A three-dimensional laser radar measurement analysis control system

Abstract

The present invention discloses a 3D laser radar measurement and analysis control system, which belongs to the technical field of 3D laser radar measurement and analysis control, and comprises an acquisition module, a data analysis module and a tracking analysis module; the acquisition module is used for performing environmental measurement using a 3D laser radar, obtaining corresponding 3D point cloud data, and generating a 3D point cloud map according to the 3D point cloud data; the data analysis module is used for analyzing the 3D point cloud map, determining an abnormal measurement area; identifying an abnormal cause corresponding to the abnormal measurement area; evaluating a target impact value corresponding to the abnormal measurement area according to a preset measurement purpose; and performing corresponding processing according to the obtained target impact value; the tracking analysis module is used for tracking and analyzing the abnormal measurement area; calculating in real time a target impact value corresponding to a corresponding abnormal measurement area in a 3D point cloud map, and generating an impact curve; evaluating a corresponding warning value according to the impact curve, and performing corresponding warning processing according to the obtained warning value.

Description

Technical Field

[0001] The invention belongs to the technical field of three-dimensional laser radar measurement, analysis and control, and in particular is a three-dimensional laser radar measurement, analysis and control system. Background Art

[0002] With the continuous advancement of science and technology, LiDAR measurement technology has been widely used in many fields, such as autonomous driving, terrain mapping, environmental monitoring, etc. LiDAR measurement technology has become an indispensable tool in these fields with its high precision, high efficiency and strong anti-interference ability.

[0003] However, existing LiDAR scanning systems still face some challenges in identifying and processing abnormal areas. First, during the scanning process, LiDAR may encounter measurement anomalies caused by various factors, such as environmental factors (such as bad weather such as rain, snow, fog and haze), characteristics of target objects (such as transparent objects, highly reflective objects, etc.), and performance limitations of the equipment itself (such as the divergence angle of the laser beam, scanning speed, etc.). These factors may cause the LiDAR's ranging accuracy to decrease, data distortion or complete failure, thus forming abnormal areas. Secondly, for the identified abnormal areas, existing systems often lack in-depth analysis capabilities. They can usually only simply mark the location and range of the abnormal area, but cannot accurately determine the cause of the abnormality and its specific impact on the measurement, autonomous driving and other goals. This may result in the system being unable to take targeted processing measures, thereby reducing the overall performance and safety of the system. In addition, tracking and dynamic analysis of abnormal areas is also an important challenge. Since abnormal areas may change over time and environmental changes, the system needs to be able to track these areas in real time and perform dynamic analysis. However, existing systems often lack such capabilities, resulting in their inability to respond to and process abnormal areas in a timely and accurate manner.

[0004] In order to solve the above problems, the present invention proposes a three-dimensional laser radar measurement, analysis and control system. Summary of the invention

[0005] In order to solve the problems existing in the above-mentioned solutions, the present invention provides a three-dimensional laser radar measurement, analysis and control system.

[0006] The purpose of the present invention can be achieved through the following technical solutions:

[0007] A three-dimensional laser radar measurement and analysis control system, comprising an acquisition module, a data analysis module and a tracking analysis module;

[0008] The acquisition module is used to use a three-dimensional laser radar to measure the environment, obtain corresponding three-dimensional point cloud data, and generate a three-dimensional point cloud map based on the three-dimensional point cloud data.

[0009] The data analysis module is used to analyze the three-dimensional point cloud map to determine whether there is an abnormal measurement area in the three-dimensional point cloud map;

[0010] When there is no abnormal measurement area in the 3D point cloud map, no corresponding operation is performed;

[0011] When there is an abnormal measurement area in the three-dimensional point cloud map, the corresponding abnormal measurement area is marked in the three-dimensional point cloud map; the abnormal cause corresponding to the abnormal measurement area is identified; the target impact value corresponding to the abnormal measurement area is evaluated according to the preset measurement purpose; and corresponding processing is performed according to the obtained target impact value.

[0012] Furthermore, the method for determining whether there is an abnormal measurement area in the three-dimensional point cloud map includes:

[0013] Obtain various interference factors in three-dimensional laser radar measurement, set interference point cloud maps corresponding to each interference factor; establish an interference recognition model according to the interference point cloud maps corresponding to each interference factor;

[0014] The expression of the interference identification model is: ;

[0015] In the formula: s is the input data, the input data is a three-dimensional point cloud image; the output data is the interference judgment value;

[0016] The interference recognition model is used to identify and analyze the three-dimensional point cloud image to obtain the corresponding interference judgment value;

[0017] When the interference judgment value is 1, it is determined that there is an abnormal measurement area in the three-dimensional point cloud map;

[0018] When the interference judgment value is 0, it is determined that there is no abnormal measurement area in the three-dimensional point cloud map.

[0019] Furthermore, the method for evaluating the target impact value of the abnormal measurement area according to the preset measurement purpose includes:

[0020] Identify the abnormal cause corresponding to the abnormal measurement area, and set the corresponding initial impact value according to the obtained abnormal cause and measurement purpose;

[0021] Determine and obtain status data according to preset influencing factors; set corresponding adjustment coefficients according to the status data;

[0022] The initial impact value is labeled QW´ and the adjustment coefficient is labeled μ;

[0023] Calculate the corresponding target impact value according to the formula WA=μ×QW´.

[0024] Furthermore, the method for setting the initial impact value includes:

[0025] Step SA1: Obtain interference material data corresponding to each interference factor under corresponding measurement purposes, and identify the interval distances corresponding to each interference material data; distribute each interval distance belonging to the same interference factor as a coordinate point to the same coordinate axis, and mark the corresponding coordinate axis as a distance axis;

[0026] Step SA2: Mark the section with the highest density of coordinate points in the distance axis as a dense section, and mark each coordinate point in the dense section as a point to be selected;

[0027] According to the formula Calculate the point value corresponding to each point to be selected one by one;

[0028] Where: DA is the point value; dd is the interval distance of the selected point; e is a natural constant; i represents the coordinate point of the non-selected point, i=1, 2, ..., n, n is a positive integer;

[0029] Mark the candidate point with the highest point value as the reference point of the corresponding interference factor;

[0030] Step SA3: Mark the interference material data corresponding to the reference point as reference material data, analyze the reference material data, and determine the corresponding initial impact value, where the value range of the initial impact value is [0, 100].

[0031] Furthermore, the method for analyzing the reference material data includes:

[0032] Obtain the influencing factors of the measurement purpose, obtain the single probability of each influencing factor, and determine the combination of factors according to each influencing factor and the single probability corresponding to each influencing factor; mark the influencing factor as j, j=1, 2, ..., m, m is a positive integer; mark the factor combination as z, z=1, 2, ..., c, c is a positive integer; mark the single probability as DGjz;

[0033] Set the initial formula, the initial formula is:

[0034] Where: QW´ is the initial impact value; z represents the corresponding factor combination; DG´j is the single probability of the corresponding influencing factor determined based on the benchmark material data.

[0035] The tracking and analysis module is used to track and analyze the abnormal measurement area;

[0036] When there is no abnormal measurement area, no corresponding analysis is performed;

[0037] When there is an abnormal measurement area, the data is collected again through the acquisition module to generate a new three-dimensional point cloud map, and the target influence value corresponding to the corresponding abnormal measurement area in the three-dimensional point cloud map is calculated. The corresponding coordinate point is formed according to the acquisition time corresponding to the target influence value, with time as the horizontal axis and the target influence value as the vertical axis; an influence curve is formed according to each coordinate point; the influence curve is fitted to obtain the corresponding influence function; the influence function is marked as Y(t), where t is time;

[0038] According to the formula Calculate the corresponding warning value;

[0039] Where: PT is the warning value, which includes 1, 2 and 3; X1 and X2 are both thresholds; kt is the slope of the impact curve corresponding to time;

[0040] Perform corresponding warning processing according to the obtained warning value.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] Through the mutual cooperation between the acquisition module, data analysis module and tracking analysis module, intelligent measurement, analysis and control of the three-dimensional lidar can be realized; the causes of abnormal areas can be deeply analyzed, such as environmental factors, target object characteristics or equipment performance limitations; at the same time, the specific impact of abnormal areas on measurement, autonomous driving and other goals can be evaluated, thereby providing a scientific basis for subsequent processing; based on the abnormal cause and impact assessment, it is convenient to formulate corresponding processing measures, such as adjusting scanning parameters, optimizing data processing algorithms or taking other compensation measures. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 This is a principle block diagram of the present invention. DETAILED DESCRIPTION

[0045] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. 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.

[0046] like Figure 1As shown, a three-dimensional laser radar measurement and analysis control system includes an acquisition module, a data analysis module and a tracking analysis module;

[0047] The acquisition module is used to use a three-dimensional laser radar to perform environmental measurement, obtain corresponding three-dimensional point cloud data, and then generate a corresponding three-dimensional point cloud map based on the acquired three-dimensional point cloud data.

[0048] The data analysis module is used to analyze the three-dimensional point cloud map to determine whether there is an abnormal measurement area in the three-dimensional point cloud map;

[0049] When there is no abnormal measurement area in the 3D point cloud map, no corresponding operation is performed;

[0050] When there is an abnormal measurement area in the three-dimensional point cloud map, mark the corresponding abnormal measurement area in the three-dimensional point cloud map; identify the abnormal cause corresponding to the abnormal measurement area; evaluate the target impact value corresponding to the abnormal measurement area according to the preset measurement purpose; perform corresponding processing according to the obtained target impact value; the specific processing method is pre-set according to the measurement purpose, such as stop, warning, no impact, etc. of intelligent driving.

[0051] The purpose of measurement is what the purpose of this measurement is, such as for intelligent driving, building measurement, etc.

[0052] Among them, the method for determining whether there is an abnormal measurement area in the three-dimensional point cloud map includes:

[0053] Obtain various possible interference factors of 3D laser radar measurement, obtain 3D point cloud data corresponding to each interference factor, and then set the corresponding interference point cloud map, one interference point cloud map corresponds to one interference factor, and the interference point cloud map includes various types of point cloud maps that the interference factor may have; perform identification statistics based on the historical measurement data of this type of 3D laser radar; according to the existing image recognition technology, feature recognition can be performed on the collected 3D point cloud map based on the interference point cloud map corresponding to each interference factor, determine whether the 3D point cloud map has a part that meets the characteristics of each interference point cloud map, and then determine whether there is an abnormal measurement area, and the situation in which the 3D point cloud map has interference point cloud map features is regarded as the 3D point cloud map meeting the interference features; based on the above principle, an interference recognition model is established, and the expression of the interference recognition model is: ; Where: s is the input data, the input data is a three-dimensional point cloud image; the output data is the interference judgment value;

[0054] The interference recognition model is used to identify and analyze the three-dimensional point cloud image to obtain the corresponding interference judgment value;

[0055] When the interference judgment value is 1, it is determined that there is an abnormal measurement area in the three-dimensional point cloud map;

[0056] When the interference judgment value is 0, it is determined that there is no abnormal measurement area in the 3D point cloud map;

[0057] Subsequently, the corresponding interference features can be matched and the area range corresponding to the interference features can be determined.

[0058] Methods for evaluating the target impact value of abnormal measurement areas according to the preset measurement purpose include:

[0059] Identify the abnormal cause corresponding to the abnormal measurement area, that is, determine it based on what kind of interference factors, such as fog, transparent objects, highly reflective objects, fast-moving objects, etc.; set the corresponding initial impact value according to the obtained abnormal cause and measurement purpose; determine the corresponding factor combination under the current state according to the preset influencing factors, and mark it as state data; set the corresponding adjustment coefficient according to the state data;

[0060] The initial impact value is labeled QW´ and the adjustment coefficient is labeled μ;

[0061] Calculate the corresponding target impact value according to the formula WA=μ×QW´.

[0062] The methods for setting the initial impact value include:

[0063] Step SA1: obtaining a large amount of historical measurement data corresponding to corresponding interference factors under corresponding measurement purposes, marking them as interference material data, identifying the interval distance corresponding to each interference material data, that is, the distance between it and the three-dimensional laser radar; distributing each interval distance belonging to the same interference factor as a coordinate point to the same coordinate axis, and marking the corresponding coordinate axis as a distance axis;

[0064] Step SA2: Identify the section with the highest density of coordinate points in the distance axis, mark it as a dense section, and mark each coordinate point in the dense section as a candidate point one by one; that is, there is only one candidate point at a time, and after the point value of the candidate point is calculated, the candidate point is cancelled and the next candidate point is marked;

[0065] According to the formula Calculate the point value corresponding to each point to be selected one by one; where: DA is the point value; dd is the interval distance of the points to be selected; e is a natural constant; i represents the coordinate point of the non-point to be selected, i=1, 2, ..., n, n is a positive integer;

[0066] Mark the candidate point with the highest point value as the reference point of the interference factor;

[0067] Step SA3: Obtain the interference material data corresponding to the reference point, mark it as reference material data, analyze the reference material data, determine its impact on the measurement purpose, and then set the corresponding initial impact value, the value range is [0, 100], no impact is 0, and the maximum possible impact is 100;

[0068] In one embodiment, the initial impact value can be set as follows: sort by the degree of impact, such as the safety impact of intelligent driving, the accuracy impact of building measurement, etc., and then set the initial impact value in other cases according to the two sorting endpoints corresponding to 0 and 100; the specific need is to be set according to the actual measurement purpose. In actual applications, it is set by professionals on the platform.

[0069] In another embodiment, the initial influence value can also be set as follows to obtain the influencing factors of the measurement purpose, that is, under the measurement purpose, which factors have an impact on the initial influence value, such as distance, material, etc. For example, due to heavy fog, the three-dimensional laser radar is in heavy fog and is considered not to be affected by the distance; for intelligent driving, due to a certain obstacle, it is affected by the distance; therefore, it is necessary to determine each influencing factor according to the actual measurement purpose and interference factors; according to the corresponding historical measurement data, the probability of each influencing factor affecting the measurement purpose under different circumstances is counted and marked as a single probability, that is, the probability of each influencing factor affecting the measurement purpose under different circumstances is determined by the control variable method; the influencing factor is marked as j, j=1, 2, ..., m, m is a positive integer; the single probability is marked as DGj;

[0070] Set the initial formula, the initial formula is:

[0071] Where: QW´ is the initial impact value; z represents the corresponding factor combination, that is, the various combinations are determined according to the impact probability corresponding to each influencing factor, marked as factor combination; z = 1, 2, ..., c, c is a positive integer; DG´j is the single probability of the corresponding influencing factor determined according to the benchmark material data.

[0072] Subsequently, the corresponding adjustment coefficient can be determined according to the real-time combination of factors to adjust the initial impact value.

[0073] The tracking and analysis module is used to track and analyze the abnormal measurement area;

[0074] When there is no abnormal measurement area, no corresponding analysis is performed;

[0075] When there is an abnormal measurement area, the data is collected again through the acquisition module to generate a new three-dimensional point cloud map, and the target influence value corresponding to the corresponding abnormal measurement area in the three-dimensional point cloud map is calculated. The corresponding coordinate point is formed according to the acquisition time corresponding to the target influence value, with time as the horizontal axis and the target influence value as the vertical axis; an influence curve is formed according to each coordinate point; the influence curve is fitted to obtain the corresponding influence function; the influence function is marked as Y(t), where t is time;

[0076] According to the formula Calculate the corresponding warning value;

[0077] Where: PT is the warning value, which includes 1, 2 and 3; X1 and X2 are both thresholds; kt is the slope of the impact curve corresponding to time;

[0078] Perform corresponding warning processing according to the obtained warning value.

[0079] The above formulas are all calculated by removing dimensions and taking numerical values. The formula is a formula that is closest to the actual situation obtained by collecting a large amount of data and performing software simulation. The preset parameters and preset thresholds in the formula are set by technical personnel in this field according to actual conditions or obtained by simulating a large amount of data.

[0080] The above embodiments are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. A three-dimensional laser radar measurement, analysis and control system, characterized in that: It includes acquisition module, data analysis module and tracking analysis module; The acquisition module is used to measure the environment using a three-dimensional laser radar, obtain corresponding three-dimensional point cloud data, and generate a three-dimensional point cloud map based on the three-dimensional point cloud data; The data analysis module is used to analyze the three-dimensional point cloud map to determine whether there is an abnormal measurement area in the three-dimensional point cloud map; When there is no abnormal measurement area in the 3D point cloud map, no corresponding operation is performed; When there is an abnormal measurement area in the three-dimensional point cloud map, mark the corresponding abnormal measurement area in the three-dimensional point cloud map; identify the abnormal cause corresponding to the abnormal measurement area; evaluate the target impact value corresponding to the abnormal measurement area according to the preset measurement purpose; and perform corresponding processing according to the obtained target impact value; The tracking and analysis module is used to track and analyze the abnormal measurement area; When there is no abnormal measurement area, no corresponding analysis is performed; When there is an abnormal measurement area, a new 3D point cloud map is generated, and the target impact value corresponding to the corresponding abnormal measurement area in the 3D point cloud map is calculated. The corresponding coordinate points are formed according to the acquisition time corresponding to the target impact value, with time as the horizontal axis and the target impact value as the vertical axis; an influence curve is formed according to each coordinate point; the corresponding warning value is evaluated according to the influence curve, and corresponding warning processing is performed according to the obtained warning value; Methods for evaluating the target impact value of abnormal measurement areas according to the preset measurement purpose include: Identify the abnormal cause corresponding to the abnormal measurement area, and set the corresponding initial impact value according to the obtained abnormal cause and measurement purpose; Determine and obtain status data according to preset influencing factors; set corresponding adjustment coefficients according to the status data; The initial impact value is labeled QW´ and the adjustment coefficient is labeled μ; Calculate the corresponding target impact value according to the formula WA=μ×QW´.

2. A three-dimensional laser radar measurement analysis and control system according to claim 1, characterized in that: Methods for determining whether there are abnormal measurement areas in a three-dimensional point cloud map include: Obtain various interference factors in three-dimensional laser radar measurement, set interference point cloud maps corresponding to each interference factor; establish an interference recognition model according to the interference point cloud maps corresponding to each interference factor; The expression of the interference identification model is: ; In the formula: s is the input data, the input data is a three-dimensional point cloud image; the output data is the interference judgment value; The interference recognition model is used to identify and analyze the three-dimensional point cloud image to obtain the corresponding interference judgment value; When the interference judgment value is 1, it is determined that there is an abnormal measurement area in the three-dimensional point cloud map; When the interference judgment value is 0, it is determined that there is no abnormal measurement area in the three-dimensional point cloud map.

3. A three-dimensional laser radar measurement analysis and control system according to claim 1, characterized in that: The methods for setting the initial impact value include: Step SA1: Obtain interference material data corresponding to each interference factor under corresponding measurement purposes, and identify the interval distances corresponding to each interference material data; distribute each interval distance belonging to the same interference factor as a coordinate point to the same coordinate axis, and mark the corresponding coordinate axis as a distance axis; Step SA2: Mark the segment with the highest density of coordinate points in the distance axis as a dense segment, and select a reference point from the dense segment; Step SA3: Mark the interference material data corresponding to the reference point as reference material data, analyze the reference material data, and determine the corresponding initial impact value, where the value range of the initial impact value is [0, 100].

4. A three-dimensional laser radar measurement analysis and control system according to claim 3, characterized in that: Methods for analyzing the reference material data include: Obtain the influencing factors of the measurement purpose, obtain the single probability of each influencing factor, and determine the combination of factors according to each influencing factor and the single probability corresponding to each influencing factor; mark the influencing factor as j, j=1, 2, ..., m, m is a positive integer; mark the factor combination as z, z=1, 2, ..., c, c is a positive integer; mark the single probability as DGjz; Set the initial formula, the initial formula is: Where: QW´ is the initial impact value; z represents the corresponding factor combination; DG´j is the single probability of the corresponding influencing factor determined based on the benchmark material data.

5. A three-dimensional laser radar measurement analysis and control system according to claim 3, characterized in that: Methods for selecting reference points include: Mark each coordinate point in the dense segment as a point to be selected; According to the formula Calculate the point value corresponding to each point to be selected one by one; Where: DA is the point value; dd is the interval distance of the selected point; e is a natural constant; i represents the coordinate point of the non-selected point, i=1, 2, ..., n, n is a positive integer; Mark the candidate point with the highest point value as the reference point of the corresponding interference factor.

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