CN114910888A - Scanner anomaly detection method and device, laser radar and storage medium - Google Patents
Scanner anomaly detection method and device, laser radar and storage medium Download PDFInfo
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Abstract
The invention relates to the technical field of laser radars, in particular to a scanner abnormity detection method and device, a laser radar and a storage medium. The abnormal detection method of the scanner is applied to a laser radar, wherein the laser radar is provided with a plurality of receiving channels, and the receiving channels belong to a plurality of sub-fields of view; the method comprises the following steps: receiving echo signals using the plurality of receive channels; determining condition information of a receiving channel of each sub-field of view for receiving a target signal, wherein the target signal is: the echo signal with the signal strength larger than a first threshold value; and determining whether the scanner of the laser radar is abnormal or not according to the condition information.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a scanner abnormity detection method and device, a laser radar and a storage medium.
Background
The laser radar emits laser signals, and the propagation direction of the laser signals is changed after the laser signals meet a measured object to form echo signals. After the returned echo signals are received by the laser radar, the ranging of the laser radar can be realized according to the transmitting parameters of the laser signals and the receiving parameters of the echo signals.
In a laser radar including a scanner (e.g., a Micro-Electro-Mechanical System (MEMS) galvanometer), the scanner may control an emitting direction of a laser signal, and if the scanner fails and stops, all scanning lights in the same view field may hit the same point, and the high energy of the laser may cause a risk of human eye safety. Therefore, for lidar incorporating a scanner, scanner anomaly detection is a major item of functional safety. When the diagnostic scanner stops swinging, the alarm needs to be given immediately and the light emission needs to be stopped.
In order to detect whether the scanner is abnormal, in the related art, a technician usually analyzes the point cloud generated by the laser radar ranging, and judges whether the scanner has a stop pendulum according to the distribution characteristics (such as the shape of the point cloud) of the point cloud.
Disclosure of Invention
The embodiment of the disclosure provides a scanner anomaly detection method and device, a laser radar and a storage medium.
A first aspect of the embodiments of the present disclosure provides a method for detecting an anomaly of a scanner, which is applied to a laser radar, where the laser radar has a plurality of receiving channels, and the plurality of receiving channels belong to a plurality of subfields; the method comprises the following steps:
receiving echo signals using the plurality of receive channels;
determining condition information of a receiving channel receiving a target signal in each of the sub-fields of view, wherein the target signal is: the echo signal with the signal strength larger than a first threshold value;
and determining whether the scanner of the laser radar is abnormal or not according to the condition information.
Based on the above solution, the determining whether the scanner of the lidar is abnormal according to the condition information includes:
determining whether the condition information satisfies a scanner exception condition;
and when the condition information meets the abnormal condition of the scanner, determining that the scanner of the laser radar is abnormal.
Based on the above scheme, the condition information includes at least one of:
receiving distribution position information of receiving channels with N bits before the number of the target signals is sequenced from high to low in each sub-view field;
the number of receiving channels for receiving the target signal in each sub-field of view;
the total number of the target signals received in each of the subfields.
Based on the above scheme, the condition information satisfies the abnormal condition of the scanner, and includes at least one of:
receiving channels of the X1 first N bits in the sub-fields of view sorted from high to low are distributed adjacently, and the scanner abnormality of the laser radar is determined; wherein the X1 is greater than a second threshold and less than or equal to X2, the X2 being the total number of subfields;
in the X sub-fields, the number Y of receiving channels corresponding to each sub-field for receiving the target signal is smaller than a third threshold, wherein the third threshold is smaller than the total number of receiving channels contained in one sub-field;
the total number of the target signals received by one of the sub-fields is smaller than a fourth threshold and larger than a fifth threshold.
Based on the above scheme, the method further comprises:
determining M receiving channels of each of the sub-fields of view, wherein the M receiving channels are: receiving channels with M bits before sequencing, wherein the number of the received target signals in the corresponding sub-fields is sequenced from high to low; when the ratio of the target signal receiving number of the m2 th receiving channel to the target signal receiving number of the m1 th receiving channel is greater than or equal to a preset value, determining that the m2 th receiving channel belongs to one of the receiving channels corresponding to the top N bits of the target signal receiving number in the sub-field of view from high to low;
the M receiving channels are sorted from large to small according to the receiving number of the target signals, and the receiving number of the target signals of the M2 th receiving channel is one bit behind the receiving number of the target signals of the M1 th receiving channel.
Based on the above scheme, when the condition information satisfies the scanner anomaly condition, determining that the scanner of the lidar is anomalous includes:
and when the condition information meets the scanner abnormity condition in a plurality of continuous scanning periods, determining that the scanner of the laser radar is abnormal.
Based on the above scheme, the method further comprises:
when the scanner abnormality is detected, an abnormality processing operation is performed.
Based on the above solution, when the scanner is detected to be abnormal, the abnormal processing operation is executed, which includes at least one of:
when the scanner is determined to be abnormal, controlling an alarm device to send out an alarm signal;
and stopping emitting the laser signal when the scanner is determined to be abnormal.
A second aspect of the embodiments of the present disclosure provides a scanner anomaly detection apparatus, which is applied to a lidar having a plurality of receiving channels belonging to a plurality of subfields; the device comprises:
a plurality of receiving channels for receiving echo signals;
a first determining module, configured to determine status information of a receiving channel that receives a target signal in each subfield, where the target signal is: the echo signal with the signal strength larger than a first threshold value;
and the second determining module is used for determining whether the scanner of the laser radar is abnormal or not according to the condition information.
Based on the above scheme, the second determining module is specifically configured to determine whether the condition information satisfies an abnormal condition of the scanner; and when the condition information meets the abnormal condition of the scanner, determining that the scanner of the laser radar is abnormal.
Based on the above scheme, the condition information includes at least one of:
each sub-field receives the distribution position information of receiving channels with N bits before the number of the target signals is sorted from high to low;
the number of receiving channels for receiving the target signal by each sub-field of view;
the total number of the target signals received by each of the sub-fields of view.
Based on the above scheme, the condition information satisfies the abnormal condition of the scanner, and includes at least one of:
receiving channels of the X1 first N bits in the sub-fields of view sorted from high to low are distributed adjacently, and the scanner abnormality of the laser radar is determined; wherein the X1 is greater than a second threshold and less than or equal to X2, the X2 being the total number of subfields;
the number Y of receiving channels receiving the target signal in the X sub-fields is smaller than a third threshold, wherein the third threshold is smaller than the total number of receiving channels contained in one sub-field;
the total number of the target signals received by one of the sub-fields is smaller than a fourth threshold and larger than a fifth threshold.
Based on the above scheme, the apparatus further comprises:
a third determining module, configured to determine M receiving channels of each of the sub-fields of view, where the M receiving channels are: receiving channels with M bits before sequencing, wherein the number of the received target signals in the corresponding sub-fields is sequenced from high to low; when the ratio of the target signal receiving number of the m2 th receiving channel to the target signal receiving number of the m1 th receiving channel is greater than a preset value, determining that the m2 th receiving channel belongs to one of the receiving channels which correspond to the top N bits of the target signal number received from high to low in the sub-receiving field;
the M receiving channels are sorted from large to small according to the receiving number of the target signals, and the receiving number of the target signals of the M2 th receiving channel is one bit behind the receiving number of the target signals of the M1 th receiving channel.
Based on the above scheme, the second determining module is further specifically configured to determine that the scanner of the lidar is abnormal when the condition information satisfies the scanner abnormality condition in a plurality of consecutive scanning periods.
Based on the above scheme, the apparatus further comprises: and the exception handling module is used for executing exception handling operation when the scanner is detected to be abnormal.
Based on the scheme, the exception handling module comprises at least one of a control module and a stopping module;
the control module is used for controlling an alarm device to send out an alarm signal when the scanner is determined to be abnormal; the stopping module is used for stopping emitting laser signals when the scanner is determined to be abnormal.
A third aspect of the embodiments of the present disclosure provides a laser radar, including: a processor and a memory for storing processor-executable instructions, the processor being configured to perform the method of the first aspect.
A fourth aspect of an embodiment of the present disclosure provides a computer-readable storage medium storing a computer program; the computer program is configured to enable, when executed by a processor, the method according to the first aspect.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following beneficial effects:
the condition information of a receiving channel which receives the target signal in each sub-view field is determined, whether the scanner is abnormal or not is determined through the condition information, and compared with the method for judging whether the scanner is abnormal or not according to the distribution characteristics of the point cloud in the related technology, whether the scanner is abnormal or not can be directly determined according to the optical characteristics of emission and reception, the distribution characteristics of the point cloud do not need to be deeply analyzed, so that the defect that point cloud data analysis is easily affected by various factors can be reduced, the detection accuracy can be improved, and the false alarm rate can be reduced.
Drawings
Fig. 1 is a schematic flowchart of a scanner anomaly detection method according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of a corresponding relationship between outgoing light at different angles and a receiving channel according to an embodiment of the disclosure;
fig. 3 is a schematic diagram illustrating a corresponding relationship between an emergent light and a receiving channel after a scanner stops wobbling according to an embodiment of the disclosure;
FIG. 4 is a schematic flow chart diagram illustrating another method for detecting scanner anomalies according to an embodiment of the present disclosure;
FIG. 5 is a schematic flowchart of another method for detecting scanner anomalies according to an embodiment of the present disclosure;
fig. 6 is an actual point cloud image of a laser radar after a scanner has stopped oscillating according to an embodiment of the present disclosure;
fig. 7 is a block diagram of a scanner anomaly detection device according to an embodiment of the present disclosure;
fig. 8 is a block diagram of another scanner anomaly detection device according to an embodiment of the present disclosure.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
As shown in fig. 1, an embodiment of the present disclosure provides a scanner anomaly detection method applied to a lidar having a plurality of receiving channels belonging to a plurality of subfields; the method can comprise the following steps:
s11: receiving echo signals by using a plurality of receiving channels;
s12: determining condition information of a receiving channel receiving a target signal in each sub-field of view, wherein the target signal is: echo signals with signal intensity greater than a first threshold value;
s13: and determining whether the scanner of the laser radar is abnormal or not according to the condition information.
The lidar may include a plurality of transmitters and a plurality of receive channels.
The reception range of these reception channels constitutes the field of view of the lidar. The field of view may in turn be divided into different sub-fields of view. Illustratively, the receive channels may constitute one or more receive arrays. One said sub-field of view corresponding to one or more receive arrays; alternatively, a plurality of subfields may correspond to one receiving array. It is worth noting that: the receiving channels corresponding to different sub-fields of view differ at least in part.
In the disclosed embodiment, multiple transmitters of the lidar will share a single scanner.
The scanner may include one or more lenses or faceted prisms each having one or more reflective surfaces. At this time, the scanner may further include a motor, one or more lenses or polygon mirrors are mounted on a rotation shaft of the motor, and the one or more lenses or polygon mirrors may rotate at a high speed by the rotation of the motor, so that incident angles of laser signals incident on the scanner are different, and an exit angle of the laser signals may be changed by refraction of the scanner, thereby implementing a large-angle, high-speed beam scan.
The scanner can also be a MEMS scanning mirror, and the emergent angle of the laser signal is changed through reflection. The scanner can translate and/or rotate, so that the incident angle of the laser signal incident on the scanner is different, and the exit angle of the laser signal is changed after the laser signal is reflected by the scanner.
The laser signals include, but are not limited to: a laser pulse.
The laser signal is reflected to form an echo signal returned to the laser radar after acting on the measured object. The echo signal may be received by a sub-field of view of the lidar.
The sub-fields of view may include: an array of Avalanche Photodiodes (APDs).
And the sub-field realizes the conversion from the optical signal to the electric signal according to the echo signal.
In one embodiment, the optical axis of the light emitted by the laser and the optical axis of the light received by the sub-field of view are different, i.e. the lidar may be an iso-radar.
In an embodiment of the present disclosure, the condition information of the reception channel on which the target signal is received is determined by determining each of the subfields. The condition information reflects the reception of the target signal corresponding to the sub-field.
The status information may indicate at least one of:
in a receiving time window of a laser signal emitted by a certain laser, whether an echo signal (namely a target signal) with the received signal intensity larger than a first threshold exists in a corresponding sub-field of view or not is judged, wherein the first threshold can be an intensity threshold;
receiving the time information of each target signal corresponding to the sub-field of view;
the distribution positions of the receiving channels receiving the target signal in the receiving channels corresponding to the whole sub-field of view, for example, whether the receiving channels are distributed in a centralized manner in one or more receiving channels included in the corresponding sub-field of view;
and the total number of the target signals received by the corresponding sub-visual fields in the receiving time window.
The corresponding sub-field of view may also receive an interference signal when receiving the echo signal; and the signal strength of the interference signal is weaker under the common conditions due to the transmission distance and the like, so that after the signal strength is compared with the first threshold value, part of the interference signal which causes misjudgment can be filtered, and the accuracy of judging whether the scanner is abnormal or not is improved.
Whether the scanner is abnormal or not is determined through the condition information, compared with the method that whether the scanner is abnormal or not is judged according to the distribution characteristics of the point cloud in the related technology, whether the scanner is abnormal or not can be directly determined according to the transmitting and receiving optical characteristics, deep analysis on the distribution characteristics of the point cloud is not needed, the defect that point cloud data analysis is easily affected by various factors can be reduced, the detection accuracy can be improved, and the false alarm rate is reduced.
In a non-coaxial lidar, as shown in fig. 2, for outgoing light at one angle, only one or more receiving channels with the strongest response energy in the corresponding sub-fields are used for receiving. The strongest receiving channel can be predetermined through testing (training) and other modes before leaving a factory, the number of the laser signal emitted by the laser and the channel number of the receiving channel are correspondingly written into a configuration file of the laser radar, and a controller of the subsequent laser radar can control the laser signal emission and the echo signal reception of the laser radar according to the configuration file.
For example, taking 400 emission angles of laser signals corresponding to one sub-visual field as an example, the number of the strongest receiving channel of echo signals corresponding to the laser signals of 101 st to 110 th emission angles is 61, and the number of the strongest receiving channel of echo signals corresponding to the laser signals of 111 st to 120 th emission angles is 62, in actual operation, the laser radar acquires only the received signal of the number 61 as the echo signal corresponding to the laser signals of 101 st to 110 th emission angles, and only the received signal of the number 62 as the echo signal corresponding to the laser signals of 111 th to 120 th emission angles.
Based on the above, in the laser radar including the scanner, the emission light angle is controlled by the scanner, after the scanner stops swinging, the emission light has only one angle, and some fixed receiving channels always have light signal irradiation, but because the strongest receiving channel of each angle is preset, only the target signal within a certain range of the swinging stopping angle can be received by the preset strongest receiving channel, other target signals irradiate on the non-strongest receiving channel, and the corresponding strongest receiving channel cannot receive the effective signal (the effective signal is the target signal), so that the receiving channels capable of receiving the target signal can also concentrate on one receiving channel or adjacent receiving channels in the sub-field of view, and the rest receiving channels cannot receive the corresponding target signal.
Therefore, in this embodiment, the receiving channel receiving the target signal refers to a preset strongest receiving channel receiving the target signal, and thus, whether the scanner is abnormal or not may be determined according to the distribution position information of the receiving channels capable of receiving the target signal (i.e., whether the receiving channels receiving the largest number of target signals are distributed centrally or not) and/or the number and/or the total number of the target signals received in one scanning period corresponding to one sub-field.
That is, in a sub-field, when a plurality of receiving channels receiving the largest number of target signals are adjacent, and/or the number of receiving channels receiving the target signals is smaller than the total number of receiving channels included in the sub-field, and/or the total number of receiving the target signals is within a certain threshold range (the threshold range is determined according to the total number of the target signals to be received in one scanning period corresponding to the sub-field when the scanner is normal, and the number of the target signals to be received when the laser is damaged or blocked by dirt), it is determined that the scanner is abnormal. And when the plurality of receiving channels with the largest number of received target signals are not adjacent, and/or the number of the receiving channels receiving the target signals is equal to the total number of the receiving channels contained in the corresponding sub-field of view, and/or the total number of the receiving channels receiving the target signals is not in the preset range, determining that the non-scanner is abnormal.
Based on the above, in some embodiments, the condition information may include at least one of:
firstly, receiving the distribution position information of receiving channels with N bits before the number of target signals received by each sub-field is sorted from high to low; wherein N is an integer greater than or equal to 2.
And secondly, the number of receiving channels for receiving the target signal in each sub-field of view.
And thirdly, receiving the total number of the target signals by each sub-field.
In some embodiments, determining whether the scanner of the lidar is abnormal based on the condition information may include:
determining whether the condition information satisfies a scanner exception condition; when the condition information satisfies a scanner abnormality condition, it is determined that the scanner of the laser radar is abnormal.
In some embodiments, the condition information satisfies a scan exception condition, including at least one of:
the number of receiving channels of N bits before the target signals are received in the X1 sub-fields is sorted from high to low and distributed adjacently, and the abnormality of a scanner of the laser radar is determined; wherein, X1 is greater than or equal to the second threshold and less than or equal to X2, and X2 is the total number of subfields.
And the number Y of receiving channels receiving the target signal in the second and X sub-fields is smaller than a third threshold, wherein the third threshold is smaller than the total number of receiving channels contained in one sub-field.
And thirdly, the total number of the target signals received by one sub-field is smaller than a fourth threshold and larger than a fifth threshold.
That is, in these embodiments, the first corresponds to the first phase in the condition information, the second corresponds to the second phase in the condition information, and the third corresponds to the third phase in the condition information.
When the condition information satisfies at least one or more of the following:
and when the receiving channels of the first N bits in the first X1 sub-fields are distributed adjacently from high to low, determining that the scanner of the laser radar is abnormal. Here, X1 may be close to X2, so that the larger the number of subfields distributed adjacently to N receiving channels receiving the largest number of target signals is, the more the abnormality of the scanner can be determined, and thus, the false alarm rate can be reduced and the detection accuracy can be improved. Wherein, for example, X2 is equal to 8, X1 may be greater than or equal to 5.
And when the number Y of receiving channels receiving the target signals in the second and X sub-fields is smaller than a third threshold value, determining that the scanner of the laser radar is abnormal. Here, X may also be close to X2, so that, as the number of the sub-fields receiving the target signal is larger, the abnormality of the scanner can be determined, and thus, the false alarm rate can be reduced, and the detection accuracy can be improved. Wherein, for example, X may be equal to X2.
And thirdly, when the total number of the target signals received by one sub-field is smaller than a fourth threshold (an upper threshold of the total number of the target signals actually received) and larger than a fifth threshold (a lower threshold of the total number of the target signals actually received), determining that the scanner of the laser radar is abnormal. Here, the fourth threshold and the fifth threshold both relate to the total number of target signals that should be received by the subfield in the normal condition of the scanner, for example, in the normal condition of the scanner, for a subfield, the total number of target signals that should be received by the subfield is 6400, then the fourth threshold may be 6200, and the fifth threshold may be 200, correspondingly, the lower threshold of the number of lost points of the subfield is equal to the upper threshold of the total number of target signals that should be received by the subfield minus the total number of target signals that should be actually received, and is 200, and the upper threshold of the number of lost points of the subfield is equal to the lower threshold of the total number of target signals that should be received by the subfield minus the total number of target signals that should be actually received, and is 6200. At this time, when the total number of target signals received by one sub-field is smaller than the fourth threshold and larger than the fifth threshold, it indicates that the scanner is abnormal, and at the same time, other possible abnormalities of the sub-field, such as damage of the emitter corresponding to the sub-field, window contamination, etc., can also be eliminated.
In some embodiments, the method further comprises: determining M receiving channels of each sub-field of view, wherein the M receiving channels are as follows: and receiving channels with M bits before the sequencing, wherein the number of the received target signals in the corresponding sub-fields is sequenced from high to low.
When the ratio of the target signal receiving number of the m2 th receiving channel to the target signal receiving number of the m1 th receiving channel is larger than a preset value, determining that the m2 th receiving channel belongs to one of the receiving channels which have the first N bits of the received target signal number from high to low in the corresponding sub-field. The M receiving channels are sorted from large to small according to the receiving number of the target signals, and the receiving number of the target signals of the M2 th receiving channel is one bit behind the receiving number of the target signals of the M1 th receiving channel.
In these embodiments, when the ratio between the target signal receiving number of the m2 th receiving channel and the target signal receiving number of the m1 th receiving channel is greater than the preset value, it is determined that the m2 th receiving channel belongs to one of the receiving channels with the number of target signals received in the corresponding sub-field ranked from high to low, and introduction of an effective receiving channel (that is, a larger target signal receiving number of one or more receiving channels due to environmental interference) caused by environmental interference can be avoided, so that detection accuracy can be improved.
In some embodiments, the preset value may be any value between 1/4 and 3/4.
For example, when the preset value is 1/2, the number of target signal receptions of the next receiving channel is not less than half of the number of target signal receptions of the previous receiving channel among the N receiving channels.
In some embodiments, M may be determined according to the spot size of a specific lidar and the size of a single receiving channel, and M may be the maximum number of receiving channels that can be covered by one spot in the lidar.
In some embodiments, determining that the scanner of the lidar is abnormal when the condition information satisfies a scanner abnormality condition includes:
and determining that the scanner of the laser radar is abnormal when the condition information meets the scanner abnormity condition in a plurality of continuous scanning periods.
That is, in order to improve the detection accuracy and reduce the false alarm rate, continuous multi-frame scanning can be adopted to detect whether the scanner is abnormal.
In some embodiments, as shown in fig. 4, the method further comprises: s14, when the scanner abnormality is detected, an abnormality processing operation is performed.
In particular, in some embodiments, when a scanner anomaly is detected, an exception handling operation is performed, including at least one of:
and when the scanner is determined to be abnormal, controlling an alarm device to send out an alarm signal.
And stopping emitting the laser signal when the scanner is determined to be abnormal.
Based on the above, as shown in fig. 5, an embodiment of the present disclosure provides a specific example of a scanner anomaly detection method, which is applied to a laser radar, where the laser radar has multiple receiving channels, and the multiple receiving channels belong to multiple sub-fields of view; the method comprises the following steps:
step 1), receiving echo signals by using a plurality of receiving channels, and generating point cloud data according to target signals (echo signals with the intensity larger than a first threshold value) received by the receiving channels contained in each sub-view field in a scanning period.
As shown in fig. 6, the actual cloud point diagram after the scanner of the laser radar is stopped, in the cloud point diagram, a horizontal axis (e.g., an x axis in fig. 6) represents horizontal position information of the object to be measured in the spatial coordinate system, a vertical axis (e.g., a y axis in fig. 6) represents vertical position information of the object to be measured in the spatial coordinate system, and the point cloud density represents how many target signals are received.
Step 2), counting the number of lost points of each sub-view field, and judging that all the lost points of all the sub-view fields are lost and the number of lost points accords with an upper threshold and a lower threshold (the upper threshold and the lower threshold can meet the condition that a sixth threshold is larger than or equal to or smaller than a seventh threshold) so as to distinguish the lost points in other forms, such as single-view laser damage, window dirt and the like.
Specifically, under a normal condition of the scanner, in a scanning cycle, each subfield should receive a target signal and the point cloud data corresponding to each subfield, that is, the total number of the subfields should receive the target signal is the same as the total number of the point cloud data corresponding to the subfield, so that when the total number of the subfields received the target signal is smaller than a fourth threshold and larger than a fifth threshold, the total number of the point cloud data corresponding to each subfield is also smaller than the fourth threshold and larger than the fifth threshold, correspondingly, the number of the missing points of each subfield is larger than or equal to the total number minus the fourth threshold, and smaller than or equal to the total number minus the fifth threshold, and corresponding to the upper and lower threshold, the total number of the subfields received the target signal minus the fourth threshold is the lower threshold (i.e., the sixth threshold) of the upper and lower thresholds, the upper threshold (i.e. the seventh threshold) of the upper and lower thresholds is obtained by subtracting the fifth threshold from the total number of the target signals that should be received by each subfield.
That is, in a case where the total number of target signals to be received by each of the subfields is constant, the fifth threshold (i.e., the lower limit of the total number of target signals received by each of the subfields) is smaller as the upper limit threshold (of the number of lost points) is larger, the fourth threshold (i.e., the upper limit of the total number of target signals received by each of the subfields) is smaller as the lower limit threshold (of the number of lost points) is larger, and conversely, the fifth threshold (i.e., the lower limit of the total number of target signals received by each of the subfields) is larger as the upper limit threshold (of the number of lost points) is smaller, and the fourth threshold (i.e., the upper limit of the total number of target signals received by each of the subfields) is larger as the lower limit threshold (of the number of lost points) is smaller.
For example, in a case that the scanner is normal, the total number of target signals received by each subfield may be 6400, the fourth threshold is 6200, and the fifth threshold is 200 in one scanning cycle, for example, the number of missing points of each subfield is greater than or equal to 200 and less than or equal to 6200.
Based on the above, when all the subfields have a large number of lost points, if the number of the subfields whose lost points meet the upper and lower threshold values is equal to the total number of the subfields, it indicates that the scanner is abnormal, and when only part of the subfields have a large number of lost points, if the number of the subfields whose lost points meet the upper and lower threshold values is less than the total number of the subfields, it cannot be determined that the lost points caused by the abnormality of the scanner, that is, it is determined that the non-scanner is abnormal.
And 3) extracting effective channel numbers (namely channel numbers corresponding to the M receiving channels receiving the most target signals (namely the preset strongest receiving channel) from the point cloud data with the ranging information in each sub-field, and judging whether the effective channels corresponding to the effective channel numbers (namely the M receiving channels receiving the most target signals) are adjacent.
1) And counting the channel number corresponding to the strongest receiving channel of each sub-field ranging point.
2) And sorting the channel numbers corresponding to the strongest receiving channels from large to small according to the point number, and taking out the first n channel numbers (n is determined according to a specific laser radar scheme and is the maximum receiving channel number which can be covered by one light spot in the laser radar scheme), namely the effective channel number.
In order to reduce the effective channel number generated by the environmental interference, a selection condition may be set, for example, in the first n channel numbers, the number of points corresponding to the next channel number is not less than half of the number of points corresponding to the previous channel number according to the sorting.
3) And judging whether the n channel numbers are adjacent or not according to the preset positions of the channel numbers.
And 4) counting the number of the sub-fields which meet the adjacent channel numbers, and judging that the scanner is abnormal if the number is not less than a set threshold value. The setting threshold value example can be less than or equal to the total number of the view fields, the larger the setting threshold value is, the lower the false alarm rate is, but the higher the false alarm rate is, the smaller the setting threshold value is, the higher the false alarm rate is, but the lower the false alarm rate is, and a proper setting threshold value can be selected according to the actual point cloud effect.
In order to reduce the false alarm rate, continuous multiframes can be adopted to meet the abnormal diagnosis of the scanner, namely the abnormal condition of the scanner is met in a plurality of continuous scanning periods, and the abnormal condition of the scanner is determined and the abnormal processing operation is executed.
As shown in fig. 7, an embodiment of the present disclosure provides a scanner anomaly detection apparatus, which is applied to a laser radar, where the laser radar has multiple receiving channels, and the multiple receiving channels belong to multiple sub-fields of view; the method comprises the following steps:
a plurality of receiving channels 10 for receiving echo signals;
a first determining module 110, configured to determine condition information of the receiving channel 10 receiving the target signal in each sub-field, where the target signal is: echo signals with signal intensity greater than a first threshold value;
and a second determining module 120, configured to determine whether the scanner of the lidar is abnormal according to the condition information.
In some embodiments, the first determination module 110, the second determination module 120 may be program modules; the program modules may be executed by a processor to perform the functions of the various modules described above.
In other embodiments, the first determining module 110 and the second determining module 120 may be a combination of hardware and software modules; the soft and hard combining module includes but is not limited to various programmable arrays; programmable arrays include, but are not limited to: field programmable arrays and/or complex programmable arrays.
In still other embodiments, the first determining module 110 and the second determining module 120 may be pure hardware modules including, but not limited to, application specific integrated circuits.
In some embodiments, the lidar includes a transmitter that transmits a laser signal and one or more receive arrays; the optical axes of the transmitter and receiving arrays are different.
In these embodiments, the difference in the optical axes of the transmitter and the receiving array here means: the transmitting optical axis of the transmitter is different from the receiving optical axis of the receiving array, that is, the lidar is an anisometric lidar and can also be called a non-coaxial lidar.
The receiving channels of the receiving channels form the field of view of the laser radar, and the field of view can be divided into different sub-fields of view. Illustratively, the receive channels may constitute one or more receive arrays. One said sub-field of view corresponding to one or more receive arrays; alternatively, multiple subfields may correspond to one receive array. It is worth noting that: the receiving channels corresponding to different sub-fields of view differ at least in part.
In some embodiments, the second determining module 120 is specifically configured to determine whether the condition information is a scanner abnormal condition. When the condition information satisfies a scanner abnormality condition, it is determined that the scanner of the laser radar is abnormal.
In some embodiments, the condition information includes at least one of:
the distribution position information of the N receiving channels 10 with the maximum number of received target signals in each sub-field of view;
the number of receiving channels 10 receiving the target signal in each sub-field;
the total number of target signals received per subfield.
In some embodiments, the condition information satisfies a scanner exception condition, including at least one of:
n receiving channels 10 are distributed adjacently before the number of the received target signals in the X1 sub-fields is sorted from high to low, and the abnormality of the scanner of the laser radar is determined; wherein X1 is greater than the second threshold and less than or equal to X2, and X2 is the total number of subfields;
the number Y of the receiving channels 10 receiving the target signal in the X sub-fields is smaller than a third threshold value, wherein the third threshold value is smaller than the total number of the receiving channels 10 contained in the sub-fields;
the total number of target signals received by one sub-field is smaller than the fourth threshold and larger than the fifth threshold.
In some embodiments, as shown in fig. 8, the apparatus further comprises:
a third determining module 130, configured to determine M receiving channels of each subfield, where the M receiving channels are: receiving channels with M bits before sequencing, wherein the number of the received target signals in the corresponding sub-fields is sequenced from high to low; when the ratio of the target signal receiving number of the m2 th receiving channel to the target signal receiving number of the m1 th receiving channel is larger than a preset value, determining that the m2 th receiving channel belongs to one of the receiving channels 10 which have the first N bits in the sequence from high to low of the target signal receiving number received in the corresponding sub-field; the M receiving channels are sorted from large to small according to the receiving number of the target signals, and the receiving number of the target signals of the M2 th receiving channel is one bit behind the receiving number of the target signals of the M1 th receiving channel.
In some embodiments, the second determining module 120 is further specifically configured to determine that the scanner of the lidar is abnormal when the condition information satisfies the scanner abnormality condition in a plurality of consecutive scanning cycles.
Based on the above, in some embodiments, the apparatus further comprises: and the exception handling module is used for executing exception handling operation when the scanner exception is detected.
In some embodiments, the exception handling module includes at least one of a control module and a stop module:
the control module is used for controlling the alarm device to send out an alarm signal when the scanner is determined to be abnormal; the stopping module is used for stopping emitting the laser signal when the scanner is determined to be abnormal.
An embodiment of the present disclosure provides a laser radar, including: a processor and a memory for storing processor executable instructions, the processor being configured to perform the scanner anomaly detection method as described above.
In some embodiments, the lidar may include a transmitter that transmits a laser signal and a receive array that receives an echo signal.
In some embodiments, the processor may be electrically connected to the transmitter and the plurality of receiving channels for controlling the transmitter to transmit the laser signal and to perform ranging based on the target signal received by the receiving channels.
In some embodiments, the processor may include various chips and/or circuits with control functions.
For example, the processor may include a conversion circuit for converting a photocurrent generated by the receive channel based on the received echo signal into a photovoltage; and the processing circuit is connected with the amplifying circuit and determines information for ranging such as the receiving time of the echo signal according to the converted photoelectric voltage.
Some embodiments of the present disclosure provide a vehicle comprising: any of the foregoing embodiments provide a lidar.
The vehicle may be an autonomous vehicle or a drive-assisted vehicle. The laser radar is used for ranging of the vehicle in the running process.
In some embodiments, the vehicle further comprises: drive systems, motion chassis and frames, etc.; the frame is installed on the motion chassis, and laser radar installs on the frame. And the driving system is used for controlling the distance measurement according to the laser radar and driving the motion chassis to move.
The disclosed embodiments also provide a computer-readable storage medium having a computer program stored thereon; the computer program is configured to be executed by a processor, and can implement the scanner abnormality detection method provided by any of the foregoing technical solutions, and the processor can implement any of the methods shown in fig. 1, fig. 4 and fig. 5 by executing the computer program.
It should be understood by those skilled in the art that the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (18)
1. The abnormal detection method of the scanner is characterized by being applied to a laser radar which is provided with a plurality of receiving channels; the plurality of receive channels belong to a plurality of subfields; the method comprises the following steps:
receiving echo signals by using the plurality of receiving channels;
determining condition information of a receiving channel of each sub-field of view for receiving a target signal, wherein the target signal is: the echo signal with the signal strength larger than a first threshold value;
and determining whether the scanner of the laser radar is abnormal or not according to the condition information.
2. The method of claim 1, wherein determining whether a scanner of the lidar is abnormal based on the condition information comprises:
determining whether the condition information satisfies a scanner exception condition;
and when the condition information meets the abnormal condition of the scanner, determining that the scanner of the laser radar is abnormal.
3. The method of claim 2, wherein the condition information comprises at least one of:
receiving distribution position information of receiving channels with N bits before the number of the target signals is sequenced from high to low in each sub-view field;
the number of receiving channels for receiving the target signal in each sub-field of view;
the total number of the target signals received in each of the subfields.
4. The method of claim 2, wherein the condition information satisfies the scanner exception condition, comprising at least one of:
receiving channels of the X1 first N bits in the sub-fields of view sorted from high to low are distributed adjacently, and the scanner abnormality of the laser radar is determined; wherein the X1 is greater than a second threshold and less than or equal to X2, the X2 being the total number of subfields;
the number Y of receiving channels receiving the target signal in the X sub-fields is smaller than a third threshold, wherein the third threshold is smaller than the total number of receiving channels contained in one sub-field;
the total number of the target signals received by one of the sub-fields is smaller than a fourth threshold and larger than a fifth threshold.
5. The detection method according to claim 3, further comprising:
determining M receive channels for each of the subfields; wherein the M receiving channels are: receiving channels with M bits before sequencing, wherein the number of the received target signals in the corresponding sub-fields is sequenced from high to low;
when the ratio of the target signal receiving number of the m2 th receiving channel to the target signal receiving number of the m1 th receiving channel is greater than or equal to a preset value, determining that the m2 th receiving channel belongs to one of the receiving channels which correspond to the first N bits of the sub-field from high to low in the number of received target signals;
the M receiving channels are sorted from large to small according to the receiving number of the target signals, and the receiving number of the target signals of the M2 th receiving channel is one bit behind the receiving number of the target signals of the M1 th receiving channel.
6. The method of claim 2, wherein determining that the scanner of the lidar is abnormal when the condition information satisfies the scanner anomaly condition comprises:
and determining that the scanner of the laser radar is abnormal when the condition information meets the scanner abnormity condition in a plurality of continuous scanning periods.
7. The method according to any one of claims 1 to 6, further comprising:
and when the scanner is detected to be abnormal, executing abnormal processing operation.
8. The method of claim 7, wherein when the scanner anomaly is detected, performing an anomaly handling operation comprises at least one of:
when the scanner is determined to be abnormal, controlling an alarm device to send out an alarm signal;
and stopping emitting the laser signal when the scanner is determined to be abnormal.
9. The scanner abnormity detection device is applied to a laser radar, wherein the laser radar is provided with a plurality of receiving channels, and the plurality of receiving channels belong to a plurality of sub-fields of view; the device comprises:
a plurality of receiving channels for receiving echo signals;
a first determining module, configured to determine status information of a receiving channel that receives a target signal in each subfield, where the target signal is: the echo signal with the signal strength larger than a first threshold value;
and the second determination module is used for determining whether the scanner of the laser radar is abnormal or not according to the condition information.
10. The apparatus of claim 9,
the second determining module is specifically configured to determine whether the status information satisfies an abnormal condition of the scanner; and when the condition information meets the abnormal condition of the scanner, determining that the scanner of the laser radar is abnormal.
11. The apparatus of claim 10, wherein the condition information comprises at least one of:
receiving distribution position information of receiving channels with N bits before the number of the target signals is sequenced from high to low in each sub-view field;
the number of receiving channels for receiving the target signal in each sub-field of view;
the total number of the target signals received by each of the sub-fields of view.
12. The apparatus of claim 10, wherein the condition information satisfies the scanner exception condition, comprising at least one of:
receiving channels of the X1 first N bits in the sub-fields of view sorted from high to low are distributed adjacently, and the scanner abnormality of the laser radar is determined; wherein the X1 is greater than a second threshold and less than or equal to X2, the X2 being the total number of subfields;
the number Y of receiving channels receiving the target signal in the X sub-fields is smaller than a third threshold, wherein the third threshold is smaller than the total number of receiving channels contained in one sub-field;
the total number of the target signals received by one of the sub-fields is smaller than a fourth threshold and larger than a fifth threshold.
13. The apparatus of claim 11,
the device further comprises:
a third determining module, configured to determine M receiving channels of each of the sub-fields of view, where the M receiving channels are: receiving channels with M bits before sequencing, wherein the number of the received target signals in the corresponding sub-fields is sequenced from high to low; when the ratio of the target signal receiving number of the m2 th receiving channel to the target signal receiving number of the m1 th receiving channel is greater than a preset value, determining that the m2 th receiving channel belongs to one of the receiving channels which correspond to the N bits of the sub-field and receive the target signal from high to low;
the M receiving channels are sorted from large to small according to the receiving number of the target signals, and the receiving number of the target signals of the M2 th receiving channel is one bit behind the receiving number of the target signals of the M1 th receiving channel.
14. The apparatus of claim 10,
the second determining module is further specifically configured to determine that the scanner of the lidar is abnormal when the condition information satisfies the scanner abnormality condition in a plurality of consecutive scanning periods.
15. The apparatus according to any one of claims 9 to 14,
the device further comprises: and the exception handling module is used for executing exception handling operation when the scanner is detected to be abnormal.
16. The apparatus of claim 15, wherein the exception handling module comprises at least one of a control module and a stop module;
the control module is used for controlling an alarm device to send out an alarm signal when the scanner is determined to be abnormal; the stopping module is used for stopping emitting laser signals when the scanner is determined to be abnormal.
17. A lidar characterized by comprising: a processor and a memory for storing processor-executable instructions, the processor configured to perform the method of any of claims 1-8.
18. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program; the computer program is configured to enable a processor to carry out the method according to any one of claims 1 to 8 when executed.
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