WO2021087737A1 - Radar mounting state detection method and device, movable platform, and storage medium - Google Patents

Abstract

A radar mounting state detection method and device, a movable platform, and a storage medium. The radar mounting state detection method comprises: in the process of running a task on a movable platform, obtaining terrain information of the operating environment where the movable platform is located (S101); obtaining attitude information of the movable platform during the operation of the operating environment (S102); and determining, according to the terrain information and the attitude information, whether a radar configured on the movable platform is correctly mounted (S103). By comprehensively using multiple aspects of information, the radar mounting state can be accurately detected, and an error in mounting is avoided.

Description

Radar installation state detection method, movable platform, equipment and storage medium Technical field

The invention relates to the field of radars, in particular to a detection method, a movable platform, equipment and a storage medium for the installation state of a radar.

Background technique

Movable platforms have been widely used in many fields. In different fields, mobile platforms have the need to avoid obstacles based on the environmental information of the operating environment. Among them, the operating environment information may include terrain information, the distribution density of objects in the environment, and so on. At this point, the mobile platform can first use its own radar to observe the surrounding environment, and then estimate the environmental information based on the point cloud data obtained from the observation, so as to realize obstacle avoidance based on the environmental information.

In some special fields, such as agriculture, a movable platform can usually be used for spraying medicine, and the movable platform needs to be cleaned every time a period of time has passed. Before and after each cleaning, the radar configured on the movable platform needs to be disassembled and reinstalled. For users who are not familiar with the machine, it is easy to have radar installation errors. This installation error may also cause damage to the movable platform.

Summary of the invention

The invention provides a detection method, a movable platform, equipment and a storage medium for the radar installation state, which are used to accurately detect the installation state of the radar and avoid installation errors.

The first aspect of the present invention is to provide a method for detecting the installation state of a radar, the method including:

Obtain the terrain information of the operating environment of the mobile platform;

Acquiring posture information of the movable platform during the operation of the operating environment;

According to the terrain information and the attitude information, it is determined whether the radar on the movable platform is installed correctly.

The second aspect of the present invention is to provide a movable platform, which at least includes: a body, a power system, and a control device;

The power system is arranged on the body and used to provide power for the movable platform;

The control device includes a memory and a processor;

The memory is used to store a computer program;

The processor is configured to run a computer program stored in the memory to realize:

Obtain the terrain information of the operating environment of the mobile platform;

Acquiring posture information of the movable platform during the operation of the operating environment;

According to the terrain information and the attitude information, it is determined whether the radar on the movable platform is installed correctly.

The third aspect of the present invention is to provide a radar installation state detection device, the detection device comprising:

Memory, used to store computer programs;

The processor is configured to run a computer program stored in the memory to realize:

Obtain the terrain information of the operating environment of the mobile platform;

Acquiring posture information of the movable platform during the operation of the operating environment;

According to the terrain information and the attitude information, it is determined whether the radar on the movable platform is installed correctly.

The fourth aspect of the present invention is to provide a computer-readable storage medium, the storage medium is a computer-readable storage medium, the computer-readable storage medium stores program instructions, and the program instructions are used in the first aspect. The detection method of the radar installation state described.

The radar installation state detection method, movable platform, equipment and storage medium provided by the present invention can accurately detect the installation state of the radar and avoid installation errors.

Description of the drawings

The drawings described here are used to provide a further understanding of the application and constitute a part of the application. The exemplary embodiments and descriptions of the application are used to explain the application, and do not constitute an improper limitation of the application. In the attached picture:

FIG. 1 is a schematic flowchart of a method for detecting a radar installation state according to an embodiment of the present invention;

Fig. 2 is a method for determining terrain information provided by an embodiment of the present invention;

FIG. 3 is a schematic flowchart of another method for detecting the installation state of a radar according to an embodiment of the present invention;

Fig. 4a is a predetermined correlation judgment method provided by an embodiment of the present invention;

FIG. 4b is another predetermined correlation judgment method provided by an embodiment of the present invention;

FIG. 4c is another predetermined correlation judgment method provided by an embodiment of the present invention;

5 is a schematic structural diagram of a device for detecting the installation state of cloud radar provided by an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a movable platform provided by an embodiment of the present invention;

Fig. 7 is a schematic structural diagram of a device for detecting the installation state of cloud radar provided by an embodiment of the present invention.

Detailed ways

In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention.

The background art section has already mentioned that there will be a need for cleaning the movable platform in the agricultural scene. In the following, with reference to the accompanying drawings, some embodiments of the present invention can be described in detail based on this scene. However, it should be noted that the above-mentioned agricultural scene is only an example, and the present invention does not limit the use scene, as long as there is a scene that requires disassembly of the radar configured on the movable platform. In addition, if there is no conflict between the embodiments, the following embodiments and the features in the embodiments can be combined with each other.

The detection method of the radar installation state, the movable platform, the equipment and the storage medium provided by the present invention can obtain the terrain information of the operating environment where the movable platform is located and the operating environment of the movable platform during the execution of tasks. The posture information of the movable platform during the process. Further, it is determined whether the radar configured on the movable platform is installed correctly according to the information of the terrain information and the attitude information. It can be seen that the present invention provides a solution for judging the installation state of the radar based on various information, which can accurately detect the installation state of the radar and avoid the situation that the movable platform is eventually damaged due to installation errors.

At the same time, in the prior art, the detection of the installation status is often performed before normal tasks are performed, and the movable platform needs to run a predetermined trajectory, and it is usually necessary to place specific environmental markers in the running scene. Compared with the prior art, the detection method provided by the present invention, on the one hand, is carried out in the process of the movable platform performing normal tasks, the movable platform does not need to run a predetermined trajectory, on the other hand, the movable platform is moving Throughout the process, the installation status of the radar can be continuously detected to improve the real-time detection.

Based on the foregoing description, an embodiment of the present invention provides a method for detecting the installation state of a radar, the method including:

Obtain the terrain information of the operating environment of the mobile platform;

Acquiring posture information of the movable platform during the operation of the operating environment;

According to the terrain information and the attitude information, it is determined whether the radar on the movable platform is installed correctly.

The embodiment of the present invention also provides a movable platform, which at least includes: a body, a power system, and a control device;

The power system is arranged on the body and used to provide power for the movable platform;

The control device includes a memory and a processor;

The memory is used to store a computer program;

The processor is configured to run a computer program stored in the memory to realize:

Obtain the terrain information of the operating environment of the mobile platform;

Acquiring posture information of the movable platform during the operation of the operating environment;

According to the terrain information and the attitude information, it is determined whether the radar on the movable platform is installed correctly.

The embodiment of the present invention also provides a radar installation state detection device, which includes:

Memory, used to store computer programs;

The processor is configured to run a computer program stored in the memory to realize:

Obtain the terrain information of the operating environment of the mobile platform;

Acquiring posture information of the movable platform during the operation of the operating environment;

According to the terrain information and the attitude information, it is determined whether the radar on the movable platform is installed correctly.

The embodiment of the present invention also provides a computer-readable storage medium, the storage medium is a computer-readable storage medium, the computer-readable storage medium stores program instructions, and the program instructions are used for the detection of the above-mentioned radar installation status method.

FIG. 1 is a schematic flowchart of a method for detecting the installation state of a radar according to an embodiment of the present invention. The execution subject of the detection method of the radar installation state is the detection equipment. It can be understood that the detection device can be implemented as software or a combination of software and hardware. The detection device executes the detection method of the installation state of the radar, and the detection of the installation state of the radar can be realized. The detection equipment in this embodiment and the following embodiments may specifically be any movable platforms such as unmanned aerial vehicles, unmanned vehicles, and unmanned ships. Taking the case where the movable platform is an unmanned aerial vehicle as an example, the following embodiments are described. In this example, the operating environment of the movable platform is the flying environment of the UAV, and the operation of the movable platform is the flying of the UAV. Specifically, the method may include:

S101: Acquire terrain information of the operating environment where the movable platform is located.

When the drone is performing a normal flight mission, an optional method is that the camera configured on the drone can take an image corresponding to the flight environment, and then the terrain information of the flight environment can be determined through image recognition. This terrain information realizes obstacle avoidance. Among them, the terrain information can indicate whether there is a slope on the ground in the flight environment, and it can also indicate the distribution of obstacles in the flight environment. In another alternative, the radar configured on the UAV will continuously move and collect multiple point cloud data. Then, based on the coordinate values of the collected multiple point cloud data, the terrain information of the flight environment can be determined, and the location of the obstacles can be further determined based on the terrain information, so as to achieve obstacle avoidance. Optionally, the radar configured on the drone can be a rotating radar, and the multiple point cloud data mentioned above can be data collected by one rotation of the rotating radar, which can be used to describe the distribution of obstacles within the 360° viewing angle of the drone Happening.

Optionally, in practical applications, for the comprehensive consideration of calculation amount and obstacle avoidance effect, multiple point cloud data collected by radar can also be filtered according to coordinate values, such as filtering out the 120° data used to describe the UAV Based on the point cloud data within the visual angle, the topographic information of the flight environment is determined based on the filtered point cloud data.

For the above-mentioned terrain information, optionally, it may be the slope information of the flight environment where the aircraft is located, or the distribution density of obstacles in the flight environment, and so on. When the terrain information is the distribution density of obstacles, after obtaining multiple point cloud data collected by radar, the position of the obstacle and the position of the obstacle in the flight environment can be determined according to the coordinate values of the multiple point cloud data. Volume and other content. And further analyze the obstacle distribution density in the flying environment based on the position and volume of the obstacle.

S102: Obtain posture information of the movable platform during the operation of the operating environment.

Then, during the flight of the UAV, the attitude information of the UAV can also be calculated based on the sensor data collected by its own sensors, such as the nine-axis sensor. As the name implies, the attitude information of the UAV can indicate the flight attitude of the UAV, such as horizontal flight or tilt flight. Optionally, this attitude information may be the pitch angle, heading angle, or roll angle of the drone.

S103: Determine whether the radar on the movable platform is installed correctly according to the terrain information and the attitude information.

In an optional manner, when the terrain information is obtained through image recognition, it can be determined whether the radar is installed correctly according to whether the meanings of the terrain information and the posture information are consistent.

Specifically, if the terrain information indicates that the ground of the flight environment is flat, and the obtained attitude information indicates that the UAV is flying parallel to the horizontal ground, indicating that the meaning of the terrain information and attitude information is consistent, it can be determined that the UAV is on board. The radar is installed correctly. If the terrain information is that the ground in the flight environment is flat, and the obtained attitude information indicates that the UAV is flying at a certain angle to the horizontal ground, indicating that the meaning of the terrain information and attitude information is inconsistent, the radar installation error can be determined. In another optional manner, when the terrain information is determined through the point cloud data collected by the radar, it can also be determined whether the radar is installed correctly by determining the predetermined correlation between the terrain information and the attitude information.

Specifically, after determining the terrain information of the flight environment and the attitude information of the drone in the flight environment, it can be further determined whether there is a predetermined correlation between the two types of information. Optionally, the predetermined correlation may be specifically expressed as the two types of information satisfying a preset value correspondence relationship.

For example, when the terrain information is the distribution density of obstacles and the attitude information is the elevation angle, first determine the numerical interval to which the obstacle distribution density belongs and the angle interval to which the elevation angle belongs. In the first case, if the numerical interval and the angle interval exist The preset correspondence relationship indicates that there is a preset correspondence relationship between the obstacle distribution density and the pitch angle, indicating that there is a predetermined correlation between the obstacle distribution density and the pitch angle, and it is determined that the radar is installed correctly.

In the second case, when there is no preset correspondence between the first numerical interval and the second numerical interval, it indicates that there is no preset correspondence between the obstacle distribution density and the pitch angle, indicating that the obstacle distribution density and the pitch angle are different. If there is no predetermined correlation between the two, it is determined that the radar is installed incorrectly. Specifically, the installation error can be the reverse installation or the upper and lower installation. At this point, the user can control the drone to land and reinstall the radar to avoid damage to the drone caused by incorrect installation of the radar.

The method for detecting the installation status of the radar provided in this embodiment can obtain the terrain information of the flying environment of the drone and the attitude of the drone during the flight of the flying environment during the flight mission of the drone. information. Furthermore, it is determined whether the radar is installed correctly according to the terrain information and attitude information. It can be seen that this embodiment provides a solution for judging the radar installation status based on various information. On the one hand, this method is carried out during the normal flight mission of the drone, and the drone does not need to fly a predetermined trajectory. On the one hand, the installation status of the radar can be continuously detected during the entire flight of the UAV, which improves the real-time detection.

In the foregoing embodiment, a method for obtaining terrain information has been provided. In addition to the foregoing manner, as shown in FIG. 2, another optional implementation manner of step S101 may be:

S1011: Obtain multiple point cloud data describing the operating environment of the mobile platform. For example, obtain multiple point transportation data describing the flight environment of the drone.

S1012: Select target point cloud data within a preset viewing angle range according to the coordinate values of the multiple point cloud data.

S1013: Perform linear fitting on the target point cloud data to obtain a straight line equation.

S1014: Determine terrain information according to the straight line equation.

During the operation of the drone (for example, normal flight), first, the radar on the drone can collect multiple point cloud data during the rotation process. As mentioned above, this multiple point cloud data can be used for It is described as the distribution of obstacles within the 360° viewing angle of the drone. Then, according to the coordinate values of the multiple point cloud data, the data within the preset viewing angle range can be selected as the target point cloud data. The size of the preset viewing angle can be preset according to actual conditions, for example, it can be set to 120° as mentioned in the above embodiment.

Then, for the selected target point cloud data, optionally, the least square method can be used to linearly fit it to obtain a straight line equation, and then the topographic information is determined according to the coefficient of the straight line equation. Specifically, assuming that the linear equation is expressed as: y=kx+b, it can be determined that the terrain information in the drone flight environment is: k/b, and the terrain information may specifically be slope information of the flight environment.

In summary, the embodiment shown in Fig. 1 and Fig. 2 provides two methods for determining terrain information based on point cloud data collected by radar. In practical applications, you can choose to use different methods to obtain the terrain information of the corresponding content according to the specific meaning of the terrain information.

According to the description in the foregoing embodiments, when it is determined that there is no predetermined correlation between the terrain information and the attitude information, it indicates that the radar is currently in an installation error state. In practical applications, the data collected by radars and sensors for determining terrain information and attitude information will inevitably have errors. Therefore, based on the foregoing embodiments, as shown in FIG. 3, when it is determined that there is no predetermined correlation between the terrain information and the attitude information, the detection method of the radar installation state may further include:

S201: Update the radar installation status to the number of installation errors.

S202: If the updated number of times is higher than the preset number of times, a warning notification is sent.

When it is determined that the installation status of the radar is an installation error based on the terrain information and the attitude information, the UAV will first record the detection result, which is to realize the update of the installation status as the number of installation errors. If the updated number is higher than the preset number, it indicates that the radar configured on the UAV is continuously in a wrong installation state. Only then can the radar be truly installed incorrectly, and the error in the detection result caused by the data collection error is ruled out. Then, the drone will generate a warning notification to notify users on the ground to make further adjustments to the drone's flight status to avoid damage to the drone.

In addition, the radar is in motion during the normal mission of the UAV, that is, the radar has a moving angular velocity. According to actual experience, there is the following relationship between the magnitude of the angular velocity of this motion and the predetermined correlation between terrain information and attitude information: when the angular velocity is not less than the preset speed, the predetermined correlation between terrain information and attitude information becomes more obvious. .

Based on the foregoing description, FIG. 3 is a schematic flowchart of another method for detecting the installation state of a radar according to an embodiment of the present invention. As shown in FIG. 3, based on the foregoing embodiments, before step S103, the detection method of the radar installation state may further include:

S203: Acquire the angular velocity of movement of the movable platform.

S204: Determine whether the motion angular velocity is greater than a preset threshold, if the motion angular velocity is greater than the preset threshold, step S103 is executed, otherwise, step S205 is executed.

S205: Stop detecting the installation state of the radar.

Specifically, the angular velocity of movement of the drone can be measured by an inertial measurement unit (Inertial Measurement Unit, IMU for short) configured on an unmanned aerial vehicle. Then, for the acquired angular velocity of motion, it is determined whether it is greater than a preset threshold. If the angular velocity of motion is greater than or equal to the preset threshold, step S103 in the embodiment shown in FIG. 1 is executed. For the detailed implementation process of step S103, please refer to the relevant description in the foregoing embodiment, which will not be repeated here. If the motion angular velocity is less than the preset threshold, at this time, the detection method provided by the present invention is executed to obtain the detection result, and its accuracy cannot be guaranteed, then the detection of the radar installation state can be stopped at this time, and the motion collected at the next moment After the angular velocity is greater than the preset threshold, the detection of the installation state is turned on.

In this embodiment, on the one hand, when it is determined that the radar is in an installation error state, the number of times it is in an installation error state is updated. When the number of times is greater than the preset number, it indicates that the radar continues to be in a state of installation error, and then this installation error state will be notified to the user. The statistics of the number of passes can increase the credibility of the detection results and avoid the contingency of the detection results. The user mis-operated the drone, and eventually caused the drone to fail to complete the flight mission or even be damaged.

On the other hand, on the basis of the foregoing embodiments, this embodiment puts forward requirements for the angular velocity of the movement of the UAV. As mentioned above, the angular velocity of motion is directly related to the accuracy of the detection result. Therefore, by increasing the judging steps between the angular velocity of motion and the preset angular velocity, the accuracy of the installation state detection can be improved to avoid the occurrence of the detection result. An error occurred, which caused the drone to fail to complete the flight mission or even be damaged.

According to the description in the foregoing embodiments, the most important step in the detection process of the radar installation state is the determination of the correlation between the terrain information and the attitude information. In addition, it has been mentioned in the foregoing embodiment that the predetermined correlation between the terrain information and the posture information can be expressed as the two types of information satisfying the preset numerical correspondence. In addition, during the flight of the UAV, the terrain information and attitude information in the flight environment can actually be continuously obtained, so within the preset time period, for example, T=2 seconds, that is, multiple terrain information can be obtained. And multiple posture information. At this time, optionally, the predetermined correlation between the terrain information and the posture information may also be expressed as that the two have the same changing trend.

Based on this, optionally, a specific implementation manner of step S103 in the foregoing embodiments, that is, an implementation manner of optionally determining a predetermined correlation, is shown in FIG. 4a:

S1031: For the terrain information and the posture information acquired within the preset time period, respectively calculate the product of the terrain information and the posture information corresponding to the same time.

S1032: If the sum of the products is greater than a preset threshold, it is determined that there is a predetermined correlation between the terrain information and the posture information.

Specifically, according to the methods provided in the foregoing embodiments, multiple terrain information and multiple posture information can be acquired within a preset time period. Since the point cloud data used in determining terrain information is collected during the rotation of the radar, and the attitude information is collected by the sensor on the UAV, when the rotation period of the radar is the same as the data collection period of the sensor, Then the quantity of terrain information and posture information acquired within the preset time period are equal.

At this time, the following formula can be used to calculate the correlation between terrain information and attitude information:

Among them, the number of terrain information and attitude information acquired within the preset time period are both N, slope(i) represents the i-th one of the N acquired terrain information, and the terrain information corresponds to the body coordinate system, This coordinate system conforms to the right-hand rule, its origin is the center of gravity of the drone, the X axis points to the forward direction of the drone, and the Y axis points to the right side of the aircraft from the origin. i.

If the calculation result of the above formula is greater than the preset threshold, it indicates that the two kinds of information acquired during the preset time period have the same changing trend, and it can be determined that there is a predetermined correlation between the two, otherwise it can be determined that the two have no predetermined Correlation.

It should be noted that, in an optional manner, the preset threshold used in the above judgment process can be set to 0. If the sum of the products is greater than 0, it can be determined that there is a predetermined correlation between the terrain information and the attitude information, that is, the radar is installed correctly. If the sum of the products is less than or equal to 0, it can be determined that there is no predetermined correlation between the terrain information and the attitude information, that is, a radar installation error. This error can be a reverse installation or a reverse installation.

In addition, the above formula (1) is actually an expression of the cross-correlation function between terrain information and posture information. If the product is greater than 0, that is, the cross-correlation function value is positive, it indicates that the radar is installed correctly. If the product is less than or equal to 0, that is, the cross-correlation function is non-positive, it indicates that the radar is installed incorrectly (reversed radar) or It may be installed incorrectly.

In another optional manner, in order to remove the respective deviations of the two pieces of information, or to remove the influence of errors, the preset threshold may be set to other values greater than 0. For example, set the preset threshold to 0.5. If the sum of the products is greater than 0.5, it is determined that there is a predetermined correlation between the terrain information and the attitude information, that is, the radar is installed correctly. If the sum of the products is less than 0.5, it is determined that there is no predetermined correlation between the terrain information and the attitude information, that is, the radar installation error. If the sum of the products is between -0.5 and 0.5, you can re-test, or use other methods to combine judgment.

In addition to the above methods, optionally, another method for determining the predetermined correlation is shown in Figure 4b:

S1033: Calculate the first average value and the first standard deviation of the terrain information acquired in the preset time period.

For the multiple obtained terrain information, the first average value of the terrain information can be calculated according to the following formula:

Calculate the first standard deviation of terrain information according to the following formula:

Among them, N is the number of acquired terrain information, and slope(i) represents the i-th one of the N terrain information acquired under the body coordinate system.

S1034: Calculate a second average value and a second standard deviation of the posture information acquired within a preset time period.

For the multiple pieces of acquired posture information, the second average value of the posture information can be calculated according to the following formula:

Calculate the second standard deviation of the attitude information according to the following formula:

Among them, N is the number of acquired posture information, and pitch(i) represents the i-th one of the acquired N posture information.

S1035: Determine whether there is a predetermined correlation between the terrain information and the posture information according to the first average value, the first standard deviation, the second average value, and the second standard deviation.

Based on the above calculation results, whether there is a predetermined correlation between terrain information and attitude information can be determined according to the following formula:

If the calculation result of the above formula is greater than the preset threshold, it indicates that the two kinds of information acquired during the preset time period have the same changing trend, and it can be determined that there is a predetermined correlation between the two, otherwise it can be determined that the two have no predetermined Correlation.

It should be noted that, similar to the embodiment shown in FIG. 4a, in an optional manner, the preset threshold used in the above judgment process can also be set to 0. If the sum of the products is greater than 0, it can be determined that there is a predetermined correlation between the terrain information and the attitude information, that is, the radar is installed correctly. If the sum of the products is less than or equal to 0, it can be determined that there is no predetermined correlation between the terrain information and the attitude information, that is, a radar installation error. This error can also be installed backwards or upside down.

In addition, the above formula (6) is actually another way of expressing the cross-correlation function between terrain information and posture information. If the product is greater than 0, that is, the cross-correlation function value is positive, it indicates that the radar is installed correctly. If the product is less than or equal to 0, that is, the cross-correlation function is non-positive, it indicates that the radar is installed incorrectly. In another optional manner, in order to remove the respective deviations of the two signals, or to remove the influence of errors, the preset threshold may be set to other values greater than 0. For example, set the preset threshold to 0.5. If the sum of the products is greater than 0.5, it is determined that there is a predetermined correlation between the terrain information and the attitude information, that is, the radar is installed correctly. If the sum of the products is less than 0.5, it is determined that there is no predetermined correlation between the terrain information and the attitude information, that is, the radar installation error. If the sum of the products is between -0.5 and 0.5, you need to re-test or use other methods to combine judgment.

According to the above description, the above formula (1) and formula (6) are two different representations of the cross-correlation function between terrain information and posture information, and both have their own advantages and disadvantages. The expression of formula (1) is relatively simple and can realize fast calculation. Although the expression of formula (6) is more complicated, the calculation of average and standard deviation can improve the accuracy of correlation calculation.

It should be noted here that according to the above formulas, in the process of using the cross-correlation function to determine the correlation, the amount of terrain information and posture information used should be equal. However, in practical applications, the rotation period of the radar is usually greater than the data collection period of the sensor. This will result in more posture information and quantity than terrain information, that is, at a certain moment, there will be a situation where only the posture information is acquired but the terrain information is not acquired.

At this time, the installation state cannot be detected only based on the posture information, that is, the obtained posture information becomes invalid data. In order to avoid this situation, optionally, the posture information acquired at the current time and the terrain information acquired at the previous time may be merged, so as to obtain the terrain information at the current time. After fusion processing, the number of terrain information and posture information can be equalized. At this time, you can continue to determine whether there is a predetermined correlation between the two according to the above formula.

Of course, it is not necessary to perform the above-mentioned fusion processing, but to filter out part of the posture information from a larger amount of posture information, so that the number of posture information filtered out is equal to the number of terrain information obtained in the preset time period. That's it.

In addition to the above two ways of determining the correlation based on the cross-correlation function, optionally, another way of determining the predetermined correlation is shown in Figure 4c:

S1036: Perform linear fitting on the terrain information acquired within a preset time period to determine a first slope corresponding to the terrain information.

S1037: Perform linear fitting on the posture information acquired within a preset time period to determine a second slope corresponding to the posture information.

S1038: If the signs of the first slope and the second slope are the same, it is determined that there is a predetermined correlation between the terrain information and the posture information.

Specifically, linear fitting can be performed on the multiple pieces of acquired terrain information to obtain a straight line equation, that is, to determine the first slope of the equation. Similarly, it is also possible to perform linear fitting on multiple pieces of posture information to obtain the second slope of the straight line equation.

If the signs of the two slopes are the same, it indicates that the changing trends of the two types of information are the same within the preset time period, and the two information is determined to have a predetermined correlation; otherwise, it is determined that they do not have a predetermined correlation.

It should be noted that, compared with the above two cross-correlation function methods, this method does not require the same amount of terrain information and posture information. And specifically, the terrain information in the above-mentioned methods is specifically expressed as slope information, and the attitude information is specifically expressed as a pitch angle.

In summary, for the various methods provided above, in actual applications, the corresponding determination method can be selected according to actual needs.

Fig. 5 is a schematic structural diagram of a detection device for a radar installation state provided by an embodiment of the present invention. As shown in FIG. 5, this embodiment provides a detection device for the installation state of a radar, which can execute the above-mentioned detection method for the installation state of a radar; specifically, the detection device includes:

The first acquiring module 11 is used to acquire terrain information of the operating environment where the movable platform is located.

The second obtaining module 12 is used to obtain posture information of the movable platform during the operation of the operating environment.

The state determination module 13 is configured to determine whether the radar on the movable platform is installed correctly according to the terrain information and the attitude information.

The device shown in FIG. 5 can also execute the method of the embodiment shown in FIG. 1 to FIG. 4c. For parts that are not described in detail in this embodiment, please refer to the related description of the embodiment shown in FIG. 1 to FIG. 4c. For the implementation process and technical effects of this technical solution, please refer to the description in the embodiment shown in FIG. 1 to FIG. 4c, which will not be repeated here.

FIG. 6 is a schematic structural diagram of a movable platform provided by an embodiment of the present invention; referring to FIG. 6, an embodiment of the present invention provides a movable platform, and the movable platform is at least one of the following: Aircraft, unmanned ships, unmanned vehicles; specifically, the movable platform includes: a body 21, a power system 22, and a control device 23.

The power system 22 is arranged on the body and used to provide power for the movable platform.

The control device 23 includes a memory 231 and a processor 232.

The memory is used to store a computer program;

The processor is configured to run a computer program stored in the memory to realize:

Obtain the terrain information of the operating environment of the mobile platform;

Acquiring posture information of the movable platform during the operation of the operating environment;

According to the terrain information and the attitude information, it is determined whether the radar on the movable platform is installed correctly.

Further, the processor 232 is further configured to determine whether there is a predetermined correlation between the terrain information and the posture information;

If there is the predetermined correlation between the terrain information and the attitude information, it is determined that the radar on the movable platform is installed correctly.

Further, the processor 232 is further configured to: for the terrain information and the attitude information acquired within a preset time period, respectively calculate the product of the terrain information and the attitude information corresponding to the same time;

If the sum of the products is greater than a preset threshold, it is determined that there is the predetermined correlation between the terrain information and the posture information.

Further, the processor 232 is further configured to: calculate the first average value and the first standard deviation of the terrain information acquired within a preset time period;

Calculating a second average value and a second standard deviation of the posture information acquired within the preset time period;

It is determined whether there is the predetermined correlation between the terrain information and the posture information according to the first average value, the first standard deviation, the second average value, and the second standard deviation.

Further, the processor 232 is further configured to: perform linear fitting on the terrain information acquired within a preset time period to determine the first slope corresponding to the terrain information;

Performing linear fitting on the posture information acquired within the preset time period to determine the second slope corresponding to the posture information;

If the signs of the first slope and the second slope are the same, it is determined that the terrain information and the posture information have the predetermined correlation.

Further, the processor 232 is further configured to: if there is no predetermined correlation between the terrain information and the attitude information, determine that the radar installed on the movable platform is installed incorrectly;

Update the radar installation status to the number of installation errors;

If the updated number is higher than the preset number, a warning notification will be sent.

Further, the processor 232 is further configured to: obtain multiple point cloud data describing the operating environment of the movable platform;

Selecting target point cloud data within a preset viewing angle range according to the coordinate values of the multiple point cloud data;

Performing linear fitting on the target point cloud data to obtain a straight line equation;

The terrain information is determined according to the straight line equation.

Further, the processor 232 is further configured to: obtain the angular velocity of movement of the movable platform;

If the angular velocity of motion is greater than or equal to a preset threshold, it is determined whether the radar on the movable platform is installed correctly according to the terrain information and the attitude information.

The movable platform shown in Fig. 6 can execute the method of the embodiment shown in Figs. 1 to 4c. For the parts not described in detail in this embodiment, please refer to the relevant description of the embodiment shown in Figs. 1 to 4c. For the implementation process and technical effects of this technical solution, please refer to the description in the embodiment shown in FIG. 1 to FIG. 4c, which will not be repeated here.

In a possible design, the structure of the detection device of the radar installation state shown in FIG. 7 can be realized as an electronic device, and the electronic device can be an unmanned aerial vehicle. As shown in FIG. 7, the electronic device may include: one or more processors 31 and one or more memories 32. Wherein, the memory 32 is used to store a program that supports the electronic device to execute the radar installation state detection method provided in the embodiment shown in FIGS. 1 to 4c. The processor 21 is configured to execute a program stored in the memory 32.

Specifically, the program includes one or more computer instructions, where one or more computer instructions can implement the following steps when executed by the processor 31:

Obtain the terrain information of the operating environment of the mobile platform;

Acquiring posture information of the movable platform during the operation of the operating environment;

According to the terrain information and the attitude information, it is determined whether the radar on the movable platform is installed correctly.

Wherein, the structure of the pan/tilt control device may further include a communication interface 33 for the electronic device to communicate with other devices or a communication network.

Further, the processor 31 is further configured to determine whether there is a predetermined correlation between the terrain information and the posture information;

If there is the predetermined correlation between the terrain information and the attitude information, it is determined that the radar on the movable platform is installed correctly.

Further, the processor 31 is further configured to: for the terrain information and the attitude information acquired within a preset time period, respectively calculate the product of the terrain information and the attitude information corresponding to the same time;

If the sum of the products is greater than a preset threshold, it is determined that there is the predetermined correlation between the terrain information and the posture information.

Further, the processor 31 is further configured to: calculate the first average value and the first standard deviation of the terrain information acquired within a preset time period;

Calculating a second average value and a second standard deviation of the posture information acquired within the preset time period;

It is determined whether there is the predetermined correlation between the terrain information and the posture information according to the first average value, the first standard deviation, the second average value, and the second standard deviation.

Further, the processor 31 is further configured to: perform linear fitting on the terrain information acquired within a preset time period to determine the first slope corresponding to the terrain information;

Performing linear fitting on the posture information acquired within the preset time period to determine the second slope corresponding to the posture information;

If the signs of the first slope and the second slope are the same, it is determined that the terrain information and the posture information have the predetermined correlation.

Further, the processor 31 is further configured to: if there is no predetermined correlation between the terrain information and the attitude information, determine that the radar installed on the movable platform is installed incorrectly;

Update the radar installation status to the number of installation errors;

If the updated number is higher than the preset number, a warning notification will be sent.

Further, the processor 31 is further configured to: obtain multiple point cloud data describing the operating environment of the movable platform;

Selecting target point cloud data within a preset viewing angle range according to the coordinate values of the multiple point cloud data;

Performing linear fitting on the target point cloud data to obtain a straight line equation;

The terrain information is determined according to the straight line equation.

Further, the processor 31 is further configured to: obtain the angular velocity of movement of the movable platform;

If the angular velocity of motion is greater than or equal to a preset threshold, it is determined whether the radar on the movable platform is installed correctly according to the terrain information and the attitude information.

The device shown in FIG. 7 can execute the method of the embodiment shown in FIG. 1 to FIG. 4c. For parts that are not described in detail in this embodiment, refer to the related description of the embodiment shown in FIG. 1 to FIG. 4c. For the implementation process and technical effects of this technical solution, please refer to the description in the embodiment shown in FIG. 1 to FIG. 4c, which will not be repeated here.

In addition, an embodiment of the present invention provides a computer-readable storage medium, the storage medium is a computer-readable storage medium, and the computer-readable storage medium stores program instructions, and the program instructions are used to implement the radar shown in FIGS. 1 to 4c. Detection method of installation status.

The technical solutions and technical features in each of the above embodiments can be singly or combined in case of conflict with the present invention, as long as they do not exceed the cognitive scope of those skilled in the art, they all belong to the equivalent embodiments within the protection scope of this application. .

In the several embodiments provided by the present invention, it should be understood that the related detection device (for example: IMU) and method disclosed may be implemented in other ways. For example, the embodiments of the remote control device described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components. It can be combined or integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, remote control devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.

If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present invention essentially or the part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium. , Including several instructions to make a computer processor (processor) execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage media include: U disk, mobile hard disk, Read-Only Memory (ROM), Random Access Memory (RAM, Random Access Memory), magnetic disks or optical disks and other media that can store program codes.

The above are only the embodiments of the present invention, which do not limit the scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the description and drawings of the present invention, or directly or indirectly applied to other related technologies In the same way, all fields are included in the scope of patent protection of the present invention.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the technical solutions of the embodiments of the present invention. range.

Claims (27)

1. A method for detecting the installation state of a radar, characterized in that the method includes:

   Obtain the terrain information of the operating environment of the mobile platform;

   Acquiring posture information of the movable platform during the operation of the operating environment;

   According to the terrain information and the attitude information, it is determined whether the radar on the movable platform is installed correctly.
2. The method according to claim 1, wherein the determining whether the radar on the movable platform is installed correctly according to the terrain information and the attitude information comprises:

   Determining whether there is a predetermined correlation between the terrain information and the posture information;

   If there is the predetermined correlation between the terrain information and the attitude information, it is determined that the radar on the movable platform is installed correctly.
3. The method according to claim 2, wherein the determining whether there is a predetermined correlation between the terrain information and the posture information comprises:

   For the terrain information and the attitude information acquired within a preset time period, respectively calculating the product of the terrain information and the attitude information corresponding to the same time;

   If the sum of the products is greater than a preset threshold, it is determined that there is the predetermined correlation between the terrain information and the posture information.
4. The method according to claim 3, wherein the preset threshold value is zero.
5. The method according to claim 2, wherein the determining whether there is a predetermined correlation between the terrain information and the posture information comprises:

   Calculating the first average value and the first standard deviation of the terrain information acquired within a preset time period;

   Calculating a second average value and a second standard deviation of the posture information acquired within the preset time period;

   It is determined whether there is the predetermined correlation between the terrain information and the posture information according to the first average value, the first standard deviation, the second average value, and the second standard deviation.
6. The method according to claim 2, wherein the determining whether there is a predetermined correlation between the terrain information and the posture information comprises:

   Performing linear fitting on the terrain information acquired within a preset time period to determine the first slope corresponding to the terrain information;

   Performing linear fitting on the posture information acquired within the preset time period to determine the second slope corresponding to the posture information;

   If the signs of the first slope and the second slope are the same, it is determined that the terrain information and the posture information have the predetermined correlation.
7. The method according to claim 2, wherein the method further comprises:

   If there is no predetermined correlation between the terrain information and the attitude information, it is determined that the radar installed on the movable platform is installed incorrectly;

   Update the radar installation status to the number of installation errors;

   If the updated number is higher than the preset number, a warning notification will be sent.
8. The method according to any one of claims 1 to 7, wherein the terrain information includes a slope value of the operating environment; and the attitude information includes a pitch angle of the movable platform.
9. The method according to claim 1, wherein the obtaining topographic information of the operating environment in which the movable platform is located comprises:

   Acquiring multiple point cloud data describing the operating environment of the mobile platform;

   Selecting target point cloud data within a preset viewing angle range according to the coordinate values of the multiple point cloud data;

   Performing linear fitting on the target point cloud data to obtain a straight line equation;

   The terrain information is determined according to the straight line equation.
10. The method of claim 1, wherein:

    Acquiring the angular velocity of movement of the movable platform;

    If the angular velocity of motion is greater than or equal to a preset threshold, it is determined whether the radar on the movable platform is installed correctly according to the terrain information and the attitude information.
11. A movable platform, characterized in that it at least includes a body, a power system and a control device;

    The power system is arranged on the body and used to provide power for the movable platform;

    The control device includes a memory and a processor;

    The memory is used to store a computer program;

    The processor is configured to run a computer program stored in the memory to realize:

    Obtain the terrain information of the operating environment of the mobile platform;

    Acquiring posture information of the movable platform during the operation of the operating environment;

    According to the terrain information and the attitude information, it is determined whether the radar on the movable platform is installed correctly.
12. The platform according to claim 11, wherein the processor is further configured to:

    Determining whether there is a predetermined correlation between the terrain information and the posture information;

    If there is the predetermined correlation between the terrain information and the attitude information, it is determined that the radar on the movable platform is installed correctly.
13. The platform according to claim 12, wherein the processor is further configured to:

    For the terrain information and the attitude information acquired within a preset time period, respectively calculating the product of the terrain information and the attitude information corresponding to the same time;

    If the sum of the products is greater than a preset threshold, it is determined that there is the predetermined correlation between the terrain information and the posture information.
14. The platform according to claim 12, wherein the processor is further configured to:

    Calculating the first average value and the first standard deviation of the terrain information acquired within a preset time period;

    Calculating a second average value and a second standard deviation of the posture information acquired within the preset time period;

    It is determined whether there is the predetermined correlation between the terrain information and the posture information according to the first average value, the first standard deviation, the second average value, and the second standard deviation.
15. The platform according to claim 12, wherein the processor is further configured to:

    Performing linear fitting on the terrain information acquired within a preset time period to determine the first slope corresponding to the terrain information;

    Performing linear fitting on the posture information acquired within the preset time period to determine the second slope corresponding to the posture information;

    If the signs of the first slope and the second slope are the same, it is determined that the terrain information and the posture information have the predetermined correlation.
16. The platform according to claim 12, wherein the processor is further configured to:

    If there is no predetermined correlation between the terrain information and the attitude information, it is determined that the radar installed on the movable platform is installed incorrectly;

    Update the radar installation status to the number of installation errors;

    If the updated number is higher than the preset number, a warning notification will be sent.
17. The platform according to claim 10, wherein the processor is further configured to:

    Acquiring multiple point cloud data describing the operating environment of the mobile platform;

    Selecting target point cloud data within a preset viewing angle range according to the coordinate values of the multiple point cloud data;

    Performing linear fitting on the target point cloud data to obtain a straight line equation;

    The terrain information is determined according to the straight line equation.
18. The platform according to claim 10, wherein the processor is further configured to:

    Acquiring the angular velocity of movement of the movable platform;

    If the angular velocity of motion is greater than or equal to a preset threshold, it is determined whether the radar on the movable platform is installed correctly according to the terrain information and the attitude information.
19. A detection device for a radar installation state, characterized in that the detection device includes:

    Memory, used to store computer programs;

    The processor is configured to run a computer program stored in the memory to realize:

    Obtain the terrain information of the operating environment of the mobile platform;

    Acquiring posture information of the movable platform during the operation of the operating environment;

    According to the terrain information and the attitude information, it is determined whether the radar on the movable platform is installed correctly.
20. The device according to claim 19, wherein the processor is further configured to:

    Determining whether there is a predetermined correlation between the terrain information and the posture information;

    If there is the predetermined correlation between the terrain information and the attitude information, it is determined that the radar on the movable platform is installed correctly.
21. The device according to claim 20, wherein the processor is further configured to:

    For the terrain information and the attitude information acquired within a preset time period, respectively calculating the product of the terrain information and the attitude information corresponding to the same time;

    If the sum of the products is greater than a preset threshold, it is determined that there is the predetermined correlation between the terrain information and the posture information.
22. The device according to claim 20, wherein the processor is further configured to:

    Calculating the first average value and the first standard deviation of the terrain information acquired within a preset time period;

    Calculating a second average value and a second standard deviation of the posture information acquired within the preset time period;

    It is determined whether there is the predetermined correlation between the terrain information and the posture information according to the first average value, the first standard deviation, the second average value, and the second standard deviation.
23. The device according to claim 20, wherein the processor is further configured to:

    Performing linear fitting on the terrain information acquired within a preset time period to determine the first slope corresponding to the terrain information;

    Performing linear fitting on the posture information acquired within the preset time period to determine the second slope corresponding to the posture information;

    If the signs of the first slope and the second slope are the same, it is determined that the terrain information and the posture information have the predetermined correlation.
24. The device according to claim 20, wherein the processor is further configured to:

    If there is no predetermined correlation between the terrain information and the attitude information, it is determined that the radar installed on the movable platform is installed incorrectly;

    Update the radar installation status to the number of installation errors;

    If the updated number is higher than the preset number, a warning notification will be sent.
25. The device according to claim 19, wherein the processor is further configured to:

    Acquiring multiple point cloud data describing the operating environment of the mobile platform;

    Selecting target point cloud data within a preset viewing angle range according to the coordinate values of the multiple point cloud data;

    Performing linear fitting on the target point cloud data to obtain a straight line equation;

    The terrain information is determined according to the straight line equation.
26. The device according to claim 19, wherein the processor is further configured to:

    Acquiring the angular velocity of movement of the movable platform;

    If the angular velocity of motion is greater than or equal to a preset threshold, it is determined whether the radar on the movable platform is installed correctly according to the terrain information and the attitude information.
27. A computer-readable storage medium, wherein the storage medium is a computer-readable storage medium, the computer-readable storage medium stores program instructions, and the program instructions are used to implement any one of claims 1 to 10 The detection method of the radar installation state described in the item.

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