CN111090087A - Intelligent navigation machine, laser radar blind area compensation method and storage medium - Google Patents
Intelligent navigation machine, laser radar blind area compensation method and storage medium Download PDFInfo
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- CN111090087A CN111090087A CN202010069909.8A CN202010069909A CN111090087A CN 111090087 A CN111090087 A CN 111090087A CN 202010069909 A CN202010069909 A CN 202010069909A CN 111090087 A CN111090087 A CN 111090087A
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- navigation machine
- image data
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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
- G01S7/497—Means for monitoring or calibrating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
Abstract
The invention discloses an intelligent navigation machine, a laser radar blind area compensation method and a storage medium, wherein the laser radar blind area compensation method comprises the following steps: acquiring first image data in a first scanning range scanned by a laser radar; after the intelligent navigation machine moves according to the first preset planned route, acquiring movement data of the intelligent navigation machine; and in the moving process of the intelligent navigation machine, acquiring second image data in a second scanning range scanned by the laser radar in real time, and combining the moving data of the intelligent navigation machine to perform image fusion on the first image data and the second image data to obtain blind area image data of the initial position of the laser radar and/or blind area image data of the real-time position of the laser radar in the moving process. The invention can realize the blind area compensation of the laser radar, has the effect in the blind area similar to the effect of direct scanning of the laser radar, has good imaging effect and can realize the high-precision blind area compensation.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to an intelligent navigation machine, a laser radar blind area compensation method and a storage medium.
Background
Most of the intelligent navigation machines in the current market adopt a laser radar mode to carry out intelligent obstacle avoidance and map navigation. The laser radar is a radar system for detecting the position, speed and other characteristic quantities of a target by emitting laser beams, and the working principle of the radar system is to emit detection signals (laser beams) to the target, then compare the received signals (target echoes) reflected from the target with the emitted signals, and after proper processing, obtain the relevant information of the target, such as the parameters of the target distance, direction, height, speed, attitude, even shape and the like, thereby detecting, tracking and identifying the targets of airplanes, missiles and the like.
However, due to geographical conditions, electromagnetic wave propagation characteristics, target speed and radar self-body, the radar cannot detect the target within the range of distance and height of certain airspace, so that the radar has an area in which the target cannot be detected within the effective action distance of the radar, and the current radar has a blind area of about 30 cm.
At present, methods such as ultrasonic or infrared distance measurement or visual distance measurement are adopted in the market to compensate the blind area in a short distance. Ultrasonic ranging, infrared ranging and visual ranging all can realize radar blind area compensation to a certain extent, but all have own blind area separately yet, also have the problem that detection density is not enough in addition, if need realize the effect of similar radar range finding scope in the blind area, need load a plurality of range finding sensors moreover, and the cost of consumption is too big, also is not fit for the assembly, and is not actual.
Disclosure of Invention
In view of the above technical problems, an object of the present invention is to provide an intelligent navigation machine, a laser radar blind area compensation method and a storage medium, which solve the problems of insufficient detection density and the need to assemble multiple distance measurement sensors in the prior art for compensating a short-distance blind area by using ultrasonic or infrared distance measurement or visual distance measurement.
The technical scheme adopted by the invention is as follows:
an intelligent navigation machine comprises a laser radar, an industrial personal computer and a motor drive board, wherein the motor drive board is used for driving the intelligent navigation machine to move; the industrial personal computer is connected with the motor drive board, reads the movement data of the intelligent navigation machine driven by the motor drive board and controls the movement of the intelligent navigation machine through the motor drive board; and the laser radar is connected with an industrial personal computer.
Furthermore, the laser radar is connected with an industrial personal computer through a router.
Further, the scanning angle of the laser radar is greater than or equal to 270 degrees.
Furthermore, the number of the laser radars is at least two, and two sides of the intelligent navigation machine are respectively provided with at least one laser radar, so that the scanning angle of the intelligent navigation machine is 360 degrees.
Further, the movement data comprises information of the moving speed and the moving distance of the intelligent navigation machine.
A laser radar blind area compensation method adopts the intelligent navigation machine, and comprises the following steps:
acquiring first image data in a first scanning range scanned by a laser radar; the first scanning range is the scanning range of the initial position of the laser radar;
after the intelligent navigation machine moves according to the first preset planned route, acquiring movement data of the intelligent navigation machine;
acquiring second image data in a second scanning range scanned by the laser radar in real time in the moving process of the intelligent navigation machine; the second scanning range is a scanning range of a real-time position in the laser radar in the moving process;
and combining the mobile data of the intelligent navigation machine, and carrying out image fusion on the first image data and the second image data to obtain blind area image data of the initial position of the laser radar and/or blind area image data of the real-time position of the laser radar in the mobile process.
Further, the method also comprises the following steps: the first image data comprise image data of obstacles in a first scanning range, and a plurality of obstacles in the first scanning range are positioned in blind areas of the laser radar after the intelligent navigation machine moves according to a first preset planned route;
combining the movement data of the intelligent navigation machine, and carrying out image fusion on the first image data and the second image data to obtain blind area image data of the real-time position of the laser radar after the intelligent navigation machine moves;
and adjusting the second preset planned route after the intelligent navigation machine moves according to the blind area image data of the laser radar after the intelligent navigation machine moves.
Further, combining the mobile data of the intelligent navigation machine, performing image fusion on the first image data and the second image data to obtain the blind area image data of the real-time position of the laser radar after the intelligent navigation machine moves, specifically comprising the following steps:
acquiring initial position information of the intelligent navigation machine, wherein the movement data comprises real-time position information of the intelligent navigation machine after movement;
placing the first image data, the second image data and the initial position information of the intelligent navigation machine in the same three-dimensional coordinate system;
performing image movement on the first image data according to the initial position information of the intelligent navigation machine and the real-time position information of the intelligent navigation machine after movement to obtain first moving image data of the first image data in a three-dimensional coordinate system after the intelligent navigation machine moves;
and carrying out image contrast analysis on the second image data and the first moving image data in a three-dimensional coordinate system to obtain blind area image data of the real-time position of the laser radar after the intelligent navigation machine moves.
Further, the method also comprises the following steps:
acquiring moving distance information of the intelligent navigation machine;
the image data of the obstacle in the first scanning range includes an image and shape data of the obstacle in the first scanning range; a plurality of obstacles in the first scanning range are positioned in blind areas of the laser radar after the intelligent navigation machine moves according to a first preset planned route;
translating the image and the shape data of the obstacle in the first scanning range to the blind area range of the laser radar after the intelligent navigation machine moves according to the first preset planned route according to the moving distance information of the intelligent navigation machine to obtain the image and the shape data of the obstacle in the blind area range of the laser radar after the intelligent navigation machine moves;
and adjusting the second preset planned route after the intelligent navigation machine moves according to the image and the shape data of the obstacles in the blind area range.
A computer storage medium having stored thereon a computer program which, when executed by a processor, implements the lidar blind area compensation method.
Compared with the prior art, the invention has the beneficial effects that:
the intelligent navigation machine of the invention can horizontally move and record the detected image data outside the initial position blind area range into the moved real-time position blind area range according to the moving distance fed back by the motor driving board, thereby realizing the detection of the image data in the real-time position blind area after the movement, or obtaining the initial position blind area image data according to the second scanned image of the real-time position after the movement, restoring the initial position blind area image data to the image data outside the non-blind area, namely obtaining the laser radar initial position blind area image data, or the laser radar real-time position blind area image data in the moving process, realizing the laser radar blind area compensation, and the effect in the blind area is similar to the direct scanning effect of the laser radar, the imaging effect is good, and the high-precision blind area compensation can be realized.
Furthermore, the image and shape data of the obstacle in the first scanning range are translated to the blind area range of the laser radar after the intelligent navigation machine moves according to the first preset planning route according to the moving distance information of the intelligent navigation machine, so that the data of the obstacle can be recorded in the blind area of the laser radar after the intelligent navigation machine moves, the boundary and the shape of the obstacle are identified, the obstacle is imaged, and the route can be re-planned when the intelligent navigation machine is restarted after being stopped.
Drawings
FIG. 1 is a schematic flow chart of a laser radar blind area compensation method according to the present invention;
FIG. 2 is a schematic diagram of a planned route planned by an intelligent navigation machine in an embodiment of a laser radar blind area compensation method of the present invention;
FIG. 3 is a schematic diagram of a route that may be planned when an intelligent navigation machine resumes from a stop motion and starts again in an embodiment of a laser radar blind area compensation method of the present invention;
fig. 4 is a schematic diagram of an intelligent navigation machine after adjusting a planned route when stopping movement and restarting in a specific embodiment of the laser radar blind area compensation method of the invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
Example (b):
referring to fig. 1-4, an intelligent navigation machine includes a laser radar, an industrial personal computer, and a motor driving board, where the motor driving board is used to drive the intelligent navigation machine to move; the industrial personal computer is connected with the motor drive board, reads the movement data of the intelligent navigation machine driven by the motor drive board and controls the movement of the intelligent navigation machine through the motor drive board; and the laser radar is connected with an industrial personal computer.
Specifically, the movement data comprises information of the movement speed and the movement distance of the intelligent navigation machine.
In the intelligent navigation machine system, the laser radar can be connected with an industrial personal computer through a router, or can be directly connected with the industrial personal computer in a wired or wireless mode, and the industrial personal computer is used for reading various parameter data, image data in a scanning range and the like of the laser radar.
In order to ensure the navigation effect of the intelligent navigation machine, the scanning angle of the laser radar needs to be about 270 degrees. As a preferred embodiment, the scanning angle of the lidar is greater than or equal to 270 degrees.
The number of the laser radars can be 1 or more. Furthermore, in order to realize the function of 360-degree non-blind area, the scanning angle of the intelligent navigation machine can be 360 degrees, specifically, the number of the laser radars is at least two, and at least one laser radar is respectively arranged on two sides of the intelligent navigation machine (namely the front end and the rear end of the intelligent navigation machine).
The laser radar blind area compensation and auxiliary route planning method based on real-time recording of the invention can adopt the intelligent navigation machine, please refer to fig. 1, and specifically comprises the following steps:
step S1, acquiring first image data in a first scanning range scanned by a laser radar; the first scanning range is the scanning range of the initial position of the laser radar;
the first image data may be point cloud information data of a scanning range which can be scanned by the laser radar at an initial position of the laser radar, or depth image data generated according to the point cloud information data. Specifically, the system may include parameter data such as target distance, azimuth, altitude, speed, attitude, shape, and the like of the obstacle.
Step S2, acquiring the movement data of the intelligent navigation machine after the intelligent navigation machine moves according to the first preset planning route;
the movement data of the intelligent navigation machine can comprise the movement speed, the movement distance information and the like of the intelligent navigation machine. The moving distance information can be obtained from the initial position information and the real-time position information by acquiring the initial position information of the intelligent navigation machine and the real-time position information of the intelligent navigation machine after moving;
step S3, acquiring second image data in a second scanning range scanned by the laser radar in real time in the moving process of the intelligent navigation machine; the second scanning range is a scanning range of a real-time position in the laser radar in the moving process;
in the moving process of the intelligent navigation machine, second image data in the scanning range of the real-time position of the laser radar in the moving process can be acquired in real time, and the second image data does not contain blind area image data of the real-time position.
And step S4, combining the mobile data of the intelligent navigation machine, and carrying out image fusion on the first image data and the second image data to obtain the blind area image data of the initial position of the laser radar and/or the blind area image data of the real-time position of the laser radar in the mobile process.
The intelligent navigation machine can utilize the laser radar to scan image data outside the access of the blind area in real time, and translationally record the detected image data outside the range of the blind area at the initial position into the range of the blind area at the real-time position after moving according to the moving distance fed back by the motor driving board, so as to realize the detection of the image data in the blind area at the real-time position after moving, or obtain the image data of the blind area at the initial position according to the second scanned image at the real-time position after moving, so as to obtain the image data of the blind area at the initial position of the laser radar, so that the image data of the blind area at the initial position is recovered to. Realize laser radar blind area compensation, and the effect in the blind area will be similar with laser radar direct scanning's effect, and the formation of image is effectual, can realize the blind area compensation of high accuracy.
Further, the method also comprises the following steps:
step S5, the first image data comprises image data of obstacles in a first scanning range, and a plurality of obstacles in the first scanning range are positioned in blind areas of the laser radar after the intelligent navigation machine moves according to a first preset planning route;
combining the movement data of the intelligent navigation machine, and carrying out image fusion on the first image data and the second image data to obtain blind area image data of the real-time position of the laser radar after the intelligent navigation machine moves;
and adjusting the second preset planned route after the intelligent navigation machine moves according to the blind area image data of the laser radar after the intelligent navigation machine moves.
Specifically, in this step, combining the mobile data of the intelligent navigation machine, performing image fusion on the first image data and the second image data, and obtaining the blind area image data of the real-time position of the laser radar after the intelligent navigation machine moves specifically includes:
step S51, acquiring initial position information of the intelligent navigation machine, wherein the movement data comprises real-time position information of the intelligent navigation machine after movement;
step S52, placing the first image data, the second image data and the initial position information of the intelligent navigation machine in the same three-dimensional coordinate system;
step S53, carrying out image movement on the first image data according to the initial position information of the intelligent navigation machine and the real-time position information of the intelligent navigation machine after movement to obtain first moving image data of the first image data in a three-dimensional coordinate system after the movement of the intelligent navigation machine;
and step S54, performing image contrast analysis on the second image data and the first moving image data in a three-dimensional coordinate system to obtain blind area image data of the real-time position of the laser radar after the intelligent navigation machine moves.
Specifically, the first image data comprise the blind area images of the laser radar after the intelligent navigation machine moves according to the first preset planned route, so that after the first image data are moved, the first moving image data still comprise the blind area images of the laser radar after the intelligent navigation machine moves according to the first preset planned route, the second image data and the first moving image data are superposed in a three-dimensional coordinate system, and the blind area image data of the real-time position of the laser radar after the intelligent navigation machine moves can be obtained.
As another embodiment, the laser radar blind area compensation method of the present invention may further include:
step S6, obtaining the moving distance information of the intelligent navigation machine;
the image data of the obstacle in the first scanning range includes an image and shape data of the obstacle in the first scanning range; translating the image and the shape data of the obstacle in the first scanning range to the blind area range of the laser radar after the intelligent navigation machine moves according to the first preset planned route according to the moving distance information of the intelligent navigation machine to obtain the image and the shape data of the obstacle in the blind area range of the laser radar after the intelligent navigation machine moves;
and adjusting the second preset planned route after the intelligent navigation machine moves according to the image and the shape data of the obstacles in the blind area range.
According to the method, the image and the shape data of the obstacle in the blind area range of the laser radar after the intelligent navigation machine moves are obtained, the second preset planning route after the intelligent navigation machine moves is adjusted, namely the safety route is re-planned, so that when the intelligent navigation machine stops in case of emergency and then resumes walking, a new route is planned, and the obstacle in the blind area range of the laser radar after the intelligent navigation machine moves is avoided.
The following describes the effect of this embodiment with specific examples:
referring to fig. 2, in a normal situation, a planned route of the intelligent navigation machine is shown as an arc line with an arrow, a circle is a blind area of an initial position, the radar detects an obstacle, and the planned route bypasses the obstacle. However, if the intelligent navigation machine moves for a certain distance, the intelligent navigation machine stops moving when the obstacle enters the blind area range of the real-time position of the laser radar after moving, and then in an emergency, when the intelligent navigation machine recovers next time, the intelligent navigation machine plans a new route according to a new map field, and the obstacle enters the blind area range of the real-time position of the laser radar after moving, and the planned new route may become a route map with arrows as shown in fig. 3, so that the intelligent navigation machine collides with the obstacle.
However, after the image and shape data of the obstacle in the first scanning range are translated to the blind area range of the laser radar after the intelligent navigation machine moves according to the first preset planned route according to the moving distance information of the intelligent navigation machine, and the image and shape data of the obstacle in the blind area range of the laser radar after the intelligent navigation machine moves are obtained, the data of the obstacle can be recorded in the blind area of the laser radar after the intelligent navigation machine moves, and the effect of monitoring the blind area obstacle in real time is achieved.
In the usual machine movement, blind area obstacles can be ignored, and the walking is carried out according to a first preset planning route. However, when the vehicle stops in case of emergency and the new route needs to be planned after the vehicle resumes walking, the new route planning can be assisted by using the obstacle record of the blind area of the laser radar after moving.
Therefore, the route which is adjusted and planned through the second preset planning route can avoid the obstacle, even if the obstacle can move, in the process that the machine stops, if the obstacle is removed, the object from the blind area of the laser radar after moving to the non-blind area is compared through an image comparison algorithm, and whether the obstacle is removed or not can be judged according to the shape of the obstacle fed back by the laser radar, so that the optimal route is planned.
According to the method, the image and shape data of the obstacle in the first scanning range are translated to the blind area range of the laser radar after the intelligent navigation machine moves according to the first preset planned route according to the moving distance information of the intelligent navigation machine, so that the data of the obstacle can be recorded in the blind area of the laser radar after the intelligent navigation machine moves, the radar blind area compensation is realized, the effect in the blind area is similar to the direct scanning effect of the laser radar, the imaging effect is good, and the high-precision blind area compensation and obstacle avoidance effect can be realized; if other modes such as ultrasonic or infrared ranging are used, the radar ranging effect cannot be achieved within 30cm, at most, whether an obstacle exists in the front or the distance between the obstacles can only be judged, the boundary and the shape of the obstacle cannot be identified, the obstacle cannot be imaged, and the route cannot be re-planned.
The invention also provides a computer storage medium on which a computer program is stored, in which the method of the invention, if implemented in the form of software functional units and sold or used as a stand-alone product, can be stored. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer storage medium and used by a processor to implement the steps of the embodiments of the method. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer storage medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer storage media may include content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer storage media that does not include electrical carrier signals and telecommunications signals as subject to legislation and patent practice.
Various other modifications and changes may be made by those skilled in the art based on the above-described technical solutions and concepts, and all such modifications and changes should fall within the scope of the claims of the present invention.
Claims (10)
1. The intelligent navigation machine is characterized by comprising a laser radar, an industrial personal computer and a motor drive board, wherein the motor drive board is used for driving the intelligent navigation machine to move; the industrial personal computer is connected with the motor drive board, reads the movement data of the intelligent navigation machine driven by the motor drive board and controls the movement of the intelligent navigation machine through the motor drive board; and the laser radar is connected with an industrial personal computer.
2. The intelligent navigation machine of claim 1, wherein the lidar is coupled to an industrial personal computer via a router.
3. The intelligent navigation machine of claim 1, wherein a scan angle of the lidar is greater than or equal to 270 degrees.
4. The intelligent navigation machine of claim 1, wherein the number of the lidar is at least two, and at least one lidar is respectively disposed on two sides of the intelligent navigation machine, so that the scanning angle of the intelligent navigation machine is 360 degrees.
5. The intelligent navigation machine of claim 1, wherein the movement data includes intelligent navigation machine movement speed and movement distance information.
6. A laser radar blind spot compensation method using the intelligent navigation machine according to any one of claims 1 to 4, comprising:
acquiring first image data in a first scanning range scanned by a laser radar; the first scanning range is the scanning range of the initial position of the laser radar;
after the intelligent navigation machine moves according to the first preset planned route, acquiring movement data of the intelligent navigation machine;
acquiring second image data in a second scanning range scanned by the laser radar in real time in the moving process of the intelligent navigation machine; the second scanning range is a scanning range of a real-time position in the laser radar in the moving process;
and combining the mobile data of the intelligent navigation machine, and carrying out image fusion on the first image data and the second image data to obtain blind area image data of the initial position of the laser radar and/or blind area image data of the real-time position of the laser radar in the mobile process.
7. The lidar blind zone compensation method of claim 6, further comprising: the first image data comprise image data of obstacles in a first scanning range, and a plurality of obstacles in the first scanning range are positioned in blind areas of the laser radar after the intelligent navigation machine moves according to a first preset planned route;
combining the movement data of the intelligent navigation machine, and carrying out image fusion on the first image data and the second image data to obtain blind area image data of the real-time position of the laser radar after the intelligent navigation machine moves;
and adjusting the second preset planned route after the intelligent navigation machine moves according to the blind area image data of the laser radar after the intelligent navigation machine moves.
8. The lidar blind area compensation method according to claim 7, wherein the step of performing image fusion on the first image data and the second image data in combination with the movement data of the intelligent navigation machine to obtain the blind area image data of the real-time position of the lidar after the intelligent navigation machine moves specifically comprises:
acquiring initial position information of the intelligent navigation machine, wherein the movement data comprises real-time position information of the intelligent navigation machine after movement;
placing the first image data, the second image data and the initial position information of the intelligent navigation machine in the same three-dimensional coordinate system;
performing image movement on the first image data according to the initial position information of the intelligent navigation machine and the real-time position information of the intelligent navigation machine after movement to obtain first moving image data of the first image data in a three-dimensional coordinate system after the intelligent navigation machine moves;
and carrying out image contrast analysis on the second image data and the first moving image data in a three-dimensional coordinate system to obtain blind area image data of the real-time position of the laser radar after the intelligent navigation machine moves.
9. The lidar blind zone compensation method of claim 7, further comprising:
acquiring moving distance information of the intelligent navigation machine;
the image data of the obstacle in the first scanning range includes an image and shape data of the obstacle in the first scanning range; a plurality of obstacles in the first scanning range are positioned in blind areas of the laser radar after the intelligent navigation machine moves according to a first preset planned route;
translating the image and the shape data of the obstacle in the first scanning range to the blind area range of the laser radar after the intelligent navigation machine moves according to the first preset planned route according to the moving distance information of the intelligent navigation machine to obtain the image and the shape data of the obstacle in the blind area range of the laser radar after the intelligent navigation machine moves;
and adjusting the second preset planned route after the intelligent navigation machine moves according to the image and the shape data of the obstacles in the blind area range.
10. A computer storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the lidar blind zone compensation method of any of claims 6-9.
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| CN113324543A (en) * | 2021-01-28 | 2021-08-31 | 山东硅步机器人技术有限公司 | Visual navigation routing inspection and obstacle avoidance method for inspection robot |
| CN113859228A (en) * | 2020-06-30 | 2021-12-31 | 上海商汤智能科技有限公司 | Vehicle control method and device, electronic equipment and storage medium |
| CN115032618A (en) * | 2022-08-12 | 2022-09-09 | 深圳市欢创科技有限公司 | Blind area repairing method and device applied to laser radar and laser radar |
| CN116794702A (en) * | 2023-05-30 | 2023-09-22 | 名商科技有限公司 | GPS blind zone navigation method, system and readable storage medium |
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