CN112526503A - Method for detecting object distance and related device - Google Patents

Method for detecting object distance and related device Download PDF

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Publication number
CN112526503A
CN112526503A CN202011312612.6A CN202011312612A CN112526503A CN 112526503 A CN112526503 A CN 112526503A CN 202011312612 A CN202011312612 A CN 202011312612A CN 112526503 A CN112526503 A CN 112526503A
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target
detection
radar
distance
environment
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CN112526503B (en
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陈有生
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Guangzhou Xaircraft Technology Co Ltd
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Guangzhou Xaircraft Technology Co Ltd
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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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/56—Discriminating between fixed and moving objects or between objects moving at different speeds for presence detection
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The embodiment of the application provides a method for detecting object distance and a related device, and relates to the field of object detection. The method comprises the following steps: controlling a radar to detect to obtain a first target detection matrix; each detection point in the first target detection matrix has a corresponding speed and distance; acquiring target detection points matched with the target speed in the first target detection matrix; the target speed is a component speed of the working equipment in the radar detection direction; and determining the distance between a static target object in the environment and the radar according to the distance corresponding to the target detection point, the energy value of the target detection point and a preset threshold value. In the first object detection matrix, only object detection points matching the object velocity may correspond to stationary objects. Furthermore, by acquiring the target detection points matched with the target speed in the first target detection matrix, the range of the detection points corresponding to the stationary object in the environment can be quickly determined, and the possibility of error detection is reduced.

Description

Method for detecting object distance and related device
Technical Field
The present disclosure relates to the field of object detection, and in particular, to a method and a related apparatus for detecting a distance between objects.
Background
At present, install the millimeter wave radar on the plant protection unmanned aerial vehicle usually. Plant protection unmanned aerial vehicle can survey the distance of object and self in the environment through the millimeter wave radar to accomplish the operation task better.
When the existing plant protection unmanned aerial vehicle uses the millimeter wave radar to detect the distance between an object and the unmanned aerial vehicle, the detection method used in practice is based on the migration of the automobile radar related algorithm. That is to say, when present plant protection unmanned aerial vehicle uses the radar to survey, the mature algorithm that the current car radar is relevant is used.
However, the environment faced by the automobile and the environment faced by the plant protection unmanned aerial vehicle are different greatly, and the existing mature algorithm related to the automobile radar cannot be perfectly suitable for the plant protection unmanned aerial vehicle. For example, the automobile radar can not meet the problem of measuring the electric wire, but the plant protection unmanned aerial vehicle can meet the inclined pull line of the electric wire or the telegraph pole with high probability in the farmland, and the traditional automobile radar algorithm does not have an algorithm capable of adapting to the scenes. Therefore, when the existing plant protection unmanned aerial vehicle detects the distance between an object and the unmanned aerial vehicle through the millimeter wave radar in the environment, the problems of low efficiency and poor precision of object detection still exist, and even more misdetection exists.
Disclosure of Invention
The object of the present application includes providing a method for detecting object distance and a related device, which can improve the efficiency and accuracy of detecting objects.
The embodiment of the application can be realized as follows:
in a first aspect, an embodiment of the present application provides a method for detecting a distance to an object, which is applied to a working device, where a radar is disposed on the working device, and the method includes: controlling the radar to detect to obtain a first target detection matrix; each detection point in the first target detection matrix has a corresponding speed and distance; acquiring target detection points matched with target speeds in the first target detection matrix; the target speed is a component speed of the working equipment in the radar detection direction; and determining the distance between a static target object in the environment and the radar according to the distance corresponding to the target detection point, the energy value of the target detection point and a preset threshold value.
In an optional embodiment, the step of determining the distance between a stationary target object in the environment and the radar according to the distance corresponding to the target detection point, the energy value of the target detection point, and a preset threshold includes: judging whether the energy value of the target detection point is greater than the preset threshold value or not; when the energy value of the target detection point is larger than the preset threshold value, determining that a static target object exists in the environment; and taking the distance corresponding to the target detection point as the distance between the static target object and the radar.
In an alternative embodiment, the method further comprises: controlling the radar to perform continuous detection for at least two times to obtain at least two second target detection matrixes; adding potential detection points which meet preset conditions in the at least two second target detection matrixes into a preset set; the preset condition represents that the energy value of the potential detection point is larger than the preset threshold value, and the speed corresponding to the potential detection point is not matched with the target speed; if at least a preset number of target potential detection points exist in the preset set, determining that a moving target object exists in the environment; distances corresponding to different target potential detection points are consistent, and speeds corresponding to different target potential detection points are consistent.
In an alternative embodiment, the method further comprises: acquiring the reflection sectional area of the moving target object; judging whether the reflection sectional area is larger than a preset sectional area or not; and when the reflection sectional area is larger than the preset sectional area, determining that a moving obstacle exists in the environment.
In an alternative embodiment, the method further comprises: when a moving obstacle exists in the environment, generating an early warning signal; and controlling the operation equipment to avoid the moving obstacle according to the early warning signal.
In a second aspect, an embodiment of the present application provides an apparatus for detecting a distance to an object, which is applied to a working device, where a radar is disposed on the working device, and the apparatus includes: the detection module is used for controlling the radar to detect to obtain a first target detection matrix; each detection point in the first target detection matrix has a corresponding speed and distance; the acquisition module is used for acquiring target detection points matched with the target speed in the first target detection matrix; the target speed is a component speed of the working equipment in the radar detection direction; the detection module is further configured to determine a distance between a stationary target object in the environment and the radar according to the distance corresponding to the target detection point, the energy value of the target detection point, and a preset threshold.
In an optional embodiment, the detection module is configured to determine whether an energy value of the target detection point is greater than the preset threshold; the detection module is further configured to determine that a stationary target object exists in the environment when the energy value of the target detection point is greater than the preset threshold; the detection module is further configured to use a distance corresponding to the target detection point as a distance between the stationary target object and the radar.
In an optional embodiment, the detection module is further configured to control the radar to perform at least two consecutive detections, so as to obtain at least two second target detection matrices; the detection module is further configured to add potential detection points, which meet a preset condition, in the at least two second target detection matrices to a preset set; the preset condition represents that the energy value of the potential detection point is larger than the preset threshold value, and the speed corresponding to the potential detection point is not matched with the target speed; the detection module is further configured to determine that a moving target object exists in the environment if at least a preset number of target potential detection points exist in the preset set; distances corresponding to different target potential detection points are consistent, and speeds corresponding to different target potential detection points are consistent.
In an optional embodiment, the detection module is further configured to obtain a reflection cross-sectional area of the moving target object; the detection module is also used for judging whether the reflection sectional area is larger than a preset sectional area; the detection module is further used for determining that a moving obstacle exists in the environment when the reflection sectional area is larger than a preset sectional area.
In an alternative embodiment, the apparatus further comprises: the obstacle avoidance module is used for generating an early warning signal when a moving obstacle exists in the environment; and the obstacle avoidance module is also used for controlling the operation equipment to avoid the moving obstacle according to the early warning signal.
In a third aspect, the present application provides a storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the method of any one of the foregoing embodiments.
In a fourth aspect, an embodiment of the present application provides a control unit, which includes a processor and a memory, where the memory stores a computer program, and the processor is configured to execute the computer program to implement the method described in any one of the foregoing embodiments.
In a fifth aspect, an embodiment of the present application provides a work apparatus, including: a body; a radar mounted on the body; the power equipment is arranged on the machine body and used for providing power for the working equipment; and a control unit; the control unit comprises a processor and a memory, the memory storing a computer program, the processor being configured to execute the computer program to implement the method of any of the preceding embodiments.
Since the target speed is a component speed of the working device in the radar detection direction, the component speed corresponds to the moving speed of the stationary object relative to the radar. Therefore, in the first object detection matrix, only object detection points matching the object velocity may correspond to stationary objects. Furthermore, by acquiring the target detection points matched with the target speed in the first target detection matrix, the range of the detection points corresponding to the stationary object in the environment can be quickly determined, and the possibility of error detection is reduced. That is, the present application can improve the efficiency and accuracy of detecting an object.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a schematic diagram of an object detection matrix;
fig. 2 is a block diagram of a control unit according to an embodiment of the present disclosure;
fig. 3 is a block diagram of a configuration of a work apparatus according to an embodiment of the present application;
FIG. 4 is a flowchart of a method for detecting a distance to an object according to an embodiment of the present disclosure;
fig. 5 is a schematic diagram of an operating environment of an operating device according to an embodiment of the present application;
FIG. 6 is a flowchart of S220 of the method of FIG. 4;
FIG. 7 is another flowchart of a method for detecting a distance to an object according to an embodiment of the present disclosure;
FIG. 8 is a schematic diagram of three target detection matrices at three consecutive time instants according to an embodiment of the present disclosure;
FIG. 9 is a flowchart illustrating a method for detecting a distance to an object according to an embodiment of the present disclosure;
FIG. 10 is a flowchart illustrating a method for detecting a distance to an object according to an embodiment of the present disclosure;
fig. 11 is a functional block diagram of an apparatus for detecting a distance to an object according to an embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.
In the implementation process of the embodiment of the present application, the inventors of the present application find that:
at present, plant protection unmanned aerial vehicle is when using millimeter wave radar to survey object and self distance, and its main process is as follows:
firstly, setting a modulation wave, and driving a sending antenna to send a detection signal through a radio frequency circuit. Then, reflected detection signals received by the receiving antennas are collected through a radio frequency circuit, and each receiving antenna correspondingly collects channel data. And then, sequentially carrying out range fast Fourier transform and Doppler fast Fourier transform on each channel data, wherein each channel data can correspondingly obtain a range Doppler matrix. And then, processing the range-Doppler matrixes of the channels to obtain a target detection matrix. And finally, obtaining the distance between the detected object and the detected object according to the energy value of the detection point in the target detection matrix.
In this case, each row of the detection points in the target detection matrix corresponds to a velocity value, and each column of the detection points corresponds to a distance value (see fig. 1). In other words, each detection point in the object detection matrix has a corresponding velocity and distance. For example, probe a in the matrix shown in fig. 1 corresponds to a velocity V1 and a distance D1.
At present, after a target detection matrix is obtained, a detection point larger than a threshold is found in the matrix based on a CFAR (Constant False-Alarm Rate) or other algorithm, where the detection point larger than the threshold represents a certain target object in the environment, and a distance between the target object and a radar is a distance corresponding to the detection point larger than the threshold. Referring to the matrix shown in fig. 1 again, assuming that the energy value of the detection point B is greater than the threshold, the detection point B actually corresponds to a target object in the environment, and the distance between the target object and the radar is the distance D2 corresponding to the detection point B.
Since the target detection matrix actually includes M × N detection points (also referred to as detection data), the existing method for detecting the distance between the target object and itself in the radar environment must search for each detection point in the target detection matrix, and determine the distance between the object in the environment and the radar by determining whether the energy value of each detection point is greater than a preset threshold value.
Obviously, the existing method for detecting the distance of the object has the problem of low efficiency of detecting the object. In addition, because the target detection matrix still has noise, the existing method for detecting the object distance also has the problem of poor precision and even more error detection.
Furthermore, in order to improve various defects in the prior art, the embodiments of the present application provide a method and a related apparatus for detecting object distance, which can improve the efficiency and accuracy of detecting objects. It should be noted that all the defects of the above prior art solutions are the results of the careful practical study by the inventors, and therefore, the discovery process of the above problems and the solutions proposed by the following embodiments of the present application to the above problems should be the contribution of the inventors to the realization of the present application.
First, the embodiment of the present application provides a control unit capable of improving efficiency and accuracy of detecting an object by a radar. Please refer to fig. 2, which is a block diagram of a control unit according to an embodiment of the present disclosure. The control unit 140 may include: the memory 141 and the processor 142 may be electrically connected with the communication interface directly or indirectly to realize data transmission and interaction. For example, the components may be electrically connected to each other via buses and/or signal lines.
The memory 141 may store a computer program related to a method of detecting a distance to an object. Processor 142 may process information and/or data related to detecting object distance to perform one or more of the functions described herein. For example, the processor 142 may execute the computer program to control the radar to detect, obtain a first target detection matrix, and detect the object distance according to the above information or data. So that the control unit 140 can improve the efficiency and accuracy of the radar to detect the object.
The memory 141 may be, but is not limited to: solid State Disk (SSD), Hard Disk Drive (Hard Disk Drive, HDD), Read Only Memory (ROM), Programmable Read Only Memory (PROM), Erasable Read Only Memory (EPROM), Random Access Memory (RAM), electrically Erasable Read Only Memory (EEPROM), and the like.
The processor 142 described above may be, but is not limited to: a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also may be, but is not limited to: an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware components. Thus, the processor 142 may be an integrated circuit chip with signal processing capabilities.
It will be appreciated that the configuration of the control unit 140 shown in fig. 2 is merely a schematic configuration, and that the control unit 140 may also include more or fewer components or modules than the configuration shown in fig. 2, or have a different configuration or construction than the configuration shown in fig. 2. Also, the components shown in FIG. 2 may be implemented in hardware, software, or a combination of both.
Further, it is also understood that the control unit 140 may be a control core device of the working equipment. And according to the difference of the concrete structure type of operation equipment when practical application, the control unit 140 that this application provided can adopt different configurations or structures, for example, the control unit 140 that this application provided can be plant protection unmanned aerial vehicle, unmanned aerial vehicle of other types, unmanned car, unmanned ship, for agricultural tractor etc. inside controller.
Further, this application still provides an operation equipment, is provided with the radar on this operation equipment, and it can improve efficiency and the precision that the object was surveyed to the radar. The type of the operation equipment applied by the method provided by the application is not limited to the plant protection unmanned aerial vehicle, and the method can also be applied to operation equipment such as unmanned vehicles, agricultural tractors, various types of carriers, unmanned ships and the like.
For better explaining the application, the type of the operation equipment is taken as an example of the plant protection unmanned aerial vehicle, and the operation equipment provided by the embodiment of the application is explained. Referring to fig. 3, which is a block diagram of a working device 100 according to an embodiment of the present disclosure, the working device 100 may include a body 110, a radar 120, a power device 130, and the control unit 140.
Among them, the power device 130 may be mounted to the body 110 described above for supplying power to the working device 100. Because this operation equipment can adopt plant protection unmanned aerial vehicle's structure, power equipment 130 can be plant protection unmanned aerial vehicle's drive module (including motor, rotor etc.), organism 110 can be plant protection unmanned aerial vehicle's fuselage. The memory 141 of the control unit 140 stores a computer program related to a method for detecting an object distance, and the processor 142 may execute the computer program to control the radar to detect, obtain a first target detection matrix, and detect an object distance according to the data. And thus the efficiency and accuracy of detecting an object by the radar 120 of the work apparatus 100 can be improved. The radar 120 described above may be a millimeter wave radar.
It should be noted that the structure shown in fig. 3 is merely an illustration, and the work apparatus 100 may include more or less components than those shown in fig. 3, or have a different configuration from that shown in fig. 3.
Hereinafter, for convenience of understanding, the following embodiments of the present application will describe a method for detecting an object distance, by taking the working equipment 100 shown in fig. 3 as an example, with reference to the accompanying drawings.
Referring to fig. 4, fig. 4 is a flowchart illustrating a method for detecting a distance to an object according to an embodiment of the present disclosure. The method of detecting an object distance may be applied to the above-described work apparatus 100, and may include the steps of:
and S200, controlling the radar to detect to obtain a first target detection matrix.
The work device 100 may control the radar 120 to detect the surrounding environment, resulting in a first target detection matrix (such as the matrix shown in fig. 1); each detection point in the first object detection matrix has a corresponding velocity and distance.
S210, acquiring target detection points matched with the target speed in the first target detection matrix; the target speed is a component speed of the working device in the radar detection direction.
Objects in the environment surrounding the work equipment 100 generally include two types: one is a stationary object and one is a moving object. As shown in fig. 5, for a stationary object, the moving speed of the radar 120 relative to the stationary object is the moving speed of the stationary object relative to the radar 120. That is, the component velocity of the radar 120 in the detection direction is the moving velocity of the stationary object in the environment relative to the radar 120. It will further be appreciated that in the first target detection matrix, all detection points matching the component velocity of the radar 120 in the detection direction may represent stationary objects in the environment, while other detection points represent moving objects in the environment.
Since the radar 120 is mounted on the work apparatus 100, the velocity of the work apparatus 100 is the velocity of the radar 120, and the component velocity of the radar 120 in the detection direction is the component velocity of the work apparatus 100 in the radar detection direction. The moving speed of the work apparatus 100 can be accurately measured by a GPS or the like. Since the coordinate system of the work equipment 100 and the coordinate system of the radar 120 have a fixed rotational and translational relationship, the target speed can be obtained by coordinate conversion after the moving speed of the work equipment 100 is obtained.
It should be understood that since the target detection points matched with the target speed may correspond to the stationary object, the range of the detection points corresponding to the stationary object in the environment may be quickly determined by obtaining the target detection points matched with the target speed in the first target detection matrix, thereby reducing the possibility of misdetection of the stationary object in the environment.
And S220, determining the distance between a static target object in the environment and the radar according to the distance corresponding to the target detection point, the energy value of the target detection point and a preset threshold value.
It should be understood that since the target speed is a component speed of the working device in the radar detection direction, which is equivalent to the moving speed of the stationary object relative to the radar, only the target detection point matching the target speed may correspond to the stationary object in the first target detection matrix. Therefore, by acquiring the target detection points matched with the target speed in the first target detection matrix, the range of the detection points corresponding to the stationary object in the environment can be quickly determined, and the possibility of error detection is reduced. Therefore, the method and the device can improve the efficiency and the precision of detecting the object.
It should also be appreciated that when the plant 100 is a plant-protection drone and the above-described method embodiments are applied to the plant-protection drone, the plant-protection drone is typically applied in a field environment to service crops while the crops in the field are generally stationary. Therefore, the method for detecting the object distance can be applied to the plant protection unmanned aerial vehicle, the efficiency and the precision of detecting static objects in the environment can be greatly improved, and the operation efficiency of the plant protection unmanned aerial vehicle is improved.
Further, as to how to determine the distance between the stationary target object and the radar in the environment according to the distance corresponding to the target detection point, the energy value of the target detection point, and the preset threshold, the present application also provides a feasible implementation manner, please refer to fig. 6, and S220 may include:
S220A, judging whether the energy value of the target detection point is larger than a preset threshold value; if the energy value of the target detection point is greater than the preset threshold, S220B is performed, otherwise, S220D is performed.
And S220B, determining that the static target object exists in the environment.
And S220C, taking the distance corresponding to the target detection point as the distance between the stationary target object and the radar.
And S220D, determining that the target detection point does not correspond to a static target object.
Next, the above-mentioned S220A to S220D will be further explained with reference to the target detection point matrix shown in fig. 1.
For the target detection point matrix in fig. 1, it is assumed that the detection point a is a target detection point matching the target velocity. When the energy value of the detection point A is larger than a preset threshold value, a static target object corresponding to the detection point A exists in the environment, and the distance between the static target object and the radar is the distance D1 corresponding to the detection point A; and when the energy value of the detection point A is smaller than or equal to the preset threshold, the situation that no static target object corresponding to the detection point A exists in the environment is indicated.
The method provided by the application can further comprise the following steps: traversing all target detection points matched with the target speed in the first target detection matrix, and adding the detection points with energy values larger than a preset threshold value into a first set; and taking the distance corresponding to each detection point in the first set as the distance between the static object in the environment and the radar. It should be understood that, of all target detection points matching the target speed, the detection points with energy values greater than the preset threshold value correspond to stationary objects in one environment. By obtaining the distances corresponding to the detection points, the detection of the distances between all static objects in the environment and the radar can be realized.
In an actual working environment, the working equipment needs to detect not only a stationary object but also a moving object. Therefore, in order to detect the moving object in the environment and improve the efficiency and accuracy of detecting the distance between the moving object and the radar in the environment, the embodiment of the present application further provides a feasible implementation manner. Referring to fig. 7, the method for detecting the object distance according to the embodiment of the present application may further include:
and S230, controlling the radar to perform continuous detection for at least two times to obtain at least two second target detection matrixes.
For example, the work apparatus 100 may control the radar 120 to detect at 5 consecutive times, each time obtaining one second object detection matrix, and obtaining 5 consecutive second object detection matrices in total. Alternatively, the work apparatus 100 may control the radar 120 to perform at least two consecutive detections at preset time intervals, so as to obtain at least two second target detection matrices.
It should be understood that, since the at least two second target detection matrices are obtained by performing at least two consecutive detections by the radar, the at least two second target detection matrices include the state information of the object in the environment at least two consecutive times.
S231, adding potential detection points which meet preset conditions in at least two second target detection matrixes into a preset set; the preset condition indicates that the energy value of the potential detection point is greater than the preset threshold value, and the speed corresponding to the potential detection point is not matched with the target speed.
It is assumed that the work apparatus 100 obtains three object detection matrices, matrix a, matrix B, and matrix C, respectively, as shown in fig. 8 by executing the above-described S230. And assuming that the target speed is v3, the preset threshold is 0.5. The potential probe points satisfying the predetermined condition in the matrix a, the matrix B, and the matrix C are: (V7, D6), (V7, D8), (V2, D5), (V1, D4) in matrix a, (V7, D8), (V2, D5), (V1, D4) in matrix B, (V7, D8), (V2, D5) in matrix C. The work machine 100 may add all of the above potential probe points to a predetermined set.
It can be understood that the energy value of a potential detection point greater than the preset threshold value indicates that the potential detection point actually corresponds to an object in the environment, wherein the speed corresponding to the potential detection point is the speed of the object in the environment, and the distance corresponding to the potential detection point is the distance between the object in the environment and the radar. The fact that the velocity corresponding to the potential detection point does not match the target velocity indicates that the object in the environment to which the potential detection point actually corresponds is a moving object.
Thus, the potential detection points satisfying the predetermined condition actually represent detection points of a moving object in the environment, and each detection point in the predetermined set corresponds to a moving object in the environment. Further, the work apparatus 100 can screen out all the detection points representing the moving object in the environment by executing the above S231.
It should be noted that, in the embodiment of the present application, a moving object may refer to an object that moves relative to an environment, and a stationary object may refer to an object that is stationary relative to the environment.
S232, if at least a preset number of target potential detection points exist in the preset set, determining that a moving target object exists in the environment; the distances corresponding to different target potential detection points are consistent, and the speeds corresponding to different target potential detection points are consistent.
Continuing with the three object detection matrices shown in fig. 8 in S231 as an example, assume that the object velocity is v3, the preset threshold value is 0.5, and the preset number is 2. The potential probe points added to the preset set include: (V7, D6), (V7, D8), (V2, D5), (V1, D4) in matrix a, (V7, D8), (V2, D5), (V1, D4) in matrix B, (V7, D8), (V2, D5) in matrix C.
Furthermore, the target potential detection points which have at least 2 and satisfy the condition that the distances corresponding to different target potential detection points are all consistent and the speeds corresponding to different target potential detection points are all consistent include: (V7, D8), (V2, D5) in matrix A, B, C, and (V1, D4) in matrix A, B. Among them, there are 2 in (V1, D4) in the matrix A, B in the preset set, (V7, D8), (V2, D5) in the preset set.
Therefore, the work device 100 may query the preset set to determine whether there are at least a preset number of target potential probe points in the preset set.
It is understood that the presence of at least a predetermined number of target potential detection points in the predetermined set indicates that there are a plurality of consecutive occurrences of detection points in the at least two second target detection matrices that satisfy the predetermined condition. That is, at the moment when the radar performs at least two consecutive detections, there is a moving object corresponding to the potential detection point in the environment. Therefore, through the above steps S230 to S232, it can be determined that a moving object exists in the environment, and the speed of the moving target object is the speed corresponding to the target potential detection point, and the distance between the moving target object and the radar is the distance corresponding to the target potential detection point.
Since the detection points are actually data in the target detection matrix, the above-mentioned "distances corresponding to different target potential detection points are all consistent, and the speeds corresponding to different target potential detection points are all consistent" indicates that the row and column values of different target potential detection points are the same. Further, from the viewpoint of the object detection matrix of M (rows) × N (columns), the above-described steps can be expressed as: "if there are at least a predetermined number of potential detection points with the same row-column value in the predetermined set, it is determined that there is a moving target object in the environment". In the field of radar, this step can also be expressed as: if at least a preset number of target potential detection points exist in a preset set, determining that a moving target object exists in the environment; different target potential probe points have the same value in the range dimension and different target potential probe points have the same value in the doppler dimension ".
It should be understood that by performing the above-mentioned S230 to S232, the method provided by the embodiment of the present application may enable the operation device to detect the moving object in the environment, and improve the efficiency and accuracy of detecting the distance between the moving object and the radar in the environment by the radar of the operation device.
It is further understood that, in order to identify all moving target objects in the environment, the method embodiments provided herein may further include: acquiring all potential detection points which meet a second preset condition in a preset set; the second predetermined condition is indicative of at least a predetermined number of potential probe points in the predetermined set and the same row-column values. It should be understood that this step may allow the work equipment to detect all moving objects in the environment.
Further, in order to identify a moving object with a volume larger than a certain volume so as to early warn, referring to fig. 9 in the embodiment of the method shown in fig. 4, the method for detecting an object distance provided in the embodiment of the present application may further include:
s240, acquiring the reflection sectional area of the moving target object.
The above-mentioned method for obtaining the reflection sectional area of the moving target object can refer to the prior art, and is not described herein again.
S241, judging whether the reflection sectional area is larger than the preset sectional area.
And S242, when the reflection sectional area is larger than the preset sectional area, determining that the moving obstacle exists in the environment.
It should be understood that, by performing the above-mentioned S240 to S242, the method provided by the embodiment of the present application may enable the working device 100 to identify a moving object in the environment greater than a certain volume in time during the moving process, so as to provide early warning.
It is further understood that, in order to identify all moving objects in the environment that are larger than a certain volume, embodiments of the method provided by the present application may further include: acquiring the reflection sectional areas of all moving target objects; and determining all the moving target objects with the reflection sectional areas larger than the preset sectional area as the obstacle objects.
Further, in order to perform early warning and obstacle avoidance after a moving object larger than a certain volume is identified, referring to fig. 10 in the embodiment of the method shown in fig. 4, the method for detecting the distance to the object provided in the embodiment of the present application may further include:
and S250, generating an early warning signal when a moving obstacle exists in the environment.
And S251, controlling the operation equipment to avoid the moving obstacle according to the early warning signal.
For example, after receiving the warning signal, the work apparatus 100 may avoid the moving obstacle by hovering, returning, detouring, landing on site, or the like.
It should be understood that, by performing the above S250 and S251, the method provided in the embodiment of the present application may enable the operation device 100 to perform early warning and obstacle avoidance after identifying a moving object with a volume larger than a certain volume, so as to avoid collision with an obstacle.
Based on the above method embodiments, it can be understood that the method embodiments provided in the present application have an innovative point compared to the conventional method, in that the component velocity of the working equipment in the radar detection direction is introduced to quickly and accurately determine the stationary object and the moving object in the environment, and the distance between the object in the environment and the radar. For the traditional radar algorithm, because the information of the radar carrier cannot be obtained, when the distance of the object is detected, the detected point with the energy larger than the threshold value is regarded as the target object, and the motion state of the target object cannot be obtained.
In order to execute the corresponding steps in the above embodiments and various possible manners, an implementation manner of an apparatus for detecting a distance to an object is given below, please refer to fig. 11, and fig. 11 shows a functional block diagram of the apparatus for detecting a distance to an object according to an embodiment of the present application. It should be noted that the basic principle and the technical effects of the apparatus 300 for detecting the object distance provided by the present embodiment are the same as those of the above embodiments, and for the sake of brief description, no part of the present embodiment is mentioned, and reference may be made to the corresponding contents in the above embodiments. The detecting object distance 300 may include: a detection module 310, an acquisition module 320, and an obstacle avoidance module 330.
Alternatively, the modules may be stored in a memory in the form of software or Firmware (Firmware) or may be fixed in an Operating System (OS) of the work equipment 100 provided in the present application, and may be executed by a processor in the work equipment 100. Meanwhile, data, codes of programs, and the like required to execute the above modules may be stored in the memory.
The detection module 310 may be configured to control the radar to perform detection, so as to obtain a first target detection matrix; each detection point in the first object detection matrix has a corresponding speed and distance.
It will be appreciated that the detection module 310 may be used to support the work device 100 in performing the above-described S200, etc., and/or other processes for the techniques described herein.
The obtaining module 320 may be configured to obtain target detection points matched with a target speed in the first target detection matrix; the target speed is a component speed of the working device in the radar detection direction.
It will be appreciated that the acquisition module 320 may be used to support the work device 100 in performing the above-described S210, etc., and/or other processes for the techniques described herein.
The obtaining module 320 may be configured to determine a distance between a stationary target object in the environment and the radar according to the distance corresponding to the target detection point, the energy value of the target detection point, and a preset threshold.
It will be appreciated that the acquisition module 320 may be used to support the work device 100 in performing the above-described S220, and/or the like, and/or other processes for the techniques described herein, e.g., S220A-S220D.
The detection module 310 may be configured to control the radar to perform at least two consecutive detections, so as to obtain at least two second target detection matrices; adding potential detection points which meet preset conditions in the at least two second target detection matrixes into a preset set; the preset condition represents that the energy value of the potential detection point is larger than the preset threshold value, and the speed corresponding to the potential detection point is not matched with the target speed; if at least a preset number of target potential detection points exist in the preset set, determining that a moving target object exists in the environment; distances corresponding to different target potential detection points are consistent, and speeds corresponding to different target potential detection points are consistent.
It will be appreciated that the detection module 310 may be used to support the work device 100 in performing the above-described S230, S231, S232, etc., and/or other processes for the techniques described herein.
The detection module 310 may be configured to obtain a reflection cross-sectional area of the moving target object; judging whether the reflection sectional area is larger than a preset sectional area or not; and when the reflection sectional area is larger than the preset sectional area, determining that a moving obstacle exists in the environment.
It will be appreciated that the detection module 310 may be used to support the work device 100 in performing the above-described S240, S241, S242, etc., and/or other processes for the techniques described herein.
The obstacle avoidance module 330 may be configured to generate an early warning signal when a moving obstacle exists in the environment; and controlling the operation equipment to avoid the moving obstacle according to the early warning signal.
It will be appreciated that the obstacle avoidance module 330 may be used to support the work device 100 in performing the above-described S250, S251, etc., and/or other processes for the techniques described herein.
Based on the foregoing method embodiment, the present application further provides a storage medium, where a computer program is stored, and when the computer program is executed by a processor, the steps of the method for detecting a distance to an object are executed.
The storage medium can be a general storage medium, such as a mobile disk, a hard disk and the like, and when a computer program on the storage medium is operated, the method for detecting the object distance can be executed, so that the problems that the existing plant protection unmanned aerial vehicle still has low efficiency and poor precision of detecting the object when the distance between the object and the unmanned aerial vehicle is detected by the millimeter wave radar in the environment, and even more error detection exists are solved, and the purpose of improving the efficiency and the precision of detecting the object is realized.
To sum up, the embodiment of the present application provides a method and a related apparatus for detecting an object distance, which are applied to a working device, wherein the working device is provided with a radar, and the method includes: controlling a radar to detect to obtain a first target detection matrix; each detection point in the first target detection matrix has a corresponding speed and distance; acquiring target detection points matched with the target speed in the first target detection matrix; the target speed is a component speed of the working equipment in the radar detection direction; and determining the distance between a static target object in the environment and the radar according to the distance corresponding to the target detection point, the energy value of the target detection point and a preset threshold value. Since the target speed is a component speed of the working device in the radar detection direction, the component speed corresponds to the moving speed of the stationary object relative to the radar. Therefore, in the first object detection matrix, only object detection points matching the object velocity may correspond to stationary objects. Furthermore, by acquiring the target detection points matched with the target speed in the first target detection matrix, the range of the detection points corresponding to the stationary object in the environment can be quickly determined, and the possibility of error detection is reduced. That is, the present application can improve the efficiency and accuracy of detecting an object.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (13)

1. A method of detecting a distance to an object, the method being applied to a work apparatus on which a radar is provided, the method comprising:
controlling the radar to detect to obtain a first target detection matrix; each detection point in the first target detection matrix has a corresponding speed and distance;
acquiring target detection points matched with target speeds in the first target detection matrix; the target speed is a component speed of the working equipment in the radar detection direction;
and determining the distance between a static target object in the environment and the radar according to the distance corresponding to the target detection point, the energy value of the target detection point and a preset threshold value.
2. The method according to claim 1, wherein the step of determining the distance between the radar and the stationary target object in the environment according to the distance corresponding to the target detection point, the energy value of the target detection point and a preset threshold comprises:
judging whether the energy value of the target detection point is greater than the preset threshold value or not;
when the energy value of the target detection point is larger than the preset threshold value, determining that a static target object exists in the environment;
and taking the distance corresponding to the target detection point as the distance between the static target object and the radar.
3. The method of claim 1, further comprising:
controlling the radar to perform continuous detection for at least two times to obtain at least two second target detection matrixes;
adding potential detection points which meet preset conditions in the at least two second target detection matrixes into a preset set; the preset condition represents that the energy value of the potential detection point is larger than the preset threshold value, and the speed corresponding to the potential detection point is not matched with the target speed;
if at least a preset number of target potential detection points exist in the preset set, determining that a moving target object exists in the environment; distances corresponding to different target potential detection points are consistent, and speeds corresponding to different target potential detection points are consistent.
4. The method of claim 3, further comprising:
acquiring the reflection sectional area of the moving target object;
judging whether the reflection sectional area is larger than a preset sectional area or not;
and when the reflection sectional area is larger than the preset sectional area, determining that a moving obstacle exists in the environment.
5. The method according to any one of claims 1 to 4, further comprising:
when a moving obstacle exists in the environment, generating an early warning signal;
and controlling the operation equipment to avoid the moving obstacle according to the early warning signal.
6. The utility model provides a device of detection object distance which characterized in that is applied to the operation equipment, be provided with the radar on the operation equipment, the device includes:
the detection module is used for controlling the radar to detect to obtain a first target detection matrix; each detection point in the first target detection matrix has a corresponding speed and distance;
the acquisition module is used for acquiring target detection points matched with the target speed in the first target detection matrix; the target speed is a component speed of the working equipment in the radar detection direction;
the detection module is further configured to determine a distance between a stationary target object in the environment and the radar according to the distance corresponding to the target detection point, the energy value of the target detection point, and a preset threshold.
7. The apparatus according to claim 6, wherein the detecting module is configured to determine whether an energy value of the target detection point is greater than the preset threshold;
the detection module is further configured to determine that a stationary target object exists in the environment when the energy value of the target detection point is greater than the preset threshold;
the detection module is further configured to use a distance corresponding to the target detection point as a distance between the stationary target object and the radar.
8. The apparatus of claim 6, wherein the detection module is further configured to control the radar to perform at least two consecutive detections, so as to obtain at least two second target detection matrices;
the detection module is further configured to add potential detection points, which meet a preset condition, in the at least two second target detection matrices to a preset set; the preset condition represents that the energy value of the potential detection point is larger than the preset threshold value, and the speed corresponding to the potential detection point is not matched with the target speed;
the detection module is further configured to determine that a moving target object exists in the environment if at least a preset number of target potential detection points exist in the preset set; distances corresponding to different target potential detection points are consistent, and speeds corresponding to different target potential detection points are consistent.
9. The apparatus of claim 8, wherein the detection module is further configured to obtain a cross-sectional area of a reflection of the moving target object;
the detection module is also used for judging whether the reflection sectional area is larger than a preset sectional area;
the detection module is further used for determining that a moving obstacle exists in the environment when the reflection sectional area is larger than a preset sectional area.
10. The apparatus of any one of claims 6 to 9, further comprising:
the obstacle avoidance module is used for generating an early warning signal when a moving obstacle exists in the environment;
and the obstacle avoidance module is also used for controlling the operation equipment to avoid the moving obstacle according to the early warning signal.
11. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method of any of claims 1 to 5.
12. A control unit, characterized by comprising a processor and a memory, the memory storing a computer program for execution by the processor to implement the method of any one of claims 1 to 5.
13. A work apparatus, comprising:
a body;
a radar mounted on the body;
the power equipment is arranged on the machine body and used for providing power for the working equipment;
and a control unit; the control unit comprises a processor and a memory, the memory storing a computer program for execution by the processor to implement the method of any one of claims 1 to 5.
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