Alarm oscillation elimination method and system based on laser radar, and storage medium

Abstract

The invention provides an alarm oscillation elimination method and system based on a laser radar, and a storage medium, and the method comprises the steps: carrying out the scanning of a scanning region based on the laser radar for multiple times, and obtaining a reference point corresponding to a data point in a point cloud data frame from a reference data frame; if the reference point is located in the defense area, the position relation between the data point and the defense area is judged according to the distance difference between the reference point and the data point, and an alarm signal or an alarm elimination signal is output according to the number of the data points determined according to the position relation so as to eliminate alarm oscillation. Whether an object exists in the defense area is judged through the position relation of the corresponding points of the point cloud data frame and the reference data frame, so that the accuracy of defense area signal output is improved, and alarm oscillation of the defense area is effectively eliminated.

Description

Technical Field

[0001] The present application relates to the field of laser radar monitoring technology, and in particular to a laser radar-based alarm oscillation elimination method, system and storage medium. Background Art

[0002] LiDAR is an area scanning sensor that can scan and detect the shape and position of objects in the area. It has many advantages such as high measurement accuracy and fast response speed. In area protection applications, LiDAR is used to scan the designated protection area. Once an object enters the protection area, the LiDAR sends an alarm signal to the outside, and the radar system performs protection actions such as alarm sounding, warning lights flashing, and device status locking. When the object leaves the protection area, the LiDAR sends an alarm cancellation signal to the outside, and the radar system performs the prescribed alarm cancellation action.

[0003] Laser radar has certain measurement errors. When an object is at the edge of the defense zone, due to the measurement error, the position of the object detected by the laser radar is sometimes inside the defense zone and sometimes outside the defense zone, causing the laser radar to alternately send out alarm signals and cancel alarm signals, resulting in alarm oscillation.

[0004] In order to eliminate alarm oscillation, the method of temporarily enlarging the defense zone is often used, so that objects at the edge of the defense zone will trigger the laser radar alarm, thereby eliminating the alarm oscillation. However, due to the different shapes of the defense zone, different types of defense zones such as polygonal defense zones and fan-shaped defense zones require different amplification strategies, and the calculation is more complicated. After the defense zone is enlarged, objects outside the original defense zone that do not generate alarms may be included in the enlarged defense zone, resulting in false alarm problems. Summary of the invention

[0005] In order to solve the problem of alarm oscillation caused by measurement error in laser radar, in a first aspect, the present application provides a method for eliminating alarm oscillation based on laser radar, comprising:

[0006] Performing scanning based on the scanning area of ​​the laser radar to obtain a point cloud data frame, the point cloud data frame includes data points, and the scanning area includes a defense zone area;

[0007] In a reference data frame, a reference point corresponding to the data point is obtained, wherein the reference data frame is a previous data frame or a next data frame of the point cloud data frame;

[0008] If the reference point is located within the defense zone, determining the positional relationship between the data point and the defense zone based on the distance difference between the reference point and the data point;

[0009] Determine the number of data points in the point cloud data frame located within the defense zone according to the positional relationship;

[0010] An alarm signal or an alarm elimination signal is output according to the number of data points to eliminate alarm oscillation.

[0011] In some embodiments, it also includes:

[0012] Traversing reference points in the reference data frame;

[0013] Obtaining the time duration of point cloud formation of the reference point, where the time duration of point cloud formation is the time duration of the laser radar emitting the measuring light and receiving the measuring light reflected back by the data point;

[0014] The distance information of the reference point is calculated according to the emission rate of the measurement light and the time duration for forming the point cloud.

[0015] In some embodiments, the step of determining the positional relationship between the data point and the defense zone according to the distance difference between the reference point and the data point includes:

[0016] Calculating the distance difference according to the distance information of the reference point and the distance information of the data point;

[0017] If the absolute value of the distance difference is within the measurement error range, it is determined that the data point is located within the defense zone;

[0018] If the absolute value of the distance difference is outside the measurement error range, a position determination is performed on the data point through a determination algorithm to obtain a determination result, and a position relationship of the data point is generated according to the determination result.

[0019] In some embodiments, after the step of determining that the data point is within the defense zone, the method further includes:

[0020] Calculate average distance information according to the distance information of the reference point and the distance information of the data point;

[0021] The average distance information is saved in the point cloud data frame.

[0022] In some embodiments, if the reference point is outside the defense zone, the method further includes:

[0023] Performing position determination on the data point by using a coordinate position algorithm to obtain a determination result, wherein the determination result is used to characterize the vector relationship between the coordinates of the data point and the coordinates of the edge point of the defense zone in a preset coordinate system;

[0024] Update the distance information of the data point according to the determination result;

[0025] The distance difference is calculated according to the distance information of the updated data point and the distance information of the reference point.

[0026] In some embodiments, it also includes:

[0027] Calculating a measurement distance of the laser radar from a calibration object, wherein the calibration object is located within the scanning area;

[0028] Determining an error value according to the radar accuracy of the laser radar;

[0029] The measurement error range is calculated according to the error value and the measurement distance.

[0030] In some embodiments, the step of outputting an alarm signal or eliminating an alarm signal according to the number of data points includes:

[0031] Calculate the defense zone area points based on the data points located within the defense zone area;

[0032] If the number of points in the defense zone is less than the point threshold, outputting the alarm cancellation signal;

[0033] If the number of points in the defense zone is greater than or equal to the point threshold, the alarm signal is output.

[0034] In some embodiments, after the step of outputting the alarm signal, the method further includes:

[0035] Calculate the distance between the data point outside the defense area and the defense area;

[0036] If the interval distance is less than or equal to the warning distance, a warning signal is generated based on the interval distance between the data point outside the defense area and the defense area, and the warning signal is used to indicate that the data point enters the defense area within a preset number of frames.

[0037] In a second aspect, some embodiments of the present application provide a laser radar-based warning oscillation elimination system, including a laser radar and a controller, wherein the laser radar is used to obtain a point cloud data frame of a scanning area, and the controller is configured to:

[0038] Performing scanning based on the scanning area of ​​the laser radar to obtain a point cloud data frame, the point cloud data frame includes data points, and the scanning area includes a defense zone area;

[0039] In a reference data frame, a reference point corresponding to the data point is obtained, wherein the reference data frame is a previous data frame or a next data frame of the point cloud data frame;

[0040] If the reference point is located within the defense zone, determining the positional relationship between the data point and the defense zone based on the distance difference between the reference point and the data point;

[0041] Determine the number of data points in the point cloud data frame located within the defense zone according to the positional relationship;

[0042] An alarm signal or an alarm elimination signal is output according to the number of data points to eliminate alarm oscillation.

[0043] In a third aspect, some embodiments of the present application provide a computer-readable storage medium, wherein the computer-readable storage medium includes computer instructions, and the computer instructions are used to enable the computer to execute the laser radar-based warning oscillation elimination method described in the first aspect.

[0044] It can be seen from the above technical solutions that the present application provides a method, system and storage medium for eliminating alarm oscillations based on laser radar. The method performs multiple scans based on the scanning area of ​​the laser radar, and obtains reference points corresponding to the data points in the point cloud data frame in the reference data frame. If the reference point is located in the defense area, the positional relationship between the data point and the defense area is determined based on the distance difference between the reference point and the data point, and an alarm signal or an alarm elimination signal is output based on the number of data points determined by the positional relationship to eliminate the alarm oscillation. The present application determines whether there is an object in the defense area through the positional relationship between the corresponding points of the point cloud data frame and the reference data frame, thereby improving the accuracy of the defense area signal output and effectively eliminating the alarm oscillation in the defense area. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] 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.

[0046] Figure 1 A flowchart of a method for eliminating alarm oscillation based on a laser radar provided in an embodiment of the present application;

[0047] Figure 2 This is a scanning schematic diagram of the laser radar in the embodiment of the present application;

[0048] Figure 3 This is a flow chart of determining the position relationship between a data point and a defense zone according to a distance difference according to an embodiment of the present application;

[0049] Figure 4 This is a schematic diagram of a laser radar scanning an object according to an embodiment of the present application;

[0050] Figure 5 This is a flow chart of outputting a defense zone signal according to the number of points in the defense zone according to an embodiment of the present application;

[0051] Figure 6 This is a flow chart of outputting a warning signal according to the interval distance in an embodiment of the present application. DETAILED DESCRIPTION

[0052] 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.

[0053] 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.

[0054] 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.

[0055] LiDAR is an area scanning sensor that can scan and detect the shape and position of objects in the area. It has many advantages such as high measurement accuracy and fast response speed. In area protection applications, LiDAR is used to scan the designated protection area. For example, LiDAR area protection can be used in AGV obstacle avoidance applications. The obstacle avoidance radar installed on the AGV (Automated Guided Vehicle) can scan its route. When an object enters the warning area of ​​the route, the obstacle avoidance radar can give an alarm signal to prompt the AGV controller to slow down and stop to avoid collision. When the object leaves the protection area, the obstacle avoidance radar gives an alarm signal to indicate that the collision risk has been eliminated and the AGV can continue to move forward.

[0056] Laser radar has certain measurement errors. When an object is at the edge of the defense zone, due to the measurement error, the position of the object detected by the laser radar is sometimes inside the defense zone and sometimes outside the defense zone, causing the laser radar to alternately send out alarm signals and cancel alarm signals, resulting in alarm oscillation.

[0057] In order to eliminate alarm oscillation, the method of temporarily enlarging the defense zone is often used. After the defense zone generates an alarm, the defense zone is temporarily enlarged in proportion, and the object at the edge of the original defense zone is placed inside the enlarged defense zone to eliminate the alarm oscillation. When the object leaves the enlarged defense zone, the defense zone automatically returns to its original size. At this time, the object has left the original defense zone for a certain distance and will not generate alarm oscillation.

[0058] However, this alarm oscillation elimination method based on temporary zone amplification requires different amplification strategies for zones of different shapes such as polygonal zones and sectoral zones, and the calculation is relatively complex. Moreover, after the zone is amplified, objects outside the original zone that do not generate alarms may be included in the amplified zone, resulting in false alarms.

[0059] In order to solve the problem of alarm oscillation caused by laser radar due to measurement error, some embodiments of the present application provide a method for eliminating alarm oscillation based on laser radar.

[0060] Figure 1 The flowchart of a method for eliminating alarm oscillation based on laser radar is provided in an embodiment of the present application. Figure 1 As shown, the method includes:

[0061] S100: Scanning is performed based on the scanning area of ​​the laser radar to obtain a point cloud data frame.

[0062] The laser radar can actively emit measurement light. After reaching the surface of an object, the measurement light will be reflected and returned to the laser radar, thereby forming data points in the point cloud data frame. In the above process, the laser radar will send multiple beams of measurement light at different angles to obtain tens of thousands of data points, which will form a point cloud data frame. The position and surface shape of the object can be constructed in the point cloud data frame, which includes a large number of data points.

[0063] When the laser radar emits measurement light to the scanning area, the laser radar can send a large number of test lights simultaneously or sequentially according to the shape and coverage of the scanning area to obtain point cloud data frames to improve the efficiency of obtaining point cloud data frames. The point cloud data frame includes a large number of data points, which are the landing points of the test light after reflection.

[0064] Figure 2 FIG. 1 is a schematic diagram of a laser radar scanning in an embodiment of the present application. Figure 2 As shown, the scanning area includes the defense area. In the scanning area, the defense area can be divided in advance. The defense area is the area used to trigger the laser radar alarm. When the object completely enters the defense area or partially enters the defense area, the laser radar will send an alarm signal. When the object completely moves out of the defense area, the laser radar will send an alarm cancellation signal.

[0065] S200: In a reference data frame, obtaining a reference point corresponding to the data point.

[0066] The laser radar will scan the scanning area once every preset time interval to observe the dynamic trajectory of the object in the scanning area. Therefore, the data points in the point cloud data frame can be compared with the reference points corresponding to the data points in the reference data frame, wherein the reference data frame can be a data frame scanned before the point cloud data frame or a data frame scanned after the point cloud data frame. In order to accurately obtain the dynamic changes of the object, the interval frame number can be one frame, that is, the reference data frame is the previous data frame or the next data frame of the point cloud data frame.

[0067] It should be noted that when the reference data frame is the next data frame, after completing the scanning of the point cloud data frame, it is necessary to wait for the next scan to obtain the reference data frame. In order to reduce the waiting time and improve the efficiency of obtaining reference points, the embodiment of the present application preferably uses the previous data frame of the point cloud data frame as the reference data frame.

[0068] S300: If the reference point is located within the defense zone, determining a positional relationship between the data point and the defense zone according to a distance difference between the reference point and the data point.

[0069] The next data frame example with the reference frame data as the point cloud data frame is explained in detail. When the reference point is located within the defense zone, there may be two positional relationships between the data points. The first positional relationship is that in the first scan, the data point is outside the defense zone. After the scan is completed, the data point continues to move and moves into the defense zone. In the second scan, the reference point corresponding to the data point in the reference frame data is located within the defense zone.

[0070] The second position relationship is that in the first scan, the data point is located in the defense area. After the scan is completed, the data point continues to move in the defense area. In the second scan, the reference point corresponding to the data point in the reference frame data is still located in the defense area.

[0071] It should be noted that in order to detect whether there are objects in the defense area in real time, the laser radar will perform multiple scans on the scanning area. In order to improve the timeliness of eliminating alarm oscillations, the interval between scans can also be set. For example, a scan is performed every 1 second, or a scan is performed every 2 seconds. The interval length is inversely proportional to the timeliness of eliminating alarm oscillations, that is, the shorter the interval length, the more accurate the timeliness. In this embodiment, the interval length of the scan can be set according to the user's timeliness requirements.

[0072] In order to distinguish the above two situations, the positional relationship between the data point and the defense area can be determined based on the distance difference between the reference point and the data point. To this end, the distance information of the reference point and the distance information of the data point can be obtained respectively, and the distance difference can be calculated based on the distance information of the reference point and the distance information of the data point. The distance difference is the movement distance of the data point between two scans.

[0073] The laser radar can obtain the time required for the test light to reflect back, so as to calculate the distance between the laser radar and the surface of the object. To this end, in some embodiments, when the laser radar emits the measurement light, the emission time point can be used as the starting point to start timing. Figure 4 As shown in the figure, when there is an object in the defense area, part of the measurement light will reach the surface of the object first and begin to reflect. Therefore, the time for this part of the measurement light to reflect back is longer than the time for the remaining measurement light to reflect back. Therefore, the distance information of the reference point can be calculated based on the duration.

[0074] Since the time for the measurement light to be reflected back is different, the time for the reference point to be formed is different. At this time, the reference points in the reference data frame can be traversed to obtain the point cloud formation time of the reference point, where the point cloud formation time is the time it takes for the laser radar to emit the measurement light and receive the measurement light reflected back by the data point.

[0075] In the process of calculating the distance information of the reference point, a calibration object can be placed in the scanning area, and the distance between the calibration object and the laser radar light source can be measured in advance. Then the laser radar emits measurement light to the same position of the calibration object according to the emission rate of the measurement light. The emission rate represents the number of measurement lights emitted by the laser radar within a preset time length. The time length for these measurement lights to be reflected back to the laser radar is then recorded, so that the travel speed of the measurement light can be calculated based on the time length and the measured distance.

[0076] In order to reduce the calculation error, the average value of multiple calculation results can be taken to obtain more accurate distance information of the reference point. Among them, the random error of LiDAR measurement can be considered as a normal distribution. The average of multiple measurement results can reduce the random error. The range of random error is reduced to n times.

[0077] It should be noted that the reference data frame includes multiple reference points, and the distance information of these reference points can be calculated by the above calculation method. The difference between the data points and the reference points in the point cloud data frame is only that the data frames are different. Since the object may be in motion, the positions of the data points and the reference points will also be different. Therefore, the data points in the point cloud data frame can also be calculated by the above calculation method to obtain distance information.

[0078] In the defense area, there may be different positions at the same distance from the laser radar, for example, the first position and the second position. If the object moves from the first position to the second position between two scans, then in the reference data frame and the point cloud data frame obtained by the two scans, the distance information of the corresponding reference points and data points is the same, so the distance difference is 0, causing the user to mistakenly judge that the object has not moved.

[0079] In order to solve the above problem, in some embodiments, while calculating the distance information of the reference point and the distance information of the data point, the motion area of ​​the object can also be detected to obtain the vector relationship between the data point and the reference point, for example, the displacement distance and displacement direction of the data point relative to the reference point, to obtain the movement information of the data point.

[0080] like Figure 3 As shown, if the absolute value of the distance difference is within the measurement error range, it is determined that the data point is located within the defense zone. At this time, the average distance information is calculated based on the distance information of the reference point and the distance information of the data point, and the distance information of the data point is updated to the average distance information to save the average distance information in the point cloud data frame.

[0081] In some embodiments, the measurement error range can be determined based on the calibration object. Specifically, the calibration object can be placed in the scanning area, and the measurement distance of the laser radar from the calibration object is calculated. The error of the laser radar is related to the accuracy of the laser radar. The higher the accuracy of the laser radar, the smaller the error generated. Therefore, the radar accuracy of the laser radar can be obtained and the error value can be determined. Finally, the measurement range error is calculated based on the error value and the measurement distance.

[0082] In some embodiments, while calculating the average distance information, the distance between the data point and the nearest boundary in the defense zone can also be calculated, so that the user can judge the relative movement area and position relationship between the data point and the defense zone based on the distance to the nearest boundary and the movement trend of the data point.

[0083] like Figure 3 As shown, if the absolute value of the distance difference is outside the measurement error range, the position determination can also be performed directly on the data point through the coordinate position algorithm to obtain a determination result, wherein the determination result is used to characterize the vector relationship between the coordinates of the data point and the coordinates of the edge point of the defense zone in a preset coordinate system.

[0084] Before performing position determination, a coordinate axis can be established based on the laser radar light emission source as the origin, and the regional outline of the defense area can be identified in the coordinate axis, and the coordinates of the edge points that form the regional outline can be calculated in sequence. While calculating the coordinates of the edge points, data points can also be identified and the coordinates of the data points can be calculated, thereby calculating the vector relationship between the coordinates of the edge points and the coordinates of the data points to determine whether the data points are located in the defense area. Among them, the vector relationship can include information such as the distance between the data point and the edge point and the vector direction.

[0085] If the vector direction of the determination result points to the direction of the defense area, it means that the data point is outside the defense area, and if the vector direction of the determination result points to the opposite direction of the defense area, it means that the data point is inside the defense area. When the data point is outside the defense area, the distance information of the data point can be updated according to the determination result and the coordinates of the data point, and the distance difference can be recalculated according to the updated distance information of the data point and the distance information of the reference point.

[0086] S400: Determine the number of data points in the point cloud data frame located within the defense zone according to the position relationship.

[0087] After confirming the positional relationship of the data points, the number of data points in the point cloud data frame located in the defense area can be determined. The number of data points can be used to determine whether there is an object in the defense area, wherein the object that can trigger the laser radar alarm can be an object that enters the defense area in its entirety or in part.

[0088] S500: Outputting an alarm signal or an alarm elimination signal according to the number of data points to eliminate alarm oscillation.

[0089] In this embodiment, it can be determined whether there is an object in the defense area based on the number and density of data points located in the defense area. In order to facilitate judgment, a quantity threshold can be set. When the number of data points located in the defense area is less than the quantity threshold, it means that the data points located in the defense area are formed by the reflection deviation of the photometric light, and no object is actually scanned in the defense area. When the number of data points located in the defense area is greater than or equal to the quantity threshold, it means that there is an object in the defense area, and the laser radar generates an alarm signal to prompt the user that there is an object in the defense area.

[0090] The laser radar can perform real-time detection on the data points of the scanned point cloud data frame. When the number of data points located in the defense area changes from greater than or equal to the quantity threshold to less than the quantity threshold, it means that the object has moved out of the defense area. At this time, an alarm message can be generated to prompt the user that the object has moved out of the defense area.

[0091] In some embodiments, in the above step of outputting an alarm signal or eliminating an alarm signal, Figure 5 As shown, the number of points in the defense zone can also be calculated by the data points located in the defense zone. The number of points in the defense zone is used to characterize the number of data points and the density of data points. When the density between data points becomes smaller, it means that the distance between the object and the laser radar is farther. Since the surface of the object may be an irregular plane, when the object is about to move out of the defense zone, the test light reflected back from the object becomes less and less, resulting in sparse data points, making the number of points in the defense zone smaller, until the number of points in the defense zone is less than the point threshold, the object moves out of the defense zone and outputs an alarm signal.

[0092] On the contrary, when the density between data points tends to be stable, it means that the object is located in the defense zone. Therefore, when the number of points in the defense zone is greater than or equal to the point threshold, an alarm signal is output.

[0093] In some embodiments, after the laser radar outputs the alarm cancellation signal, early warning detection can be performed based on the data points outside the defense area. In this process, the data points outside the defense area can be detected by setting the early warning distance, and the distance between the data points outside the defense area and the defense area can be calculated. Figure 6 As shown, if the interval distance is greater than the warning distance, it means that the object outside the defense area is at a certain distance from the defense area, and no warning is required. If the interval distance is less than or equal to the warning distance, it means that the object outside the defense area is located at the edge of the defense area, and a warning signal is generated based on the interval distance between the data point outside the defense area and the defense area, wherein the warning signal is used to indicate that the data point enters the defense area within a preset number of frames, so as to remind the user that there is a risk that an object outside the defense area is about to enter the defense area.

[0094] In order to facilitate the execution of the above-described method, some embodiments of the present application further provide a laser radar-based warning oscillation elimination system, including a laser radar and a controller, wherein the laser radar is used to obtain a point cloud data frame of a scanning area, and the controller is configured to:

[0095] S100: performing scanning based on a scanning area of ​​a laser radar to obtain a point cloud data frame, wherein the point cloud data frame includes data points, and the scanning area includes a defense area;

[0096] S200: acquiring a reference point corresponding to the data point in a reference data frame, wherein the reference data frame is a previous data frame or a next data frame of the point cloud data frame;

[0097] S300: If the reference point is located within the defense zone, determining the positional relationship between the data point and the defense zone according to the distance difference between the reference point and the data point;

[0098] S400: Determine the number of data points in the point cloud data frame located within the defense zone according to the position relationship;

[0099] S500: Outputting an alarm signal or an alarm elimination signal according to the number of data points to eliminate alarm oscillation.

[0100] The system provided in the embodiment of the present application can determine whether there is an object in the defense zone through the positional relationship between the corresponding points of the point cloud data frame and the reference data frame, thereby improving the accuracy of the defense zone signal output and effectively eliminating the alarm oscillation in the defense zone.

[0101] Some embodiments of the present application also provide a computer-readable storage medium, wherein the computer-readable storage medium includes computer instructions, and the computer instructions are used to enable the computer to execute the above-mentioned laser radar-based warning oscillation elimination method.

[0102] The readable computer storage medium provided in the embodiment of the present application can be executed by a computer, and the positional relationship between the corresponding points of the point cloud data frame and the reference data frame can be used to determine whether there is an object in the defense zone, thereby improving the accuracy of the defense zone signal output and effectively eliminating the alarm oscillation in the defense zone.

[0103] It can be seen from the above technical solutions that the present application provides a method, system and storage medium for eliminating alarm oscillations based on laser radar. The method performs multiple scans based on the scanning area of ​​the laser radar, and obtains reference points corresponding to the data points in the point cloud data frame in the reference data frame. If the reference point is located in the defense area, the positional relationship between the data point and the defense area is determined based on the distance difference between the reference point and the data point, and an alarm signal or an alarm elimination signal is output based on the number of data points determined by the positional relationship to eliminate the alarm oscillation. The present application determines whether there is an object in the defense area through the positional relationship between the corresponding points of the point cloud data frame and the reference data frame, thereby improving the accuracy of the defense area signal output and effectively eliminating the alarm oscillation in the defense area.

[0104] 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.

[0105] 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 method for eliminating warning oscillation based on laser radar, characterized in that: include: Performing scanning based on the scanning area of ​​the laser radar to obtain a point cloud data frame, the point cloud data frame includes data points, and the scanning area includes a defense zone area; In a reference data frame, a reference point corresponding to the data point is obtained, wherein the reference data frame is a previous data frame or a next data frame of the point cloud data frame; If the reference point is located within the defense zone, determining the positional relationship between the data point and the defense zone based on the distance difference between the reference point and the data point; Determine the number of data points in the point cloud data frame located within the defense zone according to the positional relationship; An alarm signal or an alarm elimination signal is output according to the number of data points to eliminate alarm oscillation.

2. The laser radar-based warning oscillation elimination method according to claim 1, characterized in that: Also includes: Traversing reference points in the reference data frame; Obtaining the time duration of point cloud formation of the reference point, where the time duration of point cloud formation is the time duration of the laser radar emitting the measuring light and receiving the measuring light reflected back by the data point; The distance information of the reference point is calculated according to the emission rate of the measurement light and the time duration for forming the point cloud.

3. The laser radar-based warning oscillation elimination method according to claim 2, characterized in that: The step of determining the positional relationship between the data point and the defense zone according to the distance difference between the reference point and the data point comprises: Calculating the distance difference according to the distance information of the reference point and the distance information of the data point; If the absolute value of the distance difference is within the measurement error range, it is determined that the data point is located within the defense zone; If the absolute value of the distance difference is outside the measurement error range, a position determination is performed on the data point through a determination algorithm to obtain a determination result, and a position relationship of the data point is generated according to the determination result.

4. The laser radar-based warning oscillation elimination method according to claim 3 is characterized in that: After the step of determining that the data point is within the defense zone, the method further includes: Calculate average distance information according to the distance information of the reference point and the distance information of the data point; The average distance information is saved in the point cloud data frame.

5. The laser radar-based warning oscillation elimination method according to claim 1, characterized in that: If the reference point is outside the defense zone, it also includes: Performing position determination on the data point by using a coordinate position algorithm to obtain a determination result, wherein the determination result is used to characterize the vector relationship between the coordinates of the data point and the coordinates of the edge point of the defense zone in a preset coordinate system; Update the distance information of the data point according to the determination result; The distance difference is calculated according to the distance information of the updated data point and the distance information of the reference point.

6. The laser radar-based warning oscillation elimination method according to claim 3, characterized in that: Also includes: Calculating a measurement distance of the laser radar from a calibration object, wherein the calibration object is located within the scanning area; Determining an error value according to the radar accuracy of the laser radar; The measurement error range is calculated according to the error value and the measurement distance.

7. The laser radar-based warning oscillation elimination method according to claim 1, characterized in that: The step of outputting an alarm signal or eliminating an alarm signal according to the number of data points comprises: Calculate the defense zone area points based on the data points located within the defense zone area; If the number of points in the defense zone is less than the point threshold, outputting the alarm cancellation signal; If the number of points in the defense zone is greater than or equal to the point threshold, the alarm signal is output.

8. The laser radar-based warning oscillation elimination method according to claim 7, characterized in that: After the step of outputting the alarm signal, the method further comprises: Calculate the distance between the data point outside the defense area and the defense area; If the interval distance is less than or equal to the warning distance, a warning signal is generated based on the interval distance between the data point outside the defense area and the defense area, and the warning signal is used to indicate that the data point enters the defense area within a preset number of frames.

9. A laser radar-based warning oscillation elimination system, characterized in that: The system comprises a laser radar and a controller, wherein the laser radar is used to obtain a point cloud data frame of a scanning area, and the controller is configured as follows: Performing scanning based on the scanning area of ​​the laser radar to obtain a point cloud data frame, the point cloud data frame includes data points, and the scanning area includes a defense zone area; In a reference data frame, a reference point corresponding to the data point is obtained, wherein the reference data frame is a previous data frame or a next data frame of the point cloud data frame; If the reference point is located within the defense zone, determining the positional relationship between the data point and the defense zone based on the distance difference between the reference point and the data point; Determine the number of data points in the point cloud data frame located within the defense zone according to the positional relationship; An alarm signal or an alarm elimination signal is output according to the number of data points to eliminate alarm oscillation.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium includes computer instructions, and the computer instructions are used to enable the computer to execute the laser radar-based warning oscillation elimination method as described in any one of claims 1-8.

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