WO2021087751A1 - Procédé de mesure de distance, dispositif de mesure de distance, plateforme mobile autonome et support de stockage - Google Patents

Procédé de mesure de distance, dispositif de mesure de distance, plateforme mobile autonome et support de stockage Download PDF

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Publication number
WO2021087751A1
WO2021087751A1 PCT/CN2019/115741 CN2019115741W WO2021087751A1 WO 2021087751 A1 WO2021087751 A1 WO 2021087751A1 CN 2019115741 W CN2019115741 W CN 2019115741W WO 2021087751 A1 WO2021087751 A1 WO 2021087751A1
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Prior art keywords
distance
target
radar
information
target point
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PCT/CN2019/115741
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English (en)
Chinese (zh)
Inventor
祝煌剑
王俊喜
王石荣
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深圳市大疆创新科技有限公司
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Priority to PCT/CN2019/115741 priority Critical patent/WO2021087751A1/fr
Priority to CN201980039192.8A priority patent/CN112313535A/zh
Publication of WO2021087751A1 publication Critical patent/WO2021087751A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/882—Radar or analogous systems specially adapted for specific applications for altimeters

Definitions

  • the embodiments of the present invention relate to the technical field of autonomous mobile platforms, and in particular to a distance detection method, distance detection equipment, autonomous mobile platforms and storage media.
  • drones can assist in professional aerial photography, agricultural irrigation, power line inspections, and security monitoring operations.
  • Existing technologies mostly use downward-looking flat-panel radars, ultrasonic sensors or laser ranging modules to detect the height of the drone relative to the target point below.
  • the efficiency and accuracy of this detection method are low, and thus the safety and reliability of the UAV's flight operations cannot be guaranteed.
  • the embodiment of the present invention provides a distance detection method, a distance detection device, an autonomous mobile platform and a storage medium.
  • the first aspect of the present invention is to provide a distance detection method for an autonomous mobile platform, including:
  • the target distance of the autonomous mobile platform relative to the target point is determined.
  • the second aspect of the present invention is to provide a target surface information modeling method, including:
  • the method further includes:
  • the target distance is used to perform modeling processing on the target surface where the target point is located, and the model information corresponding to the shape information of the target surface is obtained.
  • the third aspect of the present invention is to provide a control method of an autonomous mobile platform, including:
  • the method further includes:
  • the target distance is used to control the autonomous mobile platform so as to maintain a preset distance between the autonomous mobile platform and the target point.
  • the fourth aspect of the present invention is to provide a distance detection device, where the distance detection device is a first radar or a second radar, and includes:
  • Memory used to store computer programs
  • the processor is configured to run a computer program stored in the memory to realize:
  • the target distance of the autonomous mobile platform relative to the target point is determined.
  • the fifth aspect of the present invention is to provide a target surface information modeling device, including:
  • Memory used to store computer programs
  • the processor is configured to run a computer program stored in the memory to realize:
  • the processor After determining the target distance of the autonomous mobile platform relative to the target point according to the first distance and the second distance, the processor is further configured to:
  • Modeling processing is performed on the target surface where the target point is located by using the target distance to obtain model information corresponding to the shape information of the target surface.
  • the sixth aspect of the present invention is to provide a control device for an autonomous mobile platform, including:
  • Memory used to store computer programs
  • the processor is configured to run a computer program stored in the memory to realize:
  • the processor After determining the target distance of the autonomous mobile platform relative to the target point according to the first distance and the second distance, the processor is further configured to:
  • the target distance is used to control the autonomous mobile platform so as to maintain a preset distance between the autonomous mobile platform and the target point.
  • the seventh aspect of the present invention is to provide an autonomous mobile platform, including:
  • the first radar is set on the autonomous mobile platform and is used to obtain the first distance of the first radar relative to the target point;
  • the second radar is set on the autonomous mobile platform and is used to obtain a second distance of the second radar relative to the target point, wherein the first radar and the second radar are of different types;
  • At least one of the first radar and the second radar is further configured to determine the target distance of the autonomous mobile platform relative to the target point according to the first distance and the second distance.
  • the eighth 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 distance detection method, distance detection device, autonomous mobile platform and storage medium provided by the embodiments of the present invention effectively ensure the reliability of detecting the distance between the autonomous mobile platform and the target point.
  • FIG. 1 is a front view of a scanning area of a radar provided by an embodiment of the present invention
  • FIG. 2 is a top view of a scanning area of a radar provided by an embodiment of the present invention.
  • FIG. 3 is a schematic flowchart of a distance detection method for an autonomous mobile platform according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of a process of obtaining a first distance of a first radar relative to the target point according to an embodiment of the present invention
  • FIG. 5 is a schematic flow chart of performing plane fitting on a target surface where the target point is located according to a plurality of the target information values according to an embodiment of the present invention to obtain plane information corresponding to the target surface;
  • FIG. 6 is a schematic flowchart of obtaining effective target information corresponding to the target surface where the target point is located according to the characteristic information according to an embodiment of the present invention
  • FIG. 7 is a schematic flowchart of obtaining a second distance of a second radar relative to the target point according to an embodiment of the present invention.
  • FIG. 8 is a schematic flowchart of obtaining a second distance of a second radar relative to the target point based on the second distance information and target energy information according to an embodiment of the present invention
  • FIG. 9 is a schematic flowchart of obtaining a second distance of a second radar relative to the target point according to the height normalization result and the energy normalization result according to an embodiment of the present invention.
  • FIG. 10 is a schematic diagram 1 of the process of determining the target distance of the autonomous mobile platform relative to the target point according to the first distance and the second distance according to an embodiment of the present invention
  • FIG. 11 is a schematic flowchart of obtaining a first weighting factor corresponding to the first distance according to an embodiment of the present invention.
  • FIG. 12 is a schematic flowchart of determining the first weighting factor according to the first variance information and the second variance information according to an embodiment of the present invention
  • FIG. 13 is a schematic flowchart of obtaining a second weighting factor corresponding to the second distance according to an embodiment of the present invention
  • FIG. 14 is a schematic flowchart of determining the second weighting factor according to the first variance information and the second variance information according to an embodiment of the present invention
  • 15 is a schematic diagram 2 of the process of determining the target distance of the autonomous mobile platform relative to the target point according to the first distance and the second distance according to an embodiment of the present invention
  • 16 is a schematic diagram 3 of the process of determining the target distance of the autonomous mobile platform relative to the target point according to the first distance and the second distance according to an embodiment of the present invention
  • FIG. 17 is a schematic flowchart of a distance detection method for an autonomous mobile platform provided by an application embodiment of the present invention.
  • FIG. 18 is a schematic diagram of a beam horizontal plane used by a radar device to detect a target object according to an application embodiment of the present invention
  • 19 is a schematic diagram of the relative position between the radar device and the grating disc provided by the application embodiment of the present invention.
  • 20 is a schematic structural diagram of a distance detection device provided by an embodiment of the present invention.
  • FIG. 21 is a schematic structural diagram of a target plane information modeling apparatus provided by an embodiment of the present invention.
  • 22 is a schematic structural diagram of a control device of an autonomous mobile platform provided by an embodiment of the present invention.
  • FIG. 23 is a schematic structural diagram of an autonomous mobile platform provided by an embodiment of the present invention.
  • the technical solution provided in this embodiment effectively realizes the use of two different types of radar equipment to obtain the target distance of the autonomous mobile platform relative to the target point/target surface, and effectively solves the detection blind area that exists in the radar equipment.
  • the problem of untimely and accurate data detection ensures the rapid accuracy of the target distance detection of the autonomous mobile platform relative to the target point/target surface, and ensures the safety and reliability of the autonomous mobile platform's operations.
  • the radar equipment In the process of distance detection using radar equipment, because the radar equipment is limited by the horizontal field of view (Field Of View, FOV for short), there will be a certain detection blind area under the radar equipment, as shown in Figure 1 to Figure 2, and , The size of the detection blind zone can be increased as the distance between the radar equipment and the object/ground below increases. Due to the existence of the detection blind zone, there is a huge safety threat to the operations of autonomous vehicles, unmanned aerial vehicles, and autonomous operation robots.
  • FOV Field Of View
  • the relative distance between the radar and the obstacle can be detected by the radar device.
  • the detection process can include: in the process of scanning a preset area by the radar device, the return data corresponding to the radar device can be obtained , And then perform spectrum extraction, processing and analysis on the return data of the radar equipment, so that the relative spatial position between the radar and the obstacle can be calculated.
  • the data of the previous few frames can be used to predict the relative spatial position or terrain distribution of the detection blind area at the current moment.
  • the above implementation of using the data of the previous few frames to predict the terrain distribution of the detection blind area at the current moment has the following problems:
  • Figure 3 is a schematic flowchart of a distance detection method for an autonomous mobile platform provided by an embodiment of the present invention; referring to Figure 3, this embodiment provides a distance detection method for an autonomous mobile platform, where the autonomous mobile platform can Including at least one of the following: unmanned aerial vehicle, manned aircraft, etc.; this method can accurately obtain the automatic mobile platform relative to the target point/target surface by fusing the scanning results of the two types of radar equipment set on the autonomous mobile platform The target distance.
  • the method may include:
  • Step S301 Obtain the first distance of the first radar relative to the target point and the second distance of the second radar relative to the target point, wherein the first radar and the second radar are both set on the autonomous mobile platform, and the first radar is connected to the The type of the second radar is different.
  • the first radar may include at least one of the following: millimeter wave radar, lidar, and ultrasonic radar; and the second radar may include down-looking radar.
  • the first radar in order to ensure the accuracy and reliability of the detection of target points, can achieve 360° omnidirectional scanning detection, for example: the first radar can be a rotating millimeter-wave radar (omnidirectional radar); or A radar can be a lidar or an ultrasonic radar.
  • the number of the first radar can be multiple, and multiple lidars or multiple ultrasonic radars can be evenly distributed on the autonomous mobile platform to achieve 360° omnidirectional scanning Detection.
  • those skilled in the art can also set the first radar and the second radar to other types according to specific application requirements, as long as it can ensure that the types of the first radar and the second radar are different, which will not be repeated here.
  • the target point may be located on a target surface, and the target surface on which the target point is located may be the ground, an inclined surface, a slope surface, or the plane of other target objects.
  • the first distance and the second distance may be distance information for the same effective target point on the target surface, and
  • the first distance may be a first vertical distance
  • the second distance may be a second vertical distance.
  • the target surface where the target point is located is the ground
  • the effective target point A is set on the ground.
  • the effective distance between the first radar and the ground can be obtained.
  • Step S302 Determine the target distance of the autonomous mobile platform relative to the target point according to the first distance and the second distance.
  • the first distance and the second distance can be fused and analyzed, so that the target distance of the autonomous mobile platform relative to the target point can be determined; for example, the target point at the target point When the surface is the ground, the first distance and the second distance are both vertical distances, and both the first distance and the second distance are the distance information of the autonomous mobile platform relative to the effective target A on the ground, by comparing the first distance and the second distance
  • the target distance of the autonomous mobile platform relative to the effective target A on the ground can be obtained, and the target distance is the vertical distance.
  • the distance detection method of the autonomous mobile platform provided by this embodiment is to obtain the first distance of the first radar relative to the target point and the second distance of the second radar relative to the target point, and then determine according to the first distance and the second distance
  • the target distance of the autonomous mobile platform relative to the target point effectively realizes the use of two different types of radar equipment to obtain the target distance of the autonomous mobile platform relative to the target point, which effectively solves the problem of radar equipment due to the detection blind area below.
  • the problem of untimely and accurate data detection ensures the rapid and accurate detection of the target distance of the autonomous mobile platform relative to the target point, and effectively improves the safety and reliability of the autonomous mobile platform's operations.
  • Fig. 4 is a schematic diagram of the process of obtaining the first distance of the first radar relative to the target point according to an embodiment of the present invention; on the basis of the above embodiment, referring to Fig. 4, in this embodiment, for the first radar
  • the specific acquisition method of the first distance relative to the target point is not limited, and those skilled in the art can set it according to specific application requirements and design requirements.
  • acquiring the first distance of the first radar relative to the target point may include:
  • Step S401 Acquire multiple first energy information values of the reflected radar signal, and the multiple first energy information values correspond to the first radar.
  • Step S402 Determine the rotation angle of the first radar relative to the radar rotation center, the first distance information and the azimuth angle of the first radar relative to the target point according to the first energy information value.
  • Step S403 Perform coordinate conversion processing on the first distance information based on the rotation angle and the azimuth angle to obtain multiple target information values in the geodetic coordinate system.
  • Step S404 Perform plane fitting on the target surface where the target point is located according to multiple target information values to obtain plane information corresponding to the target surface.
  • Step S405 Obtain the first distance of the first radar relative to the target point according to the plane information.
  • the target point can reflect the radar signal, so that the reflected radar signal can be obtained, and the reflected radar signal is analyzed and processed to identify the first radar relative to the radar rotation center. Rotation angle, first distance information and azimuth angle of the first radar relative to the target point.
  • the first distance information can be subjected to coordinate conversion processing based on the rotation angle and the azimuth angle, and the first distance information can be projected from the radar coordinate system to the geodetic coordinate system to obtain the first distance information relative to the first distance information.
  • the target information value is the information energy value corresponding to the target point.
  • effective target points can be selected based on multiple target information value pairs. In other words, the information energy value corresponding to the target point is used to filter out effective target points.
  • plane fitting processing on the target surface where the effective target point is located, and obtain the plane information corresponding to the target surface; the first distance of the first radar relative to the target point can be obtained according to the plane information, and the first distance can be Vertical distance or direct distance.
  • the plane fitting operation of the target surface where the target point is located is realized through the distance and azimuth of the reflected radar signal, which effectively guarantees the accuracy and reliability of obtaining the plane information corresponding to the target plane, and then, the plane information is obtained based on the plane information.
  • the first distance to the first radar relative to the target point effectively ensures the accuracy and reliability of the first distance acquisition.
  • FIG. 5 is a schematic diagram of a flow chart of performing plane fitting on a target surface where a target point is located according to multiple target information values according to an embodiment of the present invention to obtain plane information corresponding to the target surface; on the basis of the foregoing embodiment, continue to refer to the appendix As shown in FIG. 5, this embodiment does not limit the specific implementation process of obtaining the plane information corresponding to the target surface where the target point is located. Those skilled in the art can set according to specific application requirements and design requirements. Preferably, this In the embodiment, performing plane fitting on the target surface where the target point is located according to multiple target information values, and obtaining plane information corresponding to the target surface may include:
  • Step S501 Perform clustering processing on multiple target information values to obtain multiple clustering results.
  • Step S502 Obtain feature information corresponding to each clustering result.
  • Step S503 Obtain valid target information corresponding to the target surface where the target point is located according to the feature information.
  • Step S504 Perform plane fitting on the target surface where the target point is located according to the effective target information to obtain plane information corresponding to the target surface.
  • multiple target information values often include some noise point information and noise information
  • multiple target information values can be clustered to obtain multiple clustering results.
  • each clustering result can include multiple target information values; then, the corresponding to each clustering result can be obtained
  • the feature information may include at least one of the following: the number of valid target information (valid target points) in the clustering result in the current frame; the height average of the valid target information in the current frame is the same as that of the previous frame The difference in the fusion distance of the autonomous mobile platform relative to the target point; the height variance of the effective target point in the current frame.
  • the current frame may refer to the collection of point cloud information obtained by the radar device at the current moment; the previous frame may refer to the collection of point cloud information obtained by the radar device at the previous moment.
  • acquiring feature information corresponding to each clustering result may include: according to the first energy information value, the first distance information, and the azimuth angle Determine the amount of valid target information in the clustering result.
  • the weighting factors corresponding to the first energy information value, the first distance information, and the azimuth angle can be respectively obtained, and then a weighting factor is determined based on the first energy information value, the first distance information, the azimuth angle, and the corresponding weighting factors.
  • Energy threshold information and then analyze and compare all the target information values included in each clustering result with the energy threshold information, and when the target information value is greater than or equal to the energy threshold information, it can be determined that the target information is valid target information; When the target information value is less than the energy threshold information, it can be determined that the target information value is invalid target information; then the analysis and comparison results of all target information values are counted, so that the number of valid target information in the clustering result can be determined.
  • those skilled in the art can also use other methods to obtain the number of effective target information in the clustering result, as long as the accuracy and reliability of obtaining the number of effective target information in the clustering result can be guaranteed. Go into details again.
  • the effective target information corresponding to the target surface where the target point is located can be obtained according to the feature information; specifically, referring to FIG.
  • Obtaining effective target information corresponding to the target surface where the target point is located may include:
  • Step S601 Perform normalization processing on the characteristic information to obtain a normalization result corresponding to the characteristic information.
  • Step S602 Perform weighted summation processing on all normalized results to obtain weight information corresponding to the clustering results.
  • Step S603 Determine the target information value included in the clustering result with the largest weight information as the effective target information corresponding to the target plane where the target point is located.
  • the feature information corresponding to each clustering result can be normalized, so that the normalized result corresponding to the feature information can be obtained; it should be noted that each cluster
  • the feature information corresponding to the class result includes: the number of effective target information, the difference between the average height of the effective target information in the current frame and the fusion distance of the autonomous mobile platform in the previous frame relative to the target point, and the effective target in the current frame The height variance of the point; then, the normalization result corresponding to the feature information includes: the number normalization result corresponding to the number of valid target information, and the height average of the valid target information in the current frame and the previous frame The difference normalization result corresponding to the difference of the fusion distance of the autonomous mobile platform relative to the target point, and the height variance normalization result corresponding to the height variance of the effective target point in the current frame.
  • the clustering result includes clustering result one, clustering result two, and clustering result three.
  • the weight information corresponding to the above-mentioned clustering result is weight information one, weight information two, and weight information three, respectively.
  • the weight information 2 is greater than the weight information 3
  • the weight information 3 is greater than the weight information 1.
  • the clustering result 2 corresponding to the weight information 2 can be determined as the final target clustering result, and the target clustering
  • the target information value included in the class result is the effective target information corresponding to the target surface where the target point is located.
  • multiple clustering results are obtained by clustering multiple target information values, and then multiple clustering results are analyzed and processed to obtain weight information corresponding to each clustering result, and The target information value included in the clustering result with the largest weight information is determined as the effective target information corresponding to the target surface where the target point is located, which effectively removes the noise point information and the noise information from the multiple target information values, The accuracy and reliability of the acquisition of effective target information is guaranteed, and the quality and accuracy of plane fitting to the target surface where the target point is located based on the effective target information is further improved.
  • FIG. 7 is a schematic diagram of the process of acquiring the second distance of the second radar relative to the target point according to an embodiment of the present invention; on the basis of the above-mentioned embodiment, referring to FIG. 7 continuously, this embodiment is for acquiring the second distance relative to the second radar.
  • the specific implementation manner of the second distance to the target point is not limited, and those skilled in the art can set it according to specific application requirements and design requirements.
  • the acquisition of the second distance of the second radar relative to the target point in this embodiment Two distances can include:
  • Step S701 Acquire multiple second energy information values of the reflected radar signal, where the multiple second energy information values correspond to the second radar.
  • Step S702 Determine the second distance information and target energy information of the second radar relative to the target point according to the multiple second energy information values.
  • Step S703 Obtain a second distance of the second radar relative to the target point based on the second distance information and the target energy information.
  • the target point can reflect the radar signal, so that multiple second energy information values of the reflected radar signal can be obtained; after the multiple second energy information values are obtained, A plurality of second energy information values can be analyzed and processed, so that the second distance information and target energy information of the second radar relative to the target point can be obtained, where each target energy information corresponds to a second distance information; and then The second distance of the second radar relative to the target point can be obtained based on the second distance information and the target energy information; specifically, referring to FIG. 8, the second distance is obtained based on the second distance information and the target energy information in this embodiment.
  • the second distance of the radar relative to the target point may include:
  • Step S801 Obtain the height difference between the second distance information and the historical height of the autonomous mobile platform relative to the target point.
  • Step S802 Perform normalization processing on the height difference and the target energy information respectively, and obtain the height normalization result and the energy normalization result corresponding to the height difference.
  • Step S803 Obtain the second distance of the second radar relative to the target point according to the height normalization result and the energy normalization result.
  • the historical height of the autonomous mobile platform relative to the target point may refer to the height information of the autonomous mobile platform relative to the target point obtained at the previous moment or historical moment; after obtaining the second distance information and the target energy information, it can be obtained To the height difference between the second distance information and the historical height, and then normalize the height difference and the target energy information value respectively to obtain the height normalization result and energy normalization corresponding to the height difference Result; Afterwards, the second distance of the second radar relative to the target point can be obtained based on the height normalization result and the energy normalization result.
  • obtaining the second distance of the second radar relative to the target point according to the height normalization result and the energy normalization result in this embodiment may include:
  • Step S901 Perform weighted summation processing on the height normalization result and the energy normalization result to obtain weight information corresponding to the second energy information value.
  • Step S902 Determine the second distance information corresponding to the second energy information value with the largest weight as the second distance of the second radar relative to the target point.
  • the height weight information corresponding to the height normalization result and the energy weight information corresponding to the energy normalization result can be determined, and then Perform weighted sum processing based on the height weight information, energy weight information, height normalization result, and energy normalization result, so that the weight information corresponding to the second energy information value can be obtained; among them, due to the second energy There are multiple information values, and each second energy information value corresponds to one second distance information. Therefore, after obtaining the weight information corresponding to all the second energy information values, all the weight information can be analyzed and compared, and the second distance information corresponding to the second energy information value with the largest weight can be determined as The second distance of the second radar relative to the target point.
  • the multiple second energy information values correspond to the second radar, and the second radar relative to the target point is determined according to the multiple second energy information values
  • the second distance information and target energy information of the second distance information and target energy information, and the second distance of the second radar relative to the target point is obtained based on the second distance information and target energy information, which effectively ensures the timeliness and reliability of the second distance acquisition, and further improves
  • the accuracy and reliability of the target distance of the autonomous mobile platform relative to the target point is determined.
  • FIG. 10 is a schematic flowchart of determining the target distance of the autonomous mobile platform relative to the target point according to the first distance and the second distance provided by an embodiment of the present invention; on the basis of the above embodiment, referring to FIG. 10, this embodiment
  • the specific implementation method of determining the target distance of the autonomous mobile platform relative to the target point is not limited. Those skilled in the art can set it according to the specific application requirements and design requirements.
  • the first distance Determining the target distance of the autonomous mobile platform relative to the target point with the second distance may include:
  • Step S1001 Obtain a first weighting factor corresponding to the first distance and a second weighting factor corresponding to the second distance.
  • Step S1002 Use the first weighting factor and the second weighting factor to perform weighting processing on the first distance and the second distance to obtain the target distance of the autonomous mobile platform relative to the target point.
  • the first weighting factor corresponding to the first distance and the second weighting factor corresponding to the second distance can be obtained first , where the values of the first weighting factor and the second weighting factor can be adjusted and changed according to different application scenarios; then the first weighting factor and the second weighting factor can be used to weight the first distance and the second distance, In this way, the target distance of the autonomous mobile platform relative to the target point can be obtained.
  • the first distance is L1
  • the second distance is L2
  • the first weighting factor corresponding to the first distance L1 is ⁇
  • the second weighting factor corresponding to the second distance L2 is ⁇
  • the first distance and the second The distance is weighted to obtain the target distance of the autonomous mobile platform relative to the target point, which effectively ensures the accuracy and reliability of the determination of the target distance of the autonomous mobile platform relative to the target point.
  • Fig. 11 is a schematic diagram of a process for obtaining a first weighting factor corresponding to a first distance according to an embodiment of the present invention; on the basis of the foregoing embodiment, referring to Fig. 11, the The specific implementation of the first weighting factor corresponding to the distance is not limited, and those skilled in the art can set it according to specific application scenarios and application requirements. Preferably, the acquisition of the first weighting factor corresponding to the first distance in this embodiment is not limited.
  • a weighting factor can include:
  • Step S1101 Obtain first variance information corresponding to the first distance detected by the first radar and second variance information corresponding to the second distance detected by the second radar.
  • Step S1102 Determine a first weighting factor according to the first variance information and the second variance information.
  • the first variance information corresponding to the first distance and the second variance information corresponding to the second distance can be obtained; Then, the first weighting factor is determined according to the first variance information and the second variance information; specifically, referring to FIG. 12, in this embodiment, the first weighting factor can be determined according to the first variance information and the second variance information.
  • Step S1201 Obtain the sum of the variances of the first variance information and the second variance information.
  • Step S1202 Determine the ratio of the second variance information to the sum of variances as the first weighting factor.
  • the first variance information and the second variance information can be obtained.
  • the sum of the variances of the variance information, and then the ratio of the second variance information to the sum of variances can be determined as the first weighting factor.
  • the ratio of the first variance information to the sum of variances can be determined as the first weighting factor, thereby ensuring the first weighting factor. Accurate reliability obtained by a weighting factor.
  • FIG. 13 is a schematic diagram of a process for obtaining a second weighting factor corresponding to a second distance according to an embodiment of the present invention; on the basis of the foregoing embodiment, referring to FIG.
  • the specific implementation of the second weighting factor corresponding to the distance is not limited, and those skilled in the art can set it according to specific application scenarios and application requirements.
  • the acquisition of the second weighting factor corresponding to the second distance in this embodiment is not limited.
  • Two weighting factors can include:
  • Step S1301 Obtain first variance information corresponding to the first distance detected by the first radar and second variance information corresponding to the second distance detected by the second radar.
  • Step S1302 Determine a second weighting factor according to the first variance information and the second variance information.
  • the first variance information corresponding to the first distance and the second variance information corresponding to the second distance can be obtained; Then the second weighting factor is determined according to the first variance information and the second variance information; specifically, referring to FIG. 14, the second weighting factor can be determined according to the first variance information and the second variance information in this embodiment.
  • Step S1401 Obtain the sum of the variances of the first variance information and the second variance information
  • Step S1402 Determine the ratio of the first variance information and the sum of variance as the second weighting factor.
  • the first variance information and the second variance information can be obtained.
  • the sum of variances of the variance information, and then the ratio of the first variance information to the sum of variances can be determined as the second weighting factor, thereby ensuring the accuracy and reliability of obtaining the second weighting factor.
  • determining the target distance of the autonomous mobile platform relative to the target point according to the first distance and the second distance may include:
  • Step S1501 Determine the detection overlap area and the non-overlap area formed between the first radar and the second radar.
  • Step S1502 Estimate the target distance of another effective target in the adjacent non-overlapping area according to the first distance and the second distance of the first radar and the second radar to the same effective target in the detection overlap area.
  • the first radar and the second radar can be set on the autonomous mobile platform. At different locations.
  • the detection area between the first radar and the second radar may be different.
  • the detection area of the first radar and the detection area of the second radar may constitute a detection overlap area and a non-overlap area.
  • the first distance of the first radar relative to the target point and the second distance of the second radar relative to the target point can be obtained, and then the autonomous mobile platform relative to the target point can be determined according to the first distance and the second distance.
  • the target distance of the target point For non-overlapping areas, generally only one of the first distance and the second distance can be obtained. For example, the first distance can be obtained but the second distance cannot be obtained.
  • the first distance and the second distance of the first radar and the second radar for the same effective target in the overlapping area can be detected, To estimate the target distance of another effective target in the adjacent non-overlapping area.
  • the detection overlap area A and the non-overlap area B formed between the first radar and the second radar are acquired, where the detection overlap area A and the non-overlap area B are adjacent to each other.
  • the first distance La1 and the second distance La2 for the same effective target a in the detection overlap area A domain of the first radar and the second radar can be obtained, and then The target distance of another effective target b in the adjacent non-overlapping area B can be estimated based on the first distance La1 and the second distance La2; specifically, the first distance La1 and the second distance La2 can be used to determine the autonomous mobile platform first
  • the target distance La relative to the effective target a; then the effective target b in the non-overlapping area B can be estimated based on the detection of the overlapping area A, the non-overlapping area B, the target distance La, and the distance information between the effective target a and the effective target b Target distance Lb.
  • the second distance is to estimate the target distance of another effective target in the adjacent non-overlapping area, which effectively realizes the accuracy and reliability of determining the target distance of another effective target in the adjacent non-overlapping area, and further improves The scope of application of this method.
  • determining the target distance of the autonomous mobile platform relative to the target point according to the first distance and the second distance may include:
  • Step S1601 Determine whether the first distance and the second distance corresponding to the first valid target are valid.
  • Step S1602 When the first distance is invalid, estimate the target distance of the first valid target according to the second distance of the first valid target, the first distance and the second distance corresponding to the second valid target, where the first The distance between the effective target and the second effective target is less than or equal to the preset threshold.
  • the autonomous mobile platform when the first effective target and the second effective target exist on the target point, and the distance between the first effective target and the second effective target is less than or equal to the preset threshold, it is determined that the autonomous mobile platform is relative to the first effective target In the process of the target distance, if the first distance of the first radar relative to the first effective target or the second distance of the second radar relative to the first effective target is invalid, the autonomous mobile platform can be relative to the second effective target To estimate the target distance of the autonomous mobile platform relative to the first effective target.
  • the target distance between the autonomous mobile platform and the first effective target it can be determined whether the first distance and the second distance corresponding to the first effective target are valid.
  • the specific implementation method may be: The distance and the second distance are analyzed and compared with the preset distance range respectively. If the first distance and the second distance are both within the preset distance range, it can be determined that both the first distance and the second distance are valid; or, in the first distance When the distance and the second distance both exceed the preset distance range, it can be determined that both the first distance and the second distance are invalid. For example, when it is determined that the first distance is invalid, the target distance of the first valid target is estimated according to the second distance corresponding to the first valid target, the first distance and the second distance corresponding to the second valid target .
  • the target point includes the first effective target A and the second effective target B
  • the distance between the first effective target A and the second effective target B is less than or equal to the preset threshold. Then, the first distance LA1 and the second distance LA2 corresponding to the first valid target A can be obtained, and the first distance LB1 and the second distance LB2 corresponding to the second valid target B can be obtained.
  • the first distance LA1 is invalid
  • the first distance LB1 and the second distance LB2 can be used to determine the target distance LB corresponding to the second effective target B; then based on the target distance LB, the distance information between the first effective target A and the second effective target B, and The second distance LA2 is used to estimate the target distance LA corresponding to the first effective target A.
  • the first distance and the second distance corresponding to the first valid target are valid, when the first distance is invalid, it can correspond to the second valid target according to the second distance of the first valid target
  • the first distance and the second distance are estimated to be the target distance of the first effective target, thereby effectively achieving the accuracy and reliability of determining the target distance of the first effective target.
  • this application embodiment provides a distance detection method for an autonomous mobile platform.
  • the distance detection method can be realized: based on the scanning result of the rotating millimeter wave radar, the ground points are filtered out from the scanning results, and the ground points are used to perform the ground detection. Fitting, according to the fitting results to estimate the terrain information of the ground, and at the same time, fusing the detection results of the down-looking flat panel radar to accurately estimate the height information of the UAV relative to the ground.
  • the distance detection method may include a processing process of ground terrain estimation based on omnidirectional radar, height detection based on downward-looking flat panel radar, and fusion of terrain estimation and height detection results. The above processing procedure is described in detail below:
  • the echo signal reflected by the target object can be obtained.
  • a series of signal processing can be performed on the echo signal, so that the observation value of the target object (target distance, angle, signal strength, etc.) can be obtained.
  • the following parameters can be obtained:
  • the grating sensor can obtain the rotation angle ⁇ of the millimeter wave radar relative to the radar rotation center at the current moment, refer to Figure 19.
  • the target distance r and the azimuth angle ⁇ of the millimeter wave radar relative to the target object are transformed into coordinates, and the radar coordinate system is projected to the earth coordinate system.
  • the coordinate transformation includes:
  • i when the radio frequency board of the millimeter wave radar turns to the i-th optical grid
  • j represents the detected obstacle on the ground
  • x i, j represents the obstacle relative to the center of the radar.
  • Horizontal distance y i,j represents the depth of field distance of the obstacle relative to the radar center
  • z i,j represents the vertical distance of the obstacle relative to the radar center
  • r i,j represents the radial distance of the obstacle relative to the radar center
  • ⁇ i, j represent the azimuth angle of the obstacle relative to the radar
  • It represents the current position of the optical grid corresponding to the radio frequency board of the millimeter wave radar
  • A represents the identification information of the radar coordinate system.
  • the first distance information located in the radar coordinate system is converted to the geodetic coordinate system, which specifically includes:
  • T is the rotation matrix
  • G is the identification information of the geodetic coordinate system
  • Is the attitude quaternion with the radar Corresponding linear algebra representation
  • It is the radar attitude quaternion obtained in real time from the Inertial Measurement Unit (IMU), which is used to calculate the radar attitude information at the current time
  • the geodetic coordinate system used in this embodiment is northeast
  • the East-North-UP coordinate system (ENU) Indicates the upward distance of the target object relative to the origin of the coordinates, which is true north, Indicates the distance of the target object relative to the origin of the coordinates. Indicates the vertical distance of the target object relative to the coordinate origin.
  • A) Perform cluster analysis based on the z value of multiple target information values, that is, the vertical distance of the detected target object relative to the radar device;
  • the feature information includes at least one of the following:
  • each feature value of each point cluster can be normalized to obtain the normalized result corresponding to the number of effective target points Ni
  • the weight information w n , w d , and w ⁇ corresponding to the above-mentioned normalized feature values is assigned according to the empirical value, and then the weighted value S i of each feature value can be obtained;
  • the detection point of the point cluster with the largest weighting value S i can be used as the effective ground point.
  • plane fitting can be performed on the filtered effective ground points.
  • the plane equation is as follows:
  • the normal vector Can identify the slope of the ground, the straight-line distance from the origin of the coordinate to the plane Identifies the vertical distance of the UAV/radar from the ground.
  • the echo signal reflected by the target object can be obtained.
  • a series of signal processing can be performed on the echo signal, so that the target distance r and the target energy e of the target object can be obtained.
  • the feature information can include the following information:
  • Emax is the maximum energy information that the radar can detect an effective target.
  • the weights w d and w e corresponding to the normalization results of each feature are assigned according to the empirical value, and then the weighted summation processing is performed on all the normalization results of the features to obtain the weighted value S i of the normalization results of each feature.
  • the weighting value of the height information by S i between the maximum detection range of the detection target is detected as ri lower viewing radar and radar ground plate.
  • the terrain detection result of the omnidirectional radar and the height detection result of the down-looking radar are merged to realize the height estimation operation of the UAV (the carrier of the radar equipment).
  • the ⁇ filter can be used for the omnidirectional radar and the downward-looking radar. Fusion is performed based on the radar detection results.
  • H O ⁇ h O ik ,...h O i-1 , h O i ⁇
  • H B ⁇ h B ik ,...h B i-1 , h B i ⁇
  • h f is the final fusion height of the UAV relative to the ground
  • h O is the height of the radar/UAV relative to the ground extracted from the terrain information of the omnidirectional radar output
  • h B is the output of the down-looking radar.
  • ⁇ is the weight of h O , which is normalized by the variance of the height detected by the omnidirectional radar
  • ⁇ is the weight of h B , which is normalized by the variance of the height detected by the downward-looking radar.
  • this application embodiment uses a microwave radar to acquire the distance information and azimuth information of the target object relative to the radar.
  • a microwave radar to acquire the distance information and azimuth information of the target object relative to the radar.
  • those skilled in the art can also use other methods to obtain the distance information and azimuth angle information of the target object relative to the radar, for example, obtain the distance information and azimuth angle information of the target object through lidar.
  • Linear lidar can achieve accurate and fast ranging and angle measurement, and the precision of ranging and angle measurement is much better than microwave radar.
  • the disadvantages of lidar are: (1) It has high requirements on the light environment and is easily interfered by external light sources; (2) the cost of lidar is very high.
  • the distance information and azimuth angle information of the target object can also be obtained through the ultrasonic sensor, which has a great cost advantage.
  • the defects of ultrasonic sensors are: (1) The measurement range is short, which is suitable for short-distance measurement; (2) The ultrasonic sensor uses the reflection of mechanical waves for distance measurement, and the mechanical waves are susceptible to interference.
  • the distance detection method provided in this embodiment solves the problem of the detection blind area below due to the horizontal field of view when the radar equipment is used to detect the surrounding environment.
  • the distance detection method by fusing the omnidirectional radar and the downward-looking radar , To make up for the detection blind area below, to realize the rapid and accurate detection of the terrain information of the ground below, to ensure the accuracy and reliability of the detection of the distance between the drone and the ground, and to further improve the safety of the autonomous operation of the drone. Sex.
  • this embodiment provides a method for modeling target surface information, including:
  • Fig. 3- The distance detection method of the autonomous mobile platform in the embodiment corresponding to Fig. 19;
  • the method in this embodiment may further include:
  • Step S1701 Perform modeling processing on the target surface where the target point is located by using the target distance to obtain model information corresponding to the shape information of the target surface.
  • the target distance can be used to model the target surface where the target point is located, so as to obtain the shape information of the target surface Corresponding model information, so as to facilitate the realization that the autonomous mobile platform can perform terrain following operations on the target surface based on the model information, thereby improving the quality and effect of the autonomous mobile platform's operations.
  • the target surface information modeling method uses the target distance to model the target surface where the target point is located, and obtains model information corresponding to the shape information of the target surface, and then enables the autonomous mobile platform to be based on the model
  • the information performs terrain following operations on the target surface, effectively ensuring the safety and reliability of the autonomous mobile platform for operations.
  • this embodiment provides a method for controlling an autonomous mobile platform, including:
  • Fig. 3- The distance detection method of the autonomous mobile platform in the embodiment corresponding to Fig. 19;
  • the method further includes:
  • Step S1801 Use the target distance to control the autonomous mobile platform so as to maintain a preset distance between the autonomous mobile platform and the target point.
  • the target distance after determining the target distance of the autonomous mobile platform relative to the target point according to the first distance and the second distance, the target distance can be used to control the autonomous mobile platform, so that a preset distance is maintained between the autonomous mobile platform and the target point.
  • the target distance between the autonomous mobile platform and the target point can be obtained, and then the target distance is analyzed and compared with the preset distance.
  • the autonomous mobile platform is adjusted to make the autonomous mobile platform
  • the distance to the target point decreases from the target distance to the preset distance; when the target distance is less than the preset distance, the autonomous mobile platform is adjusted so that the distance between the autonomous mobile platform and the target point increases from the target distance to
  • the preset distance ensures the safety and reliability of the autonomous mobile platform.
  • the control method of the autonomous mobile platform uses the target distance to control the autonomous mobile platform so as to maintain a preset distance between the autonomous mobile platform and the target point, thereby effectively ensuring the safety of the autonomous mobile platform for operations Reliability further improves the practicability of the method, which is conducive to market promotion and application.
  • FIG. 20 is a schematic structural diagram of a distance detection device provided by an embodiment of the present invention; as shown in FIG. 20, this embodiment provides a distance detection device for distance detection of an autonomous mobile platform. It may include at least one of the following: unmanned aerial vehicle, manned aircraft, etc.; in specific applications, the distance detection device may be a first radar or a second radar. Specifically, the distance detection device may include:
  • the first memory 12 is used to store computer programs
  • the first processor 11 is configured to run a computer program stored in the first memory 12 to implement:
  • first radar and the second radar are both set on the autonomous mobile platform, and the first radar and the second radar Different types;
  • the target distance of the autonomous mobile platform relative to the target point is determined.
  • the structure of the distance detection device may further include a first communication interface 13 for the electronic device to communicate with other devices or a communication network.
  • first distance and the second distance are distance information of the same effective target point, and the first distance is the first vertical distance, the second distance is the second vertical distance, and the target surface on which the target point is located is the ground.
  • the first processor 11 when the first processor 11 obtains the first distance of the first radar relative to the target point, the first processor 11 is configured to execute: obtain multiple first energy information values of the reflected radar signal, and multiple first energy information values.
  • the energy information value corresponds to the first radar; the rotation angle of the first radar relative to the radar rotation center, the first distance information and the azimuth angle of the first radar relative to the target point are determined according to the first energy information value; based on the rotation angle and azimuth The angle performs coordinate conversion processing on the first distance information to obtain multiple target information values located in the geodetic coordinate system; according to the multiple target information values, perform plane fitting on the target surface where the target point is located, and obtain the plane information corresponding to the target surface ; Obtain the first distance of the first radar relative to the target point according to the plane information.
  • the first processor 11 when the first processor 11 performs plane fitting on the target surface where the target point is located according to the multiple target information values, and obtains the planar information corresponding to the target surface, the first processor 11 is configured to execute: The information value is clustered to obtain multiple clustering results; the characteristic information corresponding to each clustering result is obtained; the effective target information corresponding to the target surface where the target point is located is obtained according to the characteristic information; the target point is determined according to the effective target information Perform plane fitting on the target surface to obtain plane information corresponding to the target surface.
  • the feature information includes at least one of the following: the number of effective target information in the clustering result in the current frame; the fusion of the average height of the effective target information in the current frame and the autonomous mobile platform in the previous frame relative to the target point The difference in distance; the height variance of the effective target point in the current frame.
  • the first processor 11 when the feature information includes the number of effective target information in the clustering result in the current frame, when the first processor 11 obtains the feature information corresponding to each clustering result, the first processor 11 is configured to execute : Determine the number of effective target information in the clustering result according to the first energy information value, the first distance information and the azimuth angle.
  • the first processor 11 when the first processor 11 obtains the effective target information corresponding to the target surface where the target point is located according to the characteristic information, the first processor 11 is configured to perform: normalize the characteristic information to obtain the characteristic information. Corresponding normalized results; weighted summation of all normalized results to obtain weight information corresponding to the clustering results; the target information value included in the clustering result with the largest weight information is determined as Effective target information corresponding to the target surface where the target point is located.
  • the first processor 11 acquires the second distance of the second radar relative to the target point
  • the first processor 11 is configured to execute: acquire multiple second energy information values of the reflected radar signal, and multiple second The energy information value corresponds to the second radar; the second distance information and the target energy information of the second radar relative to the target point are determined according to the multiple second energy information values; the second radar relative information is obtained based on the second distance information and the target energy information The second distance to the target point.
  • the first processor 11 when the first processor 11 obtains the second distance of the second radar relative to the target point based on the second distance information and the target energy information, the first processor 11 is configured to execute: obtain the second distance information and the autonomous mobile platform The height difference between the historical height relative to the target point; the height difference and the target energy information are respectively normalized to obtain the height normalization result and the energy normalization result corresponding to the height difference; according to The height normalization result and the energy normalization result obtain the second distance of the second radar relative to the target point.
  • the first processor 11 when the first processor 11 obtains the second distance of the second radar relative to the target point according to the height normalization result and the energy normalization result, the first processor 11 is configured to execute: normalize the height result And the energy normalization result to perform weighted sum processing to obtain the weight information corresponding to the second energy information value; the second distance information corresponding to the second energy information value with the largest weight is determined as the second radar relative to The second distance of the target point.
  • the first processor 11 determines the target distance of the autonomous mobile platform relative to the target point according to the first distance and the second distance
  • the first processor 11 is configured to execute: obtain the first weight corresponding to the first distance Factor and a second weighting factor corresponding to the second distance; using the first weighting factor and the second weighting factor, the first distance and the second distance are weighted to obtain the target distance of the autonomous mobile platform relative to the target point.
  • the first processor 11 when the first processor 11 obtains the first weighting factor corresponding to the first distance, the first processor 11 is configured to execute: obtain the first variance information corresponding to the first distance detected by the first radar and The second variance information corresponding to the second distance detected by the second radar; the first weighting factor is determined according to the first variance information and the second variance information.
  • the first processor 11 determines the first weighting factor according to the first variance information and the second variance information
  • the first processor 11 is configured to execute: obtain the difference between the variance of the first variance information and the second variance information ⁇ ; Determine the ratio of the first variance information to the sum of the variances as the first weighting factor.
  • the first processor 11 when the first processor 11 obtains the second weighting factor corresponding to the second distance, the first processor 11 is configured to execute: obtain the first variance information corresponding to the first distance detected by the first radar and The second variance information corresponding to the second distance detected by the second radar; the second weighting factor is determined according to the first variance information and the second variance information.
  • the first processor 11 determines the second weighting factor according to the first variance information and the second variance information
  • the first processor 11 is configured to execute: obtain the difference between the variance of the first variance information and the second variance information ⁇ ; Determine the ratio of the second variance information to the sum of the variances as the second weighting factor.
  • the areas detected by the first radar and the second radar at the same time partially overlap; when the first processor 11 determines the target distance of the autonomous mobile platform relative to the target point according to the first distance and the second distance, the first processing The device 11 is used to perform: determine the detection overlap area and the non-overlap area formed between the first radar and the second radar; according to the first radar and the second radar in the detection overlap area for the same effective target first distance and second distance Distance: Estimate the target distance of another effective target in the adjacent non-overlapping area.
  • the first radar includes at least one of the following: millimeter wave radar, lidar, and ultrasonic radar; and the second radar includes down-looking radar.
  • the device shown in Fig. 20 can execute the methods of the embodiments shown in Figs. 3-19.
  • parts that are not described in detail in this embodiment please refer to the relevant descriptions of the embodiments shown in Figs. 3-19.
  • For the implementation process and technical effects of this technical solution please refer to the description in the embodiment shown in FIG. 3 to FIG. 19, which will not be repeated here.
  • FIG. 21 is a schematic structural diagram of a target surface information modeling device provided by an embodiment of the present invention. referring to FIG. 21, this embodiment provides a target surface information modeling device, including:
  • the second memory 22 is used to store computer programs
  • the second processor 21 is configured to run a computer program stored in the second memory 22 to implement:
  • the second processor 21 is further configured to:
  • the target distance is used to model the target surface where the target point is located, and the model information corresponding to the shape information of the target surface is obtained.
  • the structure of the target plane information modeling apparatus may further include a second communication interface 23 for the electronic device to communicate with other devices or a communication network.
  • the device shown in Fig. 21 can execute the methods of the embodiments shown in Figs. 3-19.
  • parts that are not described in detail in this embodiment please refer to the related descriptions of the embodiments shown in Figs. 3-19.
  • For the implementation process and technical effects of this technical solution please refer to the description in the embodiment shown in FIG. 3 to FIG. 19, which will not be repeated here.
  • FIG. 22 is a schematic structural diagram of a control device for an autonomous mobile platform according to an embodiment of the present invention. referring to FIG. 22, this embodiment provides a control device for an autonomous mobile platform, including:
  • the third memory 32 is used to store computer programs
  • the third processor 31 is configured to run a computer program stored in the third memory 32 to implement:
  • the processor After determining the target distance of the autonomous mobile platform relative to the target point according to the first distance and the second distance, the processor is further configured to:
  • the structure of the control device of the autonomous mobile platform may further include a third communication interface 33 for the electronic device to communicate with other devices or a communication network.
  • the device shown in Fig. 22 can execute the methods of the embodiments shown in Figs. 3-19.
  • parts that are not described in detail in this embodiment please refer to the relevant descriptions of the embodiments shown in Figs. 3-19.
  • For the implementation process and technical effects of this technical solution please refer to the description in the embodiment shown in FIG. 3 to FIG. 19, which will not be repeated here.
  • Figure 23 is a schematic structural diagram of an autonomous mobile platform provided by an embodiment of the present invention. With reference to Figure 23, this embodiment provides an autonomous mobile platform.
  • the autonomous mobile platform may include unmanned aerial vehicles, manned aircraft, etc. Etc.
  • the autonomous mobile platform may include:
  • the first radar 42 is set on the autonomous mobile platform and used to obtain the first distance of the first radar 42 relative to the target point;
  • the second radar 43 is set on the autonomous mobile platform and used to obtain the second distance of the second radar 43 relative to the target point, where the first radar 42 and the second radar 43 are of different types;
  • At least one of the first radar 42 and the second radar 43 is also used to determine the target distance of the autonomous mobile platform relative to the target point according to the first distance and the second distance.
  • first distance and the second distance are distance information for the same effective target point, and the first distance is the first vertical distance, the second distance is the second vertical distance, and the target surface on which the target point is located is the ground.
  • the first radar 42 acquires the first distance of the first radar 42 with respect to the target point
  • the first radar 42 is used to execute: acquire multiple first energy information values of the reflected radar signal, multiple first The energy information value corresponds to the first radar 42; the rotation angle of the first radar 42 relative to the radar rotation center, the first distance information and the azimuth angle of the first radar 42 relative to the target point are determined according to the first energy information value; based on the rotation Angle and azimuth perform coordinate conversion processing on the first distance information to obtain multiple target information values located in the geodetic coordinate system; perform plane fitting on the target surface where the target point is located according to multiple target information values to obtain the corresponding target surface The plane information; the first distance of the first radar 42 relative to the target point is obtained according to the plane information.
  • the first radar 42 when the first radar 42 performs plane fitting on the target surface where the target point is located according to multiple target information values, and obtains the planar information corresponding to the target surface, the first radar 42 is used to perform: Perform clustering processing to obtain multiple clustering results; obtain the characteristic information corresponding to each clustering result; obtain effective target information corresponding to the target surface where the target point is located according to the characteristic information; Perform plane fitting on the target surface to obtain plane information corresponding to the target surface.
  • the feature information includes at least one of the following: the number of effective target information in the clustering result in the current frame; the fusion of the average height of the effective target information in the current frame and the autonomous mobile platform in the previous frame relative to the target point The difference in distance; the height variance of the effective target point in the current frame.
  • the first radar 42 may be used to execute: The number of effective target information in the clustering result is determined according to the first energy information value, the first distance information and the azimuth angle.
  • the first radar 42 when the first radar 42 obtains the effective target information corresponding to the target surface where the target point is located according to the feature information, the first radar 42 is used to perform: normalize the feature information to obtain the information corresponding to the feature information Normalized results; weighted summation of all normalized results to obtain weight information corresponding to the clustering results; the target information value included in the clustering result with the largest weight information is determined as the target point Valid target information corresponding to the target surface.
  • the second radar 43 when the second radar 43 obtains the second distance of the second radar 43 with respect to the target point, the second radar 43 is used to execute: obtain multiple second energy information values of the reflected radar signal, and multiple second energy information values.
  • the information value corresponds to the second radar 43; the second distance information and target energy information of the second radar 43 relative to the target point are determined according to multiple second energy information values; the second radar is obtained based on the second distance information and target energy information 43 The second distance relative to the target point.
  • the second radar 43 when the second radar 43 obtains the second distance of the second radar 43 relative to the target point based on the second distance information and the target energy information, the second radar 43 is used to execute: obtain the second distance information relative to the autonomous mobile platform The height difference between the historical heights of the target point; the height difference and the target energy information are respectively normalized to obtain the height normalization result and the energy normalization result corresponding to the height difference; according to the height The normalized result and the energy normalized result obtain the second distance of the second radar relative to the target point.
  • the second radar 43 when the second radar 43 obtains the second distance of the second radar 43 relative to the target point according to the height normalization result and the energy normalization result, the second radar 43 is used to perform: The energy normalization result is weighted and summed to obtain the weight information corresponding to the second energy information value; the second distance information corresponding to the second energy information value with the largest weight is determined as the second radar 43 relative to The second distance of the target point.
  • At least one of the first radar 42 and the second radar 43 when determining the target distance of the autonomous mobile platform relative to the target point according to the first distance and the second distance, the first radar 42 and/or the second radar 43 are used For execution: obtain the first weighting factor corresponding to the first distance and the second weighting factor corresponding to the second distance; use the first weighting factor and the second weighting factor to weight the first distance and the second distance , To obtain the target distance of the autonomous mobile platform relative to the target point.
  • the first radar 42 and/or the second radar 43 acquires the first weighting factor corresponding to the first distance
  • the first radar 42 and/or the second radar 43 is used to execute: obtain the detection of the first radar 42
  • the first weighting factor is determined according to the first variance information and the second variance information.
  • the first radar 42 and/or the second radar 43 determines the first weighting factor according to the first variance information and the second variance information
  • the first radar 42 and/or the second radar 43 are used to perform: The sum of variances of the variance information and the second variance information; the ratio of the first variance information to the sum of variances is determined as the first weighting factor.
  • the first radar 42 and/or the second radar 43 acquires the second weighting factor corresponding to the second distance
  • the first radar 42 and/or the second radar 43 is used to perform: obtain the detection of the first radar 42
  • the second weighting factor is determined according to the first variance information and the second variance information.
  • the first radar 42 and/or the second radar 43 determines the second weighting factor according to the first variance information and the second variance information
  • the first radar 42 and/or the second radar 43 is used to perform: The sum of variances of the variance information and the second variance information; the ratio of the second variance information to the sum of variances is determined as the second weighting factor.
  • the areas detected by the first radar 42 and the second radar 43 partially overlap at the same time; at least one of the first radar 42 and the second radar 43: Determine the relative position of the autonomous mobile platform according to the first distance and the second distance
  • the first radar 42 and/or the second radar 43 are used to perform: determine the detection overlap area and the non-overlap area formed between the first radar 42 and the second radar 43; according to the first radar 42 and The second radar 43 detects the first distance and the second distance of the same effective target in the overlapping area, and estimates the target distance of another effective target in the adjacent non-overlapping area.
  • the target point includes a first effective target and a second effective target; at least one of the first radar 42 and the second radar 43: when the target distance of the autonomous mobile platform relative to the target point is determined according to the first distance and the second distance , The first radar 42 and/or the second radar 43 are used to perform: judging whether the first distance and the second distance corresponding to the first valid target are valid; when the first distance is invalid, according to the second distance of the first valid target The distance, the first distance and the second distance corresponding to the second effective target, estimate the target distance of the first effective target, wherein the distance between the first effective target and the second effective target is less than or equal to a preset threshold.
  • the first radar 42 includes at least one of the following: millimeter wave radar, laser radar, and ultrasonic radar; and the second radar 43 includes a downward-looking radar.
  • the device shown in Fig. 23 can execute the methods of the embodiments shown in Figs. 3-19.
  • parts that are not described in detail in this embodiment please refer to the related descriptions of the embodiments shown in Figs. 3-19.
  • For the implementation process and technical effects of this technical solution please refer to the description in the embodiment shown in FIG. 3 to FIG. 19, which will not be repeated here.
  • an embodiment of the present invention provides a computer storage medium for storing computer software instructions used by electronic devices, which includes all methods used to execute the distance detection method of the autonomous mobile platform in the method embodiments shown in FIG. 3 to FIG. 19. The procedures involved.
  • the disclosed related remote control device and method can be implemented in other ways.
  • the embodiments of the remote control device described above are only illustrative.
  • the division of the modules or units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components. It can be combined or integrated into another system, or some features can be ignored or not implemented.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Traffic Control Systems (AREA)

Abstract

Selon des modes de réalisation, la présente demande concerne un procédé de mesure de distance, un dispositif de mesure de distance, une plateforme mobile autonome et un support de stockage. Le procédé consiste : à obtenir une première distance entre un premier radar et un point cible et une seconde distance entre un second radar et le point cible, le premier radar et le second radar étant disposés sur une plateforme mobile autonome, et le type du premier radar étant différent de celui du second radar ; et à déterminer une distance cible entre la plateforme mobile autonome et le point cible en fonction de la première distance et de la seconde distance. La solution technique du présent mode de réalisation assure la sécurité et la fiabilité d'opérations réalisées par la plateforme mobile autonome.
PCT/CN2019/115741 2019-11-05 2019-11-05 Procédé de mesure de distance, dispositif de mesure de distance, plateforme mobile autonome et support de stockage WO2021087751A1 (fr)

Priority Applications (2)

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PCT/CN2019/115741 WO2021087751A1 (fr) 2019-11-05 2019-11-05 Procédé de mesure de distance, dispositif de mesure de distance, plateforme mobile autonome et support de stockage
CN201980039192.8A CN112313535A (zh) 2019-11-05 2019-11-05 距离检测方法、距离检测设备、自主移动平台和存储介质

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CN115616578A (zh) * 2022-12-05 2023-01-17 成都航空职业技术学院 一种用于无人飞行器的雷达探测方法及装置
CN116147578A (zh) * 2023-03-21 2023-05-23 广东汇天航空航天科技有限公司 高度检测方法、装置、终端设备以及存储介质

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