Ultra-high detection device and method

Abstract

The embodiment of the present application relates to the field of superelevation detection technology, and discloses a superelevation detection device and method. The superelevation detection method includes: controlling the angular displacement platform to rotate up and down so that the laser beam emitted by the single-point laser radar is parallel to the horizontal direction; using the laser beam to detect the object to be detected, and confirming whether the object to be detected is superelevated according to the detection result; obtaining the image data collected by the camera; if the object to be detected is superelevated, confirming whether the detection result of the superelevation of the object to be detected is accurate according to the image data. Through the above implementation, the embodiment of the present application can improve the accuracy of the detection result.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of ultra-high detection technology, and in particular, to an ultra-high detection device and method. Background Art

[0002] At present, many bridge structures (such as bridges and tunnels) have height limits. If the height limit is exceeded, a collision may occur, posing a safety hazard. In the prior art, a single-point laser radar is installed at the height limit of the bridge structure, and the single-point laser radar is configured to emit a laser beam. The ultra-high detection of the object to be measured is achieved by whether the single-point laser radar receives the laser echo signal. However, in the above detection method, due to the influence of factors such as the vibration of the bridge structure, the single-point laser radar produces a vertical displacement, resulting in the intersection of the laser beam emitted by the single-point laser radar and the object to be measured being offset relative to the horizontal direction, resulting in inaccurate detection results; at the same time, it is affected by other non-target detection objects such as flying birds, resulting in misjudgment, resulting in inaccurate detection results. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide an ultra-high detection device and method, which can improve the accuracy of the detection results.

[0004] The embodiment of the present application discloses the following technical solution: In a first aspect, the embodiment of the present application provides an ultra-high detection device, the installation height of the ultra-high detection device is equal to the height limit, and the ultra-high detection device includes:

[0005] Angular displacement platform;

[0006] A camera, mounted on the angular displacement platform;

[0007] A single-point laser radar is installed on the angular displacement platform and is respectively connected to the angular displacement platform and the camera. The optical axis of the single-point laser radar is parallel to the optical axis of the camera. The detection range of the camera covers the detection range of the single-point laser radar. The single-point laser radar is configured to emit a laser beam and control the angular displacement platform to rotate up and down so that the laser beam is parallel to the horizontal direction.

[0008] In a second aspect, an embodiment of the present application provides an ultra-high detection method, which is applied to the ultra-high detection device described in the above embodiment, and the method includes:

[0009] Controlling the angular displacement platform to rotate up and down so that the laser beam emitted by the single-point laser radar is parallel to the horizontal direction;

[0010] Detecting the object to be detected by using the laser beam, and confirming whether the object to be detected is too high according to the detection result;

[0011] Acquire image data collected by the camera;

[0012] If the object to be detected is too high, whether the detection result of the object to be detected being too high is accurate is confirmed based on the image data.

[0013] Optionally, confirming whether the detection result of the object to be detected being too high is accurate according to the image data includes:

[0014] Calculating the distance between the object to be measured and the single-point laser radar;

[0015] According to the distance and the distance between the optical axes of the single-point laser radar and the camera, marking the intersection of the laser beam and the object to be measured in the image data;

[0016] According to the marked image data, it is confirmed whether the detection result of the overheight of the object to be detected is accurate.

[0017] Optionally, confirming whether the detection result of the object to be detected being too high is accurate according to the image data includes:

[0018] Identifying the type of the object to be detected according to the image data;

[0019] Determining whether the type is a preset type;

[0020] If so, it is confirmed that the test result of the object to be tested is accurate;

[0021] If not, the detection result of the object to be tested being too high is discarded.

[0022] Optionally, the method further comprises:

[0023] Release early warning information.

[0024] Optionally, the method further comprises:

[0025] The marked image data is sent to a host computer for display.

[0026] Optionally, marking the intersection of the laser beam and the object to be measured in the image data according to the distance and the distance between the optical axes of the single-point laser radar and the camera includes:

[0027] Calculating the imaging angle of the object to be measured according to the distance and the distance between the optical axes of the single-point laser radar and the camera;

[0028] Determining the position of the intersection of the laser beam and the object to be measured in the image data according to the imaging angle;

[0029] The intersection is marked based on a preset marking algorithm.

[0030] Optionally, calculating the imaging angle of the object to be measured according to the distance and the distance between the optical axes of the single-point laser radar and the camera includes:

[0031] Calculate the angle between the straight line where the laser beam is located and the line connecting the object to be measured and the camera according to the distance and the distance between the optical axes of the single-point laser radar and the camera;

[0032] The angle value is used as the imaging angle of the object to be measured.

[0033] Optionally, the single-point laser radar includes a tilt sensor, which controls the angular displacement platform to rotate up and down so that the laser beam emitted by the single-point laser radar is parallel to the horizontal direction, including:

[0034] Controlling the single-point laser radar to emit a laser beam;

[0035] Obtaining the angle of the single-point laser radar relative to the horizontal direction detected by the inclination sensor;

[0036] According to the included angle, the angular displacement platform is controlled to rotate up and down so that the laser beam is parallel to the horizontal direction.

[0037] Optionally, the detection result includes receiving a laser echo signal and not receiving a laser echo signal, wherein the laser echo signal is a signal that is reflected from the object to be detected after the laser beam reaches the object to be detected and reaches the single-point laser radar;

[0038] The step of confirming whether the object to be detected is too high according to the detection result includes:

[0039] If the detection result is that a laser echo signal is received, it is confirmed that the object to be detected is too high;

[0040] If the detection result is that no laser echo signal is received, it is confirmed that the object to be detected is not too high.

[0041] The beneficial effects of the embodiments of the present application compared to the prior art are as follows: by installing a single-point laser radar on an angular displacement platform, the single-point laser radar is configured to be able to control the up and down rotation of the angular displacement platform, so that the laser beam emitted by the single-point laser radar is parallel to the horizontal direction, effectively overcoming the defect that the intersection of the laser beam and the object to be measured is offset relative to the horizontal direction due to factors such as bridge building vibration, thereby improving the accuracy of ultra-high detection of the object to be measured. In addition, by installing a camera on an angular displacement platform, the optical axis of the single-point laser radar is parallel to the optical axis of the camera, and the detection range of the camera covers the detection range of the single-point laser radar, which can avoid the possibility of misjudgment of ultra-high detection, further improving the accuracy of ultra-high detection of the object to be measured. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0043] Figure 1 It is a structural schematic diagram of an ultra-high detection device provided in an embodiment of the present application;

[0044] Figure 2 This is an application scenario diagram of an ultra-high detection method provided in an embodiment of the present application;

[0045] Figure 3 is a method flow chart of an ultra-high detection method provided in an embodiment of the present application;

[0046] Figure 4 It is a schematic diagram of marking the intersection of a laser beam and an object to be measured in image data based on a single-point laser radar and a camera provided in an embodiment of the present application;

[0047] Figure 5 is a structural schematic diagram of an ultra-high detection device provided by another embodiment of the present application;

[0048] Figure 6 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0050] Reference below Figure 1 , the specific structure of the superelevation detection device provided by the embodiment of the present invention is described in detail. The superelevation detection device can be applied in superelevation detection scenarios of ships and vehicles to achieve the function of bridge building collision prevention.

[0051] like Figure 1As shown, an embodiment of the present application provides an ultra-high detection device, the installation height of the ultra-high detection device is equal to the height limit, and the ultra-high detection device includes: an angular displacement platform 1; a camera 2, installed on the angular displacement platform 1; a single-point laser radar 3, installed on the angular displacement platform 1, and connected to the angular displacement platform 1 and the camera 2 respectively, the optical axis of the single-point laser radar 3 is parallel to the optical axis of the camera 2, the detection range of the camera 2 covers the detection range of the single-point laser radar 3, and the single-point laser radar 3 is configured to emit a laser beam and control the angular displacement platform 1 to rotate up and down so that the laser beam is parallel to the horizontal direction.

[0052] Among them, the super-high detection device is installed at the height limit of the bridge building. Bridge buildings are artificial structures that cross rivers and caves for people and vehicles to travel. According to the purpose, the types of bridge buildings include railway bridges, highway bridges, dual-use bridges for highway and railway, pedestrian bridges, water transport bridges (aqueducts) and other special bridges (such as those passing through pipelines, cables, etc.). According to the obstacles crossed, there are river bridges, valley bridges, cross-line bridges (also known as overpasses), viaducts, trestles, etc.

[0053] It should be noted that the embodiments of the present application do not impose any specific restrictions on the number of superelevation detection devices, and can be adaptively adjusted according to the specific situation. In some specific embodiments, two superelevation detection devices are provided, and the two superelevation detection devices are spaced apart on the bridge structure, and the laser beams emitted by the two superelevation detection devices intersect, thereby expanding the detection range.

[0054] The working process of the super-elevation detection device is: the super-elevation detection device is turned on, the single-point laser radar 3 emits a laser beam, the camera 2 acquires image data, the single-point laser radar 3 controls the angular displacement platform 1 to rotate up and down in real time so that the laser beam is parallel to the horizontal direction, and the horizontal laser beam detects the object to be measured, and confirms whether the object to be measured is super-elevated according to the detection result; since the single-point laser radar 3 and the camera 2 are both installed on the angular displacement platform 1, the optical axis of the single-point laser radar 3 and the optical axis of the camera 2 are parallel to each other, and the detection range of the camera 2 covers the detection range of the single-point laser radar 3. If the single-point laser radar 3 confirms that the object to be measured is super-elevated, the image data containing the object to be measured is used to determine whether the super-elevation detection of the object to be measured by the single-point laser radar 3 is accurate.

[0055] In summary, the embodiment of the present application installs the single-point laser radar 3 on the angular displacement platform 1, and the single-point laser radar 3 is configured to be able to control the angular displacement platform 1 to rotate up and down, so that the laser beam emitted by the single-point laser radar 3 is parallel to the horizontal direction, which effectively overcomes the defect that the intersection of the laser beam and the object to be measured is offset relative to the horizontal direction due to factors such as bridge construction vibration, and improves the accuracy of ultra-high detection of the object to be measured. In addition, by installing the camera 2 on the angular displacement platform 1, the optical axis of the single-point laser radar 3 is parallel to the optical axis of the camera 2, and the detection range of the camera 2 covers the detection range of the single-point laser radar 3, which can avoid the possibility of misjudgment of ultra-high detection, and further improve the accuracy of ultra-high detection of the object to be measured.

[0056] See also Figure 2 , is an application scenario diagram of an ultra-high detection method provided in an embodiment of the present application. Figure 2 The application scenario shown includes the super-height detection device, the bridge building 11 and the object to be tested 12 as described in the above device embodiment. The bridge building 11 has a height limit. The super-height detection device is used to detect whether the object to be tested 12 is super-height, so as to determine whether the object to be tested 12 can pass through the bridge building 11, thereby realizing intelligent management of the passage of the object to be tested 12.

[0057] Take two superelevation detection devices and the object to be detected 12 including a ship as an example. The superelevation detection device 10a and the superelevation detection device 10b are respectively installed at the height limit of the bridge structure 11. The height limit of the bridge structure 11 is used to limit the height of the ship passing through the bridge structure 11. When the height of the ship is less than the height limit of the bridge structure 11, it can safely pass through the bridge structure 11. The superelevation detection device 10a and the superelevation detection device 10b are used to emit laser beams. The laser beams emitted by the superelevation detection device 10a and the superelevation detection device 10b are parallel to the horizontal direction and intersect at point O. When the object to be detected 12 is in the process of driving towards the bridge structure 11, it intersects with the horizontal projection of the laser beams emitted by the superelevation detection device 10a and / or the superelevation detection device 10b. Please refer to Figure 3 , a method flow chart of an ultra-high detection method provided in an embodiment of the present application. Figure 3 As shown, the superelevation detection method comprises:

[0058] S31, control the angular displacement platform 1 to rotate up and down so that the laser beam emitted by the single-point laser radar 3 is parallel to the horizontal direction.

[0059] In this embodiment, the single-point laser radar 3 includes an inclination sensor, which controls the angular displacement platform 1 to rotate up and down so that the laser beam emitted by the single-point laser radar 3 is parallel to the horizontal direction, including: controlling the single-point laser radar 3 to emit a laser beam; obtaining the angle of the single-point laser radar 3 detected by the inclination sensor relative to the horizontal direction; and controlling the angular displacement platform 1 to rotate up and down according to the angle so that the laser beam is parallel to the horizontal direction.

[0060] The tilt sensor is a high-precision angle sensor with an accuracy of ±0.008°. The higher the accuracy of the tilt sensor, the more accurate the angle it detects, and the smaller the angle change of the single-point laser radar 3 relative to the horizontal direction can be detected.

[0061] Taking a single-point laser radar 3 with a wavelength of 1550nm and a detection distance of 2000m as an example, the single-point laser radar 3 is powered on and started. According to the control instructions (such as transmission power, etc.) sent by the controller, the laser emitter of the single-point laser radar 3 is controlled to emit a laser beam. The length of the laser beam emitted by the single-point laser radar 3 is 2000m. The detection range of each single-point laser radar 3 is the area scanned by the laser beam. The inclination sensor detects the angle of the single-point laser radar 3 relative to the horizontal direction in real time, and sends the angle to the controller. The controller controls the angular displacement platform 1 to rotate up and down according to the angle so that the laser beam is parallel to the horizontal direction.

[0062] Optionally, the adjustment value is calculated by the angle, and the angular displacement platform 1 is controlled to rotate up and down by a corresponding angle according to the adjustment value, so that the single-point laser radar 3 and the camera 2 are restored to a horizontal position, so that the laser beam is parallel to the horizontal direction. For example, assuming that the upper side of the horizontal direction is positive and the lower side is negative, and the angle of the single-point laser radar 3 relative to the horizontal direction is equal to +0.2°, then the adjustment value is equal to -0.2°, and the angular displacement platform is controlled to rotate downward by 0.2° according to the adjustment value, so that the single-point laser radar 3 and the camera 2 can be restored to a horizontal position.

[0063] S32. Use a laser beam to detect the object to be measured, and determine whether the object to be measured is too high based on the detection result.

[0064] The detection results include receiving a laser echo signal and not receiving a laser echo signal, wherein the laser echo signal is a signal reflected by the laser beam from the object to be measured to the single-point laser radar after the laser beam reaches the object to be measured. According to the detection results, confirm whether the object to be measured is too high, including: if the detection result is receiving a laser echo signal, then confirming that the object to be measured is too high; if the detection result is not receiving a laser echo signal, then confirming that the object to be measured is not too high.

[0065] It can be understood that the super-high detection device is installed at the height limit, and the laser beam of the single-point laser radar 3 is emitted horizontally. If the height of the object to be measured exceeds the height limit, the laser beam will inevitably reach the surface of the object to be measured, and after being reflected by the surface of the object to be measured, it will be received by the laser receiver of the single-point laser radar 3; if the height of the object to be measured does not exceed the height limit, there is no obstruction on the beam path of the laser beam, and the object to be measured cannot be detected. Please refer to Figure 2 , the object to be tested 12 passes through any position of the laser beam emitted by the superelevation detection device 10a or the superelevation detection device 10b. If the detection result is that the laser echo signal is received, it is confirmed that the object to be tested 12 is superelevated. If the detection result is that the laser echo signal is not received, it is confirmed that the object to be tested 12 is not superelevated. In some embodiments, the distance from point 0 to the bridge structure 11 is used as the distance threshold. If the detection result is that the laser echo signal is received, the distance between the object to be tested 12 and the single-point laser radar is calculated to determine whether the distance is less than or equal to the distance threshold. If so, it is confirmed that the object to be tested 12 is superelevated.

[0066] S33, obtaining image data collected by camera 2.

[0067] S34. If the object to be tested is too high, confirm whether the detection result of the object to be tested being too high is accurate based on the image data.

[0068] As one of the embodiments of the present application, confirming whether the detection result of the excessive height of the object to be measured is accurate based on the image data, including: calculating the distance between the object to be measured and the single-point laser radar 3; marking the intersection of the laser beam and the object to be measured in the image data based on the distance and the optical axis spacing between the single-point laser radar 3 and the camera 2; and confirming whether the detection result of the excessive height of the object to be measured is accurate based on the marked image data.

[0069] It can be understood that image annotation is a process of adding labels to an image, and its target range can be to use only one label on the entire image, or to assign multiple labels to each group of pixels in the entire image. The embodiment of the present application belongs to the first case, that is, only the intersection of the laser beam and the object to be measured is marked in the image data.

[0070] Among them, the method of marking the intersection of the laser beam and the object to be measured in the image data includes: at least one of: 2D bounding box, 3D cuboid, polygon, line, and speech segmentation. Taking the 2D bounding box as an example, the intersection of the laser beam and the object to be measured is marked in the image data, and the intersection of the laser beam and the object to be measured is identified, and a bounding box is drawn around the intersection. The bounding box should be as close to the edge of the intersection as possible. By marking the intersection of the laser beam and the object to be measured in the image data, the accuracy of the super-height detection result of the object to be measured is confirmed based on the marked image data, thereby improving the accuracy of super-height detection.

[0071] Among them, according to the distance and the optical axis spacing between the single-point laser radar 3 and the camera 2, the intersection of the laser beam and the object to be measured is marked in the image data, including: according to the distance and the optical axis spacing between the single-point laser radar 3 and the camera 2, the imaging angle of the object to be measured is calculated; according to the imaging angle, the position of the intersection of the laser beam and the object to be measured in the image data is determined; based on the preset marking algorithm, the intersection is marked. Further, according to the distance and the optical axis spacing between the single-point laser radar 3 and the camera 2, the imaging angle of the object to be measured is calculated, including: according to the distance and the optical axis spacing between the single-point laser radar 3 and the camera 2, the angle value between the straight line where the laser beam is located and the line connecting the object to be measured and the camera 2 is calculated; the angle value is used as the imaging angle of the object to be measured.

[0072] like Figure 4 As shown, the distance between the object P1 to be measured and the single-point laser radar 3 is D1, the optical axis 1 is the optical axis of the single-point laser radar 3, the optical axis 2 is the optical axis of the camera 2, the optical axis 1 and the optical axis 2 are parallel to each other, and the distance between the optical axes of the single-point laser radar 3 and the camera 2 is D2. The object P1 to be measured, the origin O1 of the single-point laser radar 3 and the origin O2 of the camera 2 form a right triangle. According to the distance D1 and the distance D2, the angle value α between the optical axis 1 and the line connecting the object P1 to be measured and the origin O2 is calculated. The center point O3 of the imaging plane of the camera 2 is on the optical axis 2. The origin O2, the center point O3 and the intersection point P2 of the laser beam and the object P1 to be measured in the image data form a right triangle. Using the similar triangle theorem, it can be obtained that the imaging angle β of the object P1 to be measured is equal to the angle value α. According to the imaging angle β, the position of the intersection point P2 of the laser beam and the object P1 to be measured in the image data is determined, and the intersection point P2 is marked based on the preset marking algorithm.

[0073] As one of the embodiments of the present application, confirming whether the detection result of the excessive height of the object to be tested is accurate is based on the image data, including: identifying the type of the object to be tested based on the image data; determining whether the type is a preset type; if so, confirming that the detection result of the excessive height of the object to be tested is accurate; if not, discarding the detection result of the excessive height of the object to be tested.

[0074] In general, bridge structures correspond to target objects one by one. For example, when the bridge structure is an overpass, the target object is a vehicle; when the beam bridge structure is a river-crossing bridge, the target object is a ship. Therefore, the type of the object can be identified through the image of the object, and the accuracy of the ultra-high detection result can be determined based on the type of the object, avoiding the influence of other non-target objects (such as fallen leaves, flying birds, garbage bags, etc.), thereby improving the accuracy of ultra-high detection.

[0075] The super-height detection method provided in the embodiment of the present application controls the angular displacement platform 1 to rotate up and down so that the laser beam emitted by the single-point laser radar 3 is parallel to the horizontal direction; uses the laser beam to detect the object to be detected, and confirms whether the object to be detected is super-height based on the detection result; obtains the image data collected by the camera 2; if the object to be detected is super-height, confirms whether the detection result of the super-height of the object to be detected is accurate based on the image data. Therefore, the embodiment of the present application improves the accuracy of super-height detection of the object to be detected.

[0076] In some embodiments, the method further includes: issuing warning information; and / or sending the marked image data to a host computer for display.

[0077] Taking the ship super-height detection as an example, the warning information includes text information and audio information, which are pre-stored in the single-point laser radar 3. The super-height detection device is connected to the ship and the ship management center for communication. When it is confirmed that the ship is super-height, the warning information is issued. The single-point laser radar 3 sends the warning information to the ship and the ship management center. The ship and the ship management center display the content of the text information, or convert the text information into audio information, and play it through a playback device to prompt the driver and / or management personnel.

[0078] The intersection of the laser beam and the object to be measured is marked in the image data. Based on the confirmation of whether the detection result of the overheight of the object to be measured is accurate based on the marked image data, the marked image data is sent to the host computer for display, so that the ship driver or the staff of the ship management center can more intuitively observe the position of the intersection of the laser beam and the object to be measured in the image data, thereby improving the user experience.

[0079] Correspondingly, such as Figure 5 As shown, a structural schematic diagram of an ultra-high detection device provided by another embodiment of the present application, the ultra-high detection device 500 includes: a control module 501, which is used to control the up and down rotation of the angular displacement platform 1 so that the laser beam emitted by the single-point laser radar 3 is parallel to the horizontal direction.

[0080] The first confirmation module 502 is used to detect the object to be detected using a laser beam, and confirm whether the object to be detected is too high according to the detection result.

[0081] The acquisition module 503 is used to acquire image data collected by the camera.

[0082] The second confirmation module 504 is used to confirm whether the detection result of the over-height of the object to be detected is accurate according to the image data if the object to be detected is over-height.

[0083] In some embodiments, the second confirmation module 504 includes:

[0084] The calculation unit is used to calculate the distance between the object to be measured and the single-point laser radar 3.

[0085] The marking unit is used to mark the intersection of the laser beam and the object to be measured in the image data according to the distance and the distance between the optical axes of the single-point laser radar 3 and the camera 2.

[0086] The first confirmation unit is used to confirm whether the detection result of the overheight of the object to be detected is accurate according to the marked image data.

[0087] In some embodiments, the second confirmation module 504 includes:

[0088] The identification unit is used to identify the type of the object to be detected according to the image data.

[0089] The judging unit is used to judge whether the type is a preset type.

[0090] The second confirmation unit is used to confirm that the detection result of the over-height of the object to be tested is accurate if the type of the object to be tested is a preset type.

[0091] The discarding unit is used to discard the detection result of the object under test that is too high if the type of the object under test is not a preset type.

[0092] In some embodiments, the device further includes a publishing module for publishing warning information.

[0093] In some embodiments, the device further includes a sending module for sending the marked image data to a host computer for display.

[0094] In some embodiments, the marking unit is specifically used to: calculate the imaging angle of the object to be measured based on the distance and the optical axis spacing between the single-point laser radar 3 and the camera 2; determine the position of the intersection of the laser beam and the object to be measured in the image data based on the imaging angle; and mark the intersection based on a preset marking algorithm.

[0095] In some embodiments, the control module 501 includes:

[0096] The first control unit is used to control the single-point laser radar 3 to emit a laser beam.

[0097] The acquisition unit is used to acquire the angle of the single-point laser radar 3 detected by the tilt sensor relative to the horizontal direction.

[0098] The second control unit is used to control the angular displacement platform 1 to rotate up and down according to the included angle so that the laser beam is parallel to the horizontal direction.

[0099] In some embodiments, the detection result includes receiving a laser echo signal and not receiving a laser echo signal, wherein the laser echo signal is a signal that is reflected by the laser beam to the single-point laser radar after the laser beam reaches the object to be detected; the first confirmation module 502 includes:

[0100] A third confirmation unit is used to confirm that the object to be detected is too high if the detection result is that a laser echo signal is received;

[0101] The fourth confirmation unit is used to confirm that the object to be detected is not too high if the detection result is that no laser echo signal is received.

[0102] It should be noted that the above device can execute the method provided in the embodiment of the present application, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not fully described in the device embodiment, please refer to the method provided in the embodiment of the present application.

[0103] Figure 6 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application, such as Figure 6 As shown, the electronic device 600 includes: one or more processors 601, a memory 602, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses and can be installed on a common mainboard or installed in other ways as needed. The processor 601 can process instructions executed in the electronic device 600, including instructions stored in or on the memory 602 to display the graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In other embodiments, if necessary, multiple processors 601 and / or multiple buses can be used together with multiple memories 602 and multiple memories 602. Similarly, multiple electronic devices 600 can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 6 A processor 601 is taken as an example.

[0104] The memory 602 is a non-transitory computer-readable storage medium provided in the present application. The memory 602 stores instructions executable by at least one processor 601, so that at least one processor 601 executes the superelevation detection method provided in the present application. The non-transitory computer-readable storage medium of the present application stores computer instructions, which are used to cause a computer to execute the superelevation detection method provided in the present application.

[0105] The memory 602 is a non-transient computer-readable storage medium that can be used to store non-transient software programs, non-transient computer executable programs and modules, such as the program instructions / modules corresponding to the ultra-high detection method in the embodiment of the present application (for example, the attached Figure 5The processor 601 executes various functional applications and data processing of the server by running the non-transient software programs, instructions and modules stored in the memory 602, that is, the super-height detection method in the above method embodiment is implemented.

[0106] The memory 602 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and applications required for at least one function; the data storage area may store data created according to the use of the electronic device 600, etc. In addition, the memory 602 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory 602 may optionally include a memory remotely arranged relative to the processor 601, and these remote memories may be connected to the electronic device 600 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0107] The electronic device 600 may further include: an input device 603 and an output device 604. The processor 601, the memory 602, the input device 603 and the output device 604 may be connected via a bus or other means. Figure 6 The example of connecting through bus is taken in the following.

[0108] The input device 603 can receive input digital or character information, and generate key signal input related to user settings and function control of the electronic device 600, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator bar, one or more mouse buttons, a trackball, a joystick and other input devices. The output device 604 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The display device may include, but is not limited to, a liquid crystal display (LCD), a light emitting diode (LED) display and a plasma display. In some embodiments, the display device may be a touch screen.

[0109] Various implementations of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, dedicated ASICs (application specific integrated circuits), computer hardware, firmware, software, and / or combinations thereof. These various implementations may include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device 603, and at least one output device 604, and transmit data and instructions to the storage system, the at least one input device 603, and the at least one output device 604.

[0110] An embodiment of the present application also provides a non-volatile computer-readable storage medium, which stores computer-executable instructions, which are executed by one or more processors, and the computer-executable instructions are used to enable a drone to execute the ultra-high detection method described in any of the above embodiments.

[0111] The present application also provides a computer program product, including a computer program stored on a non-volatile computer-readable storage medium, wherein the computer program includes program instructions, and when the program instructions are executed by a computer, the computer executes the ultra-high detection method described in any of the above method embodiments, for example, executing the above described Figure 3 Steps to achieve Figure 5 The functions of each module in.

[0112] It should be noted that the device embodiments described above are merely illustrative, wherein 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 may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0113] Through the description of the above embodiments, ordinary technicians in this field can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. Ordinary technicians in this field can understand that all or part of the processes in the above embodiment methods can be completed by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0114] The above specific implementations do not constitute a limitation on the protection scope of this application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. A super-height detection method, applied to a super-height detection device, wherein the installation height of the super-height detection device is equal to the height limit, and the super-height detection device comprises: Angular displacement platform; A camera, mounted on the angular displacement platform; a single-point laser radar, mounted on the angular displacement platform, connected to the angular displacement platform and the camera respectively, wherein the optical axis of the single-point laser radar is parallel to the optical axis of the camera, and the detection range of the camera covers the detection range of the single-point laser radar, and the single-point laser radar is configured to emit a laser beam and control the angular displacement platform to rotate up and down so that the laser beam is parallel to the horizontal direction; Characterized in that the method comprises: Controlling the angular displacement platform to rotate up and down so that the laser beam emitted by the single-point laser radar is parallel to the horizontal direction; Detecting the object to be detected by using the laser beam, and confirming whether the object to be detected is too high according to the detection result; Acquiring image data collected by the camera; if the object to be detected is too high, confirming whether the detection result of the object to be detected being too high is accurate according to the image data, including: Calculating the distance between the object to be measured and the single-point laser radar; According to the distance and the distance between the optical axes of the single-point laser radar and the camera, marking the intersection of the laser beam and the object to be measured in the image data; According to the marked image data, it is confirmed whether the detection result of the overheight of the object to be detected is accurate.

2. The method according to claim 1, characterized in that The step of confirming whether the detection result of the object to be detected being too high is accurate according to the image data comprises: Identifying the type of the object to be detected according to the image data; Determining whether the type is a preset type; If so, it is confirmed that the test result of the object to be tested is accurate; If not, the detection result of the object to be tested being too high is discarded.

3. The method according to claim 1, characterized in that The method further comprises: Release early warning information.

4. The method according to claim 1, characterized in that: The method further comprises: The marked image data is sent to a host computer for display.

5. The method according to claim 1, characterized in that According to the distance and the distance between the optical axes of the single-point laser radar and the camera, marking the intersection of the laser beam and the object to be measured in the image data includes: Calculating the imaging angle of the object to be measured according to the distance and the distance between the optical axes of the single-point laser radar and the camera; Determining the position of the intersection of the laser beam and the object to be measured in the image data according to the imaging angle; The intersection is marked based on a preset marking algorithm.

6. The method according to claim 5, characterized in that Calculating the imaging angle of the object to be measured according to the distance and the distance between the optical axes of the single-point laser radar and the camera, including: Calculate the angle between the straight line where the laser beam is located and the line connecting the object to be measured and the camera according to the distance and the distance between the optical axes of the single-point laser radar and the camera; The angle value is used as the imaging angle of the object to be measured.

7. The method according to claim 1, characterized in that The single-point laser radar includes a tilt sensor, which controls the angular displacement platform to rotate up and down so that the laser beam emitted by the single-point laser radar is parallel to the horizontal direction, including: Controlling the single-point laser radar to emit a laser beam; Obtaining the angle of the single-point laser radar relative to the horizontal direction detected by the inclination sensor; According to the included angle, the angular displacement platform is controlled to rotate up and down so that the laser beam is parallel to the horizontal direction.

8. The method according to claim 1, characterized in that: The detection result includes a received laser echo signal and a non-received laser echo signal, wherein the laser echo signal is a signal that is reflected from the object to be detected after the laser beam reaches the object to be detected and reaches the single-point laser radar; The step of confirming whether the object to be detected is too high according to the detection result includes: If the detection result is that a laser echo signal is received, it is confirmed that the object to be detected is too high; If the detection result is that no laser echo signal is received, it is confirmed that the object to be detected is not too high.

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