Residue detection method and system based on laser radar

Abstract

The invention provides a residue detection method and system based on a laser radar, and the method comprises the steps: recognizing the vehicle information of a detection region, switching a current detection mode into a first detection mode when detecting that a target vehicle does not enter the detection region, and carrying out the displacement detection of the target vehicle in the first detection mode, and when it is detected that the target vehicle enters the detection area and the displacement is not changed, switching the current detection mode into a second detection mode, obtaining scanning data of the detection area in the second detection mode, extracting vehicle contour data of the target vehicle from the scanning data, and identifying residues according to the vehicle contour data. According to the method, when the target vehicle is in the moving state and the static state, the scanning data of the detection area are obtained by correspondingly using different detection modes, the residues are identified according to the scanning data, the problems of misjudgment, missed judgment and the like are solved, and the accuracy of residue judgment is improved.

Description

Technical Field

[0001] The present application relates to the field of radar detection technology, and in particular to a residue detection method and system based on laser radar. Background Art

[0002] In the mining and metallurgy industry, materials need to be transported, stored or transferred by means of transportation such as trucks and trains. When the transport vehicle arrives at the factory or warehouse, the materials need to be unloaded so that the next truck of materials can be loaded again. During the dumping process, some of the slag will stick to the bottom of the truck compartment, thus affecting the actual loading capacity of the transport vehicle.

[0003] In order to promptly detect and clean the sticky residue, the underbody residue detection technology can be used. This technology relies on manual on-site inspection of the car body and simple human-machine integration, such as using a video surveillance system installed above to check whether there is any sticky residue in the car body.

[0004] However, when the amount of transported materials is huge and there are many transport vehicles entering and leaving the factory, the amount of captured data will be huge, and the risk of misjudgment and omission will increase, affecting the accuracy of judging sticky slag. Summary of the invention

[0005] In order to solve the problem of erroneous judgment and missed judgment when identifying residues, in a first aspect, some embodiments of the present application provide a residue detection method based on laser radar, the method comprising:

[0006] Identify vehicle information in the detection area;

[0007] When it is detected that the target vehicle has not entered the detection area, the current detection mode is switched to the first detection mode, and displacement detection is performed on the target vehicle in the first detection mode;

[0008] When it is detected that the target vehicle enters the detection area and the displacement remains unchanged, the current detection mode is switched to a second detection mode, and scanning data of the detection area is acquired in the second detection mode;

[0009] The vehicle profile data of the target vehicle is extracted from the scan data, and the residue is identified according to the vehicle profile data.

[0010] In some embodiments, if there is vehicle information in the detection area, the method includes:

[0011] Switch the current detection mode to the first detection mode;

[0012] Performing displacement detection on a detected vehicle according to the first detection mode, the detected vehicle being a vehicle located in the detection area;

[0013] When it is detected that the detected vehicle leaves the detection area, scanning the detection area according to the second detection mode to obtain background data;

[0014] The radar device is initialized according to the background data.

[0015] In some embodiments, when the target vehicle is in the detection area and the displacement remains unchanged, the method further includes:

[0016] Marking the boundary where the target vehicle and the detection area overlap for the first time as the target boundary;

[0017] When the rear end of the target vehicle exceeds the target boundary in the first direction, generating first instruction information;

[0018] If the displacement of the target vehicle remains unchanged within a preset time period, generating second instruction information;

[0019] A switching instruction is generated according to the first instruction information and the second instruction information, where the switching instruction is used to instruct to switch a current detection mode to the second detection mode.

[0020] In some embodiments, the step of acquiring scan data of the detection area according to the second detection mode includes:

[0021] Retrieve radar data packets from radar devices;

[0022] Reading a field number and a row number according to the radar data packet;

[0023] The detection area is scanned according to the field number and the row number to acquire the scan data.

[0024] In some embodiments, the step of scanning the detection area according to the field number and the row number includes:

[0025] Reading a first field number and a first line number of a first data packet, and reading a second field number and a second line number of a second data packet, wherein the second data packet is a next data packet of the first data packet;

[0026] If the difference between the second field number and the first field number is 1, and the second line number is greater than or equal to the first line number, the scan data is output.

[0027] In some embodiments, the step of extracting the vehicle profile data of the target vehicle from the scanned data comprises:

[0028] Performing background difference calculation according to the scanning data and the background data to obtain target contour data;

[0029] Extracting the outline size of the target outline data;

[0030] If the size difference between the outline size and the preset vehicle size is less than a first difference threshold, the target outline data is output as vehicle outline data.

[0031] In some embodiments, the method further comprises:

[0032] Extract vehicle connection features from the vehicle profile data:

[0033] Carriage contour data is extracted from the vehicle contour data according to the vehicle connection features.

[0034] In some embodiments, the step of identifying residues based on the vehicle profile data includes:

[0035] Acquire the carriage height, the maximum scanning height and the minimum scanning height according to the carriage profile data;

[0036] Performing standard deviation statistics on the scan plane with a scan grid of a preset size to generate a height histogram;

[0037] Calculating the height difference between the carriage height and the minimum scanning height;

[0038] The position of the residue relative to the carriage is locked according to the height difference and the height histogram.

[0039] In some embodiments, the step of locking the position of the residue relative to the carriage according to the height difference and the height histogram comprises:

[0040] determining a residue size of the residue based on the height histogram;

[0041] If the size of the residue is larger than a preset size, marking the residue in the carriage contour data;

[0042] Get the position of the marked residue relative to the compartment.

[0043] In a second aspect, some embodiments of the present application provide a residue detection system based on laser radar, the system comprising a radar device and a detection module, wherein the radar device comprises a first detection mode and a second detection mode, and the detection module is configured as follows:

[0044] Identify vehicle information in the detection area;

[0045] When it is detected that the target vehicle has not entered the detection area, the current detection mode is switched to the first detection mode, and displacement detection is performed on the target vehicle in the first detection mode;

[0046] When it is detected that the target vehicle enters the detection area and the displacement remains unchanged, the current detection mode is switched to a second detection mode, and scanning data of the detection area is acquired in the second detection mode;

[0047] The vehicle profile data of the target vehicle is extracted from the scan data, and the residue is identified according to the vehicle profile data.

[0048] It can be seen from the above technical solutions that the present application provides a method and system for detecting residues based on laser radar, wherein the method identifies vehicle information in a detection area, and when it is detected that the target vehicle has not entered the detection area, the current detection mode is switched to a first detection mode, and displacement detection is performed on the target vehicle in the first detection mode. When it is detected that the target vehicle has entered the detection area and the displacement remains unchanged, the current detection mode is switched to a second detection mode, and the scanning data of the detection area is obtained in the second detection mode, the vehicle contour data of the target vehicle is extracted from the scanning data, and residues are identified based on the vehicle contour data. The present application alleviates problems such as misjudgment and missed judgment and improves the accuracy of judging residues by using different detection modes to obtain scanning data of the detection area when the target vehicle is in a moving state and a stationary state, and identifies residues based on the scanning data. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0050] Figure 1 A flowchart of a residue detection method based on laser radar provided in an embodiment of the present application;

[0051] Figure 2 A scanning relationship diagram of a radar device and a target vehicle provided in an embodiment of the present application;

[0052] Figure 3 Schematic diagram of the target boundary determination process in the embodiment of the present application;

[0053] Figure 4 A flowchart of generating a switching instruction according to first instruction information and second instruction information in an embodiment of the present application;

[0054] Figure 5 This is a flow chart of determining the vehicle type based on the outline size according to an embodiment of the present application. DETAILED DESCRIPTION

[0055] In order to make the purpose and implementation method of the present application clearer, the exemplary implementation method of the present application will be clearly and completely described below in conjunction with the drawings in the exemplary embodiments of the present application. Obviously, the described exemplary embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0056] It should be noted that the brief description of terms in this application is only for the convenience of understanding the embodiments described below, and is not intended to limit the embodiments of this application. Unless otherwise specified, these terms should be understood according to their common and usual meanings.

[0057] The terms "first", "second", "third", etc. in the specification and claims of this application and the above drawings are used to distinguish similar or similar objects or entities, and do not necessarily mean to limit a specific order or sequence, unless otherwise noted. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances.

[0058] In the mining and metallurgy industry, materials need to be transported, stored or transferred by means of transportation such as trucks and trains. For example, when transporting coal slag, ore, etc., the transport vehicle may be provided with a bucket-shaped carriage for loading materials. When the transport vehicle drives to the factory area or warehouse, the materials need to be unloaded, so as to form a truckload of materials again.

[0059] Since some materials will retain the high temperature of production, some residues will stick to the inner wall of the transport vehicle's compartment. These residues will take up space inside the compartment, resulting in a reduction in the amount of material loaded in the compartment, thus affecting the actual loading capacity of the transport vehicle.

[0060] In order to timely discover and clean the sticky material residues, the underbody residue detection technology can be used. The underbody residue monitoring technology can set a camera device on the gantry frame. When the transport vehicle passes through the gantry, the image captured by the camera device can be used to determine the residue situation in the compartment of the transport vehicle.

[0061] However, when the amount of transported materials is huge and there are many transport vehicles entering and leaving the factory, the amount of captured data will be huge, and the risk of misjudgment and omission will increase, affecting the accuracy of judging sticky slag.

[0062] In order to solve the problem of erroneous judgment and missed judgment, some embodiments of the present application provide a residue detection method based on laser radar, which can obtain radar data of the detection area by scanning with a radar device, and thus detect the residue in the car according to the radar data obtained by scanning, such as Figure 1 As shown, the method includes:

[0063] S100: Identify vehicle information in the detection area.

[0064] The detection area is the area that the radar device can scan. Before the target vehicle enters the detection area, it is necessary to identify whether there are other vehicles in the detection area, such as the previous vehicle that has completed the residue monitoring but has not moved out of the detection area. Among them, the target vehicle is a transport vehicle that has not performed residue detection, and the area of ​​the detection area is larger than the area occupied by the target vehicle.

[0065] When the detection area cannot detect vehicle information, it means that the previous vehicle has completed the detection of residues and has left the detection area. At this time, a pass signal can be generated to prompt the target vehicle in the waiting area that the detection area is in a monitorable state and can move toward the detection area.

[0066] In some embodiments, in order to facilitate the radar device to perform scanning on the target vehicle, such as Figure 2 As shown, a truss can be set in the detection area, the truss is set vertically to the ground, the truss includes at least three structural rods to form a rectangular structure, and the radar device can be set at the center position of the top structural rod of the truss to scan the cabin of the target vehicle from top to bottom.

[0067] S200: When it is detected that the target vehicle has not entered the detection area, the current detection mode is switched to the first detection mode, and displacement detection is performed on the target vehicle in the first detection mode.

[0068] The target vehicle needs to wait outside the waiting area. When it is identified that no vehicle is being detected in the detection area, the target vehicle can move to the detection area according to the peer signal. At this time, the target vehicle is in a moving state, and the current detection mode can be switched to the first detection mode. The first detection mode is used to detect the target vehicle in a moving state.

[0069] After switching to the first detection mode, displacement detection can be performed on the target vehicle according to the first detection mode to monitor the moving direction of the target vehicle and the distance between the target vehicle and the detection area, thereby facilitating the determination of the positional relationship between the target vehicle and the detection area based on the displacement of the target vehicle.

[0070] S300: When it is detected that the target vehicle enters the detection area and the displacement remains unchanged, the current detection mode is switched to a second detection mode, and scanning data of the detection area is acquired in the second detection mode.

[0071] After the target vehicle enters the detection area, the radar device will continue to detect the displacement of the target vehicle. The driver can stop the vehicle after the target vehicle completely enters the detection area, so that the radar can scan the cabin of the target vehicle.

[0072] In some embodiments, a parking point can be set in the detection area. When the target vehicle reaches the parking point, the system can generate a parking instruction and send the parking instruction to the control console of the target vehicle. The driver can stop the target vehicle according to the parking instruction, thereby placing the target vehicle within the detection area.

[0073] When the radar device detects that the displacement of the target vehicle remains unchanged, it can be determined that the vehicle has stopped. At this time, the current detection mode of the radar device can be switched to a second detection mode. The second detection mode is a static detection state. The detection area can be scanned by the second detection mode to obtain scanning data of the detection area. The scanning data can be point cloud data of the radar device, or an image output by the radar device according to the detection area.

[0074] In some embodiments, the target vehicle can be scanned according to the position where the radar device is set. For example, when the radar device is set at the front end of the car, the radar device can scan from the front end to the rear end of the car; when the radar device is set at the rear end of the car, the radar device can scan from the rear end to the front end of the car, thereby obtaining the entire scan data of the car. When the radar device is in the middle of the car, the radar device can use a swing scanning method, for example, first scan from the current position to the front end of the car, and then return to the current position to scan the rear end of the car in reverse, thereby obtaining the scan data of the car.

[0075] In some embodiments, when the target vehicle moves toward the detection area, Figure 3 As shown in , the front of the target vehicle will enter the detection area first. At this time, the boundary where the target vehicle and the detection area first overlap can be marked as the target boundary. Figure 4 As shown, when the rear end of the target vehicle exceeds the target boundary in the first direction, it indicates that the target vehicle has completely entered the detection area, and at this time, the first instruction information can be generated, and the first instruction information is used to indicate that the target vehicle has completely entered the detection area. Among them, the first direction is the driving direction of the target vehicle.

[0076] Since the area of ​​the detection area is larger than the area occupied by the target vehicle, the target vehicle can continue to move in the first direction after entering the detection area. However, the target vehicle may pause briefly due to some reasons, such as driving on a slope or the vehicle stalling, and such pause may be misjudged as a vehicle stop, resulting in invalid data scanned by the radar device.

[0077] To this end, a preset parking time can be set. For example, when the preset time is 10 seconds, the target vehicle can be timed after it stops. If the displacement of the target vehicle remains unchanged within 10 seconds, the target vehicle can be scanned. Figure 4As shown, if the displacement of the target vehicle changes within 10 seconds, the target vehicle is re-timed when the target vehicle stops again, and the second instruction information is generated after the displacement of the target vehicle remains unchanged within the preset time. The second instruction information is used to indicate that the target vehicle is in a stopped state.

[0078] When the first instruction information and the second instruction information are obtained at the same time, it means that the target vehicle is in the detection area and is in a stopped state. At this time, it is necessary to scan the target vehicle through the second detection mode. Therefore, a switching instruction can be generated according to the first instruction information and the second instruction information. The switching instruction is used to instruct to switch the current detection mode of the radar device to the second detection mode.

[0079] S400: extracting vehicle profile data of the target vehicle from the scan data, and identifying residues according to the vehicle profile data.

[0080] Since the target vehicle is within the detection area, the scanning data may include the vehicle profile data of the target vehicle. At this time, the vehicle profile data may be extracted from the scanning data, and the residue may be identified in the vehicle profile data. The vehicle profile data includes the vehicle head data and the vehicle compartment data. There are residues in the vehicle compartment data, so the residues may be identified in the vehicle compartment data.

[0081] In some embodiments, if vehicle information is identified as existing in the detection area, it means that there is a detected vehicle in the detection area at this time. The detected vehicle is a vehicle located in the detection area. The detected vehicle has completed the detection of residues in the vehicle compartment and needs to leave the detection area to provide detection space for the next vehicle to be detected, that is, the target vehicle.

[0082] When the detected vehicle moves, the current detection mode of the radar device can be switched to the first detection mode, and displacement detection can be performed on the detected vehicle according to the first detection mode. The displacement direction of the detected vehicle should be consistent with the displacement direction of entering the detection area.

[0083] In some embodiments, before detecting a target vehicle, the radar device can be initialized. When there is no detected vehicle in the detection area, the radar device can switch the current detection mode to a second detection mode, and then scan the detection area to construct background data of the detection area, and initialize the radar device based on the background data.

[0084] In some embodiments, during the process of scanning the target vehicle according to the second detection mode, the radar data packet of the radar device can be retrieved, and the radar data packet includes the scanned field number and row number. At this time, the field number and row number can be read according to the radar data packet, and the detection area can be scanned according to the field number and row number, thereby obtaining the scanning data.

[0085] In some embodiments, the radar data packet may include multiple data packets, such as a first data packet, a second data packet, ..., an nth data packet, etc. In the process of scanning the detection area, it is necessary to scan in sequence according to the field number and the row number. Therefore, in the process of scanning the detection area according to the field number and the row number, the first data packet may also be read, wherein the first data packet includes the first field number and the first row number.

[0086] After completing the scanning according to the first field number and the first line number, continue to read the second data packet, wherein the second data packet is the next data packet of the first data packet, and the second data packet includes the second field number and the second line number. After scanning between data packets, it is necessary to verify the scan data of the data packet. If the difference between the second field number and the first field number is 1, and the second line number is greater than or equal to the first line number, the data scanning of the detection area is completed, and the scan data is generated and output.

[0087] When the difference between the second field number and the first field number is not 1, or when the second line number is smaller than the first line number, the third data packet can be read continuously, thereby continuously checking the third field number and the third line number, and so on.

[0088] In some embodiments, in order to obtain valid data from the scanned data, in the process of extracting the vehicle profile data of the target vehicle from the scanned data, a background difference operation may be performed based on the scanned data and the constructed background data, thereby obtaining the target profile data. The target profile data is the vehicle data obtained by scanning by the radar device.

[0089] However, there are also vehicles such as trolleys and small cars in the factory area. When these vehicles pass by the radar device, they can also trigger the radar device to start scanning. Therefore, in order to determine the vehicle type of the target profile data, such as Figure 5 As shown, the outline size can also be extracted from the target outline data. After the outline size is obtained, the size difference between the target outline size and the preset vehicle size can be calculated, so as to determine the vehicle type according to the size difference.

[0090] In order to accurately obtain the vehicle type, in some embodiments, a first difference threshold value may be set, so that a comparison is made based on the size difference value and the first difference threshold value. If the size difference value is less than the first difference threshold value, it means that the outline size is close to the preset vehicle size, and the target outline data meets the type of transport vehicle, and the target outline data may be output as vehicle outline data. If the size difference value is greater than the first difference threshold value, it means that the outline size is greatly different from the preset vehicle size, and the target outline data is greatly different from the vehicle size of the transport vehicle. At this time, a prompt message may be generated to prompt the quality inspector that the vehicle size of the target outline data does not match the preset vehicle size.

[0091] In some embodiments, since the target vehicle includes a front and a carriage, wherein the front is the cab of the target vehicle and cannot be loaded with materials, in order to improve the scanning efficiency, the radar device only needs to scan the carriage. To this end, the vehicle connection feature can be extracted from the vehicle data. Since the target vehicle can be a truck or a train, the front and the carriage of the truck or train are both provided with a connection, for this purpose, the position of the connection between the front and the carriage can be obtained by extracting the vehicle connection feature in the vehicle contour data, and the carriage contour data can be extracted from the vehicle contour data according to the vehicle connection feature to improve the detection efficiency.

[0092] In some embodiments, after obtaining the car contour data, the car height, the maximum scanning height, and the minimum scanning height can be obtained according to the car contour data. Among them, the car height is the height of the inner wall of the car, and the radar device will scan the scanning plane, which is the section scanned by the radar device, that is, the top view section of the car. Since there may be residues in the car, the radar device can emit light for scanning. When the light contacts the bottom of the car or contacts the residue, it will be reflected back to the radar device. The radar device can determine the scanning height of the corresponding area according to the time of light emission and reception, and screen out the maximum scanning height and the minimum scanning height.

[0093] Then, a scanning grid of a preset size may be set to perform standard deviation statistics on the scanning plane to generate a height histogram, wherein the scanning grid may be a 5 cm*5 cm grid, and the height histogram may mark the height of each grid area in centimeters.

[0094] In order to accurately determine the position of the residue, the height difference between the carriage height and the minimum scanning height can be calculated, and the height difference can be set as the height threshold, and the position of the residue relative to the carriage can be locked according to the height threshold and the height histogram. For example, the height difference of each grid area in the height histogram is obtained, and if the height difference is greater than the height threshold, the grid area can be marked as a residue area, thereby locking the residue.

[0095] In some embodiments, if the residue is small, the impact on the loading capacity of the carriage can be ignored. Therefore, the residue size of the residue can be determined based on the height histogram, and the residue size can be screened according to a preset size. In this embodiment, the residue smaller than the preset size can be ignored. For this reason, if the residue size is larger than the preset size, the residue can be marked in the carriage contour data, and the position of the marked residue relative to the carriage is obtained to determine the residue.

[0096] In order to facilitate the execution of the above-mentioned laser radar-based residue detection method, some embodiments of the present application provide a laser radar-based residue detection system, the system includes a radar device and a detection module, the radar device and the detection module are electrically connected, wherein the radar device includes a first detection mode and a second detection mode, the first detection mode is used to detect a moving target vehicle, and the second detection mode is used to scan data for a target vehicle in a stationary state, and the detection module is configured as follows:

[0097] S100: Identify vehicle information in the detection area.

[0098] S200: When it is detected that the target vehicle has not entered the detection area, the current detection mode is switched to the first detection mode, and displacement detection is performed on the target vehicle in the first detection mode.

[0099] S300: When it is detected that the target vehicle enters the detection area and the displacement remains unchanged, the current detection mode is switched to a second detection mode, and scanning data of the detection area is acquired in the second detection mode.

[0100] S400: extracting vehicle profile data of the target vehicle from the scan data, and identifying residues according to the vehicle profile data.

[0101] It can be seen from the above technical solutions that the present application provides a method and system for detecting residues based on laser radar, wherein the method identifies vehicle information in a detection area, and when it is detected that the target vehicle has not entered the detection area, the current detection mode is switched to a first detection mode, and displacement detection is performed on the target vehicle in the first detection mode. When it is detected that the target vehicle has entered the detection area and the displacement remains unchanged, the current detection mode is switched to a second detection mode, and the scanning data of the detection area is obtained in the second detection mode, the vehicle contour data of the target vehicle is extracted from the scanning data, and residues are identified based on the vehicle contour data. The present application alleviates problems such as misjudgment and missed judgment and improves the accuracy of judging residues by using different detection modes to obtain scanning data of the detection area when the target vehicle is in a moving state and a stationary state, and identifies residues based on the scanning data.

[0102] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

[0103] For the convenience of explanation, the above description has been made in conjunction with specific embodiments. However, the above exemplary discussion is not intended to be exhaustive or limit the embodiments to the specific forms disclosed above. Based on the above teachings, various modifications and variations can be obtained. The selection and description of the above embodiments are intended to better explain the present disclosure, so that those skilled in the art can better use the embodiments.

Claims

1. A residue detection method based on laser radar, characterized in that: include: Identify vehicle information in the detection area; When it is detected that the target vehicle has not entered the detection area, the current detection mode is switched to the first detection mode, and displacement detection is performed on the target vehicle in the first detection mode; When it is detected that the target vehicle enters the detection area and the displacement remains unchanged, the current detection mode is switched to a second detection mode, and scanning data of the detection area is acquired in the second detection mode; The vehicle profile data of the target vehicle is extracted from the scan data, and the residue is identified according to the vehicle profile data.

2. The residue detection method based on laser radar according to claim 1, characterized in that: If there is vehicle information in the detection area, the method includes: Switch the current detection mode to the first detection mode; Performing displacement detection on a detected vehicle according to the first detection mode, the detected vehicle being a vehicle located in the detection area; When it is detected that the detected vehicle leaves the detection area, scanning the detection area according to the second detection mode to obtain background data; The radar device is initialized according to the background data.

3. The residue detection method based on laser radar according to claim 1, characterized in that: When the target vehicle is in the detection area and the displacement remains unchanged, the method further includes: Marking the boundary where the target vehicle and the detection area overlap for the first time as the target boundary; When the rear end of the target vehicle exceeds the target boundary in the first direction, generating first instruction information; If the displacement of the target vehicle remains unchanged within a preset time period, generating second instruction information; A switching instruction is generated according to the first instruction information and the second instruction information, where the switching instruction is used to instruct to switch a current detection mode to the second detection mode.

4. The residue detection method based on laser radar according to claim 1, characterized in that: The step of acquiring scan data of the detection area according to the second detection mode comprises: Retrieve radar data packets from radar devices; Reading a field number and a row number according to the radar data packet; The detection area is scanned according to the field number and the row number to acquire the scan data.

5. The residue detection method based on laser radar according to claim 4, characterized in that: The step of scanning the detection area according to the field number and the row number comprises: Reading a first field number and a first line number of a first data packet, and reading a second field number and a second line number of a second data packet, wherein the second data packet is a next data packet of the first data packet; If the difference between the second field number and the first field number is 1, and the second line number is greater than or equal to the first line number, the scan data is output.

6. The residue detection method based on laser radar according to claim 2, characterized in that: The step of extracting the vehicle profile data of the target vehicle from the scanned data comprises: Performing background difference calculation according to the scanning data and the background data to obtain target contour data; Extracting the outline size of the target outline data; If the size difference between the outline size and the preset vehicle size is less than a first difference threshold, the target outline data is output as vehicle outline data.

7. The residue detection method based on laser radar according to claim 6, characterized in that: The method further comprises: Extract vehicle connection features from the vehicle profile data: Carriage contour data is extracted from the vehicle contour data according to the vehicle connection features.

8. The residue detection method based on laser radar according to claim 7, characterized in that: The step of identifying the residue according to the vehicle profile data comprises: Acquire the carriage height, the maximum scanning height and the minimum scanning height according to the carriage profile data; Performing standard deviation statistics on the scan plane with a scan grid of a preset size to generate a height histogram; Calculating the height difference between the carriage height and the minimum scanning height; The position of the residue relative to the carriage is locked according to the height difference and the height histogram.

9. The residue detection method based on laser radar according to claim 8, characterized in that: The step of locking the position of the residue relative to the carriage according to the height difference and the height histogram comprises: determining a residue size of the residue based on the height histogram; If the size of the residue is larger than a preset size, marking the residue in the carriage contour data; Get the position of the marked residue relative to the compartment.

10. A residue detection system based on laser radar, characterized in that: The system includes a radar device and a detection module, wherein the radar device includes a first detection mode and a second detection mode, and the detection module is configured to: Identify vehicle information in the detection area; When it is detected that the target vehicle has not entered the detection area, the current detection mode is switched to the first detection mode, and displacement detection is performed on the target vehicle in the first detection mode; When it is detected that the target vehicle enters the detection area and the displacement remains unchanged, the current detection mode is switched to a second detection mode, and scanning data of the detection area is acquired in the second detection mode; The vehicle profile data of the target vehicle is extracted from the scan data, and the residue is identified according to the vehicle profile data.

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