CN113419251A - Attitude recognition, coding and decoding and communication method based on laser reflection - Google Patents

Attitude recognition, coding and decoding and communication method based on laser reflection Download PDF

Info

Publication number
CN113419251A
CN113419251A CN202110534289.5A CN202110534289A CN113419251A CN 113419251 A CN113419251 A CN 113419251A CN 202110534289 A CN202110534289 A CN 202110534289A CN 113419251 A CN113419251 A CN 113419251A
Authority
CN
China
Prior art keywords
information
laser
reflectivity
range finder
coding
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202110534289.5A
Other languages
Chinese (zh)
Other versions
CN113419251B (en
Inventor
石欣
余亮
廖裕生
何高杰
梁飞
崔浩洋
余可祺
冷正立
卢灏
周文博
刘荣一
田文彬
秦鹏杰
范智瑞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chongqing University
Original Assignee
Chongqing University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Chongqing University filed Critical Chongqing University
Priority to CN202110534289.5A priority Critical patent/CN113419251B/en
Publication of CN113419251A publication Critical patent/CN113419251A/en
Application granted granted Critical
Publication of CN113419251B publication Critical patent/CN113419251B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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
    • G01S17/46—Indirect determination of position data
    • G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
    • 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
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/30—Computing systems specially adapted for manufacturing

Landscapes

  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses a laser reflection-based attitude recognition, coding and decoding and communication method, and particularly comprises a laser reflection-based attitude recognition method, a laser reflection-based information coding and decoding method and a laser reflection-based communication method. The invention provides a coding and identifying and stroboscopic communication protocol based on laser reflection, which realizes the single sensing device of a laser range finder by utilizing the characteristic of the laser range finder for sensing the information of the external environment, and completes the functions of unmanned mutual communication, specific object identification, information identification and the like by matching with a high-reflectivity material, so that the laser range finder has more functionality, and simultaneously effectively reduces the phenomenon of complexity of an unmanned sensing element and a communication element.

Description

Attitude recognition, coding and decoding and communication method based on laser reflection
Technical Field
The invention relates to the field of optical communication, in particular to a posture recognition, coding and decoding and communication method based on laser reflection.
Background
With the continued development of sensor technology, control systems, and artificial intelligence, great progress has been made in the field of unmanned control. The appearance and the development of the laser range finder are more favored by times, and in military affairs, the investigation robot can realize autonomous navigation, intelligently avoid obstacles and independently complete various investigation and combat tasks by using the laser range finder; for civil use, the unmanned autonomous driving technology using the laser range finder can help reduce traffic accidents in the aspects of automatic driving, auxiliary driving systems and the like, and is used for solving the problem of urban traffic. Because the laser range finder can overcome the influence in the aspect of illumination and weather when surveying the target, can improve measurement accuracy and enlarge measuring range, can promote the interference killing feature of target identification, therefore better abundant development to the perception ability of surrounding environment.
Although the application of the laser range finder has become popular, it is more and more done to collect and use the position information of the object in the detection range, and lacks multi-directional effective information and multi-directional use.
Disclosure of Invention
The invention aims to provide a laser reflection-based gesture recognition method, which comprises the following steps:
1) determining a target to be identified; recording the attitude angle of the target to be recognized as a measured characteristic angle;
2) respectively coating high-reflectivity materials with the length of l on two edges of the measured characteristic angle by taking the angular point of the measured characteristic angle as a starting point; the angular point is the intersection point of two edges of the measured characteristic angle;
the reflectivity of the high-reflectivity material is greater than a preset threshold epsilon.
3) The laser range finder sends a plurality of laser beams to the area where the measured characteristic angle is located and receives the emitted laser beams, so that the distance information and the laser reflectivity from the laser range finder to each laser reflection point of the area where the measured characteristic angle is located are calculated; the laser range finder sends the distance information and the laser reflectivity to an upper computer; the area where the measured characteristic angle is located at least comprises an area which is attached with a high-reflectivity material;
the laser range finder and the corner point of the measured characteristic angle are positioned on the same horizontal line.
4) The upper computer preprocesses the distance information according to the laser reflectivity of each laser reflection point, so as to obtain three-dimensional point cloud information;
the step of preprocessing the distance information by the upper computer according to the laser reflectivity of each laser reflection point comprises the following steps:
4.1) judging whether the laser reflectivity of the laser reflection point is smaller than a threshold value epsilon, if so, deleting the distance information between the laser reflection point and the laser range finder;
4.2) filling missing distance information, wherein the filling value is the average value of two adjacent distance information of the missing data point.
5) The upper computer performs dimensionality reduction on the three-dimensional point cloud information by using a principal component analysis method to obtain two-dimensional point cloud information;
6) the upper computer fits the two-dimensional point cloud information to obtain an angle value of the measured characteristic angle;
the step of fitting the two-dimensional point cloud information by the upper computer comprises the following steps:
6.1) carrying out rotation translation transformation on the angular points to enable the angular points to be positioned on any two-dimensional coordinate axis;
6.2) two-dimensional point cloud information set T { (x)1，y1)，(x2，y2)......(xn，yn) The input to the function y-wTX + b, the slope w and the constant b are obtained, i.e., (w, b) ═ argmin (f (x)i)-yi)2；
6.3) calculating the angle value of the measured characteristic angle to be arctanw according to the slope w.
7) And finishing the reconstruction and the identification of the three-dimensional space attitude of the target to be identified based on the angle value of the measured characteristic angle and the two-dimensional point cloud information.
The information coding and decoding method based on the laser reflection and the area of the reflection material comprises the following steps:
1) preparing a plurality of high-reflectivity materials with the same specification; attaching the high-reflectivity material to the surface of a target to be identified; no overlap occurs between different high reflectivity materials;
2) the laser range finder sends a plurality of laser beams to the surface of the target to be identified, which is attached with the high-reflection material, and receives the emitted laser beams, so that the laser reflectivity from the laser range finder to each laser reflection point of the surface of the target to be identified is calculated; the laser range finder sends the laser reflectivity to an upper computer;
3) the upper computer preprocesses the laser reflectivity and deletes the laser reflectivity smaller than a threshold epsilon so as to obtain the distribution condition of the high-reflection material on the surface of the target to be identified;
4) the upper computer decodes the distribution condition to obtain target information to be identified; the target information to be identified is composed of a plurality of digital codes in unit area; when a unit area of the target surface to be identified is completely covered by the high-reflection material, the digital code of the unit area is a first digital code, and conversely, the digital code of the unit area is a second digital code.
The information coding and decoding method based on the difference between laser reflection and reflection materials comprises the following steps:
1) selecting n types of reflecting materials with different light reflecting rates, and equally dividing the reflecting materials into x groups;
the reflective materials are of the same specification.
2) All the reflecting materials in the ith group are attached to the surface of a target to be identified; i initial value is 1; no overlap occurs between different materials;
3) the laser range finder sends a plurality of laser beams to the surface of the target to be identified, which is attached with the reflecting material, and receives the emitted laser beams, so that the laser reflectivity of each laser reflecting point from the laser range finder to the surface of the target to be identified is calculated; the laser range finder sends the laser reflectivity to an upper computer;
4) the upper computer preprocesses the laser reflectivity to obtain the category of the reflecting materials and the arrangement sequence of all the reflecting materials;
the step of pre-processing the laser reflectivity comprises:
4.1) determining the reflectivity range of the i-th group of reflective materials, and deleting the laser reflectivity which does not belong to the reflectivity range;
4.2) filling missing data, wherein the filling value is the average value of two adjacent distance information of the missing data point.
5) Decoding the category of the reflecting material according to an information coding table stored in an upper computer to obtain target information to be identified;
the information coding table stores each reflective material and its corresponding data coding information.
The decoded information comprises a signal start bit, a valid information bit and a signal end bit; the valid information bits are used to represent information to be identified.
6) And i is set to be i +1, and the step 2) is returned to, so that x groups of target information to be identified are obtained.
The communication method based on laser reflection comprises the following steps:
1) building a communication network; the communication network consists of a plurality of information interaction parties; each information interaction party is provided with a laser range finder, a high-reflectivity material (1), a laser receiver, an information processing module, a control module and an encoding module; each information interaction party has a unique number;
2) an information interaction party needing to send information outwards is used as an information sending party; the coding module of the information sender codes the information to be sent to obtain coded information and transmits the coded information to the control module; the coded information comprises a plurality of information receiving identification bits, a plurality of information receiving party number bits, a plurality of information coding bits to be sent and a plurality of information ending identification bits;
the information interaction party corresponding to the information receiver number in the coding information is the information receiver;
3) the control module of the information sender controls the laser range finder to send the parameter information of the laser according to the coded information, so that the laser range finder sends the laser to the information receiver; the parameter information comprises frequency, light intensity, duration, wavelength, amplitude, phase and wave frequency;
4) the laser receiver of the information receiver receives the laser sent by the information sender and transmits the laser to the information processing module; the information processing module restores the laser parameter information into coding information so as to obtain information to be sent;
5) the information receiver generates response information according to the information to be sent, and codes the response information to obtain response coded information; the information receiver sends the response coding information to the information sender;
the method for the information receiver to send the response coding information to the information sender comprises the following steps: the control module of the information receiver controls the laser range finder to send the parameter information of the laser according to the response coding information, so that the laser range finder sends the response laser to the information sender;
the information sender receives the response laser and transmits the response laser to the information processing module; the information processing module restores the laser parameter information into response coding information so as to obtain the response information.
The method for the information receiver to send the response coding information to the information sender comprises the following steps:
the information receiver matches the response coding information with the reflectivity of the high-reflectivity material according to the information coding table, and arranges and displays a plurality of high-reflectivity materials with different reflectivities according to the matching result; the information coding table is prestored in a coding module of an information interaction party;
and the information sender scans and decodes the high-reflectivity material displayed by the information receiver by using the laser range finder to obtain response information.
6) And the information sender reads the response information carried in the response coding information to complete the two-way communication.
The invention has the advantages that the invention provides a coding and identifying and stroboscopic communication protocol based on laser reflection, realizes the single sensing device of the laser range finder by utilizing the characteristic of the laser range finder for sensing the external environment information, and completes the functions of unmanned mutual communication, specific object identification, information identification and the like by matching with high-reflectivity materials, so that the laser range finder has more functionality, and simultaneously effectively reduces the phenomenon of redundancy of unmanned sensing elements and communication elements.
Drawings
FIG. 1 is a flow of angle object point cloud data extraction;
FIG. 2 is a 3D point cloud data map of a region of interest;
FIG. 3 is a graph of high reflectivity characteristic angles;
FIG. 4 is a diagram of the effect of the point cloud data after dimensionality reduction;
FIG. 5 is a diagram of the effect of the defined area;
FIG. 6 is a cloud of points of interest;
FIG. 7 is a flow chart of a laser rangefinder communication system software calibration;
FIG. 8 is a transport information protocol encoding diagram;
in the figure, a high reflectance material 1.
Detailed Description
The present invention is further illustrated by the following examples, but it should not be construed that the scope of the above-described subject matter is limited to the following examples. Various substitutions and alterations can be made without departing from the technical idea of the invention and the scope of the invention is covered by the present invention according to the common technical knowledge and the conventional means in the field.
Example 1:
the attitude identification method based on laser reflection comprises the following steps:
1) determining a target to be identified; recording the attitude angle of the target to be recognized as a measured characteristic angle;
2) respectively coating high-reflectivity materials 1 with the length of l on two edges of the measured characteristic angle by taking the angular point of the measured characteristic angle as a starting point; the angular point is the intersection point of two edges of the measured characteristic angle;
the reflectivity of the high reflectivity material 1 is greater than a preset threshold epsilon.
3) The laser range finder sends a plurality of laser beams to the area where the measured characteristic angle is located and receives the emitted laser beams, so that the distance information and the laser reflectivity from the laser range finder to each laser reflection point of the area where the measured characteristic angle is located are calculated; the laser range finder sends the distance information and the laser reflectivity to an upper computer; the area where the measured characteristic angle is located at least comprises an area which is pasted with a high-reflectivity material 1;
the laser range finder and the corner point of the measured characteristic angle are positioned on the same horizontal line.
4) The upper computer preprocesses the distance information according to the laser reflectivity of each laser reflection point, so as to obtain three-dimensional point cloud information;
the step of preprocessing the distance information by the upper computer according to the laser reflectivity of each laser reflection point comprises the following steps:
4.1) judging whether the laser reflectivity of the laser reflection point is smaller than a threshold value epsilon, if so, deleting the distance information between the laser reflection point and the laser range finder; this embodiment epsilon is set to 235.
4.2) filling missing distance information, wherein the filling value is the average value of two adjacent distance information of the missing data point.
5) The upper computer performs dimensionality reduction on the three-dimensional point cloud information by using a principal component analysis method to obtain two-dimensional point cloud information;
6) the upper computer fits the two-dimensional point cloud information to obtain an angle value of the measured characteristic angle;
the step of fitting the two-dimensional point cloud information by the upper computer comprises the following steps:
6.1) carrying out rotation translation transformation on the angular points to enable the angular points to be positioned on any two-dimensional coordinate axis;
6.2) two-dimensional point cloud information set T { (x)1，y1)，(x2，y2)......(xn，yn) The input to the function y-wTX + b, the slope w and the constant b are obtained, i.e., (w, b) ═ argmin (f (x)i)-yi)2；
6.3) calculating the angle value of the measured characteristic angle to be arctanw according to the slope w.
7) And finishing the reconstruction and the identification of the three-dimensional space attitude of the target to be identified based on the angle value of the measured characteristic angle and the two-dimensional point cloud information.
Example 2:
in order to protect the following proposed method of three-dimensional spatial gesture recognition based on laser reflection, namely: the method comprises a target object fitting method based on laser reflection difference and a target object three-dimensional space attitude reconstruction and identification method based on laser distance data. The method utilizes the three-dimensional sensing capability of a laser range finder, normally acts after a high-reflectivity substance is attached to a recognition part, then the laser range finder is used for detecting, and recognition of the action, namely three-dimensional space gesture recognition, is realized according to the size of a detection angle, and the gesture recognition method based on laser reflection is provided in the embodiment and comprises the following steps:
1) target fitting method based on laser reflection difference
2) A method for reconstructing and recognizing a three-dimensional space attitude of a target object based on laser distance data. The equipment required by the step mainly comprises a laser range finder and a high-reflectivity strip.
The data returned by the laser range finder after detecting the target object is mainly to establish a coordinate system to a space by taking the data as a coordinate origin, and then the detailed position information of the measured object in the space coordinate system and the light reflection rate information of the detected object.
The method comprises the following specific steps:
firstly, a measured object is prepared and adjusted to a detectable surface of a laser range finder so as to obtain effective point cloud data.
And secondly, extracting the region of interest of all the collected point cloud data, namely setting a reflectivity threshold value for the whole point cloud data, extracting the object, and filling the missing part to obtain a complete and effective measured characteristic angle.
And then reducing the dimension of the extracted three-dimensional point cloud information by using a principal component analysis method.
And then carrying out rotation fitting to obtain a corresponding angle value.
And finally, according to the obtained angle value, the reconstruction and the identification of the three-dimensional space attitude can be completed corresponding to the ranging characteristics of the laser range finder.
The final purpose of the present embodiment is to utilize the characteristics between the laser range finder and the high-reflectivity material 1 to identify any specific angle in the three-dimensional space, so as to complete more information identification. The method for fitting the target object based on the laser reflection difference and the method for reconstructing and identifying the three-dimensional space attitude of the target object based on the laser distance data are commonly used.
Example 3:
referring to fig. 1 to 4, the gesture recognition method based on laser reflection includes the following steps:
1) laser range finder high reflectivity material 1 point cloud data acquisition
Placing the three-dimensional laser range finder at a height flush with the angle of the measured characteristic so as to obtain effective original point cloud data as much as possible;
pasting high-reflectivity materials with reflectivity of 235-255 on two sides of the measured angle object to obtain three-dimensional laser point cloud data with obvious characteristics; as in fig. 1.
And (4) carrying out experimental detection by changing the characteristic angle range (0-180 degrees).
Operating a laser point cloud data acquisition system, collecting original data acquired from a three-dimensional laser range finder, and storing the data into a computer;
2) three-dimensional point cloud data region of interest extraction
And extracting the angle object to be detected according to the reflectivity information in the point cloud data. As shown in fig. 2.
And calculating the theoretical reflection point number of the angle object, setting the lowest threshold value of the reflectivity as 235 to extract the angle object, and filling partial missing point clouds to obtain a relatively complete angle object. The angle object point cloud data extraction process is shown in fig. 3.
3) Three-dimensional point cloud data Cartesian coordinate system conversion
And (3) reducing the dimension of the point cloud 3D image scanned by the laser range finder in two dimensions under a Cartesian coordinate system, and calculating the angle.
In this embodiment, a principal component analysis method is used to perform dimensionality reduction, and point cloud data is normalized, so that the average value of each variable of the data is 0 and the variance is 1. And selecting two principal components, and converting the coordinates into coordinates on a new coordinate axis, thereby obtaining a two-dimensional angle object. As shown in fig. 4.
4) Two-dimensional point cloud data angle fitting
After the two-dimensional angle object data is obtained, function fitting needs to be performed on two edges of the angle. The intersection of the two sides of the angle object is called the corner point.
4.1) firstly, the angle object is rotated, namely, the angular point is rotated and translated to be converted, so that the angle object is rotated to a certain axis.
4.2) distinguishing two sides according to the angular points, and performing function fitting on the two sides by adopting a linear regression algorithm. And calculating the angle according to the slope by using a function equation of two sides. The function fitting procedure is as follows:
the input is as follows: a data set T: { (x)1，y1)，(x2，y2)......(xn，yn)}
The output is: y ═ wT·x+b
Wherein the parameter coefficients are calculated by using a least square method to obtain a substitution:
(w，b)＝argmin(f(xi)-yi)2
5) three-dimensional gesture recognition is accomplished to reference distance information combination space angle
And obtaining a target space angle after fitting of the target object, restoring the three-dimensional construction again by combining the point cloud distance information, obtaining accurate attitude information, and finishing the three-dimensional space attitude identification.
Example 4:
the information coding and decoding method based on the laser reflection and the area of the reflection material comprises the following steps:
1) preparing a plurality of high-reflectivity materials 1 with the same specification; the high-reflectivity material 1 is attached to the surface of a target to be identified; the materials 1 with different high reflectivity are not overlapped;
2) the laser range finder sends a plurality of laser beams to the surface of the target to be identified, which is attached with the high-reflection material, and receives the emitted laser beams, so that the laser reflectivity from the laser range finder to each laser reflection point of the surface of the target to be identified is calculated; the laser range finder sends the laser reflectivity to an upper computer;
3) the upper computer preprocesses the laser reflectivity and deletes the laser reflectivity smaller than a threshold epsilon so as to obtain the distribution condition of the high-reflection material on the surface of the target to be identified;
4) the upper computer decodes the distribution condition to obtain target information to be identified; the target information to be identified is composed of a plurality of digital codes in unit area; when a unit area of the target surface to be identified is completely covered by the high-reflection material, the digital code of the unit area is a first digital code, and conversely, the digital code of the unit area is a second digital code. The target information to be recognized comprises identity information, serial number information and category information of the target to be recognized.
Example 5:
the information coding and decoding method based on laser reflection and reflection material area mainly comprises two parts of a laser range finder and a high-reflectivity strip.
Because the laser range finder has the characteristic that the information of perceiving the collection to the environment contains the reflectivity information of testee, consequently utilize this characteristic, this patent design utilizes high reflectivity material 1 as the target of being surveyed to place these high reflectivity strips that length is certain, width is certain according to certain distribution rule in the regulation position and the regulation size range of discernment thing ordered fall and put, utilize this distribution rule to realize carrying out information input such as serial number to the target object under the different area combinations promptly. And then, detecting the target object by using a laser range finder, and decoding the information of the detected target object by using the point cloud data to realize the identification of the target object.
The method specifically comprises the following steps:
firstly, preparing a certain number of high-reflectivity strips with certain length and width, and placing the strips at specified positions and within specified size range of the identification object according to a certain distribution rule. When the specified position requires the laser range finder to scan and detect the identification object, the specific area of the identification object on which the strip-shaped object with high reflectivity is placed can be effectively detected,
secondly, scanning and detecting the target object by using a laser range finder, and constructing effective point cloud data for the target object. And extracting the region of interest of all the collected point cloud data, namely setting a reflectivity threshold value for the whole point cloud data, extracting the object, and filling the missing part to obtain relatively complete strip distribution information with high reflectivity.
And then, decoding and analyzing the area formed by the obtained high-reflectivity strip distribution information according to a preset distribution rule.
And finally, decoding and analyzing the point cloud data obtained by the laser range finder to obtain target object information, and outputting and displaying the target object information.
Example 6:
an information coding and decoding method based on laser reflection and reflection material area comprises the following steps:
1) laser range finder high reflectivity material 1 point cloud data acquisition
Preparing a certain number of high-reflectivity strips (the reflectivity is up to 235-255) with certain length and certain width (taking the length of 10cm and the width of 1cm as an example).
On the target object to be marked with information, a detectable plane is selected to define a size area (here, a rectangular frame with the length of 12cm and the width of 10cm is taken as an example), and prepared high-reflectivity strips are sequentially pasted in the rectangular frame according to the length of 10cm and the unit of 1cm, as shown in fig. 5. Here, a rule is set, since the length of the rectangular frame is 12cm, the width of the high-reflectivity strip is 1cm, and 1cm is taken as a strip unit, there are 2 strip modes of 12 th power, where the strip with high reflectivity is attached corresponding to the position indicating signal 1, and otherwise, the position signal indicates 0. In order to extract the effective area, it is set that in the rectangular frame, the first stripe unit and the twelfth stripe unit are both pasted with high-reflectivity stripes, and are not used as information bits, but only used as signal start bits and signal end bits. In this case, the effective information bits in this example have 10 bits, and the effective information bits have 2 power-of-10 kinds, that is, 1024 kinds.
Operating a laser point cloud data acquisition system, collecting original data acquired from a laser range finder, and storing the data into a computer;
2) point cloud data region of interest extraction
And extracting the measured object according to the reflectivity information in the point cloud data. As shown in fig. 6.
And calculating the theoretical reflection point number of the measured object, setting the lowest threshold value of the reflectivity as 235 to extract an angle object, and filling partial missing point clouds to obtain a relatively complete object.
3) Region of interest information decoding
And decoding the obtained point cloud data, selecting effective high-reflectivity points from the initial position as reference points, horizontally moving by taking 1cm as a unit length, reading the reflectivity, and judging whether the points are high-reflectivity points.
And converting the light reflection rate corresponding to each unit obtained through judgment into 0 and 1 information codes to compare and decode information. And finishing the identification of the information of the measured object.
Example 7:
the information coding and decoding method based on the difference between laser reflection and reflection materials mainly comprises two parts, namely a laser range finder and a strip with reflectivity.
Because the laser range finder has the characteristic that the information acquired by sensing the environment contains the reflectivity information of the measured object, different materials have different reflectivities under the laser range finder, the total set reflectivity range is (0-255), and 256 total reflectivities can be obtained. Thus, with this property, different materials are used to encode the information. The 256 kinds of reflectivities are divided into x groups, each group sets the material with the corresponding reflectivities as the measured object, and the measured object is placed in the specified area for distribution and arrangement. And detecting the target object by using a laser range finder, and decoding the information of the detected target object by using the point cloud data to realize the identification of the target object.
The method specifically comprises the following steps:
firstly, 256 reflectivities are grouped, detection materials corresponding to the groups are prepared, corresponding positions are placed in a specified area according to a coded information protocol, and when the specified position requires scanning detection on an identification object by using a laser range finder, the specific area on the identification object, where the reflectivity materials are placed, can be effectively detected.
Secondly, scanning and detecting the target object by using a laser range finder, and constructing effective point cloud data for the target object. And extracting the region of interest of all the collected point cloud data, namely setting a reflectivity threshold value for the whole point cloud data, extracting the object, and filling the missing part to obtain more complete reflectivity material information.
Then, the obtained reflectance material information is decoded and analyzed according to a predetermined rule.
And finally, decoding and analyzing the point cloud data obtained by the laser range finder to obtain target object information, and outputting and displaying the target object information.
Example 8:
an information coding and decoding method based on laser reflection and reflection material difference comprises the following steps:
1) laser range finder high reflectivity material 1 point cloud data acquisition
1.1) X (here 3 for example) quantities of materials of constant length and constant width (here 10cm in length and 1cm in width for example) are prepared (here three materials of 88, 156 and 230 for example for a for example for a three for example for a for example for a three for example for a three for example for a three for example for a three for example for a three for example.
1.2) on the object needing to be marked with information, selecting a detectable plane to define a size area (taking a rectangular frame with the length of 5cm and the width of 5cm as an example), and pasting the prepared reflectivity material in the rectangular frame according to the length of 5cm and the width of 5 cm.
1.3) operating a laser point cloud data acquisition system, collecting original data acquired from a laser range finder, and storing the data into a computer;
2) point cloud data region of interest extraction
2.1) extracting the measured object according to the reflectivity information in the point cloud data.
2.2) calculating the theoretical reflection point number of the measured object, sequentially setting the reflectivity threshold values to be 88, 156 and 230 to extract the angle object, and filling partial missing point clouds to obtain a relatively complete object.
3) Region of interest information decoding
And decoding the obtained point cloud data, reading the reflectivity, judging whether the point cloud data has the reflectivity points and reading out the corresponding reflectivity value.
And comparing the reflectivity of the obtained image with a specified information coding table to obtain the information represented by the reflecting material, thereby finishing the identification of the information of the measured object.
Example 9:
an information coding and decoding method based on laser reflection and multi-reflection material physical property permutation and combination (namely reflection material difference) comprises the following steps:
1) selecting n types of reflecting materials with different light reflecting rates, and equally dividing the reflecting materials into x groups;
the reflective materials are of the same specification.
2) All the reflecting materials in the ith group are attached to the surface of a target to be identified; i initial value is 1; no overlap occurs between different materials;
3) the laser range finder sends a plurality of laser beams to the surface of the target to be identified, which is attached with the reflecting material, and receives the emitted laser beams, so that the laser reflectivity of each laser reflecting point from the laser range finder to the surface of the target to be identified is calculated; the laser range finder sends the laser reflectivity to an upper computer;
4) the upper computer preprocesses the laser reflectivity to obtain the category of the reflecting materials and the arrangement sequence of all the reflecting materials;
the step of pre-processing the laser reflectivity comprises:
4.1) determining the reflectivity range of the i-th group of reflective materials, and deleting the laser reflectivity which does not belong to the reflectivity range;
4.2) filling missing data.
5) Decoding the category of the reflecting material according to an information coding table stored in an upper computer to obtain target information to be identified;
the information coding table stores each reflective material and its corresponding data coding information.
The decoded information comprises a signal start bit, a valid information bit and a signal end bit; the valid information bits are used to represent information to be identified.
6) And i is set to be i +1, and the step 2) is returned to, so that x groups of target information to be identified are obtained.
Example 10:
the information coding and decoding method based on laser reflection and the information coding and decoding method based on the physical property permutation and combination of the multi-reflection material mainly comprise two parts, namely a laser range finder and a strip with reflectivity.
The laser range finder has the characteristic that the information acquired by sensing the environment contains the reflection rate information of the measured object. Different materials have different reflectivities under the laser range finder, and 256 different materials have different reflectivities under the laser range finder, and different materials are used for encoding information. Firstly, dividing 256 reflecting materials into x groups equally, and calculating from the materials with zero reflection rate to obtain that each group consists of 256/x materials. All materials within each group collectively represent information, and x types of information can be identified. By utilizing the characteristics, the design of the patent utilizes different materials with reflectivity as the measured target, and different reflectivity strip-shaped material with certain length and width is arranged in the specified position of the identification object and the specified size range according to a certain distribution rule in order and placed in a staggered manner, namely, the information input such as numbering for the target object is realized by utilizing the material type and the placement rule. And then, detecting the target object by using a laser range finder, and decoding the information of the detected target object by using the point cloud data to realize the identification of the target object.
The method mainly comprises the following steps:
firstly, preparing a plurality of materials with different reflectivities, designing the materials to have certain length and certain width, and placing the materials at specified positions of the identification object and in a specified size range according to a certain distribution rule in a staggered manner. When the specified position requires that the laser range finder is used for scanning and detecting the identification object, the specific area on the identification object, on which the reflectivity material is placed, can be effectively detected.
Secondly, scanning and detecting the target object by using a laser range finder, and constructing effective point cloud data for the target object. And extracting the region of interest of all the collected point cloud data, namely setting a reflectivity threshold value for the whole point cloud data, extracting the object, and filling the missing part to obtain more complete reflectivity material information.
And then, decoding and analyzing the obtained reflectivity material information and the placing mode according to a set rule.
And finally, decoding and analyzing the point cloud data obtained by the laser range finder to obtain target object information, and outputting and displaying the target object information.
Example 11:
an information coding and decoding method based on laser reflection and an information coding and decoding method based on the permutation and combination of the physical properties of a multi-reflection material,
1) laser range finder high reflectivity material 1 point cloud data acquisition
1.1) x (here 3 by way of example) quantities of materials of constant length and constant width (here 10cm in length and 1cm in width) are prepared, the reflectivities being 88, 156 and 230 respectively.
1.2) selecting a detectable plane to define a size area (taking a rectangular frame with the length of 12cm and the width of 10cm as an example) on an object needing to be marked with information, and sequentially pasting prepared reflectivity strips (taking the length of 10cm and the width of 1cm as an example) in the rectangular frame according to the length of 10cm and the unit of 1 cm. Here, a rule is set, since the length of the rectangular frame is 12cm, the width of the high-reflectance bar is 1cm, and 1cm is taken as a bar unit, there are 2 bar-to-12-power bar-pasting modes, where a bar with a reflectance of 88 corresponds to the position indication signal 1, a bar with a reflectance of 156 corresponds to the position indication signal 2, a bar with a reflectance of 230 corresponds to the position indication signal 3, and otherwise, the position signal indicates 0. In order to extract the effective area, it is set that in the rectangular frame, the first stripe unit and the twelfth stripe unit are both pasted with reflectivity stripes, and are not used as information bits, but only used as signal start bits and signal end bits. In this case, the valid information bits in this example have 10 bits, and the valid information bits have 4 bits of the power of 10, i.e., 1,048,576 bits. In this way the material can represent 1,048,576 messages.
1.3) operating the laser point cloud data acquisition system, collecting the original data acquired from the laser range finder, and storing the data into a computer.
2) Point cloud data region of interest extraction
2.1) extracting the measured object according to the reflectivity information in the point cloud data. As shown in fig. 6.
2.2) calculating the theoretical reflection point number of the measured object, setting the reflectivity threshold values to be 88, 156 and 230 to extract an angle object, and filling partial missing point clouds to obtain a relatively complete object.
3) Region of interest information decoding
And 3.1) decoding the obtained point cloud data, selecting effective reflectivity points from the initial position as reference points, horizontally moving by taking 1cm as a unit length, reading the reflectivity, and judging whether the point cloud data have the specified reflectivity points.
And 3.2) converting the light reflection rate corresponding to each unit obtained through judgment into 0, 1, 2 and 3 information codes to compare and decode information, and finishing the identification of the information of the measured object.
Example 12:
the communication method based on laser reflection comprises the following steps:
1) building a communication network; the communication network consists of a plurality of information interaction parties; each information interaction party is provided with a laser range finder, a high-reflectivity material (1), a laser receiver, an information processing module, a control module and an encoding module; each information interaction party has a unique number;
2) an information interaction party needing to send information outwards is used as an information sending party; the coding module of the information sender codes the information to be sent to obtain coded information and transmits the coded information to the control module; the coded information comprises a plurality of information receiving identification bits, a plurality of information receiving party number bits, a plurality of information coding bits to be sent and a plurality of information ending identification bits;
the information interaction party corresponding to the information receiver number in the coding information is the information receiver;
3) the control module of the information sender controls the laser range finder to send the parameter information of the laser according to the coded information, so that the laser range finder sends the laser to the information receiver; the parameter information comprises frequency, light intensity, duration, wavelength, amplitude, phase and wave frequency;
4) the laser receiver of the information receiver receives the laser sent by the information sender and transmits the laser to the information processing module; the information processing module restores the laser parameter information into coding information so as to obtain information to be sent;
5) the information receiver generates response information according to the information to be sent, and codes the response information to obtain response coded information; the information receiver sends the response coding information to the information sender;
the method for the information receiver to send the response coding information to the information sender comprises the following steps: the control module of the information receiver controls the laser range finder to send the parameter information of the laser according to the response coding information, so that the laser range finder sends the response laser to the information sender;
the information sender receives the response laser and transmits the response laser to the information processing module; the information processing module restores the laser parameter information into response coding information so as to obtain the response information.
6) And the information sender reads the response information carried in the response coding information to complete the two-way communication.
Example 13:
the communication method based on laser reflection comprises the following steps:
1) building a communication network; the communication network consists of a plurality of information interaction parties; each information interaction party is provided with a laser range finder, a high-reflectivity material (1), a laser receiver, an information processing module, a control module and an encoding module; each information interaction party has a unique number;
2) an information interaction party needing to send information outwards is used as an information sending party; the coding module of the information sender codes the information to be sent to obtain coded information and transmits the coded information to the control module; the coded information comprises a plurality of information receiving identification bits, a plurality of information receiving party number bits, a plurality of information coding bits to be sent and a plurality of information ending identification bits;
the information interaction party corresponding to the information receiver number in the coding information is the information receiver;
3) the control module of the information sender controls the laser range finder to send the parameter information of the laser according to the coded information, so that the laser range finder sends the laser to the information receiver; the parameter information comprises frequency, light intensity, duration, wavelength, amplitude, phase and wave frequency;
4) the laser receiver of the information receiver receives the laser sent by the information sender and transmits the laser to the information processing module; the information processing module restores the laser parameter information into coding information so as to obtain information to be sent;
5) the information receiver generates response information according to the information to be sent, and codes the response information to obtain response coded information; the information receiver sends the response coding information to the information sender;
the method for the information receiver to send the response coding information to the information sender comprises the following steps:
the information receiver matches the response coding information with the reflectivity of the high-reflectivity material 1 according to the information coding table, and arranges and displays a plurality of high-reflectivity materials 1 with different reflectivities according to the matching result; the information coding table is prestored in a coding module of an information interaction party;
and the information sender scans and decodes the high-reflectivity material 1 displayed by the information receiver by using a laser range finder to obtain response information.
6) And the information sender reads the response information carried in the response coding information to complete the two-way communication.
Example 14:
a frequency domain-time domain-frequency domain-time domain carrier wave superposition method based on laser stroboscopic mainly comprises the following steps:
the method utilizes the pulse controllable characteristic of the laser range finder, adopts a laser receiver to receive stroboscopic laser information, processes the received information, controls the flashing of the laser range finder according to a set communication protocol to transmit effective information, and can realize the mutual communication of a plurality of laser range finders by designing different communication protocols (coding elements, protocol information coding elements comprise the frequency of laser on-off, the light intensity, the duration, the wavelength, the amplitude, the phase and the wave frequency, a superposition mechanism, and the elements can be arranged and combined into a plurality of coding rules). The system consists of a stroboscopic controllable laser range finder, a laser receiver, an information processing module and a control module.
The technical scheme is as follows:
firstly, all the laser range finders are in a pulse type, so that the laser receiver is set to be in a scanning frequency, and the receiver can effectively capture the laser range finders at a specific emission time interval and is in a state of being set to be 1.
Then, setting a communication protocol, and setting the received front x-bit information as an information receiving identification bit, the (x + 1) th bit to the (x + y) th bit (y >1) as a receiving object coding bit, the (x + y + 1) th bit to the (x + y + m) th bit (m >1) as an effective information coding bit, and the (x + y + m + 1) th bit to the (x + y + m + n) th bit (n >1) as an information ending identification bit for a plurality of (two or more) laser range finder communication systems.
Finally, when a plurality of (two or more) laser communication systems communicate with each other, the laser receiver receives the information, the information processing module decodes the information, the system needing communication controls the laser range finder to feed back the information, and bidirectional communication is realized.
Example 15:
the bidirectional communication method based on the laser range finder and the high-reflectivity material mainly comprises the following steps of:
the method is realized by utilizing the characteristics of a pulse type point light source of the laser range finder and the characteristics of detecting the reflectivity information of the measured object.
The method realizes coding of transmitted information by setting the light source flicker frequency of the laser range finder, the information receiver is provided with a laser receiver for receiving the instruction of the laser signal sent by the transmitting end, and after the receiver receives the information, the high-reflectivity material is highlighted in the detectable range of the laser range finder of the transmitting side for responding. At the moment, the high-reflectivity material of the receiving party is scanned by the laser range finder of the transmitting party, the material can be in a high-brightness state on the point cloud picture, and the high-reflectivity point cloud data is subjected to decoding information so as to complete bidirectional communication.
The technical scheme is as follows:
firstly, two unmanned vehicles A and B are provided with laser range finders with adjustable emission frequencies, and the laser range finders are provided with high-reflectivity materials (the materials can be overturned, one surface with non-high reflectivity faces outwards in a normal state, and the high-reflectivity surface can be lightened by overturning during information interaction) and laser receiving devices in the detectable range of the laser range finders.
Secondly, when the vehicles A and B need to carry out information interaction, the information can be coded by adjusting the light source flashing frequency of the laser range finder A and transmitted to the laser receiver end of the vehicle B.
And then, after the vehicle B receives the signal sent by the vehicle A, the high-reflectivity material is reversed, and one side with high reflectivity is turned out to be used for scanning by the laser range finder of the vehicle A.
And finally, after the vehicle A scans the high-reflectivity material on the vehicle B, extracting the high-reflectivity area on the point cloud picture and decoding the information. Completing the two-way communication.
Example 16:
as shown in fig. 7 to 8, the frequency domain-time domain-frequency domain-time domain carrier wave superimposing method based on laser stroboscopic mainly includes the following steps:
1) strobe controllable laser range finder system hardware material and software proofreading preparation
The system hardware is composed of a stroboscopic controllable laser range finder, a laser receiver, an information processing module and a control module. Setting the emission frequency of the laser range finder (taking 1KHZ as an example), keeping the emission frequency unchanged in an initial state for continuous emission, setting the scanning frequency of the laser receiver at the moment (the scanning frequency > the laser emission frequency, taking 1.5KHZ as an example), when a laser signal is scanned, the laser receiver enters a new scanning period, taking the scanning period as a laser emission period (taking 1ms as an example), and when the laser receiver receives the laser signal for x continuous periods (taking 5 periods as an example), the initialization is considered to be completed. The software calibration flow chart of the laser range finder communication system is shown in fig. 7.
2) Communication protocol of stroboscopic controllable laser range finder
For a plurality of (two or more) laser range finder communication systems, the received front x-bit information is set as an information receiving identification bit, the (x + 1) th to (x + y) th bits (y >1) are encoding bits of a receiving object, the (x + y + 1) th to (x + y + m) th bits (m >1) are effective information encoding bits, and the (x + y + m + 1) th to (x + y + m + n) th bits (n >1) are information ending identification bits. The code pattern is shown in fig. 8.
3) Two-way communication of multiple (two or more) laser range finder communication systems
After initialization and communication protocol formulation are completed, at the moment, two-way communication can be realized by a plurality of (two or more) laser range finder communication systems, the laser range finder communication system A controls the stroboscopic controllable laser range finder to transmit communication information by the control module, the laser receiver of the laser range finder communication system B receives the information at the moment, the information processing module reads information objects and detailed information contents, and after reading, the control module of the laser range finder is controlled by the control module of the laser range finder B to flash and send direction information to complete the two-way communication.
Example 17:
the bidirectional communication method based on the laser range finder and the high-reflectivity material mainly comprises the following steps of:
step 1: preparation of high-reflectivity material for laser range finder
The two unmanned vehicles A and B are provided with a laser range finder device with adjustable transmitting frequency and a laser receiving device.
And the materials (with the reflectivity of 235-255) with high reflectivity are arranged in the detectable range of the laser range finder and can be turned over, the surface which is not high in reflectivity faces outwards in the ordinary state, and the surface with high reflectivity can be lightened by turning over when information is interacted.
Step 2: controllable pulse light source emission communication information of laser range finder
When the vehicles A and B need to carry out information interaction, the information can be coded by adjusting the light source flashing frequency of the laser range finder A and transmitted to the laser receiver end of the vehicle B. At this time, the receiver receives the laser signal to indicate that the information bit is 1, whereas the receiver does not receive the laser signal to indicate that the information bit is 0.
And step 3: point cloud data judgment communication response of laser range finder
And after the vehicle B receives the signal sent by the vehicle A, the high-reflectivity material is reversed, and one side with high reflectivity is turned out to be used for scanning by the laser range finder of the vehicle A. And after the laser range finder of the vehicle A scans the high-reflectivity material on the vehicle B, extracting the high-reflectivity area on the point cloud chart and decoding the information. Completing the two-way communication.
Example 18:
the attitude identification method based on laser reflection comprises the following steps:
1) determining a target to be identified; recording the attitude angle of the target to be recognized as a measured characteristic angle;
2) respectively coating high-reflectivity materials with the length of l on two edges of the measured characteristic angle by taking the angular point of the measured characteristic angle as a starting point; the angular point is the intersection point of two edges of the measured characteristic angle;
the reflectivity of the high-reflectivity material is greater than a preset threshold epsilon.
3) The laser range finder sends a plurality of laser beams to the area where the measured characteristic angle is located and receives the emitted laser beams, so that the distance information and the laser reflectivity from the laser range finder to each laser reflection point of the area where the measured characteristic angle is located are calculated; the laser range finder sends the distance information and the laser reflectivity to an upper computer; the area where the measured characteristic angle is located at least comprises an area which is attached with a high-reflectivity material;
the laser range finder and the corner point of the measured characteristic angle are positioned on the same horizontal line.
4) The upper computer preprocesses the distance information according to the laser reflectivity of each laser reflection point, so as to obtain three-dimensional point cloud information;
the step of preprocessing the distance information by the upper computer according to the laser reflectivity of each laser reflection point comprises the following steps:
4.1) judging whether the laser reflectivity of the laser reflection point is smaller than a threshold value epsilon, if so, deleting the distance information between the laser reflection point and the laser range finder;
4.2) filling in the missing distance information.
5) The upper computer performs dimensionality reduction on the three-dimensional point cloud information by using a principal component analysis method to obtain two-dimensional point cloud information;
6) the upper computer fits the two-dimensional point cloud information to obtain an angle value of the measured characteristic angle;
the step of fitting the two-dimensional point cloud information by the upper computer comprises the following steps:
6.1) carrying out rotation translation transformation on the angular points to enable the angular points to be positioned on any two-dimensional coordinate axis;
6.2) two-dimensional point cloud information set T { (x)1，y1)，(x2，y2)......(xn，yn) The input to the function y-wTX + b, the slope w and the constant b are obtained, i.e., (w, b) ═ argmin (f (x)i)-yi)2；
6.3) calculating the angle value of the measured characteristic angle to be arctanw according to the slope w.
7) And finishing the reconstruction and the identification of the three-dimensional space attitude of the target to be identified based on the angle value of the measured characteristic angle and the two-dimensional point cloud information.
The information coding and decoding method based on the laser reflection and the area of the reflection material comprises the following steps:
1) preparing a plurality of high-reflectivity materials with the same specification; attaching the high-reflectivity material to the surface of a target to be identified; no overlap occurs between different high reflectivity materials;
2) the laser range finder sends a plurality of laser beams to the surface of the target to be identified, which is attached with the high-reflection material, and receives the emitted laser beams, so that the laser reflectivity from the laser range finder to each laser reflection point of the surface of the target to be identified is calculated; the laser range finder sends the laser reflectivity to an upper computer;
4) the upper computer preprocesses the laser reflectivity and deletes the laser reflectivity smaller than a threshold epsilon so as to obtain the distribution condition of the high-reflection material on the surface of the target to be identified;
5) the upper computer decodes the distribution condition to obtain target information to be identified; the target information to be identified is composed of a plurality of digital codes in unit area; when a unit area of the target surface to be identified is completely covered by the high-reflection material, the digital code of the unit area is a first digital code, and conversely, the digital code of the unit area is a second digital code.
The information coding and decoding method based on the difference between laser reflection and reflection materials comprises the following steps:
1) selecting n types of reflecting materials with different light reflecting rates, and equally dividing the reflecting materials into x groups;
the reflective materials are of the same specification.
2) All the reflecting materials in the ith group are attached to the surface of a target to be identified; i initial value is 1; no overlap occurs between different materials;
3) the laser range finder sends a plurality of laser beams to the surface of the target to be identified, which is attached with the reflecting material, and receives the emitted laser beams, so that the laser reflectivity of each laser reflecting point from the laser range finder to the surface of the target to be identified is calculated; the laser range finder sends the laser reflectivity to an upper computer;
4) the upper computer preprocesses the laser reflectivity to obtain the category of the reflecting materials and the arrangement sequence of all the reflecting materials;
the step of pre-processing the laser reflectivity comprises:
4.1) determining the reflectivity range of the i-th group of reflective materials, and deleting the laser reflectivity which does not belong to the reflectivity range;
4.2) filling missing data.
5) Decoding the category of the reflecting material according to an information coding table stored in an upper computer to obtain target information to be identified;
the information coding table stores each reflective material and its corresponding data coding information.
The decoded information comprises a signal start bit, a valid information bit and a signal end bit; the valid information bits are used to represent information to be identified.
6) And i is set to be i +1, and the step 2) is returned to, so that x groups of target information to be identified are obtained.
The communication method based on laser reflection comprises the following steps:
1) building a communication network; the communication network consists of a plurality of information interaction parties; each information interaction party is provided with a laser range finder, a high-reflectivity material (1), a laser receiver, an information processing module, a control module and an encoding module; each information interaction party has a unique number;
2) an information interaction party needing to send information outwards is used as an information sending party; the coding module of the information sender codes the information to be sent to obtain coded information and transmits the coded information to the control module; the coded information comprises a plurality of information receiving identification bits, a plurality of information receiving party number bits, a plurality of information coding bits to be sent and a plurality of information ending identification bits;
the information interaction party corresponding to the information receiver number in the coding information is the information receiver;
3) the control module of the information sender controls the laser range finder to send the parameter information of the laser according to the coded information, so that the laser range finder sends the laser to the information receiver; the parameter information comprises frequency, light intensity, duration, wavelength, amplitude, phase and wave frequency;
4) the laser receiver of the information receiver receives the laser sent by the information sender and transmits the laser to the information processing module; the information processing module restores the laser parameter information into coding information so as to obtain information to be sent;
5) the information receiver generates response information according to the information to be sent, and codes the response information to obtain response coded information; the information receiver sends the response coding information to the information sender;
the method for the information receiver to send the response coding information to the information sender comprises the following steps: the control module of the information receiver controls the laser range finder to send the parameter information of the laser according to the response coding information, so that the laser range finder sends the response laser to the information sender;
the information sender receives the response laser and transmits the response laser to the information processing module; the information processing module restores the laser parameter information into response coding information so as to obtain the response information.
The method for the information receiver to send the response coding information to the information sender comprises the following steps:
the information receiver matches the response coding information with the reflectivity of the high-reflectivity material according to the information coding table, and arranges and displays a plurality of high-reflectivity materials with different reflectivities according to the matching result; the information coding table is prestored in a coding module of an information interaction party;
and the information sender scans and decodes the high-reflectivity material displayed by the information receiver by using the laser range finder to obtain response information.
6) And the information sender reads the response information carried in the response coding information to complete the two-way communication.

Claims (10)

1. The attitude identification method based on laser reflection is characterized by comprising the following steps of:
1) determining the target to be identified; and recording the attitude angle of the target to be recognized as a measured characteristic angle.
2) Respectively coating high-reflectivity materials (1) with the length of l on two edges of the measured characteristic angle by taking the angular point of the measured characteristic angle as a starting point; the angular point is the intersection point of two edges of the measured characteristic angle; the reflectivity of the high-reflectivity material (1) is greater than a preset threshold epsilon;
3) the laser range finder sends a plurality of laser beams to the area where the measured characteristic angle is located and receives the emitted laser beams, so that the distance information and the laser reflectivity from the laser range finder to each laser reflection point of the area where the measured characteristic angle is located are calculated; the laser range finder sends the distance information and the laser reflectivity to an upper computer; the area where the measured characteristic angle is located at least comprises an area which is pasted with a high-reflectivity material (1);
4) the upper computer preprocesses the distance information according to the laser reflectivity of each laser reflection point, so as to obtain three-dimensional point cloud information;
5) the upper computer performs dimensionality reduction on the three-dimensional point cloud information by using a principal component analysis method to obtain two-dimensional point cloud information;
6) the upper computer fits the two-dimensional point cloud information to obtain an angle value of the measured characteristic angle;
7) and finishing the reconstruction and the identification of the three-dimensional space attitude of the target to be identified based on the angle value of the measured characteristic angle and the two-dimensional point cloud information.
2. The gesture recognition method based on laser reflection according to claim 1, wherein the step of preprocessing the distance information by the upper computer according to the laser reflectivity of each laser reflection point comprises:
1) judging whether the laser reflectivity of the laser reflection point is smaller than a threshold value epsilon, if so, deleting the distance information between the laser reflection point and the laser range finder;
2) and filling missing distance information, wherein the filling value is the average value of two adjacent distance information of the missing data point.
3. The method for recognizing the attitude based on the laser reflection according to claim 1, wherein the step of fitting the two-dimensional point cloud information by the upper computer comprises the following steps:
1) performing rotation translation transformation on the angular points to enable the angular points to be positioned on any two-dimensional coordinate axis;
2) the two-dimensional point cloud information set T { (x)1，y1)，(x2，y2)......(xn，yn) The input to the function y-wTX + b, the slope w and the constant b are obtained, i.e., (w, b) ═ argmin (f (x)i)-yi)2；
3) And according to the slope w, calculating to obtain an angle value of the measured characteristic angle as arctanw.
4. The information coding and decoding method based on the laser reflection and the area of the reflection material is characterized by comprising the following steps of:
1) preparing a plurality of high-reflectivity materials (1) with the same specification; the high-reflectivity material (1) is attached to the surface of a target to be identified; the materials (1) with different high reflectivity are not overlapped;
2) the laser range finder sends a plurality of laser beams to the surface of the target to be identified, which is attached with the high-reflection material, and receives the emitted laser beams, so that the laser reflectivity from the laser range finder to each laser reflection point of the surface of the target to be identified is calculated; the laser range finder sends the laser reflectivity to an upper computer;
3) the upper computer preprocesses the laser reflectivity and deletes the laser reflectivity smaller than a threshold epsilon so as to obtain the distribution condition of the high-reflection material on the surface of the target to be identified;
4) the upper computer decodes the distribution condition to obtain target information to be identified; the target information to be identified is composed of a plurality of digital codes in unit area; when a unit area of the target surface to be identified is completely covered by the high-reflection material, the digital code of the unit area is a first digital code, and conversely, the digital code of the unit area is a second digital code.
5. The information coding and decoding method based on the difference between laser reflection and reflection materials is characterized by comprising the following steps of:
1) selecting n types of reflecting materials with different light reflecting rates, and equally dividing the reflecting materials into x groups;
2) all the reflecting materials in the ith group are attached to the surface of a target to be identified; i initial value is 1; no overlap occurs between different reflective materials;
3) the laser range finder sends a plurality of laser beams to the surface of the target to be identified, which is attached with the reflecting material, and receives the emitted laser beams, so that the laser reflectivity of each laser reflecting point from the laser range finder to the surface of the target to be identified is calculated; the laser range finder sends the laser reflectivity to an upper computer;
4) the upper computer preprocesses the laser reflectivity to obtain the category of the reflecting materials and the arrangement sequence of all the reflecting materials;
5) decoding the category of the reflecting material according to an information coding table stored in an upper computer to obtain target information to be identified;
6) and i is set to be i +1, and the step 2) is returned to, so that x groups of target information to be identified are obtained.
6. The method as claimed in claim 5, wherein the information coding table stores each reflective material and its corresponding data coding information.
7. The method as claimed in claim 5, wherein the step of preprocessing the reflectivity of the laser comprises:
1) determining the reflectivity range of the ith group of reflective materials, and deleting the laser reflectivity which does not belong to the reflectivity range;
2) and filling missing data, wherein the filling value is the average value of two adjacent data of the missing data point.
8. The communication method based on laser reflection is characterized by comprising the following steps:
1) building a communication network; the communication network consists of a plurality of information interaction parties; each information interaction party is provided with a laser range finder, a high-reflectivity material (1), a laser receiver, an information processing module, a control module and an encoding module; each information interaction party has a unique number;
2) an information interaction party needing to send information outwards is used as an information sending party; the coding module of the information sender codes the information to be sent to obtain coded information and transmits the coded information to the control module; the coded information comprises a plurality of information receiving identification bits, a plurality of information receiving party number bits, a plurality of information coding bits to be sent and a plurality of information ending identification bits;
the information interaction party corresponding to the information receiver number in the coding information is the information receiver;
3) the control module of the information sender controls the laser range finder to send the parameter information of the laser according to the coded information, so that the laser range finder sends the laser to the information receiver; the parameter information comprises frequency, light intensity, duration, wavelength, amplitude, phase and wave frequency;
4) the laser receiver of the information receiver receives the laser sent by the information sender and transmits the laser to the information processing module; the information processing module restores the laser parameter information into coding information so as to obtain information to be sent;
5) the information receiver generates response information according to the information to be sent, and codes the response information to obtain response coded information; the information receiver sends the response coding information to the information sender;
6) and the information sender reads the response information carried in the response coding information to complete the two-way communication.
9. The laser reflection-based communication method according to claim 8, wherein the method for the information receiver to send the response coding information to the information sender is: the control module of the information receiver controls the laser range finder to send the parameter information of the laser according to the response coding information, so that the laser range finder sends the response laser to the information sender;
the information sender receives the response laser and transmits the response laser to the information processing module; the information processing module restores the laser parameter information into response coding information so as to obtain the response information.
10. The laser reflection-based communication method according to claim 8, wherein the method for the information receiver to send the response coding information to the information sender is:
the information receiver matches the response coding information with the reflectivity of the high-reflectivity material (1) according to the information coding table, and arranges and displays a plurality of high-reflectivity materials (1) with different reflectivities according to the matching result; the information coding table is prestored in a coding module of an information interaction party;
the information sender utilizes the laser range finder to scan and decode the high-reflectivity material (1) displayed by the information receiver to obtain response information.
CN202110534289.5A 2021-05-17 2021-05-17 Gesture recognition, coding and decoding and communication method based on laser reflection Active CN113419251B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110534289.5A CN113419251B (en) 2021-05-17 2021-05-17 Gesture recognition, coding and decoding and communication method based on laser reflection

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110534289.5A CN113419251B (en) 2021-05-17 2021-05-17 Gesture recognition, coding and decoding and communication method based on laser reflection

Publications (2)

Publication Number Publication Date
CN113419251A true CN113419251A (en) 2021-09-21
CN113419251B CN113419251B (en) 2023-07-18

Family

ID=77712447

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110534289.5A Active CN113419251B (en) 2021-05-17 2021-05-17 Gesture recognition, coding and decoding and communication method based on laser reflection

Country Status (1)

Country Link
CN (1) CN113419251B (en)

Citations (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5260556A (en) * 1988-12-20 1993-11-09 Australian Meat & Live-Stock Research & Development Corp. Optically readable coded target
CN1502047A (en) * 2001-02-09 2004-06-02 �����ѧ�͹�ҵ�о���֯ Lidar system and method
US20060198249A1 (en) * 2003-03-10 2006-09-07 Sony Corporation Information recording device and medium information notification method
US20100256940A1 (en) * 2008-12-25 2010-10-07 Kabushiki Kaisha Topcon Laser scanner, laser scanner measuring system, calibration method for laser scanner measuring system and target for calibration
CN101936881A (en) * 2010-09-15 2011-01-05 吉林大学 Tomography method of using limb sounding data for inverting atmospheric ozone profiles
CN102053249A (en) * 2009-10-30 2011-05-11 吴立新 Underground space high-precision positioning method based on laser scanning and sequence encoded graphics
WO2011059317A1 (en) * 2009-11-10 2011-05-19 Nederlandse Organisatie Voor Toegepast-Natuurwetenschappelijk Onderzoek Tno System and method for detecting information from an object coding module using radar signals
CN102937598A (en) * 2012-11-12 2013-02-20 广州南沙华卓化工有限公司 Method and device for ultraviolet optic online automatic detection of indium tin oxide (ITO) membrane circuit pattern defect information
JP2014182010A (en) * 2013-03-19 2014-09-29 Toshiba Corp Radar apparatus
US20170003121A1 (en) * 2013-12-23 2017-01-05 Universität Zürich Method for Reconstructing A Surface Using Spatially Structured Light and A Dynamic Vision Sensor
CN108345005A (en) * 2018-02-22 2018-07-31 重庆大学 The real-time continuous autonomous positioning orientation system and navigation locating method of tunnelling machine
CN109344937A (en) * 2018-08-16 2019-02-15 北京奇虎科技有限公司 A kind of generation of encoding of graphs, recognition methods and device
US20190086548A1 (en) * 2017-09-19 2019-03-21 Topcon Corporation Data processing device, data processing method, and data processing program
CN109632103A (en) * 2018-11-22 2019-04-16 西安理工大学 High vacant building Temperature Distribution and surface crack remote supervision system and monitoring method
CN110402399A (en) * 2017-01-03 2019-11-01 创新科技有限公司 Laser radar system and method for the object that detects and classify
CN110415259A (en) * 2019-07-30 2019-11-05 南京林业大学 A kind of shade tree point cloud recognition methods based on laser reflection intensity
CN110956187A (en) * 2019-11-28 2020-04-03 中国农业科学院农业信息研究所 Unmanned aerial vehicle image plant canopy information extraction method based on ensemble learning
CN111060899A (en) * 2019-12-31 2020-04-24 武汉大学 Satellite-ground integrated laser radar echo waveform simulation method and system
CN111142081A (en) * 2020-04-07 2020-05-12 湖南赛博诺格电子科技有限公司 Radar self-adaptive camouflage method based on digital coding super surface

Patent Citations (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5260556A (en) * 1988-12-20 1993-11-09 Australian Meat & Live-Stock Research & Development Corp. Optically readable coded target
CN1502047A (en) * 2001-02-09 2004-06-02 �����ѧ�͹�ҵ�о���֯ Lidar system and method
US20060198249A1 (en) * 2003-03-10 2006-09-07 Sony Corporation Information recording device and medium information notification method
US20100256940A1 (en) * 2008-12-25 2010-10-07 Kabushiki Kaisha Topcon Laser scanner, laser scanner measuring system, calibration method for laser scanner measuring system and target for calibration
CN102053249A (en) * 2009-10-30 2011-05-11 吴立新 Underground space high-precision positioning method based on laser scanning and sequence encoded graphics
WO2011059317A1 (en) * 2009-11-10 2011-05-19 Nederlandse Organisatie Voor Toegepast-Natuurwetenschappelijk Onderzoek Tno System and method for detecting information from an object coding module using radar signals
CN101936881A (en) * 2010-09-15 2011-01-05 吉林大学 Tomography method of using limb sounding data for inverting atmospheric ozone profiles
CN102937598A (en) * 2012-11-12 2013-02-20 广州南沙华卓化工有限公司 Method and device for ultraviolet optic online automatic detection of indium tin oxide (ITO) membrane circuit pattern defect information
JP2014182010A (en) * 2013-03-19 2014-09-29 Toshiba Corp Radar apparatus
US20170003121A1 (en) * 2013-12-23 2017-01-05 Universität Zürich Method for Reconstructing A Surface Using Spatially Structured Light and A Dynamic Vision Sensor
CN110402399A (en) * 2017-01-03 2019-11-01 创新科技有限公司 Laser radar system and method for the object that detects and classify
US20190086548A1 (en) * 2017-09-19 2019-03-21 Topcon Corporation Data processing device, data processing method, and data processing program
CN108345005A (en) * 2018-02-22 2018-07-31 重庆大学 The real-time continuous autonomous positioning orientation system and navigation locating method of tunnelling machine
CN109344937A (en) * 2018-08-16 2019-02-15 北京奇虎科技有限公司 A kind of generation of encoding of graphs, recognition methods and device
CN109632103A (en) * 2018-11-22 2019-04-16 西安理工大学 High vacant building Temperature Distribution and surface crack remote supervision system and monitoring method
CN110415259A (en) * 2019-07-30 2019-11-05 南京林业大学 A kind of shade tree point cloud recognition methods based on laser reflection intensity
CN110956187A (en) * 2019-11-28 2020-04-03 中国农业科学院农业信息研究所 Unmanned aerial vehicle image plant canopy information extraction method based on ensemble learning
CN111060899A (en) * 2019-12-31 2020-04-24 武汉大学 Satellite-ground integrated laser radar echo waveform simulation method and system
CN111142081A (en) * 2020-04-07 2020-05-12 湖南赛博诺格电子科技有限公司 Radar self-adaptive camouflage method based on digital coding super surface

Non-Patent Citations (5)

* Cited by examiner, † Cited by third party
Title
TEREKHOV, A. V.等: "Mechanisms of reference posture correction in the system of upright posture control", vol. 33, no. 3, pages 289 - 295 *
WANG QINGSHAN等: "Point Cloud Registration Algorithm Based on Combination of NDT and ICP", vol. 56, no. 7, pages 88 - 95 *
孙增玉等: "基于视觉原理的运动物体空间姿态测量技术研究", vol. 34, no. 4, pages 1 - 5 *
张汉萍;: "三维人脸激光测距特征的提取与识别", no. 07, pages 91 - 95 *
黄国清等: "三维激光扫描点云配准算法与精度研究", vol. 16, no. 2, pages 16 - 17 *

Also Published As

Publication number Publication date
CN113419251B (en) 2023-07-18

Similar Documents

Publication Publication Date Title
JP7297017B2 (en) Method and apparatus for calibrating external parameters of on-board sensors and related vehicles
CN107219532B (en) Three-dimensional laser radar and distance measuring method based on MEMS micro scanning mirror
US9689972B2 (en) Scanner display
Kilian et al. Capture and evaluation of airborne laser scanner data
Pfeifer et al. Geometrical aspects of airborne laser scanning and terrestrial laser scanning
EP1895472B1 (en) System and method for 3D radar image rendering
Singh et al. Towards high-resolution imaging from underwater vehicles
CN106772431A (en) A kind of Depth Information Acquistion devices and methods therefor of combination TOF technologies and binocular vision
EP0649709A2 (en) Device for moving a mobile robot
US5889582A (en) Image-directed active range finding system
AU2016262717A1 (en) Position acquisition method and apparatus
US10380751B1 (en) Robot vision in autonomous underwater vehicles using the color shift in underwater imaging
CN107527368B (en) Three-dimensional space attitude positioning method and device based on two-dimensional code
CN108474854A (en) Information processing unit, information processing method and program
US11523029B2 (en) Artificial intelligence scan colorization
CN110471086A (en) A kind of radar survey barrier system and method
US10254402B2 (en) Stereo range with lidar correction
CN109799493A (en) Radar and Multisensor video fusion system and method
JP6881986B2 (en) Data compression device, data decompression device, control method, program and storage medium
CN113419251B (en) Gesture recognition, coding and decoding and communication method based on laser reflection
US4939439A (en) Robot vision and optical location systems
US12008783B2 (en) Reality capture device
AU2020288708A1 (en) System and method for object recognition using 3D mapping and modeling of light
CN115131756A (en) Target detection method and device
KR101224075B1 (en) A system for drawing a map of hidden geographical features

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant