CN107272017A - Multilasered optical radar system and its control method - Google Patents
Multilasered optical radar system and its control method Download PDFInfo
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- CN107272017A CN107272017A CN201710517981.0A CN201710517981A CN107272017A CN 107272017 A CN107272017 A CN 107272017A CN 201710517981 A CN201710517981 A CN 201710517981A CN 107272017 A CN107272017 A CN 107272017A
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- synchronizing signal
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- sychronisation
- gathered data
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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
- G01S17/88—Lidar systems specially adapted for specific applications
Abstract
The present invention relates to a kind of multilasered optical radar system and its control method.The multilasered optical radar system includes：Laser radar, quantity is multiple and mutual collaborative work；Sychronisation, for sending synchronizing signal to multiple laser radars and receiving the gathered data of laser radar；Gathered data is carried out time synchronized and is sent to sychronisation by the multiple laser radar according to received synchronizing signal.The control method includes：Sychronisation sends synchronizing signal to multiple laser radars；Multiple Laser Radar Scannings obtain gathered data, according to received synchronizing signal, gathered data is carried out into time synchronized and sychronisation is sent to.The above method and system, synchronizing signal is sent by sychronisation to multiple laser radars, the gathered data of multiple laser radars is carried out time synchronized, it is ensured that good data fusion and data syn-chronization.
Description
Technical field
The present invention relates to laser radar technique field, more particularly to a kind of multilasered optical radar system and its control method.
Background technology
Laser radar is a kind of measuring instrument of high speed ranging, and itself is worked with the mechanical rotation mode more than 300rpm,
The laser spots of different time measurement are distributed centered on laser radar in the range of 360 degree of horizontal direction.Therefore multiple laser
, it is necessary to which the ranging time of each point of multiple laser radars is carried out accurately synchronously, just to can guarantee that good when radar constitutes system
Good data fusion and data syn-chronization.
The content of the invention
Based on this, it is necessary to which providing a kind of can ensure the multilasered optical radar system of good data fusion and data syn-chronization
System.
In addition, also providing a kind of control method of multilasered optical radar system.
A kind of multilasered optical radar system, including：
Laser radar, quantity is multiple and mutual collaborative work；
Sychronisation, for sending synchronizing signal to multiple laser radars and receiving the gathered data of laser radar；It is described
Gathered data is carried out time synchronized and is sent to sychronisation by multiple laser radars according to received synchronizing signal.
In one of the embodiments, the laser radar includes the data processing module being sequentially connected electrically and collection mould
Block, the data processing module is used to receive the synchronizing signal and the gathered data of acquisition module, and will according to synchronizing signal
The gathered data carries out time synchronized.
In one of the embodiments, the data processing module specifically for：
Obtain the time relationship between gathered data and synchronizing signal；
By time relationship fusion in gathered data.
In one of the embodiments, the sychronisation is additionally operable to the multiple gathered datas received completing overall number
According to the fusion under same time reference.
In one of the embodiments, the synchronizing signal is pulse synchronous signal or the text envelope with temporal information
Breath.
A kind of control method of multilasered optical radar system, for controlling the laser radar system described in claim 1, bag
Include：
Sychronisation sends synchronizing signal to multiple laser radars；
Multiple Laser Radar Scannings obtain gathered data, according to received synchronizing signal, when gathered data is carried out
Between synchronization and be sent to sychronisation.
In one of the embodiments, the step of progress time synchronized by gathered data includes：
Obtain the time relationship between gathered data and synchronizing signal；
By time relationship fusion in gathered data.
In one of the embodiments, in addition to：The multiple gathered datas received are completed overall by the sychronisation
Fusion of the data under same time reference.
In one of the embodiments, the synchronizing signal is pulse synchronous signal or the text envelope with temporal information
Breath.
The above method and system, send synchronizing signal to multiple laser radars by sychronisation, make multiple laser radars
Gathered data carry out time synchronized, it is ensured that good data fusion and data syn-chronization.
Brief description of the drawings
Fig. 1 is the multilasered optical radar system module figure of an embodiment；
Fig. 2 is the module map of laser radar；
Fig. 3 is the control method flow chart of the multilasered optical radar system of an embodiment.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Fig. 1 is the multilasered optical radar system module figure of an embodiment.The multilasered optical radar system includes the He of sychronisation 100
Multiple laser radars 200.Multiple laser radars 200 are mutually cooperated, and the multiple laser radars being for example loaded on vehicle body are needed
Data syn-chronization is kept, otherwise can occur the problems such as decision-making or alarm error, delay.Sychronisation 100 is used for multiple laser
Radar 200 sends synchronizing signal and receives the gathered data of the transmission of laser radar 200, multiple laser radars 200 is sat same
Scanning angle under mark system is consistent in synchronization.
Sychronisation 100 can be general data processing device, such as high performance personal computer (PC) or embedded
Formula system.A kind of exemplary general data processing device can be including the central processing unit by bus connection, memory simultaneously
Provided with input/output interface, network communication interface etc..Memory can include internal memory and external memory, and wherein external memory can be with storage program
Instruction.When computer runs programs, described program instruction is read in internal memory, and perform to realize journey by central processing unit
Sequence function.The general data processing device can also pass through net by input/output interface input or output data or signal
Network communication interface carries out network data communication with outside.
Above-mentioned synchronizing signal is sent by the control of sychronisation 100, and synchronizing signal can be accurate time data.When each
Laser radar 200 is received after the synchronizing signal, can calculate the time relationship obtained between gathered data and synchronizing signal.Adopt
Collection data are scanned acquisition by laser radar 200, and each scanning element has the time of acquisition.In sychronisation 100 to laser
When radar 200 sends synchronizing signal, the reception time of a synchronizing signal can also be defined, when will be entrained in synchronizing signal
Between the temporal information of information and gathered data carry out contrast and be obtained with time relationship between gathered data and synchronizing signal.
The time relationship can be time difference, such as the deviation of time entrained by the time of scanning element and synchronizing signal.
In one of the embodiments, the synchronizing signal is pulse synchronous signal.Pulse synchronous signal can be by same
The signal port output of device 100 is walked, such as sychronisation 100 provides the self norms time, and is produced based on the standard time
Pulse synchronous signal is simultaneously exported.After laser radar 200 receives the pulse synchronous signal based on standard time generation, it can adjust
Its temporal is saved with synchronous with the standard time of sychronisation 100.
Or the synchronizing signal can also be the text message with temporal information.According to sychronisation 100 and laser
The communication format of agreement between radar 200, laser radar 200 can parse the temporal information in the text message, then obtain
The standard time for taking sychronisation 100 to provide, and its temporal is synchronous with the standard time of sychronisation 100.
As shown in Fig. 2 the laser radar 200 can specifically include the data processing module 210 being sequentially connected electrically and adopt
Collect module 220.
Data processing module 210 is communicated to connect with sychronisation 100, the synchronous letter for receiving the transmission of sychronisation 100
Number.Data processing module 210 is interpreted as the software and hardware system of laser radar 200, both includes the data of general data processing framework
Processing system, also including operating in processing software thereon, by the way that synchronizing signal and gathered data are input into data processing mould
In block 210, data processing module 210 performs data handling procedure.For example perform the processing of above-mentioned data syn-chronization.
Acquisition module 220 is used to scan and obtain gathered data.Acquisition module 220 can include a variety of associations of laser radar
Same workpiece, such as including motor and its drive circuit, rotational structure, Laser emission and reception device and to laser signal
Progress, which is handled, obtains software and hardware of gathered data etc..
The gathered data of multiple laser radars 200 is also sent to sychronisation 100, and sychronisation 100 is according to connecing
The gathered data received carries out data syn-chronization, completes fusion of the overall data under same time reference.It is appreciated that laser thunder
Itself the synchronization of data can be carried out up to 200, the data after synchronization are directly then sent to sychronisation 100 carry out data and melt
Close；Laser radar 200 can also only store the time relationship of synchronizing signal and gathered data, then send the data to synchronous dress
100 are put, data syn-chronization is completed by sychronisation 100, data fusion is then carried out.
Based on identical inventive concept there is provided a kind of control method of multilasered optical radar system, for controlling above-mentioned laser thunder
Up to system.As shown in figure 3, the above method comprises the following steps S110~S120.
Step S110：Sychronisation sends synchronizing signal to multiple laser radars.The synchronizing signal is by sychronisation 100
Control is sent, and synchronizing signal can be accurate time data., can be with after each laser radar 200 receives the synchronizing signal
Calculate the time relationship between acquisition gathered data and synchronizing signal.
In one of the embodiments, the synchronizing signal is pulse synchronous signal.Pulse synchronous signal can be by same
The signal port output of device 100 is walked, such as sychronisation 100 provides the self norms time, and is produced based on the standard time
Pulse synchronous signal is simultaneously exported.After laser radar 200 receives the pulse synchronous signal based on standard time generation, it can adjust
Its temporal is saved with synchronous with the standard time of sychronisation 100.
Or the synchronizing signal can also be the text message with temporal information.According to sychronisation 100 and laser
The communication format of agreement between radar 200, laser radar 200 can parse the temporal information in the text message, then obtain
The standard time for taking sychronisation 100 to provide, and its temporal is synchronous with the standard time of sychronisation 100.
Step S120：Multiple Laser Radar Scannings obtain gathered data, according to received synchronizing signal, will gather number
According to carrying out time synchronized and be sent to sychronisation.
Specifically, can specifically include the step of gathered data is carried out into time synchronized in step S120：
Step S121：Obtain the time relationship between gathered data and synchronizing signal.Gathered data is entered by laser radar 200
Row scanning is obtained, and each scanning element has the time of acquisition.When sychronisation 100 sends synchronizing signal to laser radar 200,
The reception time of a synchronizing signal can also be defined, by the time of temporal information and gathered data entrained in synchronizing signal
Information carries out the time relationship that contrast is obtained between gathered data and synchronizing signal.
Step S122：By time relationship fusion in gathered data.
The gathered data of multiple laser radars 200 is also sent to sychronisation 100, and sychronisation 100 is according to connecing
The gathered data received carries out data syn-chronization, completes fusion of the overall data under same time reference.It is appreciated that laser thunder
Itself the synchronization of data can be carried out up to 200, the data after synchronization are directly then sent to sychronisation 100 carry out data and melt
Close；Laser radar 200 can also only store the time relationship of synchronizing signal and gathered data, then send the data to synchronous dress
100 are put, data syn-chronization is completed by sychronisation 100, data fusion is then carried out.
The above method, sends synchronizing signal to multiple laser radars by sychronisation, makes the collection of multiple laser radars
Data carry out time synchronized, it is ensured that good data fusion and data syn-chronization.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and it describes more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that coming for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (9)
1. a kind of multilasered optical radar system, including：
Laser radar, quantity is multiple and mutual collaborative work；
Sychronisation, for sending synchronizing signal to multiple laser radars and receiving the gathered data of laser radar；It is the multiple
Gathered data is carried out time synchronized and is sent to sychronisation by laser radar according to received synchronizing signal.
2. multilasered optical radar system according to claim 1, it is characterised in that the laser radar includes being sequentially connected electrically
Data processing module and acquisition module, the data processing module is used to receive the collection of the synchronizing signal and acquisition module
Data, and the gathered data is carried out by time synchronized according to synchronizing signal.
3. multilasered optical radar system according to claim 2, it is characterised in that the data processing module specifically for：
Obtain the time relationship between gathered data and synchronizing signal；
By time relationship fusion in gathered data.
4. multilasered optical radar system according to claim 1, it is characterised in that the sychronisation is additionally operable to receive
Multiple gathered datas complete fusion of the overall data under same time reference.
5. multilasered optical radar system according to claim 1, it is characterised in that the synchronizing signal is pulse synchronous signal
Or the text message with temporal information.
6. a kind of control method of multilasered optical radar system, for controlling the laser radar system described in claim 1, including：
Sychronisation sends synchronizing signal to multiple laser radars；
Multiple Laser Radar Scannings obtain gathered data, according to received synchronizing signal, gathered data are carried out into the time same
Walk and be sent to sychronisation.
7. the control method of multilasered optical radar system according to claim 6, it is characterised in that described to enter gathered data
The step of row time synchronized, includes：
Obtain the time relationship between gathered data and synchronizing signal；
By time relationship fusion in gathered data.
8. the control method of multilasered optical radar system according to claim 6, it is characterised in that also include：The synchronization
The multiple gathered datas received are completed fusion of the overall data under same time reference by device.
9. the control method of multilasered optical radar system according to claim 6, it is characterised in that the synchronizing signal is arteries and veins
Rush synchronizing signal or the text message with temporal information.
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| CN109444845A (en) * | 2018-09-28 | 2019-03-08 | 中国矿业大学 | The device and method that coal-rock interface is identified based on solid-state laser radar imagery |
| CN109725572A (en) * | 2018-12-25 | 2019-05-07 | 初速度（苏州）科技有限公司 | A kind of multisensor accurate clock synchronization system and method |
| WO2020015748A1 (en) * | 2018-07-20 | 2020-01-23 | Suteng Innovation Technology Co., Ltd. | Systems and methods for lidar detection |
| CN111142074A (en) * | 2019-12-13 | 2020-05-12 | 意诺科技有限公司 | Radar time synchronization method and device |
| WO2020142909A1 (en) * | 2019-01-08 | 2020-07-16 | 深圳市大疆创新科技有限公司 | Data synchronization method, distributed radar system and mobile platform |
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