CN117148363A - Method and system for detecting obstacle height by ultrasonic wave - Google Patents
Method and system for detecting obstacle height by ultrasonic wave Download PDFInfo
- Publication number
- CN117148363A CN117148363A CN202311149744.5A CN202311149744A CN117148363A CN 117148363 A CN117148363 A CN 117148363A CN 202311149744 A CN202311149744 A CN 202311149744A CN 117148363 A CN117148363 A CN 117148363A
- Authority
- CN
- China
- Prior art keywords
- obstacle
- height
- ultrasonic
- determining
- correction value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000005259 measurement Methods 0.000 claims abstract description 34
- 238000001514 detection method Methods 0.000 claims abstract description 32
- 230000007613 environmental effect Effects 0.000 claims abstract description 26
- 238000012937 correction Methods 0.000 claims description 120
- 239000000463 material Substances 0.000 claims description 17
- 238000010521 absorption reaction Methods 0.000 claims description 14
- 238000012545 processing Methods 0.000 claims description 13
- 230000004888 barrier function Effects 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 8
- 238000003709 image segmentation Methods 0.000 claims description 5
- 230000009286 beneficial effect Effects 0.000 description 11
- 229910000831 Steel Inorganic materials 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 230000003068 static effect Effects 0.000 description 3
- 241001465754 Metazoa Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 238000013527 convolutional neural network Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Classifications
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/50—Systems of measurement, based on relative movement of the target
- G01S15/52—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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/42—Simultaneous measurement of distance and other co-ordinates
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention provides a method and a system for detecting the height of an obstacle by ultrasonic waves, wherein the method comprises the following steps: collecting a video in front of an ultrasonic sensor, identifying the video, and determining an obstacle to be detected; transmitting detection ultrasonic waves to an obstacle to be detected by using an ultrasonic sensor and receiving reflected ultrasonic waves reflected by the surface of the obstacle to be detected; determining an initial value of height measurement of the obstacle to be measured based on the detected ultrasonic wave and the reflected ultrasonic wave; and acquiring environmental parameters, correcting the initial value of the measurement of the height of the obstacle to be measured based on the environmental parameters, and determining the height of the obstacle to be measured. The invention recognizes and calculates the height of the moving obstacle, considers the environmental parameters, corrects the initial value of the detection of the height of the obstacle to be detected, and measures the height of the obstacle to be detected more accurately.
Description
Technical Field
The invention relates to the technical field of computer data processing, in particular to a method and a system for detecting the height of an obstacle by ultrasonic waves.
Background
The ultrasonic detection of the obstacle height determines the distance and height of the obstacle by transmitting an ultrasonic signal and receiving a signal reflected from the obstacle by the ultrasonic wave. Ultrasonic detection has application in many fields such as unmanned aerial vehicle obstacle avoidance, automatic navigation, auxiliary parking systems and the like. The ultrasonic detection can timely measure the height of the obstacle, and can realize the functions of height early warning and obstacle avoidance so as to ensure safe and reliable operation. However, in the actual detection process, the detection is usually performed only in a static state, the motion state is not considered, meanwhile, the detection is performed by adopting the ultrasonic standard sound velocity, the influence of the air flow rate, the temperature, the humidity and the obstacle surface material is not considered, and the detection result cannot meet the accurate requirement. Thus, a new method of ultrasonically detecting the height of an obstacle in consideration of environmental parameters is needed.
The prior art CN109814114B provides an ultrasonic radar array, an obstacle detection method and a system, which accurately determine the position of an obstacle by judging false detection and missed detection of each ultrasonic radar in the ultrasonic radar array, but the prior art CN109814114B does not consider environmental parameters to correct the standard sound velocity of the ultrasonic.
Disclosure of Invention
The method for detecting the height of the obstacle by using the ultrasonic waves provided by the embodiment of the invention comprises the following steps:
collecting a video in front of an ultrasonic sensor, identifying the video, and determining an obstacle to be detected;
transmitting detection ultrasonic waves to an obstacle to be detected by using an ultrasonic sensor and receiving reflected ultrasonic waves of the surface of the obstacle to be detected for reflecting the detection ultrasonic waves;
determining an initial value of height measurement of the obstacle to be measured based on the detected ultrasonic wave and the reflected ultrasonic wave;
and acquiring environmental parameters, correcting the initial value of the measurement of the height of the obstacle to be measured based on the environmental parameters, and determining the height of the obstacle to be measured.
Preferably, capturing a video in front of the ultrasonic sensor, identifying the video, and determining the obstacle to be detected, including:
collecting video;
calculating the pixel gradient of the video;
judging whether the pixel gradient of the video is larger than a set pixel gradient threshold value, if so, confirming the corresponding pixel as a division point, otherwise, not processing;
all the dividing points are connected according to a closed line, and an image dividing line is confirmed;
based on the image dividing line, image dividing is carried out on the video, and a plurality of image dividing blocks are determined;
constructing an obstacle recognition model based on historical data;
and carrying out obstacle recognition on the plurality of image segmentation blocks by using an obstacle recognition model, and determining the obstacle to be detected.
Preferably, determining the obstacle height measurement initial value to be measured based on the detected ultrasonic wave and the reflected ultrasonic wave includes:
acquiring a first position coordinate of the ultrasonic sensor and a first angle of the ultrasonic sensor when the ultrasonic sensor emits ultrasonic waves at a first moment;
acquiring a second position coordinate of the ultrasonic sensor and a second angle of the ultrasonic sensor when the ultrasonic sensor receives the second moment of the ultrasonic wave;
calculating the time difference between the first moment and the second moment, acquiring the standard sound velocity of the ultrasonic wave, and determining the initial value of the propagation distance of the ultrasonic wave;
and determining an initial value of the height measurement of the obstacle to be measured based on the position change of the ultrasonic sensor, the first angle and the second angle.
Preferably, obtaining an environmental parameter, correcting an initial value of the measurement of the height of the obstacle to be measured, and determining the height of the obstacle to be measured includes:
acquiring a temperature parameter and determining a first correction value of the height;
acquiring a humidity parameter and determining a second correction value of the height;
acquiring an air flow rate parameter and determining a third correction value of the height;
acquiring surface parameters of an obstacle to be detected, and determining a fourth correction value of the height;
acquiring the influence weights of the first height correction value, the second height correction value, the third height correction value and the fourth height correction value, and determining a comprehensive height correction value;
and correcting the initial value of the height measurement of the obstacle to be measured based on the height comprehensive parameter correction value, and determining the height of the obstacle to be measured.
Preferably, acquiring the temperature parameter, determining the first correction value of the height includes:
determining a linear relationship of temperature-sound velocity based on the historical data;
acquiring a temperature value;
correcting the standard sound velocity of the ultrasonic wave based on the linear relation of temperature and sound velocity to determine the second sound velocity of the ultrasonic wave;
correcting the initial value of the ultrasonic propagation distance based on the second ultrasonic sound velocity, and determining a first correction value of the ultrasonic propagation distance;
and determining a height first correction value based on the ultrasonic propagation distance first correction value.
Preferably, acquiring the humidity parameter, determining the second correction value for the altitude, comprises:
determining a humidity-sound velocity variation ratio based on the history data;
acquiring a humidity value;
correcting the standard sound velocity of the ultrasonic wave based on the linear relation of humidity and sound velocity, and determining the third sound velocity of the ultrasonic wave;
correcting the initial value of the ultrasonic propagation distance based on the third sound velocity of the ultrasonic wave, and determining a second correction value of the ultrasonic propagation distance;
and determining a second height correction value based on the second ultrasonic propagation distance correction value.
Preferably, acquiring the air flow rate parameter, determining the third correction value of the height includes:
constructing an air flow rate-ultrasonic correction model based on historical data;
acquiring an air flow rate, inputting the air flow rate into an air flow rate-ultrasonic correction model, and determining a fourth ultrasonic sound velocity;
correcting the initial value of the ultrasonic propagation distance based on the fourth ultrasonic velocity, and determining a third correction value of the ultrasonic propagation distance;
and determining a third correction value of the height based on the third correction value of the ultrasonic propagation distance.
Preferably, acquiring the surface parameter of the obstacle to be measured, and determining the fourth correction value of the height includes:
constructing a surface material property database based on the historical data;
acquiring a surface material of an obstacle to be detected, and searching an absorption coefficient and a reflection coefficient of ultrasonic waves in a surface material characteristic database;
correcting the time difference between the first moment and the second moment based on the absorption coefficient, and determining an ultrasonic propagation time correction value;
correcting the initial value of the ultrasonic propagation distance based on the reflection coefficient and the ultrasonic propagation time correction value, and determining a fourth ultrasonic propagation distance correction value;
and determining a fourth correction value of the height based on the fourth correction value of the ultrasonic propagation distance.
Preferably, a method of ultrasonically detecting a height of an obstacle further comprises:
confirming the safety distance between the ultrasonic sensor and the obstacle to be detected based on the height of the obstacle to be detected, judging whether the real-time distance is smaller than the safety distance based on the real-time distance between the ultrasonic sensor and the obstacle to be detected, if so, sending early warning information to a user, otherwise, not processing;
wherein, confirm the safe distance between ultrasonic sensor and the barrier to be measured based on the barrier height to be measured to based on the real-time distance between ultrasonic sensor and the barrier to be measured, judge whether real-time distance is less than safe distance, if be less than safe distance, send early warning information to the user, otherwise no processing, include:
constructing a barrier type-barrier height-safety distance ratio relation database based on historical data;
obtaining the type of the obstacle, and searching out the ratio of the height of the obstacle to the safe distance between the ultrasonic sensor and the obstacle to be detected;
based on the height of the obstacle to be detected, confirming the safety distance between the ultrasonic sensor and the obstacle to be detected;
determining and acquiring a real-time distance between the ultrasonic sensor and the obstacle to be detected based on a second angle of the ultrasonic sensor;
judging whether the real-time distance is smaller than the safety distance, if so, sending early warning information to the user, otherwise, not processing.
The embodiment of the invention also provides a system for detecting the height of the obstacle by ultrasonic waves, which comprises the following steps:
the obstacle recognition module is used for collecting videos in front of the ultrasonic sensor, recognizing the videos and determining an obstacle to be detected;
the ultrasonic receiving and transmitting module is used for transmitting detection ultrasonic waves to the obstacle to be detected by utilizing the ultrasonic sensor and receiving reflected ultrasonic waves of the surface of the obstacle to be detected for reflecting the detection ultrasonic waves;
the measuring initial value module is used for determining the height measuring initial value of the obstacle to be measured based on the detected ultrasonic wave and the reflected ultrasonic wave;
the result correction module is used for acquiring the environmental parameters, correcting the initial value of the measurement of the height of the obstacle to be measured based on the environmental parameters, and determining the height of the obstacle to be measured.
The invention has the beneficial effects that:
the invention recognizes and calculates the height of the moving obstacle, considers the environmental parameters, corrects the initial value of the detection of the height of the obstacle to be detected, and measures the height of the obstacle to be detected more accurately.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of a method for detecting the height of an obstacle by using ultrasonic waves according to an embodiment of the invention;
fig. 2 is a schematic diagram of a system for ultrasonically detecting the height of an obstacle in an embodiment of the invention.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
The embodiment of the invention provides a method for detecting the height of an obstacle by ultrasonic waves, which is shown in fig. 1 and comprises the following steps:
step 1: collecting a video in front of an ultrasonic sensor, identifying the video, and determining an obstacle to be detected;
step 2: transmitting detection ultrasonic waves to an obstacle to be detected by using an ultrasonic sensor and receiving reflected ultrasonic waves of the surface of the obstacle to be detected for reflecting the detection ultrasonic waves;
step 3: determining an initial value of height measurement of the obstacle to be measured based on the detected ultrasonic wave and the reflected ultrasonic wave;
step 4: and acquiring environmental parameters, correcting the initial value of the measurement of the height of the obstacle to be measured based on the environmental parameters, and determining the height of the obstacle to be measured.
The working principle and the beneficial effects of the technical scheme are as follows:
and 1, acquiring videos, identifying the videos, and determining the obstacle to be detected. And 2, transmitting ultrasonic waves to and receiving ultrasonic waves from the obstacle to be detected by using the ultrasonic sensor. And step 3, acquiring the position change and the angle change of the ultrasonic sensor, and determining the initial value of the height measurement of the obstacle to be measured. And 4, acquiring environmental parameters, correcting the initial value of the height measurement of the obstacle to be measured, and determining the height of the obstacle to be measured.
According to the method and the device for detecting the height of the obstacle, the height of the obstacle is identified and calculated through the moving obstacle, the environmental parameters are considered, the initial detection value of the height of the obstacle to be detected is corrected, and the height of the obstacle to be detected is measured more accurately.
In one embodiment, step 1 comprises:
step 1.1: collecting video;
step 1.2: calculating the pixel gradient of the video;
step 1.3: judging whether the pixel gradient of the video is larger than a set pixel gradient threshold value, if so, confirming the pixel as a division point, otherwise, confirming no processing;
step 1.4: all the dividing points are connected according to a closed line, and an image dividing line is confirmed;
step 1.5: based on the image dividing line, image dividing is carried out on the video, and a plurality of image dividing blocks are determined;
step 1.6: constructing an obstacle recognition model based on historical data;
step 1.7: and carrying out obstacle recognition on the plurality of image segmentation blocks by using an obstacle recognition model, and determining the obstacle to be detected.
The working principle and the beneficial effects of the technical scheme are as follows:
step 1.1, video is collected. Step 1.2 calculates the pixel gradient of the video. I.e. the intensity variation of each pixel in the video is calculated. And (3) judging whether the pixel gradient of the video is larger than the set pixel gradient threshold value or not according to the pixel gradient threshold value set in the step (1.3), if so, confirming the corresponding pixel as a division point, otherwise, judging that no processing exists. And step 1.4, connecting all the dividing points according to the closed line, and confirming the image dividing line. Step 1.5, based on image dividing lines, image dividing is carried out on the video, a plurality of image dividing blocks are determined, wherein the image dividing blocks comprise moving obstacles such as animals, people and the like, static obstacles such as railings, height limiting rods and the like and non-obstacle targets, and step 1.6, based on historical data, an obstacle recognition model is built. In the embodiment, an obstacle recognition model is built through a neural network, and historical data is input into the obstacle recognition model for training. Step 1.7, performing obstacle recognition on a plurality of image segmentation blocks by using an obstacle recognition model, and recognizing moving obstacles of animals, people and the like and stationary obstacles of a rail, a height limiting rod and the like.
The embodiment of the invention performs image segmentation on the image and identifies the obstacle through gradient change, and provides a premise for detecting the height of the obstacle.
In one embodiment, step 3 comprises:
step 3.1: acquiring a first position coordinate of the ultrasonic sensor and a first angle of the ultrasonic sensor when the ultrasonic sensor emits ultrasonic waves at a first moment;
step 3.2: acquiring a second position coordinate of the ultrasonic sensor and a second angle of the ultrasonic sensor when the ultrasonic sensor receives the second moment of the ultrasonic wave;
step 3.3: calculating the time difference between the first moment and the second moment, acquiring the standard sound velocity of the ultrasonic wave, and determining the initial value of the propagation distance of the ultrasonic wave;
step 3.4: and determining an initial value of the height measurement of the obstacle to be measured based on the position change of the ultrasonic sensor, the first angle and the second angle.
The working principle and the beneficial effects of the technical scheme are as follows:
step 3.1 acquiring a first position coordinate A point of the ultrasonic sensor and a first angle theta of the ultrasonic sensor when the ultrasonic sensor emits ultrasonic waves at a first moment 1 . Step 3.2 when the ultrasonic sensor receives the second time of the ultrasonic wave, acquiring a second position coordinate B point of the ultrasonic sensor and a second angle theta of the ultrasonic sensor 2 . When the ultrasonic wave propagates to the obstacle, the ultrasonic wave irradiates the highest point C of the obstacle, and reflects the second position coordinate B. Thus points a, B and C form a triangle Δabc. Whereas the path of the ultrasonic wave propagation of step 3.3 is the sum of AC and BC, i.e. the speed v of sound of the ultrasonic wave multiplied by the time difference Δt between the first instant and the second instant. Step 3.4 taking the AB endpoint D, so that the length of the CD can be determined based on the sum of AC and BC, and then based on the first angle θ 1 And a second angle theta 2 Can determine the included angle theta between CD and AB 3 . Thus, ΔABC is determined with respect to the height h on the AB edge 1 . Acquiring self height h of ultrasonic sensor 2 Thus, it is possible to determine the testThe initial value of the obstacle height measurement is h 1 +h 2 。
According to the embodiment of the invention, the ultrasonic sensor is used for transmitting and receiving ultrasonic waves to the obstacle in the motion state to determine the initial value of the height measurement of the obstacle to be measured, so that the application range of the ultrasonic height is expanded to the motion state.
In one embodiment, step 4 comprises:
step 4.1: acquiring a temperature parameter and determining a first correction value of the height;
step 4.2: acquiring a humidity parameter and determining a second correction value of the height;
step 4.3: acquiring an air flow rate parameter and determining a third correction value of the height;
step 4.4: acquiring surface parameters of an obstacle to be detected, and determining a fourth correction value of the height;
step 4.5: acquiring the influence weights of the first height correction value, the second height correction value, the third height correction value and the fourth height correction value, and determining a comprehensive height correction value;
step 4.6: and correcting the initial value of the height measurement of the obstacle to be measured based on the height comprehensive parameter correction value, and determining the height of the obstacle to be measured.
The working principle and the beneficial effects of the technical scheme are as follows:
step 4.1 obtaining a temperature parameter T and determining a first correction value of the heightStep 4.2, acquiring humidity parameters, and determining a second correction value of the height +.>Step 4.3 obtaining the air flow rate parameter and determining the third correction value of the height>Step 4.4, obtaining the surface parameters of the obstacle to be detected, and determining a fourth correction value of the height +.>Step 4.5 obtaining the first correction value of the height +.>Is (are) the influence weights gamma 1 Second correction value of height ∈>Is (are) the influence weights gamma 2 Third correction value of height->Is (are) the influence weights gamma 3 Height fourth correction value ++>Influence weight gamma of influence weight of (a) 4 Determining a height integrated correction value ++>Step 4.6 measuring an initial value h of the height of the obstacle to be measured based on the height comprehensive parameter correction value 1 +h 2 Correcting and determining the height of the obstacle to be detected
According to the embodiment of the invention, environmental parameters are considered in multiple aspects, and the height of the obstacle to be measured is more accurate by considering the temperature, the humidity, the air flow rate and the obstacle surface parameters.
In one embodiment, step 4.1 comprises:
step 4.1.1: determining a linear relationship of temperature-sound velocity based on the historical data;
step 4.1.2: acquiring a temperature value;
step 4.1.3: correcting the standard sound velocity of the ultrasonic wave based on the linear relation of temperature and sound velocity to determine the second sound velocity of the ultrasonic wave;
step 4.1.4: correcting the initial value of the ultrasonic propagation distance based on the second ultrasonic sound velocity, and determining a first correction value of the ultrasonic propagation distance;
step 4.1.5: and determining a height first correction value based on the ultrasonic propagation distance first correction value.
The working principle and the beneficial effects of the technical scheme are as follows:
step 4.1.1 is linear due to the temperature versus ultrasonic sound velocity variation. Therefore, based on the history data, a linear relationship of temperature-sound velocity, that is, a temperature expansion coefficient α of air is determined. Step 4.1.2, obtaining a temperature value T. Step 4.1.3 the second ultrasonic sound velocity v can be determined based on the temperature-sound velocity linear relationship 2 . Since the ultrasonic standard sound velocity is used in step 3.3, and the standard sound velocity is ultrasonic sound waves with a temperature of 20 degrees celsius, a relative humidity of 50%, an air flow rate of 0, and without considering absorption and reflection by the surface of the obstacle, the standard sound velocity is 343 m/s. If the acquired temperature is 30 ℃, then the second ultrasonic sound velocity v can be determined 2 343+αX10, α is the linear expansion coefficient of air, and α is 0.0036 in this example. Step 4.1.4 second ultrasonic sound velocity v 2 The initial value of the ultrasonic propagation distance is corrected, and the first correction value of the ultrasonic propagation distance is determined. Step 4.1.5 determining a height first correction value based on the ultrasonic propagation distance first correction value
According to the embodiment of the invention, the ultrasonic sound velocity is corrected through the temperature parameter, so that the influence of the temperature parameter on the height of the obstacle measured by the ultrasonic wave is reduced, and the measurement accuracy is improved.
In one embodiment, step 4.2 comprises:
step 4.2.1: determining a humidity-sound velocity variation ratio based on the history data;
step 4.2.2: acquiring a humidity value;
step 4.2.3: correcting the standard sound velocity of the ultrasonic wave based on the linear relation of humidity and sound velocity, and determining the third sound velocity of the ultrasonic wave;
step 4.2.4: correcting the initial value of the ultrasonic propagation distance based on the third sound velocity of the ultrasonic wave, and determining a second correction value of the ultrasonic propagation distance;
step 4.2.5: and determining a second height correction value based on the second ultrasonic propagation distance correction value.
The working principle and the beneficial effects of the technical scheme are as follows:
the ultrasonic sound velocity has a linear relationship with humidity. Step 4.2.1 determines the humidity-sound velocity linear relationship based on the historical data, i.e., humidity step 4.2.2: and obtaining a humidity value. Step 4.2.3: the ultrasonic standard sound velocity is corrected based on the linear relationship of humidity-sound velocity, and is the ultrasonic sound velocity under the condition of 50% humidity, so that the ultrasonic third sound velocity is determined according to the actual humidity. Step 4.2.4: and correcting the initial value of the ultrasonic propagation distance based on the third sound velocity of the ultrasonic wave, and determining the second correction value of the ultrasonic propagation distance. Step 4.2.5 determining a second height correction value based on the second ultrasonic propagation distance correction value.
According to the embodiment of the invention, the ultrasonic sound velocity is corrected through the humidity parameter, so that the influence of the humidity parameter on the height of the obstacle measured by the ultrasonic wave is reduced, the measurement accuracy is improved, and meanwhile, the height of the obstacle is conveniently measured under the dry or over-wet condition. The application range of obstacle measurement is enlarged.
In one embodiment, step 4.3 comprises:
step 4.3.1: constructing an air flow rate-ultrasonic correction model based on historical data;
step 4.3.2: acquiring an air flow rate, inputting the air flow rate into an air flow rate-ultrasonic correction model, and determining a fourth ultrasonic sound velocity;
step 4.3.3: correcting the initial value of the ultrasonic propagation distance based on the fourth ultrasonic velocity, and determining a third correction value of the ultrasonic propagation distance;
step 4.3.4: and determining a third correction value of the height based on the third correction value of the ultrasonic propagation distance.
The working principle and the beneficial effects of the technical scheme are as follows:
the ultrasonic standard sound velocity is an ultrasonic standard sound wave for a condition where the air flow velocity is 0. The method can not be realized under the actual environmental conditions, and particularly, the air flow rate basically exists in the running process of the vehicle, the standard ultrasonic sound velocity can not be met, and the standard ultrasonic sound velocity needs to be corrected. The influence on the ultrasonic sound velocity is not linear, and the size and the randomness of the direction of the air flow velocity are relatively large. Therefore, the embodiment of the invention corrects by a machine learning mode. Step 4.3.1: based on the historical data, an air flow rate-ultrasonic correction model is constructed. According to the embodiment of the invention, the air flow rate-ultrasonic correction model is constructed through the convolutional neural network, and the air flow rate-ultrasonic correction model is trained by using historical data. And 4.3.2, acquiring the air flow rate, including the air flow rate value and the air flow rate direction, inputting the air flow rate and the air flow rate into an ultrasonic correction model, and determining the fourth ultrasonic velocity. And 4.3.3, correcting the initial value of the ultrasonic propagation distance based on the fourth ultrasonic velocity, and determining the third correction value of the ultrasonic propagation distance. Step 4.3.4 determines the third correction value of the height based on the third correction value of the ultrasonic propagation distance.
According to the embodiment of the invention, the ultrasonic sound velocity is corrected through the air flow velocity, so that the measurement accuracy is improved, the influence of the air flow velocity on the obstacle height detection in actual application is solved, and the method has practical applicability.
In one embodiment, step 4.4 comprises:
step 4.4.1: constructing a surface material property database based on the historical data;
step 4.4.2: acquiring a surface material of an obstacle to be detected, and searching an absorption coefficient and a reflection coefficient of ultrasonic waves in a surface material characteristic database;
step 4.4.3: correcting the time difference between the first moment and the second moment based on the absorption coefficient, and determining an ultrasonic propagation time correction value;
step 4.4.4: correcting the initial value of the ultrasonic propagation distance based on the reflection coefficient and the ultrasonic propagation time correction value, and determining a fourth ultrasonic propagation distance correction value;
step 4.4.5: and determining a fourth correction value of the height based on the fourth correction value of the ultrasonic propagation distance.
The working principle and the beneficial effects of the technical scheme are as follows:
during ultrasonic detection of the height of an obstacle, the characteristics of the obstacle surface influence. When the ultrasonic wave propagates to the surface of the obstacle to be measured, the ultrasonic energy is reflected back or absorbed, thereby affecting the propagation time and intensity of the ultrasonic wave. In order to improve the accuracy of the measurement, it is considered to perform obstacle surface correction. Step 4.4.1 the present embodiment constructs a surface material property database through historical data, including various experimental data, wherein the surface material property database establishes an association relationship between the reflection coefficient and the absorption coefficient of the ultrasonic wave and the obstacle surface material. And 4.4.2, obtaining the surface material of the obstacle to be detected, and searching the absorption coefficient and the reflection coefficient of the ultrasonic wave in a surface material characteristic database. The obstacle surface correction involves consideration of the reflection coefficient and absorption coefficient. Wherein the reflection coefficient indicates the degree to which the ultrasonic wave is reflected at the surface of the obstacle, and the absorption coefficient indicates the degree to which the ultrasonic wave is absorbed at the surface of the obstacle. The reflection coefficient and the absorption coefficient are queried by constructing a surface material property database. And 4.4.3, correcting the time difference between the first moment and the second moment based on the absorption coefficient, and determining an ultrasonic propagation time correction value. And 4.4.4, correcting the initial value of the ultrasonic wave propagation distance based on the reflection coefficient and the ultrasonic wave propagation time correction value, and determining the fourth ultrasonic wave propagation distance correction value. Step 4.4.5 determining a fourth correction value for the height based on the fourth correction value for the ultrasonic propagation distance.
According to the method, the surface material characteristic database is constructed to determine the absorption coefficient and the reflection coefficient of the ultrasonic wave, so that the accuracy of the ultrasonic wave detection obstacle height measurement result can be improved by correcting the obstacle surface.
In one embodiment, a method of ultrasonically detecting a height of an obstacle further comprises:
step 5: confirming the safety distance between the ultrasonic sensor and the obstacle to be detected based on the height of the obstacle to be detected, judging whether the real-time distance is smaller than the safety distance based on the real-time distance between the ultrasonic sensor and the obstacle to be detected, if so, sending early warning information to a user, otherwise, not processing;
wherein, step 5 includes:
step 5.1: constructing a barrier type-barrier height-safety distance ratio relation database based on historical data;
step 5.2: obtaining the type of the obstacle, and searching out the ratio of the height of the obstacle to the safe distance between the ultrasonic sensor and the obstacle to be detected;
step 5.3: based on the height of the obstacle to be detected, confirming the safety distance between the ultrasonic sensor and the obstacle to be detected;
step 5.4: determining and acquiring a real-time distance between the ultrasonic sensor and the obstacle to be detected based on a second angle of the ultrasonic sensor;
step 5.5: judging whether the real-time distance is smaller than the safety distance, if so, sending early warning information to the user, otherwise, not processing.
The working principle and the beneficial effects of the technical scheme are as follows:
step 5.1, constructing a barrier type-barrier height-to-safe distance ratio relation database based on the historical data. And 5.2, obtaining the type of the obstacle, and searching out the ratio of the height of the obstacle to the safe distance between the ultrasonic sensor and the obstacle to be detected. In the embodiment of the invention, the ultrasonic sensor is arranged on a running vehicle to measure the height of a static obstacle such as a front height limit or a roadblock or the height of a moving obstacle such as a front truck. And 5.3, confirming the safety distance between the ultrasonic sensor and the obstacle to be detected based on the height of the obstacle to be detected. For example, a certain safety distance from the front truck, especially a truck filled with steel tubes. By measuring the height of the preceding obstacle steel pipe, for example, the height of the obstacle steel pipe is 5 m, it is determined that the safety distance is 10 m. Step 5.4 second Angle θ based on ultrasonic sensor 2 Meanwhile, the height of the obstacle is H, and the real-time distance H multiplied by cotθ between the ultrasonic sensor and the obstacle to be detected is determined 2 . Judging whether the real-time distance is smaller than the safety distance or not based on the second angle step 5.5 of the ultrasonic sensor, and if the real-time distance is smaller than the safety distance, using the ultrasonic sensorThe user sends out early warning information, otherwise, the information is not processed. For example, when the second angle θ of the ultrasonic sensor 2 30 degrees, the height of the obstacle steel pipe is 5 meters, and the real-time distance is 8.66 meters. The distance less than the safe distance is 10 meters. Thus giving the user early warning information.
According to the embodiment of the invention, whether the real-time distance is smaller than the safety distance or not is determined by detecting the height of the obstacle, and safety early warning is carried out, so that the safety of a user is improved.
The embodiment of the invention also provides a system for detecting the height of the obstacle by ultrasonic waves, which comprises the following steps:
the obstacle recognition module 1 is used for collecting videos in front of the ultrasonic sensor, recognizing the videos and determining an obstacle to be detected;
an ultrasonic wave receiving and transmitting module 2 for transmitting detection ultrasonic waves to the obstacle to be detected by using an ultrasonic wave sensor and receiving reflected ultrasonic waves of the detection ultrasonic waves reflected by the surface of the obstacle to be detected;
the initial measurement value module 3 is used for determining an initial measurement value of the height of the obstacle to be measured based on the detected ultrasonic wave and the reflected ultrasonic wave;
and the result correction module 4 is used for acquiring the environmental parameters, correcting the initial value of the measurement of the height of the obstacle to be measured based on the environmental parameters, and determining the height of the obstacle to be measured.
The working principle and the beneficial effects of the technical scheme are as follows:
the obstacle recognition module 1 collects videos, recognizes the videos and determines the obstacle to be detected. The ultrasonic wave receiving and transmitting module 2 transmits detection ultrasonic waves to an obstacle to be detected by using an ultrasonic wave sensor and receives reflected ultrasonic waves in which the detection ultrasonic waves are reflected by the surface of the obstacle to be detected. And the initial measurement value module 3 is used for acquiring the position change and the angle change of the ultrasonic sensor and determining the initial measurement value of the height of the obstacle to be measured. And the result correction module 4 is used for acquiring the environmental parameters, correcting the initial value of the measured height of the obstacle to be measured and determining the height of the obstacle to be measured.
According to the method and the device for detecting the height of the obstacle, the height of the obstacle is identified and calculated through the moving obstacle, the environmental parameters are considered, the initial detection value of the height of the obstacle to be detected is corrected, and the height of the obstacle to be detected is measured more accurately.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. A method of ultrasonically detecting a height of an obstacle, comprising:
collecting a video in front of an ultrasonic sensor, identifying the video, and determining an obstacle to be detected;
transmitting detection ultrasonic waves to an obstacle to be detected by using an ultrasonic sensor and receiving reflected ultrasonic waves of the surface of the obstacle to be detected for reflecting the detection ultrasonic waves;
determining an initial value of height measurement of the obstacle to be measured based on the detected ultrasonic wave and the reflected ultrasonic wave;
and acquiring environmental parameters, correcting the initial value of the measurement of the height of the obstacle to be measured based on the environmental parameters, and determining the height of the obstacle to be measured.
2. A method of ultrasonically detecting the height of an obstacle as claimed in claim 1 wherein video in front of the ultrasonic sensor is captured and identified to determine the obstacle to be detected; comprising the following steps:
collecting video;
calculating the pixel gradient of the video;
judging whether the pixel gradient of the video is larger than a set pixel gradient threshold value, if so, confirming the corresponding pixel as a division point, otherwise, not processing;
all the dividing points are connected according to a closed line, and an image dividing line is confirmed;
based on the image dividing line, image dividing is carried out on the video, and a plurality of image dividing blocks are determined;
constructing an obstacle recognition model based on historical data;
and carrying out obstacle recognition on the plurality of image segmentation blocks by using an obstacle recognition model, and determining the obstacle to be detected.
3. A method of ultrasonically detecting an obstacle height as claimed in claim 1, wherein determining an initial measurement of the obstacle height to be detected based on the detected ultrasonic waves and the reflected ultrasonic waves comprises:
acquiring a first position coordinate of the ultrasonic sensor and a first angle of the ultrasonic sensor when the ultrasonic sensor emits ultrasonic waves at a first moment;
acquiring a second position coordinate of the ultrasonic sensor and a second angle of the ultrasonic sensor when the ultrasonic sensor receives the second moment of the ultrasonic wave;
calculating the time difference between the first moment and the second moment, acquiring the standard sound velocity of the ultrasonic wave, and determining the initial value of the propagation distance of the ultrasonic wave;
and determining an initial value of the height measurement of the obstacle to be measured based on the position change of the ultrasonic sensor, the first angle and the second angle.
4. A method of ultrasonically detecting an obstacle height as claimed in claim 1 wherein the steps of obtaining an environmental parameter and correcting an initial value of the measured obstacle height to determine the measured obstacle height comprise:
acquiring a temperature parameter and determining a first correction value of the height;
acquiring a humidity parameter and determining a second correction value of the height;
acquiring an air flow rate parameter and determining a third correction value of the height;
acquiring surface parameters of an obstacle to be detected, and determining a fourth correction value of the height;
acquiring the influence weights of the first height correction value, the second height correction value, the third height correction value and the fourth height correction value, and determining a comprehensive height correction value;
and correcting the initial value of the height measurement of the obstacle to be measured based on the height comprehensive parameter correction value, and determining the height of the obstacle to be measured.
5. The method of ultrasonically detecting the height of an obstacle as claimed in claim 4, wherein the step of obtaining a temperature parameter and determining a first correction value of the height comprises:
determining a linear relationship of temperature-sound velocity based on the historical data;
acquiring a temperature value;
correcting the standard sound velocity of the ultrasonic wave based on the linear relation of temperature and sound velocity to determine the second sound velocity of the ultrasonic wave;
correcting the initial value of the ultrasonic propagation distance based on the second ultrasonic sound velocity, and determining a first correction value of the ultrasonic propagation distance;
and determining a height first correction value based on the ultrasonic propagation distance first correction value.
6. The method of ultrasonically detecting the height of an obstacle of claim 4 wherein acquiring the humidity parameter and determining the second correction value of the height comprises:
determining a humidity-sound velocity variation ratio based on the history data;
acquiring a humidity value;
correcting the standard sound velocity of the ultrasonic wave based on the linear relation of humidity and sound velocity, and determining the third sound velocity of the ultrasonic wave;
correcting the initial value of the ultrasonic propagation distance based on the third sound velocity of the ultrasonic wave, and determining a second correction value of the ultrasonic propagation distance;
and determining a second height correction value based on the second ultrasonic propagation distance correction value.
7. A method of ultrasonically detecting the height of an obstacle as claimed in claim 4 wherein the step of obtaining an air flow parameter and determining a third correction value for the height comprises:
constructing an air flow rate-ultrasonic correction model based on historical data;
acquiring an air flow rate, inputting the air flow rate into an air flow rate-ultrasonic correction model, and determining a fourth ultrasonic sound velocity;
correcting the initial value of the ultrasonic propagation distance based on the fourth ultrasonic velocity, and determining a third correction value of the ultrasonic propagation distance;
and determining a third correction value of the height based on the third correction value of the ultrasonic propagation distance.
8. The method of ultrasonically detecting the height of an obstacle as claimed in claim 4, wherein obtaining a surface parameter of the obstacle to be detected, determining a fourth correction value of the height, comprises:
constructing a surface material property database based on the historical data;
acquiring a surface material of an obstacle to be detected, and searching an absorption coefficient and a reflection coefficient of ultrasonic waves in a surface material characteristic database;
correcting the time difference between the first moment and the second moment based on the absorption coefficient, and determining an ultrasonic propagation time correction value;
correcting the initial value of the ultrasonic propagation distance based on the reflection coefficient and the ultrasonic propagation time correction value, and determining a fourth ultrasonic propagation distance correction value;
and determining a fourth correction value of the height based on the fourth correction value of the ultrasonic propagation distance.
9. A method of ultrasonically detecting an obstacle height as claimed in claim 1, further comprising:
confirming the safety distance between the ultrasonic sensor and the obstacle to be detected based on the height of the obstacle to be detected, judging whether the real-time distance is smaller than the safety distance based on the real-time distance between the ultrasonic sensor and the obstacle to be detected, if so, sending early warning information to a user, otherwise, not processing;
wherein, confirm the safe distance between ultrasonic sensor and the barrier to be measured based on the barrier height to be measured to based on the real-time distance between ultrasonic sensor and the barrier to be measured, judge whether real-time distance is less than safe distance, if be less than safe distance, send early warning information to the user, otherwise no processing, include:
constructing a barrier type-barrier height-safety distance ratio relation database based on historical data;
obtaining the type of the obstacle, and searching out the ratio of the height of the obstacle to the safe distance between the ultrasonic sensor and the obstacle to be detected;
based on the height of the obstacle to be detected, confirming the safety distance between the ultrasonic sensor and the obstacle to be detected;
determining and acquiring a real-time distance between the ultrasonic sensor and the obstacle to be detected based on a second angle of the ultrasonic sensor;
judging whether the real-time distance is smaller than the safety distance, if so, sending early warning information to the user, otherwise, not processing.
10. A system for ultrasonically detecting a height of an obstacle, comprising:
the obstacle recognition module is used for collecting videos in front of the ultrasonic sensor, recognizing the videos and determining an obstacle to be detected;
the ultrasonic receiving and transmitting module is used for transmitting detection ultrasonic waves to the obstacle to be detected by utilizing the ultrasonic sensor and receiving reflected ultrasonic waves of the surface of the obstacle to be detected for reflecting the detection ultrasonic waves;
the measuring initial value module is used for determining the height measuring initial value of the obstacle to be measured based on the detected ultrasonic wave and the reflected ultrasonic wave;
the result correction module is used for acquiring the environmental parameters, correcting the initial value of the measurement of the height of the obstacle to be measured based on the environmental parameters, and determining the height of the obstacle to be measured.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311149744.5A CN117148363B (en) | 2023-09-06 | 2023-09-06 | Method and system for detecting obstacle height by ultrasonic wave |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311149744.5A CN117148363B (en) | 2023-09-06 | 2023-09-06 | Method and system for detecting obstacle height by ultrasonic wave |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117148363A true CN117148363A (en) | 2023-12-01 |
| CN117148363B CN117148363B (en) | 2024-05-07 |
Family
ID=88905853
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311149744.5A Active CN117148363B (en) | 2023-09-06 | 2023-09-06 | Method and system for detecting obstacle height by ultrasonic wave |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117148363B (en) |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008032499A (en) * | 2006-07-27 | 2008-02-14 | Nippon Soken Inc | Obstacle detection device |
| CN102840853A (en) * | 2012-07-25 | 2012-12-26 | 中国航空工业集团公司洛阳电光设备研究所 | Obstacle detection and alarm method for vehicle-mounted night vision system |
| CN104076364A (en) * | 2014-07-15 | 2014-10-01 | 哈尔滨工业大学 | Automobile obstacle detection system based on ultrasonic positioning technology |
| JP2015021737A (en) * | 2013-07-16 | 2015-02-02 | 三菱電機株式会社 | Obstacle detection device |
| CN105242276A (en) * | 2015-09-15 | 2016-01-13 | 清华大学苏州汽车研究院（吴江） | Ultrasonic sensor-based parking assisting system |
| US20160125588A1 (en) * | 2014-11-03 | 2016-05-05 | Hyundai Motor Company | Apparatus and method for recognizing position of obstacle in vehicle |
| CN106859929A (en) * | 2017-01-25 | 2017-06-20 | 上海集成电路研发中心有限公司 | A kind of Multifunctional blind person guiding instrument based on binocular vision |
| CN109598187A (en) * | 2018-10-15 | 2019-04-09 | 西北铁道电子股份有限公司 | Obstacle recognition method, differentiating obstacle and railcar servomechanism |
| JP2019086402A (en) * | 2017-11-07 | 2019-06-06 | 株式会社Ｓｕｂａｒｕ | Obstacle detector for vehicles |
| CN111610531A (en) * | 2020-04-21 | 2020-09-01 | 吉利汽车研究院（宁波）有限公司 | Driving early warning method and device for vehicle and storage medium |
| CN112363513A (en) * | 2020-11-25 | 2021-02-12 | 珠海市一微半导体有限公司 | Obstacle classification and obstacle avoidance control method based on depth information |
| CN112799073A (en) * | 2020-12-30 | 2021-05-14 | 成都英萨传感技术研究有限公司 | Ultrasonic distance measuring sensor |
| CN114594482A (en) * | 2022-03-21 | 2022-06-07 | 珠海一微半导体股份有限公司 | Obstacle material detection method based on ultrasonic data and robot control method |
| CN114787656A (en) * | 2019-12-04 | 2022-07-22 | 株式会社电装 | Obstacle detection device |
-
2023
- 2023-09-06 CN CN202311149744.5A patent/CN117148363B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008032499A (en) * | 2006-07-27 | 2008-02-14 | Nippon Soken Inc | Obstacle detection device |
| CN102840853A (en) * | 2012-07-25 | 2012-12-26 | 中国航空工业集团公司洛阳电光设备研究所 | Obstacle detection and alarm method for vehicle-mounted night vision system |
| JP2015021737A (en) * | 2013-07-16 | 2015-02-02 | 三菱電機株式会社 | Obstacle detection device |
| CN104076364A (en) * | 2014-07-15 | 2014-10-01 | 哈尔滨工业大学 | Automobile obstacle detection system based on ultrasonic positioning technology |
| US20160125588A1 (en) * | 2014-11-03 | 2016-05-05 | Hyundai Motor Company | Apparatus and method for recognizing position of obstacle in vehicle |
| CN105242276A (en) * | 2015-09-15 | 2016-01-13 | 清华大学苏州汽车研究院（吴江） | Ultrasonic sensor-based parking assisting system |
| CN106859929A (en) * | 2017-01-25 | 2017-06-20 | 上海集成电路研发中心有限公司 | A kind of Multifunctional blind person guiding instrument based on binocular vision |
| JP2019086402A (en) * | 2017-11-07 | 2019-06-06 | 株式会社Ｓｕｂａｒｕ | Obstacle detector for vehicles |
| CN109598187A (en) * | 2018-10-15 | 2019-04-09 | 西北铁道电子股份有限公司 | Obstacle recognition method, differentiating obstacle and railcar servomechanism |
| CN114787656A (en) * | 2019-12-04 | 2022-07-22 | 株式会社电装 | Obstacle detection device |
| CN111610531A (en) * | 2020-04-21 | 2020-09-01 | 吉利汽车研究院（宁波）有限公司 | Driving early warning method and device for vehicle and storage medium |
| CN112363513A (en) * | 2020-11-25 | 2021-02-12 | 珠海市一微半导体有限公司 | Obstacle classification and obstacle avoidance control method based on depth information |
| CN112799073A (en) * | 2020-12-30 | 2021-05-14 | 成都英萨传感技术研究有限公司 | Ultrasonic distance measuring sensor |
| CN114594482A (en) * | 2022-03-21 | 2022-06-07 | 珠海一微半导体股份有限公司 | Obstacle material detection method based on ultrasonic data and robot control method |
Non-Patent Citations (2)
| Title |
|---|
| 刘慧;夏伟;沈跃;李宁;徐慧;: "基于实时传感器的精密变量喷雾发展概况", 中国农机化学报, no. 03 * |
| 邵芳;: "基于超声波测距的多旋翼无人机避障算法", 吉林工程技术师范学院学报, no. 11, 26 November 2017 (2017-11-26) * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117148363B (en) | 2024-05-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101925293B1 (en) | The vehicle detecting system by converging radar and image | |
| CN112014845B (en) | Vehicle obstacle positioning method, device, equipment and storage medium | |
| JP2501010B2 (en) | Mobile robot guidance device | |
| CN1940591B (en) | System and method of target tracking using sensor fusion | |
| KR101446546B1 (en) | Display system of vehicle information based on the position | |
| JP6450294B2 (en) | Object detection apparatus, object detection method, and program | |
| CN109544990A (en) | A kind of method and system that parking position can be used based on real-time electronic map identification | |
| CN103176185A (en) | Method and system for detecting road barrier | |
| US10074277B2 (en) | Method for ascertaining a parking area of a street section | |
| KR20170080481A (en) | Multilane vehicle speed detecting system | |
| CN109785632A (en) | A kind of magnitude of traffic flow statistical method and device | |
| CN109583416A (en) | Pseudo- Lane detection method and system | |
| CN108663041A (en) | A kind of method and device for drawing navigation map | |
| CN113885532B (en) | Unmanned floor truck control system of barrier is kept away to intelligence | |
| Pyo et al. | Front collision warning based on vehicle detection using CNN | |
| CN114758504A (en) | Online vehicle overspeed early warning method and system based on filtering correction | |
| CN116148801B (en) | Millimeter wave radar-based target detection method and system | |
| CN109263649B (en) | Vehicle, object recognition method and object recognition system thereof in automatic driving mode | |
| CN112801024B (en) | Detection information processing method and device | |
| CN104464055A (en) | PSD linear array and ultrasonic linear array combined passenger flow volume calculation system | |
| CN110136186A (en) | A kind of detection target matching method for mobile robot object ranging | |
| CN117148363B (en) | Method and system for detecting obstacle height by ultrasonic wave | |
| US11346944B2 (en) | Classification of static and dynamic objects | |
| KR20160125803A (en) | Apparatus for defining an area in interest, apparatus for detecting object in an area in interest and method for defining an area in interest | |
| CN115880673B (en) | Obstacle avoidance method and system based on computer vision |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |