WO2023006101A1 - Target detection method and apparatus based on laser scanning, and target detection terminal - Google Patents

Abstract

A target detection method and apparatus (2) based on laser scanning, and a target detection terminal (9), which are used in the technical field of laser scanning. The target detection method mainly comprises the following steps: scanning a preset scanning area by using first scanning resolution to obtain a first point cloud in a current period (S101); performing target detection on the first point cloud in the current period, and if a target to be detected is detected, determining a fine scanning area and an observation scanning area on the basis of said target (S102); and in the next scanning period, scanning the fine scanning area by using second scanning resolution, and scanning the observation scanning area by using third scanning resolution to obtain a second point cloud (S103). The change of the environment around said target can be determined while detecting said target in the preset scanning area, so that the safety of said target is ensured, and the accuracy of target positioning is improved.

Description

Target detection method, device and target detection terminal based on laser scanning

This application claims the priority of the Chinese patent application with the application number 202110876227.2 and the title of the invention "Laser Scanning-Based Target Detection Method, Device and Target Detection Terminal" filed at the National Patent Office of China on July 30, 2021. The entire contents are incorporated by reference in this application.

technical field

The present application relates to the technical field of laser scanning, in particular to a target detection method, device and target detection terminal based on laser scanning.

Background technique

Because laser scanning technology has the characteristics of precise positioning and high efficiency, it is often used in fields such as target positioning and tracking.

In the related target positioning and tracking method based on laser scanning technology, when the target is scanned based on a large scanning range, the position and motion trajectory of the target are often determined through precise scanning.

However, when the environment of the target changes, the target may be damaged, disappear or other situations, which reduces the accuracy of location tracking.

technical problem

One of the purposes of the embodiments of the present application is to provide a target detection method and device based on laser scanning, a target detection terminal, and a readable storage medium, aiming at solving the problem that the positioning and tracking accuracy of related target positioning and tracking methods is easily affected by other factors. problem of impact.

technical solution

In order to solve the above technical problems, the technical solution adopted in the embodiment of the present application is:

The first aspect of the embodiments of the present application provides a laser scanning-based target detection method, including:

Scanning the preset scanning area with the first scanning resolution to obtain the first point cloud of the current period;

Perform target detection on the first point cloud of the current period, and if the target to be measured is detected, then determine a fine scanning area and an observation scanning area based on the target to be measured; wherein, the fine scanning area and the target to be measured corresponding to the position in the preset scanning area; the observation scanning area is an area in the preset scanning area except the fine scanning area;

In the next scan cycle, scan the fine scan area with a second scan resolution, and scan the observation scan area with a third scan resolution to obtain a second point cloud; wherein, the second scan The resolution is greater than the first scan resolution, and the third scan resolution is less than or equal to the first scan resolution.

In one embodiment, when there are multiple targets to be measured, the fine scanning area is an area corresponding to multiple positions of the multiple targets to be measured in the preset scanning area.

In one embodiment, the method also includes:

Target detection is performed on the second point cloud to obtain a fine detection result of the target to be measured.

In one embodiment, the method includes:

If a new target appears in the detection result of the second point cloud, the new target is used as the target to be measured, and the fine scanning area and the observation scanning area are updated based on the target to be measured.

In one embodiment, the method also includes:

If no new target appears in the second point cloud detection result, the preset scanning area is scanned with the first scanning resolution for at least one period until the target to be detected is detected.

In one embodiment, the second scan resolution is used to scan the fine scan area, and the third scan resolution is used to scan the observation scan area to obtain a second point cloud, including:

reducing the frame rate to obtain a second scanning resolution, and using the second scanning resolution to scan the fine scanning area;

Increase the frame rate to obtain a third scanning resolution, and use the third scanning resolution to scan the observation scanning area to obtain the second point cloud.

In one embodiment, after performing target detection on the first point cloud of the current period, further comprising:

If the target to be measured is not detected in the detection result of the first point cloud, then in the next cycle, use the first scanning resolution to scan the preset scanning area to obtain the corresponding updated first point cloud until The target to be detected is detected in the detection result of the first point cloud.

The second aspect of the embodiment of the present application provides a target detection method based on laser scanning, including:

Scanning the preset scanning area with the first scanning resolution to obtain the first point cloud;

Perform target detection on the first point cloud, and if the target to be measured is detected, then determine a fine scanning area and an observation scanning area based on the target to be measured; wherein, the fine scanning area and the target to be measured are in the corresponding to the position in the preset scanning area; the observation scanning area is an area in the preset scanning area other than the fine scanning area;

The second scanning resolution is used to scan the fine scanning area, and the third scanning resolution is used to scan the observation scanning area to obtain a second point cloud; wherein, when scanning with the second scanning resolution, the The number of point clouds per unit area in the fine scanning area is greater than the number of point clouds per unit area in the real-time preset scanning area when scanning with the first scanning resolution; The number of point clouds per unit area in the observation scanning area is smaller than the number of point clouds per unit area in the real-time preset scanning area when scanning with the first scanning resolution.

In one embodiment, the fine scanning area is a corresponding area of each target to be measured in the preset scanning area.

In one embodiment, the method also includes:

Judging whether the state of the target to be detected has changed according to the second point cloud; wherein the state of the target to be detected includes at least one of the number, speed, angle and distance of the target to be detected;

When the state of the target to be detected changes, the fine scanning area and the observation scanning area are updated based on the target to be detected determined by using the second point cloud.

In one embodiment, the method further includes:

When the distance of the target to be detected is greater than or equal to the set safety distance, reduce the frame rate, increase the scanning resolution of the fine scanning area, and reduce the scanning resolution of the observation scanning area;

When the distance of the target to be detected is less than the set safety distance, and the moving speed of the gradually approaching target to be detected is greater than the preset speed, the frame rate is increased, the scanning resolution of the fine scanning area is increased, and the observation rate is reduced. The scan resolution for the scan area.

The third aspect of the embodiment of the present application provides a target detection device based on laser scanning, including:

The laser scanning module is used to scan the preset scanning area with the first scanning resolution to obtain the first point cloud of the current cycle;

A detection module, configured to perform target detection on the first point cloud of the current period, and if the target to be measured is detected, determine a fine scanning area and an observation scanning area based on the target to be measured; wherein, the fine scanning area and The position of the target to be measured corresponds to the preset scanning area; the observation scanning area is an area in the preset scanning area except the fine scanning area;

The laser scanning module is further configured to scan the fine scanning area with a second scanning resolution and scan the observation scanning area with a third scanning resolution in the next scanning cycle to obtain a second point cloud; wherein, the second scanning resolution is greater than the first scanning resolution, and the third scanning resolution is less than or equal to the first scanning resolution.

In one embodiment, when there are multiple targets to be measured, the fine scanning area is an area corresponding to multiple positions of the multiple targets to be measured in the preset scanning area.

In one embodiment, the detection module is further configured to perform object detection on the second point cloud to obtain a fine detection result of the object to be detected.

In one embodiment, the laser scanning module is further configured to use the newly added target as the target to be measured if a new target appears in the detection result of the second point cloud. The fine scanning area and the observation scanning area are updated.

In one embodiment, the laser scanning module is further configured to scan the preset scan with the first scan resolution in at least one cycle if no new target appears in the second point cloud detection result The area is scanned until the target to be detected is detected.

In one embodiment, the laser scanning module includes:

The first scanning unit is configured to reduce the frame rate to obtain a second scanning resolution, and use the second scanning resolution to scan the fine scanning area;

The second scanning unit is configured to increase the frame rate to obtain a third scanning resolution, and use the third scanning resolution to scan the observation scanning area to obtain the second point cloud.

In one embodiment, the laser scanning module is further configured to use the first scanning resolution to scan the preset scanning area in the next cycle if the target to be measured is not detected in the detection result of the first point cloud. Scanning is performed to obtain a correspondingly updated first point cloud until the target to be measured is detected in the detection result of the first point cloud.

The fourth aspect of the embodiment of the present application provides a target detection device based on laser scanning, including:

An area scanning module, configured to scan a preset scanning area with a first scanning resolution to obtain a first point cloud;

An area division module, configured to perform target detection on the first point cloud, and if a target to be measured is detected, then determine a fine scanning area and an observation scanning area based on the target to be measured; wherein, the fine scanning area and the Corresponding to the position of the target to be measured in the preset scanning area; the observation scanning area is an area other than the fine scanning area in the preset scanning area;

The area scanning module is further configured to scan the fine scanning area with a second scanning resolution, and scan the observation scanning area with a third scanning resolution to obtain a second point cloud; wherein, using the The number of point clouds per unit area in the fine scanning area when scanning with the second scanning resolution is greater than the number of point clouds per unit area in the real-time preset scanning area when scanning with the first scanning resolution; The number of point clouds per unit area in the observation scanning area when scanning with the third scanning resolution is smaller than the number of point clouds per unit area in the real-time preset scanning area when scanning with the first scanning resolution.

In one embodiment, the fine scanning area is a corresponding area of each target to be measured in the preset scanning area.

In one embodiment, the target detection device based on laser scanning further includes:

A third detection module, configured to judge whether the state of the target to be detected has changed according to the second point cloud; wherein the state of the target to be detected includes the number, speed, angle and distance of the target to be detected at least one of

An updating module, configured to update the fine scanning area and the observation scanning area based on the target to be detected determined by using the second point cloud when the state of the target to be detected changes.

In one embodiment, the target detection device based on laser scanning further includes:

The first resolution adjustment module is used to reduce the frame rate, improve the scanning resolution of the fine scanning area, and reduce the scanning resolution of the observation scanning area when the distance of the target to be detected is greater than or equal to the set safety distance;

The second resolution adjustment module is used to increase the frame rate and improve fine scanning when the distance of the target to be detected is less than the set safety distance, and the moving speed of the target to be detected that is gradually approaching is greater than the preset speed Scan resolution of the region, and reduced scan resolution of the observed scan region.

A fifth aspect of the embodiments of the present application provides a target detection terminal, including a memory, a processor, and a computer program stored in the memory and operable on the processor, when the processor executes the computer program Realize the target detection method based on laser scanning as described in any one of the first aspect or the second aspect above.

A sixth aspect of the embodiments of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any of the above-mentioned first or second aspects can be implemented. A laser scanning based object detection method described.

The seventh aspect of the embodiments of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device executes the laser scanning-based target described in any one of the first aspect or the second aspect. detection method.

Beneficial effect

1. In the target detection method based on laser scanning provided in the first aspect of the embodiment of the present application, the first point cloud of the current period is obtained by scanning the preset scanning area with the first scanning resolution, and the first point cloud of the current period is obtained. The point cloud performs target detection. If the target to be measured is detected, the fine scanning area and the observation scanning area are determined based on the target to be measured. In the next scanning cycle, the fine scanning area is scanned with the second scanning resolution, and the third scanning resolution is used. The scanning resolution scans the observation scanning area to obtain the second point cloud, which can realize the detection of the target to be measured in the preset scanning area and determine the change of the surrounding environment of the target to be measured, thus ensuring the safety of the target to be measured. At the same time, the accuracy of target positioning is improved.

2. The target detection method based on laser scanning provided by the second aspect of the embodiment of the present application can detect the target to be measured while determining the change of the surrounding environment of the target to be measured in the preset scanning area, thereby ensuring the accuracy of the target to be measured. Safety, while improving the accuracy of target positioning.

3. The laser-scanning-based target detection device provided in the third aspect of the embodiment of the present application follows the laser-scanning-based target detection method provided in the first aspect of the embodiment of the application, and the laser-scanning-based target detection device provided in the fourth aspect On the premise of following the laser scanning-based target detection method provided by the second aspect of the embodiment of the present application, the target detection device provided by the fifth aspect, the computer-readable storage medium provided by the sixth aspect, the seventh aspect Provide a computer program product that, on the premise of following the laser scanning-based target detection method provided in the first aspect or the second aspect of the embodiment of the present application, can detect the target to be measured and determine the target to be measured at the same time in the preset scanning area Changes in the surrounding environment, thereby ensuring the safety of the target to be measured, while improving the accuracy of target positioning.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only for the present application For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without any creative effort.

FIG. 1 is a schematic structural diagram of a target detection system based on laser scanning provided in Embodiment 1 of the present application;

FIG. 2 is a schematic flow chart of a target detection method based on laser scanning provided in Embodiment 1 of the present application;

FIG. 3 is an application scene diagram of scanning a preset scanning area with a first scanning resolution provided by Embodiment 1 of the present application;

Fig. 4 is a schematic diagram of the application scene of the fine scanning area and the observation scanning area provided by Embodiment 1 of the present application;

Fig. 5 is another schematic flowchart of the target detection method based on laser scanning provided in Embodiment 2 of the present application;

FIG. 6 is a schematic diagram of an application scenario for scanning based on newly added targets provided by Embodiment 2 of the present application;

Fig. 7 is another schematic flowchart of the target detection method based on laser scanning provided in Embodiment 3 of the present application;

FIG. 8 is a schematic structural diagram of a target detection device based on laser scanning provided in Embodiment 4 of the present application;

FIG. 9 is a schematic structural diagram of a target detection terminal provided in Embodiment 5 of the present application.

Embodiments of the present invention

In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and/or components, but does not exclude one or more other Presence or addition of features, wholes, steps, operations, elements, components and/or collections thereof. It should also be understood that the term "and/or" used in the description of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

As used in this specification and the appended claims, the term "if" may be construed, depending on the context, as "when" or "once" or "in response to determining" or "in response to detecting ". Similarly, the phrase "if determined" or "if [the described condition or event] is detected" may be construed, depending on the context, to mean "once determined" or "in response to the determination" or "once detected [the described condition or event] ]” or “in response to detection of [described condition or event]”.

In addition, in the description of the specification and appended claims of this application, the terms "first", "second", "third" and so on are only used to distinguish descriptions, and should not be understood as indicating or implying relative importance.

Reference to "one embodiment" or "some embodiments" or the like in the specification of the present application means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in other embodiments," etc. in various places in this specification are not necessarily All refer to the same embodiment, but mean "one or more but not all embodiments" unless specifically stated otherwise. The terms "including", "comprising", "having" and variations thereof mean "including but not limited to", unless specifically stated otherwise.

The target detection method based on laser scanning provided in the embodiment of the present application can be executed by a target detection terminal, the target detection terminal is provided with a phased array LiDAR (Optical Phased Array LiDAR, OPA LiDAR), and is loaded with a The application software of the target detection method program based on laser scanning. The target detection terminal can be a terminal device such as a mobile terminal, a vehicle-mounted device, or a computer. The embodiment of the present application does not impose any restrictions on the specific type of the terminal device.

FIG. 1 shows a structural flow chart of a laser scanning-based target detection system 1 provided by the present application. The target detection system 1 based on laser scanning is composed of a processing module 101 , a laser emitting module 102 and a signal receiving module 103 , and the processing module 101 is communicatively connected with the laser emitting module 102 and the signal receiving module 103 . Among them, the laser emitting module 102 is used to emit corresponding laser signals in the scanning area according to the control instructions sent by the processing module 101, and the signal receiving module 103 is used to receive the point cloud data reflected by the target to be measured in the scanning area and return it to the processing module 101 , the processing module 101 is used to control the laser signal parameters of the laser emitting module 102 (including but not limited to the resolution, frame rate and scanning area of the laser signal) through control instructions, receive the point cloud data returned by the signal receiving module 102, and based on the above The point cloud data adjusts the parameters of the laser signal and updates the control instructions; wherein, the laser emitting module 102 is specifically composed of a phased array laser radar OPA LiDAR.

In actual application, the processing module 101 sends a control signal to the laser emitting module 102, and controls the laser emitting module 102 to scan the preset scanning area with the first scanning resolution; In the predetermined scanning area, the first point cloud data reflected by the target to be measured; the processing module 101 performs target detection according to the first point cloud data, and when the target to be measured is detected, the control instruction is updated to control the laser emitting module 102 to perform target detection in the next cycle. Use the second scanning resolution to scan the fine scanning area, and use the third scanning resolution to scan the observation scanning area; use the signal receiving module 103 to collect the reflection of the target to be measured in the fine scanning area and the observation scanning area in the next cycle The second point cloud data. It can be realized that in the preset scanning area, the change of the surrounding environment of the target to be measured can be determined while detecting the target to be measured, thereby ensuring the safety of the target to be measured and improving the accuracy of target positioning.

FIG. 2 shows a schematic flow chart of a laser scanning-based target detection method provided by the present application. As an example but not a limitation, the method can be applied to the above-mentioned target detection terminal.

S101. Scan a preset scanning area with a first scanning resolution to obtain a first point cloud of a current period.

Specifically, after determining the range of the preset scanning area, emit a laser signal with the first scanning resolution in the preset scanning area, scan the preset scanning area, and collect the current scanning period (the setting will use the first Scanning resolution (scanning period for scanning the preset scanning area, referred to as the first scanning period) of the first point cloud data.

Wherein, the preset scanning area may be specifically set according to actual conditions, which is not specifically limited in this embodiment.

It can be understood that, in order to improve the efficiency and accuracy of target detection, generally, the preset scanning area can be set as the maximum scanning area of the laser signal emitted by the current laser radar.

Specifically, since the main equipment of the laser radar device emits laser signals through continuous rotation during operation, the unit of the scanning range corresponding to the laser signal is the azimuth; therefore, the preset scanning area is generally centered on the transmitter of the laser radar device, The area corresponding to the azimuth angle range of a certain value.

As shown in FIG. 3 , an application scene diagram of scanning a preset scanning area by using a first scanning resolution is provided.

According to Figure 3, it can be seen that the first scanning resolution is used to scan the fan-shaped area corresponding to the laser radar transmitter as the center, the scanning distance is 200M, and the angle is -45 to 45° as the preset scanning area, and the first scanning resolution is collected. The first point cloud data of the preset scanning area in the scanning cycle.

S102. Perform target detection on the first point cloud of the current period, and if the target to be measured is detected, determine a fine scanning area and an observation scanning area based on the target to be measured; wherein, the fine scanning area and the target to be measured are corresponding to the position of the measurement target in the preset scanning area; the observation scanning area is an area in the preset scanning area other than the fine scanning area.

Specifically, after collecting the first point cloud data in the preset scanning area in the first scanning cycle, the target detection is performed on the preset scanning area according to the first point cloud data in the first scanning cycle, if according to the first point If the cloud data detects that there is a target to be measured in the preset scanning area, the position information of the target to be measured in the preset scanning area is determined through the first point cloud data, and based on the position information of the target to be measured in the preset scanning area, it is determined The fine scanning area is to determine the observation scanning area according to the preset scanning area and the fine scanning area. Among them, point cloud data refers to a set of vectors in a three-dimensional coordinate system. The area corresponding to the position of the target to be measured in the preset scanning area is the fine scanning area, and in the preset scanning area, the area other than the fine scanning area is the observation scanning area.

It should be noted that the position information of the target to be measured within the preset scanning area can be determined according to the distance and angle information between the target to be measured and the laser radar in the first point cloud data.

S103. In the next scanning period, scan the fine scanning area with a second scanning resolution, and scan the observation scanning area with a third scanning resolution to obtain a second point cloud; wherein, the first The second scanning resolution is greater than the first scanning resolution, and the third scanning resolution is smaller than or equal to the first scanning resolution.

Specifically, in the next scanning cycle (hereinafter referred to as the second scanning cycle) in which the target to be measured is detected, a laser signal with a second scanning resolution is emitted in the fine scanning area to scan the fine scanning area, and observe A laser signal with a third scanning resolution is emitted in the scanning area, the observation scanning area is scanned, and the second point cloud data of the second scanning period is collected. Wherein, the second scanning resolution is greater than the first scanning resolution, and the third scanning resolution is smaller than or equal to the first scanning resolution.

It should be noted that, if the preset scan area is set to be roughly scanned with the first resolution, it can be detected whether there is a target to be measured in the preset scan area and the approximate position information of the target to be measured. The second scanning resolution scans the fine observation area, which can accurately locate the position information of the target to be measured and improve the accuracy of target detection.

In one embodiment, when there are multiple targets to be measured, the fine scanning area is an area corresponding to multiple positions of the multiple targets to be measured in the preset scanning area.

Specifically, when it is detected that there are multiple detection targets in the preset scanning area according to the first point cloud data, the position information of each target to be measured in the preset scanning area is determined according to the first point cloud data, and all the targets to be detected are determined The area corresponding to all the position information in the preset scanning area is used as the fine scanning area.

As shown in FIG. 4 , a schematic diagram of an application scenario of a fine scanning area and an observation scanning area is provided.

According to Fig. 4, it can be seen that 4 targets to be measured are detected according to the first point cloud data (shown as hollow circles in the figure), the position information of each target to be measured in the preset scanning area is determined, and the 4 targets to be measured are determined to be The area corresponding to the position information in the preset scanning area is used as the fine scanning area, so that the area other than the fine scanning area in the preset scanning area is determined as the observation scanning area. Launch the laser signal of the second scanning resolution in the fine scanning area, scan the fine scanning area, and emit the laser signal of the third scanning resolution in the observation scanning area, scan the observation scanning area, and acquire the second scan Periodic second point cloud data.

In one embodiment, after performing target detection on the first point cloud of the current period, further comprising:

If the target to be measured is not detected in the detection result of the first point cloud, then in the next cycle, use the first scanning resolution to scan the preset scanning area to obtain the corresponding updated first point cloud until The target to be detected is detected in the detection result of the first point cloud.

Specifically, according to the first point cloud data in the first scanning cycle, the target detection is performed on the preset scanning area, and if the detection result of the first point cloud data shows that the target to be measured is not detected in the preset scanning area, then set the next In the scanning period (namely the new first scanning period), the laser signal of the first resolution is still emitted in the preset scanning area, the preset scanning area is scanned, and the preset scanning area in the new first scanning period is acquired The point cloud data within is used as the updated first point cloud data. If the detection result of the updated first point cloud data shows that the target to be measured is not detected, then return to execute the above in the next cycle, using the first scan resolution The step of scanning the preset scanning area at a high rate to obtain the corresponding updated first point cloud until the target to be measured is detected in the preset scanning area according to the updated first point cloud data.

In this embodiment, by using the first scanning resolution to scan the preset scanning area, the first point cloud of the current period is obtained, and the target detection is performed on the first point cloud of the current period. The target determines the fine scanning area and the observation scanning area. In the next scanning cycle, the second scanning resolution is used to scan the fine scanning area, and the third scanning resolution is used to scan the observation scanning area to obtain the second point cloud, which can In the preset scanning area, changes in the surrounding environment of the target are detected while the target is detected, thereby ensuring the safety of the target and improving the accuracy of target positioning.

Embodiment two

This embodiment is a further description of Embodiment 1. For the same or similar parts as Embodiment 1, please refer to the relevant description of Embodiment 1 for details, and details will not be repeated here. As shown in Figure 5, the target detection method based on laser scanning in this embodiment also includes:

S104. Perform object detection on the second point cloud to obtain a fine detection result of the object to be detected.

Specifically, after collecting the second point cloud data of the fine scanning area and the observation scanning area in the second scanning period, according to the second point cloud data, the target detection is performed on the fine scanning area, and the fine detection result of the target to be measured is obtained ( That is, the location information of the target to be measured), and at the same time, according to the second point cloud data, target detection is performed on the fine scanning area and the observation scanning area to determine whether there is a new target.

It can be understood that, after fine-scanning the fine-scan area with the second resolution higher than the first scan resolution, the position information contained in the corresponding fine detection result is higher in accuracy.

As an example and not a limitation, after the first point cloud data is collected, the first number of objects to be measured can be determined according to the first point cloud data, the first shape and first position information of each object to be measured, based on each The first shape and the first position information of the target to be measured add a corresponding label to each target to be measured. After collecting the second point cloud data, determine the second quantity of the target to be measured according to the second point cloud data, if the second quantity is the same as the first quantity, then determine that the current detection result is no new target; if the second If the number is greater than the first number, then determine the second shape and second position information of each object to be measured according to the second point cloud data, and match the first shape and first position information based on the second shape and second position information , take the unmatched target to be tested as a new target, and add a new label.

In one embodiment, the method further includes:

If a new target appears in the detection result of the second point cloud, the new target is used as the target to be measured, and the fine scanning area and the observation scanning area are updated based on the target to be measured.

Specifically, if the detection result of the observation scanning area shows that there is a new target, the new target is updated as the target to be measured, and the position information of the target to be measured in the preset scanning area is determined according to the second point cloud data. The position information of the target in the preset scanning area is updated for the fine scanning area, the observation scanning area is updated according to the preset scanning area and the updated fine scanning area, and the updated fine scanning area is updated with the second scanning resolution Scanning is performed, and the updated observation scanning area is scanned with a third scanning resolution to obtain new second point cloud data.

As shown in FIG. 6 , a schematic diagram of an application scenario of scanning based on a newly added target is provided.

According to Figure 6, it can be seen that three newly added targets to be measured are detected according to the second point cloud data (shown as hollow circles in the figure), and the position information of the above three newly added targets in the preset scanning area is determined as the corresponding area , as the new fine scanning area, the new observation scanning area is the area other than the new fine scanning area in the preset scanning area; the laser signal with the second resolution is emitted in the new observation scanning area, and the new observation scanning area Scanning is performed, and a laser signal with a third scanning resolution is emitted in the new observation scanning area, and the new observation scanning area is scanned to acquire second point cloud data of a new second scanning period.

In one embodiment, the second scan resolution is used to scan the fine scan area, and the third scan resolution is used to scan the observation scan area to obtain a second point cloud, including:

reducing the frame rate to obtain a second scanning resolution, and using the second scanning resolution to scan the fine scanning area;

Increase the frame rate to obtain a third scanning resolution, and use the third scanning resolution to scan the observation scanning area to obtain the second point cloud.

Specifically, the scan resolution specifically refers to the angular resolution. The frame rate represents the number of revolutions of the lidar motor in one second. Since the resolution changes with the change of the frame frequency, the first scanning resolution can be adjusted to the second scanning resolution by reducing the frame rate, and the laser signal of the second scanning resolution can be emitted in the fine scanning area. Scan the fine scanning area; at the same time increase the frame rate to adjust the first scanning resolution to the third scanning resolution, emit the laser signal of the third scanning resolution in the observation scanning area, scan the observation scanning area, and acquire the second The second point cloud data of the scan cycle.

In this embodiment, by using a larger second resolution to scan the fine scanning area, collect the obtained second point cloud data for target detection, and obtain the corresponding fine detection results of the target to be measured, it is possible to accurately locate the target to be measured in the predicted state. The location information of the scanning area is set to improve the accuracy of target detection; at the same time, through the second point cloud data to detect whether there is a new target to be measured, it is possible to observe the surrounding environment while locating the target to be measured, which further improves the efficiency of target detection.

Embodiment Three

This embodiment is a further description of Embodiment 1. For the same or similar parts as Embodiment 1, please refer to the relevant description of Embodiment 1 for details, and details will not be repeated here. As shown in Figure 7, the target detection method based on laser scanning in this embodiment also includes:

S105. If no new target appears in the second point cloud detection result, scan the preset scanning area with the first scanning resolution for at least one period until the target to be detected is detected.

Specifically, if according to the second point cloud data, the detection result of the target detection on the fine scanning area and the observation scanning area shows that no new target appears, then it is set within at least one subsequent scanning cycle, within the preset scanning area A laser signal with the first scanning resolution is emitted, and the preset scanning area is scanned until the target to be measured is detected.

In this embodiment, when no new target is detected based on the second point cloud detection result, multiple cycles of scanning are performed on the preset scanning area to realize real-time monitoring of the preset scanning area, so as to avoid the occurrence of new targets due to environmental changes. The resulting missing detection phenomenon further improves the accuracy and reliability of target detection.

In another embodiment, the target detection method based on laser scanning includes:

Scanning the preset scanning area with the first scanning resolution to obtain the first point cloud;

Perform target detection on the first point cloud, and if the target to be measured is detected, then determine a fine scanning area and an observation scanning area based on the target to be measured; wherein, the fine scanning area and the target to be measured are in the corresponding to the position in the preset scanning area; the observation scanning area is an area in the preset scanning area other than the fine scanning area;

The second scanning resolution is used to scan the fine scanning area, and the third scanning resolution is used to scan the observation scanning area to obtain a second point cloud; wherein, when scanning with the second scanning resolution, the The number of point clouds per unit area in the fine scanning area is greater than the number of point clouds per unit area in the real-time preset scanning area when scanning with the first scanning resolution; The number of point clouds per unit area in the observation scanning area is smaller than the number of point clouds per unit area in the real-time preset scanning area when scanning with the first scanning resolution.

Specifically, in this embodiment, based on the first point cloud obtained in the current scanning period, it is judged whether there is an object to be measured. When the target to be measured is detected, the fine scanning area and the observation scanning area are determined based on the target to be measured, and the second scanning resolution is used to scan the fine scanning area in the next scanning period, and the third scanning resolution is used to scan the fine scanning area. Scan the observation scanning area at a high rate. For example, use M1×N1 (the first) scanning resolution to scan to obtain the first point cloud; after determining that there is an object to be measured, scan the fine scanning area using M2×N2 (wherein) scanning resolution, and The observation scanning area is scanned with M3×N3 (third) scanning resolution, wherein (M1×N1)>(M1×N1)>(M3×N3).

In one embodiment, the fine scanning area is a corresponding area of each target to be measured in the preset scanning area. That is, there may be one or more fine scanning areas, and they may be independent of each other or continuous.

In one embodiment, the target detection method based on laser scanning further includes:

Judging whether the state of the target to be detected has changed according to the second point cloud; wherein the state of the target to be detected includes at least one of the number, speed, angle and distance of the target to be detected;

When the state of the target to be detected changes, the fine scanning area and the observation scanning area are updated based on the target to be detected determined by using the second point cloud.

In one embodiment, the target detection method based on laser scanning further includes:

When the distance of the target to be detected is greater than or equal to the set safety distance, reduce the frame rate, increase the scanning resolution of the fine scanning area, and reduce the scanning resolution of the observation scanning area;

When the distance of the target to be detected is less than the set safety distance, and the moving speed of the gradually approaching target to be detected is greater than the preset speed, the frame rate is increased, the scanning resolution of the fine scanning area is increased, and the observation rate is reduced. The scan resolution for the scan area.

It should be understood that the sequence numbers of the steps in the above embodiments do not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiment of the present application.

In addition, in some other embodiments, when the target to be measured is not detected based on the second point cloud detection result, the scanning resolution is changed, and the step of scanning the preset scanning area with the first scanning resolution is returned.

Embodiment Four

Corresponding to the target detection method based on laser scanning described in the above embodiments, Fig. 8 shows a structural block diagram of a target detection device based on laser scanning provided in the embodiment of the present application. Example related part.

Referring to Fig. 5, the target detection device 2 based on laser scanning includes:

The laser scanning module 201 is configured to scan the preset scanning area with the first scanning resolution to obtain the first point cloud of the current cycle;

The detection module 202 is configured to perform target detection on the first point cloud of the current period, and if the target to be measured is detected, then determine a fine scanning area and an observation scanning area based on the target to be measured; wherein, the fine scanning area Corresponding to the position of the target to be measured in the preset scanning area; the observation scanning area is an area in the preset scanning area other than the fine scanning area;

The laser scanning module 201 is further configured to scan the fine scanning area with a second scanning resolution and scan the observation scanning area with a third scanning resolution in the next scanning cycle to obtain a second point cloud ; Wherein, the second scanning resolution is greater than the first scanning resolution, and the third scanning resolution is less than or equal to the first scanning resolution.

In one embodiment, when there are multiple targets to be measured, the fine scanning area is an area corresponding to multiple positions of the multiple targets to be measured in the preset scanning area.

In one embodiment, the detection module is further configured to perform object detection on the second point cloud to obtain a fine detection result of the object to be detected.

In one embodiment, the laser scanning module is further configured to use the newly added target as the target to be measured if a new target appears in the detection result of the second point cloud. The fine scanning area and the observation scanning area are updated.

In one embodiment, the laser scanning module is further configured to scan the preset scan with the first scan resolution in at least one cycle if no new target appears in the second point cloud detection result The area is scanned until the target to be detected is detected.

In one embodiment, the laser scanning module includes:

The first scanning unit is configured to reduce the frame rate to obtain a second scanning resolution, and use the second scanning resolution to scan the fine scanning area;

The second scanning unit is configured to increase the frame rate to obtain a third scanning resolution, and use the third scanning resolution to scan the observation scanning area to obtain the second point cloud.

In one embodiment, the laser scanning module is further configured to use the first scanning resolution to scan the preset scanning area in the next cycle if the target to be measured is not detected in the detection result of the first point cloud. Scanning is performed to obtain a correspondingly updated first point cloud until the target to be measured is detected in the detection result of the first point cloud.

In this embodiment, by using the first scanning resolution to scan the preset scanning area, the first point cloud of the current period is obtained, and the target detection is performed on the first point cloud of the current period. The target determines the fine scanning area and the observation scanning area. In the next scanning cycle, the second scanning resolution is used to scan the fine scanning area, and the third scanning resolution is used to scan the observation scanning area to obtain the second point cloud, which can In the preset scanning area, changes in the surrounding environment of the target are detected while the target is detected, thereby ensuring the safety of the target and improving the accuracy of target positioning.

In another embodiment, the target detection device based on laser scanning includes:

An area scanning module, configured to scan a preset scanning area with a first scanning resolution to obtain a first point cloud;

An area division module, configured to perform target detection on the first point cloud, and if a target to be measured is detected, then determine a fine scanning area and an observation scanning area based on the target to be measured; wherein, the fine scanning area and the Corresponding to the position of the target to be measured in the preset scanning area; the observation scanning area is an area other than the fine scanning area in the preset scanning area;

The area scanning module is also used to scan the fine scanning area with a second scanning resolution, and scan the observation scanning area with a third scanning resolution to obtain a second point cloud; wherein, using the first The number of point clouds per unit area in the fine scanning area when scanning with the second scanning resolution is greater than the number of point clouds per unit area in the real-time preset scanning area when scanning with the first scanning resolution; using the second scanning resolution The number of point clouds per unit area in the observation scanning area when scanning with three scanning resolutions is smaller than the number of point clouds per unit area in the real-time preset scanning area when scanning with the first scanning resolution.

In one embodiment, the fine scanning area is a corresponding area of each target to be measured in the preset scanning area.

In one embodiment, the target detection device based on laser scanning further includes:

A third detection module, configured to judge whether the state of the target to be detected has changed according to the second point cloud; wherein the state of the target to be detected includes the number, speed, angle and distance of the target to be detected at least one of

An updating module, configured to update the fine scanning area and the observation scanning area based on the target to be detected determined by using the second point cloud when the state of the target to be detected changes.

In one embodiment, the target detection device based on laser scanning further includes:

The first resolution adjustment module is used to reduce the frame rate, improve the scanning resolution of the fine scanning area, and reduce the scanning resolution of the observation scanning area when the distance of the target to be detected is greater than or equal to the set safety distance;

The second resolution adjustment module is used to increase the frame rate and improve fine scanning when the distance of the target to be detected is less than the set safety distance, and the moving speed of the target to be detected that is gradually approaching is greater than the preset speed Scan resolution of the region, and reduced scan resolution of the observed scan region.

It should be noted that the information interaction and execution process between the above-mentioned devices/units are based on the same concept as the method embodiment of the present application, and its specific functions and technical effects can be found in the method embodiment section. I won't repeat them here.

Embodiment five

FIG. 9 is a schematic structural diagram of a target detection terminal provided by an embodiment of the present application. As shown in Figure 9, the target detection terminal 9 of this embodiment includes: at least one processor 90 (only one is shown in Figure 9), a memory 91, and stored in the memory 91 and can be used in the at least one processor A computer program 92 running on 90, when the processor 90 executes the computer program 92, it realizes the steps in any of the above-mentioned embodiments of the target detection method based on laser scanning.

The target detection terminal 9 may be computing devices such as desktop computers, notebooks, palmtop computers, and cloud servers. The target detection terminal may include, but not limited to, a processor 90 and a memory 91 . Those skilled in the art can understand that FIG. 9 is only an example of the target detection terminal 9, and does not constitute a limitation to the target detection terminal 9. It may include more or less components than those shown in the illustration, or combine certain components, or be different. Components, for example, may also include input and output devices, network access devices, and so on.

The so-called processor 90 can be a central processing unit (Central Processing Unit, CPU), and the processor 90 can also be other general processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit) , ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.

The memory 91 may be an internal storage unit of the target detection terminal 9 in some embodiments, such as a hard disk or a memory of the target detection terminal 9 . The memory 91 may also be an external storage device of the target detection terminal 9 in other embodiments, such as a plug-in hard disk equipped on the target detection terminal 9, a smart memory card (Smart Media Card, SMC), Secure Digital (SD), Flash Card, etc. Further, the memory 91 may also include both an internal storage unit of the target detection terminal 9 and an external storage device. The memory 91 is used to store operating system, application program, boot loader (BootLoader), data and other programs, such as the program code of the computer program. The memory 91 can also be used to temporarily store data that has been output or will be output.

Those skilled in the art can clearly understand that for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used for illustration. In practical applications, the above-mentioned functions can be assigned to different functional units, Completion of modules means that the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit, and the above-mentioned integrated units may adopt hardware It can also be implemented in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present application. For the specific working process of the units and modules in the above system, reference may be made to the corresponding process in the foregoing method embodiments, and details will not be repeated here.

The embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in each of the foregoing method embodiments can be realized.

An embodiment of the present application provides a computer program product. When the computer program product is run on a mobile terminal, the mobile terminal can implement the steps in the foregoing method embodiments when executed.

If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the procedures in the methods of the above embodiments in the present application can be completed by instructing related hardware through computer programs, and the computer programs can be stored in a computer-readable storage medium. The computer program When executed by a processor, the steps in the above-mentioned various method embodiments can be realized. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying computer program codes to the photographing device/terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal and software distribution medium. Such as U disk, mobile hard disk, magnetic disk or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunication signals under legislation and patent practice.

In the above-mentioned embodiments, the descriptions of each embodiment have their own emphases, and for parts that are not detailed or recorded in a certain embodiment, refer to the relevant descriptions of other embodiments.

Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present application.

In the embodiments provided in this application, it should be understood that the disclosed device/network device and method may be implemented in other ways. For example, the device/network device embodiments described above are only 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 may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still implement the foregoing embodiments Modifications to the technical solutions described in the examples, or equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the application, and should be included in the Within the protection scope of this application.

Claims (15)

1. A target detection method based on laser scanning, characterized in that it comprises:

   Scanning the preset scanning area with the first scanning resolution to obtain the first point cloud of the current cycle;

   Perform target detection on the first point cloud of the current period, and if the target to be measured is detected, then determine a fine scanning area and an observation scanning area based on the target to be measured; wherein, the fine scanning area and the target to be measured corresponding to the position in the preset scanning area; the observation scanning area is an area in the preset scanning area except the fine scanning area;

   In the next scan cycle, scan the fine scan area with a second scan resolution, and scan the observation scan area with a third scan resolution to obtain a second point cloud; wherein, the second scan The resolution is greater than the first scan resolution, and the third scan resolution is less than or equal to the first scan resolution.
2. The method according to claim 1, wherein when there are multiple targets to be measured, the fine scanning area is a plurality of positions in the preset scanning area corresponding to the multiple targets to be measured the corresponding area.
3. The method according to claim 1, further comprising:

   Target detection is performed on the second point cloud to obtain a fine detection result of the target to be measured.
4. The method according to claim 3, characterized in that the method comprises:

   If a new target appears in the detection result of the second point cloud, the new target is used as the target to be measured, and the fine scanning area and the observation scanning area are updated based on the target to be measured.
5. The method according to claim 4, characterized in that the method further comprises:

   If no new target appears in the second point cloud detection result, the preset scanning area is scanned with the first scanning resolution for at least one period until the target to be detected is detected.
6. The method according to claim 1, characterized in that, the second scan resolution is used to scan the fine scan area, and the third scan resolution is used to scan the observation scan area to obtain the second point cloud, including:

   reducing the frame rate to obtain a second scanning resolution, and using the second scanning resolution to scan the fine scanning area;

   Increase the frame rate to obtain a third scanning resolution, and use the third scanning resolution to scan the observation scanning area to obtain the second point cloud.
7. The method according to claim 1, wherein, after performing target detection on the first point cloud of the current cycle, further comprising:

   If the target to be measured is not detected in the detection result of the first point cloud, then in the next cycle, use the first scanning resolution to scan the preset scanning area to obtain the corresponding updated first point cloud until The target to be detected is detected in the detection result of the first point cloud.
8. A target detection method based on laser scanning, characterized in that it comprises:

   Scanning the preset scanning area with the first scanning resolution to obtain the first point cloud;

   Perform target detection on the first point cloud, and if the target to be measured is detected, then determine a fine scanning area and an observation scanning area based on the target to be measured; wherein, the fine scanning area and the target to be measured are in the corresponding to the position in the preset scanning area; the observation scanning area is an area in the preset scanning area other than the fine scanning area;

   The second scanning resolution is used to scan the fine scanning area, and the third scanning resolution is used to scan the observation scanning area to obtain a second point cloud; wherein, when scanning with the second scanning resolution, the The number of point clouds per unit area in the fine scanning area is greater than the number of point clouds per unit area in the real-time preset scanning area when scanning with the first scanning resolution; The number of point clouds per unit area in the observation scanning area is smaller than the number of point clouds per unit area in the real-time preset scanning area when scanning with the first scanning resolution.
9. The method according to claim 8, wherein the fine scanning area is a corresponding area of each target to be measured in the preset scanning area.
10. The method of claim 8, further comprising:

    Judging whether the state of the target to be detected has changed according to the second point cloud; wherein the state of the target to be detected includes at least one of the number, speed, angle and distance of the target to be detected;

    When the state of the target to be detected changes, the fine scanning area and the observation scanning area are updated based on the target to be detected determined by using the second point cloud.
11. The method of claim 10, comprising:

    When the distance of the target to be detected is greater than or equal to the set safety distance, reduce the frame rate, increase the scanning resolution of the fine scanning area, and reduce the scanning resolution of the observation scanning area;

    When the distance of the target to be detected is less than the set safety distance, and the moving speed of the gradually approaching target to be detected is greater than the preset speed, the frame rate is increased, the scanning resolution of the fine scanning area is increased, and the observation rate is reduced. The scan resolution for the scan area.
12. A target detection device based on laser scanning, characterized in that it comprises:

    The laser scanning module is used to scan the preset scanning area with the first scanning resolution to obtain the first point cloud of the current cycle;

    A detection module, configured to perform target detection on the first point cloud of the current period, and if the target to be measured is detected, determine a fine scanning area and an observation scanning area based on the target to be measured; wherein, the fine scanning area and The position of the target to be measured corresponds to the preset scanning area; the observation scanning area is an area in the preset scanning area except the fine scanning area;

    The laser scanning module is further configured to scan the fine scanning area with a second scanning resolution and scan the observation scanning area with a third scanning resolution in the next scanning cycle to obtain a second point cloud; wherein, the second scanning resolution is greater than the first scanning resolution, and the third scanning resolution is less than or equal to the first scanning resolution.
13. A target detection device based on laser scanning, characterized in that it comprises:

    An area scanning module, configured to scan a preset scanning area with a first scanning resolution to obtain a first point cloud;

    An area division module, configured to perform target detection on the first point cloud, and if a target to be measured is detected, then determine a fine scanning area and an observation scanning area based on the target to be measured; wherein, the fine scanning area and the Corresponding to the position of the target to be measured in the preset scanning area; the observation scanning area is an area other than the fine scanning area in the preset scanning area;

    The area scanning module is further configured to scan the fine scanning area with a second scanning resolution, and scan the observation scanning area with a third scanning resolution to obtain a second point cloud; wherein, using the The number of point clouds per unit area in the fine scanning area when scanning with the second scanning resolution is greater than the number of point clouds per unit area in the real-time preset scanning area when scanning with the first scanning resolution; The number of point clouds per unit area in the observation scanning area when scanning with the third scanning resolution is smaller than the number of point clouds per unit area in the real-time preset scanning area when scanning with the first scanning resolution.
14. A target detection terminal, comprising a memory, a processor, and a computer program stored in the memory and operable on the processor, characterized in that, when the processor executes the computer program, the computer program according to claim 1 is realized. to the method described in any one of 7 or 8 to 11.
15. A computer-readable storage medium, the computer-readable storage medium stores a computer program, characterized in that, when the computer program is executed by a processor, the method according to any one of claims 1 to 7 or 8 to 11 is realized. method.

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