CN109917411B - Obstacle detection device and method based on laser ranging and triaxial accelerometer - Google Patents
Obstacle detection device and method based on laser ranging and triaxial accelerometer Download PDFInfo
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Abstract
The invention relates to a barrier detection device and method based on laser ranging and a triaxial accelerometer, and belongs to the field of signal detection. The device comprises a laser ranging module, a triaxial accelerometer and a processing and calculating module; a laser ranging module user measures and obtains the distance from a light spot to a system substrate; the three-axis accelerometer is used for acquiring acceleration values in three directions of an x axis, a y axis and a z axis; the processing and calculating module is used for calculating, correcting and comparing data acquired by the laser ranging module and the triaxial accelerometer to obtain the relation between the data and the warning threshold value, and judging whether an obstacle exists in a certain direction. Compared with the traditional detection device, the device has the advantages of simple structure, low cost, low energy consumption and strong real-time property; can independently form a set of complete system, independently operate or integrate to operate on the existing equipment.
Description
Technical Field
The invention belongs to the technical field of signal detection, and relates to a barrier detection device and method based on laser ranging and a triaxial accelerometer.
Background
Nowadays, as smart devices (such as smart phones) are popularized, more and more families of heads are in the appearance, however, playing the smart phones while walking has many potential hazards, such as falling off steps, and at present, many cases of injuries such as the above are existed. Therefore, the research on the pavement obstacle detection technology has better practical value and social value.
At present, the commonly used obstacle detection devices mainly include the following:
(1) Obstacle detection device based on monocular camera visual image: the obstacle is segmented and recognized from the image by utilizing a machine learning technology, and the method is high in cost and needs high processor computing power; the obstacle is recognized by using optical flow or dynamic images, which is costly, has poor real-time performance and requires a large amount of computation.
(2) Obstacle detection device based on many meshes camera visual image: the depth of field information of the image can be obtained by using a binocular or multi-view camera, and then the foreground and the background are distinguished and the barrier is identified. The cost of the method is high. And the performance of the above methods using cameras is limited by the external light conditions.
(3) Obstacle detection device based on laser radar: the method for obtaining the accurate distance and the orientation information of the surrounding objects by the laser ranging and rotating the laser transmitter has the advantages of extremely high cost, high energy consumption and unsuitability for embedded equipment.
(4) Simple and easy single beam laser rangefinder: the distance between the laser transmitter and the barrier is obtained by modulating the phase information on the light wave and calculating the phase difference, so that the cost is low, the calculation complexity is low, and the real-time performance of the device is strong. However, in the dynamic device, it is difficult to determine the direction of the laser beam at a certain time, and the distance measurement information cannot be effectively used for obstacle detection.
Therefore, the device capable of effectively detecting the steps and giving out the alarm during walking has good practical value and social value.
Disclosure of Invention
In view of the above, the present invention is directed to a device and a method for detecting an obstacle based on laser ranging and a three-axis accelerometer, which combine directional laser ranging and a three-axis accelerometer, correct laser ranging information by using a signal of the three-axis accelerometer, and detect an obstacle in a certain direction more effectively by dynamically monitoring the corrected laser ranging information.
In order to achieve the purpose, the invention provides the following technical scheme:
a barrier detection device based on laser ranging and a triaxial accelerometer comprises a laser ranging module, a triaxial accelerometer and a processing and calculating module; the laser ranging module and the three-axis accelerometer are both fixed on the system substrate; the processing and calculating module is flexibly connected to the system substrate;
the laser beam emitted by the laser ranging module is vertical to the system substrate, and the distance from the light spot to the system substrate is calculated by using the phase difference through generating laser and detecting the phase difference of the light spot;
the three-axis accelerometer is used for acquiring and acquiring acceleration values g in three directions of an x axis, a y axis and a z axis x ,g y ,g z Wherein the plane of the x-axis and the plane of the y-axis are parallel to the system substrate;
the processing and calculating module is used for calculating, correcting and comparing data acquired by the laser ranging module and the triaxial accelerometer to obtain the relation between the data and a warning threshold value, and judging whether a certain direction has an obstacle or not.
Furthermore, the device also comprises an alarm module which alarms according to the alarm signal obtained from the processing and calculating module, namely alarms when an obstacle exists.
Furthermore, the alarm signal is transmitted to the user in a sound-light or vibration mode, and the alarm signal generated by the processing and calculating module is output to the alarm module through an I/O pin of the processor, such as sound alarm, flash alarm, screen information prompt alarm, vibration alarm or the combination thereof.
Further, according to the obstacle detection method of the device based on the laser ranging and the triaxial accelerometer, the method comprises the following steps: utilize triaxial accelerometer signal correction laser range finding information, detect the barrier of a certain orientation more effectively through the laser range finding information after dynamic monitoring correction, specifically include the following steps:
s1: selecting the position of the laser ranging module as a measurement base point, and selecting alpha of 0-alpha 0 The point formed by the intersection of the laser beam and the plane to be measured is the measuring reference point when < arccos (h/M), wherein alpha 0 The included angle between the plane of the system substrate and the plane to be measured is defined, h is the vertical distance from the measurement base point to the plane to be measured, and M is the maximum working distance of laser ranging;
s2: the actual distance r from the measurement base point to the measurement reference point is measured by the laser ranging module;
s3: get threeAcceleration values g of three axes of an axis accelerometer, namely x axis, y axis and z axis x ,g y ,g z ；
S4: calculating a correction distance;
s5: the processing and calculating module compares the measuring results of the plurality of measuring periods so as to judge whether the plane to be measured has the obstacle.
Further, in step S4, the specific step of calculating the correction distance is:
s41: calculating the included angle between the system substrate and the plane to be measured according to the acceleration value
Wherein +>
S42: calculating the vertical distance L between the measuring base point and the plane to be measured by utilizing a trigonometric function h = r × cos α, or distance between measurement base and measurement reference point
Further, the step S5 specifically includes: after a measuring base point is selected by the laser ranging module, an included angle alpha between a system substrate and a plane to be measured is kept unchanged, and the distance between the measuring base point B and a measuring reference point R is measured by the laser ranging module at the moment T and is L r0 After an arbitrary time T, i.e. at time T + T, the distance between the measurement base B and the measurement reference R is L r1 If L is r0 And L r1 If the value of the data is changed obviously, the fact that the plane to be measured fluctuates indicates that an obstacle possibly exists, and at the moment, the alarm system gives an alarm.
Further, the flag in which a significant change occurs is defined as rate = (L) r1 -L r0 )/L r0 When rate is larger than or equal to theta through a preset warning threshold theta or a warning threshold theta set by a user, the warning module sends out a warning messageNumber, indicating that there is an obstacle on the road surface; otherwise, no alarm is given, and the road surface is free of obstacles.
The invention has the beneficial effects that: the invention combines directional laser ranging with a triaxial accelerometer, corrects laser ranging information by utilizing triaxial accelerometer signals, and more effectively detects the barrier in a certain direction by dynamically monitoring the corrected laser ranging information. Compared with the traditional device in the application field, the device has the advantages of simple structure, low cost, low energy consumption and strong real-time property.
The invention can be realized by partial hardware of the existing handheld equipment, such as a mobile phone, and can also independently form a set of complete system to operate independently or be integrated on the existing equipment to operate.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
For a better understanding of the objects, aspects and advantages of the present invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic view of the internal structure of the detecting device according to the present invention;
FIG. 2 is a schematic view of the detecting device of the present invention in operation;
FIG. 3 is a flow chart of a detection method of the detection apparatus according to the present invention;
FIG. 4 is a schematic diagram illustrating step detection performed by the handheld device.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.
Wherein the showings are for the purpose of illustration only and not for the purpose of limiting the invention, shown in the drawings are schematic representations and not in the form of actual drawings; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
Referring to fig. 1 to 4, fig. 1 is a diagram of an obstacle detection device based on laser ranging and a triaxial accelerometer according to the present invention, which mainly includes three hardware modules: the device comprises a laser ranging module, a three-axis accelerometer and a processing and calculating module. These three modules need fixed or soft connection on this device base plate, wherein need ensure during soft connection that the relative position of laser rangefinder module and triaxial accelerometer and the gesture in the space are stable. FIG. 2 is a schematic view of the apparatus of the present invention in operation, wherein the laser beam is perpendicular to the system substrate; fig. 3 is a flowchart of the operation of the detecting device according to the present invention.
1) The laser ranging module:
the laser ranging module calculates the distance from the light spot to the system by using the phase difference through generating laser and detecting the phase difference of the light spot. In the present invention, the laser beam is perpendicular to the system substrate, and the intersection point of the line where the laser beam is located and the plane where the system substrate is located is called a measurement base point. The thickness of the substrate and the thickness and volume of the laser module are negligible compared to the measurement distance, and thus, for convenience of description, the position of the laser module may be considered as a measurement base point.
When the module is used for measuring distance, the distance between the measuring base point and the reference point can be measured. When the obstacle is detected, one point on the flat ground can be selected as a reference point, and the existence of the obstacle is judged by monitoring the distance change between the measurement base point and the reference point at different moments. Laser ranging methodWhen the large working distance is M, the selection range of the reference point is as follows: the projection point S of the measurement base point on the plane to be measured is the circle center and the radius
Wherein h is the vertical distance from the measurement base point to the plane to be measured, and h is smaller than M. For example, the included angle between the plane of the system substrate and the flat ground can be selected as alpha 0 The point where the laser beam intersects with the flat ground when the angle is 45 degrees is a measurement reference point; more generally, in a complete measurement process, alpha can be selected from any value of 0 DEG to less than or equal to alpha 0 And (3) when the laser beam is less than arccos (h/M), a point formed by intersecting the plane to be measured is a measurement reference point.
2) A three-axis accelerometer:
because the included angle α between the system substrate and the plane to be measured is not fixed, for example, the included angle between the system substrate and the plane to be measured may change with the change of the motion state in the handheld state. For an ideal laser ranging module, when the included angle alpha approaches 90 degrees from 0 degree, the distance between the r value obtained by actual measurement and the plane to be measured gradually approaches + ∞fromh, and for an actual laser ranging module, the r value gradually approaches the maximum working distance M of the laser ranging module from h. Because the system sends out an alarm and needs to compare the distance measurement results between the measurement base point and the fixed angle reference point, the measurement deviation caused by different included angles needs to be corrected.
The correction process is divided into three steps:
a. acquiring acceleration values g of three axes of an x axis, a y axis and a z axis of a three-axis accelerometer x ,g y ,g z ；
b. Calculating an included angle alpha between the system substrate and the plane to be measured according to the acceleration value;
c. calculating the vertical distance L between the measuring base point on the system substrate and the reference plane by utilizing trigonometric function h Or any other given fixed alpha r Distance L between time measuring base point and measuring reference point r 。
FIG. 2 shows the EB side as the x-axis and the BR side as the z-axis, where the x and y axes define a plane parallel to the plane of the system substrate and the z-axis is positiveThe direction is parallel to the laser beam direction. Then
L h ＝r×cosα，/>
When considering both pitch angle α and roll angle β, it is necessary to pass g x ,g y ,g z Is calculated by first passing g x And g y Calculating a resultant vector along a system substrate plane
Thereafter using the sum of vectors g z Computing
The calculation procedure is the same as before, i.e. L h ＝r×cosα，/>
3) The processing and calculating module:
the module is used for completing the calculation process and sending out an alarm signal. An ARM processor is employed, but the computing module is not limited to an ARM processor. Signals acquired by the laser ranging module and the triaxial accelerometer are sent to the processing and calculating module to complete acquisition and quantification. And completing distance calculation and finishing correction of measurement difference caused by the system posture according to the process.
The module is responsible for monitoring the generation and management of the cycle, i.e. managing when to initialize the other modules, when to start the acquisition process, when to obtain the acquisition results, and when to compare the measurements of a plurality of cycles.
The most important work of the module is to compare the measurement results of a plurality of measurement periods so as to judge whether the plane to be measured has obstacles. After the laser ranging module selects a measurement base point, keeping an included angle alpha between a system substrate and a plane to be measured unchanged, and measuring at the moment T by the module to obtain a measurement base point B and a reference point RIs L from each other r0 After an arbitrary time T, i.e. at time T + T, the distance between the measurement base B and the reference point R is L r1 If L is r0 And L r1 If the values are obviously changed, the situation that the plane to be measured is fluctuated, namely, an obstacle possibly exists is indicated, and the alarm system gives an alarm at the moment. The flag of significant change may be defined as rate = (L) r1 -L r0 )/L r0 And sending out an alarm signal when the rate is larger than or equal to theta through a preset alarm threshold theta or a warning threshold theta set by a user.
The alarm signal can be transmitted to the user in a sound-light or vibration mode, and the alarm signal generated by the module is output to a module for implementing subsequent alarm functions, such as sound alarm, flash alarm, screen information prompt alarm, vibration alarm or the combination of the sound alarm, the flash alarm and the screen information prompt alarm.
As shown in fig. 4, a typical working scenario of the present device: carry out the step during hand-held device and listen, when the personnel that hold the device met the step, because the range finding has taken place the sudden change, alarm module will send the warning and remind to this reminds the walking personnel to notice the step, avoids falling down the accident such as.
Finally, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. A barrier detection device based on laser ranging and a triaxial accelerometer is characterized by comprising a laser ranging module, a triaxial accelerometer and a processing and calculating module; the laser ranging module and the triaxial accelerometer are fixed on a system substrate, and the processing and calculating module is flexibly connected to the system substrate;
the laser beam emitted by the laser ranging module is vertical to the system substrate, and the distance from the light spot to the system substrate is calculated by utilizing the phase difference through generating laser and detecting the phase difference of the light spot;
the three-axis accelerometer is used for acquiring and acquiring acceleration values g in three directions of an x axis, a y axis and a z axis x ,g y ,g z Wherein the plane of the x axis and the plane of the y axis are parallel to the system substrate;
the processing and calculating module is used for calculating, correcting and comparing data acquired by the laser ranging module and the triaxial accelerometer to obtain the relation between the data and a warning threshold value and judge whether an obstacle exists in a certain direction;
the detection method of the device is to utilize the triaxial accelerometer signal to correct the laser ranging information and detect the barrier in a certain direction by dynamically monitoring the corrected laser ranging information, and specifically comprises the following steps:
s1: selecting the position of a laser ranging module as a measurement base point, and selecting a point formed by the intersection of a laser beam and a plane to be measured as a measurement reference point;
s2: the actual distance r from the measurement base point to the measurement reference point is measured by the laser ranging module;
s3: acquiring acceleration values g of three axes of an x axis, a y axis and a z axis of a three-axis accelerometer x ,g y ,g z ；
S4: calculating the correction distance, which comprises the following specific steps:
s41: calculating the included angle between the system substrate and the plane to be measured according to the acceleration value
Wherein->
S42: calculating the vertical distance L between the measuring base point and the plane to be measured by utilizing a trigonometric function h = r × cos α, or any other given fixed angle α r While measuring the distance between the base point and the reference point
S5: the processing and calculating module compares the measuring results of the measuring periods so as to judge whether the plane to be measured has the obstacles or not.
2. The obstacle detection device based on the laser ranging and the triaxial accelerometer as claimed in claim 1, further comprising an alarm module for alarming according to the alarm signal obtained from the processing and calculating module, i.e. alarming when there is an obstacle.
3. The obstacle detection device based on laser ranging and triaxial accelerometer of claim 2, wherein the alarm signal is transmitted to the user through sound and light or vibration, and the alarm signal generated by the processing and calculating module is outputted to the alarm module through the I/O pin of the processor.
4. The obstacle detection device based on laser ranging and three-axis accelerometer according to claim 1, wherein the step S5 specifically comprises: after the laser ranging module selects a measurement base point, keeping an included angle alpha between a system substrate and a plane to be measured unchanged, and measuring by the module at the moment T to obtain a distance L between the measurement base point B and a measurement reference point R r0 After an arbitrary time T, i.e. at time T + T, the distance between the measurement base B and the measurement reference R is L r1 If L is r0 And L r1 If the value of the data is changed obviously, the fact that the plane to be measured fluctuates indicates that an obstacle possibly exists, and at the moment, the alarm system gives an alarm.
5. The laser ranging and triaxial accelerometer-based obstacle detection device according to claim 4, wherein the significantly changed flag is defined as rate = (L) r1 -L r0 )/L r0 When the rate is larger than or equal to theta through a preset warning threshold theta or a warning threshold theta set by a user, an alarm moduleThe block sends out an alarm signal to indicate that the road surface has an obstacle; otherwise, no alarm is given, and the road surface is free of obstacles.
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