Spatial multi-sensor detection method and system
By monitoring and adjusting the position and attitude of the sensor, fault-tolerant reconstruction in the abnormal sensor is achieved, the robustness and detection performance of the intelligent driving system are improved, and the problem of performance loss after sensor failure is solved.
Patent Information
- Application Number
- CN202411366113.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-29
- Publication Date
- 2024-12-27
AI Technical Summary
In an intelligent driving system, after losing a certain type of sensor, heterogeneous signal redundancy alone cannot compensate for the performance loss of the system in a certain aspect, resulting in a degradation of perceived performance.
By monitoring the operating status of the sensor, recording the position and attitude of abnormal situations, and matching and adjusting other types of sensors according to the abnormal type, in order to realize the reconstruction of the detection method, improving the robustness and adaptability of the perception system.
Without increasing the number of sensors, the robustness and detection performance of the perception system are improved, solving the problem of performance loss after sensor failure.
Smart Images
Figure CN119197555A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of sensor detection technology, and in particular to a detection method and system of spatial multi-sensors. Background Art
[0002] Intelligent driving systems are widely used in vehicles such as automobiles, aircraft, and ships. Various sensors in the system are the "eyes and ears" of the entire system, responsible for sensing the dynamics of the external environment. There are many types of sensors, often including optical cameras, laser radars, millimeter-wave radars, ultrasonic radars, etc. All sensors are input into the central computing unit through their respective buses for fusion, splicing, and recognition.
[0003] System designers determine the type of sensor and installation location based on the type of detection target. Several sensors of different types often cover the same detection space, but their spatial positions are fixed, and the sensor body is rigidly connected to the vehicle's fuselage structure. When a certain type of sensor fails, other types of sensors at the same detection location can achieve redundant detection at the "heterogeneous" signal level.
[0004] However, the purpose of arranging different types of sensors at the same location is often to utilize their respective advantages in detection capabilities to produce complementary effects. For example, optical cameras are sensitive to lateral distances, and ultrasonic radars are sensitive to vertical distances, so the combination of the two can produce complementary spatial detection effects; or laser radars are more accurate in ranging, while millimeter-wave radars are more resistant to harsh environments, so the combination of the two can improve environmental adaptability. Therefore, after losing a certain type of sensor, relying solely on "heterogeneous" signal redundancy cannot make up for the loss of performance in a certain aspect of the system.
[0005] The information disclosed in this background section of the present disclosure is only for enhancement of understanding of the general background of the present disclosure and should not be regarded as an acknowledgement or any form of suggestion that this information forms the prior art already known to those skilled in the art. Summary of the invention
[0006] In view of the above problems, the present disclosure provides a spatial multi-sensor detection method and system for improving detection performance.
[0007] According to a first aspect of the present disclosure, a spatial multi-sensor detection method is provided, comprising:
[0008] S1, monitoring the operation of the object sensor in the perception system, and when detecting that the object sensor has a detection abnormality, recording the first position coordinate and the first posture angle of the object sensor at this time;
[0009] The sensing system includes a plurality of running tracks, a plurality of sensors of the same type are arranged on the same running track, the types of sensors arranged between different running tracks are different, and the positions of all the arranged sensors can be adjusted as needed; the abnormal detection conditions include: failure of detection type and failure of detection angle;
[0010] S2, determining the type of abnormal detection condition of the object sensor, if the abnormal detection condition of the object sensor is a detection type failure, executing steps S3 and S4; if the abnormal detection condition of the object sensor is a detection angle failure, executing steps S5 and S6;
[0011] S3, matching a first target sensor on a first target running track corresponding to the detection type failure situation according to the detection type failure situation;
[0012] S4, moving the first target sensor to the first position coordinate to replace the object sensor to perform the detection task;
[0013] S5, matching a second target sensor on the running track where the object sensor is located according to the detection angle failure situation, and adjusting the posture of the second target sensor to a second posture angle according to the detection angle failure situation;
[0014] S6. Move the object sensor away from the first position coordinates, and move the second object sensor to the first position coordinates to replace the object sensor to perform the detection task.
[0015] According to an embodiment of the present disclosure, after the abnormal detection condition of the object sensor in step S2 is a detection angle failure, the method further includes:
[0016] S7, moving the object sensor away from the first position coordinates, and moving the second object sensor to the first position coordinates to replace the object sensor to perform the detection task;
[0017] S8. Match a second target sensor on the running track where the object sensor is located according to the detection angle failure situation, and adjust the posture of the second target sensor to a second posture angle according to the detection angle failure situation.
[0018] According to an embodiment of the present disclosure, the running track is a first closed track, and the running track is provided with an embedded power line, a signal bus, and a position detection line; a freely movable gimbal is provided on the running track, and the gimbal is used to load and adjust the attitude angle of the sensor.
[0019] According to an embodiment of the present disclosure, before step S1, the method further includes:
[0020] S0. Determine the object sensor according to the detection task of the perception system, and adjust the object sensor to the first position coordinates and the first posture angle based on a matrix transformation algorithm so that the object sensor performs the current detection task.
[0021] According to an embodiment of the present disclosure, the step S5 of adjusting the posture of the second target sensor to a second posture angle according to the detection angle failure condition includes:
[0022] When a detection angle failure occurs, respectively obtaining the target attitude angle required to complete the detection task and the current attitude angle of the second target sensor;
[0023] Generate a fault-tolerant reconstruction matrix based on a matrix transformation algorithm according to the target posture angle and the current posture angle of the second target sensor;
[0024] The second target sensor is adjusted to the target posture angle according to the fault-tolerant reconstruction matrix.
[0025] A second aspect of the present disclosure provides a spatial multi-sensor detection system, comprising:
[0026] A monitoring module, used to monitor the operation of the object sensor in the perception system, and when it is detected that the object sensor has a detection abnormality, record the first position coordinates and the first posture angle of the object sensor at this time;
[0027] The sensing system includes a plurality of running tracks, a plurality of sensors of the same type are arranged on the same running track, the types of sensors arranged between different running tracks are different, and the positions of all the arranged sensors can be adjusted as needed; the abnormal detection conditions include: failure of detection type and failure of detection angle;
[0028] A judgment module, used for judging the type of the abnormal detection situation occurred by the object sensor, and executing the first processing module if the abnormal detection situation occurred by the object sensor is a failure of the detection type; and executing the second processing module if the abnormal detection situation occurred by the object sensor is a failure of the detection angle;
[0029] The first processing module is used to match the first target sensor on the first target running track corresponding to the detection type failure situation according to the detection type failure situation; move the first target sensor to the first position coordinate to replace the object sensor to perform the detection task.
[0030] The second processing module is used to match the second target sensor on the running track where the object sensor is located according to the detection angle failure situation, and adjust the posture of the second target sensor to a second posture angle according to the detection angle failure situation; move the object sensor away from the first position coordinates, and move the second target sensor to the first position coordinates to replace the object sensor to perform the detection task.
[0031] According to an embodiment of the present disclosure, the running track is a first closed track, and the running track is provided with an embedded power line, a signal bus, and a position detection line; a freely movable gimbal is provided on the running track, and the gimbal is used to load and adjust the attitude angle of the sensor.
[0032] According to an embodiment of the present disclosure, the spatial multi-sensor detection system further includes:
[0033] The initial detection task module is used to determine the object sensor according to the detection task of the perception system, and adjust the object sensor to the first position coordinates and the first posture angle based on a matrix transformation algorithm so that the object sensor performs the current detection task.
[0034] According to the spatial multi-sensor detection system described in an embodiment of the present disclosure, the second processing module includes:
[0035] An acquisition module is used to respectively acquire the target attitude angle and the current attitude angle of the second target sensor required to complete the detection task when a detection angle failure occurs;
[0036] A fault-tolerant reconstruction module, used to generate a fault-tolerant reconstruction matrix based on a matrix transformation algorithm according to the target posture angle and the current posture angle of the second target sensor;
[0037] A control module is used to adjust the second target sensor to the target posture angle according to the fault-tolerant reconstruction matrix.
[0038] The third aspect of the present disclosure further provides a computer program product, including a computer program, which implements the above-mentioned spatial multi-sensor detection method when executed by a processor.
[0039] The spatial multi-sensor detection method and system provided by the embodiments of the present disclosure have at least the following beneficial effects:
[0040] The embodiments of the present disclosure provide a spatial multi-sensor detection method. When a sensor is detected to have a detection abnormality, the sensor is fault-tolerantly reconstructed by adjusting the sensor type, detection position or detection angle as needed. The robustness of the perception system can be improved without increasing the number of sensors, and the perception performance and detection adaptability of the perception system can be improved. This solves the technical problem in the related art that when a perception system loses a certain type of sensor, the loss of performance in a certain aspect of the system cannot be compensated by relying solely on "heterogeneous" signal redundancy. BRIEF DESCRIPTION OF THE DRAWINGS
[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.
[0042] The above contents and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:
[0043] Figure 1 The flowchart of the spatial multi-sensor detection method according to the embodiment of the present disclosure is schematically shown;
[0044] Figure 2 The operation of each sensor in the perception system when the detection angle of the object sensor fails according to the embodiment of the present disclosure is schematically shown;
[0045] Figure 3 A schematic diagram schematically shows multiple operating tracks of a perception system according to an embodiment of the present disclosure;
[0046] Figure 4 A schematic diagram schematically shows a perception system adapting to detection task changes according to an embodiment of the present disclosure;
[0047] Figure 5 A schematic diagram of a running track in a perception system according to an embodiment of the present disclosure is schematically shown;
[0048] Figure 6 A schematic cross-sectional view of a running track and a pan / tilt head according to an embodiment of the present disclosure is schematically shown;
[0049] Figure 7 The structural diagram of the spatial multi-sensor detection system according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION
[0050] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.
[0051] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.
[0052] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.
[0053] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).
[0054] The embodiments of the present disclosure provide a spatial multi-sensor detection method, which monitors the operation of object sensors in a perception system. When a detection abnormality is detected by the object sensor, the first position coordinate and the first posture angle of the object sensor are recorded. According to the different types of detection abnormalities that occur in the object sensor, different sensor detection strategies are selected, and the sensor type and position posture are adjusted to realize reconstruction of the detection method, thereby improving the detection performance of the perception system.
[0055] By adopting the method provided in the embodiment of the present disclosure, when a sensor detects an abnormal detection situation, the sensor is reconstructed for fault tolerance by adjusting the sensor type, detection position or detection angle as needed. The robustness of the perception system can be improved without increasing the number of sensors, and the perception performance and detection adaptability of the perception system can be improved. This solves the technical problem in the related art that when a perception system loses a certain type of sensor, the loss of performance in a certain aspect of the system cannot be compensated by relying solely on "heterogeneous" signal redundancy.
[0056] Figure 1The flowchart of the spatial multi-sensor detection method according to an embodiment of the present disclosure is schematically shown.
[0057] like Figure 1 As shown, the spatial multi-sensor detection method of the embodiment of the present disclosure includes the following operations S1 to S6:
[0058] In operation S1, the operation of the object sensor in the perception system is monitored, and when it is detected that an abnormal detection situation occurs in the object sensor, the first position coordinates and the first posture angle of the object sensor are recorded.
[0059] In operation S2, determine the type of detection abnormality occurring in the object sensor. If the detection abnormality occurring in the object sensor is a detection type failure, execute steps S3 and S4; if the detection abnormality occurring in the object sensor is a detection angle failure, execute operations S5 and S6.
[0060] In operation S3, a first target sensor on a first target running track corresponding to the situation of the detection type failure is matched according to the situation of the detection type failure.
[0061] In operation S4 , the first target sensor is moved to a first position coordinate to replace the object sensor to perform a detection task.
[0062] In operation S5, a second target sensor on the running track where the object sensor is located is matched according to the detection angle failure situation, and a posture of the second target sensor is adjusted to a second posture angle according to the detection angle failure situation.
[0063] In operation S6, the object sensor is moved away from the first position coordinates, and the second object sensor is moved to the first position coordinates to replace the object sensor to perform the detection task.
[0064] The following will be based on Figure 1 The method described in this paper is Figure 2 to Figure 6 The spatial multi-sensor detection method of the disclosed embodiment is described in detail.
[0065] To facilitate understanding of operation S5 and operation S6 in the above embodiment, a specific application scenario of the above embodiment will be used as an example for description below:
[0066] like Figure 2 As shown, it schematically shows the operation of each sensor in the perception system when the object sensor according to the embodiment of the present disclosure fails in detection angle.
[0067] There is an intelligent driving system, which is equipped with Figure 2The perception system shown. The task being performed by the perception system is to detect the distance to the obstacle directly in front, where the front refers to the direction perpendicular to the short side of the rectangular track and pointing from the inside to the outside. When the detection system's detection anomaly causes a detection angle failure, that is, the attitude angle of sensor α on the outer ring track cannot meet the detection task of detecting the distance of the obstacle in front, then the sensor A on the inner ring track is matched according to the detection task, and the attitude of sensor A is adjusted from the initial attitude angle to the second attitude angle according to the detection angle failure. Afterwards, the faulty sensor α is moved from the original faulty position to another position, and sensor A is moved to the original position of sensor α. The position distribution of each sensor is shown by Figure 2 Adjust the left part to Figure 2 In the operating state of the right part, sensor A replaces the original failed sensor α to complete the task of detecting the distance of the obstacle ahead.
[0068] The detection angle failure described in operation S1 is a situation where the object sensor itself fails and cannot be used, or a situation where the existing angle of the object sensor cannot complete the detection task.
[0069] Figure 3 A schematic diagram schematically shows multiple operating tracks of a perception system according to an embodiment of the present disclosure.
[0070] like Figure 3 As shown, it should be noted that the above-mentioned perception system includes multiple running tracks, and multiple sensors of the same type are arranged on the same running track. The types of sensors arranged between different running tracks are different, and the postures of all the arranged sensors can be adjusted as needed; the detection abnormal conditions include: failure of detection type and failure of detection angle.
[0071] In terms of system design, each type of sensor uses the same track, and different types of sensors use different tracks. In actual application, the perception system can be applied to the field of intelligent driving, for example: each track is rigidly fixed to the surface of the intelligent driving vehicle, and each sensor is fixed on a micro gimbal. During the initial power-on self-test, each gimbal first reports its own number and position to the computing center to facilitate monitoring of the perception system. The computing center then sends target position and orientation angle commands to each independently numbered gimbal according to the pre-set values. After all gimbals move to the target position and adjust to the target angle, the system completes the calibration process.
[0072] Figure 4 The figure schematically shows a schematic diagram of a perception system adapting to changes in detection tasks according to an embodiment of the present disclosure.
[0073] During the use of the perception system, if a sensor fails (failure detection is not within the scope of this disclosure), the healthy sensor should be moved to a suitable position through the gimbal according to the current detection task and set to a reasonable orientation angle. At the same time, the failed sensor should also be moved to a harmless position that does not hinder the movement of other gimbals. For example, Figure 4 As shown, when the vehicle is moving forward at a constant speed, the detection task of the perception system at this time is to detect the environmental parameters in front of the vehicle, so the sensors are mainly concentrated in the front and sides, and the detection of the rear is abandoned.
[0074] The spatial multi-sensor detection method disclosed in the present invention can be applied to an intelligent driving system and has the ability to dynamically adjust the spatial position of each sensor of the intelligent driving system. Therefore, when a sensor fails, the spatial position of the sensor can be reconstructed as needed according to the task currently performed by the perception system, thereby improving the perception robustness of the system without increasing the number of sensors. On the other hand, when the sensor is not faulty, the system can also adjust the position of the sensor and densely arrange it in a certain direction, thereby centrally improving the perception performance.
[0075] Figure 5 A schematic diagram of a running track in a perception system according to an embodiment of the present disclosure is schematically shown.
[0076] A schematic diagram of a running track in the perception system, such as Figure 5 As shown, it should be noted that Figure 5 The running track shown is a closed track connected end to end, and the running track is provided with an embedded power line, a signal bus, and a position detection line. A freely movable pan-tilt is provided on the running track, and the pan-tilt is used to load and adjust the attitude angle of the sensor. However, the actual application is not limited to this, and the running track can also be open, or in other forms that can meet the application needs.
[0077] like Figure 5 As shown, the main body of one of the running tracks is a track that is closed at both ends, and the track has embedded power lines, signal buses, and position detection lines. The power line of the track is connected to the low-voltage normal power of the vehicle, and the signal bus of the track is connected to the central computing unit. The signal bus includes but is not limited to CAN, Ethernet, etc. The track is embedded with a pan-tilt that can move autonomously on the track, and a sensor can be fixedly installed on the pan-tilt. The position detection line can be equivalent to the output end of a sliding rheostat. The pan-tilt gets its current position in the track by measuring the resistance / voltage divider there.
[0078] Figure 6 A cross-sectional schematic diagram of a running track and a pan-tilt head according to an embodiment of the present disclosure is schematically shown.
[0079] like Figure 6As shown, the pan / tilt head can use the electric energy provided by the track and move freely on the slideway according to bus instructions (including but not limited to transmission mechanisms such as pulleys and gears).
[0080] In the spatial multi-sensor detection method of the embodiment of the present disclosure, after the detection abnormality of the object sensor described in operation S2 is a detection type failure, the following operations S7 to S8 are also included:
[0081] In operation S7, the object sensor is moved away from the first position coordinates, and the second object sensor is moved to the first position coordinates to replace the object sensor to perform the detection task.
[0082] In operation S8, a second target sensor on the running track where the object sensor is located is matched according to the detection angle failure situation, and a posture of the second target sensor is adjusted to a second posture angle according to the detection angle failure situation.
[0083] In the spatial multi-sensor detection method of the embodiment of the present disclosure, before operation S1, the following operation S0 is also included:
[0084] In operation S0, an object sensor is determined according to a detection task of the perception system, and the object sensor is adjusted to a first position coordinate and a first posture angle based on a matrix transformation algorithm so that the object sensor performs the current detection task.
[0085] In the spatial multi-sensor detection method of the embodiment of the present disclosure, the step of adjusting the posture of the second target sensor to the second posture angle according to the detection angle failure situation in operation S5 includes the following operations S51 to S53:
[0086] In operation S51, when a detection angle failure occurs, a target attitude angle required to complete a detection task and a current attitude angle of a second target sensor are respectively obtained;
[0087] In operation S52, a fault-tolerant reconstruction matrix is generated based on a matrix transformation algorithm according to the target posture angle and the current posture angle of the second target sensor;
[0088] In operation S53, the second target sensor is adjusted to the target posture angle according to the error-tolerant reconstruction matrix.
[0089] Based on the above-mentioned spatial multi-sensor detection method, the present disclosure also provides a spatial multi-sensor detection system. Figure 7 The system is described in detail.
[0090] Figure 7 The structural diagram of the spatial multi-sensor detection system according to an embodiment of the present disclosure is schematically shown.
[0091] The spatial multi-sensor detection system includes:
[0092] The monitoring module is used to monitor the operation of the object sensor in the perception system, and when an abnormal detection situation is detected by the object sensor, the first position coordinate and the first posture angle of the object sensor are recorded at this time.
[0093] Among them, the perception system includes multiple running tracks. Multiple sensors of the same type are set on the same running track. The types of sensors set on different running tracks are different. The positions and postures of all the set sensors can be adjusted as needed. Detection abnormalities include: failure of detection type and failure of detection angle.
[0094] The judgment module is used to judge the type of detection abnormality occurred by the object sensor. If the detection abnormality occurred by the object sensor is a detection type failure, the first processing module is executed; if the detection abnormality occurred by the object sensor is a detection angle failure, the second processing module is executed.
[0095] The first processing module is used to match the first target sensor on the first target running track corresponding to the detection type failure situation according to the detection type failure situation; move the first target sensor to the first position coordinate to replace the object sensor to perform the detection task.
[0096] The second processing module is used to match the second target sensor on the running track where the object sensor is located according to the detection angle failure situation, and adjust the posture of the second target sensor to a second posture angle according to the detection angle failure situation; move the object sensor from the first position coordinates, and move the second target sensor to the first position coordinates to replace the object sensor to perform the detection task.
[0097] The running track is the first closed track, with built-in power lines, signal buses, and position detection lines. A freely movable pan-tilt is provided on the running track, which is used to load and adjust the attitude angle of the sensor.
[0098] According to an embodiment of the present disclosure, the above-mentioned spatial multi-sensor detection system also includes: an initial detection task module, which is used to determine the object sensor according to the detection task of the perception system, and adjust the object sensor to a first position coordinate and a first posture angle based on a matrix transformation algorithm so that the object sensor performs the current detection task.
[0099] According to an embodiment of the present disclosure, the second processing module includes: an acquisition module, a fault-tolerant reconstruction module and a control module. The acquisition module is used to respectively acquire the target posture angle and the current posture angle of the second target sensor required to complete the detection task when the detection angle fails. The fault-tolerant reconstruction module is used to generate a fault-tolerant reconstruction matrix based on a matrix transformation algorithm according to the target posture angle and the current posture angle of the second target sensor. The control module is used to adjust the second target sensor to the target posture angle according to the fault-tolerant reconstruction matrix.
[0100] The embodiments of the present disclosure provide a spatial multi-sensor detection method. When a sensor detects an abnormal detection situation, the sensor is fault-tolerantly reconstructed by adjusting the sensor type, detection position or detection angle as needed. The robustness of the perception system can be improved without increasing the number of sensors, and the perception performance and detection adaptability of the perception system can be improved. This solves the technical problem in the related art that when a perception system loses a certain type of sensor, the loss of performance in a certain aspect of the system cannot be compensated by relying solely on "heterogeneous" signal redundancy.
[0101] It will be appreciated by those skilled in the art that the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways, even if such combinations and / or combinations are not explicitly described in the present disclosure. In particular, the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways without departing from the spirit and teachings of the present disclosure. All of these combinations and / or combinations fall within the scope of the present disclosure.
[0102] The embodiments of the present disclosure are described above. However, these embodiments are only for illustrative purposes and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. The scope of the present disclosure is defined by the attached claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.
Claims
1. A spatial multi-sensor detection method, comprising: S1, monitoring the operation of the object sensor in the perception system, and when detecting that the object sensor has a detection abnormality, recording the first position coordinate and the first posture angle of the object sensor at this time; The sensing system includes a plurality of running tracks, a plurality of sensors of the same type are arranged on the same running track, the types of sensors arranged between different running tracks are different, and the positions of all the arranged sensors can be adjusted as needed; the abnormal detection conditions include: failure of detection type and failure of detection angle; S2, determining the type of abnormal detection condition of the object sensor, if the abnormal detection condition of the object sensor is a detection type failure, executing steps S3 and S4; if the abnormal detection condition of the object sensor is a detection angle failure, executing steps S5 and S6; S3, matching a first target sensor on a first target running track corresponding to the detection type failure situation according to the detection type failure situation; S4, moving the first target sensor to the first position coordinate to replace the object sensor to perform the detection task; S5, matching a second target sensor on the running track where the object sensor is located according to the detection angle failure situation, and adjusting the posture of the second target sensor to a second posture angle according to the detection angle failure situation; S6. Move the object sensor away from the first position coordinates, and move the second object sensor to the first position coordinates to replace the object sensor to perform the detection task.
2. The method according to claim 1, wherein: After the abnormal detection condition of the object sensor in step S2 is a failure of the detection angle, the method further includes: S7, moving the object sensor away from the first position coordinates, and moving the second object sensor to the first position coordinates to replace the object sensor to perform the detection task; S8. Match a second target sensor on the running track where the object sensor is located according to the detection angle failure situation, and adjust the posture of the second target sensor to a second posture angle according to the detection angle failure situation.
3. The method according to claim 1, wherein: The running track is a first closed track, and is provided with an embedded power line, a signal bus, and a position detection line; a freely movable pan-tilt is provided on the running track, and the pan-tilt is used to load and adjust the attitude angle of the sensor.
4. The method according to claim 1, wherein: Before step S1, the method further includes: S0. Determine the object sensor according to the detection task of the perception system, and adjust the object sensor to the first position coordinates and the first posture angle based on a matrix transformation algorithm so that the object sensor performs the current detection task.
5. The method according to claim 1, wherein: The step S5 of adjusting the posture of the second target sensor to a second posture angle according to the detection angle failure condition includes: When a detection angle failure occurs, respectively obtaining the target attitude angle required to complete the detection task and the current attitude angle of the second target sensor; Generate a fault-tolerant reconstruction matrix based on a matrix transformation algorithm according to the target posture angle and the current posture angle of the second target sensor; The second target sensor is adjusted to the target posture angle according to the fault-tolerant reconstruction matrix.
6. A spatial multi-sensor detection system, comprising: A monitoring module, used for monitoring the operation of the object sensor in the perception system, and when detecting that the object sensor has a detection abnormality, recording the first position coordinate and the first posture angle of the object sensor at this time; The sensing system includes a plurality of running tracks, a plurality of sensors of the same type are arranged on the same running track, the types of sensors arranged between different running tracks are different, and the positions of all the arranged sensors can be adjusted as needed; the abnormal detection conditions include: failure of detection type and failure of detection angle; A judgment module, used for judging the type of the abnormal detection situation of the object sensor, and executing the first processing module if the abnormal detection situation of the object sensor is a failure of the detection type; and executing the second processing module if the abnormal detection situation of the object sensor is a failure of the detection angle; A first processing module is used to match a first target sensor on a first target running track corresponding to the detection type failure situation according to the detection type failure situation; and move the first target sensor to the first position coordinate to replace the object sensor to perform the detection task; The second processing module is used to match the second target sensor on the running track where the object sensor is located according to the detection angle failure situation, and adjust the posture of the second target sensor to a second posture angle according to the detection angle failure situation; move the object sensor away from the first position coordinates, and move the second target sensor to the first position coordinates to replace the object sensor to perform the detection task.
7. The spatial multi-sensor detection system according to claim 6, wherein: The running track is a first closed track, and is provided with an embedded power line, a signal bus, and a position detection line; a freely movable pan-tilt is provided on the running track, and the pan-tilt is used to load and adjust the attitude angle of the sensor.
8. The spatial multi-sensor detection system according to claim 6, wherein: Also includes: The initial detection task module is used to determine the object sensor according to the detection task of the perception system, and adjust the object sensor to the first position coordinates and the first posture angle based on a matrix transformation algorithm so that the object sensor performs the current detection task.
9. The spatial multi-sensor detection system according to claim 6, wherein: The second processing module comprises: An acquisition module is used to respectively acquire the target attitude angle and the current attitude angle of the second target sensor required to complete the detection task when a detection angle failure occurs; A fault-tolerant reconstruction module, used to generate a fault-tolerant reconstruction matrix based on a matrix transformation algorithm according to the target posture angle and the current posture angle of the second target sensor; A control module is used to adjust the second target sensor to the target posture angle according to the fault-tolerant reconstruction matrix.
10. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.