developed.
Although the application of the laser range finder has become popular, more of the laser range finder is used for collecting and applying the position information of the object in the detection range, and the laser range finder lacks multi-azimuth effective information and lacks multi-azimuth application.
Disclosure of Invention
The invention aims to provide a gesture recognition method based on laser reflection, which comprises the following steps of:
1) Determining a target to be identified; the attitude angle of the object to be identified is recorded as a measured characteristic angle;
2) Respectively attaching high-reflectivity materials with the length of l on two sides of the measured characteristic angle by taking the corner point of the measured characteristic angle as a starting point; the corner point is the intersection point of two sides of the measured characteristic angle;
the reflectivity of the high reflectivity material is greater than a preset threshold epsilon.
3) The laser range finder sends a plurality of laser beams to the area where the measured characteristic angle is located, and receives the emitted laser beams, so that the distance information and the laser reflectivity of each laser reflection point from the laser range finder to the area where the measured characteristic angle is located are calculated; the laser range finder sends the distance information and the laser reflectivity to the upper computer; the area where the measured characteristic angle is located at least comprises an area covered with a high-reflectivity material;
the laser range finder and the angular point of the measured characteristic angle are positioned on the same horizontal line.
4) The upper computer preprocesses the distance information according to the laser reflectivity of each laser reflection point, so as to obtain three-dimensional point cloud information;
the step of preprocessing the distance information by the upper computer according to the laser reflectivity of each laser reflection point comprises the following steps:
4.1 Judging whether the laser reflectivity of the laser reflection point is smaller than a threshold epsilon, if so, deleting the distance information between the laser reflection point and the laser range finder;
4.2 Filling the missing distance information, wherein the filling value is the average value of two adjacent distance information of the missing data point.
5) The upper computer performs dimension reduction on the three-dimensional point cloud information by using a principal component analysis method to obtain two-dimensional point cloud information;
6) The upper computer fits the two-dimensional point cloud information to obtain an angle value of the measured characteristic angle;
the step of the upper computer fitting the two-dimensional point cloud information comprises the following steps:
6.1 Rotating and translating the angular point to enable the angular point to be positioned on any two-dimensional coordinate axis;
6.2 To two-dimensional point cloud information set t= { (x) 1 ，y 1 )，(x 2 ，y 2 )......(x n ，y n ) Input to function y=w T In x+b, a slope w and a constant b are obtained, i.e., (w, b) =argmin (f (x) i )-y i ) 2 ；
6.3 According to the slope w, calculating the angle value of the measured characteristic angle to be arctanw.
7) Based on the angle value of the measured characteristic angle and the two-dimensional point cloud information, three-dimensional space gesture reconstruction and recognition of the target to be recognized are completed.
An information encoding and decoding method based on laser reflection and reflection material area comprises the following steps:
1) Preparing a plurality of high-reflectivity materials with the same specification; attaching the high-reflectivity material to the surface of a target to be identified; no overlap occurs between the different high reflectivity materials;
2) The laser range finder sends a plurality of laser beams to the surface of the target to be identified, which is attached with the high-reflection material, and receives the emitted laser beams, so that the laser reflectivity of each laser reflection point from the laser range finder to the surface of the target to be identified is calculated; the laser range finder sends the laser reflectivity to the upper computer;
3) The upper computer preprocesses the laser reflectivity, deletes the laser reflectivity smaller than a threshold epsilon, and thus obtains the distribution condition of the high-reflection material on the surface of the target to be identified;
4) The upper computer decodes the distribution condition to obtain target information to be identified; the target information to be identified consists of a plurality of digital codes in unit area; when a unit area of the surface of the object to be identified is fully covered by the highly reflective material, the digital code of the unit area is a first digital code, and conversely, the digital code of the unit area is a second digital code.
An information encoding and decoding method based on laser reflection and reflection material difference comprises the following steps:
1) N reflection materials with different reflection rates are selected and equally divided into x groups;
the reflective materials are the same gauge.
2) Attaching all the reflective materials in the i-th group to the surface of the object to be identified; the initial value of i is 1; no overlap occurs between the different materials;
3) The laser range finder sends a plurality of laser beams to the surface of the target to be identified, which is attached with the reflecting material, and receives the emitted laser beams, so that the laser reflectivity of each laser reflection point from the laser range finder to the surface of the target to be identified is calculated; the laser range finder sends the laser reflectivity to the upper computer;
4) The upper computer preprocesses the laser reflectivity to obtain the types of the reflecting materials and the arrangement sequence of all the reflecting materials;
the step of preprocessing the laser reflectivity includes:
4.1 Determining the reflectivity range of the ith group of reflective materials and deleting the laser reflectivity not belonging to the reflectivity range;
4.2 Filling the missing data, wherein the filling value is the average value of two adjacent distance information of the missing data point.
5) Decoding the types of the reflecting materials according to an information coding table stored in the upper computer to obtain target information to be identified;
The information encoding table stores each reflective material and its corresponding data encoding information.
The decoded information comprises a signal start bit, a valid information bit and a signal end bit; the valid information bit is used for representing information to be identified.
6) Let i=i+1 and return to step 2), thereby obtaining x sets of target information to be identified.
A method of laser reflection based communication comprising the steps of:
1) Constructing a communication network; the communication network consists of a plurality of information interaction parties; each information interaction party is provided with a laser range finder, a high-reflectivity material (1), a laser receiver, an information processing module, a control module and a coding module; each information interaction party has a unique number;
2) An information interaction party needing to send information outwards is used as an information sender; the coding module of the information sender codes the information to be sent to obtain coded information, and transmits the coded information to the control module; the coding information comprises a plurality of information receiving identification bits, a plurality of information receiving party number bits, a plurality of information coding bits to be sent and a plurality of information ending identification bits;
the information interaction party corresponding to the information receiver number in the coded information is an information receiver;
3) The control module of the information sender controls the laser range finder to send the parameter information of the laser according to the coding information, so that the laser range finder sends the laser to the information receiver; the parameter information comprises frequency, light intensity, duration, wavelength, amplitude, phase and wave frequency;
4) The laser receiver of the information receiver receives the laser sent by the information sender and transmits the laser to the information processing module; the information processing module restores the laser parameter information into coding information so as to obtain information to be transmitted;
5) The information receiver generates response information according to the information to be sent, and encodes the response information to obtain response encoded information; the information receiver sends the response coding information to the information sender;
the method for the information receiver to send the response coded information to the information sender comprises the following steps: the control module of the information receiver controls the laser range finder to send the parameter information of the laser according to the response code information, so that the laser range finder sends the response laser to the information sender;
the information sender receives the response laser and transmits the response laser to the information processing module; the information processing module restores the laser parameter information into response coding information, so that response information is obtained.
The method for the information receiver to send the response coded information to the information sender comprises the following steps:
the information receiver matches the response coded information with the reflectivity of the high-reflectivity material according to the information coding table, and arranges and displays a plurality of high-reflectivity materials with different reflectivities according to the matching result; the information coding table is prestored in a coding module of the information interaction party;
And the information sender scans and decodes the high-reflectivity material displayed by the information receiver by using the laser range finder to obtain response information.
6) And the information sender reads the response information carried in the response coding information to complete the bidirectional communication.
The invention provides a coding and recognition and stroboscopic communication protocol based on laser reflection, and realizes the functions of unmanned mutual communication, specific object recognition, information recognition and the like by utilizing the single perception device of the laser range finder and matching with high-reflectivity materials by utilizing the characteristic of the laser range finder for sensing external environment information, so that the laser range finder has more functionality and effectively reduces the phenomenon of redundancy of unmanned perception elements and communication elements.
Drawings
FIG. 1 is a flow of extracting angle object point cloud data;
FIG. 2 is a 3D point cloud data map of a region of interest;
FIG. 3 is a high reflectivity feature angle graph;
FIG. 4 is a graph of effects of the point cloud data after dimension reduction;
FIG. 5 is a diagram of a prescribed region effect;
FIG. 6 is a point cloud of interest;
FIG. 7 is a flow chart of a software proofing of a laser rangefinder communication system;
FIG. 8 is a diagram of a transmission information protocol encoding;
In the figure, a high reflectivity material 1.
Detailed Description
The present invention is further described below with reference to examples, but it should not be construed that the scope of the above subject matter of the present invention is limited to the following examples. Various substitutions and alterations are made according to the ordinary skill and familiar means of the art without departing from the technical spirit of the invention, and all such substitutions and alterations are intended to be included in the scope of the invention.
Example 1:
the gesture recognition method based on laser reflection comprises the following steps:
1) Determining a target to be identified; the attitude angle of the object to be identified is recorded as a measured characteristic angle;
2) Respectively attaching high-reflectivity materials 1 with the length of l on two sides of a measured characteristic angle by taking the corner point of the measured characteristic angle as a starting point; the corner point is the intersection point of two sides of the measured characteristic angle;
the reflectivity of the high reflectivity material 1 is greater than a preset threshold epsilon.
3) The laser range finder sends a plurality of laser beams to the area where the measured characteristic angle is located, and receives the emitted laser beams, so that the distance information and the laser reflectivity of each laser reflection point from the laser range finder to the area where the measured characteristic angle is located are calculated; the laser range finder sends the distance information and the laser reflectivity to the upper computer; the area where the measured characteristic angle is located at least comprises an area coated with a high-reflectivity material 1;
The laser range finder and the angular point of the measured characteristic angle are positioned on the same horizontal line.
4) The upper computer preprocesses the distance information according to the laser reflectivity of each laser reflection point, so as to obtain three-dimensional point cloud information;
the step of preprocessing the distance information by the upper computer according to the laser reflectivity of each laser reflection point comprises the following steps:
4.1 Judging whether the laser reflectivity of the laser reflection point is smaller than a threshold epsilon, if so, deleting the distance information between the laser reflection point and the laser range finder; this embodiment epsilon is set to 235.
4.2 Filling the missing distance information, wherein the filling value is the average value of two adjacent distance information of the missing data point.
5) The upper computer performs dimension reduction on the three-dimensional point cloud information by using a principal component analysis method to obtain two-dimensional point cloud information;
6) The upper computer fits the two-dimensional point cloud information to obtain an angle value of the measured characteristic angle;
the step of the upper computer fitting the two-dimensional point cloud information comprises the following steps:
6.1 Rotating and translating the angular point to enable the angular point to be positioned on any two-dimensional coordinate axis;
6.2 To two-dimensional point cloud information set t= { (x) 1 ，y 1 )，(x 2 ，y 2 )......(x n ，y n ) Input to function y=w T In x+b, a slope w and a constant b are obtained, i.e., (w, b) =argmin (f (x) i )-y i ) 2 ；
6.3 According to the slope w, calculating the angle value of the measured characteristic angle to be arctanw.
7) Based on the angle value of the measured characteristic angle and the two-dimensional point cloud information, three-dimensional space gesture reconstruction and recognition of the target to be recognized are completed.
Example 2:
in order to protect the three-dimensional space gesture recognition method based on laser reflection, which is presented below, namely: the target object fitting method based on laser reflection difference and the target object three-dimensional space gesture reconstruction and identification method based on laser distance data. The method utilizes the three-dimensional perception capability of a laser range finder, and the recognition part is stuck with a high-reflectivity substance and then normally moves, then the laser range finder is utilized for detection, and the recognition of the movement, namely three-dimensional space gesture recognition, is realized according to the size of the detection angle, and the embodiment provides a gesture recognition method based on laser reflection, which comprises the following steps:
1) Target fitting method based on laser reflection difference
2) A three-dimensional space gesture reconstruction and identification method of a target object based on laser distance data. The equipment needed in the step mainly comprises a laser range finder and a high-reflectivity strip.
Because the data returned by the laser range finder after the detection of the target object mainly takes the data as the origin of coordinates to establish a coordinate system for the space, and the detailed position information of the detected object in the space coordinate system and the reflectivity information of the detected object are combined, the method adopts the material with high reflectivity as the detected target object, combines the materials into a specific angle, places the specific angle on the detectable surface of the laser range finder for detection, and then utilizes the fitting and identification method provided by the patent for angle information extraction measurement.
The method comprises the following specific steps:
firstly, preparing a measured object, and adjusting the measured object to a detectable surface of a laser range finder so as to obtain effective point cloud data.
And secondly, extracting the interested areas of all the acquired point cloud data, namely setting a reflectivity threshold value for the whole point cloud data, extracting the object, and filling the missing part to obtain a complete and effective measured characteristic angle.
And then, performing dimension reduction on the extracted three-dimensional point cloud information by using a principal component analysis method.
And then performing rotation fitting to obtain corresponding angle values.
And finally, according to the obtained angle value, reconstructing and identifying the three-dimensional space gesture can be completed according to the ranging characteristic of the corresponding laser range finder.
The final purpose of this embodiment is to make it possible to identify any specific angle in three-dimensional space by utilizing the characteristics between the laser rangefinder and the high-reflectivity material 1, thereby accomplishing more information identification. A target fitting method based on laser reflection difference and a target three-dimensional space posture reconstruction and identification method based on laser distance data are used together.
Example 3:
referring to fig. 1 to 4, the gesture recognition method based on laser reflection includes the steps of:
1) 1-point cloud data acquisition of high-reflectivity material of laser range finder
Placing the three-dimensional laser range finder at a height which is flush with the measured characteristic angle, so as to obtain effective original point cloud data as much as possible;
pasting high-reflectivity materials with reflectivity reaching (235-255) on two sides of the measured angle object to obtain three-dimensional laser point cloud data with obvious characteristics; as in fig. 1.
And (3) changing the characteristic angle (0-180 degrees) to perform experimental detection.
Operating a laser point cloud data acquisition system, collecting original data acquired from a three-dimensional laser range finder, and storing the data into a computer;
2) Three-dimensional point cloud data region of interest extraction
And extracting the angle object to be detected according to the reflectivity information in the point cloud data. As in fig. 2.
And calculating the theoretical reflection point number of the angle object, setting the minimum reflectivity threshold as 235 to extract the angle object, and filling part of missing point clouds so as to obtain a relatively complete angle object. The angular object point cloud data extraction flow is as shown in fig. 3.
3) Three-dimensional point cloud data Cartesian coordinate system conversion
And (3) reducing the dimension of the point cloud 3D image scanned by the laser range finder to two dimensions under the Cartesian coordinate system, and calculating the angle.
In this embodiment, the principal component analysis method is used to perform dimension reduction, and the point cloud data is normalized, so that the average value of each variable of the data is 0 and the variance is 1. And selecting two principal components, and converting the coordinates into coordinates on a new coordinate axis, thereby obtaining a two-dimensional angle object. As shown in fig. 4.
4) Two-dimensional point cloud data angle fitting
After the two-dimensional angle object data are obtained, function fitting is needed to be carried out on two sides of the angle. The intersection of two sides of an angular object is called a corner point.
4.1 First the angular object is rotated, i.e. the angular point is rotated, translated, so that it is rotated to a certain axis.
4.2 And then distinguishing two sides according to the angular points, and performing function fitting on the two sides by adopting a linear regression algorithm. And calculating the angle according to the slope by using function equations on two sides. The function fitting process is as follows:
the input is: data set T: { (x) 1 ，y 1 )，(x 2 ，y 2 )......(x n ，y n )}
The output is: y=w T ·x+b
Wherein the parameter coefficients are calculated by least square method to obtain substitution:
(w，b)＝argmin(f(x i )-y i ) 2
5) Three-dimensional gesture recognition by combining distance information with spatial angle
And after the fitting of the target object, obtaining a target space angle, combining the point cloud distance information, and restoring the three-dimensional construction to obtain accurate posture information so as to finish three-dimensional space posture identification.
Example 4:
an information encoding and decoding method based on laser reflection and reflection material area comprises the following steps:
1) Preparing a plurality of high-reflectivity materials 1 with the same specification; attaching the high-reflectivity material 1 to the surface of a target to be identified; no overlap occurs between the different high reflectivity materials 1;
2) The laser range finder sends a plurality of laser beams to the surface of the target to be identified, which is attached with the high-reflection material, and receives the emitted laser beams, so that the laser reflectivity of each laser reflection point from the laser range finder to the surface of the target to be identified is calculated; the laser range finder sends the laser reflectivity to the upper computer;
3) The upper computer preprocesses the laser reflectivity, deletes the laser reflectivity smaller than a threshold epsilon, and thus obtains the distribution condition of the high-reflection material on the surface of the target to be identified;
4) The upper computer decodes the distribution condition to obtain target information to be identified; the target information to be identified consists of a plurality of digital codes in unit area; when a unit area of the surface of the object to be identified is fully covered by the highly reflective material, the digital code of the unit area is a first digital code, and conversely, the digital code of the unit area is a second digital code. The target information to be identified comprises identity information, serial number information and category information of the target to be identified.
Example 5:
the information encoding and decoding method based on laser reflection and reflection material area needs equipment mainly comprising a laser range finder and a high-reflectivity strip.
Because the laser range finder has the characteristic that the information acquired by sensing environment contains the reflectivity information of the measured object, the characteristic is utilized, the design utilizes the high reflectivity material 1 as the measured object, and the high reflectivity strips with certain length and width are placed at the specified position of the identified object according to a certain distribution rule and orderly fall and are placed within a specified size range, namely, the information input such as numbering of the target object under different area combinations is realized by utilizing the distribution rule. And then detecting the target object by using a laser range finder, and decoding information of the detected target object by using point cloud data to realize the identification of the target object.
The method specifically comprises the following steps:
firstly, preparing a certain number of high-reflectivity strips with a certain length and a certain width, and placing the strips at the specified positions of the identification objects and in a specified size range in an orderly staggered manner according to a certain distribution rule. When the specified position requires the scanning detection of the identification object by using the laser range finder, the specific area of the identification object where the strip-shaped object with high reflectivity is placed can be effectively detected,
And secondly, scanning and detecting a target object by using a laser range finder, and constructing effective point cloud data for the target object. And extracting the interested region from all the acquired point cloud data, namely setting a reflectivity threshold value for the whole point cloud data, extracting the object, and filling the missing part to obtain more complete high-reflectivity strip distribution information.
Then, the obtained high-reflectivity bar distribution information is decoded and analyzed according to the area formed by the predetermined distribution rule.
And finally, outputting and displaying target object information obtained after decoding and analyzing the point cloud data obtained by the laser range finder.
Example 6:
the information encoding and decoding method based on laser reflection and reflection material area comprises the following steps:
1) 1-point cloud data acquisition of high-reflectivity material of laser range finder
A number of high-reflectivity strips (reflectivity up to 235-255) of a certain length and a certain width (here, 10cm in length and 1cm in width are exemplified) are prepared.
On the object to be marked with information, a region of a size defined by a detectable plane (here, a rectangular frame with a length of 12cm and a width of 10cm is taken as an example), and the prepared high-reflectivity strips are sequentially attached to the rectangular frame according to the length of 10cm and the unit of 1cm, as shown in fig. 5. Here, the rule is set that, since the length of the rectangular frame is 12cm, the width of the high-reflectivity strip is 1cm, and the strip pasting unit is 1cm, there is 12 times of strip pasting modes, wherein the high-reflectivity strip is pasted corresponding to the position representing signal 1, and otherwise, the position signal represents 0. In order to facilitate the extraction of the effective area, the first stripe unit and the twelfth stripe unit are set in the rectangular frame, and are respectively stuck with high-reflectivity stripes, and are not used as information bits, but are used as signal start bits and signal end bits. In this case, the valid information bits are 10 bits in total, and the valid information is 2 in total, namely 1024 kinds of 10 kinds of seeds.
Operating a laser point cloud data acquisition system, collecting original data acquired from a laser range finder, and storing the data into a computer;
2) Point cloud data region of interest extraction
And extracting the tested object according to the reflectivity information in the point cloud data. As shown in fig. 6.
Calculating the theoretical reflection point number of the measured object, setting the minimum reflectivity threshold as 235 to extract the angle object, and filling part of missing point clouds to obtain a relatively complete object.
3) Region of interest information decoding
And decoding the obtained point cloud data, selecting an effective high-reflectivity point from the initial position as a datum point, horizontally moving the point with the unit length of 1cm, reading the reflectivity, and judging whether the point is the high-reflectivity point.
And converting the reflection rate corresponding to each unit obtained through judgment into 0 and 1 information codes, and comparing and decoding the information. And completing the identification of the measured object information.
Example 7:
the information encoding and decoding method based on the difference between laser reflection and reflection materials mainly comprises two parts of a laser range finder and a strip-shaped object with reflectivity.
Because the laser range finder has the characteristic that the information acquired by sensing environment contains the reflectivity information of the measured object, different materials have different reflectivities under the laser range finder, and the total set reflectivity range is (0-255), so that 256 reflectivities can be obtained. Thus, with this feature, information is encoded using different materials. Firstly, 256 kinds of reflectivity are divided into x groups, each group of materials with corresponding reflectivity is set as an object to be measured, and the objects are placed in a specified area for distribution and placement. And detecting the target object by using a laser range finder, and decoding information of the detected target object by using point cloud data to realize the identification of the target object.
The method specifically comprises the following steps:
firstly, 256 reflectances are grouped, detection materials of corresponding groups are prepared, corresponding positions are placed in a specified area according to a coding information protocol, and when the specified positions require scanning detection of an identification object by using a laser range finder, the specific area on the identification object where the reflectances are placed can be effectively detected.
And secondly, scanning and detecting a target object by using a laser range finder, and constructing effective point cloud data for the target object. And extracting the interested region from all the acquired point cloud data, wherein the interested region is represented by setting a reflectivity threshold value for the whole point cloud data, extracting the object, and filling the missing part to obtain more complete reflectivity material information.
Then, the obtained reflectance material information is decoded and analyzed according to a predetermined rule.
And finally, outputting and displaying target object information obtained after decoding and analyzing the point cloud data obtained by the laser range finder.
Example 8:
the information encoding and decoding method based on the laser reflection and the reflection material difference comprises the following steps:
1) 1-point cloud data acquisition of high-reflectivity material of laser range finder
1.1 X (here, 3 are examples) kinds of reflectivity materials (here, three kinds of materials having reflectivities of 88, 156, 230, respectively, are examples) are prepared, and a certain number of reflectivity materials having a certain length and a certain width (here, 10cm in length and 1cm in width are examples).
1.2 On an object to be marked with information, a detectable plane is selected to define a large area (here, a rectangular frame with a length of 5cm and a width of 5cm is taken as an example), and the prepared reflectivity material is attached in the rectangular frame according to the length of 5cm and the width of 5 cm.
1.3 A laser point cloud data acquisition system is operated, raw data acquired from a laser range finder is collected, and the data is stored in a computer;
2) Point cloud data region of interest extraction
2.1 According to the reflectivity information in the point cloud data, extracting the tested object.
2.2 Calculating the theoretical reflection point number of the detected object, sequentially setting the reflectivity threshold value as 88, 156 and 230 to extract the angle object, and filling part of missing point cloud to obtain a relatively complete object.
3) Region of interest information decoding
And decoding the obtained point cloud data, reading the reflectivity, judging whether the point cloud data has reflectivity points or not, and reading out the corresponding reflectivity values.
And comparing the reflectivity of the obtained image with a specified information coding table to obtain information represented by the reflecting material, and completing the identification of the measured object information.
Example 9:
an information encoding and decoding method based on laser reflection and physical property arrangement combination of multiple reflection materials (namely, difference of reflection materials), comprising the following steps:
1) N reflection materials with different reflection rates are selected and equally divided into x groups;
the reflective materials are the same gauge.
2) Attaching all the reflective materials in the i-th group to the surface of the object to be identified; the initial value of i is 1; no overlap occurs between the different materials;
3) The laser range finder sends a plurality of laser beams to the surface of the target to be identified, which is attached with the reflecting material, and receives the emitted laser beams, so that the laser reflectivity of each laser reflection point from the laser range finder to the surface of the target to be identified is calculated; the laser range finder sends the laser reflectivity to the upper computer;
4) The upper computer preprocesses the laser reflectivity to obtain the types of the reflecting materials and the arrangement sequence of all the reflecting materials;
the step of preprocessing the laser reflectivity includes:
4.1 Determining the reflectivity range of the ith group of reflective materials and deleting the laser reflectivity not belonging to the reflectivity range;
4.2 Filling in missing data.
5) Decoding the types of the reflecting materials according to an information coding table stored in the upper computer to obtain target information to be identified;
the information encoding table stores each reflective material and its corresponding data encoding information.
The decoded information comprises a signal start bit, a valid information bit and a signal end bit; the valid information bit is used for representing information to be identified.
6) Let i=i+1 and return to step 2), thereby obtaining x sets of target information to be identified.
Example 10:
the information coding and decoding method based on laser reflection and the information coding and decoding method based on physical property arrangement combination of multi-reflection materials mainly comprise a laser range finder and a strip-shaped object with reflectivity.
Because the laser range finder has the characteristic that the information acquired by sensing the environment contains the reflectivity information of the measured object. Different materials have different reflectivities under the laser range finder, and the reflectivity of 256 different materials under the laser range finder is different in total, and different materials are used for encoding information. Firstly, 256 reflective materials are uniformly divided into x groups, and each group is composed of 256/x materials from the material with zero reflectivity. All materials within each group collectively represent information, and together x kinds of information can be identified. By utilizing the characteristics, the design of the patent utilizes different materials with reflectivity as the measured target, and designs that strip-shaped materials with different reflectivities and certain lengths and widths are placed at the specified positions of the identified objects according to a certain distribution rule and orderly and staggered in a specified size range, namely, the information input such as numbering of the target objects is realized by utilizing the types of the materials and the placement rule. And then detecting the target object by using a laser range finder, and decoding information of the detected target object by using point cloud data to realize the identification of the target object.
Mainly comprises the following steps:
firstly, preparing a plurality of materials with different reflectivities, designing the materials to have a certain length and a certain width, and placing the materials at the specified position of the identification object and in a orderly staggered manner within a specified size range according to a certain distribution rule. When the specified position requires the scanning detection of the identification object by using the laser range finder, the specific area where the reflectivity material is placed on the identification object can be effectively detected.
And secondly, scanning and detecting a target object by using a laser range finder, and constructing effective point cloud data for the target object. And extracting the interested region from all the acquired point cloud data, wherein the interested region is represented by setting a reflectivity threshold value for the whole point cloud data, extracting the object, and filling the missing part to obtain more complete reflectivity material information.
And then decoding and analyzing the obtained reflectivity material information and the placement mode according to a set rule.
And finally, outputting and displaying target object information obtained after decoding and analyzing the point cloud data obtained by the laser range finder.
Example 11:
an information encoding and decoding method based on laser reflection and an information encoding and decoding method based on physical property arrangement and combination of multi-reflection materials,
1) 1-point cloud data acquisition of high-reflectivity material of laser range finder
1.1 X (here 3 are examples) kinds of reflectivity materials with a certain length and a certain width (here 10cm in length and 1cm in width are examples), the reflectivities are 88, 156 and 230 respectively.
1.2 On the object to be marked with information, a region of a size defined by a detectable plane (here, a rectangular frame with a length of 12cm and a width of 10cm is taken as an example), and the prepared reflectivity strips (10 cm in length and 1cm in width are taken as an example) are sequentially attached in units of 1cm according to the length of 10cm in the rectangular frame. Here, the rule is set that, since the length of the rectangular frame is 12cm, the width of the high-reflectivity strip is 1cm, and 1cm is one strip pasting unit, there is 12 strip pasting modes of 2, wherein the strip pasting reflectivity is 88 strips corresponding to the position representing signal 1, the strip pasting reflectivity is 156 strips corresponding to the position representing signal 2, and the strip pasting reflectivity is 230 strips corresponding to the position representing signal 3, otherwise, the position signal represents 0. In order to facilitate the extraction of the effective area, the first stripe unit and the twelfth stripe unit are respectively stuck with a reflectivity stripe in the rectangular frame, and are not used as information bits, but are used as signal start bits and signal end bits. In this case, the valid information bits are 10 bits in total, and the valid information is 4 in total, namely 1,048,576. The material may represent 1,048,576 types of information in this manner.
1.3 A laser point cloud data acquisition system is operated, raw data acquired from the laser rangefinder is collected, and the data is stored in a computer.
2) Point cloud data region of interest extraction
2.1 According to the reflectivity information in the point cloud data, extracting the tested object. As shown in fig. 6.
2.2 Calculating the theoretical reflection point number of the detected object, setting the reflectivity threshold to 88, 156 and 230 to extract the angle object, and filling part of the missing point cloud to obtain a relatively complete object.
3) Region of interest information decoding
3.1 Decoding the obtained point cloud data, selecting an effective reflectivity point from the initial position as a datum point, horizontally moving the point with 1cm as a unit length, reading the reflectivity, and judging whether the point has the specified reflectivity.
3.2 The reflection rate corresponding to each unit obtained through judgment is converted into 0, 1, 2 and 3 information codes to be compared with decoding information, and identification of the measured object information is completed.
Example 12:
a method of laser reflection based communication comprising the steps of:
1) Constructing a communication network; the communication network consists of a plurality of information interaction parties; each information interaction party is provided with a laser range finder, a high-reflectivity material (1), a laser receiver, an information processing module, a control module and a coding module; each information interaction party has a unique number;
2) An information interaction party needing to send information outwards is used as an information sender; the coding module of the information sender codes the information to be sent to obtain coded information, and transmits the coded information to the control module; the coding information comprises a plurality of information receiving identification bits, a plurality of information receiving party number bits, a plurality of information coding bits to be sent and a plurality of information ending identification bits;
the information interaction party corresponding to the information receiver number in the coded information is an information receiver;
3) The control module of the information sender controls the laser range finder to send the parameter information of the laser according to the coding information, so that the laser range finder sends the laser to the information receiver; the parameter information comprises frequency, light intensity, duration, wavelength, amplitude, phase and wave frequency;
4) The laser receiver of the information receiver receives the laser sent by the information sender and transmits the laser to the information processing module; the information processing module restores the laser parameter information into coding information so as to obtain information to be transmitted;
5) The information receiver generates response information according to the information to be sent, and encodes the response information to obtain response encoded information; the information receiver sends the response coding information to the information sender;
The method for the information receiver to send the response coded information to the information sender comprises the following steps: the control module of the information receiver controls the laser range finder to send the parameter information of the laser according to the response code information, so that the laser range finder sends the response laser to the information sender;
the information sender receives the response laser and transmits the response laser to the information processing module; the information processing module restores the laser parameter information into response coding information, so that response information is obtained.
6) And the information sender reads the response information carried in the response coding information to complete the bidirectional communication.
Example 13:
a method of laser reflection based communication comprising the steps of:
1) Constructing a communication network; the communication network consists of a plurality of information interaction parties; each information interaction party is provided with a laser range finder, a high-reflectivity material (1), a laser receiver, an information processing module, a control module and a coding module; each information interaction party has a unique number;
2) An information interaction party needing to send information outwards is used as an information sender; the coding module of the information sender codes the information to be sent to obtain coded information, and transmits the coded information to the control module; the coding information comprises a plurality of information receiving identification bits, a plurality of information receiving party number bits, a plurality of information coding bits to be sent and a plurality of information ending identification bits;
The information interaction party corresponding to the information receiver number in the coded information is an information receiver;
3) The control module of the information sender controls the laser range finder to send the parameter information of the laser according to the coding information, so that the laser range finder sends the laser to the information receiver; the parameter information comprises frequency, light intensity, duration, wavelength, amplitude, phase and wave frequency;
4) The laser receiver of the information receiver receives the laser sent by the information sender and transmits the laser to the information processing module; the information processing module restores the laser parameter information into coding information so as to obtain information to be transmitted;
5) The information receiver generates response information according to the information to be sent, and encodes the response information to obtain response encoded information; the information receiver sends the response coding information to the information sender;
the method for the information receiver to send the response coded information to the information sender comprises the following steps:
the information receiver matches the response coded information with the reflectivity of the high-reflectivity material 1 according to the information coding table, and arranges and displays a plurality of high-reflectivity materials 1 with different reflectivities according to the matching result; the information coding table is prestored in a coding module of the information interaction party;
The information sender scans and decodes the high-reflectivity material 1 displayed by the information receiver by using the laser range finder to obtain response information.
6) And the information sender reads the response information carried in the response coding information to complete the bidirectional communication.
Example 14:
the frequency domain-time domain-frequency domain time domain carrier superposition method based on laser strobe mainly comprises the following steps:
the method utilizes the pulse controllable characteristic of the laser range finder, adopts a laser receiver to receive stroboscopic laser information, processes the received information, and controls the flicker of the laser range finder according to a set communication protocol to transmit effective information. The system consists of a stroboscopic controllable laser range finder, a laser receiver, an information processing module and a control module.
The technical proposal is as follows:
firstly, the laser range finders are pulse type, so that the laser receiver is set with scanning frequency, and when the laser range finders are in a specific transmitting time interval, the receiver can effectively capture and is in a 1-setting state.
Secondly, setting a communication protocol, setting the received previous x bits of information as information receiving identification bits, the x+1th bit to the x+y bit (y > 1) as receiving object coding bits, the x+y+1th bit to the x+y+m bit (m > 1) as effective information coding bits, and the x+y+m+1th bit to the x+y+m+n bit (n > 1) as information ending identification bits for a plurality of (two or more) laser range finder communication systems.
Finally, when a plurality of (two or more) laser communication systems communicate with each other, the laser receiver receives the information, the information processing module interprets the information, and the control module controls the laser range finder to feed back the information to realize two-way communication.
Example 15:
the two-way communication method based on the laser range finder and the high-reflectivity material mainly comprises the following steps:
the method is realized by utilizing the pulse point light source characteristic of the laser range finder and the characteristic of detecting the reflectivity information of the measured object.
The method realizes coding of transmitted information by setting the flicker frequency of a light source of the laser range finder, an information receiver is provided with a laser receiver for receiving a laser signal sent by a transmitting end, and after the receiver receives the information, the receiver lightens a high-reflectivity material within the detectable range of the transmitting side laser range finder to respond. At this time, the transmitting side laser range finder scans the high-reflectivity material of the receiving side, the material can show a highlight state on the point cloud image, and decoding information is carried out on the high-reflectivity point cloud data, so that bidirectional communication is completed.
The technical scheme is as follows:
first, for two unmanned vehicles A and B, the laser range finder device with adjustable emission frequency is provided, and the laser range finder device and the laser receiving device are provided with high-reflectivity materials (the materials can be overturned, the non-high-reflectivity surfaces in normal state face outwards, and the high-reflectivity surfaces can be lightened by overturning during information interaction) in the detectable range of the laser range finder.
And secondly, when the vehicles A and B need to carry out information interaction, the A can encode information by adjusting the flicker frequency of the light source of the laser range finder and transmit the information to the laser receiver end of the vehicle B.
And then, after the B car receives the signal sent by the A car, reversing the high-reflectivity material, and turning out the high-reflectivity material for scanning by the A car laser range finder.
And finally, after the vehicle A scans the high-reflectivity material on the vehicle B, extracting the high-reflectivity area on the point cloud picture, and decoding information. And completing the two-way communication.
Example 16:
as shown in fig. 7 to 8, the frequency domain-time domain-frequency domain time domain carrier superposition method based on laser strobe mainly comprises the following steps:
1) Strobe controllable laser range finder system hardware material and software calibration preparation
The system hardware consists of a stroboscopic controllable laser range finder, a laser receiver, an information processing module and a control module. Setting the emission frequency (taking 1KHZ as an example) of the laser range finder, keeping the emission frequency unchanged for continuous emission in an initial state, setting the scanning frequency (scanning frequency > laser emission frequency, taking 1.5KHZ as an example) of the laser receiver at the moment, enabling the laser receiver to enter a new scanning period when the laser signal is scanned, taking the scanning period as the laser emission period (1 ms as an example), and taking the laser receiver to receive the laser signal for x continuous periods (5 periods as an example) as the initialization completion. A software proofing flow chart of the laser rangefinder communication system is shown in fig. 7.
2) Communication protocol of stroboscopic controllable laser range finder
For a plurality of (two or more) laser range finder communication systems, setting the received first x bits of information as information receiving identification bits, wherein the x+1th bit to the x+y bit (y > 1) are receiving object coding bits, the x+y+1th bit to the x+y+m bit (m > 1) are effective information coding bits, and the x+y+m+1th bit to the x+y+m+n bit (n > 1) are information ending identification bits. The code diagram is shown in fig. 8.
3) Two-way communication of multiple (two or more) laser range finder communication systems
After initialization and establishment of a communication protocol are completed, at this time, a plurality of (two or more) laser range finder communication systems can realize two-way communication, the laser range finder communication system A controls the stroboscopic controllable laser range finder to emit communication information by a control module, at this time, a laser receiver of the laser range finder communication system B receives the information, an information processing module interprets information objects and detailed information content, and after interpretation is completed, the control module of the B controls the laser range finder to flash and send direction information to complete two-way communication.
Example 17:
the two-way communication method based on the laser range finder and the high-reflectivity material mainly comprises the following steps:
step 1: preparation of high reflectivity material for laser range finder
The laser range finder device with adjustable emission frequency and the laser receiving device are arranged on two unmanned vehicles A and B.
And the laser range finder has high-reflectivity materials (the reflectivity is 235-255) in the detectable range, the materials can be turned over, the surface which is not high in reflectivity is outwards in a normal state, and the high-reflectivity surface can be lightened through turning over during information interaction.
Step 2: the laser range finder can control the pulse light source to emit communication information
When the vehicles A and B need to carry out information interaction, the A can encode information by adjusting the flicker frequency of the light source of the laser range finder and transmit the information to the laser receiver end of the vehicle B. At this time, the receiver receives the laser signal to indicate that the information bit is 1, whereas the receiver does not receive the laser signal to indicate that the information bit is 0.
Step 3: laser range finder point cloud data judgment communication response
And after the B car receives the signal sent by the A car, reversing the high-reflectivity material, and turning out the high-reflectivity material for the A car laser range finder to scan. And after the laser range finder of the vehicle A scans the high-reflectivity material on the vehicle B, extracting the high-reflectivity area on the point cloud picture, and decoding information. And completing the two-way communication.
Example 18:
The gesture recognition method based on laser reflection comprises the following steps:
1) Determining a target to be identified; the attitude angle of the object to be identified is recorded as a measured characteristic angle;
2) Respectively attaching high-reflectivity materials with the length of l on two sides of the measured characteristic angle by taking the corner point of the measured characteristic angle as a starting point; the corner point is the intersection point of two sides of the measured characteristic angle;
the reflectivity of the high reflectivity material is greater than a preset threshold epsilon.
3) The laser range finder sends a plurality of laser beams to the area where the measured characteristic angle is located, and receives the emitted laser beams, so that the distance information and the laser reflectivity of each laser reflection point from the laser range finder to the area where the measured characteristic angle is located are calculated; the laser range finder sends the distance information and the laser reflectivity to the upper computer; the area where the measured characteristic angle is located at least comprises an area covered with a high-reflectivity material;
the laser range finder and the angular point of the measured characteristic angle are positioned on the same horizontal line.
4) The upper computer preprocesses the distance information according to the laser reflectivity of each laser reflection point, so as to obtain three-dimensional point cloud information;
the step of preprocessing the distance information by the upper computer according to the laser reflectivity of each laser reflection point comprises the following steps:
4.1 Judging whether the laser reflectivity of the laser reflection point is smaller than a threshold epsilon, if so, deleting the distance information between the laser reflection point and the laser range finder;
4.2 Filling in the missing distance information.
5) The upper computer performs dimension reduction on the three-dimensional point cloud information by using a principal component analysis method to obtain two-dimensional point cloud information;
6) The upper computer fits the two-dimensional point cloud information to obtain an angle value of the measured characteristic angle;
the step of the upper computer fitting the two-dimensional point cloud information comprises the following steps:
6.1 Rotating and translating the angular point to enable the angular point to be positioned on any two-dimensional coordinate axis;
6.2 To two-dimensional point cloud information set t= { (x) 1 ，y 1 )，(x 2 ，y 2 )......(x n ，y n ) Input to function y=w T In x+b, a slope w and a constant b are obtained, i.e., (w, b) =argmin (f (x) i )-y i ) 2 ；
6.3 According to the slope w, calculating the angle value of the measured characteristic angle to be arctanw.
7) Based on the angle value of the measured characteristic angle and the two-dimensional point cloud information, three-dimensional space gesture reconstruction and recognition of the target to be recognized are completed.
An information encoding and decoding method based on laser reflection and reflection material area comprises the following steps:
1) Preparing a plurality of high-reflectivity materials with the same specification; attaching the high-reflectivity material to the surface of a target to be identified; no overlap occurs between the different high reflectivity materials;
2) The laser range finder sends a plurality of laser beams to the surface of the target to be identified, which is attached with the high-reflection material, and receives the emitted laser beams, so that the laser reflectivity of each laser reflection point from the laser range finder to the surface of the target to be identified is calculated; the laser range finder sends the laser reflectivity to the upper computer;
4) The upper computer preprocesses the laser reflectivity, deletes the laser reflectivity smaller than a threshold epsilon, and thus obtains the distribution condition of the high-reflection material on the surface of the target to be identified;
5) The upper computer decodes the distribution condition to obtain target information to be identified; the target information to be identified consists of a plurality of digital codes in unit area; when a unit area of the surface of the object to be identified is fully covered by the highly reflective material, the digital code of the unit area is a first digital code, and conversely, the digital code of the unit area is a second digital code.
An information encoding and decoding method based on laser reflection and reflection material difference comprises the following steps:
1) N reflection materials with different reflection rates are selected and equally divided into x groups;
the reflective materials are the same gauge.
2) Attaching all the reflective materials in the i-th group to the surface of the object to be identified; the initial value of i is 1; no overlap occurs between the different materials;
3) The laser range finder sends a plurality of laser beams to the surface of the target to be identified, which is attached with the reflecting material, and receives the emitted laser beams, so that the laser reflectivity of each laser reflection point from the laser range finder to the surface of the target to be identified is calculated; the laser range finder sends the laser reflectivity to the upper computer;
4) The upper computer preprocesses the laser reflectivity to obtain the types of the reflecting materials and the arrangement sequence of all the reflecting materials;
the step of preprocessing the laser reflectivity includes:
4.1 Determining the reflectivity range of the ith group of reflective materials and deleting the laser reflectivity not belonging to the reflectivity range;
4.2 Filling in missing data.
5) Decoding the types of the reflecting materials according to an information coding table stored in the upper computer to obtain target information to be identified;
the information encoding table stores each reflective material and its corresponding data encoding information.
The decoded information comprises a signal start bit, a valid information bit and a signal end bit; the valid information bit is used for representing information to be identified.
6) Let i=i+1 and return to step 2), thereby obtaining x sets of target information to be identified.
A method of laser reflection based communication comprising the steps of:
1) Constructing a communication network; the communication network consists of a plurality of information interaction parties; each information interaction party is provided with a laser range finder, a high-reflectivity material (1), a laser receiver, an information processing module, a control module and a coding module; each information interaction party has a unique number;
2) An information interaction party needing to send information outwards is used as an information sender; the coding module of the information sender codes the information to be sent to obtain coded information, and transmits the coded information to the control module; the coding information comprises a plurality of information receiving identification bits, a plurality of information receiving party number bits, a plurality of information coding bits to be sent and a plurality of information ending identification bits;
the information interaction party corresponding to the information receiver number in the coded information is an information receiver;
3) The control module of the information sender controls the laser range finder to send the parameter information of the laser according to the coding information, so that the laser range finder sends the laser to the information receiver; the parameter information comprises frequency, light intensity, duration, wavelength, amplitude, phase and wave frequency;
4) The laser receiver of the information receiver receives the laser sent by the information sender and transmits the laser to the information processing module; the information processing module restores the laser parameter information into coding information so as to obtain information to be transmitted;
5) The information receiver generates response information according to the information to be sent, and encodes the response information to obtain response encoded information; the information receiver sends the response coding information to the information sender;
the method for the information receiver to send the response coded information to the information sender comprises the following steps: the control module of the information receiver controls the laser range finder to send the parameter information of the laser according to the response code information, so that the laser range finder sends the response laser to the information sender;
the information sender receives the response laser and transmits the response laser to the information processing module; the information processing module restores the laser parameter information into response coding information, so that response information is obtained.
The method for the information receiver to send the response coded information to the information sender comprises the following steps:
the information receiver matches the response coded information with the reflectivity of the high-reflectivity material according to the information coding table, and arranges and displays a plurality of high-reflectivity materials with different reflectivities according to the matching result; the information coding table is prestored in a coding module of the information interaction party;
and the information sender scans and decodes the high-reflectivity material displayed by the information receiver by using the laser range finder to obtain response information.
6) And the information sender reads the response information carried in the response coding information to complete the bidirectional communication.
Claims (1)
1. The information encoding and decoding method based on the laser reflection and the reflection material area is characterized by comprising the following steps:
1) Preparing a plurality of high-reflectivity materials (1) with the same specification; attaching the high-reflectivity material (1) to the surface of the object to be identified; no overlap occurs between the different high reflectivity materials (1);
2) The laser range finder sends a plurality of laser beams to the surface of the target to be identified, which is attached with the high-reflection material, and receives the emitted laser beams, so that the laser reflectivity of each laser reflection point from the laser range finder to the surface of the target to be identified is calculated; the laser range finder sends the laser reflectivity to the upper computer;
3) The upper computer preprocesses the laser reflectivity, deletes the laser reflectivity smaller than a threshold epsilon, and thus obtains the distribution condition of the high-reflection material on the surface of the target to be identified;
4) The upper computer decodes the distribution condition to obtain target information to be identified; the target information to be identified consists of a plurality of digital codes in unit area; when a unit area of the surface of the object to be identified is fully covered by the highly reflective material, the digital code of the unit area is a first digital code, and conversely, the digital code of the unit area is a second digital code.
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