A high-precision roadside laser perception method based on area detection

Abstract

The present invention relates to the field of road traffic technology, and specifically discloses a high-precision roadside laser sensing method based on regional detection, installation and erection of laser radar equipment, debugging of the laser radar equipment erection angle and position; identification and filtering of roads, obtaining ground point clouds through algorithms, plane fitting of ground point clouds, obtaining ground normal vectors, using radar coordinate axes as reference coordinates, and calculating rotation matrices; dividing the point clouds of the detection area into point clouds of area 1, area 2 to area n; sending the divided point clouds of different areas into corresponding trained algorithm models for detection, and obtaining the detection results of each detection area and the road traffic information that needs to be obtained. The present invention can divide the laser point cloud into different areas, and input different algorithm models for detection respectively, thereby improving the detection precision and accuracy of the same object at different relative distances, and can realize automatic adjustment of the position angle of the laser radar detection equipment.

Description

Technical Field

[0001] The present invention relates to the field of road traffic technology, and in particular to a high-precision roadside laser sensing method based on area detection. Background Art

[0002] Intelligent networked vehicles refer to a new generation of vehicles that integrate advanced sensors, controllers, actuators and other devices, and integrate modern communication and network technologies to achieve intelligent information exchange and sharing between vehicles, roads, people, and clouds. They have functions such as complex environment perception, intelligent decision-making, and collaborative control, and can achieve safe, efficient, comfortable, and energy-saving driving, and can eventually replace human operation. Smart cities refer to a new type of urban development model that uses information and communication technologies and other advanced technical means to perceive, analyze, and integrate key information from the core systems of urban operations, and respond intelligently to various needs including people's livelihood, environmental protection, public safety, urban services, and industrial and commercial activities, so as to improve urban management efficiency, optimize the quality of life of urban residents, and promote sustainable development. At present, the coordinated development and promotion of intelligent networked vehicles and smart cities and the construction of road traffic perception systems are crucial. Among them, lidar plays an important role in roadside perception and vehicle-road collaboration, adding a guarantee for safe intelligent driving;

[0003] In the existing technical field, LiDAR target detection, whether it is a traditional algorithm or a deep learning algorithm, generally directly inputs the laser point cloud into the same algorithm model, identifies the point cloud features, and then the backbone network processes the feature map. The detection head is used for target detection and outputs the target measurement category and three-dimensional coordinate information. However, from the perspective of the presentation of LiDAR perception on the point cloud, the relative distance between the same object and the LiDAR directly affects the number and density of points occupied by the object in the point cloud, and indirectly affects the features of the point cloud of the object. Therefore, the disadvantage of this method is that the perception ability of an algorithm model for different point cloud representations of the same object varies greatly. For example, the classification errors of the two categories of distant non-motor vehicles and closer pedestrians will lead to low precision and accuracy of the roadside perception system. Summary of the invention

[0004] The purpose of the present invention is to provide a high-precision roadside laser perception method based on area detection to solve the problem that as the relative distance between the object and the laser radar increases, the detection precision and accuracy of the target in three-dimensional target detection decreases.

[0005] To achieve the above object, the present invention provides the following technical solution: a high-precision roadside laser sensing method based on area detection, comprising the following steps:

[0006] Step 1: Install the LiDAR equipment and adjust the installation angle and position of the LiDAR equipment so that the coverage area of ​​the LiDAR meets the actual road traffic needs;

[0007] Step 2: Open the LiDAR host computer software, observe the point cloud presentation status and display effect, and manually define the overall detection range required on the traffic road;

[0008] Step 3: By identifying and filtering the roads, the ground point cloud is obtained through the algorithm, and the ground point cloud is plane fitted to obtain the ground normal vector. The radar coordinate axis is used as the reference coordinate to calculate the rotation matrix.

[0009] Step 4: Calculate the installation height H relative to the ground through the rotation matrix and installation angle;

[0010] Step 5: Use the overall detection range, installation angle, installation height and other information as the basis for region segmentation, and then divide the point cloud of the detection area into region 1, region 2 to region n point clouds according to the density of the lidar point cloud;

[0011] Step 6: Send the divided point clouds of different areas to the corresponding trained algorithm model for detection, and obtain the detection results of each detection area and the road traffic information required;

[0012] Step 7: Based on the result data obtained from each area, perform splicing and fusion on the results, and return the detection results of each area to the overall detection range;

[0013] Step 8: When detecting the boundary range of adjacent areas, the position offset of the detection results is involved. When the same vehicle is detected by two areas, the detection result of the boundary is corrected for the adjacent area according to the position information of the detection frame.

[0014] Step 9: Output the detection results, which include the target's three-dimensional position information, length, width, height, heading angle and category information.

[0015] Preferably, the laser radar device comprises: a column rod, a mounting rod, a detachable laser radar mechanism and a control module; the mounting rod is installed on the top of the outer wall of the column rod along the left and right direction; the detachable laser radar mechanism can be detachably installed on the outside of the mounting rod; the control module is arranged at the bottom end of the outer wall of the column rod.

[0016] Preferably, the detachable laser radar mechanism comprises: a main frame, a bottom frame, an azimuth adjustment component, a sub-control module, a double-end guide rail assembly, a mounting frame, a connecting frame, a first electric telescopic rod, a rotating rod, a connecting rod, a T-shaped mounting frame and an arc-shaped stabilizing frame; the main frame is arranged on the outside of the column rod; the bottom frame is arranged below the main frame; the azimuth adjustment component is installed at the bottom of the bottom frame; the sub-control module is arranged on the front side of the main frame, and the sub-control module can be remotely connected to the azimuth adjustment component through a network; the double-end guide rail assembly is arranged at the inner bottom end of the main frame along the front and rear directions; the number of the mounting frames is two, and the two mounting frames are respectively installed at the top of the front and rear limit ends of the double-end guide rail assembly, and the outer sides of the front and rear mounting frames extend to the outside from the front and rear openings of the main frame; the number of the connecting frames is two, and the two connecting frames are respectively arranged on the outside of the front and rear double-end guide rail assemblies, The bottoms of the two connecting frames extend to the inner cavity of the bottom frame; the first electric telescopic rod is arranged at the rear end of the outer right side of the bottom frame, the telescopic end of the first electric telescopic rod is connected to the right rear of the rear connecting frame, and the first electric telescopic rod is electrically connected to the sub-control module; the rotating rod is rotatably connected to the middle of the bottom end of the inner cavity of the bottom frame through a bearing; the number of the connecting rods is two, and one end of the two connecting rods is rotatably connected to the bottom ends of the front and rear connecting frames through pins, and the other ends of the two connecting rods are rotatably connected to the two ends of the rotating rod through pins; the number of the T-shaped mounting frames is two, and the two T-shaped mounting frames are respectively installed in the middle of the inner side of the front and rear mounting frames; the number of the arc stabilizing frames is two groups, and the number of the arc stabilizing frames in each group is two, and the two groups of arc stabilizing frames are respectively arranged at the left and right ends of the inner sides of the front and rear T-shaped mounting frames, and the arc stabilizing frames on both sides of the front and rear can be closed and fit the outer wall of the mounting rod.

[0017] Preferably, the detachable laser radar mechanism also includes: a mounting plate, a gear set, a first motor, a conical slot wheel, a telescopic shaft, a conical wheel, a docking pin, an annular limit groove, a second electric telescopic rod and a limit wheel; the number of the mounting plates is two, and the two mounting plates are respectively mounted on the inner tops of the front and rear mounting frames; one side gear of the gear set is rotatably connected to the inner bottom of the rear mounting plate through a bearing, and the other side gear of the gear set is rotatably connected to the inner top of the rear mounting plate through a bearing and meshes with each other; the first motor is arranged at the outer end top of the rear mounting plate, the axis of the first motor extends into the inner side of the mounting plate and is connected to the top gear axis of the gear set, and the first motor is electrically connected to the sub-control module; the conical slot wheel is arranged at the bottom of the gear set The front end of the gear axis; the telescopic shaft is rotatably connected to the inner bottom end of the front mounting plate through a bearing; the conical wheel is installed on the inner side of the telescopic end of the telescopic shaft; the number of the docking pins is two, and the two docking pins are respectively arranged on the upper and lower sides of the rear end of the conical wheel, and the two docking pins can be plugged into the inner cavity of the conical slot wheel; the annular limit groove is circumferentially arranged on the outer side of the front end of the conical wheel; the second electric telescopic rod is installed on the top of the outer end of the mounting plate on the front side, the telescopic end of the second electric telescopic rod extends into the inner side of the mounting plate, and the second electric telescopic rod is electrically connected to the sub-control module; the limit wheel is rotatably connected to the telescopic end of the second electric telescopic rod through a bearing, and the limit wheel is plugged into the inner cavity of the annular limit groove; wherein, auxiliary fixing components are arranged on both sides of the left and right sides of the bottom frame.

[0018] Preferably, the auxiliary fixing assembly comprises: a support plate, a slot tube, an insertion rod, a support plate, a support bracket, a third electric telescopic rod, a fixed seat, a lifting rod and a connecting bracket; the support plate is installed at the middle of the outer bottom end of the bottom frame; the slot tube is arranged on the outer side of the top end of the support plate along the up-down direction; the insertion rod is inserted into the top of the inner cavity of the slot tube along the up-down direction; the support plate is arranged on the top of the outer wall of the insertion rod; the support bracket is installed on the outer side of the top end of the support plate; the third electric telescopic rod is located on the inner side of the top end of the support plate, and the third electric telescopic rod is electrically connected to the sub-control module; the fixed seat is installed on the top of the outer wall of the slot tube, and the third electric telescopic rod is rotatably connected to the inner bottom end of the fixed seat through a pin shaft seat; the lifting rod is rotatably connected to the inner side of the fixed seat through a pin shaft, and one end of the lifting rod is rotatably connected to the telescopic end of the third electric telescopic rod through a pin shaft; one end of the connecting bracket is rotatably connected to the outer side of the other end of the lifting rod through a pin shaft, and the other end of the connecting bracket is rotatably connected to the inner side of the top end of the support plate through a pin shaft.

[0019] Preferably, the azimuth adjustment component includes: a fixed connecting frame, an arc groove, a rotating seat, a second motor and a first belt assembly; the azimuth adjustment component includes: a fixed connecting frame is arranged at the bottom center position of the bottom frame; the arc groove is opened on the left side of the fixed connecting frame, and the inner cavity of the arc groove is connected with the inner cavity of the fixed connecting frame; the rotating seat is rotatably connected to the right side of the inner cavity of the fixed connecting frame through a bearing along the left and right directions, and the axis of the rotating seat extends out of the fixed connecting frame; the second motor is installed at the right front of the fixed connecting frame, and the second motor is electrically connected to the sub-control module; the axis of the pulley on one side of the first belt assembly is fixedly connected to the rotating end of the second motor, and the axis of the pulley on the other side of the first belt assembly is fixedly connected to the right end of the axis of the rotating seat.

[0020] Preferably, the azimuth adjustment component also includes: a rotating shaft, a mounting seat, a third motor, a second belt assembly and a laser radar; the rotating shaft is rotatably connected to the left bottom end of the arc groove through a bearing, and the right side of the axis of the rotating shaft extends into the inner cavity of the fixed connecting frame and is connected to the rotating seat; the mounting seat is rotatably connected to the inner side of the rotating seat through a pin shaft, and the axis of the mounting seat extends out of the upper surface of the rotating seat; the third motor is installed at the left end of the rotating shaft, and the third motor is electrically connected to the sub-control module; the axis of the pulley on one side of the second belt assembly is fixedly connected to the rotating end of the third motor, and the axis of the pulley on the other side of the second belt assembly is fixedly connected to the outside of the axis of the mounting seat, and the internal transmission belt of the second belt assembly passes through the inner cavity of the arc groove; the laser radar is installed at the bottom of the mounting seat, and the laser radar is electrically connected to the sub-control module.

[0021] Preferably, the gear on one side of the gear set is driven to rotate by the first motor, and the conical slot wheel is driven to rotate under the transmission of the gear on the other side of the gear set. The conical slot wheel drives the conical wheel in cooperation with the docking pin, and the conical wheel rotates on the inner side of the mounting plate through the telescopic shaft, and can make the annular limit groove rotate circumferentially on the outer side of the limit wheel.

[0022] Preferably, the second belt assembly is driven by the third motor to drive the laser radar to rotate horizontally with the cooperation of the mounting seat, and the first belt assembly is driven by the second motor. The rotating seat is driven by the first belt assembly to cause the rotating shaft to rotate synchronously on the inner side of the fixed connecting frame, and the third motor is driven to follow the rotation with the cooperation of the rotating shaft, and the second belt assembly is driven to move in an arc shape along the inner side of the arc groove, so as to collect images of external traffic conditions through the laser radar.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. Through this solution, a wider range of road traffic targets with higher precision and accuracy can be achieved. By adopting the method of regional segmentation, the same target occupying different points when moving on the road can be identified, and farther moving targets can be perceived in advance. A variety of scene-adaptive algorithms are used for identification in different areas to obtain more continuous and accurate target location information.

[0025] 2. By placing the detachable laser radar mechanism on the outside of the mounting rod, the first electric telescopic rod drives the rear connecting frame to move forward, and drives one end of the connecting rod at the corresponding position below the rear connecting frame to move forward, and drives the rotating rod to rotate with the cooperation of the rear connecting rod, and the rotating rod drives the mounting frame with the cooperation of the connecting rods on both sides, so that the mounting frame drives the arc stabilizing frame to move inward under the limitation of the double-end guide rail assembly and the cooperation of the T-shaped mounting frame, and the front and rear arc stabilizing frames are closed and close to the outer wall of the mounting rod, and the front and rear mounting frames drive the conical slot wheel and the conical wheel to move inward with the cooperation of the mounting plates on both sides, and the second electric telescopic rod extends to drive the limiting wheel to move backward, and drives the conical wheel with the cooperation of the limiting wheel and the annular limiting groove, and the conical wheel is connected by the telescopic shaft so that the docking pin is plugged into the inner cavity of the conical slot wheel.

[0026] 3. The conical slot wheel is driven to rotate by the first motor under the transmission of the gear set. The conical slot wheel drives the conical wheel in cooperation with the docking pin. The conical slot wheel and the conical wheel rotate along the top of the outer wall of the mounting rod, so that the detachable laser radar mechanism moves horizontally to the specified position along the mounting rod. The third electric telescopic rod drives the lifting rod to rotate inside the fixed seat. The lifting rod drives the insertion rod upward with the cooperation of the connecting bracket, so that the support bracket contacts the bottom of the outer wall of the mounting rod. The third motor drives the mounting seat to rotate under the transmission of the second belt assembly, so as to drive the laser radar to rotate horizontally to the specified azimuth angle with the cooperation of the mounting seat. The second motor drives the rotating seat to rotate under the transmission of the first belt assembly, so as to adjust the laser radar to the specified direction angle position.

[0027] To sum up, the present invention can divide the laser point cloud into different areas and input different algorithm models for detection, thereby improving the detection accuracy and precision of the same object at different relative distances, and for the installation and setting up of the laser radar detection equipment, it can realize automatic adjustment of the position angle of the laser radar detection equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the process of the present invention;

[0029] Figure 2 for Figure 1 Schematic diagram of the laser radar equipment;

[0030] Figure 3 for Figure 2 An exploded view of the LiDAR device;

[0031] Figure 4 for Figure 3 A magnified image of point A;

[0032] Figure 5 for Figure 3 A magnified view of point B;

[0033] Figure 6 for Figure 3 Exploded view of the orientation adjustment components.

[0034] In the figure: 1, column rod; 2, mounting rod; 3, detachable laser radar mechanism; 31, main frame; 32, bottom frame; 33, sub-control module; 34, double-end guide rail assembly; 35, mounting frame; 36, connecting frame; 37, first electric telescopic rod; 38, rotating rod; 39, connecting rod; 310, T-shaped mounting frame; 311, arc-shaped stabilizing frame; 312, mounting plate; 313, gear set; 314, first motor; 315, tapered slot wheel; 316, telescopic shaft; 317, tapered wheel; 318, docking pin; 319, annular limit groove; 3 20. Second electric telescopic rod; 321. Limiting wheel; 322. Support plate; 323. Slot tube; 324. Insertion rod; 325. Support plate; 326. Support bracket; 327. Third electric telescopic rod; 328. Fixed seat; 329. Lifting rod; 330. Connecting bracket; 4. Azimuth adjustment component; 41. Fixed connecting frame; 42. Arc groove; 43. Rotating seat; 44. Second motor; 45. First belt assembly; 46. Rotating shaft; 47. Mounting seat; 48. Third motor; 49. Second belt assembly; 410. LiDAR; 5. Control module. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] See also Figure 1-Figure 6 The present invention provides a technical solution: a high-precision roadside laser sensing method based on area detection, comprising the following steps:

[0037] Step 1: Install the LiDAR equipment and adjust the installation angle and position of the LiDAR equipment so that the coverage area of ​​the LiDAR meets the actual road traffic needs;

[0038] Step 2: Open the LiDAR host computer software, observe the point cloud presentation status and display effect, and manually define the overall detection range required on the traffic road;

[0039] Step 3: By identifying and filtering the roads, the ground point cloud is obtained through the algorithm, and the ground point cloud is plane fitted to obtain the ground normal vector. The radar coordinate axis is used as the reference coordinate to calculate the rotation matrix.

[0040] Step 4: Calculate the installation height H relative to the ground through the rotation matrix and installation angle;

[0041] Step 5: The overall detection range, installation angle, and installation height information are used as the basis for region segmentation, and then the point cloud of the detection area is divided into region 1, region 2 to region n point clouds according to the density of the lidar point cloud;

[0042] Step 6: Send the divided point clouds of different areas to the corresponding trained algorithm model for detection, and obtain the detection results of each detection area and the road traffic information required;

[0043] Step 7: Based on the result data obtained from each area, perform splicing and fusion on the results, and return the detection results of each area to the overall detection range;

[0044] Step 8: When detecting the boundary range of adjacent areas, the position offset of the detection results is involved. When the same vehicle is detected by two areas, the detection result of the boundary is corrected for the adjacent area according to the position information of the detection frame.

[0045] Step 9: Output the detection results, which include the target's three-dimensional position information, length, width, height, heading angle and category information.

[0046] As a preferred solution, further, according to step 1, the laser radar device includes: a column pole 1, a mounting pole 2, a detachable laser radar mechanism 3 and a control module 5; the mounting pole 2 is installed on the top of the outer wall of the column pole 1 along the left-right direction, and the column pole 1 and the mounting pole 2 are installed at designated positions on both sides of the road as traffic poles; the detachable laser radar mechanism 3 can be detachably installed on the outside of the mounting pole 2; the control module 5 is arranged at the bottom end of the outer wall of the column pole 1, and a network module is arranged inside the control module 5, which can remotely connect with an external terminal to realize data upload and download.

[0047] As a preferred solution, further, Figure 3 , Figure 4 and Figure 5As shown, the detachable laser radar mechanism 3 includes: a main frame 31, a bottom frame 32, an azimuth adjustment component 4, a sub-control module 33, a double-end guide rail assembly 34, a mounting frame 35, a connecting frame 36, a first electric telescopic rod 37, a rotating rod 38, a connecting rod 39, a T-shaped mounting frame 310, an arc-shaped stabilizing frame 311, a mounting plate 312, a gear set 313, a first motor 314, a conical slot wheel 315, a telescopic shaft 316, a conical wheel 317, a docking pin 318, an annular limiting groove 319, a second electric telescopic rod 320 and a limiting wheel 321; the main frame 31 is arranged on the outside of the column rod 1; the bottom frame 32 is arranged below the main frame 31; the azimuth adjustment component 4 is installed at the bottom of the bottom frame 32; The sub-control module 33 is arranged at the front side of the main frame 31, the sub-control module 33 can be remotely connected to the azimuth adjustment component 4 through a network, a battery is arranged inside the sub-control module 33 to power the internal electrical components of the detachable laser radar mechanism 3, and a preset program is arranged inside the sub-control module 33 to control the internal electrical components of the detachable laser radar mechanism 3; the double-end guide rail assembly 34 is arranged at the inner bottom end of the main frame 31 along the front-to-back direction, the inner guide rail of the double-end guide rail assembly 34 is arranged at the inner bottom end of the main frame 31 along the front-to-back direction, and the outer front and rear sides of the guide rail are sleeved with sliders as limit ends; there are two mounting frames 35, and the two mounting frames 35 are respectively mounted on the top of the front and rear limit ends of the double-end guide rail assembly 34, and the front and rear two The outer side of each mounting frame 35 extends outward from the front and rear openings of the main frame 31; there are two connecting frames 36, which are respectively arranged on the outside of the front and rear double-end guide rail assemblies 34, and the bottoms of the front and rear connecting frames 36 extend to the inner cavity of the bottom frame 32; the first electric telescopic rod 37 is arranged at the rear end of the right side of the outside of the bottom frame 32, and the telescopic end of the first electric telescopic rod 37 is connected to the right rear of the rear connecting frame 36, the first electric telescopic rod 37 is electrically connected to the sub-control module 33, and the first electric telescopic rod 37 drives the rear connecting frame 36 to move forward and backward by its own extension and shortening; the rotating rod 38 is rotatably connected to the middle of the bottom end of the inner cavity of the bottom frame 32 through a bearing; there are two connecting rods 39, two One end of the connecting rod 39 is rotatably connected to the bottom ends of the front and rear connecting frames 36 through a pin shaft, and the other ends of the two connecting rods 39 are rotatably connected to the two ends of the rotating rod 38 through a pin shaft; there are two T-shaped mounting frames 310, and the two T-shaped mounting frames 310 are respectively installed at the inner middle part of the front and rear mounting frames 35; there are two groups of arc-shaped stabilizing frames 311, and the number of each group of arc-shaped stabilizing frames 311 is two, and the two groups of arc-shaped stabilizing frames 311 are respectively arranged at the left and right ends of the inner sides of the front and rear T-shaped mounting frames 310, and the arc-shaped stabilizing frames 311 on both sides of the front and rear can be closed and fit the outer wall of the mounting rod 2; there are two mounting plates 312, and the two mounting plates 312 are respectively installed at the inner top of the front and rear mounting frames 35;One side gear of the gear set 313 is rotatably connected to the inner bottom of the rear mounting plate 312 through a bearing, and the other side gear of the gear set 313 is rotatably connected to the inner top of the rear mounting plate 312 through a bearing and meshes with each other. The gear set 313 can play a transmission role between the first motor 314 and the conical slot wheel 315; the first motor 314 is arranged at the outer end top of the rear mounting plate 312, and the axis of the first motor 314 extends into the inner side of the mounting plate 312 and is connected to the axis of the top gear of the gear set 313. The first motor 314 is electrically connected to the sub-control module 33, and the first motor 314 can drive the top gear of the gear set 313 to rotate clockwise or counterclockwise; the conical slot The wheel 315 is arranged at the front end of the bottom gear axis of the gear set 313; the telescopic shaft 316 is rotatably connected to the inner bottom end of the front mounting plate 312 through a bearing, and the telescopic shaft 316 itself can move in the forward and backward directions; the conical wheel 317 is installed on the inner side of the telescopic end of the telescopic shaft 316; the number of docking pins 318 is two, and the two docking pins 318 are respectively arranged on the upper and lower sides of the rear end of the conical wheel 317, and the two docking pins 318 can be plugged into the inner cavity of the conical slot wheel 315; the annular limit groove 319 is circumferentially arranged on the outer side of the front end of the conical wheel 317; the second electric telescopic rod 320 is installed on the top of the outer end of the front mounting plate 312, and the telescopic end of the second electric telescopic rod 320 The second electric telescopic rod 320 extends into the inner side of the mounting plate 312, and is electrically connected to the sub-control module 33. The second electric telescopic rod 320 drives the limiting wheel 321 to move in the front and rear directions by its own extension and shortening; the limiting wheel 321 is rotatably connected to the telescopic end of the second electric telescopic rod 320 through a bearing, and the limiting wheel 321 is plugged into the inner cavity of the annular limiting groove 319, and the annular limiting groove 319 can rotate circumferentially around the outer side of the limiting wheel 321; wherein, auxiliary fixing components are provided on both sides of the bottom frame 32, and the auxiliary fixing components include: a support plate 322, a slot cylinder 323, an insertion rod 324, a support plate 325, a support bracket 326, a third electric telescopic rod 327, a fixing seat 328, and a top Lifting rod 329 and connecting bracket 330; support plate 322 is installed in the middle of the outer bottom end of the bottom frame 32; slot tube 323 is arranged on the outer side of the top end of support plate 322 in the up-down direction; plug rod 324 is inserted into the top of the inner cavity of slot tube 323 in the up-down direction, and plug rod 324 can move up and down at the top of the inner cavity of slot tube 323; support plate 325 is arranged on the top of the outer wall of plug rod 324; support bracket 326 is installed on the outer side of the top end of support plate 325; third electric telescopic rod 327 is located on the inner side of the top end of support plate 322, and third electric telescopic rod 327 is electrically connected to sub-control module 33, and third electric telescopic rod 327 drives lifting rod 329 to move up and down by its own extension and contraction;The fixing seat 328 is installed on the top of the outer wall of the slot tube 323, and the third electric telescopic rod 327 is rotatably connected to the bottom end of the inner side of the fixing seat 328 through a pin seat. The third electric telescopic rod 327 can rotate with the rotation connection with the fixing seat 328 pin seat as the axis during its own extension and contraction process; the lifting rod 329 is rotatably connected to the inner side of the fixing seat 328 through a pin, and one end of the lifting rod 329 is rotatably connected to the telescopic end of the third electric telescopic rod 327 through a pin; one end of the connecting bracket 330 is rotatably connected to the outer side of the other end of the lifting rod 329 through a pin, and the other end of the connecting bracket 330 is rotatably connected to the inner side of the top end of the support plate 325 through a pin. ;

[0048] As a preferred solution, further, Figure 6As shown, the azimuth adjustment component 4 includes: a fixed connecting frame 41, an arc groove 42, a rotating seat 43, a second motor 44, a first belt assembly 45, a rotating shaft 46, a mounting seat 47, a third motor 48, a second belt assembly 49 and a laser radar 410; the azimuth adjustment component 4 includes: a fixed connecting frame 41 is arranged at the bottom center of the bottom frame 32; the arc groove 42 is opened on the left side of the fixed connecting frame 41, and the inner cavity of the arc groove 42 is connected with the inner cavity of the fixed connecting frame 41; the rotating seat 43 is rotatably connected to the right side of the inner cavity of the fixed connecting frame 41 through a bearing along the left and right directions. The axis of the rotating seat 43 extends out of the fixed connecting frame 41; the second motor 44 is installed at the right front of the fixed connecting frame 41, and the second motor 44 is electrically connected to the sub-control module 33. The second motor 44 can drive the pulley on one side of the first belt assembly 45 to rotate clockwise or counterclockwise; the axis of the pulley on one side of the first belt assembly 45 is fixedly connected to the rotating end of the second motor 44, and the axis of the pulley on the other side of the first belt assembly 45 is fixedly connected to the right end of the axis of the rotating seat 43. The first belt assembly 45 can play a transmission role between the rotating seat 43 and the second motor 44; the rotating shaft 46 is rotatably connected to the left bottom end of the arc groove 42 through a bearing, and the axis of the rotating shaft 46 extends to the right side into the inner cavity of the fixed connecting frame 41 and is connected to the rotating seat 43; the mounting seat 47 is rotatably connected to the inner side of the rotating seat 43 through a pin shaft, and the axis of the mounting seat 47 extends out of the upper surface of the rotating seat 43; the third motor 48 is installed at the left end of the rotating shaft 46, and the third motor 48 is electrically connected to the sub-control module 33. The third motor 48 can drive the pulley on one side of the second belt assembly 49 to rotate clockwise or counterclockwise; the axis of the pulley on one side of the second belt assembly 49 is fixedly connected to the third motor The rotating end of the machine 48, the axis of the pulley on the other side of the second belt assembly 49 is fixedly connected to the outside of the axis of the mounting seat 47, and the internal transmission belt of the second belt assembly 49 passes through the inner cavity of the arc groove 42. The second belt assembly 49 can play a transmission role between the mounting seat 47 and the third motor 48; the laser radar 410 is installed at the bottom of the mounting seat 47, and the laser radar 410 is electrically connected to the sub-control module 33. The laser radar 410 can collect images of external traffic conditions and remotely send the collected data information to the outside of the external terminal through the sub-control module 33 and the control module 5.

[0049] In order to adjust the installation angle and position of the LiDAR equipment so that the coverage area of ​​the LiDAR meets the actual road traffic needs, the working principle of the LiDAR equipment is as follows:

[0050] Step 1: The staff places the detachable laser radar mechanism 3 on the outside of the mounting rod 2, and the preset program in the control module 5 remotely controls the sub-control module 33 to start. The sub-control module 33 starts the first electric telescopic rod 37 and the second electric telescopic rod 320. The first electric telescopic rod 37 shortens and drives the rear connecting frame 36 to move forward, and drives one end of the connecting rod 39 at the corresponding position below the rear connecting frame 36 to move forward, and drives the rotating rod 38 to rotate with the cooperation of the rear connecting rod 39, so that the rotating rod 38 moves forward synchronously with one end of the front connecting rod 39, and drives the front connecting frame 36 to move backward with the cooperation of the front connecting rod 39. The connecting rods 39 on both sides drive the opposite The mounting frame 35 is placed in the position so that the mounting frame 35 drives the arc-shaped stabilizing frame 311 to move inward under the limitation of the double-end guide rail assembly 34 and the cooperation of the T-shaped mounting frame 310. The arc-shaped stabilizing frames 311 on both sides of the front and rear are closed and close to the outer wall of the mounting rod 2. The mounting frames 35 on both sides of the front and rear drive the conical slot wheel 315 and the conical wheel 317 to move inward under the cooperation of the mounting plates 312 on both sides. The second electric telescopic rod 320 extends to drive the limiting wheel 321 to move backward, and drives the conical wheel 317 under the cooperation of the limiting wheel 321 and the annular limiting groove 319. The conical wheel 317 is connected by the telescopic shaft 316 so that the docking pin 318 is plugged into the inner cavity of the conical slot wheel 315.

[0051] Step 2: When the position of the laser radar 410 needs to be adjusted, the staff remotely controls the sub-control module 33 through the control module 5 to start the first motor 314 and the third electric telescopic rod 327. The first motor 314 drives the gear on one side of the gear set 313 to rotate, and drives the conical slot wheel 315 to rotate under the transmission of the gear on the other side of the gear set 313. The conical slot wheel 315 drives the conical wheel 317 under the cooperation of the docking pin 318. The conical wheel 317 rotates on the inner side of the mounting plate 312 through the telescopic shaft 316, and the annular limit groove 319 is moved on the limit wheel 32 1, the conical slot wheel 315 and the conical wheel 317 rotate along the top of the outer wall of the mounting rod 2, so that the detachable laser radar mechanism 3 moves horizontally along the mounting rod 2 to the specified position. After moving to the specified position, the third electric telescopic rod 327 shortens and drives the inner end of the lifting rod 329 to move downward, so that the lifting rod 329 rotates inside the fixing seat 328. The lifting rod 329 drives the insertion rod 324 to move upward in the inner cavity of the slot tube 323 under the cooperation of the connecting bracket 330, and drives the supporting bracket 326 to the bottom of the outer wall of the mounting rod 2 under the cooperation of the supporting plate 325. The detachable laser radar mechanism 3 is fixed to the contact, and when the laser radar 410 angle needs to be adjusted, the staff remotely controls the sub-control module 33 through the control module 5 to start the third motor 48 and the second motor 44, and the third motor 48 drives the pulley on one side of the second belt assembly 49 to rotate, and drives the mounting seat 47 to rotate clockwise or counterclockwise inside the rotating seat 43 under the transmission of the second belt assembly 49, so as to drive the laser radar 410 to rotate horizontally to the specified azimuth angle under the cooperation of the mounting seat 47, and the second motor 44 drives the first belt assembly The pulley on one side of 45 rotates, and under the transmission of the first belt assembly 45, the rotating seat 43 is driven to rotate clockwise or counterclockwise inside the fixed connecting frame 41. The rotating seat 43 rotates and drives the rotating shaft 46 to rotate synchronously inside the fixed connecting frame 41, and drives the third motor 48 to follow the rotation with the cooperation of the rotating shaft 46, and drives the second belt assembly 49 to move in an arc shape along the inner side of the arc groove 42. The laser radar 410 collects images of external traffic conditions and remotely sends the collected data information to the outside terminal through the sub-control module 33 and the control module 5.

[0052] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A high-precision roadside laser sensing method based on area detection, characterized in that: The following steps are involved: Step 1: Install the LiDAR equipment and adjust the installation angle and position of the LiDAR equipment so that the coverage area of ​​the LiDAR meets the actual road traffic needs; Step 2: Open the LiDAR host computer software, observe the point cloud presentation status and display effect, and manually define the overall detection range required on the traffic road; Step 3: By identifying and filtering the roads, the ground point cloud is obtained through the algorithm, and the ground point cloud is plane-fitted to obtain the ground normal vector. The radar coordinate axis is used as the reference coordinate to calculate the rotation matrix; Step 4: Calculate the installation height H relative to the ground through the rotation matrix and installation angle; Step 5: The overall detection range, installation angle, and installation height information are used as the basis for region segmentation, and then the point cloud of the detection area is divided into region 1, region 2 to region n point clouds according to the density of the lidar point cloud; Step 6: Send the divided point clouds of different areas to the corresponding trained algorithm model for detection, and obtain the detection results of each detection area and the road traffic information required; Step 7: Based on the result data obtained from each area, perform splicing and fusion on the results, and return the detection results of each area to the overall detection range; Step 8: When detecting the boundary range of adjacent areas, the position offset of the detection results is involved. When the same vehicle is detected by two areas, the detection results of the boundary are corrected for the adjacent areas according to the position information of the detection frame. Step 9: Output the detection results, which include the target's three-dimensional position information, length, width, height, heading angle and category information.

2. According to claim 1, a high-precision roadside laser sensing method based on area detection is characterized in that: In step 1, the laser radar device includes: Column rod (1); A mounting rod (2) mounted on the top of the outer wall of the upright rod (1) in the left-right direction; A detachable laser radar mechanism (3) which can be detachably mounted on the outside of the mounting rod (2); A control module (5) is arranged at the bottom end of the outer wall of the upright rod (1).

3. The high-precision roadside laser sensing method based on area detection according to claim 2 is characterized in that: The detachable laser radar mechanism (3) comprises: A main frame (31) is arranged outside the upright pole (1); A bottom frame (32) is arranged below the main frame (31); An orientation adjustment component (4) mounted on the bottom of the bottom frame (32); A sub-control module (33) is arranged on the front side of the main frame (31), and the sub-control module (33) can be remotely connected to the orientation adjustment component (4) via a network; A double-end guide rail assembly (34) is arranged at the inner bottom end of the main frame (31) along the front-rear direction; A mounting frame (35), wherein the number of the mounting frames (35) is two, and the two mounting frames (35) are respectively mounted on the top of the front and rear limit ends of the double-end guide rail assembly (34), and the outer sides of the front and rear two mounting frames (35) extend outward from the front and rear openings of the main frame (31); A connecting frame (36), wherein the number of the connecting frames (36) is two, and the two connecting frames (36) are respectively arranged outside the front and rear double-end guide rail assemblies (34), and the bottoms of the front and rear two connecting frames (36) extend to the inner cavity of the bottom frame (32); A first electric telescopic rod (37) is arranged at the rear end of the right side of the outside of the bottom frame (32), the telescopic end of the first electric telescopic rod (37) is connected to the right rear of the rear connecting frame (36), and the first electric telescopic rod (37) is electrically connected to the sub-control module (33); A rotating rod (38) is rotatably connected to the middle portion of the bottom end of the inner cavity of the bottom frame (32) via a bearing; Connecting rods (39), the number of the connecting rods (39) being two, one end of the two connecting rods (39) being rotatably connected to the bottom ends of the front and rear connecting frames (36) respectively through pins, and the other ends of the two connecting rods (39) being rotatably connected to the two ends of the rotating rod (38) respectively through pins; T-shaped mounting frames (310), the number of the T-shaped mounting frames (310) being two, and the two T-shaped mounting frames (310) being respectively mounted on the inner middle portions of the front and rear mounting frames (35); The arc-shaped stabilizing frames (311) are provided in two groups, each group of the arc-shaped stabilizing frames (311) having two arc-shaped stabilizing frames (311). The two groups of the arc-shaped stabilizing frames (311) are respectively arranged at the left and right ends of the inner sides of the front and rear T-shaped mounting frames (310). The front and rear arc-shaped stabilizing frames (311) can be closed and fit with the outer wall of the mounting rod (2).

4. The high-precision roadside laser sensing method based on area detection according to claim 3 is characterized in that: The detachable laser radar mechanism (3) further comprises: A mounting plate (312), wherein the number of the mounting plates (312) is two, and the two mounting plates (312) are respectively mounted on the inner tops of the front and rear mounting frames (35); A gear set (313), wherein a gear on one side of the gear set (313) is rotatably connected to the inner bottom of the rear mounting plate (312) via a bearing, and a gear on the other side of the gear set (313) is rotatably connected to the inner top of the rear mounting plate (312) via a bearing and meshes with each other; A first motor (314) is arranged at the top of the outer end of the rear mounting plate (312), the axis of the first motor (314) extending into the inner side of the mounting plate (312) and connected to the axis of the top gear of the gear set (313), and the first motor (314) is electrically connected to the sub-control module (33); A conical slot wheel (315) is arranged at the front end of the bottom gear axis of the gear set (313); A telescopic rotating shaft (316), the telescopic rotating shaft (316) being rotatably connected to the inner bottom end of the front mounting plate (312) via a bearing; A conical wheel (317) mounted on the inner side of the telescopic end of the telescopic rotating shaft (316); Docking pins (318), the number of the docking pins (318) is two, the two docking pins (318) are respectively arranged at the upper and lower sides of the rear end of the conical wheel (317), and the two docking pins (318) can be plugged into the inner cavity of the conical slot wheel (315); An annular limiting groove (319) is circumferentially arranged on the outer side of the front end of the conical wheel (317); A second electric telescopic rod (320) is mounted on the top of the outer end of the mounting plate (312) at the front side, the telescopic end of the second electric telescopic rod (320) extends into the inner side of the mounting plate (312), and the second electric telescopic rod (320) is electrically connected to the sub-control module (33); A limiting wheel (321) is rotatably connected to the telescopic end of the second electric telescopic rod (320) via a bearing, and the limiting wheel (321) is plugged into the inner cavity of the annular limiting groove (319); Wherein, auxiliary fixing components are arranged on both the left and right sides of the bottom frame (32).

5. The high-precision roadside laser sensing method based on area detection according to claim 4 is characterized in that: The auxiliary fixing assembly comprises: A support plate (322) mounted at the middle of the outer bottom end of the bottom frame (32); A slot cylinder (323) is arranged on the outer side of the top end of the support plate (322) in the up-down direction; An insertion rod (324) is inserted into the top of the inner cavity of the slot tube (323) in the up-down direction; A support plate (325) is arranged on the top of the outer wall of the insertion rod (324); A supporting bracket (326) mounted on the outer side of the top end of the supporting plate (325); A third electric telescopic rod (327) is located on the inner side of the top end of the support plate (322), and the third electric telescopic rod (327) is electrically connected to the sub-control module (33); A fixed seat (328) is mounted on the top of the outer wall of the slot tube (323); the third electric telescopic rod (327) is rotatably connected to the inner bottom end of the fixed seat (328) via a pin seat; A lifting rod (329) is rotatably connected to the inner side of the fixing seat (328) via a pin shaft, and one end of the lifting rod (329) is rotatably connected to the telescopic end of the third electric telescopic rod (327) via a pin shaft; One end of the connecting bracket (330) is rotatably connected to the outer side of the other end of the lifting rod (329) through a pin shaft, and the other end of the connecting bracket (330) is rotatably connected to the inner side of the top end of the supporting plate (325) through a pin shaft.

6. The high-precision roadside laser sensing method based on area detection according to claim 5 is characterized by: The orientation adjustment component (4) comprises: A fixed connection frame (41) arranged at the center of the bottom end of the bottom frame (32); An arc-shaped groove (42) is formed on the left side of the fixed connection frame (41), and the inner cavity of the arc-shaped groove (42) is connected to the inner cavity of the fixed connection frame (41); A rotating seat (43) is rotatably connected to the right side of the inner cavity of the fixed connecting frame (41) via a bearing in the left-right direction, and the axis of the rotating seat (43) extends outside the fixed connecting frame (41); A second motor (44) is mounted on the front right side of the fixed connection frame (41), and the second motor (44) is electrically connected to the sub-control module (33); The first belt assembly (45) has a pulley axis on one side fixedly connected to the rotating end of the second motor (44), and the pulley axis on the other side of the first belt assembly (45) is fixedly connected to the right end of the axis of the rotating seat (43).

7. The high-precision roadside laser sensing method based on area detection according to claim 6 is characterized by: The orientation adjustment component (4) further comprises: A rotating shaft (46) is rotatably connected to the left bottom end of the arc-shaped groove (42) via a bearing, and the right side of the axis of the rotating shaft (46) extends into the inner cavity of the fixed connecting frame (41) and is connected to the rotating seat (43); A mounting seat (47) rotatably connected to the inner side of the rotating seat (43) via a pin shaft, wherein the axis of the mounting seat (47) extends out of the upper surface of the rotating seat (43); a third motor (48) mounted on the left end of the rotating shaft (46), the third motor (48) being electrically connected to the sub-control module (33); A second belt assembly (49), wherein the axis of a pulley on one side is fixedly connected to the rotating end of the third motor (48), the axis of a pulley on the other side of the second belt assembly (49) is fixedly connected to the outside of the axis of the mounting seat (47), and the internal transmission belt of the second belt assembly (49) passes through the inner cavity of the arc groove (42); The laser radar (410) is mounted on the bottom of the mounting seat (47), and the laser radar (410) is electrically connected to the sub-control module (33).

8. The high-precision roadside laser sensing method based on area detection according to claim 7 is characterized in that: The first motor (314) drives the gear on one side of the gear set (313) to rotate, and the gear on the other side of the gear set (313) drives the conical slot wheel (315) to rotate. The conical slot wheel (315) drives the conical wheel (317) in cooperation with the docking pin (318). The conical wheel (317) rotates on the inner side of the mounting plate (312) via the telescopic rotating shaft (316), and can cause the annular limiting groove (319) to rotate in the circumferential direction on the outer side of the limiting wheel (321).

9. The high-precision roadside laser sensing method based on area detection according to claim 8 is characterized in that: The third motor (48) drives the second belt assembly (49) to drive the laser radar (410) to rotate horizontally in cooperation with the mounting seat (47), and the second motor (44) drives the first belt assembly (45). The rotating seat (43) is driven by the first belt assembly (45) to cause the rotating shaft (46) to rotate synchronously inside the fixed connecting frame (41), and the third motor (48) is driven to rotate with the cooperation of the rotating shaft (46), and the second belt assembly (49) is driven to move in an arc shape along the inside of the arc groove (42), so that images of external traffic conditions are collected through the laser radar (410).

Images