CN108445501A - A kind of more radar anti-crosstalk system and methods based on SLAM technologies - Google Patents
A kind of more radar anti-crosstalk system and methods based on SLAM technologies Download PDFInfo
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- CN108445501A CN108445501A CN201810280771.9A CN201810280771A CN108445501A CN 108445501 A CN108445501 A CN 108445501A CN 201810280771 A CN201810280771 A CN 201810280771A CN 108445501 A CN108445501 A CN 108445501A
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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
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Abstract
The present embodiments relate to a kind of more radar anti-crosstalk system and methods based on SLAM technologies.A kind of more radar anti-crosstalk systems based on SLAM technologies, including crosstalk noise detection unit, the real-time positioning units of SLAM and path planning unit, the noise detection unit is by matching the real-time reception signal of laser radar with given threshold, to detect the presence of crosstalk；The real-time positioning units of SLAM correspond to each laser radar on the basis of existing global map and are positioned in real time；The path planning unit feeds back the task weight according to each laser radar to will or have occurred and that the laser radar of crosstalk carries out path planning locally or globally according to the real time information of crosstalk noise detection unit and the real-time positioning units of SLAM.Additionally provide a kind of more radar crosstalk prevention methods based on SLAM technologies.By crosstalk noise detection unit, the setting of SLAM real-time positioning unit and path planning unit, fast and effectively solves the crosstalk phenomenon in more radar operation environmental processes.
Description
Technical field
The present invention relates to field of artificial intelligence, more particularly to one kind being based on SLAM (Simultaneous
Localization And Mapping) technology more radar anti-crosstalk system and methods.
Background technology
LiDAR (Light Detection and Ranging), is the abbreviation of laser acquisition and range-measurement system, laser thunder
Up to being to be used as transmitting light source using laser, using the active remote sensing equipment of detecting technique means.Laser radar is laser
The advanced detection mode that technology is combined with modern detecting technique.By emission system, receive the parts such as system, information processing
Composition.Emission system is various forms of lasers；Reception system uses telescope and various forms of photodetectors.Laser
The working method of radar, which determines, will appear serious signal cross-talk when more than two laser radars work together, such as Fig. 1 institutes
It is shown as crosstalk effect of two radars to penetrating under 20m distances.
Invention content
Will appear signal cross-talk when laser radar works together is caused by following several situations：1, the transmitting between multimachine
Light signal（Infrared light/laser etc.）It is taken as return signal；2, multimachine Anti-interference algorithm is introduced（Only limit fixed range point
Anti-interference optimization）Radar frame per second is caused to decline；3, more light paths, stray light, multilayer barrier, object reflected refraction scattering etc. cause
When overlapping crosstalk phenomenon can occur for multimachine overlay area, and it is different that the tests of more radar crosstalks shows as the DCS0-DCS3 data acquired
Often, amp rawdist equivalences prodigious difference occurs（Other types noise can be distinguished over）.
Currently, the crosstalk prevention method of radar is generally the methods of timesharing, frequency hopping, these methods all only drop to a certain extent
Low noise can not solve the problems, such as that crosstalk brings and the failure mode brought while these algorithms is added（Denoising is overweight
Lead to ranging failure or available point is very few leads to loss of data etc.）.
The purpose of the embodiment of the present invention is to propose a kind of based on SLAM (Simultaneous Localization And
Mapping) more radar anti-crosstalk systems of technology are advised by crosstalk noise detection unit, the real-time positioning units of SLAM and path
The setting of unit is drawn, effectively quickly solves the crosstalk phenomenon in more radar operation environmental processes.
The embodiment of the present invention additionally provides a kind of more radar crosstalk prevention methods based on SLAM technologies, and SLAM is positioned in real time
It is combined with path planning, the carrying duty of the mobile device to match from application scenarios and with laser radar is started with, and is being kept
On the basis of test frequency, accuracy rate and mobile device utilization rate, multilasered optical radar crosstalk is avoided from the planning of circuit
May, on the basis of not introducing additional operation program and ancillary equipment, improve more radar operating mechanisms it is efficient, accurate,
Quickly.
In order to achieve the above object, the embodiment of the present invention uses following technical scheme：
A kind of more radar anti-crosstalk systems based on SLAM technologies, including the real-time positioning unit of crosstalk noise detection unit, SLAM
With path planning unit, the noise detection unit by the way that the real-time reception signal of laser radar is matched with given threshold, with
Detect the presence of crosstalk；The real-time positioning units of SLAM corresponded on the basis of existing global map each laser radar into
Row positioning in real time；The path planning unit is anti-according to the real time information of crosstalk noise detection unit and the real-time positioning units of SLAM
Feedback is according to the task weight of each laser radar to will or have occurred and that the laser radar of crosstalk carries out road locally or globally
Diameter is planned.
As one of the preferred embodiments of the present invention, the path planning unit includes chassis control module and path meter
Module is calculated, the chassis control module includes the task grade of the mobile device corresponding with laser radar of real-time update and appoints
Business routing information back and forth, when the crosstalk noise detection unit detects crosstalk, the path calculation module is according to chassis control
The real time information of the mobile device for the correspondence crosstalk laser radar that module provides carries out local path again according to task priority
Planning.
As one of the preferred embodiments of the present invention, the path calculation module further includes crosstalk anticipation submodule, institute
Crosstalk anticipation submodule is stated to be carried out in the real-time positioning in setting path, the angle of departure and reception angle information according to each laser radar
Locally or globally crosstalk and/or collision anticipation, the path calculation module prejudge the crosstalk and/or collision of submodule according to crosstalk
Anticipation, adjusts path are planned to avoid laser radar crosstalk.
As one of the preferred embodiments of the present invention, the detection frequency and lidar measurement of the noise detection unit
Frequency is identical, and noise detection unit detection, between adjacent noise measuring twice, noise detection unit detects crosstalk
Then send a signal to path planning unit.
As one of the preferred embodiments of the present invention, the laser radar is the faces TOF battle array laser radar, then in laser thunder
Up to this four photosignals for setting phases of DSC0, DSC1, DSC2 and the DSC3 measured in the period for completing one-shot measurement and make an uproar
Standard value model in sound detection unit is matched, and signal occurs with corresponding output crosstalk.
A kind of more radar crosstalk prevention methods based on SLAM technologies, positioned in real time using SLAM and crosstalk noise detect phase
It in conjunction with detecting more radar crosstalks in real time, and plans, avoids more according to the real-time adjusts path of the preference ranking of multilasered optical radar task
Radar crosstalk.
As one of the preferred embodiments of the present invention, include the following steps：
Step 1, the mobile device for being equipped with laser radar detect crosstalk in real time in the task of execution by noise detection unit；
Step 2, when noise detection unit detect crosstalk occur when, send a signal to path planning unit, the path planning
The chassis control information of mobile device where from the chassis information module of unit to path calculation module offer crosstalk laser radar；
Step 3, the path calculation module are according to the local positioning information weight of chassis control information and the real-time positioning units of SLAM
New planning path.
As one of the preferred embodiments of the present invention, include the following steps in step 3：
Step 3.1 first determines whether to have whether the mobile device of crosstalk laser radar has carrying duty, is then looked into if any carrying duty
It sees task grade, the mobile device original place of highest priority is instructed to wait for until crosstalk signal disappearance, alternatively, in highest priority
Laser radar former setting path there is no obstacle in the case of, run to target point according to original planning path；It instructs excellent
The low mobile device of first grade closes or stop light source transmitting until the mobile device of high priority operation leaves crosstalk zone；
Step 3.2, the mobile device with crosstalk laser radar have without carrying duty or carrying duty rank less than other
When the mobile device of crosstalk laser radar, by the operation duration T of path calculation module again planning pathnIt is removed with mobile device
Crosstalk zone duration tn；
Step 3.3, the operation duration T when planning path againnCrosstalk zone duration t is removed more than or equal to mobile devicenWhen, it closes
Laser radar is closed after it becomes the mobile device of crosstalk zone highest priority, it is crosstalk zone highest to open newest be promoted to
The laser radar of priority executes step 3.1；When original planning path is not executable, path calculation module is planned again
Path.
Step 3.4, the duration T needed for the planning path againnCrosstalk zone duration t is removed less than mobile devicenWhen, path
Computing module planning path again.
As one of the preferred embodiments of the present invention, in step 3.2, path calculation module is excellent according to crosstalk laser radar
The height of first rank calculates again the operation duration T of planning path successivelynCrosstalk zone duration t is removed with mobile devicen。
As one of the preferred embodiments of the present invention, in step 3.3, submodule is prejudged by crosstalk and is swashed according to each
Optical radar is in the real-time positioning in setting path, the angle of departure and receives angle information progress locally or globally crosstalk and/or collision anticipation,
The path calculation module is prejudged according to the crosstalk and/or collision of the pre- judging submodule of crosstalk, and adjusts path planning is to avoid sharp
Optical radar crosstalk.
Embodiment advantageous effect：Pass through crosstalk noise detection unit, the real-time positioning units of SLAM and path planning unit
Setting effectively quickly solves the crosstalk phenomenon in more radar operation environmental processes, and SLAM is positioned in real time and path planning
The carrying duty of the settling mode being combined, the mobile device to match from application scenarios and with laser radar is started with, and is being kept
On the basis of test frequency, accuracy rate and mobile device utilization rate, multilasered optical radar crosstalk is avoided from the planning of circuit
May, on the basis of not introducing additional operation program and ancillary equipment, improve more radar operating mechanisms it is efficient, accurate,
Quickly.
Description of the drawings
Fig. 1 is crosstalk effect figure of two radars of the prior art under 20m distances to penetrating.
Fig. 2 is the structural schematic diagram for more radar anti-crosstalk systems based on SLAM technologies that the embodiment of the present invention 1 provides.
Fig. 3 is the flow diagram for more radar crosstalk prevention methods based on SLAM technologies that the embodiment of the present invention 1 provides.
In figure：1, crosstalk noise detection unit；2, the real-time positioning units of SLAM；3, path planning unit；31, chassis control
Module；32, path calculation module；321, crosstalk prejudges submodule.
Specific implementation mode
Further illustrate the present invention the technical solution of embodiment below with reference to the accompanying drawings and specific embodiments.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, technical solutions in the embodiments of the present application are clearly and completely described, it is clear that described embodiment is only
The embodiment of the application part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
The every other embodiment that member is obtained without making creative work should all belong to the model of the application protection
It encloses.
It should be noted that term " first " in the description and claims of this application and above-mentioned attached drawing, "
Two " etc. be for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that using in this way
Data can be interchanged in the appropriate case, so as to embodiments herein described herein.In addition, term " comprising " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing series of steps or unit
Process, method, system, product or equipment those of are not necessarily limited to clearly to list step or unit, but may include without clear
It is listing to Chu or for these processes, method, product or equipment intrinsic other steps or unit.
Embodiment 1
More radar anti-crosstalk systems based on SLAM technologies that an embodiment of the present invention provides a kind of, as shown in Figure 1, making an uproar including crosstalk
The real-time positioning unit of sound detection unit, SLAM and path planning unit, the noise detection unit is by by the reality of laser radar
When receive signal matched with given threshold, to detect the presence of crosstalk；The real-time positioning units of SLAM are in the existing overall situation
Each laser radar is corresponded on the basis of map to be positioned in real time；The path planning unit according to crosstalk noise detection unit and
The real time information feedback of the real-time positioning units of SLAM is according to the task weight of each laser radar to having occurred and that the laser of crosstalk
Radar carries out path planning locally or globally.
It is effective and quick by crosstalk noise detection unit, the setting of SLAM real-time positioning unit and path planning unit
The crosstalk phenomenon solved in more radar operation environmental processes, SLAM positioning in real time and the mode that is combined of path planning, from
Application scenarios and the carrying duty of the mobile device to match with laser radar are started with, and test frequency, accuracy rate and shifting are being kept
On the basis of dynamic utilization rate of equipment and installations, the possibility of multilasered optical radar crosstalk is avoided from the planning of circuit, is not introducing additional fortune
On the basis of calculating program and ancillary equipment, the efficient, accurate, quick of more radar operating mechanisms is improved.
The test of more radar crosstalks show as acquisition DCS0-DCS3 data exceptions, amp rawdist equivalences occur it is very big
Difference（Other types noise can be distinguished over）, by establishing digital-to-analogue to more radar crosstalks and introducing comparison pattern, for quick
Judging laser radar, whether there is or not crosstalks.
SLAM technologies include instant positioning and map structuring, and SLAM points are front-end and back-end, and front end is equivalent to VO（In vision
Journey meter）, by studying transformation relation between frame and frame, extract per frame image features point, using consecutive frame image, carry out characteristic point
The real-time positioning for being mounted with the mobile device of range sensor is completed in matching.The real-time positioning unit of the SLAM can load
Original global map, and part and/or global map are completed according to the traveling of each mobile device with laser radar
Real-time update；Or it can also be loaded directly into newest global map, and in the row of each mobile device with laser radar
Into the real-time update for completing part and/or global map in the process.
When the real-time positioning units of SLAM to laser radar locally or globally position in real time, removed using RANSAC big
Then noise is matched, a pose information is obtained（Position and posture）, while IMU can be utilized（Inertial
Measurement unit Inertial Measurement Units）The posture information of offer is filtered fusion；Rear end is then mainly to preceding bringing out
As a result it optimizes, utilizes filtering theory（EKF、UKF、PF）Or optimum theory TORO, G2O carries out the optimization of tree or figure.
Finally obtain optimal laser radar real-time positioning information.
Motion planning（Motion Planning）Exactly found for robot between given position A and position B
One path for meeting constraints.This constraint can be collisionless, path is most short, mechanical work is minimum etc..Motion planning by
Path planning and trajectory planning composition, the sequence of points or curve in connection source position and final position are referred to as path, constitute road
The strategy of diameter is referred to as path planning.To solve the path planning problem that topology is dotted line network.
The path planning unit includes chassis control module and path calculation module, and the chassis control module includes real
When the task grade of newer mobile device corresponding with laser radar, task routing information, each path back and forth operation
Time, operating rate, crosstalk generation area etc..When the crosstalk noise detection unit detects crosstalk, the path computing mould
Task grade, the task of the mobile device for the correspondence crosstalk laser radar that root tuber is provided according to chassis control module back and forth believe by path
The real time information such as breath, the run time in each path, operating rate, crosstalk generation area are filled according to mobile where laser radar
The task priority set carries out locally or globally path and plans again.
It, can be using priority as only consideration factor, priority when carrying out carry out path planning to more radar crosstalks
Higher mobile device has the preference kept along initial planning route relative to the lower mobile device of priority, described
The lower mobile device of priority has the obligation for avoiding and quickly eliminating crosstalk relative to the higher mobile device of priority.Road
Diameter plans quickness and high efficiency, relatively low to the technical finesse Capability Requirement of path planning computing module.
When it is implemented, first determining whether out the task grade of all mobile devices in crosstalk zone, there is carrying duty
Mobile device prior to no carrying duty mobile device, have carrying duty mobile device because carrying duty importance
It is different and to be divided into different priorities other.The sequence of the priority level can successively be arranged according to carrying duty urgency level
Sequence, it is preferred that the sequence of the priority level is preferably one sequence of a mobile device, is quickly done convenient for path calculation module
Outbound path is planned.
It is sorted according to the height of the task grade of all mobile devices with crosstalk laser radar in crosstalk zone suitable
Sequence, instructs the mobile device original place waiting of highest priority and laser radar keeps open state, after crosstalk signal disappearance,
It is run to target point according to original planning path；The mobile device for instructing priority low closes or stops radar emission until most
The mobile device of high priority operation leaves crosstalk zone.
Alternatively, being arranged according to the height of the task grade of all mobile devices with crosstalk laser radar in crosstalk zone
Sequence sequence is driven out in the case where the former setting path of the laser radar of highest priority does not have obstacle according to former setting path
Crosstalk zone；Instruct the low mobile device of priority close or stop radar emission until highest priority operation mobile device
Leave crosstalk zone.
The mobile device for being only second to highest priority out of crosstalk zone is to the minimum mobile device of priority, by path
Computing module compares operation duration T needed for planning path againNCrosstalk zone duration t is removed with mobile devicen, when planning again
Operation duration T needed for pathNCrosstalk zone duration t is removed more than or equal to mobile devicenWhen, laser radar is closed until it becomes
After the mobile device of crosstalk zone highest priority, laser radar is opened after crosstalk signal disappearance, according to original planning
Path is run to target point；When original planning path is not executable temporarily, that is, when original planning path is occurred
Object block channel, or when original planning path by crosstalk zone in closing or stop the low excellent of light source transmitting
The laser radar of first rank stops path, path calculation module planning path again.
The duration T needed for the planning path againnCrosstalk zone duration t is removed less than mobile devicenWhen, by path computing mould
Block planning path again.
Alternatively, can also consider with the task of all mobile devices with crosstalk laser radar in crosstalk zone
Preference ranking, the time required to exiting crosstalk zone according to new path planning operation, close crosstalk laser radar and shut down and wait for simultaneously
Weight is respectively set along original route planning operation required time, is advised with calculating the minimum locally or globally path of a total cost
It draws.Compared to preceding solution, path planning more science is more reasonable, but it is for the computing capability of path planning module
It is more demanding, and the calculating time lengthening of path planning, simultaneously for above-mentioned each factor weight coefficient accuracy require compared with
It is high.
In order to improve the promptness and accuracy of noise measuring, the detection frequency and laser radar of the noise detection unit
Measurement frequency is identical, and noise detection unit detection, between adjacent noise measuring twice, noise detection unit detects
Crosstalk then sends a signal to the path calculation module of path planning unit, is transferred by path calculation module corresponding with crosstalk occurs
Mobile device.The laser radar is the laser radar for the parameter request for meeting the real-time positioning units of SLAM, the laser thunder
Up to can be triangulation laser radar, TOF laser radars, MEMS laser radars or mechanical laser radar.Preferably, institute
It is using the faces TOF battle array laser radar to state laser radar, and the face battle array is 240*320 pixels.Further, the faces the TOF battle array swashs
Optical radar has the function of point cloud imaging.
Preferably, the laser radar is the faces TOF battle array laser radar, then is measured in the single ranging of laser radar
Standard value model in DSC0, DSC1, DSC2 and DSC3 this 4 photosignals and noise detection unit is matched, with correspondence
It exports crosstalk and signal occurs.
The embodiment of the present invention additionally provides a kind of more radar crosstalk prevention methods based on SLAM technologies, as shown in figure 3, using
SLAM is positioned in real time and crosstalk noise detection is combined and detects more radar crosstalks in real time, and according to the excellent of multilasered optical radar task
The real-time adjusts path planning of grade is selected, more radar crosstalks are avoided.Crosstalk noise detection, SLAM are positioned mutually tied with path planning in real time
The technical solution of conjunction quickly solves multilasered optical radar cross-interference issue based on Background control from path planning level, more high
It imitates, is accurate, quickly.
Preferably, more radar crosstalk prevention methods based on SLAM technologies, include the following steps：
Step 1, the mobile device for being equipped with laser radar detect crosstalk in real time in the task of execution by noise detection unit；Institute
It includes the crosstalk digital-to-analogue and comparing module being correspondingly arranged according to radar design parameter to state noise detection unit, when laser radar acquires
DCS0-DCS3 data exceptions, by contrast module analyze amp rawdist equivalences occur difference（Other can be distinguished over
Type noise）Whether crosstalk digital-to-analogue given threshold is more than.Wherein, apm indicates reflected and by laser radar by barrier
The light intensity value of the detection light received；Rawdist indicate laser radar by DCS0-DCS3 data directly calculate it is original away from
From value.
Step 2, when noise detection unit detect crosstalk occur when, that is to say, that by contrast module analyze amp
The difference that rawdist equivalences occur（Other types noise can be distinguished over）More than crosstalk digital-to-analogue given threshold, then noise measuring list
Member sends a signal to path planning unit, and the chassis information module of the path planning unit provides crosstalk to path calculation module
The chassis control information of mobile device where laser radar；
Step 3, the path calculation module are according to the local positioning information weight of chassis control information and the real-time positioning units of SLAM
New planning path.Path planning unit can according to the priority level of each mobile device, exit crosstalk zone according to new road
The time required to diameter planning operation, close crosstalk laser radar shutdown waiting and along original route planning operation required time and again
The weight of many factors carries out path planning to achieve the purpose that Least-cost the time required to planning path etc..
Preferably, task treatment effeciency and fast and reliable operation in order to balance, according to all mobile dresses in crosstalk zone
The height clooating sequence for the task grade set, instructs the mobile device original place waiting of highest priority and laser radar keeps booting
State is run according to original planning path to target point after crosstalk signal disappearance；Or the laser in highest priority
In the case that the former setting path of radar does not have obstacle, slows down according to former setting path or former speed is kept to be driven out to crosstalk zone,
It runs to target point.Specifically, including the following steps in step 3：
Step 3.1 first determines whether to have whether the mobile device of crosstalk laser radar has carrying duty, is then looked into if any carrying duty
It sees task grade, instructs the mobile device original place of highest priority to wait for after crosstalk signal disappearance, according to original planning
Path is run to target point；Or in the case where the former setting path of the laser radar of highest priority does not have obstacle, according to
Former setting path is driven out to crosstalk zone.When original planning path is not executable, path calculation module planning path again.
Step 3.2, the mobile device with crosstalk laser radar are less than other without carrying duty or carrying duty rank
When mobile device with crosstalk laser radar, path calculation module is counted successively according to the height of crosstalk laser radar priority level
Calculate again the operation duration T of planning pathnCrosstalk zone duration t is removed with mobile devicen。
By path calculation module according to the operation duration T of planning path againNCrosstalk zone duration is removed with mobile device
tn, as the operation duration T of planning path againNCrosstalk zone duration t is removed more than or equal to mobile devicenWhen, close laser radar
Until after it becomes the mobile device of crosstalk zone highest priority, laser radar is opened after crosstalk signal disappearance, according to
Original planning path is run to target point；The operation duration of planning path is crosstalk laser radar according to new rule again herein
Path is drawn to run to destination required time.The duration T needed for the planning path againnWhen removing crosstalk zone less than mobile device
Long tnWhen, path calculation module planning path again.
By taking crosstalk zone shares 3 laser radars generation crosstalks as an example, aforementioned three laser radars are preferential according to it respectively
Rank is named as D1、D2And D3, by priority of task sequence D1＜ D2＜ D3, then the mobile device D of highest priority3Original place waits for
And laser radar keeps open state；Until mobile device D1With mobile device D2On crosstalk laser radar caused by crosstalk
After blackout, run to target point according to original planning path.
Mobile device D is compared by path calculation module2Again operation duration T needed for planning path2It removes and goes here and there with mobile device
Disturb region duration t2, operation duration T needed for planning path again2Crosstalk zone duration t is removed more than or equal to mobile device2, close
Mobile device D2On laser radar；Until after it becomes the mobile device of crosstalk zone highest priority, laser radar is opened,
After crosstalk signal disappearance, run to target point according to original planning path.
Mobile device D is compared by path calculation module1Again operation duration T needed for planning path1It removes and goes here and there with mobile device
Disturb region duration t1, duration T needed for planning path again1Crosstalk zone duration t is removed less than mobile device1When, by path computing
Module planning path again, mobile device D1It is run according to planning path again until reaching target point.
Embodiment 2
As different from Example 1, the path planning unit is according to crosstalk noise detection unit and the real-time positioning units of SLAM
Real time information feedback part or complete is carried out to the laser radar that crosstalk will occur according to the task weight of each laser radar
The path planning of office.The path calculation module further includes crosstalk anticipation submodule, and the crosstalk prejudges submodule according to each
A laser radar is in the real-time positioning in setting path, the angle of departure and receives angle information progress locally or globally crosstalk and/or collision
Anticipation, the path calculation module according to crosstalk prejudge submodule crosstalk and/or collision anticipation adjusts path planning to avoid
Laser radar crosstalk.
One of preferably, path calculation module according to priority level height again planning path when, pass through
Crosstalk prejudges submodule according to each laser radar in the real-time positioning in setting path, the angle of departure and reception angle information carry out office
The crosstalk of portion or the overall situation and/or collision anticipation adjusts path are planned to avoid laser radar crosstalk.
By the setting of the pre- judging submodule of crosstalk, the greater probability in the path planning of global path planning and part
Reduce and laser radar occur to penetrating or the possibility of multiple laser radar crosstalks.
In conclusion by crosstalk noise detection unit, the setting of SLAM real-time positioning unit and path planning unit, have
It imitates and quickly solves the crosstalk phenomenon in more radar operation environmental processes, the mode and path planning that SLAM is positioned in real time
The carrying duty of the settling mode being combined, the mobile device to match from application scenarios and with laser radar is started with, and is being kept
On the basis of test frequency, accuracy rate and mobile device utilization rate, multilasered optical radar crosstalk is avoided from the planning of circuit
May, on the basis of not introducing additional operation program and ancillary equipment, improve more radar operating mechanisms it is efficient, accurate,
Quickly.
The technical principle of the present invention is described above in association with specific embodiment.These descriptions are intended merely to explain the present invention's
Principle, and it cannot be construed to limiting the scope of the invention in any way.Based on the explanation herein, the technology of this field
Personnel would not require any inventive effort the other specific implementation modes that can associate the present invention, these modes are fallen within
Within protection scope of the present invention.
Claims (10)
1. a kind of more radar anti-crosstalk systems based on SLAM technologies, which is characterized in that including crosstalk noise detection unit, SLAM
Real-time positioning unit and path planning unit, the noise detection unit is by by the real-time reception signal of laser radar and setting
Threshold value matches, to detect the presence of crosstalk；The real-time positioning units of SLAM are corresponding every on the basis of existing global map
A laser radar is positioned in real time；The path planning unit is according to crosstalk noise detection unit and the real-time positioning units of SLAM
Real time information feedback according to the task weight of each laser radar to may or have occurred and that the laser radar carry out office of crosstalk
The path planning of portion or the overall situation.
2. more radar anti-crosstalk systems according to claim 1 based on SLAM technologies, which is characterized in that the path rule
It includes chassis control module and path calculation module to draw unit, the chassis control module include real-time update and laser radar
The task grade and task of corresponding mobile device routing information back and forth, when the crosstalk noise detection unit detects string
It disturbs, the real-time letter of the mobile device for the correspondence crosstalk laser radar that the path calculation module is provided according to chassis control module
Breath carries out local path according to task priority and plans again.
3. more radar anti-crosstalk systems according to claim 1 or 2 based on SLAM technologies, which is characterized in that the road
Diameter computing module further includes crosstalk anticipation submodule, and the crosstalk anticipation submodule is according to each laser radar in setting path
It is real-time positioning, the angle of departure and receive angle information carry out locally or globally crosstalk and/or collision anticipation, the path calculation module
The crosstalk of submodule is prejudged according to crosstalk and/or collision anticipation adjusts path is planned to avoid laser radar crosstalk.
4. more radar anti-crosstalk systems according to claim 3 based on SLAM technologies, which is characterized in that the noise inspection
The detection frequency for surveying unit is identical as lidar measurement frequency, and noise detection unit detection is examined between adjacent noise twice
Between survey, noise detection unit detects that crosstalk then sends a signal to path planning unit.
5. more radar anti-crosstalk systems according to claim 4 based on SLAM technologies, which is characterized in that the laser thunder
Up to for the faces TOF battle array laser radar, then in the period that laser radar completes one-shot measurement DSC0, DSC1, DSC2 for measuring and
Standard value model in the photosignal and noise detection unit of this four setting phases of DSC3 is matched, and is gone here and there with corresponding output
Disturb generation signal.
6. a kind of more radar crosstalk prevention methods based on SLAM technologies, which is characterized in that positioned in real time using laser radar SLAM
It is combined with crosstalk noise detection and detects more radar crosstalks in real time, and adjusted in real time according to the preference ranking of multilasered optical radar task
Path planning avoids more radar crosstalks.
7. more radar crosstalk prevention methods according to claim 6 based on SLAM technologies, which is characterized in that including walking as follows
Suddenly：
Step 1, the mobile device for being equipped with laser radar detect crosstalk in real time in the task of execution by noise detection unit；
Step 2, when noise detection unit detect crosstalk occur when, send a signal to path planning unit, the path planning
The chassis control information of mobile device where from the chassis information module of unit to path calculation module offer crosstalk laser radar；
Step 3, the path calculation module are according to the local positioning information weight of chassis control information and the real-time positioning units of SLAM
New planning path.
8. more radar crosstalk prevention methods according to claim 7 based on SLAM technologies, which is characterized in that wrapped in step 3
Include following steps：
Step 3.1 first determines whether to have whether the mobile device of crosstalk laser radar has carrying duty, is then looked into if any carrying duty
It sees task grade, the mobile device original place of highest priority is instructed to wait for until crosstalk signal disappearance, alternatively, in highest priority
Laser radar former setting path there is no obstacle in the case of, be driven out to crosstalk zone, operation to target according to former setting path
Point；The low mobile device of instruction priority closes or stop light source transmitting until the mobile device of highest priority operation leaves string
Disturb region；
Step 3.2, the mobile device with crosstalk laser radar have without carrying duty or carrying duty rank less than other
When the mobile device of crosstalk laser radar, the operation duration T of planning path is compared again by path calculation modulenAnd mobile device
Remove crosstalk zone duration tn；
Step 3.3, the operation duration T when planning path againnCrosstalk zone duration t is removed more than or equal to mobile devicenWhen, it closes
Laser radar is closed after it becomes the mobile device of crosstalk zone highest priority, it is crosstalk zone highest to open newest be promoted to
The laser radar of priority executes step 3.1,；When original planning path is not executable, path calculation module is planned again
Path；
Step 3.4, the duration T needed for the planning path againnCrosstalk zone duration t is removed less than mobile devicenWhen, path computing
Module planning path again.
9. more radar crosstalk prevention methods according to claim 8 based on SLAM technologies, which is characterized in that in step 3.2,
Path calculation module calculates again the operation duration T of planning path according to the height of priority level successivelynIt is removed with mobile device
Crosstalk zone duration tn。
10. more radar crosstalk prevention methods according to claim 8 based on SLAM technologies, which is characterized in that step 3.3
In, real-time positioning, the angle of departure and acceptance angle of the submodule according to each laser radar in setting path are prejudged by crosstalk and believed
Breath carries out locally or globally crosstalk and/or collision anticipation, and the path calculation module is according to the crosstalk of the pre- judging submodule of crosstalk
And/or collision anticipation, adjusts path are planned to avoid laser radar crosstalk.
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