Supercharge Your Innovation With Domain-Expert AI Agents!

Laser radar window dirt detection method, device and system and medium

A technology of lidar and detection method, applied in image data processing, instrument, character and pattern recognition, etc., can solve problems such as increased cost and complex structure

Active Publication Date: 2020-07-17
LEISHEN INTELLIGENT SYST CO LTD
View PDF9 Cites 13 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method needs the help of other equipment, which will increase the cost, and the structure is more complicated

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Laser radar window dirt detection method, device and system and medium
  • Laser radar window dirt detection method, device and system and medium
  • Laser radar window dirt detection method, device and system and medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0029] figure 1 It is a flow chart of a method for detecting dirt on a LiDAR window in Embodiment 1 of the present invention. This embodiment is applicable to the detection of dirt on the LiDAR window using point cloud data collected by LiDAR. The method can be executed by the cleaning control device in the laser radar cleaning system of the embodiment of the present invention, and the processing device can be implemented by software and / or hardware. Such as figure 1 As shown, the method specifically includes the following steps:

[0030] S101. Obtain point cloud data obtained by laser radar scanning; the point cloud data includes reflected light intensity.

[0031] Wherein, the point cloud data can be a collection of three-dimensional coordinate vectors recorded in the form of point clouds when the lidar scans the scene where it is located, and each three-dimensional coordinate vector can be represented by (x, y, z). The point cloud data may include multiple data points, a...

Embodiment 2

[0053] figure 2 It is a flow chart of a detection method for lidar window dirt in Embodiment 2 of the present invention. This embodiment is based on the above-mentioned embodiment, and further optimization is carried out. Specifically, it is given how to detect the dirt according to the reflected light intensity of the occluder. Introduction to judging the type of occlusion. Such as figure 2 As shown, the operation process includes the following steps:

[0054] S201. Obtain point cloud data obtained by laser radar scanning; the point cloud data includes reflected light intensity.

[0055] S202. Identifying the point cloud data to determine each obstacle.

[0056] S203. Among the obstacles, obstacles located within a preset distance range of the lidar window position are determined as suspicious obstructions.

[0057] S204. If the reflected light intensity of at least one of the suspicious obstructions is greater than the first preset light intensity, determine that there...

Embodiment 3

[0066] image 3 It is a flow chart of a method for detecting dirt on the lidar window in Embodiment 3 of the present invention. This embodiment is based on the above-mentioned embodiment and has been further optimized. It specifically provides how to automatically Introduction to heating and cleaning of shelters. Such as image 3 As shown, the operation process includes the following steps:

[0067] S301. Obtain point cloud data obtained by laser radar scanning; the point cloud data includes reflected light intensity.

[0068] S302. Identifying the point cloud data to determine each obstacle.

[0069] S303. Determine, among the obstacles, the obstacles located within a preset distance range of the lidar window position as suspicious obstructions.

[0070] S304. If the reflected light intensity of at least one of the suspicious obstructions is greater than the first preset light intensity, determine that there is an obstruction on the lidar window.

[0071] S305. Obtain th...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The embodiment of the invention provides a laser radar window dirt detection method, device and system and a medium. The method comprises the steps of acquiring point cloud data obtained through scanning of a laser radar, wherein the point cloud data comprises reflected light intensity; identifying the point cloud data to determine each obstacle; determining an obstacle located in a preset distance range of a window position of the laser radar in the obstacles as a suspicious shielding object; and if the reflected light intensity of at least one of the suspicious shielding objects is greater than the first preset light intensity, determining that the shielding object exists on the window of the laser radar. The embodiment of the invention provides a laser radar window dirt detection method, device and system and a medium, and aims to realize detection of laser radar window dirt.

Description

technical field [0001] The invention relates to laser radar technology, in particular to a method, device, system and medium for detecting dirt on a laser radar window. Background technique [0002] The external structure of the laser radar will have a mirror structure (or called a window, a filter cover, etc.), and the mirror structure is mainly used to filter the interference light in the non-radar working laser band, and also to protect the internal components. In the harsh working environment, the mirror structure will be polluted due to various conditions, and the pollution source is usually dust, soil, water droplets or other liquid solids. The polluted mirror will affect the emission and reception of the radar laser, resulting in errors in the ranging of the radar laser, and the radar cannot work normally. [0003] The traditional lidar cleaning mechanism needs to manually control the cleaning mechanism to start working to realize the cleaning of the lidar. This requ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G06T7/00G06K9/00
CPCG06T7/0002G06T2207/10028G06T2207/10044G06V20/00
Inventor 郭丰收刘尚贤
Owner LEISHEN INTELLIGENT SYST CO LTD
Features
  • R&D
  • Intellectual Property
  • Life Sciences
  • Materials
  • Tech Scout
Why Patsnap Eureka
  • Unparalleled Data Quality
  • Higher Quality Content
  • 60% Fewer Hallucinations
Social media
Patsnap Eureka Blog
Learn More

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2025 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com