CN109814168A - The scanning detection method and scanning sensor of scanning sensor - Google Patents
The scanning detection method and scanning sensor of scanning sensor Download PDFInfo
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- CN109814168A CN109814168A CN201711174375.XA CN201711174375A CN109814168A CN 109814168 A CN109814168 A CN 109814168A CN 201711174375 A CN201711174375 A CN 201711174375A CN 109814168 A CN109814168 A CN 109814168A
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Abstract
The invention discloses a kind of scanning detection method of scanning sensor and scanning sensor, method includes the following steps: that S1. scanning sensor obtains scan data and scanning angle by scanning；S2. judge whether the scanning angle falls into preset output angle range, be to export the scan data and the scanning angle, otherwise do not export the scan data.With can flexible setting scan detector output angle range, only export valid data, greatly improve data output effective percentage, reduce valid data output delay, improve data delivery efficiency the advantages that.
Description
Technical field
The present invention relates to the scanning detection methods and scanning of scanning device technical field more particularly to a kind of scanning sensor
Sensor.
Background technique
In recent years, as unmanned vehicle industry is more and more burning hoter, the use of laser radar (especially multi-line laser radar)
Amount is increased sharply.Laser radar carries out range measurement using reflex laser sensor, and the laser used is in communication process by outer
Boundary's influence is small, therefore laser radar distance that can be detected is generally up to 100m or more；Meanwhile radio is used with conventional radar
Wave compares, and the laser beam wavelength that laser radar uses is generally between 600nm to 1000nm, well below conventional radar institute
The wavelength used, therefore laser radar can reach higher precision in measurement object distance and surface shape, it generally can be with
Reach Centimeter Level.But existing laser radar is all made of 360 degree of full angle range scans, the output of full angle range, this side
Formula has the following problems: 1, there was only partial scan angle in some scenarios is effective angle, such as due to installation site
In the case where causing partial scan angle to be blocked, the angle being blocked is ineffective angle, and the angle not being blocked is effective angle
Degree, or only need to pay close attention to the scene of the scan data of Partial angle, then paying close attention to Partial angle is effective angle, remaining angle is nothing
Angle is imitated, the scan data within the scope of effective angle is the valid data of user's concern, and the data in ineffective angle are invalid number
According to if the scan data within the scope of 360 degree all exported, output data quantity is big, and has in output data much in vain
Data, occupied bandwidth, valid data accounting be not high.2, larger in countless data volumes since there are invalid datas in output data
When, there is delay in the output bandwidth occupied significantly, the data output for causing valid data, influence the timeliness of data.In nothing
The unmanned vehicle field of people's vehicle field, especially scorch, it is very high to the requirement of real-time of sensing data, if delay is too
Greatly, then it will affect the highest drive speed of unmanned vehicle.
Summary of the invention
The technical problem to be solved in the present invention is that, for technical problem of the existing technology, the present invention provides one
Kind can flexible setting scan detector output angle range, only export valid data, greatly improve data output effect
Rate reduces the delay of valid data output, and the scanning detection method and scanning for improving the scanning sensor of data delivery efficiency pass
Sensor.
In order to solve the above technical problems, technical solution proposed by the present invention are as follows: a kind of scanning probe side of scanning sensor
Method includes the following steps: that S1. scanning sensor obtains scan data and scanning angle by scanning；S2. it is swept described in judgement
It retouches whether angle falls into preset output angle range, is to export the scan data and the scanning angle, it is otherwise not defeated
The scan data out.
Further, the output angle range includes at least one angular interval.
Further, the output angle range can be adjusted by output area adjustment instruction.
It further, further include that the output angle range of overlapping is merged into an output angle range.
Further, the preset output angle range includes horizontal angular range and/or range of vertical angles.
A kind of scanning sensor, including scanning sensor ontology, control module and communication module；
The scanning sensor ontology is for being scanned acquisition scan data；
The control module is stored with preset output angle range, and the scanning angle for judging the scan data, when
When the scanning angle falls into the output angle range, the scan data is exported by the communication module, it is otherwise not defeated
The scan data out.
Further, the output angle range includes at least one angular interval.
Further, the output angle range includes horizontal angular range and/or range of vertical angles.
Further, the communication module is also used to receive the output area adjustment instruction of external equipment transmission, the control
Molding root tuber adjusts the output angle range according to the output area adjustment instruction.
Further, the control module is also used to be overlapped two output angle ranges merging into an output angle
Range.
Compared with the prior art, the advantages of the present invention are as follows:
1, the present invention is provided with output angle range, and only scan data of the output within the scope of output angle, greatly reduces
The data volume of output, while also improving the output timeliness of valid data, scanning sensor is reduced to output bandwidth
Demand.
2, output angle range of the invention can be set dynamically as needed, be suitable for the scanning probe of different application scene
Demand is especially led in different application scenarios or different application with guaranteeing all to have under different conditions good output effect
All there is preferable output effect in domain.
Detailed description of the invention
Fig. 1 is the flow diagram of the specific embodiment of the invention.
Fig. 2 is specific embodiment of the invention output angle range schematic diagram.
Fig. 3 is specific embodiment of the invention scanning sensor structural schematic diagram.
Specific embodiment
Below in conjunction with Figure of description and specific preferred embodiment, the invention will be further described, but not therefore and
It limits the scope of the invention.
Scanning sensor in the present embodiment can be have scanning irradiation/detection operations mode visible light sensor,
Infrared sensor, laser radar, millimetre-wave radar, ultrasonic sensor etc. are also possible to Non-scanning mode irradiation/detection operations mode
Sensor, such as visible light sensor.The above-mentioned several sensors enumerated not merely are defined in the present embodiment, also not therefore
It enumerates and limits the scope of protection of the present invention.And be also not limited to must be 360 degree of scannings scanning sensor, be also possible to
The sensor scanned back and forth within the scope of some scanning angle.
As shown in Figure 1, the scanning detection method of the scanning sensor of the present embodiment, includes the following steps: that S1. scanning passes
Sensor obtains scan data and scanning angle by scanning；S2. judge whether the scanning angle falls into preset output angle
Range is spent, is to export the scan data and the scanning angle, does not otherwise export the scan data.
In the present embodiment, the output angle range includes at least one angular interval.As shown in Fig. 2, scanning sensor
Detection is scanned to target 1 and target 2.Traditional scanning sensor carries out 360 degree of scannings, and will be complete within the scope of 360 degree
The output of portion's scan data.Since target 1 is located in 315 ° to the 30 ° ranges (75 degree) of scanning sensor totally, target 2 is located at scanning
In 50 ° of sensor to 120 ° of ranges (totally 70 degree).The only scanning number of [315 °, 30 °] and [50 °, 120 °] in scan data
According to can detect target, therefore only, the data in [315 °, 30 °] and [50 °, 120 °] angular range are valid data, remaining
Data are invalid data, that is to say, that in entire 360 ° of scanning range, the angled range of valid data is only 145 degree, that is, is swept
The effective percentage for retouching data is only 145/360=40%.Hence, it can be determined that the scan data that the scanning sensor of the prior art exports
Effective percentage it is lower.And the scan method of the present embodiment, can set output angle range as [315 °, 30 °] and [50 °,
120 °], scan data is analyzed, only scanning angle is located at the scan data within the scope of the output angle, just carries out defeated
Out, it is otherwise set although the output angle range of setting is greater than practical the gone out angular range of target by this without output
It is fixed, it is possible to reduce the output of the scan data within the scope of output angle to be largely not at, to greatly improve output data
Effective percentage, substantially reduce the data volume of output data, demand of the scanning sensor to output bandwidth also just greatly reduce.
Simultaneously as not needing output invalid data reduces the output of valid data but also valid data can be exported timely
Delay.
In the present embodiment, the output angle range can be adjusted by output area adjustment instruction.Such as institute in Fig. 2
Show, target 1 changes relative to the position of scanning sensor, and new position is as shown in the target 1`(dotted line in Fig. 2), target
The scanning angle of 1 new position relative scanning sensor is [0 °, 75 °].If using fixed output angle range, Ke Nengsui
Variation of the scanning sensor relative to target position, scanning sensor possibly can not scan target, therefore, in the present embodiment
Using adjustable output angle range.Former output angle range [315 °, 30 °] is adjusted to by output area adjustment instruction
New output angle range [0 °, 75 °].
It in the present embodiment, further include that the output angle range of overlapping is merged into an output angle range.Due to mesh
Mark 1 position change, after being adjusted to output angle range, new output angle range include [0 °, 75 °] and
[50 °, 120 °] two overlapped sections.Therefore, in the present embodiment, two output angle ranges is judged, hair is worked as
When raw overlapping, merges, merge into new output angle range [0 °, 120 °].
In the present embodiment, the preset output angle range includes horizontal angular range and/or range of vertical angles.
For the scanning sensor for being only capable of being scanned in a planar dimensions, horizontal angular range can be only set.And for can
It is enough that the sensor of scanning is adjusted in two planar dimensions, output angle model is arranged with regard to two different planar dimensions respectively
It encloses, so as to accurately determine the output of scanning sensor.
As shown in figure 3, the scanning sensor of the present embodiment, including scanning sensor ontology, control module and communication module；
The scanning sensor ontology is for being scanned acquisition scan data；The control module is stored with preset output angle model
It encloses, and for judging that the scanning angle of the scan data passes through when the scanning angle falls into the output angle range
The communication module exports the scan data, does not otherwise export the scan data.
In the present embodiment, scanning sensor, controller and communication module can be integrated, i.e. controller and communication mould
Block is placed in the inside of scanning sensor equipment.It can also be using seperated design, i.e., as shown in Figure 3, controller and communication module
It is arranged in scanning sensor device external.The relationship between each section is clearly showed that in the present embodiment for convenience, using point
Body design.
In the present embodiment, the output angle range includes at least one angular interval.The output angle range packet
Include horizontal angular range and/or range of vertical angles.The communication module is also used to receive the output area of external equipment transmission
Adjustment instruction, the control module adjust the output angle range according to the output area adjustment instruction.The control mould
Block is also used to be overlapped two output angle ranges merging into an output angle range.
Above-mentioned only presently preferred embodiments of the present invention, is not intended to limit the present invention in any form.Although of the invention
It has been disclosed in a preferred embodiment above, however, it is not intended to limit the invention.Therefore, all without departing from technical solution of the present invention
Content, technical spirit any simple modifications, equivalents, and modifications made to the above embodiment, should all fall according to the present invention
In the range of technical solution of the present invention protection.
Claims (10)
1. a kind of scanning detection method of scanning sensor, which comprises the steps of:
S1. scanning sensor obtains scan data and scanning angle by scanning；
S2. judge whether the scanning angle falls into preset output angle range, be to export the scan data and described
Otherwise scanning angle does not export the scan data.
2. the scanning detection method of scanning sensor according to claim 1, it is characterised in that: the output angle range
Including at least one angular interval.
3. the scanning detection method of scanning sensor according to claim 2, it is characterised in that: the output angle range
It can be adjusted by output area adjustment instruction.
4. the scanning detection method of scanning sensor according to claim 3, it is characterised in that: further include will be overlapped it is defeated
Angular range merges into an output angle range out.
5. the scanning detection method of scanning sensor according to claim 4, it is characterised in that: the preset output angle
Spending range includes horizontal angular range and/or range of vertical angles.
6. a kind of scanning sensor, it is characterised in that: including scanning sensor ontology, control module and communication module；
The scanning sensor ontology is for being scanned acquisition scan data；
The control module is stored with preset output angle range, and the scanning angle for judging the scan data, when
When the scanning angle falls into the output angle range, the scan data is exported by the communication module, it is otherwise not defeated
The scan data out.
7. scanning sensor according to claim 6, it is characterised in that: the output angle range includes at least one angle
Spend section.
8. scanning sensor according to claim 7, it is characterised in that: the output angle range includes level angle model
It encloses and/or range of vertical angles.
9. scanning sensor according to claim 8, it is characterised in that: the communication module is also used to receive external equipment
The output area adjustment instruction of transmission, the control module adjust the output angle model according to the output area adjustment instruction
It encloses.
10. scanning sensor according to claim 9, it is characterised in that: the control module be also used to be overlapped two
A output angle range merges into an output angle range.
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| CN201711174375.XA CN109814168A (en) | 2017-11-22 | 2017-11-22 | The scanning detection method and scanning sensor of scanning sensor |
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| CN201711174375.XA CN109814168A (en) | 2017-11-22 | 2017-11-22 | The scanning detection method and scanning sensor of scanning sensor |
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| CN107085207A (en) * | 2017-04-01 | 2017-08-22 | 北京图来激光科技有限公司 | A kind of 360 ° of scanning probe laser radar apparatus |
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Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005249743A (en) * | 2004-03-08 | 2005-09-15 | Omron Corp | Radar system |
| CN102723993A (en) * | 2012-05-25 | 2012-10-10 | 中国科学院高能物理研究所 | Data transmission device based on rotating ellipsoid reflection in computer tomography imaging equipment |
| CN103208186A (en) * | 2013-03-19 | 2013-07-17 | 北京万集科技股份有限公司 | Method and device for scanning vehicles in three-dimensional mode through laser |
| CN203433110U (en) * | 2013-08-30 | 2014-02-12 | 东风商用车有限公司 | Laser scanning mechanism of radar for vehicle |
| CN104142353A (en) * | 2014-06-06 | 2014-11-12 | 清华大学 | Method and system for positioning local CT scanning with assistance of visible imaging |
| CN104199043A (en) * | 2014-08-25 | 2014-12-10 | 安徽建筑大学 | Traffic sign detecting method |
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