CN113050103A - Ground detection method, device, electronic equipment, system and medium - Google Patents
Ground detection method, device, electronic equipment, system and medium Download PDFInfo
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- G—PHYSICS
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- 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
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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- 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
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Abstract
The embodiment of the application discloses a ground detection method, a ground detection device, electronic equipment, a ground detection system and a ground detection medium. The method comprises the following steps: determining the scanning angle of the emergent light line of the ranging module on the moving target to the ground; the scanning angle is positively correlated with the width of the moving target, and the width of the moving target is the width in the direction vertical to the moving direction; and determining the flatness of the ground where the moving target is located according to the target point cloud data in the scanning angle range. According to the scheme, the data point cloud data which has more reference to ground detection is selected for ground detection, so that errors caused by other point clouds are avoided, the accuracy of ground detection is improved, the calculated amount can be effectively reduced, and the ground detection efficiency is improved.
Description
Technical Field
The embodiment of the application relates to the technical field of automatic detection, in particular to a ground detection method, a ground detection device, electronic equipment, a ground detection system and a ground detection medium.
Background
In order to detect the obstacle appearing in the moving process of the moving target, a distance measuring module can be arranged on the moving target so as to detect the obstacle in the moving process of the moving target through a detection light of the distance measuring module.
However, it is difficult for the current moving target and ranging module to accurately and efficiently detect data such as flatness and inclination of the ground.
Disclosure of Invention
The embodiment of the application provides a ground detection method, a ground detection device, electronic equipment, a ground detection system and a ground detection medium, so that ground can be accurately and efficiently detected.
In one embodiment, an embodiment of the present application provides a ground detection method, including:
determining a scanning angle of an emergent light line of a ranging module on a moving target to the ground in the moving direction of the moving target, wherein the scanning angle is positively correlated with the width of the moving target, and the width of the moving target is the width in the direction vertical to the moving direction;
acquiring target point cloud data scanned by the ranging module in the scanning angle range;
and determining the flatness of the ground where the moving target is located according to the target point cloud data.
In another embodiment, the present application further provides a ground detection apparatus, including:
the scanning angle determining module is used for determining the scanning angle of the emergent light of the ranging module on the moving target to the ground in the moving direction of the moving target, the scanning angle is positively correlated with the width of the moving target, and the width of the moving target is the width in the direction vertical to the moving direction;
the target point cloud data acquisition module is used for acquiring the target point cloud data scanned by the distance measurement module in the scanning angle range;
and the planeness determining module is used for determining the planeness of the ground where the moving target is located according to the target point cloud data.
In another embodiment, an embodiment of the present application further provides an electronic device, including: one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, the one or more programs cause the one or more processors to implement the ground detection method of any one of the embodiments of the present application.
In one embodiment, an embodiment of the present application further provides a ground detection system, where the system includes:
the device comprises a moving target and a ranging module arranged on the moving target, wherein the ranging module is used for transmitting emitted light to detect the ground;
the electronic device is arranged in the moving target or outside the moving target, and the electronic device can implement the ground detection method in any one of the embodiments of the present application.
In one embodiment, the present application further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the ground detection method according to any one of the embodiments of the present application.
In the embodiment of the application, in the moving direction of a moving target, the scanning angle of the emergent light of a ranging module on the moving target to the ground is determined, the scanning angle is positively correlated with the width of the moving target, and the width of the moving target is the width in the direction perpendicular to the moving direction; acquiring target point cloud data scanned by the ranging module in the scanning angle range; and determining the flatness of the ground where the moving target is located according to the target point cloud data. According to the scheme, the scanning angle corresponding to the width of the moving target is determined, and the target point cloud data in the scanning angle range is acquired in a targeted manner, so that ground detection is performed according to the target point cloud data with reliability and reference, error introduction and interference of other non-key point cloud data are avoided, the accuracy of ground detection is improved, the calculated amount is reduced, and the efficiency of ground detection is improved.
Drawings
Fig. 1 is a flowchart of a ground detection method according to an embodiment of the present application;
FIG. 2 is a top view of a ground detection optical path structure according to an embodiment of the present disclosure;
fig. 3 is a flowchart of a ground detection method according to another embodiment of the present application;
FIG. 4 is a front view of an optical circuit configuration provided in another embodiment of the present application;
FIG. 5 is a top view of an optical circuit structure according to another embodiment of the present application;
fig. 6 is a schematic structural diagram of a ground detection device according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a ground detection system according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures.
Fig. 1 is a flowchart of a ground detection method according to an embodiment of the present application. The ground detection method provided by the embodiment of the application can be suitable for the situation of detecting the ground where the moving target is located. Typically, the embodiment of the application is suitable for the situation of detecting the ground within the width range of the moving target. The method may be particularly performed by a ground detection apparatus, which may be implemented in software and/or hardware, which may be integrated in an electronic device capable of implementing the ground detection method. Referring to fig. 1, the method of the embodiment of the present application specifically includes:
s110, determining the scanning angle of the emergent light of the ranging module on the moving target to the ground in the moving direction of the moving target; the scanning angle is in positive correlation with the width of the moving object, and the width of the moving object is the width in the direction perpendicular to the moving direction.
The moving target may be an object that moves autonomously and mainly, such as a robot, a pedestrian, an automobile, or the like, or an object that moves by an external force, such as a cart, a wooden box, or the like, that is pushed or pulled. The moving manner of the moving object is not particularly limited, and may be rolling, sliding, or the like.
Fig. 2 is a top view of a ground detection optical path structure according to an embodiment of the present disclosure, as shown in fig. 2, a point B and a point C are intersection points of emergent light and ground, BC is a scanning width w of the emergent light to the ground, a certain height exists between the point a where the distance measurement module is located and the ground, and a scanning distance D of the emergent light to the ground. The scanning angle is 2 theta in a triangle ABC in FIG. 2, and 2 theta is the scanning angle of the emergent light to the ground.
Specifically, in the moving process of the moving target, the distance measuring module emits emergent light to the periphery and the ground so as to perform detection. For the moving target, the ground in the advancing direction and the width range of the moving target needs to be detected, so that the motion state of the moving target is timely adjusted according to the detection condition of the ground, and the normal and stable running of the moving target is ensured. In the embodiment of the application, the distance measuring module emits emergent rays to the ground at any angle to detect the ground. In the moving direction of the moving target, when the distance measurement module detects the emitted emergent light, detection and analysis may not be performed on the range of all angles that the emergent light can scan, and only the range of the area through which the moving target passes may be detected, and the range of the area that can affect the normal traveling of the moving target is analyzed, so that the scanning angle in the embodiment of the present application is positively correlated with the width of the moving target, and the larger the width of the moving target is, the larger the determined scanning angle is, the smaller the width of the moving target is, the smaller the determined scanning angle is, and thus the ground within the width range in the advancing direction of the moving target is detected in a targeted manner.
And S120, acquiring target point cloud data scanned by the ranging module in the scanning angle range.
For example, the emergent light of the distance measurement module may be at any angle, and the point cloud data acquired by the distance measurement module is not necessarily all suitable for ground detection, so that the target point cloud data scanned by the distance measurement module within the scanning angle range is acquired according to the determined scanning angle, so as to detect the ground according to the target point cloud data.
According to the scheme, the target point cloud data suitable for detecting the ground in the width range of the advancing direction of the moving target can be selected in a targeted manner, and the ground condition in the width range of the advancing direction can be accurately reflected by the target point cloud data, so that the detection result is more accurate and reliable. Abnormal points caused by reflection of other abnormal objects on the ground or abnormal points detected at uneven parts of other ground may exist in other non-key point cloud data, and if the abnormal points are doped into the ground in the width range of the advancing direction, the accuracy of detection is affected. The scheme of the embodiment of the application eliminates the abnormal points, so that the accuracy of ground detection is improved. In addition, the quantity of point cloud data used for calculation is reduced through screening, the calculation amount is effectively reduced, and the ground detection efficiency is improved.
And S130, determining the flatness of the ground where the moving target is located according to the target point cloud data.
For example, a ground plane may be obtained by fitting according to the target point cloud data based on a clustering algorithm or a plane determination model. And comparing the target point cloud data with the ground plane, and determining whether the target point cloud data is positioned on the ground plane, thereby realizing the flatness detection of the ground where the moving target is positioned.
In the embodiment of the application, in the moving direction of a moving target, the scanning angle of the emergent light of a ranging module on the moving target to the ground is determined, the scanning angle is positively correlated with the width of the moving target, and the width of the moving target is the width in the direction perpendicular to the moving direction; acquiring target point cloud data scanned by the ranging module in the scanning angle range; and determining the flatness of the ground where the moving target is located according to the target point cloud data. According to the scheme, the scanning angle corresponding to the width of the moving target is determined, and the target point cloud data in the scanning angle range is acquired in a targeted manner, so that ground detection is performed according to the target point cloud data with reliability and reference, error introduction and interference of other non-key point cloud data are avoided, the accuracy of ground detection is improved, the calculated amount is reduced, and the efficiency of ground detection is improved.
Fig. 3 is a flowchart of a ground detection method according to another embodiment of the present application. For further optimization of the embodiments, details which are not described in detail in the embodiments of the present application are described in the embodiments. Referring to fig. 3, a ground detection method provided in an embodiment of the present application may include:
s210, determining the scanning angle of the emergent ray according to the length and the scanning width of the emergent ray.
The length of the emergent ray is the distance between the intersection point of the emergent ray and the ground and the emergent point of the emergent ray. The scanning angle is the scanning angle under the condition that the difference value between the scanning width of the emergent light to the ground and the preset width is smaller than a first preset difference value threshold. The preset width is determined according to the width of the moving target. For example, the preset width may be a width of the moving target, and the scanning angle is a corresponding scanning angle within a range of the width of the moving target.
Further, the scanning angle may be a scanning angle in a case where a difference between a scanning width of the outgoing light line to the ground and a preset width is smaller than a first preset difference threshold and a difference between a scanning distance of the outgoing light line to the ground and a braking distance of the moving target is smaller than a second preset difference threshold; the width of the moving target is the width in the direction perpendicular to the moving direction; the scanning distance is the projection of the emergent ray scanned to the ground on the ground.
The preset width may be set according to the width of the moving object, for example, the preset width may be the width of the moving object, or a maximum machining error value may be added on the basis of the width of the moving object, where the maximum machining error value is a specified value established according to an actual application. The width of the moving object is a width of the moving object in a direction perpendicular to the moving direction. The first preset difference threshold may be determined according to an actual situation, and may be a difference value that can be accepted in an actual application, similar to the maximum machining error value, and a theoretical condition is that the scan width is equal to the preset width, but in an actual application, a certain difference may be allowed, that is, the difference between the scan width and the preset width is smaller than the first preset difference threshold. Similarly, the second preset difference threshold may be determined according to an actual situation, and may be a difference value that can be accepted in practical application, similar to the maximum processing and the first preset difference threshold, and the theoretical condition is that the scanning distance is equal to the braking distance of the moving target, but in practical application, a certain difference may be allowed to exist, that is, the difference between the scanning distance and the braking distance is smaller than the second preset difference threshold.
Illustratively, the scanning angle of the emergent ray is determined according to the length and the scanning width of the emergent ray under the condition that the difference between the scanning width and the preset width is smaller than a first preset difference threshold value and the difference between the scanning distance and the braking distance is smaller than the first preset difference threshold value. Since the installation height and the installation angle of the ranging module are known, the length of the emergent ray and the scanning distance of the emergent ray to the ground can be calculated, which is not described herein. The scan width is known because of the requirements for the scan width. As shown in FIG. 2, in the triangle ABC, assuming that the length of the emergent ray AD is L and the scanning width is w, then
Further obtain
Thus, the scan angle can be determined as
Fig. 4 is a front view of an optical path structure provided in another embodiment of the present application, fig. 5 is a top view of the optical path structure provided in another embodiment of the present application, and fig. 4 and 5 are schematic optical path structures in a case where a scanning width of an outgoing light beam to a ground is equal to a width of a moving target, and a scanning distance of the outgoing light beam to the ground is equal to a braking distance of the moving target. As shown in fig. 4, in the right triangle shown in fig. 4, the distance between the ranging module and the ground is h, and the braking distance s of the moving target is s. Based on the pythagorean theorem, the length x of the emergent ray is determined according to the distance h between the ranging module and the ground and the braking distance s of the moving target.
As shown in fig. 5, a is a position point of the distance measuring module, b is a point where the outgoing light irradiates the ground, and ab is a length x of the outgoing light. In the triangle abc, the tangent of the angle θ can be determined from the values x of ab, d/2 of bc
Further obtain
Thus, the scan angle can be determined as
It should be noted that the above-mentioned scheme is only an example of one situation in the above-mentioned embodiment, and is not limited, and when the scan width is known, the difference between the scan width and the preset width is smaller than the first preset difference threshold, the scan distance is known, and the difference between the scan distance and the braking distance is smaller than the first preset difference threshold, the embodiment of the present application is also applicable, that is, the relevant parameter is calculated according to fig. 2.
In an embodiment of the present application, before determining the scanning angle of the emergent ray, the method further includes: determining the braking distance of the moving target according to the current speed and the braking acceleration of the moving target; and determining a theoretical angle value between the emergent ray and the ground according to the braking distance of the moving target and the distance between the ranging module and the ground. Before determining the scanning angle of the emergent ray, the method further comprises: and adjusting the angle of the emergent ray of the distance measuring module according to the theoretical angle value so that the actual angle value of the emergent ray and the ground is smaller than or equal to the theoretical angle value, and the scanning distance of the emergent ray to the ground is larger than or equal to the braking distance of the moving target.
For example, assuming that the current speed of the moving object is v and the braking acceleration during deceleration is a, the distance traveled by the moving object decelerating to 0 can be obtained as
I.e. the stopping distance. As shown in fig. 4, according to the braking distance and the distance between the distance measuring module and the ground, the tangent value of the theoretical angle value between the emergent ray and the ground can be calculated, and then the theoretical angle value between the emergent ray and the ground can be obtained. According to the theoretical angle value, the angle of the emergent ray of the distance measuring module or the angle of the distance measuring module is adjusted, so that the actual angle value of the emergent ray and the ground is smaller than or equal to the theoretical angle value, the scanning distance of the emergent ray to the ground is larger than or equal to the braking distance of the moving target, when the distance measuring module detects that the ground in the advancing direction of the moving target is uneven, enough braking time is provided for stopping the moving target, and the moving target is prevented from being overturned due to uneven ground in the front.
S220, screening target point cloud data with the angle within the scanning angle range from the point cloud data scanned by the distance measuring module.
Illustratively, the distance measuring module can emit emergent rays with any angle in the transverse range, for example, the emergent rays can be scanned by 360 degrees. The point cloud data of any angle is obtained, and the point cloud data suitable for detecting the ground in the width range of the advancing direction of the moving target is the target point cloud data in the scanning angle range, so that the target point cloud data with the angle in the scanning angle range can be screened out from the point cloud data scanned by the distance measuring module for ground detection.
And S230, determining a theoretical ground plane according to the target point cloud data based on a RANSAC algorithm.
Selecting any three non-collinear points for the target point cloud data, fitting the points into a plane model, calculating whether the target point cloud data meets the plane model according to a set error threshold, repeating iteration for multiple times, generating a new plane model each time, and determining whether the target point cloud data is superior to the existing plane model according to the number of the new plane models meeting the target point cloud data. And when the iteration result meets certain requirements, taking the current optimal model as a theoretical ground plane.
S240, determining the flatness of the ground where the moving target is located according to the judgment result of whether the target point cloud data is located on the theoretical ground plane.
For example, the target point cloud data may be traversed to determine whether the target point cloud data is located on a theoretical ground plane, and the flatness of the ground where the moving target is located may be determined according to a determination result of whether each target point cloud data is located on the theoretical ground plane.
In this embodiment of the present application, determining the flatness of the ground where the moving target is located according to the determination result of whether the target point cloud data is located on the theoretical ground plane includes: if the target point cloud data is not on the theoretical ground plane, determining that the ground where the moving target is located is uneven; and adjusting the movement speed and/or the movement direction of the moving target.
Specifically, if the target point cloud data is not on the theoretical ground plane, whether the ground is convex or concave can be determined according to the number and coordinates of the target point cloud data which is not on the theoretical ground plane, and the area range of the convex or concave can be judged, so that the unevenness degree of the ground can be judged. And the distance between the part with uneven ground and the moving target can be determined according to the coordinates of the target point cloud data which is not on the theoretical ground plane, so that the moving speed and/or the moving direction of the moving target can be adjusted adaptively, and the influence of the uneven ground on the normal movement of the moving target is avoided.
According to the scheme in the embodiment of the application, the scanning angle of the emergent light in the moving target width range to the ground can be accurately calculated, so that the pertinence is followed in the point cloud data scanned by the distance measuring module, the screening angle is located the target point cloud data in the scanning angle range, and according to the target point cloud data and a theoretical ground plane, whether the target corona data is located on the theoretical ground plane is determined, so that the detection of the ground flatness is realized, the accuracy of ground detection is improved, the calculated amount is reduced, and the efficiency and the real-time performance of the ground detection are improved.
Fig. 6 is a schematic structural diagram of a ground detection device according to an embodiment of the present application. The device can be applied to the situation of detecting the ground where the moving target is located. Typically, the embodiment of the application is suitable for the situation of detecting the ground within the width range of the moving target. The apparatus may be implemented by software and/or hardware, and the apparatus may be integrated in an electronic device. Referring to fig. 6, the apparatus specifically includes:
a scanning angle determining module 310, configured to determine, in a moving direction of a moving target, a scanning angle of an outgoing light line of a ranging module on the moving target with respect to a ground surface, where the scanning angle is in positive correlation with a width of the moving target, and the width of the moving target is a width in a direction perpendicular to the moving direction;
a target point cloud data acquiring module 320, configured to acquire target point cloud data scanned by the ranging module within the scanning angle range;
and the flatness determining module 330 is configured to determine the flatness of the ground where the moving target is located according to the target point cloud data.
In this embodiment, the scan angle determining module 310 includes:
the scanning angle calculation unit is used for determining the scanning angle of the emergent ray according to the length of the emergent ray and the scanning width; the scanning angle is the scanning angle under the condition that the difference value between the scanning width of the emergent light to the ground and the preset width is smaller than a first preset difference threshold value, and the preset width is determined according to the width of the moving target;
the length of the emergent ray is the distance between the intersection point of the emergent ray and the ground and the emergent point of the emergent ray.
In this embodiment of the application, the target point cloud data obtaining module 320 is specifically configured to:
and screening target point cloud data with an angle within the scanning angle range from the point cloud data scanned by the ranging module.
In an embodiment of the present application, the apparatus further includes:
the braking distance determining module is used for determining the braking distance of the moving target according to the current speed and the braking acceleration of the moving target;
and the theoretical angle value determining module is used for determining the theoretical angle value of the emergent ray and the ground according to the braking distance of the moving target and the distance between the distance measuring module and the ground.
In an embodiment of the present application, the apparatus further includes:
and the angle adjusting module is used for adjusting the angle of the emergent ray of the distance measuring module according to the theoretical angle value so that the actual angle value of the emergent ray and the ground is smaller than or equal to the theoretical angle value, and the scanning distance of the emergent ray to the ground is larger than or equal to the braking distance of the moving target.
In this embodiment, the flatness determining module 330 includes:
a theoretical ground plane determining unit, configured to determine a theoretical ground plane according to the target point cloud data based on a RANSAC algorithm;
and the judgment result determining unit is used for determining the flatness of the ground where the moving target is located according to the judgment result of whether the target point cloud data is located on the theoretical ground plane.
In an embodiment of the present application, the determination result determining unit is specifically configured to:
if the target point cloud data is not on the theoretical ground plane, determining that the ground where the moving target is located is uneven;
and adjusting the movement speed and/or the movement direction of the moving target.
The ground detection device provided by the embodiment of the application can execute the ground detection method provided by any embodiment of the application, and has corresponding functional modules and beneficial effects of the execution method.
Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application. FIG. 7 illustrates a block diagram of an exemplary electronic device 412 suitable for use in implementing embodiments of the present application. The electronic device 412 shown in fig. 7 is only an example and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 7, the electronic device 412 may include: one or more processors 416; the memory 428 is configured to store one or more programs, when the one or more programs are executed by the one or more processors 416, so that the one or more processors 416 implement the ground detection method provided by the embodiment of the present application, including:
determining a scanning angle of an emergent light line of a ranging module on a moving target to the ground in the moving direction of the moving target, wherein the scanning angle is positively correlated with the width of the moving target, and the width of the moving target is the width in the direction vertical to the moving direction;
acquiring target point cloud data scanned by the ranging module in the scanning angle range;
and determining the flatness of the ground where the moving target is located according to the target point cloud data.
The components of the electronic device 412 may include, but are not limited to: one or more processors or processors 416, a memory 428, and a bus 418 that couples the various device components including the memory 428 and the processors 416.
A program/utility 440 having a set (at least one) of program modules 442 may be stored, for instance, in memory 428, such program modules 442 including, but not limited to, an operating device, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. The program modules 442 generally perform the functions and/or methods of the embodiments described herein.
The electronic device 412 may also communicate with one or more external devices 414 (e.g., keyboard, pointing device, display 424, etc.), with one or more devices that enable a user to interact with the electronic device 412, and/or with any devices (e.g., network card, modem, etc.) that enable the electronic device 412 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 422. Also, the electronic device 412 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) through the network adapter 420. As shown in FIG. 7, network adapter 420 communicates with the other modules of electronic device 412 over bus 418. It should be appreciated that although not shown in FIG. 7, other hardware and/or software modules may be used in conjunction with the electronic device 412, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID devices, tape drives, and data backup storage devices, among others.
The processor 416 executes various functional applications and data processing by executing at least one of other programs of the programs stored in the memory 428, for example, to implement a ground detection method provided by the embodiments of the present application.
Fig. 8 is a schematic structural diagram of a ground detection system according to an embodiment of the present application. The ground detection system that this application embodiment provided includes:
the device comprises a moving target 501 and a ranging module 502 arranged on the moving target, wherein the ranging module is used for emitting light to detect the ground;
the electronic device 503 is disposed in the moving target or outside the moving target, and the electronic device may implement the ground detection method according to any one of the embodiments of the present application.
In this embodiment, the ranging module 502 may communicate with the electronic device 503 in a wired or/and wireless manner. The moving target 501 and the electronic device 503 may also be integrated, that is, the moving target specimen application is an electronic device, and the ground detection method in any embodiment can be implemented.
The ground detection system provided by the embodiment of the application can execute the ground detection method provided by any embodiment of the application, and has corresponding functional modules and beneficial effects of the execution method.
One embodiment of the present application provides a storage medium containing computer-executable instructions that, when executed by a computer processor, perform a ground detection method, comprising:
determining a scanning angle of an emergent light line of a ranging module on a moving target to the ground in the moving direction of the moving target, wherein the scanning angle is positively correlated with the width of the moving target, and the width of the moving target is the width in the direction vertical to the moving direction;
acquiring target point cloud data scanned by the ranging module in the scanning angle range;
and determining the flatness of the ground where the moving target is located according to the target point cloud data.
The computer storage media of the embodiments of the present application may take any combination of one or more computer-readable storage media. The computer readable storage medium may be a computer readable signal storage medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor device, apparatus, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In embodiments of the present application, a computer readable storage medium may be any tangible storage medium that can contain, or store a program for use by or in connection with an instruction execution apparatus, device, or apparatus.
A computer readable signal storage medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal storage medium may also be any computer readable storage medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution apparatus, device, or apparatus.
Program code embodied on a computer readable storage medium may be transmitted using any appropriate storage medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or device. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present application and the technical principles employed. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the appended claims.
Claims (11)
1. A method of ground detection, the method comprising:
determining a scanning angle of an emergent light line of a ranging module on a moving target to the ground in the moving direction of the moving target, wherein the scanning angle is positively correlated with the width of the moving target, and the width of the moving target is the width in the direction vertical to the moving direction;
acquiring target point cloud data scanned by the ranging module in the scanning angle range;
and determining the flatness of the ground where the moving target is located according to the target point cloud data.
2. The method of claim 1, wherein determining a scanning angle of an outgoing light ray of a ranging module on a moving target to the ground in a moving direction of the moving target, wherein the scanning angle is positively correlated with a width of the moving target, comprises:
determining the scanning angle of the emergent ray according to the length of the emergent ray and the scanning width; the scanning angle is the scanning angle under the condition that the difference value between the scanning width of the emergent light to the ground and the preset width is smaller than a first preset difference threshold value, and the preset width is determined according to the width of the moving target;
the length of the emergent ray is the distance between the intersection point of the emergent ray and the ground and the emergent point of the emergent ray.
3. The method of claim 1, wherein prior to determining a scanning angle of an outgoing line of a ranging module on the moving target to the ground, the method further comprises:
determining the braking distance of the moving target according to the current speed and the braking acceleration of the moving target;
and determining a theoretical angle value between the emergent ray and the ground according to the braking distance of the moving target and the distance between the ranging module and the ground.
4. The method of claim 3, wherein prior to determining a scanning angle of an outgoing line of a ranging module on the moving target to the ground, the method further comprises:
and adjusting the angle of the emergent ray of the distance measuring module according to the theoretical angle value so that the actual angle value of the emergent ray and the ground is smaller than or equal to the theoretical angle value, and the scanning distance of the emergent ray to the ground is larger than or equal to the braking distance of the moving target.
5. The method of claim 1, wherein obtaining target point cloud data scanned by the ranging module over the scan angle range comprises:
and screening target point cloud data with an angle within the scanning angle range from the point cloud data scanned by the ranging module.
6. The method of claim 1, wherein determining the flatness of the ground on which the moving target is located from the target point cloud data comprises:
determining a theoretical ground plane according to the target point cloud data based on a RANSAC algorithm;
and determining the flatness of the ground where the moving target is located according to the judgment result of whether the target point cloud data is located on the theoretical ground plane.
7. The method of claim 6, wherein determining the flatness of the ground on which the moving target is located according to the determination result of whether the target point cloud data is located on the theoretical ground plane comprises:
if the target point cloud data is not on the theoretical ground plane, determining that the ground where the moving target is located is uneven;
and adjusting the movement speed and/or the movement direction of the moving target.
8. A ground detection apparatus, characterized in that the apparatus comprises:
the scanning angle determining module is used for determining the scanning angle of the emergent light of the ranging module on the moving target to the ground in the moving direction of the moving target, the scanning angle is positively correlated with the width of the moving target, and the width of the moving target is the width in the direction vertical to the moving direction;
the target point cloud data acquisition module is used for acquiring the target point cloud data scanned by the distance measurement module in the scanning angle range;
and the planeness determining module is used for determining the planeness of the ground where the moving target is located according to the target point cloud data.
9. An electronic device, characterized in that the electronic device comprises:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the ground detection method of any one of claims 1-7.
10. A ground detection system, the system comprising:
the device comprises a moving target and a ranging module arranged on the moving target, wherein the ranging module is used for transmitting emitted light to detect the ground;
an electronic device, disposed in or outside a moving object, the electronic device being capable of implementing the ground detection method of any one of claims 1-7.
11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the ground detection method according to any one of claims 1-7.
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