CN110174660B - Laser radar and data processing method thereof - Google Patents
Laser radar and data processing method thereof Download PDFInfo
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- CN110174660B CN110174660B CN201910341440.6A CN201910341440A CN110174660B CN 110174660 B CN110174660 B CN 110174660B CN 201910341440 A CN201910341440 A CN 201910341440A CN 110174660 B CN110174660 B CN 110174660B
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- 238000001514 detection method Methods 0.000 claims abstract description 51
- 238000012545 processing Methods 0.000 claims abstract description 31
- 238000000034 method Methods 0.000 claims abstract description 15
- 230000003287 optical effect Effects 0.000 claims description 103
- 238000002955 isolation Methods 0.000 claims description 4
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- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
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- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides a laser radar and a data processing method thereof, wherein the laser radar comprises the following steps: a plurality of transceiver modules adapted to transmit laser beams toward different horizontal directions of a target space, respectively, and to receive echo signals corresponding to the laser beams transmitted by the transceiver modules, the echo signals being formed by reflecting the laser beams by obstacles in the target space; the receiving and transmitting modules are arranged in the rotor and distributed around the axis of the rotor; wherein, a plurality of receiving and dispatching module have different vertical visual field ranges, have increased lidar's vertical visual field. The data processing method comprises the following steps: the first processing program is adopted to process the first set of frame data, the second processing program is adopted to process the second set of frame data, the first processing program and the second processing program are respectively suitable for processing a first echo signal and a second echo signal formed by a certain object at different moments, one part of the certain object is located in the first vertical viewing field, and the other part of the certain object is located in the second vertical viewing field, so that the detection delay is favorably reduced.
Description
Technical Field
The invention relates to the technical field of laser detection, in particular to a laser radar and a data processing method thereof.
Background
Lidar is an advanced detection method that combines laser technology with photoelectric detection technology. Laser radar is widely applied to the fields of automatic driving, traffic communication, unmanned aerial vehicles, intelligent robots, energy safety detection, resource exploration and the like due to the advantages of high resolution, good concealment, strong active interference resistance, good low-altitude detection performance, small volume, light weight and the like.
The structural design of the laser radar not only influences the performance parameters of the laser radar, such as the resolution ratio, the field angle range and the like, but also requires developers to design an algorithm adaptive to the structure, so that the data collected by the laser radar can be efficiently and accurately processed, and the detection efficiency is improved.
Disclosure of Invention
In order to optimize the structural design of the laser radar and improve the comprehensive performance of the laser radar, an embodiment of the present invention provides a laser radar, including: the receiving and transmitting modules are suitable for respectively transmitting laser beams towards different horizontal directions of a target space and receiving echo signals corresponding to the laser beams transmitted by the receiving and transmitting modules, and the echo signals are formed by reflecting the laser beams by obstacles in the target space; the transceiver modules are arranged in the rotor and distributed around the axis of the rotor; wherein the plurality of transceiving modules have different vertical field ranges.
Optionally, each transceiver module comprises: a laser source, a transmitting optical assembly, a receiving optical assembly, and a detecting assembly; the laser source adapted to emit a laser beam; the emission optical assembly is suitable for transmitting the laser beam emitted by the laser source to the target space; the receiving optical assembly is suitable for transmitting an echo signal formed by reflecting the laser beam by an obstacle of the target space to the detection assembly; the detection component is suitable for detecting the echo signal; wherein, the optical axis of the transmitting optical assembly and the optical axis of the receiving optical assembly of the same transceiver module are parallel to each other, and the optical axes of the transmitting optical assemblies of different transceiver modules are different preset included angles relative to the horizontal plane of the laser radar respectively, and the optical axes of the receiving optical assemblies of different transceiver modules are different preset included angles relative to the horizontal plane of the laser radar respectively.
Optionally, the emission optical assembly comprises an emission mirror group and an emission lens group, and the receiving optical assembly comprises a receiving mirror group and a receiving lens group; the reflecting surface of the transmitting reflector set and the reflecting surface of the receiving reflector set of each transceiving module respectively form the same or different inclination angles relative to the horizontal plane of the laser radar.
Optionally, the laser source includes a laser array, the detection assembly includes a detector array, and the respective planes of the laser array and the detector array of each transceiver module are at the same or different inclination angles with respect to the horizontal plane of the lidar.
Optionally, the center of the laser array and the center of the detector array of each transceiver module are located on any horizontal cross section of the rotor.
Optionally, the laser radar includes two transceiver modules, an optical axis of a transmitting optical component and an optical axis of a receiving optical component of one transceiver module are inclined upward with respect to a horizontal plane of the laser radar, and an optical axis of a transmitting optical component and an optical axis of a receiving optical component of the other transceiver module are inclined downward with respect to the horizontal plane of the laser radar; and the included angle between the projections of the laser beams emitted to the target space by the two transceiver modules on the horizontal plane of the laser radar is 180 degrees.
Optionally, the transmitting optical component of each transceiver module comprises a first reflector group and a first lens group, and the receiving optical component of each transceiver module comprises a second reflector group and a second lens group; the laser source and the detection component of each transceiving module are asymmetrically arranged relative to the median vertical plane of the central connecting line of the first lens group and the second lens group of the transceiving module, and/or the first reflector group and the second reflector group of each transceiving module are asymmetrically arranged relative to the median vertical plane of the central connecting line of the first lens group and the second lens group of the transceiving module.
Optionally, the one transceiver module and the other transceiver module are arranged in central symmetry, and isolation devices are respectively arranged between the laser source of the one transceiver module and the detection assembly of the other transceiver module, and between the detection assembly of the one transceiver module and the laser source of the other transceiver module.
Optionally, the vertical fields of view of the two transceiver modules are partially overlapped, and in the range of the overlapped vertical fields of view, the scanning lines of the two transceiver modules have different vertical distribution parameters, and the vertical distribution parameters include an included angle between the scanning line and the horizontal plane of the laser radar.
The embodiment of the present invention further provides a data processing method of a laser radar, where the two transceiver modules respectively have a first vertical field of view and a second vertical field of view, and are respectively adapted to generate a first set of frame data and a second set of frame data, a phase difference between the first set of frame data and the second set of frame data is 180 °, and the data processing method includes: processing the first set of frame data using a first processing procedure and processing the second set of frame data using a second processing procedure; the first set of frame data includes a first echo signal formed by a certain object located in a target space reflecting a laser beam emitted by one of the two transceiver modules, the second set of frame data includes a second echo signal formed by the certain object reflecting a laser beam emitted by the other of the two transceiver modules, a part of the certain object is located in the first vertical field, another part of the certain object is located in the second vertical field, and the first processing program and the second processing program are respectively suitable for processing the first echo signal and the second echo signal at different moments.
Compared with the prior art, the technical scheme of the embodiment of the invention has the following beneficial effects:
the laser radar of the embodiment of the invention comprises a plurality of transceiving modules, wherein the transceiving modules are suitable for respectively emitting laser beams towards different horizontal directions of a target space and have different vertical field ranges. The plurality of receiving and transmitting modules form a spliced view field, so that the vertical view field angle of the laser radar is increased, and the laser radar is suitable for occasions with higher requirements on the vertical view field.
Further, lidar includes two transceiver modules, and one transceiver module's transmission optical assembly's optical axis and receiving optical assembly's optical axis for lidar's horizontal plane tilt up, another transceiver module's transmission optical assembly's optical axis and receiving optical assembly's optical axis for lidar's horizontal plane downward sloping, just two transceiver modules to the laser beam of target space transmission is in contained angle between the projection on lidar's the horizontal plane is 180 degrees to this forms the overall arrangement of central symmetry formula, not only is favorable to improving lidar's vertical field of view scope, still is favorable to realizing lidar's rotation balance.
Furthermore, the laser source and the detection component of each transceiver module are asymmetrically arranged relative to the midperpendicular of the central connecting line of the first lens group and the second lens group of the transceiver module, and/or the first reflector group and the second reflector group of each transceiver module are asymmetrically arranged relative to the midperpendicular of the central connecting line of the first lens group and the second lens group of the transceiver module, so that the folding angles of the transmitting light path and the receiving light path of each transceiver module are slightly different, the laser source of one transceiver module and the detection component of the other transceiver module can be separated, and the signal interference is reduced.
Furthermore, the vertical field angle parts of the two transceiver modules are overlapped, and the scanning lines of the two transceiver modules have different vertical distribution parameters within the overlapped vertical field angle range, namely, the scanning lines of the two transceiver modules form an encrypted layout along the vertical direction, so that the vertical resolution of the laser radar is improved.
The data processing method of the lidar includes processing a first set of frame data by a first processing program, and processing a second set of frame data by a second processing program, where the first set of frame data includes a first echo signal formed by an object located in a target space, and the second set of frame data includes a second echo signal formed by the object, and since a part of the object is located in the first vertical field and another part of the object is located in the second vertical field, detection data of the object can be processed by the first processing program and the second processing program respectively; on the other hand, the first processing program and the second processing program are respectively suitable for processing the first echo signal and the second echo signal at different time instants, that is, the two processing programs corresponding to the two transceiver modules have a time difference when processing the detection data of the same object in the target space. Therefore, the probability of any event being detected by the laser radar is increased, and the detection delay of the laser radar is favorably reduced, because the event can be detected by the processing program which is closer to the event occurrence time in time sequence no matter where the event occurs in the scanning process.
Drawings
FIG. 1 is a schematic diagram of a lidar 10 according to an embodiment of the present invention;
fig. 2 is a block diagram of a transceiver module of the laser radar 10 according to an embodiment of the present invention;
fig. 3 is a schematic perspective view of laser radar 20 according to an embodiment of the present invention;
FIG. 4 is a top view of lidar 20 of the embodiment of FIG. 3 of the present invention;
FIG. 5 is a side view of lidar 20 of the embodiment of FIG. 3 of the present invention;
FIG. 6 is a front view of lidar 20 of the embodiment of FIG. 3 of the present invention;
fig. 7 is a rear view of lidar 20 of the embodiment of the present invention shown in fig. 3.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a laser radar 10 according to an embodiment of the present invention.
In some embodiments, the lidar 10 may include a plurality of transceiver modules: the device comprises a transceiving module 1, transceiving modules 2 and … …, a transceiving module N-1 and a transceiving module N, wherein N is a positive integer greater than 1. The plurality of transceiver modules are adapted to transmit laser beams toward different horizontal directions of a target space, respectively, and to receive echo signals corresponding to the laser beams transmitted by the transceiver modules, the echo signals being formed by reflecting the laser beams by obstacles in the target space. The lidar further comprises a rotor (not shown) within which the transceiver modules are arranged and distributed about the axis of the rotor (a straight line passing through the centre O of the lidar 10). The plurality of transceiver modules have different vertical view field ranges, for example, the vertical view fields of the plurality of transceiver modules can be partially overlapped or sequentially connected to form a continuous vertical view field, and the transceiver modules are suitable for occasions with higher requirements on the vertical view field; or the vertical fields of view of the transceiver modules may have no overlapping area with each other, i.e. a plurality of separate vertical fields of view are formed.
In some embodiments, the lidar further includes a stator (not shown) and a reticle 101, and the plurality of transceiver modules are disposed within the reticle 101.
The lidar of embodiments of the present invention may be a mechanical lidar, the plurality of transceiver modules being adapted to rotate with the rotor about the axis to rotationally scan a target space. The plurality of transceiving modules can adopt independent light paths to collect data respectively, and certain phase difference exists between the data collected by different transceiving modules.
Referring to fig. 2 in combination, fig. 2 is a block diagram of a transceiver module of the lidar 10 according to an embodiment of the present invention.
In some embodiments, the transceiver module may include: a laser source 11, a transmitting optical assembly 12, a receiving optical assembly 13, and a detection assembly 14. The laser source 11 is adapted to emit a laser beam, the emission optical assembly 12 is adapted to transmit the laser beam emitted by the laser source 11 to a target space, the receiving optical assembly 13 is adapted to transmit an echo signal formed by an obstacle 16 of the target space reflecting the laser beam to the detection assembly 14, and the detection assembly 14 is adapted to detect the echo signal.
In some embodiments, in the multiple transceiver modules of the laser radar 10, the optical axes of the transmitting optical component and the receiving optical component of the same transceiver module are parallel to each other, the optical axes of the transmitting optical components of different transceiver modules are respectively different preset included angles with respect to the horizontal plane of the laser radar, and the optical axes of the receiving optical components of different transceiver modules are respectively different preset included angles with respect to the horizontal plane of the laser radar, wherein the horizontal plane of the laser radar is a plane perpendicular to the axis of the rotor.
In some embodiments, the emission optical assembly may include an emission mirror group and an emission lens group, and the receiving optical assembly may include a receiving mirror group and a receiving lens group. The optical axes of the transmitting lens groups of the plurality of transceiving modules can respectively form different preset included angles relative to the horizontal plane of the laser radar, the optical axes of the receiving lens groups of the plurality of transceiving modules can respectively form different preset included angles relative to the horizontal plane of the laser radar, and the optical axes of the transmitting lens groups and the receiving lens groups of the same transceiving module can be parallel to each other; the reflecting surface of the transmitting reflector set and the reflecting surface of the receiving reflector set of each transceiving module set can form the same or different inclination angles relative to the horizontal plane of the laser radar.
In some embodiments, the laser source may comprise an array of lasers and the detection assembly may comprise an array of detectors. For each transceiver module, because the optical axes of the transmitting lens group and the receiving lens group are provided with the pitch angles, the transmitting reflector group and the receiving reflector group are also provided with the inclination angles correspondingly, the planes of the laser array and the detector array can be at the same or different inclination angles relative to the horizontal plane of the laser radar, but the center of the laser array and the center of the detector array can be positioned on any horizontal cross section of the rotor so as to keep the whole balance weight uniform.
In order to make it easier for those skilled in the art to implement the present invention, the embodiment of the present invention further provides a laser radar 20.
Referring to fig. 3 to 7, fig. 3 is a schematic perspective view of a lidar 20 according to an embodiment of the present invention, and fig. 4 to 7 are a top view, a side view, a front view, and a rear view of the lidar 20, respectively.
In some embodiments, the lidar 20 may include: the two transceiving modules are suitable for respectively emitting laser beams towards different horizontal directions of a target space and receiving echo signals corresponding to the laser beams emitted by the transceiving modules, and the echo signals are formed by reflecting the laser beams by barriers in the target space; and the two transceiver modules are arranged in the rotor and distributed around the axis of the rotor.
Each transceiver module may include a laser source 21, a transmitting optical assembly 22, a receiving optical assembly 23, and a detecting assembly 24, the laser source 21 may include a laser array, the transmitting optical assembly 22 may include a first mirror group and a first lens group 223, wherein the first mirror group may include a first front mirror 221 and a first rear mirror 222, the receiving optical assembly 23 may include a second mirror group and a second lens group 231, and the second mirror group may include a second front mirror 232 and a second rear mirror 233.
In the emission optical path, the laser source 11 is adapted to emit a laser beam, the first front mirror 221 is adapted to reflect the laser beam to the first rear mirror 222, the first rear mirror 222 is adapted to reflect the laser beam to the first lens group 223, and the first lens group 223 is adapted to collimate the laser beam and transmit the collimated laser beam to a target space. The collimated laser beam is reflected by an obstruction 16 in the target space to form an echo signal of the laser beam. In the receiving optical path, the second lens group 231 is adapted to converge the echo signal of the laser beam to the second front mirror 232, the second front mirror 232 is adapted to reflect the echo signal of the laser beam to the second rear mirror 233, and the second rear mirror 233 is adapted to reflect the echo signal of the laser beam to the detection assembly 24.
In some embodiments, the lidar 20 further includes a light shield 25 and a rotating shaft 26, and the two transceiver modules are disposed in the light shield 25 and distributed around the rotating shaft 26.
As shown in fig. 5 to 7, in some embodiments, the optical axis of the transmitting optical assembly 22 and the optical axis of the receiving optical assembly 23 of one transceiver module are inclined upward with respect to the horizontal plane of the lidar 20, and the optical axis of the transmitting optical assembly 22 and the optical axis of the receiving optical assembly 23 of the other transceiver module are inclined downward with respect to the horizontal plane of the lidar 20, so that the two transceiver modules may have different vertical field of view ranges. The optical axis of the transmitting optical assembly 22 may be the optical axis of the first lens group 223, the optical axis of the receiving optical assembly 23 may be the optical axis of the second lens group 231, and the horizontal plane of the laser radar 20 is a plane perpendicular to the axis of the rotor.
In some embodiments, the vertical fields of view of the two transceiver modules may partially overlap or be sequentially connected to form a continuous vertical field of view, which is suitable for some occasions with higher requirements on the vertical field of view; or the vertical fields of view of the two transceiver modules may have no overlapping area with each other, i.e. two separate vertical fields of view are formed.
Specifically, the vertical field angle range of the one transceiver module may be 0 to 32 °, and the vertical field angle range of the other transceiver module may be-32 to 0.
In some embodiments, the angle between the projections of the laser beams emitted by the two transceiver modules to the target space on the horizontal plane of the lidar 20 is 180 degrees, i.e., the phase difference between the data collected by the two transceiver modules is 180 degrees (i.e., half cycle).
In some embodiments, the two transceiver modules are arranged in a central symmetry manner, that is, corresponding components in the one transceiver module and the other transceiver module are respectively arranged in a central symmetry manner. For example, the laser source 21 of the transceiver module and the laser source 21 of the other transceiver module are arranged in a central symmetry, the detection assembly 24 of the transceiver module and the detection assembly 24 of the other transceiver module are arranged in a central symmetry, the laser source 21 of the transceiver module and the detection assembly 24 of the other transceiver module are arranged adjacently, and the detection assembly 24 of the transceiver module and the laser source 21 of the other transceiver module are arranged adjacently. In order to reduce the signal interference between the adjacent detection assemblies 24 and laser light sources 21, in some embodiments, the laser light source 21 and the detection assembly 24 of each transceiver module are asymmetrically arranged with respect to the midperpendicular of the central connecting line of the first lens assembly 223 and the second lens assembly 231 of the transceiver module; and/or the first reflector group and the second reflector group of each transceiver module are asymmetrically arranged relative to the median vertical plane of the central connecting line of the first lens group 223 and the second lens group 231 of the transceiver module.
Specifically, the first front reflector 221 and the second rear reflector 233 of each transceiver module are asymmetrically arranged relative to the midperpendicular of the connecting line of the centers of the first lens group 223 and the second lens group 231 of the transceiver module, and the first rear reflector 222 and the second front reflector 232 of each transceiver module are asymmetrically arranged relative to the midperpendicular of the connecting line of the centers of the first lens group 223 and the second lens group 231 of the transceiver module.
The asymmetric design structure of the components in the transmitting light path and the components in the receiving light path in each transceiver module can form an asymmetric transmitting light path and an asymmetric receiving light path, namely the folding angles of the transmitting light path and the receiving light path are slightly different, so that the laser source 21 and the detection component 24 adjacent to the two transceiver modules can be separated, and the signal interference is reduced. Specifically, the laser source 21 may be disposed near the optical cover 25, the detection assembly 24 may be disposed near the rotation shaft 26, and a preset distance may be provided between the laser source 21 and the detection assembly 24.
In some embodiments, isolation devices may be respectively disposed between the laser source 21 of the transceiver module and the detection assembly 24 of the other transceiver module, and between the detection assembly 24 of the transceiver module and the laser source 21 of the other transceiver module, so as to enhance isolation and avoid signal interference.
In some embodiments, the vertical fields of view of the two transceiver modules are partially overlapped, and in the range of the overlapped vertical fields of view, the scanning lines of the two transceiver modules have different vertical distribution parameters, and the vertical distribution parameters include an included angle between the scanning line and a horizontal plane of the laser radar, so that the scanning lines of the two transceiver modules can form an encrypted layout along a vertical direction, and the vertical resolution of the laser radar is improved.
Because the vertical resolution of the lidar is limited by D/f, where D is the pitch of a plurality of lasers included in the laser array or the pitch of a plurality of detectors included in the detector array, and f is the focal length, D is not only limited by the size of the lasers, but also related to factors such as the layout of the driving circuit and heat dissipation. By using two transceiver modules, the vertical resolution in part or all of the field of view can be doubled (i.e. the vertical angular resolution is reduced to 1/2). Under the condition of determining the D parameter, in order to realize the same vertical resolution as that of one set of transceiving module, the f parameter of each set of transceiving module in the embodiment of the invention can be reduced by one time, so that the whole size of the laser radar is greatly reduced.
The optical design of lidar to achieve vertical fields of view above ± 20 ° often faces significant challenges, either using more lens combinations or sacrificing performance in marginal fields of view. The embodiment of the invention uses two sets of optical paths to splice the whole field of view, and is particularly useful in some application occasions with high requirements on the vertical field of view, for example, a set of optical paths can be formed by using common spherical mirrors.
In addition, the two transceiver modules of the laser radar 20 according to the embodiment of the present invention are arranged in a central symmetry manner, which is beneficial to improving the vertical field range of the laser radar 20; on the other hand, the rotation balance of the laser radar is favorably realized, because of the theoretical complete centrosymmetric layout, the mass center of the laser radar is positioned on the rotating shaft, at the moment, only the direction of the inertia shaft needs to be adjusted to be parallel to the rotating shaft, and the compensation parameters are centrosymmetric, so that the structural design and the adjustment of the dynamic balance are greatly simplified.
As mentioned above, the two transceiver modules respectively adopt two sets of optical paths, so that two sets of data can be collected, and a phase difference of 180 ° exists between the two sets of data. Compared with the traditional set of data, how to be compatible with the data format and the processing program of the user is a problem to be solved. One approach is to delay the frame data of one set of optical paths by the time required for a half-cycle, and then buffer the data of the half-cycle completely, but the increased delay will reduce the dynamic performance of the lidar.
In order to improve the dynamic performance of the laser radar and reduce the detection delay, an embodiment of the present invention further provides a data processing method for a laser radar, which is used for processing data of the laser radar according to the foregoing embodiment of the present invention.
In some embodiments, the lidar includes two transceiver modules having first and second vertical fields of view, respectively, and adapted to generate first and second sets of frame data, respectively, the first set of frame data being 180 ° (i.e., half-cycles) out of phase with respect to the second set of frame data.
In some embodiments, the data processing method may include: processing the first set of frame data using a first processing procedure and processing the second set of frame data using a second processing procedure; the first set of frame data includes a first echo signal formed by a certain object located in a target space reflecting a laser beam emitted by one of the two transceiver modules, the second set of frame data includes a second echo signal formed by the certain object reflecting a laser beam emitted by the other of the two transceiver modules, a part of the certain object is located in the first vertical field, another part of the certain object is located in the second vertical field, and the first processing program and the second processing program are respectively suitable for processing the first echo signal and the second echo signal at different moments.
Since a part of the certain object is located in the first vertical direct field and another part of the certain object is located in the second vertical direct field, the detection data of the certain object can be processed by the first processing program and the second processing program respectively, so that the probability that any event is detected by the laser radar can be increased; on the other hand, the first processing program and the second processing program are respectively suitable for processing the first echo signal and the second echo signal at different moments, that is, the two processing programs corresponding to the two transceiver modules have time difference when processing the detection data of the same object in the target space, which is beneficial to reducing the detection delay of the laser radar, because the processing programs which are closer to the event occurrence moment in time sequence can detect the event no matter where the event occurs in the scanning process.
In some embodiments, the first vertical field of view and the second vertical field of view may partially overlap, or meet in sequence to form a continuous vertical field of view. In other embodiments, the first vertical field of view and the second vertical field of view may also have no overlapping area with respect to each other, i.e., two separate vertical fields of view are formed.
Therefore, the maximum delay detected by any event in the scanning process is less than or equal to 1/2 rotation period T, while the maximum delay detected by any event in the traditional method adopting one set of optical paths is one period, i.e. the data processing method of the laser radar of the embodiment of the invention shortens the detection period of the laser radar by half.
In summary, the laser radar of the embodiments of the present invention includes a plurality of transceiver modules, and the transceiver modules are adapted to respectively emit laser beams toward different horizontal directions of a target space and have different vertical field ranges. The plurality of receiving and transmitting modules form a spliced view field, so that the vertical view field angle of the laser radar is increased, and the laser radar is suitable for occasions with higher requirements on the vertical view field.
Further, lidar includes two transceiver modules, and one transceiver module's transmission optical assembly's optical axis and receiving optical assembly's optical axis for lidar's horizontal plane tilt up, another transceiver module's transmission optical assembly's optical axis and receiving optical assembly's optical axis for lidar's horizontal plane downward sloping, just two transceiver modules to the laser beam of target space transmission is in contained angle between the projection on lidar's the horizontal plane is 180 degrees to this forms the overall arrangement of central symmetry formula, not only is favorable to improving lidar's vertical field of view scope, still is favorable to realizing lidar's rotation balance.
Furthermore, the laser source and the detection component of each transceiver module are asymmetrically arranged relative to the midperpendicular of the central connecting line of the first lens group and the second lens group of the transceiver module, and/or the first reflector group and the second reflector group of each transceiver module are asymmetrically arranged relative to the midperpendicular of the central connecting line of the first lens group and the second lens group of the transceiver module, so that the folding angles of the transmitting light path and the receiving light path of each transceiver module are slightly different, the laser source of one transceiver module and the detection component of the other transceiver module can be separated, and the signal interference is reduced.
Furthermore, the vertical field angle parts of the two transceiver modules are overlapped, and the scanning lines of the two transceiver modules have different vertical distribution parameters within the overlapped vertical field angle range, namely, the scanning lines of the two transceiver modules form an encrypted layout along the vertical direction, so that the vertical resolution of the laser radar is improved.
The data processing method of the lidar includes processing a first set of frame data by a first processing program, and processing a second set of frame data by a second processing program, where the first set of frame data includes a first echo signal formed by an object located in a target space, and the second set of frame data includes a second echo signal formed by the object, and since a part of the object is located in the first vertical field and another part of the object is located in the second vertical field, detection data of the object can be processed by the first processing program and the second processing program respectively; on the other hand, the first processing program and the second processing program are respectively suitable for processing the first echo signal and the second echo signal at different time instants, that is, the two processing programs corresponding to the two transceiver modules have a time difference when processing the detection data of the same object in the target space. Therefore, the probability of any event being detected by the laser radar is increased, and the detection delay of the laser radar is favorably reduced, because the event can be detected by the processing program which is closer to the event occurrence time in time sequence no matter where the event occurs in the scanning process.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (8)
1. A lidar, comprising:
the receiving and transmitting modules are suitable for respectively transmitting laser beams towards different horizontal directions of a target space and receiving echo signals corresponding to the laser beams transmitted by the receiving and transmitting modules, and the echo signals are formed by reflecting the laser beams by obstacles in the target space; the optical axes of the transmitting optical assembly and the receiving optical assembly of the same transceiving module are parallel to each other, the optical axes of the transmitting optical assembly of different transceiving modules respectively form different preset included angles relative to the horizontal plane of the laser radar, and the optical axes of the receiving optical assembly of different transceiving modules respectively form different preset included angles relative to the horizontal plane of the laser radar; when the laser radar comprises two transceiver modules, the optical axes of the transmitting optical assembly and the receiving optical assembly of one transceiver module are inclined upwards relative to the horizontal plane of the laser radar, the optical axes of the transmitting optical assembly and the receiving optical assembly of the other transceiver module are inclined downwards relative to the horizontal plane of the laser radar, and the included angle between the projections of the laser beams transmitted to the target space by the two transceiver modules on the horizontal plane of the laser radar is 180 degrees;
the transceiver modules are arranged in the rotor and distributed around the axis of the rotor, and the transceiver modules are suitable for rotating around the axis along with the rotor so as to perform rotary scanning on a target space; wherein the plurality of transceiving modules have different vertical field ranges;
the transmitting optical component of each transceiving module comprises a first reflector group and a first lens group, and the receiving optical component of each transceiving module comprises a second reflector group and a second lens group; the laser source and the detection component of each transceiving module are asymmetrically arranged relative to the median vertical plane of the central connecting line of the first lens group and the second lens group of the transceiving module, and/or the first reflector group and the second reflector group of each transceiving module are asymmetrically arranged relative to the median vertical plane of the central connecting line of the first lens group and the second lens group of the transceiving module.
2. The lidar of claim 1, wherein each transceiver module further comprises: a laser source and a detection assembly;
the laser source adapted to emit a laser beam;
the emission optical assembly is suitable for transmitting the laser beam emitted by the laser source to the target space;
the receiving optical assembly is suitable for transmitting an echo signal formed by reflecting the laser beam by an obstacle of the target space to the detection assembly;
the detection component is suitable for detecting the echo signal.
3. The lidar of claim 2, wherein the transmit optical assembly comprises a transmit mirror set and a transmit lens set, and the receive optical assembly comprises a receive mirror set and a receive lens set;
the reflecting surface of the transmitting reflector set and the reflecting surface of the receiving reflector set of each transceiving module respectively form the same or different inclination angles relative to the horizontal plane of the laser radar.
4. The lidar of claim 2, wherein the laser source comprises an array of lasers and the detection assembly comprises an array of detectors, wherein the respective planes of the array of lasers and the array of detectors of each transceiver module are at the same or different respective angles of inclination relative to the horizontal plane of the lidar.
5. Lidar of claim 4, wherein a center of the laser array and a center of the detector array of each transceiver module are located on either horizontal cross section of the rotor.
6. The lidar of claim 1, wherein the one transceiver module and the another transceiver module are arranged in a central symmetry, and wherein an isolation device is respectively arranged between the laser source of the one transceiver module and the detection assembly of the another transceiver module, and between the detection assembly of the one transceiver module and the laser source of the another transceiver module.
7. The lidar of claim 1, wherein vertical fields of view of the two transceiver modules partially overlap, and wherein scan lines of the two transceiver modules have different vertical distribution parameters over the overlapping vertical fields of view, the vertical distribution parameters including an angle between the scan lines and a horizontal plane of the lidar.
8. A method according to any one of claims 1 to 7, wherein the two transceiver modules have a first vertical field of view and a second vertical field of view, respectively, and are adapted to generate a first set of frame data and a second set of frame data, respectively, the first set of frame data being 180 ° out of phase with respect to the second set of frame data, the method comprising:
processing the first set of frame data using a first processing procedure and processing the second set of frame data using a second processing procedure;
the first set of frame data includes a first echo signal formed by a certain object located in a target space reflecting a laser beam emitted by one of the two transceiver modules, the second set of frame data includes a second echo signal formed by the certain object reflecting a laser beam emitted by the other of the two transceiver modules, a part of the certain object is located in the first vertical field, another part of the certain object is located in the second vertical field, and the first processing program and the second processing program are respectively suitable for processing the first echo signal and the second echo signal at different moments.
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| CN111175786B (en) * | 2019-10-14 | 2022-05-03 | 岭纬科技（厦门）有限公司 | Multi-path crosstalk-eliminating wide-view-field high-resolution solid-state laser radar |
| CN112099053A (en) * | 2020-08-21 | 2020-12-18 | 上海禾赛光电科技有限公司 | Laser radar detection method, laser radar and vehicle system comprising laser radar |
| CN112180398B (en) * | 2020-09-29 | 2024-06-21 | 广州大学 | Multi-line laser radar and control method thereof |
| WO2022188185A1 (en) * | 2021-03-12 | 2022-09-15 | 深圳市大疆创新科技有限公司 | Detection system and movable platform |
| CN218547001U (en) * | 2022-08-12 | 2023-02-28 | 安徽蔚来智驾科技有限公司 | Laser radar system and vehicle |
| CN117890931A (en) * | 2024-03-14 | 2024-04-16 | 深圳阜时科技有限公司 | Rotary mirror laser radar and electronic equipment |
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