CN109814118B - Active detection sensor scanning control method and active detection sensor - Google Patents
Active detection sensor scanning control method and active detection sensor Download PDFInfo
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- CN109814118B CN109814118B CN201711172668.4A CN201711172668A CN109814118B CN 109814118 B CN109814118 B CN 109814118B CN 201711172668 A CN201711172668 A CN 201711172668A CN 109814118 B CN109814118 B CN 109814118B
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Abstract
The invention discloses a scanning control method of an active detection sensor and the active detection sensor, the method comprises the following steps: and the active detection sensor receives the synchronous trigger signal and adjusts the scanning speed, so that the active detection sensor scans and passes through the zero position at a preset moment. The method has the advantages that the active detection sensor and the external equipment can be accurately synchronized, the scanning behavior of the active detection sensor can be accurately controlled, the output angle range of the scanning detector can be flexibly set, only effective data can be output, the efficiency of data output is greatly improved, the time delay of effective data output is reduced, the efficiency of data output is improved, and the like.
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 fiery, the usage of active detection sensors (in particular, lidar) has proliferated. 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, in the field of application of the unmanned vehicle, the state and data of the vehicle body around the unmanned vehicle are determined by scanning detection data of the active detection sensor, and data fusion is required. If the unmanned vehicle is in motion, the data fusion in motion must acquire the data of all sensors and equipment at a certain precise moment. Therefore, precise synchronization of the sensors is required. Meanwhile, the existing laser radar adopts 360-degree full-angle range scanning and full-angle range output, and the mode has the following problems: 1. the existing laser radar can only carry out simple scanning control such as opening and closing on scanning detection of the radar, and cannot accurately control scanning behaviors of the laser radar, for example, the laser radar can be accurately controlled to carry out scanning detection on a certain angle by a determined module at a determined moment, so that the possibility of 'eye-to-eye' exists in a system provided with a plurality of laser radars or among the laser radars in a system provided with a plurality of laser radars in the environment. 2. In some scenes, only part of the scanning angles are effective angles, if the part of the scanning angles are blocked due to the installation position, the blocked angles are invalid angles, the unblocked angles are effective angles, or the scene only needing to pay attention to the scanning data of the part of the angles is a scene, the part of the angles are concerned to be effective angles, the rest of the angles are invalid angles, the scanning data in the effective angle range are effective data concerned by a user, the data in the invalid angles are invalid data, if all the scanning data in the 360-degree range are output, the output data volume is large, in addition, many invalid data exist in the output data, the bandwidth is occupied, and the effective data occupation ratio is not high. 3. Due to the fact that invalid data exists in output data, when the number of data is large, the output bandwidth is greatly occupied, data output of the valid data is delayed, and timeliness of the data is affected. In the field of unmanned vehicles, particularly unmanned vehicles driven at high speed, the requirement on the delay of a sensor is high, and if the delay is too large, the maximum driving speed of the unmanned vehicle is influenced.
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 scanning control method and the active detection sensor, which can realize the accurate synchronization of the active detection sensor and external equipment, accurately control the scanning behavior of the active detection sensor, flexibly set the output angle range of the scanning detector, only output effective data, greatly improve the data output efficiency, reduce the delay of the effective data output and improve the data output efficiency.
In order to solve the technical problems, the technical scheme provided by the invention is as follows: the active detection sensor receives a synchronous trigger signal and adjusts the scanning speed, so that the active detection sensor scans through a zero point position at a preset moment.
Further, the adjusted scanning speed is determined by calculation according to the angle difference between the current scanning angle of the active detection sensor and the zero position and the time length from the current time to the preset time.
Further, after the active detection sensor scans through the zero point position, the scanning speed of the active detection sensor maintains the adjusted scanning speed or recovers to a preset speed.
Further, the preset time is given by the synchronization trigger signal.
Furthermore, the active detection sensor sets an output angle range according to the received range control instruction, and only outputs the scanning data of which the scanning angle is within the output angle range in the scanning process.
Further, the range control command sets the output angle range in a handshaking manner, and specifically includes:
s1, acquiring a control response of an active detection sensor, and jumping to the step S2 after the response is obtained;
s2, acquiring an output angle writing response of the active detection sensor, and jumping to the step S3 after the response is obtained;
and S3, writing an output angle range into the active detection sensor.
Further, the zero position is an adjustable zero position.
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 controlling the active detection sensor body to carry out scanning detection and receiving a synchronous trigger signal, and the scanning speed of the active detection sensor body is adjusted, so that the active detection sensor body scans through a zero point position at a preset moment.
Further, 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 length from a current time to the preset time.
Further, the controller is further configured to control the scanning speed of the active detection sensor body to maintain the adjusted scanning speed or to recover the preset speed after the active detection sensor body scans through the zero point.
Further, the zero position is an adjustable zero position.
Further, the controller is further configured to receive a range control instruction to set an output angle range, and only output scan data with a scan angle within the output angle range during a scanning process of the active detection sensor.
Compared with the prior art, the invention has the advantages that:
1. according to the invention, through synchronization, the scanning behavior of the laser radar can be accurately controlled, and the laser radar is accurately controlled to scan and detect a certain angle in a determined mode at a determined moment, so that the possibility of 'eye-to-eye' existing in a system provided with a plurality of laser radars or among the laser radars in a system provided with a plurality of laser radars in the environment can be prevented, and the safe operation of the laser radars can be ensured.
2. The invention is provided with the output angle range, only outputs the scanning data within the output angle range, greatly reduces the output data volume, simultaneously improves the output timeliness of effective data, and reduces the requirement of the scanning sensor on the output bandwidth.
3. The output angle range of the invention can be dynamically set according to the requirement, and can adapt to the scanning detection requirements of different application scenes, so as to ensure that the invention has good output effect in different states.
Drawings
FIG. 1 is a schematic flow chart of an embodiment of the present invention.
Fig. 2 is a schematic flow chart illustrating setting of an output angle range according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of zero point synchronization 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 diagram of adjusting the zero position according to the embodiment of the present invention.
FIG. 6 is a schematic diagram 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 performs 360-degree all-directional scanning detection through rotation.
As shown in fig. 1, in the active detection sensor scanning control method of this embodiment, the active detection sensor receives a synchronous trigger signal, and adjusts a scanning speed, so that the active detection sensor scans through a zero point position at a preset time. And the adjusted scanning speed is calculated and determined according to the angle difference between the current scanning angle and the zero position of the active detection sensor and the time length between the current moment and the preset moment. After the active detection sensor scans through the zero point, the scanning speed of the active detection sensor maintains the adjusted scanning speed or recovers the preset speed. The preset time is given by the synchronization trigger signal.
As shown in fig. 3, the active detection sensor has a zero point of scan, i.e., the 0 ° position in fig. 3. It should be noted that the scanning zero point of the active detection sensor is not necessarily 0 °, and may be other angles, and this embodiment is only described by taking 0 ° as an example, and does not limit the scope of the present invention. In an initial state, the active detection sensor scans in a counterclockwise direction at a preset speed, which is set to 360 degrees/second, i.e., scans one turn per second. And the external equipment controls the active detection sensor to synchronize through the synchronization trigger signal. The synchronization trigger signal may be analog in type, such as an up-going edge or a down-going edge of a level signal. Alternatively, the synchronization trigger signal is a digital signal, such as a synchronization control command. The synchronization trigger signal may be an event signal of the external device or a control command of the external control device from the source.
In the embodiment, as shown in fig. 6, a GNSS (global positioning system) device is used as an external device, and the GNSS device is connected to a controller of the active detection sensor through a synchronization signal line to provide a synchronization trigger signal for the active detection sensor. Meanwhile, the controller is communicated with an external user host through an IIC communication mode and sends the scanning data to the user host. In this embodiment, the up-going edge of the analog pulse signal provided by the GNSS device is a synchronization trigger signal, and the preset time is set to 0.5 second. As shown in fig. 3, when the GNSS provides the synchronization trigger signal, the time is marked as 0, and the scanning angle of the active detection sensor is 120 °. At this time, the active detection sensor needs to adjust its scanning speed so that the scanning angle just passes through the zero position, i.e., the 0 ° position, at the time of 0.5 seconds. Accordingly, the angle difference between the current scanning angle and the zero point position can be calculated to be 360 ° -120 ° =240 °, and the adjusted scanning speed is calculated to be 240 °/0.5s =480 °/s. In the same principle, when the GNSS provides a synchronous trigger signal, the time is recorded as 0, the scanning angle of the active detection sensor is 260 °, at this time, the angle difference between the current scanning angle and the zero point position can be calculated to be 360 ° -260 ° =100 °, and then the adjusted scanning speed is calculated to be 100 °/0.5s =200 °/s. Through the synchronous trigger signal of the embodiment, the active detection sensor can accelerate or decelerate to scan according to the actual condition, and the active detection sensor is accurately controlled to scan through the zero position at the preset moment, so that the active detection sensor and the external equipment are accurately synchronized.
In this embodiment, the synchronization trigger signal may also be a digital signal, such as a synchronization control instruction, and a preset time is given in the synchronization control instruction. The active detection sensor receives the synchronous control instruction and analyzes preset time given in the instruction, and calculates the adjusted scanning speed of the active detection sensor according to the angle difference and the time length between the current time and the preset time by calculating the angle difference between the current scanning angle and the zero point position.
In this embodiment, after the active detection sensor scans through the zero point, the active detection sensor will continue to maintain the adjusted scanning speed for scanning, such as 480 °/s or 200 °/s, at this time, the scanning speed of the active detection sensor can be indirectly adjusted. When the synchronous trigger signal is continuously used for synchronization, a plurality of active detection sensors can be ensured to be synchronized in each scanning period, and the eye-to-eye phenomenon is prevented. Or after the active detection sensor scans through the zero point, the active detection sensor returns to scanning at a preset speed of 360 degrees/s. When a plurality of active detection sensors exist, the active detection sensors all adopt the same preset speed after synchronization, so that synchronous scanning of the active detection sensors can be ensured, and eye-to-eye occurrence is prevented.
In this embodiment, the zero position is an adjustable zero position. As shown in fig. 5, at time 0, the zero point position of the active detection sensor 1 is 0 degrees, i.e., upward in the figure, and after the synchronous control by the present method, the active detection sensor 1 synchronously scans through the zero point position at 0.5 second. At this time, the active detection sensor 1 rotates clockwise by 10 degrees, and at this time, the zero point position of the active detection sensor 1 is no longer in the upward direction in fig. 5, and in order to ensure that the zero point position continues in the upward direction, the zero point position of the active detection sensor 1 needs to be adjusted to a position of 10 degrees. At resynchronization, i.e. at the 1 second instant, the active probing sensor 1 scans synchronously through the 10 degree position. After that, assuming that the active detection sensor 1 does not rotate again, the active detection sensor 1 scans synchronously again through the 10-degree position at the time of 1.5 seconds. By adjusting the zero position it can be ensured that the active detection sensor 1 is synchronized to the upward direction shown in fig. 5 at each synchronization instant.
In this embodiment, the active detection sensor further sets an output angle range according to the received range control instruction, and the active detection sensor only outputs scanning data with a scanning angle within the output angle range in the scanning process. As shown in fig. 4, the active detection sensor scans and detects the target 1. The conventional active detection sensor performs 360-degree scanning and outputs all scanning data within a 360-degree range. Since the target 1 is located in the 50 ° to 120 ° range (70 degrees total) of the active detection sensor. Only the scan data of [50 °,120 ° ] in the scan data can detect the target, so only the data in the angular range of [50 °,120 ° ] is valid data, and the rest data is invalid data, that is, the angular range of valid data is only 70 degrees in the entire 360 ° scan range, i.e., the efficiency of the scan data is only 70/360=19.4%. Thus, it can be determined that the scan data output by the prior art active detection sensor is less efficient. The scanning method of the embodiment can set the output angle range to be [50 degrees and 120 degrees ], only the scanning data with the scanning angle within the output angle range is output, otherwise, the scanning data is not output, although the set output angle range is larger than the actual angle range of the target, the output of a large amount of scanning data which is not within the output angle range can be reduced through the setting, so that the efficiency of the output data is greatly improved, the data volume of the output data is greatly reduced, and the requirement of an active detection sensor on the output bandwidth is greatly reduced. Meanwhile, invalid data does not need to be output, so that valid data can be output in time, and the output delay of the valid data is improved.
In this embodiment, the range control command sets the output angle range in a handshake manner, which specifically includes: s1, acquiring a control response of an active detection sensor, and jumping to the step S2 after the response is obtained; s2, acquiring an output angle writing response of the active detection sensor, and jumping to the step S3 after the response is obtained; and S3, writing an output angle range into the active detection sensor. Specifically, as shown in fig. 2, the output angle range is set by the user host. Firstly, the user host and the controller of the active detection sensor perform a first handshake: the user host sends a START signal to the controller, then sends the address and the read-write control symbol of the controller, waits for the response of the controller, and in the preset waiting time, if the user host receives the response signal of the controller, the first handshake is successful, the next step is started, otherwise, the first handshake process is carried out again. After the first handshake is successful, performing second handshake: and the user host sends a register address for writing in the output angle range to the controller, waits for the response of the controller again, and enters the next step if the user host receives a response signal of the controller in the preset waiting time to indicate that the second handshake is successful, otherwise, performs the second handshake process again. And after the second handshake is successful, performing a third handshake: the user host sends the output angle range parameters to the controller, if the starting angle is 50 degrees and the ending angle is 120 degrees in this embodiment, of course, if there are a plurality of output angle ranges, the user host sends a plurality of output angle range parameters, waits for the controller to write the output angle range into a successful response signal again, and if the user host receives the response signal of the controller within the preset waiting time, it indicates that the third handshake is successful, and completes the setting of the output angle range, otherwise, performs the third handshake process again.
As shown in fig. 6, 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 controlling the active detection sensor body to perform scanning detection and receiving a synchronous trigger signal, and adjusting the scanning speed of the active detection sensor body, so that the active detection sensor body scans and passes through a zero point position at a preset moment. 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 point position of the active detection sensor and the time length from the current moment to the preset moment. The controller is also used for controlling the scanning speed of the active detection sensor body to keep the adjusted scanning speed or recover the preset speed after the active detection sensor body scans through the zero point. The controller is also used for receiving the range control instruction to set the output angle range and only outputting the scanning data of which the scanning angle is in the output angle range in the scanning process of the active detection sensor. The zero position is an adjustable zero position.
In this embodiment, the scanning sensor, the controller and the communication module may be integrated, i.e. the controller and the communication module are placed inside the scanning sensor device. A split design may also be used, i.e. the controller and communication module are arranged outside the scanning sensor device as shown in fig. 6. 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 spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.
Claims (12)
1. A scanning control method of an active detection sensor is characterized in that: and the active detection sensor receives the synchronous trigger signal and adjusts the scanning speed, so that the active detection sensor scans and passes through the zero position at a preset moment.
2. The active detection sensor scan control method of claim 1, wherein: and the adjusted scanning speed is calculated and determined according to the angle difference between the current scanning angle and the zero position of the active detection sensor and the time length from the current moment to the preset moment.
3. The active detection sensor scan control method of claim 2, wherein: and after the active detection sensor scans through the zero point, the scanning speed of the active detection sensor keeps the adjusted scanning speed or recovers the preset speed.
4. The active detection sensor scan control method of claim 3, wherein: the preset time is given by the synchronous trigger signal.
5. The active detection sensor scan control method of any one of claims 1 to 4, wherein: the scanning device further comprises an active detection sensor which sets an output angle range according to the received range control instruction, and only outputs scanning data of which the scanning angle is within the output angle range in the scanning process.
6. The active detection sensor scan control method of claim 5, wherein: the range control command sets an output angle range in a handshaking mode, and specifically comprises the following steps:
s1, acquiring a control response of an active detection sensor, and jumping to the step S2 after the response is obtained;
s2, acquiring an output angle writing response of the active detection sensor, and jumping to the step S3 after the response is obtained;
and S3, writing an output angle range into the active detection sensor.
7. The active detection sensor scanning control method of any one of claims 1 to 4, wherein: the zero position is an adjustable zero position.
8. 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 controlling the active detection sensor body to perform scanning detection and receiving a synchronous trigger signal, and adjusting the scanning speed of the active detection sensor body, so that the active detection sensor body scans and passes through a zero point position at a preset moment.
9. The active detection sensor of claim 8, wherein: and 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 time length from the current moment to the preset moment.
10. The active detection sensor of claim 9, wherein: the controller is also used for controlling the scanning speed of the active detection sensor body to keep the adjusted scanning speed or restore the preset speed after the active detection sensor body scans through the zero point.
11. The active detection sensor of claim 10, wherein: the zero position is an adjustable zero position.
12. The active detection sensor of any one of claims 8 to 11, wherein: the controller is also used for receiving the range control instruction to set an output angle range, and only outputting the scanning data of which the scanning angle is within the output angle range in the scanning process of the active detection sensor.
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