1. A method for evaluating the effectiveness of a laser radar cleaning system, the method comprising:

building a test scene for evaluating the cleaning effect of the target cleaning system; the test scene comprises a laser radar, a target and the target cleaning system;

acquiring first point cloud data obtained by scanning the target by the laser radar and second point cloud data obtained by scanning the target by the laser radar; the first point cloud data and the second point cloud data are point cloud data obtained by scanning the target by the laser radar after the window of the laser radar is cleaned by adopting different cleaning methods;

and evaluating the cleaning effect of the target cleaning system according to the first point cloud data and the second point cloud data.

2. The method of claim 1, wherein the obtaining first point cloud data from the lidar scanning the target comprises:

cleaning the window of the laser radar by using a preset cleaning method;

and acquiring point cloud data obtained by scanning the target by the laser radar as first point cloud data.

3. The method of claim 1, wherein prior to the obtaining second point cloud data from the scanning of the target by the lidar, the method further comprises:

performing contamination treatment on the window of the laser radar;

the acquiring of the second point cloud data obtained by scanning the target by the laser radar includes:

cleaning the window of the laser radar subjected to the dirt treatment by using the target cleaning system;

and acquiring point cloud data obtained by scanning the target by the laser radar as second point cloud data.

4. The method of claim 1, wherein evaluating the cleaning effectiveness of the target cleaning system from the first point cloud data and the second point cloud data comprises:

determining a detection probability of the first point cloud data and a detection probability of the second point cloud data;

and evaluating the cleaning effect of the target cleaning system according to the probability difference of the detection probability of the first point cloud data and the detection probability of the second point cloud data.

5. The method of claim 4, wherein the evaluating the cleaning effectiveness of the object cleaning system according to a probability difference of the detection probability of the first point cloud data and the detection probability of the second point cloud data comprises:

acquiring a preset probability difference threshold value;

and if the probability difference value of the detection probability of the first point cloud data and the detection probability of the second point cloud data is smaller than the preset probability difference value threshold value, determining that the cleaning effect of the target cleaning system is qualified.

6. The method of claim 4, wherein determining the probability of detection of the first point cloud data comprises:

acquiring the number of scanning points of the laser radar on the target;

and taking the ratio of the number of the first point cloud data to the number of the scanning points as the detection probability of the first point cloud data.

7. The method of claim 6, wherein the determining a probability of detection of the second point cloud data comprises:

and taking the ratio of the number of the second point cloud data to the number of the scanning points as the detection probability of the second point cloud data.

8. The method of claim 3, wherein the smudging the window of the lidar comprises:

manufacturing a dirty body by adopting a material with a preset formula;

and performing contamination treatment on the window of the laser radar by using the contamination body.

9. The method of claim 8, further comprising:

acquiring the number of scanning point cloud data obtained by scanning the laser radar through the window of the laser radar after the contamination treatment;

and if the number of the scanning point cloud data is smaller than a preset number threshold value, determining that the contamination treatment is qualified.

10. The method of claim 1, wherein the test scenario further comprises an attenuation sheet;

before the obtaining of the first point cloud data obtained by scanning the target by the laser radar and the second point cloud data obtained by scanning the target by the laser radar, the method further includes:

acquiring the distance from the laser radar to the target;

if the distance measurement of the laser radar is detected to be larger than the distance from the laser radar to the target, adjusting the attenuation parameters of the attenuation sheet until the distance measurement of the laser radar is smaller than or equal to the distance from the laser radar to the target.

11. An effectiveness evaluation device for a lidar cleaning system, the device comprising:

the test scene building module is used for building a test scene for evaluating the cleaning effect of the target cleaning system; the test scene comprises a laser radar, a target and the target cleaning system;

the point cloud data acquisition module is used for acquiring first point cloud data obtained by scanning the target by the laser radar and second point cloud data obtained by scanning the target by the laser radar; the first point cloud data and the second point cloud data are point cloud data obtained by scanning the target by the laser radar after the window of the laser radar is cleaned by adopting different cleaning methods;

and the cleaning effect evaluation module is used for evaluating the cleaning effect of the target cleaning system according to the first point cloud data and the second point cloud data.

12. An electronic device, comprising:

one or more processors;

a storage device for storing one or more programs,

when executed by the one or more processors, cause the one or more processors to implement a method of assessing the effectiveness of a lidar cleaning system as defined in any of claims 1 to 10.

13. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements a method for evaluating an effectiveness of a lidar cleaning system according to any of claims 1 to 10.

Background

The laser radar is one of important sensors of an automatic driving system, and when a window of the laser radar is dirty, the performance of the laser radar is seriously influenced; therefore, there is a need to add a cleaning system to a lidar that can automatically clean the window of the lidar when contamination is detected. However, the cleaning effect of the cleaning system of the laser radar may also affect the normal use of the laser radar. Currently, the evaluation of the cleaning effect of a cleaning system by laser radar mainly relies on artificial visual observation.

However, the cleaning effect of the laser radar cleaning system is evaluated manually with strong subjectivity, so that the reliability of the evaluation effect of the laser radar cleaning system is low.

Disclosure of Invention

To solve the technical problem or at least partially solve the technical problem, the present disclosure provides an effect evaluation method, apparatus, device, and medium for a laser radar cleaning system.

In a first aspect, the present disclosure provides an effect evaluation method for a laser radar cleaning system, including:

building a test scene for evaluating the cleaning effect of the target cleaning system; the test scene comprises a laser radar, a target and the target cleaning system;

acquiring first point cloud data obtained by scanning the target by the laser radar and second point cloud data obtained by scanning the target by the laser radar; the first point cloud data and the second point cloud data are point cloud data obtained by scanning the target by the laser radar after the window of the laser radar is cleaned by adopting different cleaning methods;

and evaluating the cleaning effect of the target cleaning system according to the first point cloud data and the second point cloud data.

Optionally, the acquiring first point cloud data obtained by scanning the target with the laser radar includes:

cleaning the window of the laser radar by using a preset cleaning method;

and acquiring point cloud data obtained by scanning the target by the laser radar as first point cloud data.

Optionally, before the second point cloud data obtained by scanning the target with the laser radar is acquired, the method further includes:

performing contamination treatment on the window of the laser radar;

the acquiring of the second point cloud data obtained by scanning the target by the laser radar includes:

cleaning the window of the laser radar subjected to the dirt treatment by using the target cleaning system;

and acquiring point cloud data obtained by scanning the target by the laser radar as second point cloud data.

Optionally, the evaluating the cleaning effect of the target cleaning system according to the first point cloud data and the second point cloud data includes:

determining a detection probability of the first point cloud data and a detection probability of the second point cloud data;

and evaluating the cleaning effect of the target cleaning system according to the probability difference of the detection probability of the first point cloud data and the detection probability of the second point cloud data.

Optionally, the evaluating the cleaning effect of the target cleaning system according to the probability difference between the detection probability of the first point cloud data and the detection probability of the second point cloud data includes:

acquiring a preset probability difference threshold value;

and if the probability difference value of the detection probability of the first point cloud data and the detection probability of the second point cloud data is smaller than the preset probability difference value threshold value, determining that the cleaning effect of the target cleaning system is qualified.

Optionally, the determining the detection probability of the first point cloud data includes:

acquiring the number of scanning points of the laser radar on the target;

and taking the ratio of the number of the first point cloud data to the number of the scanning points as the detection probability of the first point cloud data.

Optionally, the determining the detection probability of the second point cloud data includes:

and taking the ratio of the number of the second point cloud data to the number of the scanning points as the detection probability of the second point cloud data.

Optionally, the performing contamination processing on the window of the laser radar includes:

manufacturing a dirty body by adopting a material with a preset formula;

and performing contamination treatment on the window of the laser radar by using the contamination body.

Optionally, the method further includes:

acquiring the number of scanning point cloud data obtained by scanning the laser radar through the window of the laser radar after the contamination treatment;

and if the number of the scanning point cloud data is smaller than a preset number threshold value, determining that the contamination treatment is qualified.

Optionally, the test scenario further includes an attenuation sheet;

before the obtaining of the first point cloud data obtained by scanning the target by the laser radar and the second point cloud data obtained by scanning the target by the laser radar, the method further includes:

acquiring the distance from the laser radar to the target;

if the distance measurement of the laser radar is detected to be larger than the distance from the laser radar to the target, adjusting the attenuation parameters of the attenuation sheet until the distance measurement of the laser radar is smaller than or equal to the distance from the laser radar to the target.

In a second aspect, the present disclosure provides an effect evaluation apparatus for a laser radar cleaning system, including:

the test scene building module is used for building a test scene for evaluating the cleaning effect of the target cleaning system; the test scene comprises a laser radar, a target and the target cleaning system;

the point cloud data acquisition module is used for acquiring first point cloud data obtained by scanning the target by the laser radar and second point cloud data obtained by scanning the target by the laser radar; the first point cloud data and the second point cloud data are point cloud data obtained by scanning the target by the laser radar after the window of the laser radar is cleaned by adopting different cleaning methods;

and the cleaning effect evaluation module is used for evaluating the cleaning effect of the target cleaning system according to the first point cloud data and the second point cloud data.

Optionally, the point cloud data obtaining module is specifically configured to:

cleaning the window of the laser radar by using a preset cleaning method;

and acquiring point cloud data obtained by scanning the target by the laser radar as first point cloud data.

Optionally, the method further includes: a window processing module;

the window processing module is used for carrying out contamination processing on the window of the laser radar;

the point cloud data acquisition module is specifically used for:

cleaning the window of the laser radar subjected to the dirt treatment by using the target cleaning system;

and acquiring point cloud data obtained by scanning the target by the laser radar as second point cloud data.

Optionally, the cleaning effect evaluation module includes: a detection probability determination unit and a cleaning effect evaluation unit;

a detection probability determination unit for determining a detection probability of the first point cloud data and a detection probability of the second point cloud data;

and the cleaning effect evaluation unit is used for evaluating the cleaning effect of the target cleaning system according to the probability difference value of the detection probability of the first point cloud data and the detection probability of the second point cloud data.

Optionally, the cleaning effect evaluation unit is specifically configured to:

acquiring a preset probability difference threshold value;

and if the probability difference value of the detection probability of the first point cloud data and the detection probability of the second point cloud data is smaller than the preset probability difference value threshold value, determining that the cleaning effect of the target cleaning system is qualified.

Optionally, the detection probability determining unit is specifically configured to:

acquiring the number of scanning points of the laser radar on the target;

and taking the ratio of the number of the first point cloud data to the number of the scanning points as the detection probability of the first point cloud data.

Optionally, the detection probability determining unit is specifically configured to:

and taking the ratio of the number of the second point cloud data to the number of the scanning points as the detection probability of the second point cloud data.

Optionally, the window processing module is specifically configured to:

manufacturing a dirty body by adopting a material with a preset formula;

and performing contamination treatment on the window of the laser radar by using the contamination body.

Optionally, the method further includes: the device comprises a quantity determining module and a contamination processing detecting module;

the quantity determining module is used for acquiring the quantity of scanning point cloud data obtained by scanning the target by the laser radar through the window of the laser radar after the laser radar is subjected to contamination treatment;

and the contamination processing detection module is used for determining that the contamination processing is qualified if the number of the scanning point cloud data is smaller than a preset number threshold.

Optionally, the test scenario further includes an attenuation sheet;

the device also includes: the device comprises a distance acquisition module and a distance adjustment module;

the distance acquisition module is used for acquiring the distance from the laser radar to the target;

and the distance adjusting module is used for adjusting the attenuation parameters of the attenuation sheet if the fact that the distance of the laser radar is greater than the distance from the laser radar to the target is detected, until the distance of the laser radar is less than or equal to the distance from the laser radar to the target.

In a third aspect, the present disclosure also provides an electronic device, including:

one or more processors;

a storage device for storing one or more programs,

when the one or more programs are executed by the one or more processors, the one or more processors implement the method for evaluating the effect of the lidar cleaning system according to any of the embodiments of the present invention.

In a fourth aspect, the present disclosure also provides a computer-readable storage medium on which a computer program is stored, which when executed by a processor, implements the effectiveness evaluation method of the laser radar cleaning system according to any one of the embodiments of the present invention.

Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages: the environment of a test scene is not required, and the effect evaluation of a scene building and finishing cleaning system can be realized indoors; therefore, the problem of low evaluation reliability caused by artificial subjective evaluation is solved, and objective quantitative accurate evaluation on the laser radar cleaning system is effectively realized.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

Fig. 1 is a schematic flowchart of an effect evaluation method of a laser radar cleaning system according to an embodiment of the present disclosure;

FIG. 2 is a schematic flow chart illustrating another method for evaluating the effectiveness of a lidar cleaning system according to an embodiment of the present disclosure;

FIG. 3 is a schematic flow chart illustrating another method for evaluating the effectiveness of a lidar cleaning system according to an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of a test scenario provided by an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of an effect evaluation apparatus of a laser radar cleaning system according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of an electronic device provided in an embodiment of the present disclosure.

Detailed Description

In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.

The lidar is a sensor in the automatic driving system, and can provide an environment sensing function in the automatic driving system, such as detecting road conditions and obstacles in the driving process of a vehicle, and transmitting data and signals to the automatic driving system, so that the automatic driving system can make corresponding driving actions. However, the lidar scans the external environment through the window of the lidar, and therefore, the cleanliness of the window of the lidar may have a certain influence on the detection effect of the lidar.

It is then crucial to detect the degree of visualization of the window of the lidar.

Fig. 1 is a schematic flowchart of an effect evaluation method of a laser radar cleaning system according to an embodiment of the present disclosure. The embodiment can be applied to the situation of quantitatively evaluating the cleaning effect of the target cleaning system in a pre-established test scene. The method of the embodiment can be executed by an effect evaluation device of the laser radar cleaning system, which can be implemented in a hardware and/or software manner and can be configured in electronic equipment. The effect evaluation method of the laser radar cleaning system according to any embodiment of the application can be realized. As shown in fig. 1, the method specifically includes the following steps:

s110, building a test scene for evaluating the cleaning effect of the target cleaning system; the test scene comprises a laser radar, a target and a target cleaning system.

In this embodiment, the target cleaning system is a cleaning system to be detected, and may be installed in the laser radar, and when the target cleaning system detects that the window of the laser radar needs to be cleaned, the target cleaning system is automatically turned on to clean the window of the laser radar. The target cleaning system may clean the lidar in a manner such as, for example, by washing the windshield of the window of the lidar with high pressure glass water.

The test scene is a scene built for evaluating the cleaning effect of the cleaning system of one or more laser radars, the test scene can be built indoors, the building environment is not required, the test scene does not need to be built outdoors, and the test scene is convenient and quick, so that the flexibility of detection of the cleaning effect of the cleaning system of the laser radars is improved.

The type of the target cleaning system is not limited in this embodiment, and the target cleaning system included in the test scenario is any cleaning system that can be installed on the laser radar. The number of the target cleaning systems is not limited in this embodiment, and the target cleaning system may also be one or more cleaning systems capable of being installed on the laser radar.

The target included in the test scene is a scanning object of the laser radar, and the laser radar can pass through the scanning target and can print scanning points of the laser radar on the target.

In addition, the target in the test scene can adopt a target with low reflectivity, and the echo energy of the laser radar is reduced, so that the effective detection distance of the laser radar is reduced, and the requirement on the size of the test field is reduced.

And S120, acquiring first point cloud data obtained by scanning the target by the laser radar and second point cloud data obtained by scanning the target by the laser radar.

The first point cloud data and the second point cloud data are point cloud data obtained by scanning a target by the laser radar after the window of the laser radar is cleaned by adopting different cleaning methods.

In this embodiment, the first point cloud data is point cloud data obtained by scanning a target through a window of a laser radar after the window of the laser radar is cleaned by using the first cleaning method. The first cleaning mode can be a cleaning method with a high-intensity cleaning function, so that the window of the cleaned laser radar has a better detection visual field.

In addition, the embodiment does not limit the manner of acquiring the first point cloud data. In some embodiments, the first point cloud data may be stored in the laser radar in advance in the above manner, and the electronic device may directly acquire the first point cloud data from the laser radar when the first point cloud data needs to be acquired. Or when the first point cloud data needs to be acquired, the laser radar can scan the target in real time in the above manner, so that the electronic device acquires the first point cloud data from the scanning result of the laser radar.

And the second point cloud data is obtained by scanning the target through the cleaned window of the laser radar after the window of the laser radar is cleaned by adopting a second cleaning method. The second cleaning method may be a method in which the target cleaning system cleans a window of the laser radar.

The disclosure does not limit the cleaning method of the first point cloud data and the second point cloud data. The first point cloud data is point cloud data obtained by scanning the laser radar to the target through the cleaned window of the laser radar after the laser radar is cleaned by the first cleaning method, and the second point cloud data is point cloud data obtained by scanning the laser radar to the target through the cleaned window of the laser radar after the laser radar is cleaned by the second cleaning method.

Or the second point cloud data is point cloud data obtained by scanning the target through the window of the cleaned laser radar by the laser radar after the window of the laser radar is cleaned by the first cleaning method, and the first point cloud data is point cloud data obtained by scanning the target through the window of the cleaned laser radar after the window of the laser radar is cleaned by the second cleaning method.

The first cleaning method and the second cleaning method are different, and the first cleaning method and the second cleaning method include a cleaning method of the target cleaning system.

And S130, evaluating the cleaning effect of the target cleaning system according to the first point cloud data and the second point cloud data.

In this embodiment, the first point cloud data or the second point cloud data can reflect a cleaning result of the target cleaning system, so that the cleaning effect of the target cleaning system is effectively evaluated.

And if the first point cloud data is point cloud data obtained by scanning the target through the window of the cleaned laser radar after the window of the laser radar is cleaned by the target cleaning system, evaluating the cleaning effect of the target cleaning system by combining the second point cloud data.

Correspondingly, if the second point cloud data is point cloud data obtained by scanning the target through the window of the cleaned laser radar after the window of the laser radar is cleaned by the target cleaning system, the cleaning effect of the target cleaning system can be evaluated by combining the first point cloud data.

According to the embodiment of the disclosure, the test scene for evaluating the cleaning effect of the target cleaning system is built, and the building environment of the test scene is not required, so that the effect evaluation of the cleaning system can be completed by building the scene indoors; therefore, the problem of low evaluation reliability caused by artificial subjective evaluation is solved, and objective quantitative accurate evaluation on the laser radar cleaning system is effectively realized.

Fig. 2 is a schematic flowchart of another method for evaluating the effectiveness of a lidar cleaning system according to an embodiment of the present disclosure. The present embodiment is based on the above embodiment, wherein a possible implementation method of S120 is as follows, and includes:

s1201, cleaning a window of the laser radar by using a preset cleaning method; and acquiring point cloud data obtained by scanning the target by the laser radar as first point cloud data.

In this embodiment, the preset cleaning method may be a cleaning method with a high-intensity cleaning function, so that the window of the cleaned lidar has a better detection field of view, and thus, the window is used as an evaluation reference for the cleaning result obtained by the cleaning method of the target cleaning system.

The electronic equipment can be in communication connection with the laser radar, and point cloud data obtained by the laser radar through a cleaned window scanning target of the laser radar is quickly acquired from the laser radar and serves as first point cloud data.

The embodiment does not limit the specific implementation manner of the communication connection between the electronic device and the laser radar. In some embodiments, the communication connection between the electronic device and the lidar may be implemented by using a communication method such as bluetooth, a wireless network, or a data line.

It should be noted that, in this embodiment, the order of acquiring the first point cloud data and the second point cloud data is not limited. On the premise that the first point cloud data are acquired in advance, the first point cloud data can be directly determined from the laser radar, the second point cloud data can be obtained by cleaning a window of the laser radar through the target cleaning system and scanning the target through the cleaned window by the laser radar.

Or, on the premise that the first point cloud data is not obtained in advance, the laser radar may scan point cloud data obtained by scanning a target through a window of the cleaned laser radar, the electronic device obtains the point cloud data from the laser radar as the first point cloud data, and performs a smudging process on the window of the laser radar cleaned by a preset cleaning method, that is, step S1202 is performed, so as to clean the target cleaning system.

And S1202, performing contamination treatment on the window of the laser radar.

In this embodiment, after the first point cloud data is obtained by cleaning the window of the laser radar by using a preset cleaning method, the laser radar scans the target through the cleaned window of the laser radar to obtain point cloud data, and in order to ensure the cleaning accuracy of the target cleaning system, the window of the laser radar needs to be subjected to contamination treatment, so that the window of the laser radar is restored to a state to be cleaned.

In this embodiment, optionally, the performing contamination processing on the window of the laser radar includes:

manufacturing a dirty body by adopting a material with a preset formula;

and carrying out dirt treatment on the window of the laser radar by using the dirt.

The material of the preset formula is a material obtained by mixing a plurality of materials for staining the window of the laser radar, such as wet mud of the fixed formula. In this embodiment, the ratio of each material in the preset formula of the material is not limited, for example, the preset formula may be subjected to ratio modulation according to the window of the laser radar.

It should be noted that, when the window of the laser radar is subjected to contamination treatment by using the contamination body, the contamination body can be uniformly and dispersedly arranged on the window of the laser radar, so that the visual effect of the window of the laser radar can be hidden, the cleaning degree of the target cleaning system on the window of the laser radar can be enhanced, and the authenticity of the cleaning result of the target cleaning system can be reflected more truly.

After the window of the laser radar is subjected to contamination processing, in order to ensure that the window of the laser radar subjected to the contamination processing can effectively meet the requirement of displaying the cleaning result of the target cleaning system, the window of the laser radar subjected to the contamination processing needs to be subjected to contamination processing detection.

In this embodiment, optionally, the method of this embodiment further includes:

acquiring the number of scanning point cloud data obtained by the laser radar through a window scanning target of the laser radar after the contamination treatment;

and if the number of the detected scanning point cloud data is smaller than the preset number threshold, determining that the contamination treatment is qualified.

In this embodiment, the electronic device obtains, from the laser radar, the number of scanning point cloud data obtained by scanning the laser radar on the target in the test scene through the window of the laser radar after the contamination processing, and detects whether the contamination processing result of the window of the laser radar is qualified according to the number of the scanning point cloud data.

The present disclosure does not limit the specific value of the preset number threshold. The specific value of the preset quantity threshold value can be a value which is 1% -5% of the quantity of all point cloud data which can be shot by the laser radar on the target.

Therefore, before the target cleaning system cleans the window of the laser radar, the electronic equipment reduces the cleaning degree of the window of the laser radar to be below a certain proportion, and the target cleaning system can have strong intuitiveness on the cleaning result of the window of the laser radar.

S1203, cleaning the window of the laser radar subjected to the dirt treatment by using a target cleaning system; and acquiring point cloud data obtained by scanning the target by the laser radar as second point cloud data.

In this embodiment, the electronic device instructs the laser radar to start the target cleaning system installed thereon by performing information interaction with the laser radar, so that the target cleaning system automatically cleans the window of the laser radar and acquires second point cloud data from the laser radar.

Fig. 2 is a schematic flowchart of a method for evaluating an effect of a laser radar cleaning system according to another embodiment of the present disclosure. The present embodiment is based on the above embodiment, wherein a possible implementation method of S130 is as follows, and includes:

s1301, determining the detection probability of the first point cloud data and the detection probability of the second point cloud data.

In this embodiment, the detection probability of the first point cloud data is the detection probability of the target measured after the laser radar cleans a window of the laser radar through a cleaning method. And the detection probability of the second point cloud data is the detection probability of the target after the laser radar cleans a window of the laser radar by another cleaning method.

In this embodiment, the probability selection ranges of the detection probability of the first point cloud data and the detection probability of the second point cloud data are not limited. For example, the probability selection range can be set to be between 90% and 99%. And if the detection probability of the first point cloud data is between 90% and 99%, determining that the detection probability is qualified, and using the qualified detection probability as a measurement index of the cleaning effect of the target cleaning system. And when the detection probability of the second point cloud data is between 90% and 99%, determining that the detection probability is qualified and can be used as a measurement index of the cleaning effect of the target cleaning system.

In this embodiment, optionally, determining the detection probability of the first point cloud data includes:

acquiring the number of scanning points of the laser radar on a target;

and taking the ratio of the number of the first point cloud data to the number of the scanning points as the detection probability of the first point cloud data.

In this embodiment, optionally, determining the detection probability of the second point cloud data includes:

and taking the ratio of the number of the second point cloud data to the number of the scanning points as the detection probability of the second point cloud data.

In this embodiment, before the number of scanning points of the laser radar on the target is obtained, the point cloud visualization upper computer software of the laser radar may be used to confirm that all the laser scanning points of the laser radar are hit on the target. The embodiment does not limit the specific model, type, size and other parameters of the point cloud visualization upper computer software.

The number of scanning points of the laser radar on the target can be obtained through testing in advance, or the number of scanning points can be obtained through testing in real time when the cleaning effect of each target cleaning system is evaluated.

Thus, after obtaining the number of scanning points of the laser radar on the target, the electronic device may quantitatively determine the detection probability of the first point cloud data in combination with the number of the first point cloud data, and quantitatively determine the detection probability of the second point cloud data in combination with the number of the second point cloud data.

S1302, evaluating the cleaning effect of the target cleaning system according to the probability difference of the detection probability of the first point cloud data and the detection probability of the second point cloud data.

In this embodiment, after obtaining the detection probability of the first point cloud data and the detection probability of the second point cloud data, the electronic device may effectively evaluate the cleaning effect of the target cleaning system according to the detection probability of the reference lidar to the target according to the preset cleaning method and the detection probability of the lidar to the target according to the target cleaning method.

In this embodiment, optionally, the evaluating the cleaning effect of the target cleaning system according to the probability difference between the detection probability of the first point cloud data and the detection probability of the second point cloud data includes:

acquiring a preset probability difference threshold value;

and if the probability difference value of the detection probability of the first point cloud data and the detection probability of the second point cloud data is smaller than the preset probability difference value threshold value, determining that the cleaning effect of the target cleaning system is qualified.

In this embodiment, in order to ensure the applicability of the cleaning effect of the target cleaning system, a numerical agreement needs to be performed on the probability difference between the detection probability of the first point cloud data and the detection probability of the second point cloud data, so that the reliability of the evaluation result of the cleaning effect of the target cleaning system is ensured.

In this embodiment, the specific value of the probability difference threshold is not limited. For example, the specific value of the probability difference threshold may be set to 3%.

It should be noted that the probability difference threshold is a measurement reference index of the cleaning effect of the target cleaning system, and the probability difference between the detection probability of the first point cloud data and the detection probability of the second point cloud data is measured, so that the cleaning degree of the cleaning effect of the target cleaning system is accurately evaluated.

In this embodiment, optionally, the test scenario further includes an attenuation sheet;

before obtaining first point cloud data obtained by scanning the target with the laser radar and second point cloud data obtained by scanning the target with the laser radar, the method of this embodiment further includes:

obtaining the distance from the laser radar to a target;

and if the distance measurement of the laser radar is detected to be larger than the distance from the laser radar to the target, adjusting the attenuation parameters of the attenuation sheet until the distance measurement of the laser radar is smaller than or equal to the distance from the laser radar to the target.

In this embodiment, the attenuation sheet can be arranged at a position in the middle of the laser radar and the target, so that the problems that the distance measurement of the laser radar is too large and the requirement on the test range of a test scene is too high are prevented.

The attenuation parameters of the attenuation sheet can be adjusted, so that the distance measurement of the laser radar is smaller than or equal to the distance from the laser radar to the target.

For example, if the range of the laser radar is 300m, but the distance from the laser radar to the target in the built test scene is 5m, at this time, the distance from the laser radar to the target needs to be controlled to be greater than or equal to the range of the laser radar by adjusting the attenuation parameter of the attenuation sheet to attenuate by 60 times.

When the distance measurement of the laser radar is smaller than or equal to the distance from the laser radar to the target, the test scene is normally set up, and effective scanning of the laser radar can be achieved.

It should be noted that, the setting of the specific numerical value of the attenuation parameter of the attenuation sheet needs to be set according to the ranging of the laser radar and the distance between the laser radar and the target in the test scene, so that when the ranging of the laser radar in the test scene is greater than the distance between the laser radar and the target, the setting of the attenuation sheet can reduce the distance requirement that the laser radar reaches the target, and the set test scene can meet the requirement of the test scene only by taking up a small area.

In this embodiment, a schematic diagram of a test scenario of the cleaning effect of the target cleaning system is provided, which can be seen in fig. 4.

The test scene comprises a laser radar 1, a window 11 on the laser radar, a cleaning nozzle 12 of a target cleaning system installed in the laser radar, an attenuation sheet 2 and a target 3.

In the test, the laser radar scans the laser on the target through the window of the laser radar, so that the point cloud data on the target can be obtained. And quantitatively evaluating the cleaning effect of the target cleaning system according to the detection probability of the first point cloud data and the detection probability of the second point cloud data.

It should be noted that, in the test scene, the distance range of the laser radar reaching the target is usually [2,10], so that the requirement on the field size of the test scene is not high, and the construction of the test scene can be completed in an outdoor limited range and can be realized in an indoor smaller range. The size of the target is determined according to the distance from the laser radar to the target and the field angle of the laser radar, the size of the target needs to cover the field of view of the laser radar when the distance is the distance from the laser radar to the target, namely all scanning points of the laser radar can be printed on the target, and therefore the usability of the test is improved.

Fig. 5 is a schematic structural diagram of an effect evaluation apparatus of a laser radar cleaning system according to an embodiment of the present disclosure; the device is configured in the electronic equipment, and the effect evaluation method of the laser radar cleaning system in any embodiment of the application can be realized. The device specifically comprises the following steps:

a test scenario construction module 510, configured to construct a test scenario for evaluating a cleaning effect of the target cleaning system; the test scene comprises a laser radar, a target and the target cleaning system;

a point cloud data obtaining module 520, configured to obtain first point cloud data obtained by scanning the target with the laser radar and second point cloud data obtained by scanning the target with the laser radar; the first point cloud data and the second point cloud data are point cloud data obtained by scanning the target by the laser radar after the window of the laser radar is cleaned by adopting different cleaning methods;

a cleaning effect evaluation module 530, configured to evaluate a cleaning effect of the target cleaning system according to the first point cloud data and the second point cloud data.

In this embodiment, optionally, the point cloud data obtaining module 520 is specifically configured to:

cleaning the window of the laser radar by using a preset cleaning method;

and acquiring point cloud data obtained by scanning the target by the laser radar as first point cloud data.

In this embodiment, optionally, the apparatus of this embodiment further includes: a window processing module;

the window processing module is used for carrying out contamination processing on the window of the laser radar;

the point cloud data obtaining module 520 is specifically configured to:

cleaning the window of the laser radar subjected to the dirt treatment by using the target cleaning system;

and acquiring point cloud data obtained by scanning the target by the laser radar as second point cloud data.

In this embodiment, optionally, the cleaning effect evaluation module 530 includes: a detection probability determination unit and a cleaning effect evaluation unit;

a detection probability determination unit for determining a detection probability of the first point cloud data and a detection probability of the second point cloud data;

and the cleaning effect evaluation unit is used for evaluating the cleaning effect of the target cleaning system according to the probability difference value of the detection probability of the first point cloud data and the detection probability of the second point cloud data.

In this embodiment, optionally, the cleaning effect evaluation unit is specifically configured to:

acquiring a preset probability difference threshold value;

and if the probability difference value of the detection probability of the first point cloud data and the detection probability of the second point cloud data is smaller than the preset probability difference value threshold value, determining that the cleaning effect of the target cleaning system is qualified.

In this embodiment, optionally, the detection probability determining unit is specifically configured to:

acquiring the number of scanning points of the laser radar on the target;

and taking the ratio of the number of the first point cloud data to the number of the scanning points as the detection probability of the first point cloud data.

In this embodiment, optionally, the detection probability determining unit is specifically configured to:

and taking the ratio of the number of the second point cloud data to the number of the scanning points as the detection probability of the second point cloud data.

In this embodiment, optionally, the window processing module is specifically configured to:

manufacturing a dirty body by adopting a material with a preset formula;

and performing contamination treatment on the window of the laser radar by using the contamination body.

In this embodiment, optionally, the apparatus of this embodiment further includes: the device comprises a quantity determining module and a contamination processing detecting module;

the quantity determining module is used for acquiring the quantity of scanning point cloud data obtained by scanning the target by the laser radar through the window of the laser radar after the laser radar is subjected to contamination treatment;

and the contamination processing detection module is used for determining that the contamination processing is qualified if the number of the scanning point cloud data is smaller than a preset number threshold.

In this embodiment, optionally, the test scenario further includes an attenuation sheet;

the device of the embodiment further comprises: the device comprises a distance acquisition module and a distance adjustment module;

the distance acquisition module is used for acquiring the distance from the laser radar to the target;

and the distance adjusting module is used for adjusting the attenuation parameters of the attenuation sheet if the fact that the distance of the laser radar is greater than the distance from the laser radar to the target is detected, until the distance of the laser radar is less than or equal to the distance from the laser radar to the target.

By the effect evaluation device of the laser radar cleaning system, the effect evaluation of the cleaning system can be completed by building a scene indoors; therefore, the problem of low evaluation reliability caused by artificial subjective evaluation is solved, and objective quantitative accurate evaluation on the laser radar cleaning system is effectively realized.

The effect evaluation device of the laser radar cleaning system provided by the embodiment of the invention can execute the effect evaluation method of the laser radar cleaning system provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

Fig. 6 is a schematic structural diagram of an electronic device provided in an embodiment of the present disclosure. As shown in fig. 6, the electronic device includes a processor 610, a memory 620, an input device 630, and an output device 640; the number of the processors 610 in the electronic device may be one or more, and one processor 610 is taken as an example in fig. 6; the processor 610, the memory 620, the input device 630, and the output device 640 in the electronic apparatus may be connected by a bus or other means, and fig. 6 illustrates an example of connection by a bus.

Memory 620, as a computer-readable storage medium, may be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the effectiveness evaluation method of the lidar cleaning system in embodiments of the present invention. The processor 610 executes various functional applications and data processing of the electronic device by running the software programs, instructions and modules stored in the memory 620, so as to implement the effect evaluation method of the laser radar cleaning system provided by the embodiment of the invention.

The memory 620 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 620 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 620 can further include memory located remotely from the processor 610, which can be connected to an electronic device through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input device 630 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the electronic device, and may include a keyboard, a mouse, and the like. The output device 640 may include a display device such as a display screen.

The embodiment of the disclosure also provides a storage medium containing computer executable instructions, and the computer executable instructions are used for realizing the effect evaluation method of the laser radar cleaning system provided by the embodiment of the invention when being executed by a computer processor.

Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the method for evaluating the effectiveness of the laser radar cleaning system provided by any embodiment of the present invention.

From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.

It should be noted that, in the embodiment of the above search apparatus, each included unit and module are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.