The invention discloses a
laser scanning based water surface detection method and relates to the field of robots. A
laser scanner conducts 3D
laser scanning on the front at a relatively small level inclination
angle alpha, the
reflectivity of the water surface is lower than 28%, the
reflectivity of the ground is remarkably greater than 28% and no
specular reflection phenomenon exists within the detection range of the laser
scanner. Meanwhile, if a water-side upright object exists within the detection range of the laser
scanner, then a laser beam is reflected because of the
specular reflection of the water surface, irradiates the surface of the water-side upright object and generates
diffuse reflection on the surface of the water-side upright object to allow partial energy to be received by the laser scanner, then the 3D laser scanner can obtain a
real image of the water-side upright object, and a
virtual image of the water-side upright object subjected to the
specular reflection of the water surface, wherein the
real image of the water-side upright object and the
virtual image of the water-side upright object are identical in shapes and different in distances. Therefore, the water-side upright object can be judged so as to judge the edge of the water surface. The
laser scanning based water surface detection method is simple and fast, and can be used to accurately distinguish the water surface and the surrounding environment under any light conditions outdoors to achieve detection of the water surface.