CN109597088A - Laser radar emerging system - Google Patents
Laser radar emerging system Download PDFInfo
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- CN109597088A CN109597088A CN201811358817.0A CN201811358817A CN109597088A CN 109597088 A CN109597088 A CN 109597088A CN 201811358817 A CN201811358817 A CN 201811358817A CN 109597088 A CN109597088 A CN 109597088A
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- laser radar
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- scanning
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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
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- 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
- G01S7/497—Means for monitoring or calibrating
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- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention relates to a kind of laser radar emerging systems.The system includes: host laser radar and Duo Tai slave laser radar；The host laser radar is for exporting the first synchronization signal；The slave laser radar is used to synchronize scanning according to first synchronization signal.Since host laser radar in the system and Duo Tai slave laser radar can synchronize scanning to same target object simultaneously, when wherein some laser radar breaks down, other laser radars still can continue to scan on target object, improve the reliability that ranging is carried out using laser radar；In addition, the host laser radar and Duo Tai slave laser radar in the system can also synchronize scanning to different target objects simultaneously, field range, detection range and the scanning density of laser radar scanning are increased, the application scenarios of laser radar are expanded.
Description
Technical field
The present invention relates to laser radar fields, more particularly to a kind of laser radar emerging system.
Background technique
With the development of laser radar technique, laser radar range is because of its excellent characteristic, to the strong suitable of external environment
Ying Xing is widely applied achieving including fields such as automatic Pilot, auxiliary driving and environment sensings.
It is traditional using in laser radar range scheme, using single laser radar, from the transmitter of laser radar to mesh
Object emission laser is marked, laser, which is got on target object, can reflect on a part of light wave to the receiver of laser radar, according to mesh
The information such as time and the amplitude power of the reflected laser signal of object are marked, available target object and laser radar receive
The information such as the distance between device.
But there are application scenarios to be limited for traditional single laser radar range, the low problem of reliability.
Summary of the invention
Based on this, it is necessary to which for traditional single laser radar range, there are application scenarios to be limited, and reliability is low to ask
Topic, provides a kind of laser radar emerging system.
A kind of laser radar emerging system, comprising: host laser radar and Duo Tai slave laser radar；
The host laser radar is for exporting the first synchronization signal；
The slave laser radar is used to synchronize scanning according to first synchronization signal.
The host laser radar is also used to detecting the first slave laser radar failure in one of the embodiments,
When, and control each second slave laser radar and update scanning range, so that each second slave laser radar is updated
Scanning range covers the scanning range of the first slave laser radar；The second slave laser radar be except described first from
Other slave laser radars except machine laser radar.
The host laser radar is specifically used for controlling each second slave laser radar in one of the embodiments,
From scanning range described in different dimensions updatings；The dimension includes horizontal dimensions and/or vertical dimensions.
The scanning range of the host laser radar and each slave laser radar is covered in one of the embodiments,
Lid emphasis scanning area.
The corresponding configuration information of each laser radar of the system is all different in one of the embodiments,.
The configuration information includes serial number, geometry rigging position, scanning range, scan angle in one of the embodiments,
Degree, investigative range and transmission power.
The serial number of the host laser radar is less than the sequence of each slave laser radar in one of the embodiments,
Number.
The host laser radar is specifically used for by the way of logical "or" in one of the embodiments, according to institute
The second synchronization signal for stating all laser radars output in system, generates first synchronization signal.
When the laser radar in the system arranges in the horizontal direction in one of the embodiments, the laser thunder
Up to smaller with the distance between central point, the laser radar field range in the horizontal direction is smaller, ranging range is bigger.
When the laser radar in the system arranges in vertical direction in one of the embodiments, the laser thunder
Up to bigger with the distance between ground, the laser radar field range in the horizontal direction is smaller, ranging range is bigger.
Above-mentioned laser radar emerging system includes host laser radar and Duo Tai slave laser radar, and host laser radar is defeated
First synchronization signal out, slave laser radar receive first synchronization signal and synchronize scanning according to the first synchronization signal.
Since host laser radar in the system and Duo Tai slave laser radar can synchronize scanning to same target object simultaneously,
When wherein some laser radar breaks down, other laser radars still can continue to scan on target object, improve benefit
The reliability of ranging is carried out with laser radar；In addition, the host laser radar and Duo Tai slave laser radar in the system may be used also
To synchronize scanning to different target objects simultaneously, increases the field range of laser radar scanning, detection range and sweep
Density is retouched, the application scenarios of laser radar are expanded.
Detailed description of the invention
Fig. 1 is the laser radar emerging system schematic diagram that one embodiment provides；
Fig. 2 is the laser radar emerging system schematic diagram that another embodiment provides；
Fig. 3 is the laser radar emerging system schematic diagram that another embodiment provides；
Fig. 4 is the laser radar emerging system schematic diagram that another embodiment provides.
Description of symbols:
Laser radar emerging system 10；Host laser radar 100；More slave laser radars 200；
First slave laser radar 201；Each second slave laser radar 202.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, not
For limiting the application.
Traditional utilizes in laser radar range scheme, using single laser radar, obtains target object and laser radar
The information such as the distance between receiver, but single laser radar field range, detection range, scanning density and in terms of
There are certain limitations, thus cause using laser radar range there are application scenarios are limited, the low problem of reliability.For this purpose,
The embodiment of the present invention provides a kind of laser radar range system, it is intended to solve the technical problem as above of traditional technology.
How technical solution of the present invention and technical solution of the present invention are solved with specific embodiment below above-mentioned
Technical problem is described in detail.These specific embodiments can be combined with each other below, for the same or similar concept
Or process may repeat no more in certain embodiments.Below in conjunction with attached drawing, the embodiment of the present invention is described.
Fig. 1 is the laser radar emerging system schematic diagram that one embodiment provides.As shown in Figure 1, laser radar fusion system
System 10 includes: host laser radar 100 and Duo Tai slave laser radar 200；The host laser radar 100 is for exporting first
Synchronization signal；The slave laser radar 200 is used to synchronize scanning according to first synchronization signal.
Specifically, 100 the first synchronization signal of timing output of host laser radar, more slave laser radars 200 receive the
One synchronization signal, and scanning is synchronized to target object according to the first synchronization signal.Wherein, the first synchronization signal swashs for host
The pulse signal of 100 timing output of optical radar.Optionally, host laser radar 100 can be every the one synchronous letter of output in 30 seconds
Number, it can also be every one synchronization signal of output in 60 seconds.Optionally, host laser radar 100 can be laser radar fusion system
Any laser radar in system, more slave laser radars 200 are that the host laser thunder is removed in laser radar emerging system
Other laser radars other than up to 100.For example, host laser radar 100 can be the First laser radar in system, other
Laser radar be more slave laser radars 200.Optionally, host laser radar 100 and Duo Tai slave laser radar 200 can
It, can also be according to the first synchronization signal to different mesh to synchronize scanning to same target object according to the first synchronization signal
Mark object synchronizes scanning.
It in the prior art, can not if laser radar failure when carrying out ranging to target object using single laser radar
Target object is scanned, reliability is low；In addition, single laser radar to scan that there are field ranges limited to target object,
The low problem of scanning density, and laser radar single for remote target object can not be detected accurately, laser
The application scenarios of radar are limited.
In the present embodiment, laser radar emerging system includes host laser radar and Duo Tai slave laser radar, host
Laser radar exports the first synchronization signal, and more slave laser radars receive first synchronization signal and according to the first synchronization signal
Scanning is synchronized to target object, since host laser radar in the system and Duo Tai slave laser radar can be simultaneously to same
One target object synchronizes scanning, and when wherein some laser radar breaks down, other laser radars still can be after
Continuous scanning target object, improves the reliability that ranging is carried out using laser radar；In addition, the host laser radar in the system
Scanning can also be synchronized to different target objects simultaneously with more slave laser radars, increase laser radar scanning
Field range, detection range and scanning density expand the application scenarios of laser radar.
On the basis of the embodiment described in Fig. 1, optionally, the host laser radar 100 is specifically used for using logic
The mode of "or" generates the described first synchronous letter according to the second synchronization signal of all laser radars output in the system
Number.
Specifically, all laser radars can export the second synchronization signal in laser radar emerging system 10, host swashs
Optical radar 100, according to the second synchronization signal of all laser radars output in system, is generated and is used by the way of logical "or"
Synchronize the first synchronization signal of scanning in more slave laser radars 200 of control, i.e., in laser radar emerging system 10,
The a certain moment at most only has a laser radar to generate the first synchronization signal.
In the present embodiment, the host laser radar in laser radar emerging system is by the way of logical "or", according to
Second synchronization signal of all laser radars output in system generates the first synchronization signal, at a time in system at most only
There is a laser radar to generate the first synchronization signal, is synchronized and swept according to the first synchronization signal convenient for each slave laser radar
It retouches, laser radar each in system can be effectively controlled, improve the reliability of laser radar range.
Fig. 2 is the laser radar emerging system schematic diagram that another embodiment provides.As shown in Fig. 2, the host laser
Radar 100 is also used to when detecting the first slave 201 failure of laser radar, and controls each second slave laser radar 202 more
New scanning range, so that the updated scanning range of each second slave laser radar 202 covers first slave and swashs
The scanning range of optical radar 201；The second slave laser radar 202 is in addition to the first slave laser radar 201
Other slave laser radars.
Specifically, each second slave laser radar 202 can be to host laser radar in laser radar emerging system 10
100 send the status signal worked normally, and when 201 failure of the first slave laser radar, host laser radar 100 can't detect the
When the status signal that one slave laser radar 201 is sent, it is believed that failure, host laser has occurred in the first slave laser radar 201
Radar 100 controls each second slave laser radar 202 and updates configuration parameter, controls each update of second slave laser radar 202 and sweeps
Range is retouched, so that the updated scanning range of each second slave laser radar 202 covers the scanning of the first slave laser radar 201
Range.It should be noted that the second slave laser radar 202 swashs for other slaves in addition to the first slave laser radar 201
Optical radar.Optionally, 201 failure of the first slave laser radar can be the first slave laser radar 201 can not receiving host swash
The first synchronization signal that optical radar 100 is sent is also possible to the first slave laser radar 201 and swashs without the transmitting of normal direction target object
Light.Optionally, the fault detection of each laser radar in laser radar emerging system 10 can also be in the upper of each laser radar
In one layer system, identified by the detection of state for each laser radar and point cloud data each laser radar work whether
Normally, and when abnormal the configuration of each laser radar is changed.
In the present embodiment, if the first slave laser radar failure in laser radar emerging system, host laser radar
When detecting the first slave laser radar failure, controls each second slave laser radar and update scanning range, make each second slave
The updated scanning range of laser radar covers the scanning range of the first slave laser radar, avoids by the first slave laser thunder
The problem for leading to scanning range inaccuracy up to failure improves the reliability that ranging is carried out using laser radar.
Optionally, in the scene of above-mentioned first slave laser radar, 201 failure, the host laser radar 100 is specific
For controlling each second slave laser radar 202 from scanning range described in different dimensions updatings；The dimension includes water
Flat dimension and/or vertical dimensions.
Specifically, host laser radar 100 controls each second slave laser thunder when the first slave 201 failure of laser radar
Up to 202 from different dimensions updating scanning ranges.Optionally, host laser radar 100 can control each second slave laser thunder
Scanning range is updated simultaneously up to 202 from two dimensions of horizontal dimensions and vertical dimensions, also can control each second slave laser thunder
Scanning range individually is updated from horizontal dimensions or vertical dimensions up to 202.In the present embodiment, if host laser radar 100 is controlled
Each second slave laser radar 202 is made from two dimensions of horizontal dimensions and vertical dimensions while updating scanning range, is being expanded
While the field range of each second slave laser radar, 202 horizontal direction, the survey of each second slave laser radar 202 is increased
Away from range；If host laser radar 100, which controls each second slave laser radar 202, individually updates scanning range from horizontal dimensions,
Then expand the field range of each second slave laser radar, 202 horizontal direction；If host laser radar 100 control each second from
Machine laser radar 202 individually updates scanning range from vertical dimensions, then increases the ranging model of each second slave laser radar 202
It encloses.
In the present embodiment, host laser radar controls each second slave laser radar and scans model from different dimensions updatings
It encloses, application performance of the laser radar emerging system in actual scene can be better met, expand single laser radar
Application scenarios improve the reliability that ranging is carried out using laser radar.
In the scene that laser radar emerging system 10 is scanned some emphasis scanning areas, the host laser thunder
Scanning range up to 100 and each slave laser radar 200 covers emphasis scanning area.
It should be noted that in the present embodiment, emphasis scanning area can be area-of-interest, or can be given zone
Domain, or may include the region compared with multi information, or can be the region to play an important role, such as include signal lamp when automatic Pilot
Region, comprising road target area etc..
Specifically, laser radar emerging system 10 is when being scanned some emphasis scanning areas, host laser radar
The scanning range of 100 and Duo Tai slave laser radar 200 covers emphasis scanning area, for example, laser radar emerging system 10
When for automatic Pilot field, it is desirable to obtain the specifying information of front vehicles, host laser radar 100 and Duo Tai slave laser thunder
Scanning range up to 200 can cover the region of front vehicles simultaneously, obtain vehicle location coordinate, speed and vehicle and swash
The information such as the distance between optical detection and ranging system.
In the present embodiment, when being scanned for emphasis scanning area, host laser radar and each slave laser radar
Scanning range cover emphasis scanning area, more laser radars are scanned in counterweight spot scan region simultaneously, are increased pair
The scanning density of emphasis scanning area improves the spatial resolution of laser radar emerging system, expands single laser radar
Application scenarios, improve using laser radar carry out ranging reliability.
In one embodiment, in order to guarantee that system can cover biggish scanning range, each laser of the system 10
The corresponding configuration information of radar is different, the configuration information include serial number, geometry rigging position, scanning range, scanning angle,
Investigative range and transmission power.
Specifically, needing to carry out label to each laser radar, every laser radar is equal in laser radar emerging system 10
Configured with different serial numbers；In addition, the corresponding geometry rigging position of each laser radar, scanning range, scanning angle, investigative range
It can be all different with configuration informations such as transmission powers, for example, being scanned in above-mentioned laser radar emerging system 10 to some emphasis
In the application scenarios that region is scanned, according to actual scene can the geometry rigging position to each laser radar carry out it is different
Setting, each laser radar can be provided separately within horizontal dimensions simultaneously, can also be provided separately within vertical dimensions, Huo Zhe simultaneously
Two dimensions of horizontal dimensions and vertical dimensions are arranged simultaneously；Also different scanning ranges, scanning angle, investigative range can be set
With transmission power etc., increase the scanning density in counterweight spot scan region.
In the present embodiment, the corresponding serial number for having oneself of each laser radar, convenient for each in laser radar emerging system
Radar is effectively managed；In addition the geometry rigging position of each laser radar, scanning range, scanning angle, investigative range and
The configuration informations such as transmission power are all different, and improve the space of the scanning density and laser radar emerging system to scanning area
Resolution ratio expands the application scenarios of single laser radar, improves the reliability that ranging is carried out using laser radar.
In one embodiment, it needs to be determined that host laser radar, then need to be arranged certain selection rule in system
Determine host laser radar, optionally, the serial number of the host laser radar 100 is less than each slave laser radar 200
Serial number.
Specifically, the laser radar of default serial number 1 is host laser radar 100 in laser radar emerging system 10,
The laser radar that other each laser radars are more slave laser radars 200, that is, marked as 2,3,4 ... is more slaves
Laser radar 200, host laser radar 100 periodically generate synchronization signal, and more slave laser radars 200 periodically detect the synchronization
Signal, and the scanning of oneself is synchronized with the synchronization signal, when 100 failure of host laser radar, active does not generate synchronization signal
Or when can not export synchronization signal, the laser radar of serial number 2 thinks that host swashs after can't detect synchronization signal in system 10
Optical radar is abnormal, and the laser radar of serial number 2 automatically takes over the task of " master " machine, generates synchronization signal, at this point, serial number 2
Laser radar is host laser radar 100, and Xiang Duotai slave laser radar 200 sends control signal, controls more slaves and swashs
Optical radar updates the configuration parameter including scanning range, if the host laser radar failure of serial number 2, serial number 3
The task of laser radar adapter tube host laser radar, more slave laser radars 200 successively connect in host laser radar failure
For the task of host laser radar, become host laser radar 100, it is, the host laser thunder in laser radar system 10
Serial number up to 100 is less than the serial number of more slave laser radars 200.
In the present embodiment, the laser radar that serial number 1 is defaulted in laser radar system is host laser radar, other are each
Laser radar is slave laser radar, and when the host laser radar failure of serial number 1, the laser radar of serial number 2 takes over master
The task of machine laser radar becomes host laser radar, and so on, ensure that laser radar emerging system is normally swept
It retouches, improves the reliability for carrying out ranging using laser radar.
Fig. 3 is the laser radar emerging system schematic diagram that another embodiment provides, as shown in figure 3, in the system 10
Laser radar when arranging in the horizontal direction, the distance between the laser radar and central point are smaller, the laser radar
Field range in the horizontal direction is smaller, ranging range is bigger.
Specifically, when each laser radar arranges in the horizontal direction, being located at central point in laser radar emerging system 10
Laser radar field range is smaller in the horizontal direction, but ranging range is larger, therefore, the laser thunder closer from central point
It reaches, field range in the horizontal direction is smaller, but ranging range is bigger.For example, sharing 5 in laser radar emerging system 10
Platform laser radar arranges in the horizontal direction, and the spacing between each laser radar is the fixed value being arranged according to user demand, serial number
Laser radar for 3 is the laser radar positioned at central point, and the distance of the laser radar distance center point of serial number 2 and 4 is close, sequence
Number for 1 and 5 laser radar distance center point distance it is remote, the visual field model of the laser radar of serial number 2 and 4 in the horizontal direction
The laser radar field range in the horizontal direction less than serial number 1 and 5 is enclosed, but ranging range is greater than swashing for serial number 1 and 5
The ranging range of optical radar.
In the present embodiment, when each laser radar in laser radar system arranges in the horizontal direction, distance center is closer
Laser radar, field range in the horizontal direction is smaller, but ranging range is bigger, can be more in line with actual need in this way
It asks, improves the reliability for carrying out ranging using laser radar, expand the application scenarios of laser radar.
Fig. 4 is the laser radar emerging system schematic diagram that another embodiment provides, as shown in figure 4, in the system 10
Laser radar when arranging in vertical direction, the distance between the laser radar and ground are bigger, and the laser radar exists
The field range of horizontal direction is smaller, ranging range is bigger.
Specifically, in laser radar emerging system 10, when each laser radar arranges in vertical direction, close to ground
Field range is larger in the horizontal direction for laser radar, but ranging range is smaller, therefore, remoter laser radar from the ground,
The field range of horizontal direction is smaller, but ranging range is bigger.For example, sharing 3 laser in laser radar emerging system 10
Radar arranges in vertical direction, and the spacing between each laser radar is the fixed value being arranged according to user demand, and serial number 3 swashs
Optical radar is positioned at the laser radar close to ground, and distance of the laser radar of serial number 2 apart from ground is close, and serial number 1 swashs
Distance of the optical radar apart from ground is remote, and the field range of the laser radar of serial number 2 in the horizontal direction is less than swashing for serial number 3
The field range of optical radar in the horizontal direction, but ranging range is greater than the ranging range of the laser radar of serial number 3.
In the present embodiment, each laser radar in laser radar system is remoter apart from ground when vertical direction arranges
Laser radar, field range in the horizontal direction is smaller, but ranging range is bigger, and such configuration is more in line with practical need
It asks, improves the reliability for carrying out ranging using laser radar, expand the application scenarios of laser radar.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies 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, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of laser radar emerging system, which is characterized in that the system comprises: host laser radar and Duo Tai slave laser
Radar；
The host laser radar is for exporting the first synchronization signal；
The slave laser radar is used to synchronize scanning according to first synchronization signal.
2. system according to claim 1, which is characterized in that the host laser radar be also used to detect first from
It when machine laser radar failure, and controls each second slave laser radar and updates scanning range, so that each second slave laser
The updated scanning range of radar covers the scanning range of the first slave laser radar；The second slave laser radar
For other slave laser radars in addition to the first slave laser radar.
3. system according to claim 2, which is characterized in that the host laser radar is specifically used for controlling each described the
Two slave laser radars are from scanning range described in different dimensions updatings；The dimension includes horizontal dimensions and/or vertical dimensions.
4. system according to claim 1 or 2, which is characterized in that the host laser radar and each slave laser
The scanning range of radar covers emphasis scanning area.
5. system according to claim 1 or 2, which is characterized in that each laser radar of the system is corresponding to match confidence
Breath is all different.
6. system according to claim 5, which is characterized in that the configuration information includes serial number, geometry rigging position, sweeps
Retouch range, scanning angle, investigative range and transmission power.
7. system according to claim 1 or 2, which is characterized in that the serial number of the host laser radar is less than each described
The serial number of slave laser radar.
8. system according to claim 1, which is characterized in that the host laser radar is specifically used for using logical "or"
Mode first synchronization signal is generated according to the second synchronization signal of all laser radars output in the system.
9. system according to claim 1 or 2, which is characterized in that the laser radar in the system is in the horizontal direction
When arrangement, the distance between the laser radar and central point are smaller, and the laser radar field range in the horizontal direction is got over
It is small, ranging range is bigger.
10. system according to claim 1 or 2, which is characterized in that the laser radar in the system is in vertical direction
When arrangement, the distance between the laser radar and ground are bigger, the laser radar field range in the horizontal direction is smaller,
Ranging range is bigger.
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| CN113289793A (en) * | 2021-05-11 | 2021-08-24 | 山东华锐智能技术有限公司 | Real-time track extraction method suitable for automatic steel member spraying device |
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