Title:
LASER RADAR OCCLUSION DETERMINATION AND CLEANING METHOD AND APPARATUS
Document Type and Number:
WIPO Patent Application WO/2024/037144
Kind Code:
A1
Abstract:
Disclosed in the present invention are a laser radar occlusion determination and cleaning method and apparatus. The method comprises: collecting, by a laser radar, each frame of original point cloud data having point cloud coordinates and signal strength; converting each frame of original point cloud data into a depth map, wherein parameter information of a point in the depth map comprises: a deflection angle α, a deflection angle β, and signal strength; when the shadow area in the depth map is greater than a threshold, determining that the depth map is abnormal, and outputting the maximum and minimum horizontal deflection angles of a shadow region; and determining a cleaning range according to the maximum and minimum horizontal deflection angles, and cleaning the surface of the laser radar. In the present invention, each frame of original point cloud data collected by a laser radar is converted into a depth map, a position that needs to be cleaned on the surface of the laser radar is determined according to a shadow portion of the depth map, and a corresponding nozzle is controlled for cleaning, so that the radar can be cleaned in a targeted manner, thereby ensuring normal operation of the laser radar and timely and efficient cleaning of an occlusion.
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Inventors:
XIE GUOTAO (CN)
LIANG HAO (CN)
HU MANJIANG (CN)
WEI CHENFENG (CN)
QIN XIAOHUI (CN)
XU BIAO (CN)
QIN ZHAOBO (CN)
WANG XIAOWEI (CN)
QIN HONGMAO (CN)
BIAN YOUGANG (CN)
DING RONGJUN (CN)
LIANG HAO (CN)
HU MANJIANG (CN)
WEI CHENFENG (CN)
QIN XIAOHUI (CN)
XU BIAO (CN)
QIN ZHAOBO (CN)
WANG XIAOWEI (CN)
QIN HONGMAO (CN)
BIAN YOUGANG (CN)
DING RONGJUN (CN)
Application Number:
PCT/CN2023/099181
Publication Date:
February 22, 2024
Filing Date:
June 08, 2023
Export Citation:
Assignee:
WUXI INTELLIGENT CONTROL RES INSTITUTE HNU (CN)
International Classes:
G06T7/73
Foreign References:
| CN115359121A | 2022-11-18 | |||
| CN111429400A | 2020-07-17 | |||
| CN112824926A | 2021-05-21 | |||
| CN114488073A | 2022-05-13 | |||
| US20040257556A1 | 2004-12-23 |
Attorney, Agent or Firm:
BEIJING IPWIN IP AGENCY (PARTNERSHIP) (CN)
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