CN202025084U - Laser radar monitoring system - Google Patents
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- CN202025084U CN202025084U CN2010206813351U CN201020681335U CN202025084U CN 202025084 U CN202025084 U CN 202025084U CN 2010206813351 U CN2010206813351 U CN 2010206813351U CN 201020681335 U CN201020681335 U CN 201020681335U CN 202025084 U CN202025084 U CN 202025084U
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Abstract
The embodiment of the utility model provides a laser radar monitoring system, which comprises a laser emission module, a laser receiving module, a rotary scanning mechanism and a signal processing and control module, wherein the signal processing and control module is used for obtaining a time difference between an emission time and a receiving time of a pulse laser according to a received signal which reflects the emission time of the pulse laser and a received signal which reflects the receiving time of the pulse laser, obtaining range information of target information of a region to be monitored according to the time difference, and obtaining a range and angle information group of a detection object by matching the range information with angle information of a Hall sensor unloaded by a motor in the rotary scanning mechanism simultaneously; the group of information is combined into frame data according to a fixed cycle, and the frame data is transmitted to an alarm processing module in the signal processing and control module; and a map building and personnel detection method is adopted in the alarm processing module to detect an alarm point, the alarm processing module in the signal processing and control module outputs the coordinate position and/or quantity of the alarm point to determine whether to give an alarm or not.
Description
Technical field
The utility model belongs to the Radar Technology field, relates in particular to a kind of laser radar monitoring system.
Background technology
Laser radar is light, mechanical, electrical integration apparatus, belongs to comparatively high-end instrument and equipment.The application of this series products now mainly concentrates on the application algorithm development that occurs in research institutions and the various match, such as can only navigation, mobile tracking, robot vision etc.Present international skill level has determined its high price, and this has limited popularizing and using of civilian laser radar to a great extent.
In fact, laser radar is having very big advantage aspect the civilian anti-invasion.Traditional civilian anti-invasion means mainly realize that by video monitoring this mode need expend great amount of manpower, and also there be false-alarm and the mistake alert condition that is difficult to avoid in other anti-invasion modes such as the vibrations warning.
The utility model content
In view of this, the purpose of this utility model is to provide a kind of laser radar monitoring system, and alert rate of its mistake and false dismissed rate are all very low.
For achieving the above object, the utility model provides a kind of laser radar monitoring system, comprising:
Laser emitting module is used for emission pulse laser, and will reflect that the signal of pulse laser launch time is sent to signal Processing and control module;
The laser pick-off module is used to receive the pulse laser that returns from detected regional reflex, and will reflect that the signal of the time of received pulse laser is sent to signal Processing and control module;
Rotary scanning mechanism is used for utilizing by rotation pulse laser scanning each position, area to be monitored of laser emitting module emission, and will collects successively the described laser pick-off module from the pulse laser of each position reflected back of area to be monitored;
Signal Processing and control module, be used for signal according to the time of the signal of the reflection pulse laser launch time that receives and reflection received pulse laser, obtain the launch time of pulse laser and the mistiming between the time of reception, obtain the range information of the target information of area to be monitored by the described mistiming, and simultaneously with rotary scanning mechanism in the angle information coupling of the Hall element uploaded of motor, obtain detecting target apart from the angle information group; Should group information be combined as frame data, pass to the warning processing module in signal Processing and the control module according to the fixed cycle; Adopt map to set up and personnel's detection method detection alarm point in the described warning processing module, judge whether alarm by the coordinate position and/or the quantity of the warning processing module outputting alarm point in described signal Processing and the control module.
Preferably, described laser emitting module comprises: laser diode (LD), be used for laser pulse diode (PLD) driving circuit of driving laser diode and narrow-pulse generator and the square-wave generator that links to each other with the PLD driving circuit.
Preferably, described laser pick-off module comprises: be used to receive the snowslide receiving tube (APD) of the pulse laser that returns from detected regional reflex, the DC/DC inverter that receives the prime amplifier that signal that APD sends amplifies, the voltage amplifier that links to each other with prime amplifier, shaping modulate circuit and power for APD.
Preferably, described signal monitoring and control module comprise: ARM controller and time detecting module and interface module;
Wherein, described ARM controller be used for after the trigger pip that receives the ARM controller according to the signal of time of the signal of the reflection pulse laser launch time after the conditioning shaping that receives and reflection received pulse laser, obtain the launch time of pulse laser and the mistiming between the time of reception, and after detection is finished, send the detected mistiming to the ARM controller;
Described ARM controller is used for sending trigger pip to the time detecting module, and receive the detected mistiming that described time detecting module sends, and obtain the range information of the target of area to be monitored by the described mistiming, and simultaneously with rotary scanning mechanism in the angle information coupling of the Hall element uploaded of motor, obtain detecting target apart from the angle information group; Should group information be combined as frame data, pass to warning Processing Algorithm module according to the fixed cycle.Described warning processing module is the main body that the laser radar upper layer application realizes, is the place of gordian technique core algorithm.The signal processing method that adopts in the algorithm in the warning processing module mainly is divided into: map is set up and personnel detect.Coordinate position and/or quantity by algoritic module outputting alarm point judge whether alarm.
Preferably, described ARM controller comprises: being used for the target information in detected zone reported to the police obtains alarming a little input submodule after processing module is handled;
Wherein, described input submodule comprises:
The data pretreatment unit is used for the target information in detected zone is carried out filtering, to reach the noise spot filtering;
Background filtering unit is used for obtaining differentiated target information with carrying out multiple difference through the target information of noise spot filtering with the map datum of setting up in advance;
Cutting unit is used for tentatively cutting apart the data point that belongs to different objects, may be one group for the some cluster of same target;
Feature extraction unit is used for cutting apart the different pieces of information dot information of each object afterwards according to cutting unit, extracts the shape and/or the motion feature information of each object;
The data fusion unit is used for the characteristic information that comprehensive described feature extraction unit extracts, and characteristic information is satisfied the different objects that the divided consecutive number strong point of pre-defined rule belongs to be reclassified as same object, realizes following function.
Preferably, the shape information of the object of described feature extraction unit extraction comprises: the linearity, curvature or the ellipticity of the barycenter of object, the profile of object, profile; The motion feature information of described object comprises: the Cartesian coordinates of object current location, movement velocity, direction, angular velocity or acceleration.
Preferably, described cutting unit is selected variable decision threshold according to the distance of obstacle distance laser pick-off module when cutting apart the data point that belongs to different objects.
Preferably, described ARM controller also comprises the map rebuilding module;
Described map rebuilding module is used for when taking place to rebuild the map trigger event, and the target information through the noise spot filtering that the data pretreatment unit in the described input submodule obtains is done background environment match computing, the map datum after obtaining rebuilding.
Preferably, described map trigger condition time that is timer arrives threshold value or the alarm point detects a unusual flag display abnormality.
Preferably, also comprise optoelectronic switch, described optoelectronic switch revolves when turning around at described rotary scanning mechanism, produces all pulse;
In the motor of rotary scanning mechanism, Hall element is installed in addition, is used to detect the anglec of rotation of rotary scanning mechanism.
By the laser radar monitoring system that the utility model embodiment provides, false dismissed rate and false alarm rate that the invador is detected are all very low.
Description of drawings
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, accompanying drawing in describing below is embodiment more of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the synoptic diagram of an embodiment of the laser radar monitoring system that provides of the utility model;
Fig. 2 is the synoptic diagram of a kind of concrete structure of the laser emitting module among Fig. 1;
Fig. 3 is the synoptic diagram of a kind of concrete structure of the laser pick-off module among Fig. 1;
Fig. 4 is a kind of synoptic diagram of layout of the circuit board at laser emitting module place;
Fig. 5 is a kind of synoptic diagram of layout of the circuit board at laser pick-off module place;
Fig. 6 is the synoptic diagram of a kind of concrete structure of the ARM controller among Fig. 1.
Embodiment
For the purpose, technical scheme and the advantage that make the utility model embodiment clearer, below in conjunction with the accompanying drawing among the utility model embodiment, technical scheme among the utility model embodiment is clearly and completely described, obviously, described embodiment is the utility model part embodiment, rather than whole embodiment.Based on the embodiment in the utility model, those of ordinary skills are not making the every other embodiment that is obtained under the creative work prerequisite, all belong to the scope of the utility model protection.
Fig. 1 is the synoptic diagram of an embodiment of the laser radar monitoring system that provides of the utility model, as shown in Figure 1, the laser radar monitoring system in the present embodiment comprises laser emitting module 1, laser pick-off module 2, signal Processing and control module 3, rotary scanning mechanism 4.
Wherein, laser emitting module 1 is used for emission pulse laser, and will reflect that the signal of pulse laser launch time is sent to signal Processing and control module 3.Laser radar in the present embodiment is by finishing the range finding of the target in the area to be monitored according to the time delay of launch time of pulse laser and time of reception, and by the scanning of area to be monitored being obtained the target information of whole area to be monitored.
Laser pick-off module 2 is used to receive the pulse laser from the area to be monitored reflected back, and will reflect that the signal of the time of received pulse laser is sent to signal Processing and control module 3.
Rotary scanning mechanism 4 is used for by rotation, and the pulse laser that utilizes laser emitting module 1 to launch scans each position in the area to be monitored, and will collect successively the laser pick-off module 2 from the pulse laser of each position reflected back of area to be monitored.
Signal Processing and control module 3 link to each other with laser pick-off module 2 with laser emitting module 1, laser emitting module 1 and laser pick-off module 2 controlled, and from its received signal.The signal of the time of the reflection received pulse laser that signal Processing and control module 3 receives according to the signal of the reflection pulse laser launch time that receives from laser emitting module 1 and from laser pick-off module 2, the launch time and the same pulse laser that obtain pulse laser reflect the also mistiming between the received time of reception from the area to be monitored, can be obtained the target information of area to be monitored by this mistiming.Said process all is signal Processing and control module 3 principle according to laser ranging, surveys the information of area to be monitored.Then signal Processing and control module 3 be the target range information of the area to be monitored that obtains, and simultaneously with rotary scanning mechanism 4 in the angle information coupling of the Hall element uploaded of motor, obtain detecting target apart from the angle information group.This information is gathered in the fixed cycle for frame data pass to the warning processing module, by filtering and the personnel positioning and the definite alarm of tracking of background.Here background technology comprises even without the alarm situation and occurs, scan the target information that detected zone also can obtain, because these information are not the information that alarm is concerned about, and it has also usually reflected other information of moving-target or not except the invador, so can be called background information.
Signal Processing and control module 3 judge whether alarm according to carrying out in the warning processing module after background filtering, the personnel's testing process.Here can whether alarm according to the quantity and/or the location determination of alarm point.
Laser radar has working stability, detection probability height, the advantage that loss is low.
Fig. 2 shows a kind of concrete structure of above-mentioned laser emitting module 1, and as shown in Figure 2, this laser emitting module 1 comprises laser diode (LD) 11, laser pulse diode (PLD) driving circuit 12, narrow-pulse generator 13 and square-wave generator 14.Laser diode 11 is driven by PLD driving circuit 12 as light source.Narrow-pulse generator 13 all links to each other with PLD driving circuit 12 with square-wave generator 14, for the PLD driving circuit provides pulse signal, so that PLD driving circuit 12 is according to the pulsed drive voltage of this pulse signal to laser diode 11 output correspondences.Wherein, the pulsed frequency of narrow-pulse generator 13 is preferably adjustable between 1KHz-30KHz, and positive pulsewidth is preferably adjustable between 10ns-10 μ s, and the pulse signal high level of its output is preferably 5V, and low level is preferably 0V.The rise time of rising edge is preferably in the 10ns, can guarantee that like this waveform of the final laser pulse of exporting is more satisfactory, the timing chip mistake timing of avoiding too much noise to cause.
Need to prove, spike can also be set in above-mentioned laser emitting module 1 suppress circuit, so that the amplitude uneven phenomenon in the circuit is adjusted.
Fig. 3 shows a kind of concrete structure of above-mentioned laser pick-off module 2.As shown in Figure 3, this laser pick-off module 2 comprises snowslide receiving tube (APD) 21, prime amplifier 22, voltage amplifier 23, shaping modulate circuit 24 and DC/DC inverter 25.Wherein, snowslide receiving tube 21 is used to receive the pulse laser that returns from detected regional reflex, and converts thereof into corresponding electric impulse signal.Prime amplifier 22 receives the electric impulse signal of snowslide receiving tube 21 outputs, and it is amplified.Voltage amplifier 23 also is used for the signal from prime amplifier 22 outputs is amplified, shaping modulate circuit 24 will convert the precipitous digital signal of rising edge to input analog electrical signal wherein, be convenient to signal Processing and control module 3 it is handled, improve the precision of timing.DC/DC inverter 25 gives the snowslide receiving tube 21 power supplies, for it provides breakdown reverse voltage.
Need to prove, it will be understood by those skilled in the art that the snowslide receiving tube 21 in the above-mentioned laser pick-off module 2 can also replace with the photoelectric detector of other types.
Above-mentioned laser emitting module 1 can be by START pin signal rising edge inform that to signal Processing and control module 3 laser emitting module 1 launched a pulse laser, and the rising edge that laser pick-off module 2 can be by STOP pin signal is handled and control module 3 inform that laser pick-off module 2 has received a pulse laser from the area to be monitored reflected back to signal; Like this, signal Processing and control module 3 can be by receiving above-mentioned START pin signal time of rising edge and the time that receives the rising edge of above-mentioned STOP pin signal, determine the time of same pulse laser emission respectively and from area to be monitored reflected back and received time.
Below describe the inner structure of signal Processing and control module in detail, see also Fig. 1.Signal Processing and control module 3 can comprise time detecting (TDC) module 31, ARM controller 32 and interface module 33.
Wherein, time detecting module 31 is used for after the trigger pip that receives ARM controller 32, signal according to time of the signal of the reflection pulse laser launch time that receives and reflection received pulse laser, obtain the launch time of pulse laser and the mistiming of time of reception, and after detection is finished, send the detected mistiming to ARM controller 32.
ARM controller 32 is used for sending trigger pip to time detecting module 31, and time of reception detection module 31 send by its detected mistiming, and obtain the target information of area to be monitored by this mistiming, and its map datum with the background information in the detected zone of setting up in advance of reflection carried out difference, obtain alarming information a little, judge whether alarm by the position and/or the quantity of alarm point.
Above-mentioned interface module 33 is used to set up getting in touch between signal Processing and control device 32 and the host computer, can finish same a plurality of laser radars of ipc monitor thus.In Fig. 1, especially, comprise USB interface, Ethernet interface, RS-232 interface in the interface module 33.
In order to satisfy the requirement of high speed data transfer between ARM controller 32 and the time detecting module 31, the interface that transmits data between ARM controller 32 and the time detecting module 31 preferably adopts the SPI mouth, for example between ARM controller 32 and time detecting module 31, set up 10 signal line, wherein 4 is to adopt SPI to communicate, be used to transmit laser radar range finding result, and other 6 be used to transmit timing signal and control signal.Timing signal comprises timing commencing signal and timing stop signal.Control signal can comprise the passage enable signal, and this enable signal is used for without passage the time, with this pathway closure, thereby farthest reduces the influence of the noise of idle channel to timing.
In practice, the layout of the circuit board at laser emitting module 1 and laser pick-off module 2 places can be provided with flexibly.For example, Fig. 4 shows the layout of the circuit board at laser emitting module 1 place, in Fig. 4, also is provided with LDO and DC/DC power supply on the circuit board, and the two provides the voltage of 5V respectively and greater than the voltage of 24V.Fig. 5 shows the layout of the circuit board at laser pick-off module 2 places, in Fig. 5, on the circuit board except the component units of laser pick-off module 2 self, time detecting module in also integrated signal Processing and the control module, in like manner, also be provided with the needed power supply of functional unit on this plate in the circuit board among Fig. 5, the DC/DC power supply that the LDO of 5V voltage and 3.3V voltage for example is provided and 9-24V voltage is provided.The edge of the circuit board in Fig. 4 and Fig. 5 also is provided with pin required among Fig. 1, also is provided with convenient fixing fixed orifice in addition.
Below describe the identification how ARM controller 32 is realized alarming a little in detail.
Fig. 6 shows the concrete structure of ARM controller 32.As shown in Figure 6, this ARM controller can comprise input submodule 601, and this input submodule 601 specifically is used for map datum with the target information in detected zone and foundation to carry out difference and obtain alarming a little.Input submodule 601 can comprise: data pretreatment unit 6011, background removal unit 6012, cutting unit 6013, feature extraction unit 6014 and data fusion unit 6015.
Wherein, data pretreatment unit 6011 is used for the target information in detected zone is carried out filtering, to reach preliminary noise spot filtering.Owing in the process of laser ranging, have some isolated points by laser radar in the data of gained, they are bigger with the distance of adjacent point, and these points that isolate belong to noise spot, need its filtering before data are carried out subsequent treatment.In the present embodiment, the data pretreatment unit 6011 preferred methods of medium filtering that adopt are carried out filtering to noise spot.Median filter method is based on a kind of nonlinear signal processing technology that can effectively suppress noise of sequencing statistical theory, its ultimate principle is that the value of any in digital picture or the Serial No. is replaced with the Mesophyticum of each point value in the neighborhood of this point, thereby can eliminate isolated noise spot.
The map datum that background removal unit 6012 is used for setting up in advance through the target information of noise spot filtering carries out difference and obtains differentiated target information.
The different pieces of information dot information of each object after feature extraction unit 6014 is used for cutting apart according to above-mentioned cutting unit 6013 extracts the shape and/or the motion feature information of each object.The characteristic information of these extractions carries out target classification and crucial effects is played in tracking to follow-up.The shape information of above-mentioned object can be any one in the linearity of the barycenter of object, profile and contour of object, curvature or the ellipticity or combination in any.The motion feature information of above-mentioned object can be any one in the Cartesian coordinates of object current location, movement velocity, angular velocity or the acceleration or combination in any.Because most of objects can be combined by comparatively regular straight-line segment, and that need in the civilian anti-invasion field to survey mainly is the invasion personnel, the invasion personnel often show as upright line segment feature, so when characteristic information extracts, it will be the main means that adopt that linear feature extracts.The process that linear feature extracts can be finished based on methods such as linear regression, Hough transformation, delta algorithm, greatest hope value-based algorithms.
Through after above-mentioned segmenting unit 6014 segmentations, the data point that should belong to same object may be divided into and belong to two different objects, be about to a complete object and be divided into a plurality of sections.Individually each section being carried out follow-up signature analysis is nonsensical with recognition objective.In addition, when object being divided into a plurality of parts and analyzing, it is identical may causing the signature analysis result of the different sections that belong to different objects, and this can't distinguish the target type in detected zone with regard to causing.In addition, only can't judge the type of target sometimes exactly according to the shape facility of target, this is the motion feature that needs combining target, so the frame scan data of some before and after also needing to take all factors into consideration.
Based on top consideration, need data fusion unit 6015 that a plurality of data points in the frame data are carried out the space and merge, the time of simultaneously the multiframe data being carried out merges.For example, the feature of people's two legs in same frame data is similar, but be divided into two objects probably, if but in certain threshold range, found similar characteristics, the possibility that then in these two sections is the one leg in same individual's the two legs respectively is just bigger, at this moment, need above-mentioned two continuous sections are fused to together.Simultaneously, people's leg may be consistent with the data characteristics of a pole in section, can effectively obtain the difference of people's leg and round log by the target travel characteristic in the multiframe relatively, so that the coupling of same target in the multiframe realizes functions such as follow-up tracking.
Map datum may change owing to the real background in detected zone in use for some time, causes the result who utilizes original map datum to remove recognition objective to make a mistake.In order to overcome the problems referred to above, preferably, a map rebuilding module 602 is set also in ARM controller 32.This map rebuilding module 602 is used for when taking place to rebuild the map trigger event, and the target information through the noise spot filtering that the data pretreatment unit 6011 in the input submodule 601 obtains is done background environment match computing, the map datum after obtaining rebuilding.
Above-mentioned reconstruction map datum trigger event goes consider to be provided with from multiple angles, at least can be from the experience time that testing result and background the change consideration of getting on.For example, angle from testing result, when system after the background in change of external force upper/lower positions or detected zone changes, continue to utilize original map datum to carrying out difference through target information, quantity will appear among the result of gained, the alarm point of duration severely subnormal, the position distribution in frame data of these alarm points also will the distribution when normally the invador occurring be more disperseed and near background dot in addition, so system can safeguard that is detected a unusual flag, the quantity of the alarm point after system detects and/or the scope that position distribution exceeds normal alarm point, then should detect unusual flag and be revised as " unusually ", map rebuilding module 602 will start the function that map datum is rebuild at this moment, after reconstruction is finished, more above-mentioned zone bit is revised as " normally ".Go to consider from the experience time that background changes, the user can pass through the experience time of the change of background of statistics laser radar institute monitored area, set a timer, and whether the time of detecting this timer by map rebuilding module 602 arrives the above-mentioned experience time, if arrive, then start the function that map datum is rebuild, after reconstruction is finished, again above-mentioned timer is reset, with reclocking.
In the process of carrying out above-mentioned data fusion, the angle information of the pairing realistic objective of data point is very important, in order to improve the accuracy of this angle information, preferably, an optoelectronic switch 5 also is set in above-mentioned laser radar monitoring system, this optoelectronic switch 5 revolves when turning around at rotary scanning mechanism 4, produces all pulse.In addition, in the motor in rotary scanning mechanism 4 Hall element is installed, is used to export the anglec of rotation of rotary scanning mechanism, like this can be to the angle information of radar to revise.
The above only is a preferred implementation of the present utility model; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the utility model principle; can also make some improvements and modifications, these improvements and modifications also should be considered as protection domain of the present utility model.
Claims (8)
1. laser radar monitoring system comprises:
Laser emitting module is used for emission pulse laser, and will reflect that the signal of pulse laser launch time is sent to signal Processing and control module;
The laser pick-off module is used to receive the pulse laser that returns from detected regional reflex, and will reflect that the signal of the time of received pulse laser is sent to signal Processing and control module;
Rotary scanning mechanism is used for utilizing by rotation each position of the pulse laser scanning area to be monitored of laser emitting module emission, and will collects successively the described laser pick-off module from the pulse laser of each position reflected back of area to be monitored;
Signal Processing and control module, be used for signal according to the time of the signal of the reflection pulse laser launch time that receives and reflection received pulse laser, obtain the launch time of pulse laser and the mistiming between the time of reception, obtain the range information of the target information of area to be monitored by the described mistiming, and simultaneously with rotary scanning mechanism in the angle information coupling of the Hall element uploaded of motor, obtain detecting target apart from the angle information group; Should group information be combined as frame data, pass to the warning processing module in signal Processing and the control module according to the fixed cycle; Adopt map to set up and personnel's detection method detection alarm point in the described warning processing module, judge whether alarm by the coordinate position and/or the quantity of the warning processing module outputting alarm point in described signal Processing and the control module.
2. laser radar monitoring system according to claim 1, it is characterized in that described laser emitting module comprises: laser diode (LD), be used for laser pulse diode (PLD) driving circuit of driving laser diode and narrow-pulse generator and the square-wave generator that links to each other with the PLD driving circuit.
3. laser radar monitoring system according to claim 1, it is characterized in that described laser pick-off module comprises: be used to receive the snowslide receiving tube (APD) of the pulse laser that returns from detected regional reflex, the DC/DC inverter that receives the prime amplifier that signal that APD sends amplifies, the voltage amplifier that links to each other with prime amplifier, shaping modulate circuit and power for APD.
4. according to any described laser radar monitoring system in the claim 1 to 3, it is characterized in that described signal Processing and control module comprise: ARM controller and time detecting module and interface module;
Wherein, described ARM controller is used for after the trigger pip that receives the ARM controller signal according to the time of the signal of the reflection pulse laser launch time that receives and reflection received pulse laser, obtain the launch time of pulse laser and the mistiming between the time of reception, and after detection is finished, send the detected mistiming to the ARM controller;
Described ARM controller is used for sending trigger pip to the time detecting module, and receive the range information of the detected mistiming that described time detecting module sends, and simultaneously with rotary scanning mechanism in the angle information coupling of the Hall element uploaded of motor, obtain detecting target apart from the angle information group; Should group information be combined as frame data, pass to the warning processing module according to the fixed cycle; Adopt map to set up and personnel's detection method detection alarm point in the described warning processing module, judge whether alarm by the coordinate position and/or the quantity of the warning processing module outputting alarm point in the described ARM controller.
5. laser radar monitoring system according to claim 4 is characterized in that, described ARM controller comprises: be used for map datum with the target information in detected zone and foundation and carry out difference and obtain alarming a little input submodule;
Wherein, described input submodule comprises:
The data pretreatment unit is used for the target information in detected zone is carried out filtering to reach preliminary noise spot filtering;
The background removal unit is used for obtaining differentiated target information with carrying out multiple difference through the target information of noise spot filtering with the map datum of setting up in advance;
Cutting unit is used for tentatively cutting apart the data point that belongs to different objects, may be one group for the some cluster of same target;
Feature extraction unit is used for cutting apart the different pieces of information dot information of each object afterwards according to cutting unit, extracts the shape and/or the motion feature information of each object;
The data fusion unit is used for the characteristic information that comprehensive described feature extraction unit extracts, and characteristic information is satisfied the different objects that the divided consecutive number strong point of pre-defined rule belongs to be reclassified as same object, realizes following function.
6. laser radar monitoring system according to claim 5 is characterized in that, described cutting unit is selected variable decision threshold according to the distance of obstacle distance laser pick-off module when cutting apart the data point that belongs to different objects.
7. laser radar monitoring system according to claim 5 is characterized in that, described ARM controller also comprises the map rebuilding module;
Described map rebuilding module is used for when taking place to rebuild the map trigger event, and the target information through the noise spot filtering that the data pretreatment unit in the described input submodule obtains is done background environment match computing, the map datum after obtaining rebuilding.
8. according to any described laser radar monitoring system in the claim 1 to 7, it is characterized in that, also comprise optoelectronic switch, described optoelectronic switch revolves when turning around at described rotary scanning mechanism, produces all pulse;
In the motor of rotary scanning mechanism, Hall element is installed in addition, is used to detect the anglec of rotation of rotary scanning mechanism.
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| CN102540193A (en) * | 2010-12-24 | 2012-07-04 | 无锡物联网产业研究院 | Laser radar monitoring system |
| CN103917892A (en) * | 2011-11-29 | 2014-07-09 | 赫克斯冈技术中心 | Method for measuring spatial points |
| CN106093957A (en) * | 2016-07-29 | 2016-11-09 | 成都希德电子信息技术有限公司 | Two-dimensional laser radar scanning range finding monitoring system |
| CN106093914A (en) * | 2016-07-29 | 2016-11-09 | 成都希德电子信息技术有限公司 | A kind of Laser Radar Scanning system for two dimension |
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| CN106291573A (en) * | 2016-07-29 | 2017-01-04 | 成都希德电子信息技术有限公司 | A kind of Laser Radar Scanning system and method for two dimension |
| CN106291571A (en) * | 2016-07-29 | 2017-01-04 | 成都希德电子信息技术有限公司 | A kind of integrated two-dimensional Laser Radar Scanning range-measurement system |
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| CN110906812A (en) * | 2019-12-24 | 2020-03-24 | 中国人民解放军陆军工程大学 | Target discrimination method and device for laser fuse |
| CN112731438A (en) * | 2020-12-23 | 2021-04-30 | 国网福建省电力有限公司莆田供电公司 | Radar with high-precision judgment and high-precision scanning for power transmission line |
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| CN102540193B (en) * | 2010-12-24 | 2014-04-30 | 无锡物联网产业研究院 | Laser radar monitoring system |
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| US9529085B2 (en) | 2011-11-29 | 2016-12-27 | Hexagon Technology Center Gmbh | Method for measuring spatial points |
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| CN107544506A (en) * | 2017-09-27 | 2018-01-05 | 上海有个机器人有限公司 | Robot follower method, robot and storage medium |
| CN107544506B (en) * | 2017-09-27 | 2021-05-18 | 上海有个机器人有限公司 | Robot following method, robot, and storage medium |
| CN109507686A (en) * | 2018-11-08 | 2019-03-22 | 歌尔科技有限公司 | A kind of control method wears display equipment, electronic equipment and storage medium |
| CN110906812A (en) * | 2019-12-24 | 2020-03-24 | 中国人民解放军陆军工程大学 | Target discrimination method and device for laser fuse |
| CN112731438A (en) * | 2020-12-23 | 2021-04-30 | 国网福建省电力有限公司莆田供电公司 | Radar with high-precision judgment and high-precision scanning for power transmission line |
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