WO2020147121A1

WO2020147121A1 - Rainfall measurement method, detection device, readable storage medium

Info

Publication number: WO2020147121A1
Application number: PCT/CN2019/072377
Authority: WO
Inventors: 李涛; 陈涵; 洪小平
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-01-18
Filing date: 2019-01-18
Publication date: 2020-07-23
Also published as: CN111727383A

Abstract

A rainfall measurement method, a detection device (100, 200, 800, 900), and a readable storage medium. The rainfall measurement method based on point cloud comprises: obtaining a backscatter signal generated after the transmit signal of a detection device (100, 200, 800, 900) encounters a raindrop (301); determining point cloud data corresponding to the backscatter signal (302); and determining a rainfall measurement value according to the point cloud data (303). The rainfall measurement value is determined by using the backscatter signal; the transmitter (203) and the receiver of the detection device (100, 200, 800, 900) are provided at one side and can complete the measurement of the rainfall, and therefore, it is beneficial for the integrated design of the detection device (100, 200, 800, 900), and the volume of the detection device (100, 200, 800, 900) can be reduced; moreover, the detection device (100, 200, 800, 900) is not exposed in rain, and thus, it is beneficial for prolonging the service life of the detection device (100, 200, 800, 900).

Description

Rainfall measurement method, detection device, and readable storage medium

Technical field

The embodiment of the present invention relates to the field of data processing technology, and in particular to a rainfall measurement method, a detection device, and a readable storage medium.

Background technique

The optical rain measurement equipment in the related art includes at least an optical signal transmitter and an optical signal receiver. The optical signal transmitter is placed on one side and the optical signal receiver is placed on the opposite side, so that the optical signal transmitter can be directed to the optical signal. The receiver emits an optical signal. When raindrops fall between the optical signal transmitter and the optical signal receiver, the propagation direction or energy of the optical signal will be affected by the raindrops, and the rainfall can be calculated based on the above changes.

However, the optical rainfall measurement equipment in the related art may be restricted by the site, and the optical signal transmitter and/or the optical signal receiver need to be placed in the rain water, which causes the rainfall measurement equipment to be easily damaged and has a high failure rate. In addition, the transmitter and receiver in the optical rain measurement device are arranged separately, resulting in a larger volume.

Summary of the invention

The embodiments of the present invention provide a rainfall measurement method, a detection device, and a readable storage medium, so that the transmitter and receiver of the detection device can be installed on one side to complete the measurement of the rainfall, and the volume of the detection device can be reduced, and the detection device It does not need to be exposed to rain water, which helps to extend the service life of the detection device.

In the first aspect, an embodiment of the present invention provides a point cloud-based rainfall measurement method, the method is applied to a detection device, and the method includes:

Acquiring a backscattered signal generated after the emission signal of the detection device encounters raindrops;

Determining the point cloud data corresponding to the backscatter signal;

Determine the measured value of rainfall according to the point cloud data.

In a second aspect, an embodiment of the present invention provides a detection device, which includes at least a memory and a processor; the memory is connected to the processor through a communication bus, and is used to store computer instructions executable by the processor; the processing The device is used to read computer instructions from the memory to realize:

Determining the point cloud data corresponding to the backscatter signal;

Determine the measured value of rainfall according to the point cloud data.

In a third aspect, an embodiment of the present invention provides a readable storage medium having a number of computer instructions stored on the readable storage medium, and when the computer instructions are executed, the steps of the method described in the first aspect are implemented.

It can be seen from the above technical solution that in this embodiment, by acquiring the backscattered signal generated after the transmitted signal encounters raindrops, the point cloud data corresponding to the backscattered signal can be determined; then, the point cloud data corresponding to the backscattered signal can be determined; The measured value of rainfall. In this embodiment, the measured value of rainfall is determined by using the backscatter signal, so that the transmitter and receiver of the detection device are set on one side to complete the measurement of rainfall, which is beneficial to the integrated design of the detection device and can reduce the detection device The volume of the detection device does not need to be exposed to rain, which is beneficial to prolong the service life of the detection device.

BRIEF DESCRIPTION

In order to more clearly explain the technical solutions in the embodiments of the present invention, the drawings required in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For a person of ordinary skill in the art, without paying any creative labor, other drawings can also be obtained based on these drawings.

FIG. 1 is a block diagram of a point cloud scanning system provided by an embodiment of the present invention;

2 is a schematic structural diagram of a detection device using a coaxial optical path provided by an embodiment of the present invention;

FIG. 3 is a flowchart of a method for measuring rainfall based on a point cloud according to an embodiment of the present invention;

4 is a flowchart of determining rainfall measurement values provided by an embodiment of the present invention;

Figure 5 is a flowchart of determining the number of raindrops provided by an embodiment of the present invention;

6 is a schematic diagram of scanning points corresponding to a backscatter signal of a raindrop provided by an embodiment of the present invention;

FIG. 7 is a flowchart of obtaining the number of raindrops according to an embodiment of the present invention;

Figure 8 is a block diagram of a detection device provided by an embodiment of the present invention;

Fig. 9 is a block diagram of another detection device provided by an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.

At present, the optical rain measurement equipment in the related art includes at least an optical signal transmitter and an optical signal receiver. The optical signal transmitter is placed on one side and the optical signal receiver is placed on the opposite side, so that the optical signal transmitter can be The optical signal receiver emits optical signals. When raindrops fall between the optical signal transmitter and the optical signal receiver, the propagation direction or energy of the optical signal will be affected by the raindrops, and the rainfall can be calculated based on the above changes.

The embodiment of the present invention provides a method for measuring rainfall based on a point cloud. The rainfall measuring method obtains the backscatter signal generated after the transmission signal of the detection device encounters raindrops, and determines the point cloud data corresponding to the backscatter signal , So as to determine the measured value of rainfall according to the point cloud data. In this way, the transmitter and receiver of the detection device can be installed on one side to complete the measurement of rainfall, which can reduce the volume of the detection device and facilitate the integrated design of the detection device. And the detection device can not be exposed to rain water, which is beneficial to prolong the service life of the detection device.

The method for measuring rainfall based on a point cloud provided by the embodiment of the present invention may be applied to a detection device, and the detection device may be electronic equipment such as lidar, millimeter wave radar, or ultrasonic radar.

In one embodiment, the detection device is used to sense external environment information, for example, distance information, azimuth information, reflection intensity information, speed information, etc. of the environmental target. In one implementation, the detection device may detect the distance between the detection object and the detection device by measuring the time of light propagation between the detection device and the detection object, that is, Time-of-Flight (TOF). Alternatively, the detection device may detect the distance from the detection object to the detection device by other techniques, such as a distance measurement method based on phase shift measurement, or a distance measurement method based on frequency shift measurement, which is not described here Do restrictions.

In order to facilitate understanding, the working process of ranging will be described by an example in conjunction with the detection device 100 shown in FIG. 1.

Referring to FIG. 1, the detection device 100 may include a transmitting circuit 110, a receiving circuit 120, a sampling circuit 130 and an arithmetic circuit 140.

The transmission circuit 110 may transmit a sequence of light pulses (for example, a sequence of laser pulses). The receiving circuit 120 can receive the light pulse sequence (subsequent backscatter signal) reflected by the detected object, and perform photoelectric conversion on the light pulse sequence to obtain an electrical signal. After processing the electrical signal, it can be output to the sampling circuit 130 . The sampling circuit 130 may sample the electrical signal to obtain the sampling result. The arithmetic circuit 140 may determine the distance between the detection device 100 and the detected object based on the sampling result of the sampling circuit 130.

Optionally, the detection device 100 may further include a control circuit 150, which may control other circuits, for example, may control the working time of each circuit and/or set parameters for each circuit.

It should be understood that although the detection device shown in FIG. 1 includes a transmitting circuit, a receiving circuit, a sampling circuit, and an arithmetic circuit for emitting a beam for detection, the embodiment of the present application is not limited to this. The transmitting circuit, The number of any one of the receiving circuit, the sampling circuit, and the arithmetic circuit may also be at least two, which are used to emit at least two light beams in the same direction or in different directions; wherein, the at least two light paths may be emitted simultaneously , It can also be launched at different times. In one example, the light-emitting chips in the at least two emission circuits are packaged in the same module. For example, each emitting circuit includes a laser emitting chip, and the laser emitting chips in the at least two emitting circuits may be packaged together and housed in the same packaging space.

In some embodiments, in addition to the circuit shown in FIG. 1, the detection device 100 may further include a scanning module 160 for emitting at least one laser pulse sequence emitted from the transmitting circuit by changing the propagation direction.

Among them, the module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, and the arithmetic circuit 140, or the module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, the arithmetic circuit 140, and the control circuit 150 may be referred to as a measurement For the distance module, the distance measuring module 150 may be independent of other modules, for example, the scanning module 160.

A coaxial optical path may be used in the detection device, that is, the light beam emitted by the detection device and the reflected light beam share at least part of the optical path in the detection device. For example, after at least one laser pulse sequence emitted by the transmitting circuit is emitted by the scanning module to change the propagation direction, the laser pulse sequence reflected by the detection object passes through the scanning module and enters the receiving circuit. Alternatively, the detection device may also adopt an off-axis optical path, that is, the light beam emitted by the detection device and the reflected light beam are transmitted along different optical paths in the detection device, respectively. Fig. 2 shows a schematic diagram of an embodiment in which the detection device of the present invention adopts a coaxial optical path.

The detection device 200 includes a distance measuring module 210. The distance measuring module 210 includes a transmitter 203 (which may include the above-mentioned transmitting circuit), a collimating element 204, a detector 205 (which may include the above-mentioned receiving circuit, sampling circuit, and arithmetic circuit) and an optical path Change element 206. The distance measuring module 210 is used to emit a light beam and receive back light, and convert the back light into an electrical signal. Among them, the transmitter 203 may be used to transmit a light pulse sequence. In one embodiment, the transmitter 203 may emit a sequence of laser pulses. Optionally, the laser beam emitted by the transmitter 203 is a narrow-bandwidth beam with a wavelength outside the visible light range. The collimating element 204 is disposed on the exit optical path of the emitter, and is used to collimate the light beam emitted from the emitter 203, and collimate the light beam emitted by the emitter 203 into parallel light to the scanning module. The collimating element is also used to condense at least a part of the return light reflected by the probe. The collimating element 204 may be a collimating lens or other element capable of collimating the light beam.

In the embodiment shown in FIG. 2, the optical path changing element 206 is used to merge the transmitting optical path and the receiving optical path in the detection device before the collimating element 204, so that the transmitting optical path and the receiving optical path can share the same collimating element, making the optical path more compact. In some other implementation manners, the transmitter 203 and the detector 205 may respectively use respective collimating elements, and the optical path changing element 206 is disposed on the optical path behind the collimating element.

In the embodiment shown in FIG. 2, since the beam aperture emitted by the transmitter 203 is small, and the beam aperture of the return light received by the detection device is large, the optical path changing element can use a small-area reflector to combine the emitted light path with The receiving light path is combined. In some other implementations, the light path changing element may also use a reflector with a through hole, where the through hole is used to transmit the outgoing light of the emitter 203, and the reflector is used to reflect the return light to the detector 205. In this way, it is possible to reduce the blocking of the return light by the support of the small mirror in the case of using the small mirror.

In the embodiment shown in FIG. 2, the optical path changing element is offset from the optical axis of the collimating element 204. In some other implementations, the optical path changing element may also be located on the optical axis of the collimating element 204.

The detection device 200 further includes a scanning module 202. The scanning module 202 is placed on the exit optical path of the distance measuring module 210. The scanning module 202 is used to change the transmission direction of the collimated light beam 219 emitted through the collimating element 204 and project it to the outside environment, and project the return light to the collimating element 204 . The returned light is converged on the detector 205 via the collimating element 204.

In one embodiment, the scanning module 202 may include at least one optical element for changing the propagation path of the light beam, wherein the optical element may change the propagation path of the light beam by reflecting, refracting, diffracting, etc. the light beam. For example, the scanning module 202 includes a lens, a mirror, a prism, a galvanometer, a grating, a liquid crystal, an optical phased array (Optical Phased Array), or any combination of the above optical elements. In one example, at least part of the optical element is moving, for example, the at least part of the optical element is driven to move by a driving module, and the moving optical element can reflect, refract or diffract the light beam to different directions at different times. In some embodiments, multiple optical elements of the scanning module 202 may rotate or vibrate about a common axis 209, and each rotating or vibrating optical element is used to continuously change the direction of propagation of the incident light beam. In one embodiment, the multiple optical elements of the scanning module 202 may rotate at different speeds or vibrate at different speeds. In another embodiment, at least part of the optical elements of the scanning module 202 can rotate at substantially the same rotational speed. In some embodiments, the multiple optical elements of the scanning module may also rotate around different axes. In some embodiments, the multiple optical elements of the scanning module may also rotate in the same direction, or rotate in different directions; or vibrate in the same direction, or vibrate in different directions, which is not limited herein.

In one embodiment, the scanning module 202 includes a first optical element 214 and a driver 216 connected to the first optical element 214. The driver 216 is used to drive the first optical element 214 to rotate about a rotation axis 209 to change the first optical element 214 The direction of the collimated light beam 219. The first optical element 214 projects the collimated beam 219 to different directions. In one embodiment, the angle between the direction of the collimated beam 219 changed by the first optical element and the rotation axis 209 changes as the first optical element 214 rotates. In one embodiment, the first optical element 214 includes a pair of opposed non-parallel surfaces through which the collimated light beam 219 passes. In one embodiment, the first optical element 214 includes a prism whose thickness varies along at least one radial direction. In one embodiment, the first optical element 214 includes a wedge-angle prism, aligning the straight beam 219 for refraction.

In one embodiment, the scanning module 202 further includes a second optical element 215 that rotates about a rotation axis 209. The rotation speed of the second optical element 215 is different from the rotation speed of the first optical element 214. The second optical element 215 is used to change the direction of the light beam projected by the first optical element 214. In one embodiment, the second optical element 215 is connected to another driver 217, and the driver 217 drives the second optical element 215 to rotate. The first optical element 214 and the second optical element 215 can be driven by the same or different drivers, so that the rotation speed and/or rotation of the first optical element 214 and the second optical element 215 are different, so as to project the collimated light beam 219 to the outside space. Different directions can scan a larger space. In one embodiment, the controller 218 controls the

drivers

216 and 217 to drive the first optical element 214 and the second optical element 215, respectively. The rotation speeds of the first optical element 214 and the second optical element 215 can be determined according to the area and pattern expected to be scanned in practical applications.

Drives

216 and 217 may include motors or other drives.

In one embodiment, the second optical element 215 includes a pair of opposed non-parallel surfaces through which the light beam passes. In one embodiment, the second optical element 215 includes a prism whose thickness varies in at least one radial direction. In one embodiment, the second optical element 215 includes a wedge angle prism.

In one embodiment, the scanning module 202 further includes a third optical element (not shown) and a driver for driving the third optical element to move. Optionally, the third optical element includes a pair of opposite non-parallel surfaces, and the light beam passes through the pair of surfaces. In one embodiment, the third optical element includes a prism whose thickness varies along at least one radial direction. In one embodiment, the third optical element includes a wedge angle prism. At least two of the first, second and third optical elements rotate at different rotational speeds and/or turns.

The rotation of each optical element in the scanning module 202 can project light into different directions, such as

directions

211 and 213, thus scanning the space around the detection device 200. When the light 211 projected by the scanning module 202 hits the detection object 201, a part of the light is reflected by the detection object 201 to the detection device 200 in a direction opposite to the projected light 211. The return light 212 reflected by the probe 201 is incident on the collimating element 204 after passing through the scanning module 202.

The detector 205 is placed on the same side of the collimating element 204 as the emitter 203. The detector 205 is used to convert at least part of the returned light passing through the collimating element 204 into an electrical signal.

In one embodiment, each optical element is coated with an anti-reflection coating. Optionally, the thickness of the antireflection film is equal to or close to the wavelength of the light beam emitted by the emitter 203, which can increase the intensity of the transmitted light beam.

In one embodiment, a filter layer is coated on the surface of an element on the beam propagation path in the detection device, or a filter is provided on the beam propagation path to transmit at least the wavelength band of the beam emitted by the emitter, Reflect other bands to reduce the noise caused by ambient light to the receiver.

In some embodiments, the transmitter 203 may include a laser diode through which laser pulses in the order of nanoseconds are emitted. Further, the laser pulse receiving time may be determined, for example, by detecting the rising edge time and/or the falling edge time of the electrical signal pulse. In this way, the detection device 200 can use the pulse reception time information and the pulse emission time information to calculate the TOF, thereby determining the distance between the detection object 201 and the detection device 200.

The distance and orientation detected by the detection device 200 can be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like. In one embodiment, the detection device of the embodiment of the present invention can be applied to a movable platform, and the detection device can be installed on the platform body of the movable platform. The movable platform with a detection device can measure the external environment. For example, the distance between the movable platform and the obstacle is measured for obstacle avoidance and other purposes, and the external environment is measured in two or three dimensions. In some embodiments, the movable platform includes at least one of an unmanned aerial vehicle, a car, a remote control car, a robot, and a camera. When the detection device is applied to an unmanned aerial vehicle, the platform body is the fuselage of the unmanned aerial vehicle. When the detection device is applied to an automobile, the platform body is the body of the automobile. The car may be a self-driving car or a semi-automatic car, and no restriction is made here. When the detection device is applied to a remote control car, the platform body is the body of the remote control car. When the detection device is applied to a robot, the platform body is a robot. When the detection device is applied to a camera, the platform body is the camera itself.

Fig. 3 is a flow chart of a method for measuring rainfall based on a point cloud provided by an embodiment of the present invention. Referring to Fig. 3, a method for measuring rainfall based on a point cloud includes steps 301 to 303, wherein:

In step 301, the backscatter signal generated after the transmission signal of the detection device encounters raindrops is acquired.

In an embodiment, the detection device may emit a signal. For example, the emitted signal may include an optical pulse signal. For the emission principle, please refer to the content of the embodiment shown in FIG. 1 and FIG. 2. When the transmitted signal encounters raindrops, it will be reflected to form a backscattered signal.

It should be noted that the backscatter signal refers to the forward direction of the transmitted signal away from the detection device. If the transmitted signal encounters raindrops, the propagation direction of the echo signal reflected by the raindrops is opposite to the transmitted signal. The detection device propagates in the direction, and the echo signal is a backscattered signal.

In an embodiment, the detection device may preprocess the received backscatter signal, which may include at least one of the following: filtering, denoising, and amplification. Those skilled in the art can select an appropriate preprocessing method according to a specific scenario, and in the case that the accuracy of the backscatter signal can be improved, the corresponding solution falls within the protection scope of the present application.

In step 302, the point cloud data corresponding to the backscatter signal is determined.

In an embodiment, after detecting the backscatter signal, the detection device can determine the point cloud data corresponding to the backscatter signal.

It is understandable that each backscatter signal corresponds to a point data. After each detection is completed, the point data of all backscatter signals can form point cloud data.

In this embodiment, the point cloud data includes at least one of the following parameters: depth value, reflection intensity value, and pulse width value corresponding to the backscatter signal.

In an embodiment, the depth value refers to the distance information from the raindrop to the viewpoint or the image plane. Wherein, the viewpoint can be any suitable point in the three-dimensional space. For example, the position of the detection device can be used as the viewpoint. The image plane may be any suitable image plane. For example, the image plane may be a plane perpendicular to the axis of the detection device at a certain distance from the detection device.

In an embodiment, the reflected intensity value may refer to the intensity value of the backscattered signal, such as the amplitude or energy value of the pulse, and may also refer to the intensity ratio of the backscattered signal to the transmitted signal. It is not limited here.

In one embodiment, the pulse width value refers to the time difference when the instantaneous intensity value of the backscattered signal reaches the preset threshold. For example, the preset threshold is one-fifth of the peak value of the pulse intensity.

It should be noted that the depth value may be expressed as a numerical value, or may be expressed as an x-axis coordinate value, a y-axis coordinate value, and a z-axis coordinate value. Technicians can choose an appropriate representation according to specific scenarios, and the corresponding solutions fall within the protection scope of this application.

In step 303, the measured value of rainfall is determined according to the point cloud data.

In one embodiment, the measured value of rainfall is in millimeters, which represents the rainfall per unit time.

Referring to FIG. 4, the detection device can determine the number of raindrops and the average measured value of raindrops according to the point cloud data (corresponding to step 401).

In an example, the detection device can determine the number of raindrops, including: referring to Figure 5, the detection device can obtain the depth value corresponding to each backscatter signal, and then can determine the spatial distribution of the point cloud and the number of point clouds ( Corresponding to step 501). After that, the detection device can determine the number of raindrops according to the spatial distribution of the point cloud and the number of point clouds (corresponding to step 502).

Referring to Figure 6, when the detection device emits a signal to raindrops, a backscatter signal is generated. The backscatter signal corresponds to a scan point P. The depth corresponding to the scan point can be calculated according to the time difference between the transmitted signal and the backscatter signal. value. The emission direction of the detection device is known, so the spatial distribution of the point cloud can be determined according to the depth value corresponding to each backscattered signal, where the spatial distribution of the point cloud represents the spatial position of each scanning point. Optionally, the spatial distribution of the point cloud can be fitted with a Poisson distribution, and the spatial distribution of the corresponding point cloud is different when the characteristic value of the Poisson distribution is different.

In an example, the detection device can determine the spatial distribution of the point cloud according to the depth value, angle one, and angle two corresponding to the backscattered signal. The angle one and the angle two represent the direction of the signal emitted by the detection device.

In another example, the detection device can determine the coordinate value of the scan point corresponding to the backscatter signal in the three-dimensional space according to the depth value, angle 1 and angle 2 corresponding to the backscatter signal, that is, the x-axis coordinate value and the y-axis coordinate Therefore, the detection device can determine the spatial distribution of the point cloud according to the x-axis coordinate value, the y-axis coordinate value and the z-value coordinate value.

In this example, when the sampling density of the detection device is large, that is, the detection device emits signals in each direction of the transmitted signal, so that the detection device can detect all raindrops or most raindrops in the detection range, and can calculate within the error range The amount of rainfall.

When the sampling density of the detection device is low, the detection device may not be able to detect some raindrops. In this case, referring to FIG. 7, the detection device can obtain a preset scale factor (corresponding to step 701). After that, the detection device can determine the number of raindrops according to the preset scale factor, the spatial distribution of the point cloud, and the number of point clouds (corresponding to step 702).

It should be noted that the preset scale factor can be calibrated according to different rainfall scenarios. Among them, in the calibration experiment, rainwater corresponding to different rainfall can be generated, and the detection device can transmit a signal to the rainwater, so that the detection device can detect the backscatter signal, so that the spatial distribution and the point cloud corresponding to different rainfall can be obtained. The number of point clouds. Then, based on the spatial distribution of point clouds, the number of point clouds, and the actual number of raindrops set in the calibration test, the detection device can calculate the proportional coefficient between the number of point clouds and the actual number of raindrops under a certain spatial distribution of point clouds. Of course, the technician can also obtain the preset scale factor according to other methods, and if the number of raindrops can be accurately obtained, the corresponding solution falls within the protection scope of this application.

In another example, the detection device may determine the average measured value of raindrops, which may include:

In one embodiment, the average measured value of raindrops is in millimeters, which represents the average precipitation corresponding to the raindrops.

Optionally, the detection device may determine the average measurement value of raindrops based on the depth value and the reflection intensity value. The attenuation of the light pulse signals arriving at the same depth plane is the same or similar. The larger the volume of the raindrop, the higher the probability that the raindrop interacts with the laser spot, so the average value of the reflection intensity of all backscattered signals is greater. The smaller the volume of the raindrop, the smaller the average value of the reflected intensity values of all backscattered signals. Specifically, the corresponding relationship between the depth value, the reflection intensity value and the average measured value of raindrops can be determined in advance through a calibration test.

Optionally, the detection device may determine the average measured value of raindrops based on the depth value and the pulse width value. The pulse width value of the backscatter signal is related to the reflection intensity value of the backscatter signal. At the same time, it takes into account the reflection effect of the same light pulse signal on the front and back surfaces of the same raindrop, and the reflection of multiple raindrops on the same light. The reflection effect of the pulse signal, the larger the volume of raindrops and the greater the density of raindrops, the larger the pulse width value of the corresponding backscatter signal. Specifically, the corresponding relationship between the depth value, the pulse width value and the average measured value of raindrops can be determined in advance through a calibration test.

Optionally, the detection device may determine the average measurement value of raindrops based on the depth value, the reflection intensity value and the pulse width value.

For example, the detection device uses the reflection intensity value to determine the first average measurement value of a raindrop and the second average measurement value of the same raindrop determined by the pulse width value, and then the detection device can obtain the pre-stored reflection intensity value and For the weight of the pulse width value, the detection device multiplies the first average measurement value and the second average measurement value by the corresponding weights, and the resulting algebraic sum is the final average measurement value of the raindrop.

For another example, an average measurement value table may be preset in the detection device. The average measurement value table is obtained through a large number of calibration experiments, and contains the corresponding relationship between the average measurement value and the depth value, the reflection intensity value and the pulse width value. The detection device can determine the average measurement value by querying the average measurement value table after obtaining the depth value, reflection intensity value and pulse width value of the backscatter signal.

Continuing to refer to FIG. 4, the detection device can determine the measured value of rainfall according to the number of raindrops and the average measured value of raindrops (corresponding to step 402). For example, the detection device can determine the measured value of rainfall based on the product of the number of raindrops and the average measured value of raindrops.

It should be noted that the correspondence between the point cloud data and the rainfall amount can be preset in this embodiment. The detection device can call a preset corresponding relationship between point cloud data and rainfall. For example, the corresponding relationship is a neural network. According to the point cloud data and the corresponding relationship, the detection device can determine the measured value of the rainfall. It should be noted that the present invention does not limit the representation manner of the corresponding relationship, and those skilled in the art can select an appropriate representation manner according to actual needs.

So far, in this embodiment, the backscatter signal generated after the transmission signal encounters raindrops is acquired, and then the point cloud data corresponding to the backscatter signal can be determined; then, the measured value of the rainfall is determined according to the point cloud data. In this embodiment, the measured value of rainfall is determined by using the backscatter signal, so that the transmitter and receiver of the detection device are set on one side to complete the measurement of rainfall, which is beneficial to the integrated design of the detection device and can reduce the detection device The volume of the detection device does not need to be exposed to rain, which is beneficial to prolong the service life of the detection device.

The embodiment of the present invention also provides a detection device 800, referring to FIG. 8, at least including a memory 802 and a processor 801; the memory 802 is connected to the processor 801 through a communication bus 803, and is used for storing the processor 801. Executable computer instructions; the processor 801 is used to read computer instructions from the memory 802 to implement:

Determining the point cloud data corresponding to the backscatter signal;

Determine the measured value of rainfall according to the point cloud data.

In an embodiment, the point cloud data includes at least one of a depth value, a reflection intensity value, and a pulse width value corresponding to the backscatter signal.

In an embodiment, the processor 801 configured to determine the measured value of rainfall according to the point cloud data includes:

Determining the number of raindrops and the average measured value of raindrops according to the point cloud data;

The measured value of the rainfall amount is determined according to the number of the raindrops and the average measured value of the raindrops.

In an embodiment, that the processor 801 is configured to determine the number of raindrops and the average measured value of raindrops according to the point cloud data includes:

Determining the spatial distribution of the point cloud and the number of point clouds according to the depth value corresponding to the backscattered signal;

The number of raindrops is determined according to the spatial distribution of the point cloud and the number of the point cloud.

In an embodiment, the processor 801 configured to determine the number of raindrops according to the spatial distribution of the point cloud and the number of the point cloud includes:

Obtain the preset scale factor;

The number of raindrops is obtained according to the preset scale factor, the spatial distribution of the point cloud and the number of the point cloud.

In an embodiment, the processor 801 configured to determine the number of raindrops and the average measured value of raindrops according to the point cloud data includes:

The average measurement value of the raindrop is determined according to the depth value and the reflection intensity value corresponding to the backscatter signal.

The average measurement value of the raindrop is determined according to the depth value and the pulse width value corresponding to the backscatter signal.

The average measurement value of the raindrop is determined according to the depth value, the reflection intensity value and the pulse width value corresponding to the backscatter signal.

Calling a preset corresponding relationship between point cloud data and rainfall, and determining the measured value of the rainfall according to the point cloud data and the corresponding relationship.

In an embodiment, the processor 801 is further configured to:

The backscatter signal is preprocessed, and the preprocessing includes at least one of filtering, denoising, and amplification.

In an embodiment, referring to FIG. 9, the detection device 900 includes a signal transmitting system 904 and a signal receiving system 905 that are integrated.

In an embodiment, the detection device 900 includes a lidar, and the emission signal includes an optical pulse signal.

In an embodiment, the lidar includes a point cloud scanning system, and the scanning mode of the point cloud scanning system includes at least one of the following: Risley prism mode, mirror combination mode, MEMS scanning mode, phased array scanning mode, Mechanical scanning method.

The embodiment of the present invention also provides a readable storage medium having a number of computer instructions stored on the readable storage medium, and when the computer instructions are executed, the steps of any one of the above methods are implemented.

It should be noted that the rainfall measurement method, detection device, and readable storage medium provided in the embodiments of the present invention can also be used to measure tiny particles in space, such as clouds and dust. Those skilled in the art can perform appropriate measures according to the above embodiments. Transformed.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations There is any such actual relationship or order. The terms "include", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also others that are not explicitly listed Elements, or also include elements inherent to such processes, methods, objects, or equipment. Without more restrictions, the element defined by the sentence "include one..." does not exclude that there are other identical elements in the process, method, article or equipment that includes the element.

The detection device and method provided by the embodiments of the present invention are described in detail above. Specific examples are used in the present invention to explain the principles and implementation of the present invention. The description of the above embodiments is only used to help understand the method of the present invention. And its core ideas; for those of ordinary skill in the art, according to the ideas of the present invention, there will be changes in the specific implementation and scope of application. In summary, the content of this specification should not be construed as limiting the present invention .

Claims

A point cloud-based rainfall measurement method, characterized in that the method is applied to a detection device, and the method includes:

Acquiring a backscattered signal generated after the emission signal of the detection device encounters raindrops;

Determining the point cloud data corresponding to the backscatter signal;

Determine the measured value of rainfall according to the point cloud data.
The rainfall measurement method according to claim 1, wherein the point cloud data includes at least one of a depth value, a reflection intensity value, and a pulse width value corresponding to the backscatter signal.
The rainfall measurement method according to claim 1, wherein the determining the measurement value of the rainfall according to the point cloud data comprises:

Determining the number of raindrops and the average measured value of raindrops according to the point cloud data;

The measured value of the rainfall amount is determined according to the number of the raindrops and the average measured value of the raindrops.
The rainfall measurement method according to claim 3, wherein the determining the number of raindrops according to the point cloud data comprises:

Determining the spatial distribution of the point cloud and the number of point clouds according to the depth value corresponding to the backscattered signal;

The number of raindrops is determined according to the spatial distribution of the point cloud and the number of the point cloud.
The rainfall measurement method according to claim 4, wherein the determining the number of raindrops according to the spatial distribution of the point cloud and the number of the point cloud comprises:

Obtain the preset scale factor;

The number of raindrops is obtained according to the preset scale factor, the spatial distribution of the point cloud and the number of the point cloud.
The rainfall measurement method according to claim 3, wherein the determining the average measurement value of raindrops according to the point cloud data comprises:

The average measurement value of the raindrop is determined according to the depth value and the reflection intensity value corresponding to the backscatter signal.
The rainfall measurement method according to claim 3, wherein the determining the average measurement value of raindrops according to the point cloud data comprises:

The average measurement value of the raindrop is determined according to the depth value and the pulse width value corresponding to the backscatter signal.
The rainfall measurement method according to claim 3, wherein the determining the average measurement value of raindrops according to the point cloud data comprises:

The average measurement value of the raindrop is determined according to the depth value, the reflection intensity value and the pulse width value corresponding to the backscatter signal.
The rainfall measurement method according to claim 1, wherein the determining the rainfall measurement value according to the point cloud data comprises:

Calling a preset corresponding relationship between point cloud data and rainfall, and determining the measured value of the rainfall according to the point cloud data and the corresponding relationship.
The rainfall measurement method according to claim 1, wherein the method further comprises:

The backscatter signal is preprocessed, and the preprocessing includes at least one of filtering, denoising, and amplification.
A detection device, characterized in that it includes at least a memory and a processor; the memory is connected to the processor through a communication bus, and is used for storing computer instructions executable by the processor; The memory reads computer instructions to achieve:

Acquiring a backscattered signal generated after the emission signal of the detection device encounters raindrops;

Determining the point cloud data corresponding to the backscatter signal;

Determine the measured value of rainfall according to the point cloud data.
The detection device according to claim 11, wherein the point cloud data includes at least one of a depth value, a reflection intensity value, and a pulse width value corresponding to the backscatter signal.
The detection device according to claim 11, wherein the processor configured to determine the measured value of rainfall according to the point cloud data comprises:

Determining the number of raindrops and the average measured value of raindrops according to the point cloud data;

The measured value of the rainfall amount is determined according to the number of the raindrops and the average measured value of the raindrops.
The detection device according to claim 13, wherein the processor configured to determine the number of raindrops and the average measured value of raindrops according to the point cloud data comprises:

Determining the spatial distribution of the point cloud and the number of point clouds according to the depth value corresponding to the backscattered signal;

The number of raindrops is determined according to the spatial distribution of the point cloud and the number of the point cloud.
The detection device according to claim 14, wherein the processor configured to determine the number of raindrops according to the spatial distribution of the point cloud and the number of the point cloud comprises:

Obtain the preset scale factor;

The number of raindrops is obtained according to the preset scale factor, the spatial distribution of the point cloud and the number of the point cloud.
The detection device according to claim 13, wherein the processor configured to determine the number of raindrops and the average measured value of raindrops according to the point cloud data comprises:

The average measurement value of the raindrop is determined according to the depth value and the reflection intensity value corresponding to the backscatter signal.
The detection device according to claim 13, wherein the processor configured to determine the number of raindrops and the average measured value of raindrops according to the point cloud data comprises:

The average measurement value of the raindrop is determined according to the depth value and the pulse width value corresponding to the backscatter signal.
The detection device according to claim 13, wherein the processor configured to determine the number of raindrops and the average measured value of raindrops according to the point cloud data comprises:

The average measurement value of the raindrop is determined according to the depth value, the reflection intensity value and the pulse width value corresponding to the backscatter signal.
The detection device according to claim 11, wherein the processor configured to determine the measured value of rainfall according to the point cloud data comprises:

Calling a preset corresponding relationship between point cloud data and rainfall, and determining the measured value of the rainfall according to the point cloud data and the corresponding relationship.
The detection device according to claim 11, wherein the processor is further configured to:

The backscatter signal is preprocessed, and the preprocessing includes at least one of filtering, denoising, and amplification.
The detection device according to claim 11, wherein the detection device comprises a signal transmitting system and a signal receiving system that are integrated.
The detection device according to claim 11, wherein the detection device comprises a laser radar, and the emission signal comprises an optical pulse signal.
The detection device according to claim 22, wherein the lidar comprises a point cloud scanning system, and the scanning mode of the point cloud scanning system includes at least one of the following: Risley prism mode, mirror combination mode, MEMS scanning Mode, phased array scanning mode, mechanical scanning mode.
A readable storage medium, characterized in that a number of computer instructions are stored on the readable storage medium, and when the computer instructions are executed, the steps of the method according to any one of claims 1 to 10 are realized.