CN106291567A - A kind of laser radar, laser radar system and data processing method - Google Patents
A kind of laser radar, laser radar system and data processing method Download PDFInfo
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- CN106291567A CN106291567A CN201610571651.5A CN201610571651A CN106291567A CN 106291567 A CN106291567 A CN 106291567A CN 201610571651 A CN201610571651 A CN 201610571651A CN 106291567 A CN106291567 A CN 106291567A
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/003—Bistatic lidar systems; Multistatic lidar systems
-
- 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
Abstract
The embodiment of the invention discloses a kind of laser radar, laser radar system and data processing method, laser radar system includes processor and laser radar, has communication connection between processor and laser radar；Laser radar includes pedestal and rotary body, the transmitting terminal of collimated beam, the receiving terminal of collimated beam and inertial sensor it is provided with on rotary body, transmitting terminal and receiving terminal, for providing transmitting reception information to processor, are launched reception information and are included launching the moment t of collimated beam1, inertial sensor for providing the first angular velocity of rotation ω of rotary body to processor1；Processor generates measurement data for the metrical information provided according to laser radar, and the metrical information that laser radar provides includes the first angular velocity of rotation ω1With transmitting reception information, measurement data includes t1The transmitting direction of moment collimated beam is when laser radar is fixed on a mobile platform, and the laser radar system that the embodiment of the present invention provides can improve the accuracy of the rotation information recorded.
Description
Technical field
The present invention relates to field of radar, particularly relate to a kind of laser radar, laser radar system and data processing method.
Background technology
Laser radar is a kind of equipment using collimated beam to carry out the scanning range finding of contactless target object, by using
Collimated beam (such as laser) in range finding carries out a range of rotation, can realize object in the environment certain environment of place
It is scanned range finding, and extracts the profile information of environment.Compare the means such as ultrasound wave, image detection, use optical scanning to survey
The highest scanning range accuracy can be realized away from device, and speed of finding range is fast.Therefore laser radar is at industrial and civilian neck
Territory has the highest using value, be widely used at present robot autonomous build figure and navigator fix, 3 D scene rebuilding,
The fields such as security protection detection.
Existing laser radar system generally includes processor and laser radar, and laser radar generally comprises base and rotation
Body, rotary body is provided with the transmitting terminal of collimated beam, the receiving terminal of collimated beam and the angle sensor of detection rotation information
Device, this angular transducer can detect the angle that rotary body rotates, generally photoelectric code disk relative to base.
But, current laser radar is typically placed on mobile platform, if mobile platform rotates, then and laser radar
The rotation information that angular transducer records is rotary body relative to the information that relatively rotates of base rather than exhausted relative to ground
To rotation information.As can be seen here, the current laser radar system data that measurement obtains when measurement data are inaccurate.
Summary of the invention
Embodiments provide a kind of laser radar, laser radar system and data processing method, be used for solving to swash
The inaccurate problem of the optical detection and ranging system data that measurement obtains when measurement data.
For reaching above-mentioned purpose, the one side of the embodiment of the present invention provides a kind of laser radar system, including: processor
And laser radar, between described processor and described laser radar, there is communication connection；
Described laser radar includes pedestal and rotary body, and described rotary body is provided with the transmitting terminal of collimated beam, collimation
The receiving terminal of light beam and inertial sensor, described transmitting terminal and described receiving terminal receive for providing to launch to described processor
Information, described transmitting receives information and includes launching the moment t of collimated beam1, described inertial sensor is for described processor
First angular velocity of rotation ω of described rotary body is provided1；
Described processor generates measurement data, described laser radar for the metrical information provided according to described laser radar
The metrical information provided includes described first angular velocity of rotation ω1With described transmitting reception information, described measurement data includes t1Time
Carve the transmitting direction of collimated beamBy implementing this embodiment, it is possible to make the process of laser radar system measurement data
Do not rotated by mobile platform and affected, measure the data obtained more accurate.
In conjunction with first aspect, in the first possible implementation of first aspect, described processor is for according to public affairs
FormulaDetermine t1The transmitting direction of moment collimated beamBy implementing this embodiment, using the teaching of the invention it is possible to provide a kind of process
Device, the first angular velocity of rotation ω that this processor can record according to inertial sensor1Determine the transmitting direction of collimated beam
In conjunction with first aspect, in the implementation that the second of first aspect is possible, described rotary body is additionally provided with
Code-disc, described code-disc is for providing the second angular velocity of rotation ω to described processor2With second anglec of rotation
Described metrical information also includes described second angular velocity of rotation ω2With described second anglec of rotationBy implementing
This embodiment, on the basis of being provided with inertial sensor, sets up code-disc, and measures the second angular velocity of rotation by code-disc
ω2With second anglec of rotationCan reduce and only measure produced measurement error with a kind of metering system.
In conjunction with the implementation that the second of first aspect is possible, in the third possible implementation of first aspect
In, described processor is for according to formulaDetermine t1First anglec of rotation of pedestal described in the momentAnd root
According to formulaDetermine t1The transmitting direction of moment collimated beamBy implementing this embodiment, using the teaching of the invention it is possible to provide a kind of
Processor, the first angular velocity of rotation ω that this processor can record according to inertial sensor1, and the second rotation that code-disc records
Angular velocity omega2, second anglec of rotationDetermine the transmitting direction of collimated beam
In conjunction with first aspect, the first possible implementation of first aspect, the possible reality of the second of first aspect
Any one possible implementation in the third possible implementation of existing mode and first aspect, in the of first aspect
In four kinds of possible implementations, described transmitting reception information also includes the described laser radar distance relative to surrounding enviromentDescribed inertial sensor is additionally operable to provide displacement to described processorDescribed measurement data also includes revised institute
State the distance of laser radar opposing perimeter environment
Described processor is for according to formulaDetermine revised described laser radar opposing perimeter environment
DistanceBy implementing this embodiment, laser radar system can utilize displacement that inertial sensor measures to laser thunder
Reach and be modified relative to the distance of surrounding enviroment.
The second aspect of the embodiment of the present invention provides a kind of laser radar, is used for realizing above-mentioned laser radar system, logical
Cross and implement this embodiment, using the teaching of the invention it is possible to provide a kind of laser radar, the function realizing above laser radar system can be assisted.
The third aspect of the embodiment of the present invention provides a kind of data processing method, including: obtain what laser radar sent
Metrical information, described metrical information include the transmitting that the transmitting terminal of described laser radar and receiving terminal are sent receive information and
The first angular velocity of rotation ω that the inertial sensor of described laser radar is sent1, described transmitting reception information includes launching standard
The moment t of collimated optical beam1；
Generating measurement data according to described metrical information, described measurement data includes t1The transmitting direction of moment collimated beamBy implementing this embodiment, it is possible to making laser radar not rotated by mobile platform during measuring is affected, and measures
The data obtained are more accurate
In conjunction with the third aspect, in the first possible implementation of the third aspect, described according to described metrical information
Generation measurement data includes: according to formulaDetermine t1The transmitting direction of moment collimated beamBy implementing this reality
Execute mode, using the teaching of the invention it is possible to provide a kind of the first angular velocity of rotation ω recorded according to inertial sensor1Determine the launch party of collimated beam
ToMethod.
In conjunction with the third aspect, in the implementation that the second of the third aspect is possible, raw according to described metrical information
Before becoming measurement data, described method also includes:
Obtain the second angular velocity of rotation ω that code-disc sends2With second anglec of rotation
Described according to described metrical information generate measurement data include:
According to formulaDetermine t1First anglec of rotation of the pedestal of laser radar described in the moment
According to formulaDetermine t1The transmitting direction of moment collimated beam
By implementing this embodiment, using the teaching of the invention it is possible to provide a kind of the first angular velocity of rotation ω recorded according to inertial sensor1,
The the second angular velocity of rotation ω recorded with code-disc2, second anglec of rotationDetermine the transmitting direction of collimated beamMethod.
In conjunction with the reality that the second of the third aspect, the first possible implementation of the third aspect and the third aspect is possible
Any one possible implementation in existing mode, in the third possible implementation of first aspect, described transmitting connects
Breath of collecting mail also includes the described laser radar distance relative to surrounding enviromentDescribed measurement data also includes revised described
Laser radar is relative to the distance of surrounding enviroment
Before generating measurement data according to described metrical information, described method also includes:
Obtain the displacement that described inertial sensor sends
Described according to described metrical information generate measurement data include:
According to formulaDetermine the revised described laser radar second distance relative to surrounding enviroment
By implementing this embodiment, using the teaching of the invention it is possible to provide a kind of displacement utilizing inertial sensor to measure is to laser radar phase
The method that the distance of surrounding enviroment is modified.
As can be seen from the above technical solutions, the embodiment of the present invention has the advantage that
The rotary body of laser radar system arranges inertial sensor, measures the angular velocity of rotation of rotary body, by laser
After radar is fixed on a mobile platform, even if mobile platform rotates, the angular velocity of rotation recorded due to inertial sensor
For relative to ground, not rotated by mobile platform and affected, the measurement data that therefore laser radar system obtains is more accurate.
Accompanying drawing explanation
Fig. 1 is an applied environment schematic diagram of the embodiment of the present invention；
Fig. 2 is an embodiment schematic diagram of laser radar of the present invention；
Fig. 3 is another embodiment schematic diagram of laser radar of the present invention；
Fig. 4 is another embodiment schematic diagram that the present invention is equipped with the laser radar of code-disc；
Fig. 5 is an embodiment schematic diagram of laser radar system of the present invention；
Fig. 6 is another embodiment schematic diagram of laser radar system of the present invention；
Fig. 7 is an embodiment schematic diagram of data processing method of the present invention；
Fig. 8 is another embodiment schematic diagram of data processing method of the present invention.
Detailed description of the invention
Embodiments provide a kind of laser radar, laser radar system and data processing method, for working as laser
When radar is fixed on a mobile platform, improve the accuracy of the rotation information recorded.
In order to make those skilled in the art be better understood from the present invention program, below in conjunction with in the embodiment of the present invention
Accompanying drawing, is purged the technical scheme in the embodiment of the present invention, complete description, it is clear that described embodiment is only
The embodiment of a present invention part rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained under not making creative work premise, all should belong to the model of present invention protection
Enclose.
Term " first " in description and claims of this specification and above-mentioned accompanying drawing, " second ", " the 3rd ", "
Four ", the (if present) such as " the 5th " be for distinguishing similar object, without being used for describing specific order or successively time
Sequence.Should be appreciated that the data of so use can be exchanged in the appropriate case, in order to the embodiments described herein can with except
Order beyond the content here illustrated or describe is implemented.Additionally, term " includes " and " having " and their any change
Shape, it is intended that cover non-exclusive comprising, such as, contain series of steps or the process of unit, method, system, product
Or equipment is not necessarily limited to those steps or the unit clearly listed, but can include the most clearly listing or for these
Other steps that process, method, product or equipment are intrinsic or unit.
Fig. 1 is an applied environment schematic diagram of the present invention.In FIG, laser radar 1 includes pedestal 10 and rotary body
20, rotary body 20 can rotate relative to pedestal 10.Laser radar 1 is fixed on a moveable platform 2, such as by pedestal 10
Remote operated vehicle or mobile robot, moveable platform 2 can translate relative to ground or rotate.Laser radar 1 passes through
It is fixed on moveable platform 2, it is possible to achieve scanning omnibearing to surrounding enviroment.
Refer to Fig. 2 and Fig. 3, for the embodiment schematic diagram of laser radar of the present invention, the laser radar of the embodiment of the present invention
May include that pedestal 10 and rotary body 20, rotary body 20 is provided with the transmitting terminal 201 of collimated beam, the reception of collimated beam
End 202 and inertial sensor 203, this inertial sensor 203 is for measuring the first angular velocity of rotation of rotary body 20.
Inertial sensor is high performance three-dimensional motion attitude measuring system based on micro electro mechanical system (MEMS) technology, and it comprises three axles
Gyroscope, three axis accelerometer, the motion sensor such as three axle electronic compass, by embedded low-power consumption ARM (Acorn RISC
Machine) processor obtains the data such as the 3 d pose through temperature adjustmemt, orientation, angular velocity of rotation, utilizes based on quaternary number
Three-dimensional algorithm and special data integration technology, export the zero shift 3 d pose orientation represented with quaternary number, Eulerian angles in real time
Data, so, inertial sensor 203 just can detect the first angular velocity of rotation ω of rotary body 201And displacementInertia
The first angular velocity of rotation ω that sensor 203 is measured1It is the rotary body absolute angular velocity of rotation ω relative to ground, displacementIt is the displacement that pedestal moveable platform in other words moves.Transmitting terminal 201, receiving terminal 202 and inertial sensor 203 and rotation
Turning and 20 be synchronized with the movement, therefore the rotation information of rotary body 20 is transmitting terminal 201 and the rotation information of receiving terminal 202, wherein,
Rotation information can include angular velocity of rotation and the anglec of rotation.
Inertial sensor 203 is set at rotary body 20, measures rotation information, inertial sensor 203 is fixed on mobile flat
After on platform 2, even if mobile platform rotates, the rotation information that inertial sensor 203 records is absolute relative to ground
Rotation information, is not rotated by mobile platform and is affected, and the rotation information that therefore laser radar records is more accurate.
Determine benchmark position and the rotary body rotational angle relative to benchmark position for ease of laser radar, refer to Fig. 4, for
Laser radar of the present invention is equipped with the embodiment schematic diagram of code-disc, and the rotary body of laser radar of the present invention is also provided with code-disc
204, this concrete code-disc 204 can be photoelectric code disk, it is possible to measure the rotary body 20 second anglec of rotation speed relative to pedestal 10
Degree ω2.Code-disc 204 is provided with scale, is marked with benchmark position, it is possible to determine t1Moment rotary body 20 is relative to the second rotation of pedestal 10
Gyration
Laser radar system can include processor 3 and laser radar 1.Processor 3 can be arranged in laser radar 1,
Can also be arranged on moveable platform, this sentences as a example by processor is arranged on moveable platform and illustrates.Processor 3 can
With receive laser radar 1 send rotation information and launch reception information, and according to rotation information and launch reception information,
Generate measurement data, wherein, launch reception information and can include that the moment t of collimated beam launched by laser radar1And laser thunder
Reach the distance relative to surrounding enviromentLaunching reception information is by transmitting terminal is launched signal and receiving terminal reception signal
Process carry out detecting the information obtained, due between transmitting terminal launches moment of signal and receiving terminal receives signal moment
Time interval is the shortest, for the motion of laser radar 1 and moveable carriage 2, negligible, therefore, and moment t1Can
Think that transmitting terminal launches the moment of signal, it is also possible to receive the moment of signal for receiving terminal, or can also be therebetween
Sometime, it is not specifically limited herein.Measurement data can include t1The transmitting directional information of moment collimated beam and swashing
Optical radar is relative to the distance of surrounding enviromentLaunching direction is the rotary body rotational angle relative to initial position
Refer to Fig. 5, for an embodiment schematic diagram of laser radar system of the present invention, laser radar 1 can be Fig. 2 and
Laser radar in the embodiment that Fig. 3 is corresponding, here is omitted for the concrete structure of laser radar.Inertial sensor 203 can
The the first angular velocity of rotation ω detected is sent to processor 31, transmitting terminal 201 and receiving terminal 202 can send to processor 3
The transmitting detected receives information, launches reception information and includes launching the moment t of collimated beam1And laser radar 1 relative to
The distance of surrounding enviromentProcessor 3 can be by the first angular velocity of rotation ω1Rotate relative to the absolute of ground as rotary body
Angular velocity omega, it is possible to reference formulaIt is calculated t1The transmitting direction of moment collimated beam.Owing to inertia passes
The angular velocity of rotation that sensor records is relative to ground, and not rotated by mobile platform is affected, and therefore laser radar system obtains
The measurement data arrived is more accurate.
Refer to Fig. 6, for an embodiment schematic diagram of laser radar system of the present invention, laser radar 1 can be Fig. 4 pair
Laser radar in the embodiment answered, laser radar also includes code-disc 204.Inertial sensor 203 can send inspection to processor 3
The the first angular velocity of rotation ω measured1, code-disc 204 can send, to processor 3, the second angular velocity of rotation ω detected2And rotation
Turn relative to second anglec of rotation of pedestal 10Transmitting terminal 201 and receiving terminal 202 can send to processor 3 and detect
Transmitting receive information, launch reception information include launch collimated beam moment t1And laser radar 1 is relative to Zhou Bianhuan
The distance in borderThe first angular velocity of rotation ω that processor 3 can send according to inertial sensor 2031And code-disc 204 sends
The second angular velocity of rotation ω2With second anglec of rotationCalculate t1The transmitting direction of moment collimated beamCalculating process can
With reference formula First anglec of rotation for moveable platform.In the present embodiment, swash
Optical detection and ranging system, on the basis of inertial sensor, sets up code-disc, and the first angular velocity of rotation recorded according to inertial sensor
ω1, and the second angular velocity of rotation ω that code-disc records2, second anglec of rotationDetermine the transmitting direction of collimated beamCan
Reduce and only measure produced measurement error with a kind of metering system.
Optionally, for the laser radar system that Fig. 5 with Fig. 6 is corresponding, inertial sensor 203 can also be to processor 3
Send displacementDisplacementBeing the displacement that moveable platform moves, processor 3 can be to the displacement of moveable platform 2
AmountDistance with laser radar 1 opposing perimeter environmentCarry out vector summation, i.e. can get revised distanceFormula isThe summation of above-mentioned vector can be obtained according to triangle sine and cosine theorem, specifically, asWithAngle be α,
WhereinDistance is c,Distance is b,Distance is a, then according to sine and cosine theoremBy should embodiment, laser radar system can utilize inertia to pass
Laser radar is modified by the displacement that sensor is measured relative to the distance of surrounding enviroment.
Refer to Fig. 7, for an embodiment schematic diagram of data processing method of the present invention, be applied to laser radar system,
Data processing method includes:
701, transmitting reception information and the first angular velocity of rotation are obtained；
Transmitting terminal and receiving terminal can send the transmitting detected and receive information to processor, and processor can obtain transmitting
The transmitting that end and receiving terminal send receives information, launches reception information and can include launching the moment t of collimated beam1And laser
Radar is relative to the first distance of surrounding enviromentInertial sensor can send the first anglec of rotation speed detected to processor
Degree ω1, processor can obtain the first angular velocity of rotation ω that inertial sensor sends1。
702, according to launching reception information and the first angular velocity of rotation generation measurement data.
Processor can be according to launching reception information and the first angular velocity of rotation ω1Generating measurement data, measurement data can
To include t1The transmitting directional information of moment collimated beam and laser radar, relative to the distance of surrounding enviroment, launch direction letter
Breath is the rotary body rotational angle relative to initial position
Concrete, processor 3 can be by the first angular velocity of rotation ω1As rotary body relative to the absolute anglec of rotation on ground
Speed omega, it is possible to reference formulaIt is calculated t1The transmitting directional information of moment collimated beam.
A kind of method provided by the present embodiment, using the teaching of the invention it is possible to provide the first angular velocity of rotation recorded according to inertial sensor
ω1Determine the transmitting direction of collimated beamMethod.The process making laser radar system measurement data is not turned by mobile platform
Dynamic impact, measures the data obtained more accurate
Refer to Fig. 8, for another embodiment schematic diagram of data processing method of the present invention, be applied to laser radar system
System, data processing method includes:
801, obtain the second angular velocity of rotation, second anglec of rotation, launch reception information and the first angular velocity of rotation；
Transmitting terminal and receiving terminal can send the transmitting detected and receive information to processor, and processor can obtain transmitting
The transmitting that end and receiving terminal send receives information, launches reception information and can include launching the moment t of collimated beam1And laser
Radar is relative to the first distance of surrounding enviromentInertial sensor can send the first anglec of rotation speed detected to processor
Degree ω1, processor can obtain the first angular velocity of rotation ω that inertial sensor sends1.Code-disc can send detection to processor
The the second angular velocity of rotation ω arrived2With second anglec of rotationProcessor can obtain the second angular velocity of rotation that code-disc sends
ω2With second anglec of rotation
802, the displacement that inertial sensor sends is obtained；
Inertial sensor can also send displacement to processorProcessor can obtain the position that inertial sensor sends
Shifting amount
803, first anglec of rotation of pedestal is calculated according to the second angular velocity of rotation and the first angular velocity of rotation；
The first angular velocity of rotation ω that processor can send according to inertial sensor1Second anglec of rotation sent with code-disc
Speed omega2, calculate t1First anglec of rotation of moment pedestalCalculating process is referred to formula
804, the transmitting direction of collimated beam is determined according to first anglec of rotation of second anglec of rotation and pedestal；
Processor can be according to t1Moment second anglec of rotationFirst anglec of rotation with pedestalDetermine t1Moment is accurate
The transmitting directional information of collimated optical beam, calculating process is referred to formula
So far, it is provided that a kind of the first angular velocity of rotation ω recorded according to inertial sensor1, and code-disc record second
Angular velocity of rotation ω2, second anglec of rotationDetermine the transmitting direction of collimated beamMethod, it is possible to reduce and only survey by one
Amount mode measures produced measurement error.
805, the displacement sent according to inertial sensor and laser radar are relative to the first distance of surrounding enviroment, really
Fixed revised second distance.
Processor 3 can be to the displacement of moveable platform 2Distance with laser radar 1 opposing perimeter environmentCarry out
Vector is sued for peace, and i.e. can get revised distanceFormula isThe summation of above-mentioned vector is fixed according to triangle sine and cosine
Reason can be obtained, specifically, asWithAngle be α, whereinDistance is c,Distance is b,Distance is a, then root
According to sine and cosine theorem:
May determine that revised second distance a.
In actual applications, as long as step 805 performs after step 801 and step 802, concrete sequential is the most not
Limit, or, step 802 and step 805 can not also perform.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method are permissible
Realize by another way.Such as, device embodiment described above is only schematically, such as, and described unit
Dividing, be only a kind of logic function and divide, actual can have other dividing mode, the most multiple unit or assembly when realizing
Can in conjunction with or be desirably integrated into another system, or some features can be ignored, or does not performs.Another point, shown or
The coupling each other discussed or direct-coupling or communication connection can be the indirect couplings by some interfaces, device or unit
Close or communication connection, can be electrical, machinery or other form.
The described unit illustrated as separating component can be or may not be physically separate, shows as unit
The parts shown can be or may not be physical location, i.e. may be located at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected according to the actual needs to realize the mesh of the present embodiment scheme
's.
The above, above example only in order to technical scheme to be described, is not intended to limit；Although with reference to front
State embodiment the present invention has been described in detail, it will be understood by those within the art that: it still can be to front
State the technical scheme described in each embodiment to modify, or wherein portion of techniques feature is carried out equivalent；And these
Amendment or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
1. a laser radar system, it is characterised in that including:
Processor and laser radar, have communication connection between described processor and described laser radar；
Described laser radar includes pedestal and rotary body, and described rotary body is provided with the transmitting terminal of collimated beam, collimated beam
Receiving terminal and inertial sensor, described transmitting terminal and described receiving terminal for described processor provide launch receive letter
Breath, described transmitting reception information includes the moment t launching collimated beam1, described inertial sensor is for carrying to described processor
The first angular velocity of rotation ω for described rotary body1；
Described processor generates measurement data for the metrical information provided according to described laser radar, and described laser radar provides
Metrical information include described first angular velocity of rotation ω1With described transmitting reception information, described measurement data includes t1Moment is accurate
The transmitting direction of collimated optical beam
Laser radar system the most according to claim 1, it is characterised in that described processor is for according to formulaDetermine t1The transmitting direction of moment collimated beam
Laser radar system the most according to claim 1, it is characterised in that be additionally provided with code-disc, institute on described rotary body
State code-disc for providing the second angular velocity of rotation ω to described processor2With second anglec of rotation
Described metrical information also includes described second angular velocity of rotation ω2With described second anglec of rotation
Laser radar system the most according to claim 3, it is characterised in that described processor is for according to formulaDetermine t1First anglec of rotation of pedestal described in the momentAnd according to formulaDetermine t1Moment
The transmitting direction of collimated beam
Laser radar system the most according to any one of claim 1 to 4, it is characterised in that described transmitting receives information
Also include the described laser radar distance relative to surrounding enviromentDescribed inertial sensor is additionally operable to provide to described processor
DisplacementDescribed measurement data also includes the revised described laser radar distance relative to surrounding enviroment
Described processor is for according to formulaDetermine revised described laser radar relative to surrounding enviroment away from
From
6. the laser radar being used for realizing the laser radar system according to any one of claim 1 to 5.
7. a data processing method, it is characterised in that including:
Obtaining the metrical information that laser radar sends, described metrical information includes transmitting terminal and the receiving terminal institute of described laser radar
The first angular velocity of rotation ω that the inertial sensor launching reception information and described laser radar sent is sent1, described
Launch reception information and include launching the moment t of collimated beam1；
Generating measurement data according to described metrical information, described measurement data includes t1The transmitting direction of moment collimated beam
Data processing method the most according to claim 7, it is characterised in that described generation according to described metrical information is measured
Data include:
According to formulaDetermine t1The transmitting direction of moment collimated beam
Data processing method the most according to claim 7, it is characterised in that measure number generating according to described metrical information
According to before, described method also includes:
Obtain the second angular velocity of rotation ω that code-disc sends2With second anglec of rotation
Described according to described metrical information generate measurement data include:
According to formulaDetermine t1First anglec of rotation of the pedestal of laser radar described in the moment
According to formulaDetermine t1The transmitting direction of moment collimated beam
10. according to the data processing method according to any one of claim 7 to 9, it is characterised in that described transmitting receives information
Also include the described laser radar distance relative to surrounding enviromentDescribed measurement data also includes revised described laser thunder
Reach the second distance relative to surrounding enviroment
Before generating measurement data according to described metrical information, described method also includes:
Obtain the displacement that described inertial sensor sends
Described according to described metrical information generate measurement data include:
According to formulaDetermine the revised described laser radar second distance relative to surrounding enviroment
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107247270A (en) * | 2017-06-13 | 2017-10-13 | 蔡优飞 | Optical distance measurement apparatus and its scan method |
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| CN108919238A (en) * | 2018-07-18 | 2018-11-30 | 浙江大学 | A kind of bearing calibration of rotary laser radar data and system based on Inertial Measurement Unit |
| CN110353577A (en) * | 2019-08-09 | 2019-10-22 | 小狗电器互联网科技（北京）股份有限公司 | A kind of laser radar point cloud data goes the method and Floor-sweeping device of distortion |
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| CN107247270A (en) * | 2017-06-13 | 2017-10-13 | 蔡优飞 | Optical distance measurement apparatus and its scan method |
| CN107329145A (en) * | 2017-06-29 | 2017-11-07 | 深圳市速腾聚创科技有限公司 | Multilasered optical radar system and its control method |
| CN107329145B (en) * | 2017-06-29 | 2024-04-12 | 深圳市速腾聚创科技有限公司 | Multi-laser radar system and control method thereof |
| CN108107569A (en) * | 2017-11-29 | 2018-06-01 | 深圳慎始科技有限公司 | A kind of fibre optical transmission formula imaging device |
| CN108919238A (en) * | 2018-07-18 | 2018-11-30 | 浙江大学 | A kind of bearing calibration of rotary laser radar data and system based on Inertial Measurement Unit |
| CN108919238B (en) * | 2018-07-18 | 2023-10-27 | 浙江大学 | Inertial measurement unit-based rotary laser radar data correction method and system |
| CN111308445A (en) * | 2019-04-12 | 2020-06-19 | 上海禾赛光电科技有限公司 | Laser radar |
| CN110353577A (en) * | 2019-08-09 | 2019-10-22 | 小狗电器互联网科技（北京）股份有限公司 | A kind of laser radar point cloud data goes the method and Floor-sweeping device of distortion |
| CN110353577B (en) * | 2019-08-09 | 2020-12-08 | 小狗电器互联网科技（北京）股份有限公司 | Laser radar point cloud data distortion removal method and sweeping device |
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