CN109814089B - Active detection sensor control method and active detection sensor - Google Patents
Active detection sensor control method and active detection sensor Download PDFInfo
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Abstract
The invention discloses an active detection sensor control method and an active detection sensor, wherein the method comprises the following steps: the active detection sensor executes the following steps under the state that the detection unit of the active detection sensor is not started: s1, an active detection sensor receives a synchronous pulse signal with a preset fixed frequency; s2, adjusting the scanning speed by the active detection sensor to enable the time of the active detection sensor scanning through a preset zero position within the time of a preset number of synchronous pulse signal periods to be consistent with the arrival time of the synchronous pulse signals; and S3, the active detector confirms that the synchronization is completed and restores the preset scanning speed. The method has the advantages that the active detection sensor and external equipment can be accurately synchronized, the scanning state of the active detection sensor is accurately controlled, the 'eye-to-eye' condition of the active detection sensor is effectively prevented, and the operation safety of the active detection sensor is ensured.
Description
Technical Field
The invention relates to the technical field of scanning equipment, in particular to a scanning control method of an active detection sensor and the active detection sensor.
Background
In recent years, as the unmanned vehicle industry becomes more and more hot, the amount of use of lidar (especially multiline lidar) has increased dramatically. The laser radar uses a reflective laser sensor to measure the distance, and the used laser is slightly influenced by the outside world in the transmission process, so the distance which can be detected by the laser radar can generally reach more than 100 m; simultaneously, use radio wave with traditional radar and compare, the laser ray wavelength that laser radar used is generally between 600nm to 1000nm, is less than the wavelength that traditional radar used far away, therefore laser radar can reach higher precision on measuring object distance and surface shape, generally can reach centimetre level. However, the conventional laser radar generally uses a fixed structure reference point, which is a fixed position relative to the sensor body, to perform scanning in a counterclockwise direction and output scanning data and scanning angles, and displays the scanning data in a display device according to the scanning angles, thereby obtaining an intuitive radar scanning image, and performs rotational scanning in a predetermined direction (clockwise direction or counterclockwise direction) with the structure reference point as a fixed scanning zero point. However, the existing laser radars all adopt fixed scanning zero point, 360-degree full-angle range scanning and full-angle range output, and the mode has the following problems: 1. in some application scenarios, such as unmanned vehicles, multiple lidar sets need to be installed, and if each lidar set employs the same fixed scanning zero point, scanning control becomes very difficult in order to prevent the lidar from "eye-to-eye" conditions, which are difficult to avoid. The two laser radars are in mutual sight, so that the laser radars are blinded, and even the laser radars are burnt out in severe cases. 2. The laser radar generally adopts a fixed mounting mode, namely the scanning zero point of the laser radar is fixed during mounting, if the scanning zero point of the laser radar needs to be adjusted, the laser radar needs to be mounted and adjusted again, the process is complex, and the implementation is inconvenient. 3. When two or more unmanned vehicles run in a close distance, because the sensor on each unmanned vehicle has the setting parameters, the sensors on the unmanned vehicles are more difficult to be synchronously controlled, and the phenomenon of eye-to-eye among the sensors is difficult to be prevented. 4. In some scenes, only part of the scanning angles are effective angles, if the part of the scanning angles are shielded due to the installation position, the shielded angles are ineffective angles, the unshielded angles are effective angles, or the scenes of the scanning data of only part of the angles need to be concerned, the concerned part of the angles are effective angles, the rest of the angles are ineffective angles, the scanning data in the effective angle range are effective data concerned by a user, the data in the ineffective angles are ineffective data, if all the scanning data in the 360-degree range are output, the output data volume is large, and the output data contains a lot of ineffective data, occupies bandwidth, and the effective data occupation ratio is not high.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides the active detection sensor control method and the active detection sensor, which can ensure that the active detection sensor can not only be accurately synchronized, but also can ensure that the influence on the active detection sensor is minimum in the synchronization process, and ensure that the active detection sensor does not generate the condition of eye-to-eye under the state of radiating energy outwards, thereby ensuring the operation safety of the active detection sensor.
In order to solve the technical problems, the technical scheme provided by the invention is as follows: an active detection sensor control method, under the state that the active detection sensor does not start the detection unit of the active detection sensor, executes the following steps:
s1, an active detection sensor receives a synchronous pulse signal with a preset fixed frequency;
s2, the active detection sensor adjusts the scanning speed, so that the time of the active detection sensor scanning through a preset zero position in the period of a preset number of synchronous pulse signals is consistent with the arrival time of the synchronous pulse signals;
and S3, the active detector confirms that the synchronization is completed and recovers the preset scanning speed.
Further, the scanning speed adjusted in the step S2 is calculated and determined according to the angle difference between the current scanning angle of the active detection sensor and the zero point position, and the arrival time of the synchronization pulse signal; and ensuring that the scanning speed is within the allowable range of the scanning speed of the active detection sensor.
Further, the scanning speed after the adjustment in step S2 is preferably the scanning speed closest to the scanning speed before the adjustment.
Further, the scanning speed adjusted in step S2 is preferably the scanning speed that can achieve the fastest synchronization.
Further, in the step S3, after the synchronization is confirmed, the detection unit of the active detection sensor is turned on.
Further, the preset zero point position in step S2 is an adjustable zero point position.
And step S4, after the active detection sensor starts the detection unit, judging whether the scanning angle of the scanning data falls into a preset output angle range or not for the scanning data obtained by scanning, if so, outputting the scanning data, otherwise, not outputting the scanning data.
Further, the preset output angle range is an adjustable output angle range.
An active detection sensor comprises an active detection sensor body and a controller;
the active detection sensor body is used for scanning and detecting;
the controller is used for receiving a synchronous pulse signal with a preset fixed frequency; adjusting the scanning speed to ensure that the time of the active detection sensor scanning through the preset zero position in the time of the preset number of synchronous pulse signal periods is consistent with the arrival time of the synchronous pulse signals; and confirming the completion of synchronization and recovering the preset scanning speed.
Further, the controller is configured to calculate and determine an adjusted scanning speed according to an angle difference between a current scanning angle of the active detection sensor and a zero point position, and an arrival time of the synchronization pulse signal; and ensuring that the scanning speed is within the allowable range of the scanning speed of the active detection sensor.
Further, the scanning speed after adjustment is preferably the closest to the scanning speed before adjustment.
Further, the adjusted scanning speed is preferably the scanning speed which can realize the synchronization at the fastest speed.
Further, the controller turns on the detection unit of the active detection sensor after confirming that synchronization is completed.
Further, the preset zero position is an adjustable zero position.
Further, the controller is further configured to determine scan data obtained through scanning, determine whether a scan angle of the scan data falls within a preset output angle range, output the scan data if the scan angle of the scan data falls within the preset output angle range, and otherwise, not output the scan data.
Further, the preset output angle range is an adjustable output angle range.
Compared with the prior art, the invention has the advantages that:
1. according to the invention, on the premise that the active detection sensor does not radiate energy outwards, the scanning speed of the active detection sensor is adjusted through the synchronous pulse signal, so that the time of the active detection sensor passing through the zero point position is synchronous with the arrival time of the synchronous pulse signal, the energy is radiated outwards after the synchronization, and the scanning detection is started, thereby ensuring that the active detection sensor does not generate the eye-to-eye condition under the state of radiating energy outwards.
2. The active detection sensor of the invention adjusts the scanning speed according to the allowable range of the scanning speed per se, so as to ensure that the active detection sensor not only can be accurately synchronized, but also can ensure that the influence on the active detection sensor is minimum in the synchronization process.
Drawings
FIG. 1 is a schematic flow chart of an embodiment of the present invention.
Fig. 2 is a schematic diagram of an implementation process of the embodiment of the invention.
FIG. 3 is a diagram illustrating adjustment of a scan zero point according to an embodiment of the present invention.
FIG. 4 is a schematic diagram of an output angle range according to an embodiment of the present invention.
Fig. 5 is a schematic view of a scanning sensor structure according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and specific preferred embodiments of the description, without thereby limiting the scope of protection of the invention.
The active detection sensor in this embodiment refers to a sensor using a scanning irradiation/detection operation mode, and includes, but is not limited to, a visible light sensor, an infrared sensor, a laser radar, a millimeter wave radar, an ultrasonic sensor, and the like, and the protection scope is not limited by this list. The active detection sensor can carry out 360-degree all-directional scanning detection.
As shown in fig. 1, in the active detection sensor control method of the present embodiment, the active detection sensor performs the following steps in a state that the detection unit of the active detection sensor is not turned on: s1, an active detection sensor receives a synchronous pulse signal with a preset fixed frequency; s2, the active detection sensor adjusts the scanning speed, so that the time of the active detection sensor scanning through a preset zero position in the period of the synchronous pulse signals with the preset number is consistent with the arrival time of the synchronous pulse signals; and S3, the active detector confirms that the synchronization is completed and recovers the preset scanning speed. The detection unit in this embodiment comprises an illumination unit and a receiving unit of the active detection sensor.
In this embodiment, the scanning speed adjusted in step S2 is determined by calculation according to the angle difference between the current scanning angle of the active detection sensor and the zero point position, and the arrival time of the synchronization pulse signal; and ensures that the scanning speed is within the allowable range of the scanning speed of the active detection sensor. The scanning speed after adjustment in step S2 is preferably the scanning speed closest to the scanning speed before adjustment. Or: the scanning speed adjusted in step S2 is preferably the scanning speed at which the synchronization can be realized at the fastest speed. In step S3, after confirming that the synchronization is completed, the detection unit of the active detection sensor is turned on.
As shown in fig. 2, the present embodiment will be described by taking synchronization of the sensor 1, the sensor 2, and the sensor 3 as an example. The frequency of the synchronous pulse signal is 1Hz, namely one synchronous pulse signal is sent every second, 3 sensors all use the upward direction as a zero point position, and synchronization is carried out through the synchronous pulse signal, so that the 3 sensors all scan to pass through the zero point position when the synchronous pulse signal arrives. In this embodiment, considering the initial angle inconsistency of different sensors and the possible inconsistency between the maximum scanning speed and the minimum scanning speed allowed by the sensors themselves, it is not required that the sensors are all synchronized to the zero point position within one synchronization pulse period, but the sensors are allowed to be synchronized to the zero point position by one or more synchronization pulse periods, and after being synchronized to the zero point position, scanning is performed at the preset scanning speed. In this embodiment, when the sensor scans at the preset scanning speed, the scanning frequency of the sensor is consistent with the frequency of the synchronization pulse signal, in this embodiment, the frequency of the synchronization pulse signal is 1Hz, and the preset scanning frequency of the sensor is also 1Hz, that is, the preset scanning speed is 360 degrees/second. In this embodiment, the number of the preset number of synchronization pulse signal cycles is set to be 3, that is, after the sensor receives the synchronization pulse signal, it is set that the synchronization needs to be completed at the latest when the 4 th synchronization pulse arrives, that is, the synchronization is completed at the latest when the 4 th second arrives. Of course, the synchronization may be completed when the 2 nd and 3 rd synchronization pulses arrive. The number of synchronous pulse signals for completing synchronization can be set arbitrarily according to requirements.
As shown in fig. 2, when the first synchronization pulse signal arrives, the initial states of the 3 sensors are different, the scanning angle of the sensor 1 is 30 degrees, the scanning angle of the sensor 2 is 140 degrees, and the scanning angle of the sensor 3 is 220 degrees. In this embodiment, the synchronization pulse signal may include information about a pulse period, and in this case, after the sensor receives the first synchronization pulse information, the sensor may directly use the pulse period information to determine the arrival time of each subsequent synchronization pulse signal. Or the synchronous pulse signals do not contain pulse period information, and the sensor actively analyzes and determines the pulse period by receiving two continuous synchronous pulse signals so as to determine the arrival time of each synchronous pulse signal later. Let us assume that 3 sensors have determined the pulse period at 0 seconds in each case in the present embodiment. For the sensor 1, according to the fact that the current scanning angle is 30 degrees, the zero point position is 0 degrees, and the pulse period is 1S, it can be calculated that if the zero point position is to be synchronized when the second synchronization pulse signal arrives, the scanning speed needs to be adjusted to (360-30 degrees)/1 second =330 degrees/second, if the zero point position is to be synchronized when the third synchronization pulse signal arrives, the scanning speed needs to be adjusted to (720-30 degrees)/2 seconds =345 degrees/second, and if the zero point position is to be synchronized when the fourth synchronization pulse arrives, the scanning speed needs to be adjusted to (1080-30 degrees)/3 seconds =350 degrees/second. Similarly, it can be calculated for the sensor 2 that the scanning speed needs to be adjusted to (360-140 degrees)/1 second =220 degrees/second if the second sync pulse signal arrives at the zero position, to (720-140 degrees)/2 seconds =290 degrees/second if the third sync pulse signal arrives at the zero position, and to (1080-140 degrees)/3 seconds =313.33 degrees/second if the fourth sync pulse arrives at the zero position. With respect to the sensor 3, it can also be calculated that if the second sync pulse signal arrives at the zero position, the scanning speed needs to be adjusted to (360-220 degrees)/1 second =140 degrees/second, if the third sync pulse signal arrives at the zero position, the scanning speed needs to be adjusted to (720-220 degrees)/2 seconds =250 degrees/second, and if the fourth sync pulse arrives at the zero position, the scanning speed needs to be adjusted to (1080-220 degrees)/3 seconds =286.67 degrees/second.
In this embodiment, the sensor has a certain allowable scanning speed range according to its own characteristics, that is, the sensor has a maximum scanning speed and a minimum scanning speed, and during the scanning process of the sensor, the scanning speed of the sensor should be less than or equal to the maximum scanning speed and greater than or equal to the minimum scanning speed, otherwise, the sensor cannot normally scan and normally outputs the scanning data. The scanning speeds of the 3 sensors before adjustment are all 360 degrees/second, namely scanning is carried out according to the preset scanning speed. The sensor 1 selects, by calculation, a scanning speed closest to the scanning speed before adjustment as the scanning speed after adjustment, that is, sets the scanning speed after adjustment to 350 degrees/sec. By adjusting the scanning speed, the scanning position of the sensor 1 at the 1 st second is 20 degrees, the scanning position at the 2 nd second is 10 degrees, and the scanning position at the 3 rd second is 0 degrees, thereby achieving synchronization of the sensor 1. The speed of the sensor 1 before adjustment is the closest to the speed after adjustment, which can ensure that the speed control of the sensor 1 is the mildest, so that the scanning speed control of the sensor 1 is more convenient and easier to control. When the sensor 2 selects 290 degrees/second as the adjusted scanning speed, the scanning position of the sensor 2 at the 1 st second is 70 degrees, the scanning position at the 2 nd second is 360 degrees, the synchronization of the sensor 2 is realized, and the preset scanning speed is recovered to 360 degrees/second for scanning after the synchronization, so that the scanning position of the sensor 2 is synchronized to the 0 degree position at the 3 rd second. The sensor 3 selects the scanning speed at which the synchronisation is fastest possible. That is, 140 degrees/second is used as the adjusted scanning speed, so that the sensor 3 only needs to pass through 1 synchronization pulse signal cycle, the synchronization is completed in 1 second, and the preset scanning speed is recovered to 360 degrees/second for scanning after the synchronization, so that the scanning position of the sensor 3 is synchronized to the 0 degree position in the 2 nd and 3 rd seconds.
In this embodiment, the sensor starts the detection unit of the active detection sensor after synchronization is completed, that is, the transmitting unit of the sensor starts to radiate energy outwards actively, and then receives the echo through the receiving unit to perform detection. The embodiment synchronizes through closing the transmitting unit, and opens the transmitting unit after synchronizing, scans and detects, can guarantee that the sensing of having opened the transmitting unit is all in synchronous scanning state, can not take place the condition that the sensor "eyes to eyes" under the state that the transmitting unit was started, and the effectual mutual interference that prevents between the sensor, blinding guarantees the operation safety of sensor.
In this embodiment, the zero point position preset in step S2 is an adjustable zero point position. As shown in fig. 2, the zero positions of the 3 sensors are set to be 0 degree positions, and when the sensors do not rotate, that is, when the sensors and the carriers thereof are fixed, it can be effectively ensured that the sensors do not have eye-to-eye effect through the above synchronization process, but when the sensors rotate, in order to ensure that the 3 sensors can be synchronized, the zero positions of the sensors need to be adjusted. As shown in fig. 3, assuming that the sensor 1 rotates 10 degrees clockwise during 0 to 1 second, the sensor 2 and the sensor 3 do not rotate, the sensor 2 and the sensor 3 are omitted in fig. 3, and only the sensor 1 is shown. At the 1 second instant, sensor 1 is turned 10 degrees clockwise in order to ensure synchronization between sensor 1 and sensors 2 and 3. Therefore, it is necessary to adjust the zero point position of the sensor 1 to 10 degrees, that is, to perform synchronization with the zero point position of the sensor 1 at the 10-degree position in the next synchronization. The scanning position of the sensor 1 at the 1 st second is 20 degrees and the zero point position requiring synchronization is 10 degrees, so it can be calculated that the speed of the sensor 1 should be 350 degrees/second if synchronization is to be completed at the 2 nd second and 345 degrees/second if synchronization is to be completed at the 3 rd second. That is, the sensor 1 only needs to keep scanning at 350 degrees/second, i.e. synchronization can be done at 2 seconds.
In this embodiment, the method further includes step S4, after the active detection sensor starts the detection unit, determining whether a scanning angle of the scanning data falls within a preset output angle range for the scanning data obtained by scanning, if so, outputting the scanning data, otherwise, not outputting the scanning data. The preset output angle range is an adjustable output angle range. As shown in fig. 4, the target 1 is scanned and detected by the active detection sensor, and the target 1 is located in a range from 315 degrees to 30 degrees of the active detection sensor, that is, only when the scanning angle of the active detection sensor is greater than 315 degrees or less than 30 degrees, the target 1 can be scanned and detected, and the scanning data at this time is valid data; when the scanning angle is greater than or equal to 30 degrees and less than or equal to 315 degrees, the scanning data cannot scan and detect the target 1, and the scanning data is invalid data. Therefore, if all the scan data in the 360-degree scanning range of the whole scanning period is output, the output data includes a large amount of invalid-free data, and the output bandwidth is occupied. The output angle range is set to be 30-315 degrees by the invention, whether the scanning angle falls into the output angle range is judged before the scanning data is output, if yes, the scanning data is output, otherwise, the scanning data is not output, the data volume of the output data can be greatly reduced, and the requirement of the output data on the bandwidth is reduced.
In the present embodiment, when the relative position between the active detection sensor itself and the detection target is changed, as shown in fig. 4, the relative position of the target 1 with respect to the active detection sensor is moved to the target 1', and the target 1' is located in the range of 0 to 75 degrees of the active detection sensor, as shown by the broken line. At this time, if the output angle range between the movements is also adopted, the complete scan detection of the target 1' cannot be performed. Therefore, the present embodiment adopts an adjustable output angle range, which is adjusted to 0 to 75 degrees. By adopting the adjustable output angle range, the active detection sensor can be ensured to be suitable for different application scenes, the output data volume can be reduced, and the targets can be completely and effectively detected.
As shown in fig. 5, the active detection sensor of the present embodiment includes an active detection sensor body and a controller; the active detection sensor body is used for scanning and detecting; the controller is used for receiving a synchronous pulse signal with a preset fixed frequency; adjusting the scanning speed to ensure that the time of the active detection sensor scanning through the preset zero position in the time of the preset number of synchronous pulse signal periods is consistent with the arrival time of the synchronous pulse signals; and confirming that the synchronization is completed, and recovering the preset scanning speed.
In this embodiment, the controller is configured to calculate and determine the adjusted scanning speed according to an angle difference between a current scanning angle of the active detection sensor and a zero point position, and a time of arrival of the synchronization pulse signal; and ensures that the scanning speed is within the allowable range of the scanning speed of the active detection sensor. The scanning speed after adjustment is preferably the closest to the scanning speed before adjustment. Or: the adjusted scanning speed is preferably the scanning speed which can realize the synchronization as fast as possible. And after confirming that the synchronization is completed, the controller starts a detection unit of the active detection sensor.
In this embodiment, the preset zero position is an adjustable zero position. The controller is also used for judging the scanning data obtained by scanning, judging whether the scanning angle of the scanning data falls into a preset output angle range, if so, outputting the scanning data, otherwise, not outputting the scanning data. The preset output angle range is an adjustable output angle range.
In this embodiment, the active detection sensor body and the controller may be integrated, i.e. the controller is placed inside the active detection sensor body. A split design may also be used, i.e. the controller is arranged outside the active detection sensor body as shown in fig. 5. In the embodiment, for convenience and clarity of displaying the relationship between the parts, a split design is adopted.
The foregoing is considered as illustrative of the preferred embodiments of the invention and is not to be construed as limiting the invention in any way. Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention shall fall within the protection scope of the technical solution of the present invention, unless the technical essence of the present invention departs from the content of the technical solution of the present invention.
Claims (16)
1. An active detection sensor control method, characterized by: the active detection sensor executes the following steps under the state that the detection unit of the active detection sensor is not started:
s1, an active detection sensor receives a synchronous pulse signal with a preset fixed frequency;
s2, the active detection sensor adjusts the scanning speed, so that the time of the active detection sensor scanning through a preset zero position in the period of a preset number of synchronous pulse signals is consistent with the arrival time of the synchronous pulse signals;
and S3, the active detector confirms that the synchronization is completed and restores the preset scanning speed.
2. The active detection sensor control method according to claim 1, characterized in that: the scanning speed adjusted in the step S2 is calculated and determined according to the angle difference between the current scanning angle of the active detection sensor and the zero point position, and the arrival time of the synchronization pulse signal; and ensuring that the scanning speed is within the allowable range of the scanning speed of the active detection sensor.
3. The active detection sensor control method according to claim 2, characterized in that: the scanning speed after the adjustment in step S2 is preferably the scanning speed closest to the scanning speed before the adjustment.
4. The active detection sensor control method according to claim 2, characterized in that: the scanning speed adjusted in the step S2 is preferably the scanning speed which can realize the synchronization as fast as possible.
5. The active detection sensor control method according to any one of claims 1 to 4, characterized in that: in step S3, after the synchronization is confirmed, the detection unit of the active detection sensor is turned on.
6. The active detection sensor control method according to claim 5, characterized in that: and the preset zero position in the step S2 is an adjustable zero position.
7. The active detection sensor control method according to claim 6, characterized in that: and S4, after the active detection sensor starts the detection unit, judging whether the scanning angle of the scanning data falls into a preset output angle range or not for the scanning data obtained by scanning, if so, outputting the scanning data, otherwise, not outputting the scanning data.
8. The active detection sensor control method according to claim 7, characterized in that: the preset output angle range in the step S4 is an adjustable output angle range.
9. An active detection sensor, comprising: the device comprises an active detection sensor body and a controller;
the active detection sensor body is used for scanning and detecting;
the controller is used for receiving a synchronous pulse signal with a preset fixed frequency; adjusting the scanning speed to ensure that the time of the active detection sensor scanning through the preset zero position in the time of the preset number of synchronous pulse signal periods is consistent with the arrival time of the synchronous pulse signals; and confirming the completion of synchronization and recovering the preset scanning speed.
10. The active detection sensor of claim 9, wherein: the controller is used for calculating and determining the adjusted scanning speed according to the angle difference between the current scanning angle and the zero position of the active detection sensor and the arrival time of the synchronous pulse signal; and ensuring that the scanning speed is within the allowable range of the scanning speed of the active detection sensor.
11. The active detection sensor of claim 10, wherein: the scanning speed after adjustment is preferably the closest to the scanning speed before adjustment.
12. The active detection sensor of claim 10, wherein: the adjusted scanning speed is preferably the scanning speed which can realize the synchronization as fast as possible.
13. The active detection sensor of any one of claims 9 to 12, wherein: and after the controller confirms that the synchronization is completed, the detection unit of the active detection sensor is started.
14. The active detection sensor of claim 13, wherein: the preset zero position is an adjustable zero position.
15. The active detection sensor of claim 14, wherein: the controller is further configured to determine scanning data obtained through scanning, determine whether a scanning angle of the scanning data falls within a preset output angle range, output the scanning data if the scanning angle of the scanning data falls within the preset output angle range, and otherwise, not output the scanning data.
16. The active detection sensor of claim 15, wherein: the preset output angle range is an adjustable output angle range.
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