CN112731430B - High-altitude parabolic detection method and system based on laser radar - Google Patents
High-altitude parabolic detection method and system based on laser radar Download PDFInfo
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- CN112731430B CN112731430B CN202011482194.5A CN202011482194A CN112731430B CN 112731430 B CN112731430 B CN 112731430B CN 202011482194 A CN202011482194 A CN 202011482194A CN 112731430 B CN112731430 B CN 112731430B
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- 230000005484 gravity Effects 0.000 claims description 4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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Abstract
According to the high-altitude parabolic detection method and system based on the laser radar, the identified high-altitude parabolic profile information is obtained according to the time, the swing information of the inherent object in the environment is obtained by combining the laser radar, further, the wind speed in the environment is modeled and calculated, the calculation process of the initial position and falling track of the high-altitude parabolic is introduced, the calculation accuracy is improved, and meanwhile, the high-efficiency all-weather unattended operation is realized, so that personal safety hazard brought to people by the high-altitude parabolic is prevented.
Description
Technical Field
The invention relates to the technical field of application of laser radars, in particular to a high-altitude parabolic detection method and system based on the laser radars.
Background
With the rapid development of cities, in order to accommodate enough people in a limited space, the space is inevitably expanded into the air, so that more and more high-rise or even super-high-rise buildings are generated, and the problem of falling objects at high altitude is caused.
In recent years, no matter the phenomenon of artificial or non-artificial high-altitude falling objects, the personal safety of people is greatly threatened, even a very small object can become a shakable tool after falling from high altitude, therefore, the phenomenon cannot be effectively prevented only by means of manual inspection, remote education and the like, and the prevention of groups is unprecedented by utilizing high-new technology.
In the prior art, vision is mainly used, but the problem that high-altitude parabolic objects cannot be effectively identified in severe weather such as night and rainy days exists, meanwhile, the problem that data volume is too large to process is solved, and in addition, a plurality of difficulties exist in remote identification and positioning.
Disclosure of Invention
The embodiment of the invention mainly aims to provide a laser radar-based high-altitude parabolic detection method and a laser radar-based high-altitude parabolic detection system, which run in all weather and high efficiency, ensure personal safety of people and avoid harm of high-altitude parabolic.
In order to achieve the above object, in a first aspect, the present invention provides a method for detecting high altitude parabolic objects based on a laser radar, the method comprising:
According to scanned object information of the laser radar, calculating current pose information of an object in real time;
calculating a time interval from the initial position to the current pose in the vertical direction by using the acceleration compensation value and the gravity acceleration;
And calculating the thrown pose information of the object and the falling track of the object based on the acceleration compensation value and the time interval.
According to a specific implementation manner of the embodiment of the present disclosure, the calculating, in real time, current pose information of an object according to scanned object information of a laser radar includes:
And the laser radar obtains the three-dimensional contour information of the object according to the contour information of the object scanned by different scanning sections at the same moment and/or the contour information of the object scanned by the same scanning section at different moments.
According to a specific implementation of an embodiment of the present disclosure, the acceleration compensation value includes a wind speed compensation value and an adjustment compensation coefficient.
According to a specific implementation manner of the embodiment of the present disclosure, the wind speed compensation value is calculated according to three-dimensional contour information of the object in combination with current wind speed information and the pose information.
According to a specific implementation manner of the embodiment of the present disclosure, the method for obtaining wind speed information includes:
Setting a wind speed identification area of the laser radar, so that the wind speed identification area contains a blown object;
In a windless environment, enabling a laser radar to perform self-recognition on objects in the wind speed recognition area and completing modeling;
and calculating wind speed information according to the swing of the object in the wind speed identification area in the windy environment.
In a second aspect, an embodiment of the present disclosure provides a laser radar-based high altitude parabolic detection system, where the system includes a laser scanning module, a data processing module, and an interception module;
the laser scanning module is used for scanning the outline information of the object in real time and transmitting the outline information to the data processing module;
The data processing module is used for calculating the thrown pose information and the object falling track of the object according to the object contour information in the wind speed identification area, the contour information of the high-altitude parabolic object and the scanned time information, and transmitting a control instruction to the interception module;
and the interception module is used for intercepting the object motion track and warning the person at the object throwing position according to the instruction of the data processing module.
According to a specific implementation of an embodiment of the disclosure, the laser scanning module comprises at least one multi-line laser radar and/or at least two single-line laser radars.
According to a specific implementation manner of the embodiment of the disclosure, the data processing module includes a wind speed calculating unit and a pose track calculating unit:
The wind speed calculation unit is used for calculating wind speed information by utilizing the existing model according to the swing of the object in the wind speed identification area;
the pose track calculation unit is used for calculating the thrown pose information of the object and the falling track of the object according to the acceleration compensation value and the movement time interval.
By means of the technical scheme, the laser radar system and the method for detecting the object throwing position and the throwing position of the object scan the object profile information through the laser radar so as to identify the object pose information and the current wind speed information, calculate the throwing pose information and the object falling track of the object, and intercept and warn the person at the object throwing position on the object motion track. Compared with the prior art, the invention realizes the all-weather, high-precision and high-efficiency protection of the personal safety of people without unattended operation and avoids the harm caused by high-altitude throwing.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the description below are only some embodiments of the invention and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a laser radar-based high-altitude parabolic detection method;
FIG. 2 is a flow chart of a method for acquiring wind speed information provided by the invention;
FIG. 3 is a schematic diagram of a high-altitude parabolic detection system based on a laser radar according to the present invention;
Fig. 4 is a schematic diagram illustrating a method and a system for detecting high altitude parabolic objects based on a lidar according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1,2, 3 and 4, a preferred embodiment of a laser radar based high altitude parabolic detection method and system according to the present invention is shown. In the embodiment, a multi-line 360-degree scanning laser radar (4-2) is installed on the outer wall of a middle building layer of a high building (4-1), wherein 4-3 to 4-5 are schematic diagrams of scanning cross sections of the laser radar, the scanning inclination angles of all surfaces are different, 4-6 are arranged laser radar wind speed identification areas, a tree (4-7) is identified and modeled in the areas, and the specific detection method for high-altitude parabolic objects (4-8) comprises the following steps:
S101, according to different or same scanning sections of a laser radar, scanning object information at different moments, and calculating current pose information of an object in real time;
s102, calculating an acceleration compensation value according to the three-dimensional contour information of the object and combining current wind speed information and pose information;
s103, calculating a time interval from the initial position to the current pose in the vertical direction by utilizing the acceleration compensation value and the gravity acceleration;
S104, calculating the information of the thrown pose of the object and the falling track of the object according to the acceleration compensation value and the time interval.
Specifically, in the implementation of steps S101-S104, the relative positional relationship information of the object (4-8) can be scanned at times t 1 and t 2 according to the scan sections 4-5 and 4-4 of the lidar, respectivelyAnd/>By combining absolute position coordinates omega laser of the laser radar (4-2)
Calculating pose information alpha of an object at t 2 in real time;
According to the set laser radar wind speed identification area (4-6), the tree (4-7) information in the area is automatically identified in a windless environment, and a wind speed calculation model formula is created according to an existing modeling algorithm;
in this embodiment, the tree information includes: the three-dimensional profile of the crown has surface area, length, width, height, smoothness, luxury, flexibility, etc.;
calculating wind speed information according to the swing of the tree profile in the windy environment;
according to the section information of the object continuously passing through the scanning surface 4-5, three-dimensional contour information of the object is obtained by splicing according to time sequence, and a wind speed compensation value is obtained by utilizing the relation between a windward surface and a wind speed;
introducing the adjustment compensation coefficient into the wind speed compensation value to obtain a final acceleration compensation value a c =f (alpha), and calculating a time interval Deltat from an initial position to a current pose in the vertical direction by combining the gravity acceleration;
in this embodiment, the adjustment compensation coefficient is obtained from a large amount of experimental data;
According to the acceleration compensation value a c and the time interval delta t, calculating the thrown pose information alpha 0＝(x,0y0,z0,vx0,vy0,vz0) of the object and the falling track of the object.
FIG. 2 is a flow chart of a method for obtaining wind speed information according to the present invention, the method includes:
s201, setting a wind speed identification area of a laser radar, so that the wind speed identification area contains a blown object;
S202, enabling a laser radar to perform self-recognition on objects in the wind speed recognition area and completing modeling in a windless environment;
s203, calculating wind speed information according to the swing of the object in the wind speed identification area in the windy environment.
According to the high-altitude parabolic detection system based on the laser radar, provided by the invention, in the embodiment, the system comprises the following steps:
The laser scanning module comprises at least one multi-line laser radar and/or at least two single-line laser radars and is used for scanning the outline information of an object in real time and transmitting the outline information to the wind speed calculation unit and the pose track calculation unit;
The wind speed calculation unit is used for identifying the swing of the object according to the object profile information in the wind speed identification area, calculating wind speed information by using the existing model and transmitting the wind speed information to the pose track calculation unit;
The pose track calculation unit is used for calculating the thrown pose information of the object and the falling track of the object according to the outline information, the acceleration compensation value and the movement time interval of the high-altitude parabolic object, and transmitting a control instruction to the interception module;
And the interception module is used for intercepting the object motion track and warning the object throwing position personnel according to the instruction of the pose track calculation unit.
In summary, the method and the system for detecting the high altitude parabolic object based on the laser radar provided by the embodiment of the invention have the following beneficial effects:
(1) The method realizes all-weather unattended operation, and prevents the hazard of high-altitude parabolic matters;
(2) Calculating wind speed information of the current environment in real time by utilizing the object contour change in the application environment, introducing a calculation model, and improving the calculation accuracy of the initial pose and the track;
(3) And by using a single type of laser sensor, the calculation of the initial pose and the track is completed rapidly and efficiently by only using the scanned point cloud contour information.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (6)
1. A method for detecting high altitude parabolic objects based on a lidar, the method comprising:
According to the object information of different or same scanning sections scanned by the laser radar at different moments, calculating the current pose information of the object in real time;
calculating a time interval from the initial position to the current pose in the vertical direction by using the acceleration compensation value and the gravity acceleration;
Calculating the thrown pose information of the object and the falling track of the object based on the acceleration compensation value and the time interval;
the acceleration compensation value comprises a wind speed compensation value and an adjustment compensation coefficient;
and the wind speed compensation value is calculated by combining current wind speed information and pose information according to the three-dimensional contour information of the object.
2. The method for detecting high altitude parabolic objects based on the laser radar according to claim 1, wherein the calculating the current pose information of the object in real time according to the scanned object information of the laser radar comprises:
And the laser radar obtains the three-dimensional contour information of the object according to the contour information of the object scanned by different scanning sections at the same moment and/or the contour information of the object scanned by the same scanning section at different moments.
3. The method for detecting high altitude parabolic trough based on laser radar according to claim 1, wherein the method for acquiring wind speed information comprises:
Setting a wind speed identification area of the laser radar, so that the wind speed identification area contains a blown object;
In a windless environment, enabling a laser radar to perform self-recognition on objects in the wind speed recognition area and completing modeling;
and calculating wind speed information according to the swing of the object in the wind speed identification area in the windy environment.
4. A laser radar-based high-altitude parabolic detection system, characterized in that the system is applied to the method of any one of claims 1-3, and comprises a laser scanning module, a data processing module and an interception module;
the laser scanning module is used for scanning the outline information of the object in real time and transmitting the outline information to the data processing module;
The data processing module is used for calculating the thrown pose information and the object falling track of the object according to the object contour information in the wind speed identification area, the contour information of the high-altitude parabolic object and the scanned time information, and transmitting a control instruction to the interception module;
and the interception module is used for intercepting the object motion track and warning the person at the object throwing position according to the instruction of the data processing module.
5. The lidar-based high-altitude parabolic detection system of claim 4, wherein the laser scanning module comprises at least one multi-line lidar and/or at least two single-line lidars.
6. The high-altitude parabolic detection system based on the laser radar according to claim 4, wherein the data processing module comprises a wind speed calculation unit and a pose track calculation unit:
The wind speed calculation unit is used for calculating wind speed information by utilizing the existing model according to the swing of the object in the wind speed identification area;
the pose track calculation unit is used for calculating the thrown pose information of the object and the falling track of the object according to the acceleration compensation value and the movement time interval.
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