CN108267788A - A kind of exploratory heading detections of radar vehicle - Google Patents
A kind of exploratory heading detections of radar vehicle Download PDFInfo
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Abstract
The present invention relates to a kind of exploratory heading detections of radar vehicles；The exploratory heading detections of radar vehicle includes exploratory heading detection device, vehicle, positioning device, vehicle controller, operation hole；The exploratory heading detection device cooperation fixed setting is onboard；The exploratory heading detection device is used to obtain position and/or the diameter of the exploratory heading of detection zone；The positioning device is used for determining the position of vehicle；The positioning device is the combination of satellite positioning device and inertial positioning device；The exploratory heading detection device, including pedestal, ground detection, detection controller；The ground detection is fixedly installed with the base engagement；The ground detection includes radar；The image acquisition device cooperation is fixed on pedestal.The present invention provides a kind of exploratory heading detections of radar vehicles, can detect the position of exploratory heading and/or the diameter of exploratory heading, conveniently moving automatically, improve the working efficiency of exploratory heading detection.
Description
Technical field
The present invention relates to electronics and machinery equipment field, especially exploratory heading detections of radar vehicle.
Background technology
In some constructions, many exploratory headings are made, but exploratory heading backfill does not often backfill not in time, even；Existing management because
Element, economic factor also have certain relationship with lacking exploratory heading cleaning equipment.
When carrying out exploratory heading cleaning, backfill when work, if there is a kind of automation equipment, exploratory heading can be detected automatically
Position and/or the diameter of exploratory heading, conveniently moving reduce road and occupy.
Invention content
Technical problem：
In view of the defects existing in the prior art, the present invention proposes a kind of exploratory heading detections of radar vehicle；It can detect spy automatically
The position in hole and/or the diameter of exploratory heading, conveniently moving improve the working efficiency of exploratory heading detection.
Technical solution：
To achieve the above object, the present invention proposes a kind of exploratory heading detections of radar vehicle, including the exploratory heading detection device, vehicle,
Positioning device, vehicle controller, operation hole；
The exploratory heading detection device cooperation fixed setting is onboard；
The positioning device cooperation fixed setting is onboard；
The vehicle controller cooperation is fixedly mounted onboard；
The operation hole is located on vehicle, and the exploratory heading detection device is coordinated to set；The exploratory heading detection device passes through described
Detect exploratory heading in operation hole；
The vehicle controller mating connection exploratory heading detection device, positioning device；
The exploratory heading detection device is used to obtain position and/or the diameter of the exploratory heading of detection zone；
The vehicle controller is computer control；
The positioning device is used for determining the position of vehicle；
The exploratory heading detection device, including pedestal, ground detection, detection controller；The detection controller is meter
Calculate machine controller；The ground detection is fixedly installed with the base engagement；The detection controller is matched with the pedestal
Close fixed setting；The ground detection is connected with the detection controller；The ground detection includes radar.
Further, the vehicle drives vehicle for drone's vehicle or Intelligent unattended.
Further, the detection controller further includes input interface；The input interface includes starting interface and/or stop
Only interface；The startup interface and/or stopping interface of the input interface are connection and/or communication connection.The input connects
Mouth is connection and/or communication connection.
Further, the detection controller at least further includes one of following interfaces：
Interface one：Communication interface；The communication interface includes one of the following：Digital wireless communication interface, mobile number are logical
Believe interface, near field communication interface, wired communication interface；
Interface two：Video interface；The video interface can at least connect a video monitoring apparatus；The video interface
It is analog interface or digital interface；
Interface three：Audio interface；The audio interface can at least connect a sound pick-up；The audio interface is simulation
Interface or digital interface.
Further, the positioning device is the combination of satellite positioning device, inertial positioning device, base station location device.
Further, the exploratory heading automatic detection vehicle further includes monitor camera；It is installed on the exploratory heading detections of radar vehicle
Monitor the monitor camera of search coverage；The monitor camera mating connection monitor；The monitor, which includes being located at, to be driven
The monitor of room and/or monitor positioned at vehicle-mounted manipulation position and/or remote controler and/or remote monitor and/or mobile phone.
The present invention proposes a kind of exploratory heading detection method, it is characterised in that：The exploratory heading detection method is used to detect detection zone
The position of exploratory heading in domain and/or diameter, including following processing steps：
S1) block-by-blocks traversal detection zone；One angle in self-test region starts, every time one detection subregion of detection, institute
State the detection length of subregion, width is set greater than exploratory heading diameter, make a detection subregion that can only be visited there are one complete
Hole；Adjacent two detection subregion overlapping at least half of exploratory heading diameter, 2 rows overlapping at least half of exploratory heading diameter in row；In row
Two adjacent row detection subregion overlapping at least half of exploratory heading diameter；After one detection subregion detection, it is moved in row
Next detection subregion；After a line detects, next line is detected；
S2) measures the distance data matrix for obtaining detection subregion；It detects in subregion and is detected at one, according to
The ranks spacing (be smaller than exploratory heading diameter 1/5th) of pre-set test point determines the inspection in detection zone
The position of measuring point；Each test point is measured to the distance of ground detection, obtains the distance data matrix of detection zone；
S3) detects exploratory heading edge point, the label exploratory heading edge point in exploratory heading candidate edge point marks matrix A；Including as follows
Subprocessing：
S3.1) removes label (the exploratory heading candidate edge point label square of exploratory heading candidate edge point label matrix A all elements
The line number of battle array A, columns are consistent with distance data matrix)；
S3.2) calculates the distance between all row or column consecutive points in distance data matrix difference one by one；
S3.3) finds out candidate exploratory heading edge point：Judge whether the absolute value of the distance difference is more than or more than or equal to setting
Fixed threshold value if it is, thinking that the corresponding test point of 2 points in a pair of consecutive points is candidate exploratory heading edge point, is being visited
The position of correspondence this 2 points in hole candidate edge point label matrix A makes marks；
S4) looks for exploratory heading, and exploratory heading set is recorded in the exploratory heading found out in exploratory heading candidate edge point marks matrix A
In；Including following subprocessing：
S4.1) replicates exploratory heading candidate edge point and marks matrix A to exploratory heading edge point traversal label matrix B；
S4.2) removes the label (row of exploratory heading edge point label Matrix C of exploratory heading edge point label Matrix C all elements
Number, columns are as exploratory heading candidate edge point label matrix A)；
S4.3) looks for first edge point of exploratory heading：In exploratory heading edge point traverses label matrix B, looked for by row or column traversal
First markd element (being denoted as P)；It finds, it is believed that find an edge point of doubtful exploratory heading, point traverses at exploratory heading edge
Remove the corresponding labels of point P in label matrix B, the corresponding labels of mark point P in exploratory heading edge point marks Matrix C；It does not find,
Think there is no exploratory heading in the region, go to step S5；
S4.4) looks for the adjacent side of exploratory heading along point：In exploratory heading edge point traverses label matrix B, centered on point P, row
Or column distance point P distances search next markd element (being denoted as P2) in the range of a points of x (presetting)；It finds,
Remove the corresponding labels of point P2 in exploratory heading edge point traverses label matrix B, the mark point P in exploratory heading edge point marks Matrix C
Corresponding label, record P are equal to P2, go to step S4.4；It does not find, goes to step S4.5；
Whether the exploratory heading that S4.5) judgements are found is complete：Exploratory heading candidate edge point mark matrix A in, using point P in
The heart, row or column range points P searches next markd element in the range of x point；It finds, it is believed that find complete
Exploratory heading goes to step S4.6；It does not find, it is believed that is found is incomplete exploratory heading, goes to step S4.2 and looks for next exploratory heading；
S4.6) calculates diameter, the center point coordinate of exploratory heading：Calculating successively in exploratory heading edge point label Matrix C has label
Any point, to the maximum distance (being denoted as L) between remaining markd point and corresponding 2 points of maximum distance (be denoted as P1,
P3)；
Whether within the preset range to judge L, if, it is believed that find exploratory heading, it is believed that the central point of exploratory heading is in point
The midpoint of P1, P3 line calculates the position of exploratory heading central point；If not, go to step S4.2；
S4.7) the location information of the exploratory heading is recorded in exploratory heading set；
S5) coordinate transforms:According to the coordinate of exploratory heading detection device, coordinate transform is carried out to exploratory heading center point coordinate, is obtained
Exploratory heading central point relative to exploratory heading detection device origin coordinate.
Further, the processing step S3.3 is replaced by：
S3.4) determines that the point is located in hole, outside hole according to the positive and negative of the difference；If the difference is just, is subtracted
The corresponding test point of number is located in hole；If the difference is negative, the corresponding test point of subtrahend is located in hole；
The test point being located in hole in a pair of of consecutive points of selection and/or the test point outside hole, on exploratory heading candidate side
It makes marks along the corresponding position in point label matrix A.
Further, the processing step S4.6 is replaced by：
S4.10) traversals calculate diameter, the center point coordinate of exploratory heading：It calculates successively in exploratory heading edge point label Matrix C
The distance between all the points of tape label obtain maximum distance (being denoted as L) and maximum distance corresponding 2 between markd point
A point (being denoted as P1, P3)；
Whether within the preset range to judge L, if, it is believed that find exploratory heading, it is believed that the central point of exploratory heading is in point
The midpoint of P1, P3 line calculates the position of exploratory heading central point；If not, go to step S4.2.
Further, the processing step S4.6 is replaced by：
S4.11) maximum widths, height method traversal calculate diameter, the center point coordinate of exploratory heading：Exploratory heading edge is calculated successively
Line-spacing, row between all the points of tape label in point label Matrix C away from, find maximum line-spacing, row away from and its endpoint；
Using big value away among of maximum line-spacing, row or small value or its average value as exploratory heading diameter (being denoted as L)；
Whether within the preset range to judge L, if, it is believed that exploratory heading is found, with maximum line-spacing, row away from correspondence
Line crosspoint be exploratory heading central point or using maximum line-spacing or row the midpoint away from corresponding line as exploratory heading central point；
If not, go to step S4.2.
Further, the exploratory heading detection method, optionally further includes following processing steps：
S6) coordinate transforms two:According to the coordinate for the exploratory heading detections of radar vehicle that vehicle carried pick device obtains, to exploratory heading center
Point coordinates or exploratory heading central point carry out coordinate transform relative to the coordinate of exploratory heading detection device origin, and it is opposite to obtain exploratory heading central point
In the coordinate of exploratory heading detections of radar vehicle origin.
Advantageous effect
Exploratory heading detections of radar vehicle proposed by the present invention can detect the position of exploratory heading and/or the diameter of exploratory heading automatically, mobile
It is convenient, improve the working efficiency of exploratory heading detection.
Description of the drawings
Fig. 1 is a kind of structure diagram of embodiment of the exploratory heading detection device of the present invention：
11. pedestal, 12. ground detections, 13. connecting lines, 14. detection controllers.
Fig. 2 is the structure diagram of another embodiment of the exploratory heading detection device of the present invention：
11. pedestal, 15. motion platforms, 16. laser ranging systems, 13. connecting lines, 14. detection controllers.
Fig. 3 is a kind of structure diagram of embodiment of the exploratory heading detections of radar vehicle of the present invention：
31. vehicle, 32. exploratory heading detection devices, 33. positioning devices, 34. connecting lines, 35. vehicle controllers, 36. operation holes.
Fig. 4 is a kind of main flow chart of embodiment of the exploratory heading detection method of the present invention.
Fig. 5 is the sub-process figure of the processing step S3 of the embodiment illustrated in fig. 5 of the exploratory heading detection method of the present invention.
Fig. 6 is the sub-process figure of the processing step S4 of the embodiment illustrated in fig. 5 of the exploratory heading detection method of the present invention.
Fig. 7 is the sub-process figure of the processing step S3 of another embodiment of the exploratory heading detection method of the present invention.
Fig. 8 is the sub-process figure of the processing step S4 of another embodiment of the exploratory heading detection method of the present invention.
Fig. 9 is the sub-process figure of the processing step S4 of another embodiment of the exploratory heading detection method of the present invention.
Figure 10 is the main flow chart of another embodiment of the exploratory heading detection method of the present invention.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is described in further detail.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention,
It is not intended to limit the present invention.
Implement use-case one
As shown in Figure 1, it is a kind of a kind of structure diagram of embodiment of exploratory heading detection device of the present invention, including pedestal
11st, ground detection 12, connecting line 13, detection controller 14.
For the pedestal 11 for fixing, protecting other component, shape preferably includes bottom surface.
The cooperation of ground detection 12 fixed setting is on the pedestal 11；
The detection controller 14 is fixedly installed with the cooperation of pedestal 11；
The detection controller 14 is computer control, is the prior art.
The ground detection 12 is connected by connecting line 13 and the detection controller 14；
The connecting line 13 is connected with pedestal 11, ground detection 12, detection controller 14.
The exploratory heading detection device is used to obtain position and/or the diameter of the exploratory heading of detection zone.
The ground detection 12 includes image acquisition device or radar, preferably radar；The radar is used to obtain
Obtain the measurement data on detection zone ground.
The image acquisition device is one of DV or digital camera, preferably digital camera；Image
The image information of acquisition is transferred to detection controller 14 by harvester, and detection controller 14 is analyzed image, visited
Hole position coordinates in the picture and/or exploratory heading diameter；Optionally, further according to seat of the image acquisition device with respect to 11 origin of pedestal
Mark obtains coordinate of the exploratory heading with respect to 11 origin of pedestal.
Optionally, the exploratory heading detection device further includes input interface, and the input interface coordinates with detection controller 14
Connection；The input interface is used to receive external input signal；Preferably, including input interface；
The input interface includes starting interface and/or stops interface, preferred to include starting interface and stop interface；Institute
It is connection and/or communication connection, preferably connection to state input interface；
After the detection controller 14 receives the enabling signal that startup interface transmits, start to work；The detection control
After device 14 receives the stop signal that stopping interface transmitting, it is stopped.
Optionally, the exploratory heading detection device further includes signal output apparatus；Preferably include signal output apparatus.
The signal output apparatus is connected with detection controller 15, coordinates fixed setting；The signal output apparatus
For exporting the information such as testing result and/or working condition.
The signal output apparatus is wireless communication device of the prior art or wire communication device；The wireless communication
Device includes at least one of ZigBee transport protocols, WiFi transport protocols, Bluetooth transmission protocol, GPRS communication protocols；It is described to have
Line communication device includes at least one of circuit output device, serial ports wire communication device, Parallel Interface Communication device；The wire communication
Device, wireless communication device are the prior arts.Preferably use serial ports wire communication device.
Optionally, the detection controller at least further includes one of following interfaces：
Interface one：Communication interface；The communication interface includes one of the following：Digital wireless communication interface, mobile number are logical
Believe interface, near field communication interface, wired communication interface；Preferably, mobile digital communication interface；
Interface two：Video interface；The video interface can at least connect a video monitoring apparatus；The video interface
It is analog interface or digital interface；Preferably digital interface；
Interface three：Audio interface；The audio interface can at least connect a sound pick-up；The audio interface is simulation
Interface or digital interface.
Preferably, the detection controller further includes communication interface, video interface, audio interface.
All electrical equipments are by installing means of power on the pedestal 11；The supply unit, be generator and/or
Storage battery power supply system and/or generator combine electric power system and/or externally fed interface arrangement with accumulator；Preferably store
Battery power supply system.
Implement use-case two
As shown in Fig. 2, it is a kind of structure diagram of exploratory heading detection device another kind embodiment of the present invention, including pedestal
11st, motion platform 15, laser ranging system 16, detection controller 14, connecting line 13.
Implementing use-case two, the difference lies in implementing the ground detection 12 that use-case two uses is with implementing use-case one
Laser ranging system 16；The cooperation of laser ranging system 16 is fixed on motion platform 15；The motion platform 15 is matched
Close fixed setting on the pedestal 11；
The laser ranging system 16 is wireless distance finding device or laser ranging system；The wireless distance finding device, laser
Range unit is the prior art；Preferably laser ranging system；
The laser ranging system 16 is connected by connecting line 13 and detects controller 14；
The motion platform 15 is two dimension or multidimensional or two axis or multiaxial motion platform；Two dimension or multidimensional or two axis or multiaxis
Motion platform is the prior art；Being connected by connecting line 13 for the motion platform 15 detects controller 14；Preferably
Two axis motion platforms；Under the control of detection controller 14, motion platform 15 drives laser ranging system 16 to measure detection zone
Each measurement point in domain is to the distance of laser ranging system 16；Each measurement point in detection zone controls in advance in detection
It sets on device, is determined in region preferably through line space, the column pitch between the setting measurement point on detection controller
The position of measurement point.Line space, column pitch between measurement point should be set smaller than 1/3rd of exploratory heading diameter, preferably
1/10th.
Implement use-case three
As shown in figure 3, be a kind of a kind of structure diagram of embodiment of exploratory heading detections of radar vehicle of the present invention, including：
Vehicle 31, exploratory heading detection device 32, positioning device 33, connecting line 34, vehicle controller 35, operation hole 36.
The exploratory heading detection device 32 is one of exploratory heading detection device of the present invention or other exploratory heading detection devices；
Preferably implement the exploratory heading detection device 32 described in use-case two.
The cooperation of exploratory heading detection device 32 is fixedly mounted on vehicle 31；
The cooperation of positioning device 33 is fixedly mounted on vehicle 31；
The cooperation of vehicle controller 35 is fixedly mounted on vehicle 31；
The cooperation of connecting line 34 is fixedly mounted on vehicle 31.
The operation hole 36 is located on vehicle 31, and the exploratory heading detection device 32 is coordinated to set；The exploratory heading detection device 32
Exploratory heading is detected by the operation hole 36；
The vehicle controller 35 is connected with connecting line 34；
The vehicle controller 35 is computer control；
The connecting line 34 is the computer control system connecting line coordinated with vehicle controller 35；
The vehicle controller 35 passes through 34 mating connection exploratory heading detection device 32 of connecting line, positioning device 33.
The positioning device 33 is used for determining the position of vehicle 31；The positioning device 33 is that satellite positioning device, inertia are fixed
The combination of position device, base station location device；The preferably double source positioning device of satellite positioning device combination inertial positioning device.
The detection controller 14 of the exploratory heading detection device 32 is connected by its communication interface and/or connecting line 13 to be connected
Wiring 33 and/or vehicle controller 34；
The exploratory heading detection device 32 mobile detection under the drive of vehicle 31.
Vehicle 31 is provided with the window that the work of exploratory heading detection device 32 uses, and is detected outside vehicle 31 for exploratory heading detection device 32
Situation.
Optionally, the monitor camera of monitoring search coverage is installed on the exploratory heading detections of radar vehicle；The monitoring camera
Machine mating connection monitor；The monitor includes the monitor positioned at driver's cabin and/or the monitor positioned at vehicle-mounted manipulation position
And/or remote controler and/or remote monitor and/or mobile phone.Preferably, monitor camera is installed, the monitor is positioned at driving
Sail the monitor of room.Optionally, during the work time, the image of record monitor camera shooting.
Optionally, the vehicle drives vehicle, preferably drone's vehicle for drone's vehicle or Intelligent unattended.
Implement use-case four
As shown in figure 4, it is that (Fig. 5 is Fig. 4 institutes for the main flow chart of a kind of embodiment of exploratory heading detection method of the present invention a kind of
Show the sub-process figure of the processing step S3 of flow chart, Fig. 6 is the sub-process figure of the processing step S4 of flow chart shown in Fig. 4), it is visiting
Operation includes the program of exploratory heading detection method in the detection controller of hole detection device, and the exploratory heading detection method is examined for detecting
Position and/or the diameter of the exploratory heading in region are surveyed, including following processing steps：
S1) block-by-blocks traversal detection zone；One angle in self-test region starts, every time one detection subregion of detection, institute
State the detection length of subregion, width is set greater than exploratory heading diameter, make a detection subregion that can only be visited there are one complete
Hole；Adjacent two detection subregion overlapping at least half of exploratory heading diameter, 2 rows overlapping at least half of exploratory heading diameter in row；In row
Two adjacent row detection subregion overlapping at least half of exploratory heading diameter；After one detection subregion detection, it is moved in row
Next detection subregion；After a line detects, next line is detected；Preferably, the length of subregion is detected, width is set as
1.5 times of (citings of exploratory heading diameter：When exploratory heading is 50 millimeters a diameter of, the length of subregion is detected, width is set as 75 millimeters)；
Preferably, two adjacent in row detection subregions are overlapped 0.7 exploratory heading diameter, and 2 rows are overlapped 0.7 exploratory heading diameter；To next
When row is mobile, when the height of remaining non-detection zone is less than 0.7 exploratory heading diameter, it is moved to regional edge edge；To next
When row are mobile, during 0.7 exploratory heading diameter of short of width of remaining non-detection zone, be moved to regional edge along；
S2) measures the distance data matrix for obtaining detection subregion；It detects in subregion and is detected at one, according to
The ranks spacing (be smaller than exploratory heading diameter 1/5th) of pre-set test point determines the inspection in detection zone
The position of measuring point；Each test point is measured to the distance of ground detection, obtains the distance data matrix of detection zone；It is excellent
Choosing, the ranks spacing of test point is set as 2 millimeters；
S3) detects exploratory heading edge point, the label exploratory heading edge point in exploratory heading candidate edge point marks matrix A；Including as follows
Subprocessing：
S3.1) removes label (the exploratory heading candidate edge point label square of exploratory heading candidate edge point label matrix A all elements
The line number of battle array A, columns are consistent with distance data matrix)；
S3.2) calculates the distance between all row or column consecutive points in distance data matrix difference one by one；
S3.3) finds out candidate exploratory heading edge point：Judge whether the absolute value of the distance difference is more than or more than or equal to setting
Fixed threshold value (preferred, to be set as 10 millimeters), if it is, thinking the corresponding test point of 2 points in a pair of consecutive points
For candidate exploratory heading edge point, the position of correspondence this 2 points in exploratory heading candidate edge point marks matrix A makes marks；
S4) looks for exploratory heading, and exploratory heading set is recorded in the exploratory heading found out in exploratory heading candidate edge point marks matrix A
In；Including following subprocessing：
S4.1) replicates exploratory heading candidate edge point and marks matrix A to exploratory heading edge point traversal label matrix B；
S4.2) removes the label (row of exploratory heading edge point label Matrix C of exploratory heading edge point label Matrix C all elements
Number, columns are as exploratory heading candidate edge point label matrix A)；
S4.3) looks for first edge point of exploratory heading：In exploratory heading edge point traverses label matrix B, looked for by row or column traversal
First markd element (being denoted as P)；It finds, it is believed that find an edge point of doubtful exploratory heading, point traverses at exploratory heading edge
Remove the corresponding labels of point P in label matrix B, the corresponding labels of mark point P in exploratory heading edge point marks Matrix C；It does not find,
Think there is no exploratory heading in the region, go to step S5；
S4.4) looks for the adjacent side of exploratory heading along point：In exploratory heading edge point traverses label matrix B, centered on point P, row
Or column distance point P distances search next markd element in the range of x (presetting, it is preferred that x=3) a point
(being denoted as P2)；It finds, removes the corresponding labels of point P2 in exploratory heading edge point traverses label matrix B, point marks at exploratory heading edge
The corresponding labels of mark point P in Matrix C, record P are equal to P2, go to step S4.4；It does not find, goes to step S4.5；
Whether the exploratory heading that S4.5) judgements are found is complete：Exploratory heading candidate edge point mark matrix A in, using point P in
The heart, row or column range points P searches next markd element in the range of x point；It finds, it is believed that find complete
Exploratory heading；It does not find, it is believed that is found is incomplete exploratory heading, goes to step S4.2 and looks for next exploratory heading；
S4.6) calculates diameter, the center point coordinate of exploratory heading：Calculating successively in exploratory heading edge point label Matrix C has label
Any point, to the maximum distance (being denoted as L) between remaining markd point and corresponding 2 points of maximum distance (be denoted as P1,
P3)；
L is judged whether in preset range (preferably, with the error of exploratory heading diameter within 10%), if
, it is believed that find exploratory heading, it is believed that the central point of exploratory heading is in the midpoint of point P1, P3 line, the position of calculating exploratory heading central point；If
Do not exist, go to step S4.2；
S4.7) the location information of the exploratory heading is recorded in exploratory heading set；
S5) coordinate transforms:According to the coordinate of exploratory heading detection device, coordinate transform is carried out to exploratory heading center point coordinate, is obtained
Exploratory heading central point relative to exploratory heading detection device origin coordinate.
In the detection controller 14 of exploratory heading detection device 32 or carry the equipment of exploratory heading detection device 32 and examined with exploratory heading
Have in the detection controller of communication connection between survey device 32, operation includes the program of exploratory heading detection method.
Implement use-case five
As shown in fig. 7, it is the subflow of the processing step S3 of another embodiment of exploratory heading detection method of the present invention a kind of
Cheng Tu.
Implementing use-case five, difference lies in processing step S3.3 is replaced by with implementing use-case four：
S3.4) finds out candidate exploratory heading edge point：
Positive and negative according to the difference determines that the point is located in hole, outside hole；If the difference is just, minuend corresponds to
Test point be located in hole；If the difference is negative, the corresponding test point of subtrahend is located in hole；
The test point being located in hole in a pair of of consecutive points of selection and/or the test point outside hole, on exploratory heading candidate side
It makes marks along the corresponding position in point label matrix A.
Implement use-case six
As shown in figure 8, it is the subflow of the processing step S4 of another embodiment of exploratory heading detection method of the present invention a kind of
Cheng Tu.
Implementing use-case six, difference lies in processing step S4.6 is replaced by with implementing use-case four, five：
S4.10) traversals calculate diameter, the center point coordinate of exploratory heading：It calculates successively in exploratory heading edge point label Matrix C
The distance between all the points of tape label obtain maximum distance (being denoted as L) and maximum distance corresponding 2 between markd point
A point (being denoted as P1, P3)；
L is judged whether in preset range (preferably, with the error of exploratory heading diameter within 10%), if
, it is believed that find exploratory heading, it is believed that the central point of exploratory heading is in the midpoint of point P1, P3 line, the position of calculating exploratory heading central point；If
Do not exist, go to step S4.2.
Implement use-case seven
As shown in figure 9, it is the subflow of the processing step S4 of another embodiment of exploratory heading detection method of the present invention a kind of
Cheng Tu.
Implementing use-case seven, difference lies in the processing step S4.6 is replaced by with implementing use-case four, five：
S4.11) maximum widths, height method traversal calculate diameter, the center point coordinate of exploratory heading：Exploratory heading edge is calculated successively
Line-spacing, row between all the points of tape label in point label Matrix C away from, find maximum line-spacing, row away from and its endpoint；
Using big value away among of maximum line-spacing, row or small value or its average value as exploratory heading diameter (being denoted as L)；
L is judged whether in preset range (preferably, with the error of exploratory heading diameter within 10%), if
, it is believed that exploratory heading is found, using maximum line-spacing, crosspoint of the row away from corresponding line as exploratory heading central point or with maximum row
Away from or row the midpoint away from corresponding line be exploratory heading central point；
If not, go to step S4.2.
Implement use-case eight
As shown in Figure 10, be the present invention a kind of exploratory heading detection method another embodiment main flow chart.
Implement use-case eight with implement use-case four to seven it is any difference lies in, implement use-case eight further include it is following processing step
Suddenly：
S6) coordinate transforms two:According to the coordinate for the exploratory heading detections of radar vehicle that vehicle carried pick device obtains, to exploratory heading center
Point coordinates or exploratory heading central point carry out coordinate transform relative to the coordinate of exploratory heading detection device origin, and it is opposite to obtain exploratory heading central point
In the coordinate of exploratory heading detections of radar vehicle origin.
It should be noted that shown in the flowchart of the accompanying drawings can be in such as one group of calculating that can perform computer instruction
It is performed in machine system, although also, show the logical order of processing in flow charts, it in some cases, can be with
Shown or described processing is performed different from processing sequence herein.
The present invention provides a kind of exploratory heading detections of radar vehicles, can detect the position of exploratory heading and/or the diameter of exploratory heading automatically,
Conveniently moving improves the working efficiency of exploratory heading detection.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of exploratory heading detections of radar vehicle, it is characterised in that：Including exploratory heading detection device, vehicle, positioning device, vehicle controller, work
Industry hole；
The exploratory heading detection device cooperation fixed setting is onboard；
The positioning device cooperation fixed setting is onboard；
The vehicle controller cooperation is fixedly mounted onboard；
The operation hole is located on vehicle, and the exploratory heading detection device is coordinated to set；The exploratory heading detection device passes through the operation
Detect exploratory heading in hole；
The vehicle controller mating connection exploratory heading detection device, positioning device；
The exploratory heading detection device is used to obtain position and/or the diameter of the exploratory heading of detection zone；
The vehicle controller is computer control；
The positioning device is used for determining the position of vehicle；
The exploratory heading detection device, including pedestal, ground detection, detection controller；The detection controller is computer
Controller；The ground detection is fixedly installed with the base engagement；The detection controller is consolidated with the base engagement
Fixed setting；The ground detection is connected with the detection controller；The ground detection includes radar.
2. exploratory heading detections of radar vehicle according to claim 1, it is characterised in that：The vehicle is drone's vehicle or intelligence
It can automatic driving car.
3. the exploratory heading detections of radar vehicle according to claim 1-2, it is characterised in that：The detection controller further includes input
Interface；The input interface includes starting interface and/or stops interface；The startup interface of the input interface and/or stopping connect
Mouth is connection and/or communication connection.
4. the exploratory heading detections of radar vehicle according to claim 1-2, it is characterised in that：The detection controller at least further includes
One of following interfaces：
Interface one：Communication interface；The communication interface includes one of the following：Digital wireless communication interface, mobile digital communication connect
Mouth, near field communication interface, wired communication interface；
Interface two：Video interface；The video interface can at least connect a video monitoring apparatus；The video interface is mould
Intend interface or digital interface；
Interface three：Audio interface；The audio interface can at least connect a sound pick-up；The audio interface is analog interface
Or digital interface.
5. exploratory heading detections of radar vehicle according to claim 3, it is characterised in that：The detection controller at least further includes down
State one of interface：
Interface one：Communication interface；The communication interface includes one of the following：Digital wireless communication interface, mobile digital communication connect
Mouth, near field communication interface, wired communication interface；
Interface two：Video interface；The video interface can at least connect a video monitoring apparatus；The video interface is mould
Intend interface or digital interface；
Interface three：Audio interface；The audio interface can at least connect a sound pick-up；The audio interface is analog interface
Or digital interface.
6. exploratory heading detections of radar vehicle according to claim 1, it is characterised in that：The positioning device is satellite positioning dress
It puts, the combination of inertial positioning device, base station location device.
7. exploratory heading detections of radar vehicle according to claim 1, it is characterised in that：Further include monitor camera；The exploratory heading
The monitor camera of installation monitoring search coverage on detections of radar vehicle；The monitor camera mating connection monitor；The prison
Visual organ is included positioned at the monitor of driver's cabin and/or the monitor positioned at vehicle-mounted manipulation position and/or remote controler and/or remotely monitor
Device and/or mobile phone.
8. a kind of exploratory heading detection method, it is characterised in that：The exploratory heading detection method is used to detect the exploratory heading in detection zone
Position and/or diameter, including following processing steps：
S1) block-by-blocks traversal detection zone；One angle in self-test region starts, every time one detection subregion of detection, the inspection
The length of survey subregion, width are set greater than exploratory heading diameter, make a detection subregion can only be there are one complete exploratory heading；Row
Interior two adjacent detection subregion overlapping at least half of exploratory heading diameters, 2 rows overlapping at least half of exploratory heading diameter；It is adjacent in row
Two row detection subregion overlapping at least half of exploratory heading diameter；After one detection subregion detection, it is moved to next in row
Detect subregion；After a line detects, next line is detected；
S2) measures the distance data matrix for obtaining detection subregion；It detects in subregion and is detected at one, according to advance
The ranks spacing (be smaller than exploratory heading diameter 1/5th) of the test point of setting determines the test point in detection zone
Position；Each test point is measured to the distance of ground detection, obtains the distance data matrix of detection zone；
S3) detects exploratory heading edge point, the label exploratory heading edge point in exploratory heading candidate edge point marks matrix A；At following son
Reason：
S3.1) (exploratory heading candidate edge point marks matrix A to the label of removal exploratory heading candidates edge point label matrix A all elements
Line number, columns are consistent with distance data matrix)；
S3.2) calculates the distance between all row or column consecutive points in distance data matrix difference one by one；
S3.3) finds out candidate exploratory heading edge point：Judge whether the absolute value of the distance difference is more than or more than or equal to setting
Threshold value if it is, thinking that the corresponding test point of 2 points in a pair of consecutive points is candidate exploratory heading edge point, is waited in exploratory heading
The position of correspondence this 2 points in edge point label matrix A is selected to make marks；
S4) looks for exploratory heading, and the exploratory heading found out is recorded in exploratory heading set in exploratory heading candidate edge point marks matrix A；Packet
Include following subprocessing：
S4.1) replicates exploratory heading candidate edge point and marks matrix A to exploratory heading edge point traversal label matrix B；
S4.2) removes label (line number of exploratory heading edge point label Matrix C, the row of exploratory heading edge point label Matrix C all elements
Number is as exploratory heading candidate edge point label matrix A)；
S4.3) looks for first edge point of exploratory heading：In exploratory heading edge point traverses label matrix B, first is looked for by row or column traversal
A markd element (being denoted as P)；It finds, it is believed that find an edge point of doubtful exploratory heading, the point traversal label at exploratory heading edge
Remove the corresponding labels of point P in matrix B, the corresponding labels of mark point P in exploratory heading edge point marks Matrix C；It does not find, it is believed that
There is no exploratory heading in the region, go to step S5；
S4.4) looks for the adjacent side of exploratory heading along point：In exploratory heading edge point traverses label matrix B, centered on point P, row or column
Range points P distances search next markd element (being denoted as P2) in the range of a points of x (presetting)；It finds, is visiting
Remove the corresponding labels of point P2 in hole edge point traversal label matrix B, mark point P is corresponded in exploratory heading edge point marks Matrix C
Label, record P be equal to P2, go to step S4.4；It does not find, goes to step S4.5；
Whether the exploratory heading that S4.5) judgements are found is complete：In exploratory heading candidate edge point marks matrix A, centered on point P,
Row or column range points P searches next markd element in the range of x point；It finds, it is believed that complete exploratory heading is found,
Go to step S4.6；It does not find, it is believed that is found is incomplete exploratory heading, goes to step S4.2 and looks for next exploratory heading；
S4.6) calculates diameter, the center point coordinate of exploratory heading：Markd in exploratory heading edge point label Matrix C is calculated successively
It anticipates a bit, to the maximum distance (being denoted as L) between remaining markd point and corresponding 2 points (being denoted as P1, P3) of maximum distance；
Whether within the preset range to judge L, if, it is believed that find exploratory heading, it is believed that the central point of exploratory heading is in point P1, P3
The midpoint of line calculates the position of exploratory heading central point；If not, go to step S4.2；
S4.7) the location information of the exploratory heading is recorded in exploratory heading set；
S5) coordinate transforms:According to the coordinate of exploratory heading detection device, coordinate transform is carried out to exploratory heading center point coordinate, obtains exploratory heading
Central point relative to exploratory heading detection device origin coordinate.
9. exploratory heading detection method according to claim 8, it is characterised in that：
The processing step S4.6 is replaced by：
S4.10) traversals calculate diameter, the center point coordinate of exploratory heading：The band mark in exploratory heading edge point label Matrix C is calculated successively
The distance between all the points of note obtain maximum distance (being denoted as L) and corresponding 2 points of maximum distance between markd point
(being denoted as P1, P3)；
Whether within the preset range to judge L, if, it is believed that find exploratory heading, it is believed that the central point of exploratory heading is in point P1, P3
The midpoint of line calculates the position of exploratory heading central point；If not, go to step S4.2.
10. exploratory heading detection method according to claim 8, it is characterised in that：
The processing step S4.6 is replaced by：
S4.11) maximum widths, height method traversal calculate diameter, the center point coordinate of exploratory heading：Exploratory heading edge point mark is calculated successively
Remember line-spacing between all the points of the tape label in Matrix C, row away from, find maximum line-spacing, row away from and its endpoint；
Using big value away among of maximum line-spacing, row or small value or its average value as exploratory heading diameter (being denoted as L)；
Whether within the preset range to judge L, if, it is believed that exploratory heading is found, with maximum line-spacing, row away from corresponding company
The crosspoint of line be exploratory heading central point or using maximum line-spacing or row the midpoint away from corresponding line as exploratory heading central point；
If not, go to step S4.2.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109271724A (en) * | 2018-09-28 | 2019-01-25 | 安徽芯核防务装备技术股份有限公司 | A kind of inflammable volatile substance of bus dynamic monitors sensor arrangement method |
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2016
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109271724A (en) * | 2018-09-28 | 2019-01-25 | 安徽芯核防务装备技术股份有限公司 | A kind of inflammable volatile substance of bus dynamic monitors sensor arrangement method |
| CN109271724B (en) * | 2018-09-28 | 2022-10-14 | 安徽芯核防务装备技术股份有限公司 | Bus dynamic inflammable volatile substance monitoring sensor arrangement method |
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