CN108508430A - Laser radar rotation control method for target detection - Google Patents
Laser radar rotation control method for target detection Download PDFInfo
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- CN108508430A CN108508430A CN201810291619.0A CN201810291619A CN108508430A CN 108508430 A CN108508430 A CN 108508430A CN 201810291619 A CN201810291619 A CN 201810291619A CN 108508430 A CN108508430 A CN 108508430A
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4868—Controlling received signal intensity or exposure of sensor
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- Computer Networks & Wireless Communication (AREA)
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a laser radar rotation control method for target detection, which comprises the following steps: s1, installing a laser radar on an operation platform to form a detection system, and respectively acquiring the variation trend of point cloud distribution acquired by the operation platform at different operation speeds along with the variation of scanning speed of the laser radar according to the installation position information and the detection target position information of the laser radar in advance; s2, when the detection system detects a target, acquiring the running speed of the running platform in real time, acquiring the change trend of corresponding point cloud distribution according to the running speed acquired in real time, and determining the currently required laser radar scanning speed according to the acquired change trend of the point cloud distribution; and S3, controlling the laser radar to rotate according to the scanning speed of the laser radar determined in the step S2 to finish target detection. The method has the advantages of simple implementation method, rich point cloud data obtained by scanning, small working blind area, long effective detection distance and the like.
Description
Technical field
The present invention relates to target detection technique field in unmanned systems more particularly to a kind of laser thunders for target detection
Up to method for controlling rotation.
Background technology
Laser radar is as a kind of novel active distance measuring sensor, and high certainty of measurement, detection range be remote, not by environment
Illumination variation influences, can quick obtaining and image complementation target information, be particularly suitable for realizing barrier in unmanned systems
Detection.Pedestrians and vehicles detection is always that the research fields such as intelligent transportation, pilotless automobile and automotive safety auxiliary driving are concerned about
Hot issue, the pedestrian detection of view-based access control model information is vulnerable to illumination, target carriage change and the influence blocked, and reduces it
Accuracy of detection；In real complicated traffic environment, the precision of target detection is higher, effective detecting distance is remoter, and system obtains
" early warning " arrived is more early, leaves decision in high-speed motion and the control plane time is longer, laser radar is mounted in nobody
Unmanned systems detection of obstacles is realized in system, based on high certainty of measurement, detection range is remote, is not influenced by ambient lighting variation
Laser radar can effectively improve the safe running performance of unmanned systems, reduce traffic accident.
For the target detection of laser radar, it is usually all directed to the point how research utilizes laser radar to obtain at present
The accurate detection of cloud information realization barrier does not have also research to consider acquired point cloud information quality problem, and drives at nobody
In the practical application for sailing automobile, there are work blind area and the remoter surface points that it is obtained of target range laser radar for laser radar
Yun Yue is sparse, and sparse point cloud can further decrease effective detecting distance of system, and low-quality point cloud data also exactly causes
The root that the effective detecting distance of system is restricted.
In order to make up the weak disadvantage of geometry information that single line laser radar obtains target, improves laser radar and obtain point
The cloud quality of data, a kind of method are to realize that uniform speed scanning, wherein 3D laser are swept using 2D laser radars or using 3D laser scannings
One end that 2D laser radars and IMU (Inertial Measurement Unit) are typically connected in spring is retouched, by spring head 2D laser thunders
Vibration is generated up to conducting oneself with dignity with IMU, then 3D point cloud is obtained by the pose that real-time resolving IMU is recorded, but above-mentioned either 2D is swept
Still 3D scan modes are retouched, is directly to set scanning angle, speed to control laser radar scanning, does not consider carrier platform
The speed of service, but the movement velocity of carrier platform can have an impact laser radar oscillatory scanning, thus above-mentioned control swashs
Optical radar scans that obtained cloud quality be not still high, influences effective detecting distance of system；Another method is to utilize RBF
The sparse point cloud data of interpolation algorithm interpolation horizontal direction utilizes resampling methods close to the three-dimensional point cloud after denseization later
Degree is adjusted, although the point cloud data of high quality can be obtained, the effect of such interpolation method is easily thrown by target point cloud
The influence in shadow direction, and the number of scanning lines of coverage goal is also required.
Invention content
The technical problem to be solved in the present invention is that：For technical problem of the existing technology, the present invention provides one
The point cloud data that kind implementation method is simple, scanning obtains enriches, work blind area is small and effective detecting distance is far for target detection
Laser radar method for controlling rotation.
In order to solve the above technical problems, technical solution proposed by the present invention is：
A kind of laser radar method for controlling rotation for target detection, step include：
S1. laser radar is mounted on operation platform and constitutes detecting system, previously according to the installation of the laser radar
Location information and detection target position information, obtain respectively when the operation platform be in the different speeds of service it is collected
Point cloud is distributed the variation tendency with laser radar scanning velocity variations；
S2. when the detecting system carries out target detection, the speed of service of the operation platform is acquired in real time, by adopting in real time
The speed of service collected obtains the variation tendency of corresponding described cloud distribution, and according to the change of the described cloud distribution got
Change trend determines current desired laser radar scanning speed；
S3. the laser radar scanning speed control laser radar determined according to the step S2 is rotated to complete target inspection
It surveys.
As a further improvement on the present invention, the change that described cloud is distributed when the different speeds of service is obtained in the step S1
The specific steps of change trend include：
S11. the installation site information of the point cloud sum with the laser radar of the detection target of structure covering in advance, detection mesh
Relational model between cursor position information, the speed of service of operation platform and laser radar scanning speed；
S12. according to the installation site information of the relational model and presently described laser radar, detection target location letter
Breath calculates separately the speed of service of the operation platform, covering corresponding when the laser radar scanning speed is different value
Detect the point cloud sum of target；
S13. it by the distribution of the point cloud sum of each covering detection target, determines and obtains the change of described cloud distribution
Change trend.
As a further improvement on the present invention, built in the step S11 relational model the specific steps are：
S111. according to the installation site information of the laser radar, scanning angle information and detection target position information,
Establish the geometrical relationship between detection target and laser radar；
S112. by the total number of scanning lines L for the geometrical relationship structure covering detection target establishedNIt is installed with laser radar
Height H, detection object height T, detection the distance between target and operation platform SdBetween relationship, as LN=fi(Sd,H,
T,li), wherein
S113. according to total number of scanning lines L of the coverage goalNCalculate the single frames point cloud sum P of coverage goalnumFor：
Wherein, K is reduction coefficient, NjFor the points in every scan line of coverage goal；
S114. the single frames point cloud sum P of target is detected by the coveringnumStructure obtains the relational model and is：
Wherein,For the point cloud sum of the covering detection target, VcoIt is opposite with detection target for the operation platform
Movement velocity,For the data processing update cycle,The time required to one frame point cloud of laser radar acquisition, NfForIt is obtained in period
The point cloud frame number of the covering detection target obtained,For the rate of pitch of laser radar scanning.
As a further improvement on the present invention, the step S12 the specific steps are：The covering mesh is corresponded to X-axis
Target point cloud frame number Nf, Y-axis correspond to detection the distance between target and the operation platform SdStructure XOY two dimensional surfaces, and with
Z axis corresponds to the operation platform and detects the speed of related movement V of targetco, by the phase of the operation platform and detection target
To movement velocity VcoFetching when determining multiple values corresponding XOY two dimensional surfaces be respectively divided into multiple grids, calculate each grid
In the corresponding covering detection target point cloud sumAfterwards, the point Yun that target is detected according to the covering being calculated is total
NumberSize state be marked in corresponding grid.
As a further improvement on the present invention, it is described be marked the specific steps are：If the covering mesh calculated
Target point cloud sumNot less than the minimal data points threshold value T detected needed for targetnum, then the is added in corresponding grid
Otherwise one label adds the second label；The step S13 is specifically marked by described first, the high density state of the second label determines
Obtain the variation tendency of described cloud distribution.
As a further improvement on the present invention, the tool of current desired laser radar scanning speed is determined in the step S2
Body step is：Determine that slope is in each XOY planeIntercept is safe stopping distance SsafeStraight line as safety arrestment
Condition curve, fetch bit are the region of first label more than the safety arrestment condition curve and in grid as feasible
Corresponding laser radar scanning speed is chosen as current in domain from the feasible zone according to the high density state of first label
Required laser radar scanning speed.
As a further improvement on the present invention, further include being configured with no quickreturn characteristics for laser radar in the step S1
The rocker device step of crank drives institute in the step S3 with specific reference to the laser radar scanning speed that the step S2 is determined
It states crank one direction in rocker device to rotate, be rotated according to determining sweep speed with controlling laser radar.
As a further improvement on the present invention, the specific steps of the rocker device of the configuration with no quickreturn characteristics crank
For：
Configure the crank and rocker mechanism with crank AB, connecting rod BC, rocking bar CD, rack AD；
It determines the length relation between the crank AB, connecting rod BC, rocking bar CD, rack AD and the crank AB and shakes
Angular speed relationship between bar CD, so that the crank and rocker mechanism has no quickreturn characteristics；
The relationship between the pivot angle φ of the rocking bar CD and detection target location is determined, so that the crank and rocker mechanism
The laser beam of covering detection target is most when controlling the laser radar rotation.
As a further improvement on the present invention, the length relation is specially：The length of the crank AB and the rack AD
Spend quadratic sum be equal to the connecting rod BC and the rocking bar CD length square and, i.e.,And it is the crank AB, described
Pivot angle φ between the length of rocking bar CD and the crank AB, the rocking bar CD meets l1=l3sin(φ/2)；
The angular speed relationship is specially：
Wherein,For the angular speed of the rocking bar CD,For the angular speed of the crank AB,Respectively
For the angle of the crank AB, connecting rod BC, rocking bar CD and rack AD positive directions, and Wherein coefficient A, B, C are respectively：
As a further improvement on the present invention, the relationship between the pivot angle φ of the rocking bar CD and detection target location is specific
Meet following formula：
φ=θU+θD；
Wherein θUFor the elevation angle of laser radar, θDFor the angle of depression of laser radar, ωmaxIt is scanned for the maximum perpendicular of laser beam
Angle, and work as
T>When H,
As T≤H, θU=0,T is detection object height, and H is laser radar mounting height, SdFor inspection
Survey the distance between target and operation platform.
Compared with the prior art, the advantages of the present invention are as follows：
1) present invention by the way that laser radar to be mounted in operation platform, adopt by the periodical pitching scanning based on laser radar
Collect target point cloud information, while considering influence of the speed of service to laser radar scanning of operation platform, based on operation platform
The speed of service controls laser radar rotation so that is adapted to the different operating condition of operation platform and realizes accurate point cloud data
Acquisition can collect more abundant point cloud data, solve point cloud Sparse Problems, while reducing work blind area, improve system
More accurate target detection may be implemented by abundant point cloud data in effective detecting distance.
2) present invention is by building the installation site information for putting cloud sum and laser radar for covering detection target, detection mesh
Relational model between cursor position information, the speed of service of operation platform and laser radar scanning speed can combine laser
Covering detection target is accurately calculated in the operating status of radar installation condition, detection target location state and operation platform
Point cloud sum, can obtain accurately putting cloud distribution.
3) it is flat with operation that the present invention further corresponds to the point cloud frame number of coverage goal with X-axis, Y-axis corresponds to detection target
The distance between platform builds XOY plane, and corresponds to operation platform with Z axis and detect the speed of related movement of target, will run
Corresponding XOY plane is respectively divided into multiple grids when platform determine multiple values with the speed of related movement fetching of detection target, meter
It calculates in each grid and is marked in corresponding grid after the point cloud sum of corresponding covering detection target, by each grid
Tokens statistics result obtains, with laser radar scanning velocity variations time point cloud variation tendency, can fast, easily determining and obtaining
Best laser radar scanning speed.
4) present invention further by using the control laser radar rotation of no quickreturn characteristics crank and rocker mechanism, realize by control
Simple and control accuracy is high, by determining system update frequency, elevation mount angular speed and pitching pole within the scope of safe distance
Extreme position, the quality of distant object point cloud data acquisition can be further increased under conditions of ensuring safety traffic, protected
The laser that coverage goal surface obtains is demonstrate,proved to count at most and be distributed most uniformly, it can be achieved that fast, accurately distant object detects.
5) present invention further utilizes the motion model of no quickreturn characteristics crank and rocker mechanism and bar elongate member to obtain laser
Relationship between radar rate of pitch and DC motor speed controls laser radar pitch angle by the speed of service of operation platform
Speed can realize that rocker device realizes accurately controlling for laser radar based on no quickreturn characteristics, can improve increase point cloud number
According to acquisition quality so that lifting system effective detecting distance.
Description of the drawings
Fig. 1 is implementation process schematic diagram of the present embodiment for the laser radar method for controlling rotation of target detection.
Fig. 2 is the laser radar range model schematic of the present embodiment structure.
Fig. 3 is the point cloud distribution results schematic diagram of the pedestrian measured in the different distance obtained in the present embodiment.
Fig. 4 is the statistics of the pedestrian's point cloud number obtained in the present embodiment and consecutive number strong point spacing with distance change relationship
Result schematic diagram.
Fig. 5 is the geometrical relationship principle schematic of the detection target and laser radar that are built in the present embodiment.
Fig. 6 is the principle schematic realized speed of related movement, system update period in the present embodiment and determined.
Fig. 7 is the geometrical model schematic diagram of the pitching mechanical device built in the present embodiment.
Fig. 8 is the principle schematic that the pitching limit is determined in the present embodiment.
Fig. 9 is the rotating speed simulation waveform schematic diagram obtained in the specific embodiment of the invention.
Figure 10 is the point cloud comparing result schematic diagram obtained in the specific embodiment of the invention.
Specific implementation mode
Below in conjunction with Figure of description and specific preferred embodiment, the invention will be further described, but not therefore and
It limits the scope of the invention.
As shown in Figure 1, the present embodiment is used for the laser radar method for controlling rotation of target detection, step includes：
S1. laser radar is mounted in operation platform and constitutes detecting system, and previously according to the installation position of laser radar
Confidence ceases and detection target position information, obtains collected cloud minute when operation platform is in the different speeds of service respectively
Cloth with laser radar scanning velocity variations variation tendency；
S2. when detecting system carries out target detection, the speed of service of operation platform is acquired in real time, by real-time collected fortune
Scanning frequency degree obtains the variation tendency of corresponding cloud distribution, and current desired laser thunder is determined according to a variation tendency for cloud distribution
Up to sweep speed；
S3. the laser radar scanning speed control laser radar determined according to step S2 is rotated to complete target detection.
The present embodiment by the way that laser radar to be mounted in operation platform, adopt by the periodical pitching scanning based on laser radar
Collect target point cloud information, while considering influence of the speed of service to laser radar scanning of operation platform, it is flat to obtain operation in advance
Platform is in variation tendency of the different speed of service time point clouds distribution with laser radar scanning velocity variations, when target detection again by
The real time execution speed of operation platform determines required laser radar scanning speed, can be based on the speed of service control of operation platform
Laser radar rotation processed so that be adapted to the different operating condition of operation platform and realize accurate point cloud data acquisition, compare
In traditional directly setting laser radar scanning angle, speed, more abundant point cloud data can be collected, it is dilute to solve point cloud
The problem of dredging, while reducing work blind area, the effective detecting distance of system is improved, it is more accurate to may be implemented by abundant point cloud data
Target detection, be particularly suitable for realizing the detection of obstacles in complex environment under various motion states in unmanned systems.
In the present embodiment, the specific steps packet of the variation tendency of different speed of service time point cloud distributions is obtained in step S1
It includes：
S11. the installation site information of the point cloud sum and laser radar of the detection target of structure covering in advance, detection target position
Relational model between confidence breath, the speed of service of operation platform and laser radar scanning speed；
S12. according to the installation site information of relational model and present laser radar, detection target position information, respectively
The point Yun of the speed of service, the laser radar scanning speed of calculating operation platform covering detection target corresponding when being different value is total
Number；
S13. the distribution that the point cloud sum of target is detected by each covering, determines and obtains a variation tendency for cloud distribution.
The present embodiment is by building the installation site information for putting cloud sum and laser radar for covering detection target, detection mesh
Relational model between cursor position information, the speed of service of operation platform and laser radar scanning speed can combine laser
Covering detection target is accurately calculated in the operating status of radar installation condition, detection target location state and operation platform
Point cloud sum, to obtain accurately putting cloud distribution, to further increase the control accuracy of laser radar.
The present embodiment specifically first establishes laser radar scanning mathematical model, and object table is detected according to laser radar model foundation
Millet cake cloud is distributed the relationship between detection target shape and its residing orientation, to determine shadow of the point cloud distribution to target acquisition
It rings, detailed step is：
1. laser radar mathematical modeling and distant object point cloud data characteristic analysis
The specifically used VLP-16 laser radars of the present embodiment, the VLP-16 laser radar ranges model of foundation as shown in Fig. 2,
Wherein figure (a) is laser radar model, and O-XYZ is laser radar coordinate system, and figure (b) is vertical view, and wherein α is horizontal sweep
Angle, figure (c) be side view, wherein ω be vertical scan angle, YOZ planes share the angles such as 16 beams distribution and about Y-axis it is symmetrical
Laser pulse, per Shu Jiguang vertical scan angle ω be fixed value, ρ be distance of the data point away from laser radar center, utilize
A bit (ρ, ω, α) under polar coordinate system is transformed under cartesian coordinate system (X, Y, Z) by formula (1).
When being worked due to three-dimensional laser radar, laser beam is emitted outward in a manner of fan-shaped, and target range laser radar is got over
Far, the distance between adjacent laser beams are bigger, and target point cloud is more sparse.The present embodiment is specific to 1020 actual measurement pedestrian's samples
This is for statistical analysis, and statistical result is as shown in Figure 3,4, and wherein Fig. 3 is the point cloud distribution of the pedestrian measured in different distance, figure
4 be obtained pedestrian's point cloud distribution, and with its variation relation laser radar between distance, (laser radar working frequency is
600rpm), wherein Fig. 4 (a) be 1020 scanning pedestrian point cloud numbers and its away from the statistics between laser radar centre distance
Relationship, distances of the Fig. 4 (b) between consecutive number strong point represent phase with the statistical relationship of itself and laser radar distance change, wherein HAG
Horizontal equispaced between adjacent laser beam, SAG represent the equispaced between adjacent scanning lines.By Fig. 3,4 it is found that target range
The points of the remoter coverage goal of laser radar are less and distribution is more sparse, interval between horizontal direction consecutive number strong point and vertical
Interval on direction between adjacent scanning lines is bigger, i.e. target range laser radar is remoter, the surface sweeping line number L of coverage goalNWith
Data points PnumIt is fewer, the interval X of adjacent laser beams both horizontally and verticallyg,YgTarget surface bigger, that laser radar obtains
Point cloud is more sparse.
2. the model construction of the point cloud sum of covering detection target
The present embodiment specifically sets three preconditions：
(1) radar horizon is installed, and target is all touched with ground, and perpendicular to ground；
(2) target can be surrounded by the minimum cube of a length of L, width W, a height of T, consider that the variation of targeted attitude is vertical
Cube is grown and width is two interchangeable concepts；
(3) when laser radar works, the time interval of adjacent laser interfascicular transmitting is 2.304us, is much smaller than laser thunder
The minimum scan period reached is negligible, assumes that 16 laser beams emit simultaneously when reality calculates.
As shown in figure 5, the present embodiment first builds the geometrical relationship of detection target and laser radar, wherein ∏αFor Vertical Square
To the plane of scanning motion, ω1,ω2For adjacent two laser and YαAngle between axis sets up an office P's in radar fix system OXYZ
Coordinate is (X, Y, Z), and P ' is projections of the point P in XOY plane, then the distance of target range laser radarFig. 5 (b) is ∏αPlanar development schematic diagram, wherein ωmaxFor maximum vertical scan angle, H is laser thunder
Up to mounting height (height of the laser radar away from ground), liThe straight line that (i=1,2) represents the places PP ' in Fig. 5 (b), according to laser
Magnitude relationship between radar mounting height H and object height T can be by liIt is divided into the following two kinds situation：
When detecting object height T more than or equal to laser radar mounting height H, i.e. T >=H, the scanning of coverage goal can be obtained
Line number LNFor：
When detection object height T is less than laser radar mounting height H, i.e. T<When H, the scan line number L of coverage goalN
For：
Wherein floor (), atan () are respectively to negative infinite bracket function and arctan function, ω△=2 ° are vertical
Angle from histogram to adjacent laser beams,
From the foregoing, it will be observed that total number of scanning lines L of coverage goalNBe by laser radar mounting height H, detection object height T and
Relationship l between the twoi(i=1,2) and detection the distance between target range laser radar SdIt determines, then by above-mentioned formula (2)
~(4) can integrate the form of being written as：
LN=fi(Sd,H,T,li) (5)
Wherein, li(i=1,2) f is corresponded toiThe expression of ().
Since the angle of adjacent two laser in laser radar horizontal direction is determined by the rotating speed of its internal rotating motor, if
The rotating speed of internal rotating motor is n, unit r/s, first group of laser beam whole battery has fired to second group of laser beam whole hair
It is △ t to shoot away the complete time cycle, then the angle α in horizontal direction between adjacent two laser△=360n △ t.Such as Fig. 5 (a) institutes
Show, the minimum level scan angle of the laser beam of coverage goal is α in horizontal directionmin, maximum horizontal scan angle is αmax, the two it
Between interval △α=αmax-αmin, cover the points in every scan line of detection targetThen cover
Detect total points P of targetnumFor：
Wherein, K is reduction coefficient, and value can be the percentage that target area accounts for the minimum rectangle area for surrounding target,
Consider variation of the target relative to laser radar posture, specific value can be K=1.5~2.0.
By the geometrical model of laser radar it is found that horizontal interval X between adjacent two lasergWith perpendicular separation YgRespectively
For：
Wherein Dn,t,Dn,t+△tIndicate that nth bar laser beam is in t in horizontal direction respectively, t+ △ t moment range-to-gos,
Dn,t,Dn+1,tIt is illustrated respectively in t moment, vertically adjacent two laser beams n, n+1 range-to-go.
Assuming that unmanned vehicle is in t=t1Moment its front SdisThere are one mobile targets at rice, in a period of time after thisNfThe point cloud frame number that the data points that respectively coverage goal is total in the period are obtained with it, covering detection target single frames
Point cloud sum PnumAs shown in above formula (6), then total points of detection target are covered in the periodFor：
Wherein, Pnum,kIndicate the points of collected kth frame point cloud, VcoIt is transported for operation platform is opposite with detection target
Dynamic speed,For the data processing update cycle,The time required to one frame point cloud of laser radar acquisition, NfForIt is obtained in period
Covering detection target point cloud frame number.When minimum cube, laser radar mounting height H and its work for determining encirclement target
After frame per second, l can determine according to formula (3)~(5)iValue and fi() expression.
By the operation principle of laser radar it is found that laser radar internal motor, which rotates a circle, can obtain a frame point cloud data,
That is the frame per second of laser radar acquisition is equal to rotating speed n, the unit r/s of its internal rotating motor, then laser radar acquires a frame point
Time used in cloudSecond, system data handles the update cycleIn order to ensure that the data point of coverage goal is divided as far as possible
Cloth is uniformly, it is specified that a system update periodLaser radar completes a pitching movement in time, i.e., It is sharp
The rate of pitch of optical radar scanning.
By installation site information, the detection target of the above-mentioned point cloud sum that can be obtained covering detection target and laser radar
Relational model between location information, the speed of service of operation platform and laser radar scanning speed, to obtain target surface
The distribution of point cloud and the relationship between target shape and its residing orientation.That is in step S11 build relational model the specific steps are：
S111. it according to the installation site information of laser radar, scanning angle information and detection target position information, establishes
Detect the geometrical relationship between target and laser radar；
S112. by the total number of scanning lines L for the geometrical relationship structure covering detection target establishedNWith laser radar mounting height
H, detection object height T, detection the distance between target and operation platform SdBetween relationship, as LN=fi(Sd,H,T,li),
Wherein
S113. according to total number of scanning lines L of coverage goalNCalculate the single frames point cloud sum P of coverage goalnum, specific as above
Shown in formula (6)；
S114. by the single frames point cloud sum P of covering detection targetnumStructure obtains relational model and is：
In the present embodiment, step S12 the specific steps are：The point cloud frame number N of coverage goal is corresponded to X-axisf, Y-axis pair
It should be detection the distance between target and operation platform SdXOY plane is built, and operation platform and detection target are corresponded to Z axis
Speed of related movement Vco, by the speed of related movement V of operation platform and detection targetcoFetching determines corresponding XOY when multiple values
Plane is respectively divided into multiple grids, calculates the point cloud sum of corresponding covering detection target in each gridAfterwards, according to
The point cloud sum for the covering detection target being calculatedSize state be marked in corresponding grid.Pass through above-mentioned side
Formula, by each speed of related movement V of correspondencecoXOY plane in each grid tokens statistics as a result, can be obtained with laser radar
Scan speed change time point cloud variation tendency, so as to fast, easily determine required laser radar scanning speed to solve
Point cloud Sparse Problems.
In the present embodiment, be marked the specific steps are：If the point cloud sum of the coverage goal calculatedIt is not less than
Detect the minimal data points threshold value T needed for targetnum, then the first label of addition in corresponding grid, otherwise adds the second mark
Note is not less than minimal data points threshold value T with the first label, the second label to mark whether to meetnumThe point cloud sum of conditionA closeness for cloud distribution can be further determined that by the statistical result of the first label, the second label simultaneously；Step S13 is specific
State by the first label, the second label is that can determine to obtain a variation tendency for cloud distribution.
The speed of related movement V obtained in the specific embodiment of the inventioncoThe update cycle is handled with system dataBetween close
System is as shown in fig. 6, wherein X, Y, Z axis indicate the point cloud frame number N of accumulation respectivelyf, detection the distance between target and operation platform
SdisAnd speed of related movement Vco, VcoValue determine image the number of plies, remember in each grid in every layer of XOY plane
It is (N to record systematic parameterf,Sdis,Vco) when covering detection target point cloud sumIfMore than or equal to detecting target institute
The minimal data points threshold value T needednumThen grid is got over multilist and is shown using the first label and the first marker numberValue is bigger, ifUse the second label.
In the present embodiment, in step S2 determine current desired laser radar scanning speed the specific steps are：Each
Determine that slope is in XOY planeIntercept is safe stopping distance SsafeStraight line as safety arrestment condition curve, fetch bit
The region marked for first more than safety arrestment condition curve and in grid is as feasible zone, according to the first mark from feasible zone
The high density state of note chooses corresponding laser radar scanning speed as current desired laser radar scanning speed.
The present embodiment operation platform is specially automatic driving vehicle, to ensure automatic driving vehicle in safe on-road row
It sails, concrete configuration makes the detection range S of detecting system itselffindMore than the brake safe distance S of vehiclesafe, it is assumed that accurate inspection
The minimal data points measured needed for target are Tnum, while considering emergency braking situation so that meet system when vehicle safe driving
Detection range of uniting is more than or equal to the sum of the distance of running car and safe stopping distance in system data renewal process, i.e.,：
As shown in fig. 6, every layer of XOY plane uniquely corresponds to straight line, as safety arrestment condition curve, the straight line it is oblique
Rate isIntercept is safe stopping distance Ssafe, it is to meet safety arrestment condition in safety arrestment condition curve area above
Region, ensure the safety traffic of vehicle in the region.The present embodiment specifically takes safety arrestment condition curve and minimal data
Tnum count as constraints, when the point cloud for meeting safety arrestment condition while cover detection target is totalNot less than minimum
Data count Tnum as feasible zone, then finally determine best V in the state of feasible zone point cloud distributioncoAnd Nf, you can really
Surely required laser radar scanning speed is obtained, while capable of ensureing safety traffic, it is ensured that the quality of collected cloud, more
It mends three-dimensional laser radar and obtains the weak defect of distant object morphology information, realize the standard of barrier in safe distance
Really detection.
As shown in fig. 6, when Vco values are bigger, straight slope is bigger, and the number for meeting the first label of constraints is reduced
But quantity increases, and the value in figure cathetus upper left corner green panels region is to meet the feasible zone of constraint equation, then can basis
Practical application request selects best V in this regioncoAnd Nf, at this time system data handle the update cycle
Further include configuring the rocker device with no quickreturn characteristics crank for laser radar in the present embodiment, in step S1,
It is rotated by pitching mechanical device control laser radar, the laser radar scanning speed determined with specific reference to step S2 in step S3
Crank one direction rotates in drive rocker mechanism, is rotated according to determining laser radar scanning speed with controlling laser radar.This
Embodiment controls laser radar rotation by using no quickreturn characteristics crank and rocker mechanism as pitching mechanical device, and control is real
Now simple and control accuracy is high, can further increase distant object point cloud data under conditions of ensuring safety traffic and adopt
The quality of collection is, it can be achieved that fast, accurately distant object detects.
In the present embodiment, in step S1 rocker device configure the specific steps are：
Configure the crank and rocker mechanism with crank AB, connecting rod BC, rocking bar CD, rack AD；
It determines between length relation and crank AB and the rocking bar CD between crank AB, connecting rod BC, rocking bar CD, rack AD
Angular speed relationship so that crank and rocker mechanism has no quickreturn characteristics；
The relationship between oscillating angle φ and object height and its position is determined, so that crank and rocker mechanism controls laser
The laser beam of coverage goal is most when radar rotates.
To realize that the accurate detection of barrier in safe distance, the present embodiment are such as schemed without quickreturn characteristics crank and rocker mechanism
Shown in 7, wherein figure (a) is crank and rocker mechanism, figure (b) is coordinate transfer principle；Crank AB, connecting rod BC, rocking bar CD, rack
AD, length are respectively l1, l2, l3, l4, when being equal to zero as driving link and crank angle between two limit positions using crank AB, crank and rocker mechanism is without urgency
Return characteristic, the backhaul of rocking bar and return interval are equal, i.e., the speed that rocking bar moves back and forth is equal.As shown in Fig. 7 (a), laser thunder
It is rotated up to axis pin D can be surrounded, | | OD | |=l0Its value is equal to laser emitter centre-to-centre spacing laser radar floor height and axis pin half
When the sum of diameter, DC ', DC " they are that crank AB is in B ', B " and connecting rod BC conllinear twice, two extreme positions residing for rocking bar DC.
In the present embodiment, length relation is specially：The length square of crank AB and rack AD and it is equal to connecting rod BC and rocking bar
The length square of CD and, i.e.,And the pivot angle φ between crank AB, the length of rocking bar CD and crank AB, rocking bar CD
Meet l1=l3sin(φ/2)；
Angular speed relationship is specially：
Wherein,It is crank angular velocity for rocking bar angular speed,
Coefficient A, B, C are respectively：Respectively crank, connecting rod, rocking bar with
The angle of rack positive direction.
Pass through above-mentioned configuration so that crank and rocker mechanism meets without quickreturn characteristics.
As shown in Fig. 7 (b), laser radar does periodical pitching fortune in YOZ planes under the driving of crank and rocker mechanism
Dynamic, the data point P that laser radar measures is represented by P (ρ, ω, α, θ), whereinAssuming that t=0 moment rocking bar institute
Locate shown in such as Fig. 7 (a) of position, laser radar coordinate system is world coordinate system at this time, what any time during pitching obtained
Data point can calculate its (X under world coordinate system using formula (11)W,YW,ZW) coordinate：
Wherein, S (), C () indicate sin (), cos () respectively.
Laser beam in order to ensure coverage goal is most, maximum elevation when the present embodiment is to laser radar pitching movement
θU, angle of depression θDWith detection target relationship be：1) it when crank and rocker mechanism is in pitching extreme position, is swept with maximum perpendicular
Retouch angle ωmaxLaser beam covering be covered each by the highs and lows of target；2) laser radar coordinate origin is apart from axis pin D
Distance l0Very little is negligible.The extreme position of pitching movement and the geometrical relationship of detection target are as shown in figure 8, wherein
PP ' is target, highly | | PP ' | |=T detects the distance of target range laser radar | | O ' P ' | |=Sd, H is laser radar
Mounting height then works as T>When H, in △ OCP, ∠ POC=θU-ωmax, tangent value is：
Wherein, it is 15 ° that ω max, which are the maximum perpendicular scan angle of laser beam its value,.Such as ShiShimonoseki can be similarly obtained in △ OCP '
System：
The pivot angle φ of rocking bar is：
φ=θU+θD (14)
As T≤H, i.e., when the mounting height of radar is more than object height, laser radar elevation angle thetaU=0, the angle of depression according to
Formula (13) calculates, then can obtain oscillating angle φ by formula (12)~(14) and detect the relationship between object height and its position.
Rocking bar length l in the specific embodiment of the invention3=72.87mm detects object height T=2m, laser radar installation
When height takes different value, for distant object, the mounting height of laser radar influences less, with the increase of distance, to shake
The pivot angle variation of bar is smaller and gradually tends towards stability.The present embodiment determines system by the above method within the scope of safe distance
Renewal frequency, elevation mount angular speed and pitching extreme position can ensure that the laser points that coverage goal surface obtains are most
And distribution is most uniform.Oscillating angle specifically can use φ=33 °, can meet the requirement of detection of the unmanned systems to distant object.
The present embodiment specifically uses direct current generator driving crank one direction rotation, and formula is utilized after determining each bar length
(10) it can calculate in crank angular velocityThe angular speed of one rocking barIn order to ensure that the data point of covering detection target to the greatest extent may be used
It can be evenly distributed, a specific system update periodLaser radar completes a pitching movement in time, that is, controls crank rotation
One week, if motor uniform rotationIt can be obtained by formula (10)：
The present embodiment show that laser radar is bowed using the motion model and bar elongate member of no quickreturn characteristics crank and rocker mechanism
Relationship between elevation angle speed and DC motor speed controls laser radar pitch angle speed by the speed of service of operation platform,
It can realize that rocker device realizes accurately controlling for laser radar based on no quickreturn characteristics, can improve and increase adopting for point cloud data
Collect effective detecting distance of quality and then lifting system.
To meet the rotary platform stepless stepless speed control in a certain range, the requirement of dynamic and static function admirable, this implementation
Example specifically uses the PI governing systems of direct current two close cycles, carries out speed governing by adjusting armature voltage, passes through direct current generator two close cycles
PI governing system regulation motor rotating speeds are to realize the control of laser radar rotary platform.Under the conditions of constant excitation megnet, direct current
The mathematical model of machine is：
Wherein, counter electromotive force of motor E=CeN, electromagnetic torque Te=Cmid, TlFor load torque, GD2For motor driving system
Motion parts are converted to the rotary inertia on motor shaft, Ud,id, R, L are respectively armature voltage, armature circuit electric current, all-in resistance and
Inductance, Ce,CmRespectively motor potential constant and torque constant.
To verify the validity of the above-mentioned control method of the present embodiment, the present embodiment is further built directly using Simulink
Galvanic electricity machine double closed loop speed regulation system model and crank and rocker mechanism motion model carry out emulation to the effect of laser radar rotation control and test
Card, wherein introduces DC chopper circuit in direct current generator double closed loop speed regulation system simulation model by governing system, by controlling accounting for for PWM
Sky sets each module parameter than changing armature voltage speed governing, according to practical application, and obtained simulation result is as shown in figure 9, from imitative
For true result it is found that in constant load, motor speed reaches steady-state speed in 0.3s or so, and emulates rotating speed and turn with given
Speed is very close to and overshoot very little disclosure satisfy that practical application；As shown in Figure 10, the crank rocker machine that the present embodiment uses
The length of each component of structure is respectively：Crank l1=20.70mm, connecting rod l2=90.00mm, rocking bar l3=72.87mm, rack l4=
113.94mm, laser radar are horizontally mounted height H=0.95m, internal rotating motor operations rotating speed n=20r/s, pedestrian's height T
=1.65m, crank is with angular speedDo uniform rotation；By calculating it is found that laser radar can complete human body through 1ms
Single pass, radar pitch angle θ during this<1 °, therefore it can be approximately considered body scans line level, Figure 10 (a) indicates row
People and laser radar distance Sd=1.5m, unmanned vehicle speed of related movement VcoWhen=0, whether there is or not the comparison of elevation mount human body point cloud,
Figure 10 (b), (c) indicate V respectivelyco=30km/s, SdWhen=10m, 20m, the human body point cloud comparison after elevation mount, Figure 10 are introduced
(d) (e) (f) indicates V respectivelyco=50km/s, Sd=10m, 20m, 30m, when introduce elevation mount after human body point cloud comparison.
By Figure 10 (a) it is found that pedestrian's point cloud becomes intensive after introducing pitching mechanical device, information content becomes abundant, figure
10 (b)~(f) is the point cloud comparison that elevation mount is introduced under two kinds of movement velocitys, rocking bar angular speedValue and unmanned platform
Speed of related movement positive correlation, i.e. movement velocity are faster, and the system data update cycle is shorter, and laser radar swing angular velocity is got over
Greatly, in a system data update cycleInterior with target, relative distance shortens between the two with motion platform, puts cloud scan line
Spacing shortens, and point cloud quality significantly improves, and has well adapted to the speed of service of platform.I.e. by the control method of this embodiment,
Under unmanned platform different motion state, the sparse cloud on distant object surface is effectively improved, improving ensures nobody
The effective detection range of platform safety operation.
Above-mentioned only presently preferred embodiments of the present invention, is not intended to limit the present invention in any form.Although of the invention
Disclosed above with preferred embodiment, however, it is not intended to limit the invention.Therefore, every without departing from technical solution of the present invention
Content, technical spirit any simple modifications, equivalents, and modifications made to the above embodiment, should all fall according to the present invention
In the range of technical solution of the present invention protection.
Claims (10)
1. a kind of laser radar method for controlling rotation for target detection, which is characterized in that step includes：
S1. laser radar is mounted on operation platform and constitutes detecting system, previously according to the installation site of the laser radar
Information and detection target position information, obtain collected cloud when the operation platform is in the different speeds of service respectively
It is distributed the variation tendency with laser radar scanning velocity variations；
S2. when the detecting system carries out target detection, the speed of service of the operation platform is acquired in real time, by collecting in real time
The speed of service obtain the variation tendency of corresponding described cloud distribution, and become according to the variation of the described cloud distribution got
Gesture determines current desired laser radar scanning speed；
S3. the laser radar scanning speed control laser radar determined according to the step S2 is rotated to complete target detection.
2. the laser radar method for controlling rotation according to claim 1 for target detection, which is characterized in that the step
The specific steps of the variation tendency of described cloud distribution include when obtaining the different speeds of service in rapid S1：
S11. the installation site information of the point cloud sum with the laser radar of the detection target of structure covering in advance, detection target position
Relational model between confidence breath, the speed of service of operation platform and laser radar scanning speed；
S12. according to the installation site information of the relational model and presently described laser radar, detection target position information,
Calculate separately the speed of service of the operation platform, covering detection corresponding when the laser radar scanning speed is different value
The point cloud sum of target；
S13. by the distribution of the point cloud sum of each covering detection target, determine that the variation for obtaining the distribution of described cloud becomes
Gesture.
3. the laser radar method for controlling rotation according to claim 2 for target detection, which is characterized in that the step
Built in rapid S11 the relational model the specific steps are：
S111. it according to the installation site information of the laser radar, scanning angle information and detection target position information, establishes
Detect the geometrical relationship between target and laser radar；
S112. by the total number of scanning lines L for the geometrical relationship structure covering detection target establishedNWith laser radar mounting height
H, detection object height T, detection the distance between target and operation platform SdBetween relationship, as LN=fi(Sd,H,T,li),
Wherein
S113. according to total number of scanning lines L of the coverage goalNCalculate the single frames point cloud sum P of coverage goalnumFor：
Wherein, K is reduction coefficient, NjFor the points in every scan line of coverage goal；
S114. the single frames point cloud sum P of target is detected by the coveringnumStructure obtains the relational model and is：
Wherein,For the point cloud sum of the covering detection target, VcoFor the relative motion of the operation platform and detection target
Speed,For the data processing update cycle,The time required to one frame point cloud of laser radar acquisition, NfForIt is obtained in period
The point cloud frame number of covering detection target,For the rate of pitch of laser radar scanning.
4. the laser radar method for controlling rotation according to claim 3 for target detection, which is characterized in that the step
Rapid S12 the specific steps are：The point cloud frame number N of the coverage goal is corresponded to X-axisf, Y-axis correspond to the detection target with
The distance between operation platform SdXOY two dimensional surfaces are built, and the operation platform is corresponded to Z axis and detects the opposite of target
Movement velocity Vco, by the speed of related movement V of the operation platform and detection targetcoFetching determines corresponding XOY bis- when multiple values
Dimensional plane is respectively divided into multiple grids, calculates the point cloud sum of the corresponding covering detection target in each grid
Afterwards, the point cloud sum of target is detected according to the covering being calculatedSize state in corresponding grid into rower
Note.
5. the laser radar method for controlling rotation according to claim 4 for target detection, which is characterized in that it is described into
Line flag the specific steps are：If the point cloud sum of the coverage goal calculatedNot less than detecting needed for target
Minimal data points threshold value Tnum, then the first label of addition in corresponding grid, otherwise adds the second label；The step S13 tools
Body is marked by described first, the high density state of the second label determines to obtain the variation tendency of described cloud distribution.
6. the laser radar method for controlling rotation according to claim 5 for target detection, which is characterized in that the step
Determined in rapid S2 current desired laser radar scanning speed the specific steps are：Determine that slope is in each XOY planeIntercept is safe stopping distance SsafeStraight line as safety arrestment condition curve, fetch bit is in safety arrestment condition song
Be more than line and in grid it is described first label region as feasible zone, from the feasible zone according to it is described first mark
High density state chooses corresponding laser radar scanning speed as current desired laser radar scanning speed.
7. the laser radar method for controlling rotation for target detection according to any one of claim 1~6, special
Sign is, further includes configuring the rocker device step with no quickreturn characteristics crank for laser radar in the step S1, described
In step S3 crank one direction in the rocker device is driven with specific reference to the laser radar scanning speed that the step S2 is determined
Rotation is rotated with controlling laser radar according to determining sweep speed.
8. the laser radar method for controlling rotation according to claim 7 for target detection, which is characterized in that described to match
Set the rocker device with no quickreturn characteristics crank the specific steps are：
Configure the crank and rocker mechanism with crank AB, connecting rod BC, rocking bar CD, rack AD；
Determine the length relation and the crank AB and rocking bar CD between the crank AB, connecting rod BC, rocking bar CD, rack AD
Between angular speed relationship so that the crank and rocker mechanism has no quickreturn characteristics；
The relationship between the pivot angle φ of the rocking bar CD and detection target location is determined, so that the crank and rocker mechanism controls
The laser beam of covering detection target is most when the laser radar rotation.
9. the laser radar method for controlling rotation according to claim 8 for target detection, which is characterized in that
The length relation is specially：The length square of the crank AB and rack AD and equal to the connecting rod BC with it is described
The length square of rocking bar CD and, i.e.,And length and the crank AB, the institute of the crank AB, the rocking bar CD
The pivot angle φ stated between rocking bar CD meets l1=l3sin(φ/2)；
The angular speed relationship is specially：
Wherein,For the angular speed of the rocking bar CD,For the angular speed of the crank AB,The respectively described crank
The angle of AB, connecting rod BC, rocking bar CD and rack AD positive directions, and Its
Middle coefficient A, B, C are respectively：
10. the laser radar method for controlling rotation for target detection according to claim 8 or claim 9, which is characterized in that institute
The relationship stated between the pivot angle φ of rocking bar CD and detection target location specifically meets following formula：
φ=θU+θD；
Wherein θUFor the elevation angle of laser radar, θDFor the angle of depression of laser radar, ωmaxFor the maximum perpendicular scan angle of laser beam, and
Work as T>When H,
As T≤H, θU=0,T is detection object height, and H is laser radar mounting height, SdTo detect mesh
The distance between mark and operation platform.
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