CN108445501B - Multi-radar crosstalk prevention system and method based on SLAM technology - Google Patents
Multi-radar crosstalk prevention system and method based on SLAM technology Download PDFInfo
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Abstract
The embodiment of the invention relates to a multi-radar crosstalk prevention system and method based on SLAM technology. The multi-radar crosstalk prevention system based on the SLAM technology comprises a crosstalk noise detection unit, a SLAM real-time positioning unit and a path planning unit, wherein the noise detection unit is used for detecting whether crosstalk occurs by matching a real-time receiving signal of a laser radar with a set threshold value; the SLAM real-time positioning unit performs real-time positioning corresponding to each laser radar on the basis of an existing global map; and the path planning unit performs local or global path planning on the laser radars with or without crosstalk according to the task weight of each laser radar according to real-time information feedback of the crosstalk noise detection unit and the SLAM real-time positioning unit. A multi-radar crosstalk prevention method based on SLAM technology is also provided. Through the arrangement of the crosstalk noise detection unit, the SLAM real-time positioning unit and the path planning unit, the crosstalk phenomenon in the multi-radar operation environment process is effectively and rapidly solved.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a multi-radar crosstalk prevention system and method based on SLAM (Simultaneous Localization And Mapping) technology.
Background
LiDAR (Light Detection and Ranging), which is a short term for laser detection and ranging system, the laser radar is an active remote sensing device using a laser as a transmitting light source and adopting a photoelectric detection technology means. Lidar is an advanced detection method combining laser technology with modern photoelectric detection technology. The system consists of a transmitting system, a receiving system, information processing and the like. The emission system is a laser of various forms; the receiving system employs a telescope and various forms of photodetectors. The working mode of the laser radars determines that serious signal crosstalk can occur when more than two laser radars work together, and as shown in fig. 1, the crosstalk effect of the two radars in correlation at a distance of 20 m.
Disclosure of Invention
The occurrence of signal crosstalk when lidars work together is caused by several conditions: 1. the emitted light source signals (infrared light/laser, etc.) between the multiple machines are taken as return signals; 2. introducing a multi-machine anti-interference algorithm (only anti-interference optimization of fixed distance points) leads to the reduction of the radar frame rate; 3. the crosstalk phenomenon can occur when multiple machine coverage areas are overlapped due to multiple optical paths, stray light, multiple layers of barriers, object reflection refraction scattering and the like, and the test of the multiple radar crosstalk is characterized in that collected DCS0-DCS3 data are abnormal, and the amp\rawdist values are greatly different (can be distinguished from other types of noise points).
At present, the anti-crosstalk methods of the radar are generally time-sharing, frequency hopping and other methods, and the methods only reduce noise to a certain extent, and can not solve the problems caused by crosstalk and the failure modes caused by adding the algorithms (such as ranging failure caused by excessive denoising or data loss caused by too few effective points).
The embodiment of the invention aims to provide a multi-radar crosstalk prevention system based on SLAM (Simultaneous Localization And Mapping) technology, which effectively and rapidly solves the crosstalk phenomenon in the multi-radar operation environment process through the arrangement of a crosstalk noise detection unit, an SLAM real-time positioning unit and a path planning unit.
The embodiment of the invention also provides a multi-radar crosstalk prevention method based on SLAM technology, which combines SLAM real-time positioning and path planning, starts from an application scene and a carrying task of a mobile device matched with a laser radar, avoids the possibility of multi-laser radar crosstalk on the basis of maintaining test frequency, accuracy and mobile equipment utilization rate, and improves the high efficiency, accuracy and rapidness of a multi-radar operation mechanism on the basis of not introducing additional operation programs and auxiliary equipment.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
the multi-radar crosstalk prevention system based on the SLAM technology comprises a crosstalk noise detection unit, a SLAM real-time positioning unit and a path planning unit, wherein the noise detection unit is used for detecting whether crosstalk occurs by matching a real-time receiving signal of a laser radar with a set threshold value; the SLAM real-time positioning unit performs real-time positioning corresponding to each laser radar on the basis of an existing global map; and the path planning unit performs local or global path planning on the laser radars with or without crosstalk according to the task weight of each laser radar according to real-time information feedback of the crosstalk noise detection unit and the SLAM real-time positioning unit.
As one of the preferable schemes of the technical scheme, the path planning unit comprises a chassis control module and a path calculation module, the chassis control module comprises task grade and task round-trip path information of the mobile device corresponding to the laser radar updated in real time, and when the crosstalk noise detection unit detects crosstalk, the path calculation module performs local path re-planning according to the task priority and the real-time information of the mobile device corresponding to the crosstalk laser radar provided by the chassis control module.
As one of the preferable schemes of the present technical solution, the path calculation module further includes a crosstalk pre-judging sub-module, the crosstalk pre-judging sub-module performs local or global crosstalk and/or collision pre-judgment according to real-time positioning, transmitting angle and receiving angle information of each laser radar in a set path, and the path calculation module adjusts path planning to avoid laser radar crosstalk according to crosstalk and/or collision pre-judgment of the crosstalk pre-judging sub-module.
As one of the preferable schemes of the present technical scheme, the detection frequency of the noise detection unit is the same as the laser radar measurement frequency, and the noise detection unit detects the noise between two adjacent noise detections, and the noise detection unit sends a signal to the path planning unit when detecting crosstalk.
As one of the preferable schemes of the present technical solution, the lidar is a TOF area array lidar, and the four photoelectric signals of the set phases DSC0, DSC1, DSC2 and DSC3 measured in the period when the lidar completes one measurement are matched with the standard value model in the noise detection unit, so as to output the crosstalk occurrence signal correspondingly.
A multi-radar crosstalk prevention method based on SLAM technology adopts SLAM real-time positioning and crosstalk noise detection to combine to detect multi-radar crosstalk in real time, and adjusts path planning in real time according to the optimal level of multi-laser radar tasks to avoid multi-radar crosstalk.
As one of preferable embodiments of the present invention, the method comprises the steps of:
step 1, detecting crosstalk in real time by a noise detection unit when a mobile device provided with a laser radar executes a task;
step 2, when the noise detection unit detects that crosstalk occurs, a signal is sent to the path planning unit, and a chassis information module of the path planning unit provides chassis control information of mobile equipment where the crosstalk laser radar is located for the path calculation module;
and step 3, the path calculation module re-plans the path according to the chassis control information and the local positioning information of the SLAM real-time positioning unit.
As one of the preferable embodiments of the present invention, the step 3 includes the following steps:
step 3.1, firstly judging whether the mobile equipment with the crosstalk laser radar has a carrying task, checking the task level if the mobile equipment has the carrying task, and commanding the mobile equipment with the highest priority to wait in situ until the crosstalk signal disappears, or running to a target point according to the original planning path under the condition that the original setting path of the laser radar with the highest priority is not obstructed; the mobile device with low priority is instructed to turn off or stop the light source emission until the mobile device with high priority leaves the crosstalk area;
step 3.2, when the mobile device with the crosstalk laser radar has no carrying task or the carrying task level is lower than that of other mobile devices with the crosstalk laser radar, the path calculation module re-plans the operation time length T of the path n And a mobile device moves out of the crosstalk zone for a period t n ；
Step 3.3, when the path is re-planned for the operation time T n Greater than or equal to the length t of time when the mobile device moves out of the crosstalk zone n When the laser radar is turned off until the laser radar becomes the mobile equipment with the highest priority of the crosstalk area, turning on the laser radar with the highest priority of the crosstalk area, and executing the step 3.1; the path computation module re-plans the path when the original planned path is not executable.
Step 3.4, when the path is re-planned for a length T n Less than the mobile device movement out of the crosstalk zone duration t n When the path calculation module re-plans the path.
As one of the preferable embodiments of the present invention, in step 3.2, the path calculation module calculates the path according to the crosstalk laser Lei DayouSequentially calculating the operation time length T of the re-planning path according to the level of the first stage n And a mobile device moves out of the crosstalk zone for a period t n 。
In step 3.3, local or global crosstalk and/or collision pre-judgment is performed according to real-time positioning, emission angle and receiving angle information of each laser radar in a set path by a crosstalk pre-judgment sub-module, and the path calculation module adjusts path planning to avoid laser radar crosstalk according to crosstalk and/or collision pre-judgment of the crosstalk pre-judgment sub-module.
The embodiment has the beneficial effects that: by the arrangement of the crosstalk noise detection unit, the SLAM real-time positioning unit and the path planning unit, the crosstalk phenomenon in the multi-radar operation environment process is effectively and rapidly solved, the solution mode of combining SLAM real-time positioning and path planning is started from an application scene and a carrying task of a mobile device matched with a laser radar, the possibility of multi-laser radar crosstalk is avoided from the planning of a line on the basis of maintaining the test frequency, the accuracy and the utilization rate of mobile equipment, and the high efficiency, the accuracy and the rapidness of a multi-radar operation mechanism are improved on the basis of not introducing additional operation programs and auxiliary equipment.
Drawings
Fig. 1 is a graph of the cross-talk effect of two radars of the prior art correlation at a distance of 20 m.
Fig. 2 is a schematic structural diagram of a multi-radar cross-talk prevention system based on SLAM technology provided in embodiment 1 of the present invention.
Fig. 3 is a schematic flow chart of a multi-radar cross-talk prevention method based on SLAM technology provided in embodiment 1 of the present invention.
In the figure: 1. a crosstalk noise detection unit; 2. a SLAM real-time positioning unit; 3. a path planning unit; 31. a chassis control module; 32. a path calculation module; 321. and a crosstalk pre-judging sub-module.
Detailed Description
The technical scheme of the embodiment of the invention is further described below by means of specific implementation mode in combination with the attached drawings.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
The embodiment of the invention provides a multi-radar crosstalk prevention system based on SLAM technology, which comprises a crosstalk noise detection unit, a SLAM real-time positioning unit and a path planning unit, wherein the noise detection unit is used for detecting whether crosstalk occurs by matching a real-time receiving signal of a laser radar with a set threshold value; the SLAM real-time positioning unit performs real-time positioning corresponding to each laser radar on the basis of an existing global map; and the path planning unit performs local or global path planning on the laser radars with crosstalk according to the task weight of each laser radar according to real-time information feedback of the crosstalk noise detection unit and the SLAM real-time positioning unit.
Through setting up of crosstalk noise detection unit, SLAM real-time positioning unit and route planning unit, effectively and quick solution the crosstalk phenomenon among the many radar operational environment in-process, SLAM real-time positioning and route planning combined mode is from application scenario and the delivery mission of mobile device who matches with the laser radar, on the basis of keeping test frequency, rate of accuracy and mobile device utilization, avoided many laser radar crosstalk's possibility on the planning of circuit, on the basis of not introducing extra operation procedure and auxiliary assembly, improved the high efficiency of many radar operating mechanism, accuracy, quick.
The test of the multi-radar crosstalk is shown as abnormal acquired DCS0-DCS3 data, the amp\rawdist equivalence is greatly different (can be distinguished from other types of noise points), and a digital-analog is built for the multi-radar crosstalk and a comparison mode is introduced for rapidly judging whether the laser radar has crosstalk or not.
The SLAM technology comprises instant positioning and map construction, the SLAM is divided into a front end and a rear end, the front end is equivalent to VO (visual odometer), feature points of each frame of image are extracted by researching the transformation relation between frames, and feature point matching is carried out by utilizing images of adjacent frames, so that the real-time positioning of the mobile device loaded with the distance sensor is completed. The real-time positioning unit of the SLAM can load an original global map and complete real-time updating of local and/or global maps according to the travelling of each mobile device with the laser radar; or the latest global map can be directly loaded, and the real-time updating of the local and/or global map can be completed in the travelling process of each mobile device with the laser radar.
When the SLAM real-time positioning unit performs real-time local or global positioning on the laser radar, RANSAC is utilized to remove large noise, then matching is performed to obtain a phase information (position and gesture), and meanwhile, the gesture information provided by an IMU (Inertial measurement unit inertial measurement unit) can be utilized to perform filtering fusion; the back end is mainly to optimize the front end output result, and the filtering theory (EKF, UKF, PF) or the optimization theory TORO and G2O is utilized to optimize the tree or the graph. And finally obtaining the optimal laser radar real-time positioning information.
Motion Planning (Motion Planning) is to find a path between a given position a and a given position B for a robot that meets the constraint. This constraint may be collision free, shortest path, minimum mechanical work, etc. The motion planning consists of path planning and track planning, the sequence points or curves connecting the start position and the end position are called paths, and the strategy for forming the paths is called path planning. The method is used for solving the path planning problem of the point-line network.
The path planning unit comprises a chassis control module and a path calculation module, wherein the chassis control module comprises a task grade, task round-trip path information, running time, running speed, crosstalk occurrence area and the like of mobile equipment corresponding to the laser radar, which are updated in real time. When the crosstalk noise detection unit detects crosstalk, the path calculation module performs local or global path re-planning according to the task priority of the mobile device where the laser radar is located according to the task level, task round-trip path information, running time, running speed, crosstalk occurrence area and other real-time information of the mobile device corresponding to the crosstalk laser radar provided by the chassis control module.
In path planning for multi-radar crosstalk, priority can be taken as the only consideration, and a mobile device with higher priority has the preference of keeping running along the original planned path relative to a mobile device with lower priority, and the mobile device with lower priority has the obligation of avoiding and rapidly eliminating crosstalk relative to the mobile device with higher priority. The path planning is fast and efficient, and the technical processing capacity requirement on the path planning calculation module is low.
In the implementation, first, task levels of all mobile devices in the crosstalk area are determined, and the mobile device with the carrying task is prioritized over the mobile device without the carrying task, and the mobile device with the carrying task is classified into different priority levels due to different importance of the carrying task. The priority level sequencing can be sequentially sequenced according to the emergency degree of the carrying task, preferably, the priority level sequencing is preferably one sequencing of one mobile device, so that the path calculation module can conveniently and quickly make path planning.
According to the high-low ordering sequence of the task levels of all the mobile devices with the crosstalk laser radars in the crosstalk area, the mobile device with the highest instruction priority waits in situ and the laser radars keep in a starting state until the crosstalk signals disappear, and then the mobile device runs to a target point according to an original planning path; the mobile device with the lower priority is instructed to turn off or stop radar transmission until the mobile device with the highest priority job leaves the crosstalk zone.
Or according to the order of the task levels of all the mobile devices with the crosstalk laser radars in the crosstalk area, when the original set path of the laser radar with the highest priority is not obstructed, the mobile device drives out of the crosstalk area according to the original set path; the mobile device with the lower priority is instructed to turn off or stop radar transmission until the mobile device with the highest priority job leaves the crosstalk zone.
Comparing the operation time length T required for re-planning the path from the mobile equipment with highest priority to the mobile device with lowest priority in the crosstalk area by the path calculation module N And a mobile device moves out of the crosstalk zone for a period t n When the path is re-planned, the required operation time length T N Greater than or equal to the length t of time when the mobile device moves out of the crosstalk zone n When the cross-talk area is the highest priority mobile equipment, the laser radar is turned off until the cross-talk area is the highest priority mobile equipment, and the laser radar is turned on until the cross-talk signal disappears and then runs to the target point according to the original planned path; the path computation module re-plans the path when the intended planned path is not executable, i.e. when the intended planned path is blocked by an object that is temporarily present, or when the intended planned path is blocked by a lidar in the cross-talk region at a low priority level that shuts down or stops the light source emission.
When the path is re-planned, the length T is required n Less than the mobile device movement out of the crosstalk zone duration t n When the path is re-planned by the path computation module.
Or, the task preference level of all the mobile devices with the crosstalk laser radars in the crosstalk area, the time required for exiting the crosstalk area to operate according to the new path planning, closing the standby of the crosstalk laser radars and setting weights respectively along the time required for operating according to the original path planning can be comprehensively considered, so that a local or global path planning with the lowest total cost can be calculated. Compared with the technical scheme, the path planning is more scientific and reasonable, but the calculation capability requirement on the path planning module is higher, the calculation time of the path planning is prolonged, and the accuracy requirement on the weight coefficient of each factor is higher.
In order to improve timeliness and accuracy of noise detection, detection frequency of the noise detection unit is the same as that of laser radar measurement frequency, the noise detection unit detects noise between two adjacent times, the noise detection unit sends signals to a path calculation module of the path planning unit when detecting crosstalk, and the path calculation module calls a mobile device corresponding to the crosstalk. The laser radar is a laser radar meeting the parameter requirements of the SLAM real-time positioning unit, and can be a triangulation laser radar, a TOF laser radar, an MEMS laser radar or a mechanical laser radar. Preferably, the laser radar is a TOF area array laser radar, and the area array is 240×320 pixels. Furthermore, the TOF area array laser radar has a point cloud imaging function.
Preferably, the lidar is a TOF area array lidar, and the 4 photoelectric signals DSC0, DSC1, DSC2, and DSC3 measured during single ranging of the lidar are matched with standard value models in the noise detection units, so as to output crosstalk occurrence signals correspondingly.
The embodiment of the invention also provides a multi-radar crosstalk prevention method based on SLAM technology, as shown in figure 3, the multi-radar crosstalk is detected in real time by adopting the combination of SLAM real-time positioning and crosstalk noise detection, and path planning is adjusted in real time according to the preferred level of the multi-laser radar task, so that the multi-radar crosstalk is avoided. The technical scheme combining crosstalk noise detection, SLAM real-time positioning and path planning is based on background control, so that the problem of multi-laser radar crosstalk is rapidly solved from the path planning level, and the method is more efficient, accurate and rapid.
As a preferred solution, the multi-radar crosstalk prevention method based on SLAM technology includes the steps of:
step 1, detecting crosstalk in real time by a noise detection unit when a mobile device provided with a laser radar executes a task; the noise detection unit comprises a crosstalk digital-analog and a comparison module which are correspondingly arranged according to specific parameters of the radar, and when DCS0-DCS3 data acquired by the laser radar are abnormal, whether the difference (which can be distinguished from other types of noise points) generated by the amp\rawdist equivalence is larger than a crosstalk digital-analog set threshold value is analyzed through the comparison module. Wherein apm represents the intensity value of the probe light reflected back by the obstacle and received by the lidar; rawdist represents an original range value directly calculated by the laser radar from DCS0-DCS3 data.
Step 2, when the noise detection unit detects that crosstalk occurs, that is to say, the comparison module analyzes that the difference (which can be distinguished from other types of noise points) of the amp\rawdist equivalent occurrence is greater than the crosstalk digital-analog set threshold, the noise detection unit sends a signal to the path planning unit, and the chassis information module of the path planning unit provides chassis control information of mobile equipment where the crosstalk laser radar is located for the path calculation module;
and step 3, the path calculation module re-plans the path according to the chassis control information and the local positioning information of the SLAM real-time positioning unit. The path planning unit can perform path planning according to the priority level of each mobile device, the time required by exiting the crosstalk area to operate according to the new path planning, the time required by closing the stop waiting of the crosstalk laser radar and planning to operate along the original path, the time required by re-planning the path and other factors, so as to achieve the aim of minimum cost.
Preferably, in order to give consideration to task processing efficiency and quick and reliable operation, according to the order of the task levels of all the mobile devices in the crosstalk area, the mobile device with the highest instruction priority waits in situ and the laser radar keeps in a starting state until the crosstalk signal disappears, and then the mobile device runs to a target point according to an original planning path; or under the condition that the original set path of the laser radar with the highest priority is not obstructed, decelerating or keeping the original speed to exit the crosstalk area according to the original set path, and running to the target point. Specifically, the step 3 includes the following steps:
step 3.1, firstly judging whether the mobile equipment with the crosstalk laser radar has a carrying task, checking the task level if the mobile equipment has the carrying task, and running to a target point according to an original planning path after the mobile equipment with the highest instruction priority waits in situ until the crosstalk signal disappears; or when the original set path of the laser radar with the highest priority is not obstructed, the laser radar exits the crosstalk area according to the original set path. The path computation module re-plans the path when the original planned path is not executable.
Step 3.2, when the mobile device with the crosstalk laser radar has no carrying task or the carrying task level is lower than that of other mobile devices with the crosstalk laser radar, the path calculation module sequentially calculates the operation time length T of the re-planning path according to the priority level of the crosstalk laser radar n And a mobile device moves out of the crosstalk zone for a period t n 。
Based on the operation time T of the re-planning path by the path calculation module N And a mobile device moves out of the crosstalk zone for a period t n When the running time T of the path is re-planned N Greater than or equal to the length t of time when the mobile device moves out of the crosstalk zone n When the cross-talk area is the highest priority mobile equipment, the laser radar is turned off until the cross-talk area is the highest priority mobile equipment, and the laser radar is turned on until the cross-talk signal disappears and then runs to the target point according to the original planned path; the length of time the re-planned path is the time required for the crosstalk lidar to travel to the destination according to the new planned path. When the path is re-planned, the length T is required n Less than the mobile device movement out of the crosstalk zone duration t n When the path calculation module re-plans the path.
Taking the example of crosstalk generated by 3 laser radars in total in the crosstalk area, the three laser radars are respectively named as D according to the priority level 1 、D 2 And D 3 Ordering D by task priority 1 ＜D 2 ＜D 3 The mobile device D with the highest priority 3 Waiting in situ and keeping the laser radar in a starting state; up to the moving device D 1 Mobile device D 2 After the crosstalk signal generated by the crosstalk laser radar disappears, the crosstalk signal runs to the target point according to the original planned path.
Comparing mobile device D by path computation module 2 The operation time length T required for re-planning the path 2 And a mobile device moves out of the crosstalk zone for a period t 2 The operation time length T required for re-planning the path 2 Greater than or equal to the length t of time when the mobile device moves out of the crosstalk zone 2 Closing mobile device D 2 A laser radar thereon; and after the cross-talk area becomes the mobile equipment with the highest priority, the laser radar is turned on until the cross-talk signal disappears, and the laser radar is operated to the target point according to the original planned path.
Comparing mobile device D by path computation module 1 The operation time length T required for re-planning the path 1 And a mobile device moves out of the crosstalk zone for a period t 1 The length T required for re-planning the path 1 Less than the mobile device movement out of the crosstalk zone duration t 1 When the path calculation module re-plans the path, the mobile device D 1 And running according to the re-planned path until reaching the target point.
Example 2
Unlike embodiment 1, the path planning unit performs local or global path planning on the lidar where crosstalk is to occur according to the task weight of each lidar according to the real-time information feedback of the crosstalk noise detection unit and the SLAM real-time positioning unit. The path calculation module further comprises a crosstalk pre-judging sub-module, the crosstalk pre-judging sub-module carries out local or global crosstalk and/or collision pre-judgment according to the real-time positioning, the transmitting angle and the receiving angle information of each laser radar in the set path, and the path calculation module adjusts path planning according to the crosstalk and/or collision pre-judgment of the crosstalk pre-judging sub-module so as to avoid laser radar crosstalk.
When the path calculation module re-plans the path according to the priority level, the path calculation module performs local or global crosstalk and/or collision pre-judgment adjustment path planning according to the real-time positioning, transmitting angle and receiving angle information of each laser radar in the set path so as to avoid laser radar crosstalk.
By setting the crosstalk pre-judging submodule, the probability of laser radar correlation or multiple laser radar crosstalk is reduced in global path planning and local path planning.
In summary, through the arrangement of the crosstalk noise detection unit, the SLAM real-time positioning unit and the path planning unit, the crosstalk phenomenon in the multi-radar operation environment process is effectively and rapidly solved, the solution of combining the SLAM real-time positioning mode and the path planning mode starts from the application scene and the carrying task of the mobile device matched with the laser radar, the possibility of multi-laser radar crosstalk is avoided from the planning of the circuit on the basis of maintaining the test frequency, the accuracy and the utilization rate of the mobile device, and the high efficiency, the accuracy and the rapidness of the multi-radar operation mechanism are improved on the basis of not introducing additional operation programs and auxiliary equipment.
The technical principle of the present invention is described above in connection with the specific embodiments. The description is made for the purpose of illustrating the general principles of the invention and should not be taken in any way as limiting the scope of the invention. Other embodiments of the invention will be apparent to those skilled in the art from consideration of this specification without undue burden.
Claims (8)
1. The multi-radar crosstalk prevention system based on the SLAM technology is characterized by comprising a crosstalk noise detection unit, a SLAM real-time positioning unit and a path planning unit, wherein the noise detection unit is used for detecting whether crosstalk occurs by matching a real-time receiving signal of a laser radar with a set threshold value; the SLAM real-time positioning unit performs real-time positioning corresponding to each laser radar on the basis of an existing global map; the path planning unit performs local or global path planning on the laser radars which are likely to or have generated crosstalk according to the task weight of each laser radar according to real-time information feedback of the crosstalk noise detection unit and the SLAM real-time positioning unit; the path planning unit comprises a chassis control module and a path calculation module, wherein the chassis control module provides task grade, task round-trip path information and crosstalk occurrence area of mobile equipment corresponding to the laser radar, which are updated in real time, and when the crosstalk noise detection unit detects crosstalk, the path calculation module performs local path re-planning according to the task priority and the real-time information of the mobile equipment corresponding to the crosstalk laser radar, which is provided by the chassis control module.
2. The SLAM-technology-based multi-radar cross-talk prevention system of claim 1, wherein the path computation module further comprises a cross-talk pre-judgment sub-module that performs local or global cross-talk and/or collision pre-judgment according to real-time positioning, emission angle and reception angle information of each lidar in a set path, and the path computation module adjusts path planning according to cross-talk and/or collision pre-judgment of the cross-talk pre-judgment sub-module to avoid lidar cross-talk.
3. The multi-radar cross-talk prevention system based on SLAM technology of claim 2, wherein the detection frequency of the noise detection unit is the same as the laser radar measurement frequency, and the noise detection unit detects between two adjacent noise detections, and the noise detection unit sends a signal to the path planning unit when detecting the cross-talk.
4. The multi-radar cross-talk prevention system based on SLAM technology according to claim 3, wherein the lidar is a TOF area array lidar, and the four phase-setting photoelectric signals, DSC0, DSC1, DSC2, and DSC3, measured in a period in which the lidar completes one measurement are matched with standard value models in the noise detection unit, so as to output a cross-talk occurrence signal correspondingly.
5. The multi-radar crosstalk prevention method based on the SLAM technology is characterized in that multi-radar crosstalk is detected in real time by combining laser radar SLAM real-time positioning and crosstalk noise detection, and path planning is adjusted in real time according to the priority of multi-laser radar tasks, so that the multi-radar crosstalk is avoided; the method also comprises the following steps:
step 1, detecting crosstalk in real time by a noise detection unit when a mobile device provided with a laser radar executes a task;
step 2, when the noise detection unit detects that crosstalk occurs, a signal is sent to the path planning unit, and a chassis control module of the path planning unit provides chassis control information of mobile equipment where the crosstalk laser radar is located for the path calculation module; the chassis control information comprises task grade, task round-trip path information and crosstalk occurrence area of the mobile equipment corresponding to the crosstalk laser radar;
and step 3, the path calculation module re-plans the path according to the chassis control information and the local positioning information of the SLAM real-time positioning unit.
6. The SLAM technology-based multi-radar cross-talk prevention method of claim 5, wherein step 3 comprises the steps of:
step 3.1, firstly judging whether the mobile equipment with the crosstalk laser radar has a carrying task, checking the task level if the mobile equipment has the carrying task, and instructing the mobile equipment with the highest priority to wait in situ until the crosstalk signal disappears, or driving out of a crosstalk area according to the original setting route and running to a target point under the condition that the original setting route of the laser radar with the highest priority is not obstructed; the mobile device with low priority is instructed to turn off or stop the light source emission until the mobile device with highest priority leaves the crosstalk area;
step 3.2, comparing the operation time length T of the re-planning path by the path calculation module when the mobile device with the crosstalk laser radar has no carrying task or the carrying task level is lower than that of other mobile devices with the crosstalk laser radar n And a mobile device moves out of the crosstalk zone for a period t n ；
Step 3.3, when the path is re-planned for the operation time T n Greater than or equal to the length t of time when the mobile device moves out of the crosstalk zone n When closingAfter the laser radar becomes the mobile equipment with the highest priority of the crosstalk area, opening the laser radar which is promoted to be the laser radar with the highest priority of the crosstalk area, executing the step 3.1, and when the original planning path cannot be executed, re-planning the path by the path calculation module;
step 3.4, when the path is re-planned for a length T n Less than the mobile device movement out of the crosstalk zone duration t n When the path calculation module re-plans the path.
7. The SLAM technology-based multi-radar cross-talk prevention method according to claim 6, wherein in step 3.2, the path calculation module sequentially calculates the operation time length T of the re-planning path according to the level of the priority n And a mobile device moves out of the crosstalk zone for a period t n 。
8. The multi-radar crosstalk prevention method based on SLAM technology according to claim 6, wherein in step 3.3, local or global crosstalk and/or collision pre-determination is performed by a crosstalk pre-determination sub-module according to real-time positioning, emission angle and reception angle information of each laser radar in a set path, and the path calculation module adjusts path planning to avoid laser radar crosstalk according to crosstalk and/or collision pre-determination of the crosstalk pre-determination sub-module.
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| CN112241015B (en) * | 2019-07-19 | 2023-03-24 | 北醒（北京）光子科技有限公司 | Method for removing dragging point by single-point laser radar |
| CN110361713B (en) * | 2019-08-13 | 2022-01-18 | 上海禾赛科技有限公司 | Method, device and system for controlling unmanned driving of vehicle |
| CN113589304B (en) * | 2020-09-27 | 2022-08-16 | 北京一径科技有限公司 | Anti-crosstalk processing method and device for laser radar and storage medium |
| CN113379841B (en) * | 2021-06-21 | 2024-04-30 | 上海仙工智能科技有限公司 | Laser SLAM method based on phase correlation method and factor graph and readable storage medium thereof |
| CN114545383B (en) * | 2022-01-25 | 2022-11-25 | 广东德赛矽镨技术有限公司 | High-anti-interference-capability X-band adjustable radar sensing method and system |
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