CN109884656B - Laser radar for realizing scanning view field partition and ranging method - Google Patents
Laser radar for realizing scanning view field partition and ranging method Download PDFInfo
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Abstract
The invention provides a laser radar and a distance measurement method for realizing scanning field division, wherein the laser radar comprises the following components: the transmitting system comprises a first laser light source and a second laser light source, the first laser light source is used for emitting a first laser beam, and the second laser light source is used for emitting a second laser beam; the first laser beam is used for scanning a first area of a space to be measured, and the second laser beam is used for scanning a second area of the space to be measured; the receiving system comprises a first detector and a second detector, wherein the first detector is used for receiving a first echo signal returned by the first laser beam, and the second detector is used for receiving a second echo signal returned by the second laser beam. The invention can realize the detection of different areas by the same laser radar.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a laser radar and a distance measuring method for realizing scanning view field partitioning.
Background
The laser radar actively emits laser beams to the area to be detected and detects echo signals reflected by the space to be detected, so that the three-dimensional space information of the area to be detected can be obtained. Because the laser radar has high ranging precision and high response speed, and can obtain enough abundant three-dimensional space information, the laser radar has wide application in various directions such as machine vision, auxiliary driving, indoor scene scanning reconstruction and the like.
However, the existing laser radar product can only detect a certain region, and when a plurality of regions need to be detected simultaneously, a plurality of laser radars are often used in a matched manner to meet application requirements.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the laser radar and the distance measurement method for realizing the scanning field division, and the invention realizes the simultaneous detection of different areas by the same laser radar.
In order to achieve the purpose, the invention provides the following technical scheme:
in a first aspect, the present invention provides a lidar for implementing a scan field partitioning, comprising: the system comprises a transmitting system, a receiving system and a control and signal processing unit, wherein the control and signal processing unit is respectively connected with the transmitting system and the receiving system;
the transmitting system comprises a first laser light source and a second laser light source, wherein the first laser light source is used for emitting a first laser beam, and the second laser light source is used for emitting a second laser beam; the first laser beam is used for scanning a first area of a space to be measured, and the second laser beam is used for scanning a second area of the space to be measured;
the receiving system comprises a first detector and a second detector, the first detector is used for receiving a first echo signal returned by the first laser beam, and the second detector is used for receiving a second echo signal returned by the second laser beam;
and the control and signal processing unit is used for controlling the transmitting system to transmit laser and processing the echo signals acquired by the receiving system so as to acquire the spatial distribution information of the space to be measured.
Further, the space that awaits measuring is laser radar place ahead space, first region is the long-distance region in laser radar the place ahead, the second region is the near-end road surface region in laser radar the place ahead.
Further, if the height of the laser radar from the ground is H, the farthest distance of the first laser beam in front of the laser radar is D, and the included angle between the light of the upper edge of the first laser beam and the horizontal axis of the laser radar is alpha1The included angle between the lower edge light of the first laser beam and the horizontal axis of the laser radar is alpha2The scanning field angle of the first laser beam is alpha1+α2The scanning height of the edge ray on the first laser beam is H1 ═ H + D × tan α1The scanning height of the lower edge ray of the first laser beam is H2 ═ H-D × tan α2The long-distance region in front of the laser radar detected by the first laser beam is a range determined by the upper edge light of the first laser beam and the lower edge light of the first laser beam, and the maximum width of the detection range in a plane perpendicular to the ground is Dx (tan alpha)1+tanα2)。
Further, if the height of the laser radar from the ground is H, the included angle between the light of the upper edge of the second laser beam and the horizontal axis of the laser radar is beta1The included angle between the lower edge light of the second laser beam and the horizontal axis of the laser radar is beta2The scanning field angle of the second laser beam is beta2-β1The distance from the intersection point A of the upper edge ray of the second laser beam and the ground to the laser radar is D1 ═ H/tan beta1The distance from the intersection point B of the lower edge ray of the second laser beam and the ground to the laser radar is D2 ═ H/tan beta2The near-end road surface area in front of the laser radar detected by the second laser beam is a range determined by the upper edge light of the second laser beam and the lower edge light of the second laser beam, and the maximum width of the detection range in a plane parallel to the ground is H/tan beta1-H/tanβ2。
Further, the number of scanning lines included in the first laser beam and the number of scanning lines included in the second laser beam are different from each other, and the scanning angle resolution is different from each other.
Further, the transmission system further includes: a collimating lens group;
the laser emitted by the first laser source forms a first laser beam after passing through the collimating mirror group, and the laser emitted by the second laser source forms a second laser beam after passing through the collimating mirror group.
Further, the receiving system further includes: a receiving lens group;
a first echo signal returned by the first laser beam is received by the first detector after passing through the receiving mirror group;
and a second echo signal returned by the second laser beam is received by the second detector after passing through the receiving mirror group.
Further, the lidar further comprises: a motor and a motor driving module;
the motor and the motor driving module are used for driving the laser radar to rotate, and 360-degree scanning is achieved.
In a second aspect, the present invention further provides a ranging method for implementing a lidar for scanning field division based on any one of the above, including:
scanning a first area of a space to be measured by using a first laser beam emitted by the first laser light source;
scanning a second area of the space to be measured by using a second laser beam emitted by the second laser light source;
and obtaining the spatial distribution information of the space to be measured according to the processing result of the control and signal processing unit.
Further, the space that awaits measuring is laser radar place ahead space, first region is the long-distance region in laser radar the place ahead, the second region is the near-end road surface region in laser radar the place ahead.
As can be seen from the above description, the present invention has at least the following advantages:
1. according to the laser radar provided by the invention, the first laser light source and the second laser light source are used for respectively detecting different areas of a space to be detected, so that the same laser radar can simultaneously detect different areas, the number of the laser radars can be effectively reduced, and the equipment cost is reduced.
2. The laser radar provided by the invention is used for detecting the space to be detected in a partitioning manner, can be used for detecting the area right in front of equipment in a long distance, and can also be used for detecting the short-distance road surface and the road surface obstacles.
3. The laser radar provided by the invention can reduce the short-distance detection blind area by adjusting the relevant parameters of the equipment. For example, the included angle beta between the lower edge light of the second laser beam and the horizontal axis of the laser radar is increased2The short-distance detection blind area can be reduced.
4. According to the laser radar provided by the invention, the effective utilization rate of the point cloud data can be improved by reasonably distributing light rays to different detection areas. For example, the scanning field of view, the number of scanning lines and the scanning resolution of the emphasis detection area are improved, and the scanning field of view, the number of scanning lines and the scanning resolution of the non-emphasis detection area are reduced.
Of course, it is not necessary for any method or product to achieve all of the above-described advantages at the same time for practicing the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a lidar for implementing a scan field partitioning according to an embodiment of the present invention;
FIG. 2 is a schematic view of a detection field of view of a lidar provided by an embodiment of the present invention;
FIG. 3 is a schematic view of a long-range scan of a lidar in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram of a close-range scan of a lidar according to an embodiment of the invention;
fig. 5 is a flowchart of a lidar ranging method according to another embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An embodiment of the present invention provides a laser radar for implementing a scanning field partitioning, and referring to fig. 1, the laser radar 100 includes: a transmitting system 110, a receiving system 120 and a control and signal processing unit 130, wherein the control and signal processing unit 130 is connected with the transmitting system 110 and the receiving system 120 respectively.
The emission system 110 includes a first laser light source 111, a second laser light source 112 and a collimating mirror group 113, wherein laser light emitted by the first laser light source 111 passes through the collimating mirror group 113 to form a first laser beam 116 for scanning a first region of a space to be detected and detecting spatial information of the first region, and laser light emitted by the second laser light source 112 passes through the collimating mirror group 113 to form a second laser beam 117 for scanning a second region of the space to be detected and detecting spatial information of the second region; it will be appreciated that the first region may be an upper region of the space to be measured or a remote region of the space to be measured. The second area may be an area below the space to be measured or a close range area of the space to be measured.
The receiving system 120 includes a first detector 121, a second detector 122, and a receiving mirror group 123, wherein a first echo signal 126 formed by the first laser beam 116 irradiating on the object and reflecting is converged on the first detector 121 through the receiving mirror group 123, and a second echo signal 127 formed by the second laser beam 117 irradiating on the object and reflecting is converged on the second detector 122 through the receiving mirror group 123. In fig. 1, 115 denotes the center line of the transmitting system and 125 denotes the center line of the receiving system.
The control and signal processing unit 130 is configured to control the transmitting system 110 to perform laser transmission, and process the echo signal acquired by the receiving system 120 to obtain spatial distribution information of the space to be measured.
Preferably, the lidar further comprises: and the motor and motor driving module 140 is used for driving the laser radar to rotate, so that 360-degree scanning is realized.
In addition, in practical applications, the lidar may further include a power supply module 150 and a communication module 160. The power supply module 150 is configured to supply power to the modules, such as the transmitting system 110, the receiving system 120, the control and signal processing unit 130, and the motor and motor driving module 140. The communication module 160 is responsible for data transmission between the control and signal processing unit 130 and other devices.
It is understood that the light beams emitted by the first laser light source 111 and the second laser light source 112 are array laser light beams. The first laser light source 111 may include a plurality of laser light sources, and the second laser light source 112 may include a plurality of laser light sources.
It is understood that the number of scanning lines included in the first laser beam emitted by the first laser light source 111 and the number of scanning lines included in the second laser beam emitted by the second laser light source 112 may be the same or different. The first laser beam emitted by the first laser source 111 and the second laser beam emitted by the second laser source 112 may have the same or different scanning angle resolutions. In practical applications, the scanning fields of view, the number of scanning lines and the scanning resolution of the first laser light source 111 and the second laser light source 112 can be adjusted according to specific application scenarios.
As can be seen from the above description, in the laser radar provided in the embodiment of the present invention, the first laser light source and the second laser light source are respectively used to detect different areas of the space to be detected, so that the same laser radar can simultaneously detect different areas, and thus, the number of the laser radars can be effectively reduced, and the equipment cost can be reduced.
Fig. 2 is a schematic view of a detection field of view of a lidar according to an embodiment of the present invention. Referring to fig. 2, in an alternative embodiment, when the space to be measured is a space in front of the lidar, the first region is a long-distance region in front of the lidar and may be referred to as an upper scanning range 220 in fig. 2, and the second region is a near-end road surface region in front of the lidar and may be referred to as a lower scanning range 230 in fig. 2.
Referring to fig. 2, it is assumed that the height of the lidar 100 from the ground 400 is H, the farthest distance in front of the first laser beam detection is D, and the included angle between the light of the upper edge of the first laser beam and the horizontal axis 210 of the lidar is α1The angle between the lower edge of the first laser beam and the horizontal axis 210 of the lidar is alpha2The scanning field angle of the first laser beam is alpha1+α2The scanning height of the edge ray on the first laser beam is H1 ═ H + D × tan α1The scanning height of the lower edge ray of the first laser beam is H2 ═ H-D × tan α2The long-distance region in front of the laser radar detected by the first laser beam isA range defined by the upper edge light of the laser beam and the lower edge light of the first laser beam, wherein the maximum width of the detection range in a plane vertical to the ground is Dx (tan alpha)1+tanα2)。
When the farthest detection distance D satisfies the condition 50m < D <100m, the upper edge light scanning height H1 of the upper scanning range 220 is greater than the overall height of the laser radar for detecting whether there is an obstacle higher than the device in front. When the farthest detection distance D satisfies the condition D >100m, the lower edge light scanning height H2 of the upper scanning range 220 is higher than the ground 400, and the upper scanning range 220 mainly scans whether an obstacle exists in a long distance right in front of the laser radar.
Referring to fig. 2, it is assumed that the height of the laser radar from the ground is H, and the included angle between the light of the upper edge of the second laser beam and the horizontal axis of the laser radar is β1The included angle between the lower edge light of the second laser beam and the horizontal axis of the laser radar is beta2The scanning field angle of the second laser beam is beta2-β1The distance from the intersection point A of the upper edge ray of the second laser beam and the ground to the laser radar is D1 ═ H/tan beta1The distance from the intersection point B of the lower edge ray of the second laser beam and the ground to the laser radar is D2 ═ H/tan beta2The near-end road surface area in front of the laser radar detected by the second laser beam is a range determined by the upper edge light of the second laser beam and the lower edge light of the second laser beam, and the maximum width of the detection range in a plane parallel to the ground is H/tan beta1-H/tanβ2. As can be seen from fig. 2, the lower scanning range 230 is focused on a range near the front of the laser radar and the front road surface 400.
Fig. 3 is a schematic view of long-range scanning of the laser radar provided in this embodiment. The upper edge light ray position of the upper scanning range 220 satisfies H1 ═ H + D × tan α1When the height of the obstacle is lower than H1, the obstacle can be detected. The lower edge ray of the upper scanning range 220 is scanned right onto the road 400, and the measured distance D3 ═ H/tan α2When the obstacle position is larger than D3, any obstacle on the road surface can be detected with satisfactory detection capability. When the position of the obstacle is smallAt D3, the height is greater than H-Dxtan alpha2The obstacle can be detected.
Fig. 4 is a schematic diagram of short-range scanning of the laser radar provided in this embodiment. The upper edge of the lower scanning range 230 is spaced from the lidar D1 and the lower edge of the lower scanning range 230 is spaced from the lidar D2. Obstacle position D0When greater than D1, the height is greater than H-D0×tanα2The obstacle can be detected. When the position of the obstacle is larger than D2 and smaller than D1, any obstacle on the road surface can be detected with satisfactory detection capability. When the position of the obstacle is D0Less than D2, greater than H-D0×tanβ2Can be detected.
As can be seen from fig. 2 to 4, the laser radar 100 provided in this embodiment divides the laser scanning into two parts, the upper scanning range 220 mainly detects the far-distance area in front of the laser radar, and the lower scanning range 230 mainly detects the information of the near-end road surface in front of the laser radar. The overall scan angle range of laser radar 100 is α1+β2. The shortest distance of the laser radar 100 to detect the road surface is D2, a near-field scanning blind area 250 exists in front of the laser radar 100, and the smaller the D2 is, the smaller the near-field blind area 250 scanned by the laser radar 100 is. The farthest distance that laser radar 100 detects the road surface is D1. Lidar 100 recognizes the minimum height of a distant object as H2 and lidar 100 recognizes the maximum height of a distant object as H1. There is a scanning gap 240 between the upper scanning range 220 and the lower scanning range 230, the gap angle ranging from β1–α2Since the value of the light scanning data in the area is low, no light is set. Laser radar 100 increases beta without changing the complexity of the device2The angle of (2) reduces the near-field scanning blind area, reasonably sets the angle of the scanning gap 240, and improves the effectiveness of laser scanning data. It can be seen that, in the laser radar provided by this embodiment, the laser scanning is divided into the upper and lower parts, the two parts are independent from each other, in order to adapt to different scanning scenes, the scanning fields of the detection areas of the upper and lower parts are different, and the number of scanning lines and the scanning resolution can also be set to be differentThe same is true.
As can be seen from the foregoing specific embodiments, the laser radar provided in the embodiments of the present invention performs partitioned detection on a space to be detected, and can perform both long-distance detection on an area right in front of a device and detection on a short-distance road surface and a road surface obstacle. Therefore, the laser radar provided by the embodiment of the invention can be applied to application scenes such as machine vision, auxiliary driving, indoor scene scanning reconstruction and the like. In addition, the embodiment can reduce the short-distance detection blind area by adjusting the relevant parameters of the equipment. For example, the included angle beta between the lower edge light of the second laser beam and the horizontal axis of the laser radar is increased2The short-distance detection blind area can be reduced. Further, this embodiment can improve the effective utilization ratio of the measurement point cloud data through carrying out the rational distribution of light to different detection areas. For example, the scanning view field, the number of scanning lines and the scanning resolution of the emphasis detection area are improved, and the scanning view field, the number of scanning lines and the scanning resolution of the non-emphasis detection area are reduced.
Based on the same inventive concept, another embodiment of the present invention further provides a ranging method for implementing a lidar for scanning field division based on the above embodiment, with reference to fig. 5, the method includes:
step S1: and scanning a first area of the space to be measured by using a first laser beam emitted by the first laser light source.
Step S2: and scanning a second area of the space to be measured by using a second laser beam emitted by the second laser light source.
Step S3: and obtaining the spatial distribution information of the space to be measured according to the processing result of the control and signal processing unit.
Preferably, the space that awaits measuring is laser radar place ahead space, first region is the long-distance region in laser radar the place ahead, the second region is the near-end road surface region in laser radar the place ahead.
It should be understood that the order of the steps of the method illustrated in the present embodiment is set only for explaining the technical principle of the present invention, and is not limited to the order of the steps in the actual operation. It is understood that the above steps S1 and S2 are simultaneous processes in actual operation.
In the lidar ranging method provided by this embodiment, the lidar for realizing the scanning field division described in the above embodiment is adopted, so the principle and technical effect are similar, and details are not repeated here.
The above examples are only for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. A lidar configured to implement a scan field partitioning, comprising: the system comprises a transmitting system, a receiving system and a control and signal processing unit, wherein the control and signal processing unit is respectively connected with the transmitting system and the receiving system;
the transmitting system comprises a first laser light source and a second laser light source, wherein the first laser light source is used for emitting a first laser beam, and the second laser light source is used for emitting a second laser beam; the first laser beam is used for scanning a first area of a space to be measured, and the second laser beam is used for scanning a second area of the space to be measured;
the receiving system comprises a first detector and a second detector, the first detector is used for receiving a first echo signal returned by the first laser beam, and the second detector is used for receiving a second echo signal returned by the second laser beam;
the control and signal processing unit is used for controlling the transmitting system to transmit laser and processing echo signals acquired by the receiving system to acquire spatial distribution information of a space to be measured;
the space to be measured is a space in front of the laser radar, the first area is a long-distance area in front of the laser radar, and the second area is a near-end road surface area in front of the laser radar;
wherein, if the height of laser radar apart from ground is H, the farthest distance that first laser beam surveyed the place ahead is D, and the contained angle of first laser beam top edge light and laser radar horizontal axis is alpha1The included angle between the lower edge light of the first laser beam and the horizontal axis of the laser radar is alpha2The scanning field angle of the first laser beam is alpha1+α2The scanning height of the edge ray on the first laser beam is H1 ═ H + D × tan α1The scanning height of the lower edge ray of the first laser beam is H2 ═ H-D × tan α2The long-distance region in front of the laser radar detected by the first laser beam is a range determined by the upper edge light of the first laser beam and the lower edge light of the first laser beam, and the maximum width of the detection range in a plane perpendicular to the ground is Dx (tan alpha)1+tanα2)；
If the height of the laser radar from the ground is H, the included angle between the upper edge light of the second laser beam and the horizontal axis of the laser radar is beta1The included angle between the lower edge light of the second laser beam and the horizontal axis of the laser radar is beta2The scanning field angle of the second laser beam is beta2-β1The distance from the intersection point A of the upper edge ray of the second laser beam and the ground to the laser radar is D1 ═ H/tan beta1The distance from the intersection point B of the lower edge ray of the second laser beam and the ground to the laser radar is D2 ═ H/tan beta2The near-end road surface area in front of the laser radar detected by the second laser beam is a range determined by the upper edge light of the second laser beam and the lower edge light of the second laser beam, and the maximum width of the detection range in a plane parallel to the ground is H/tan beta1-H/tanβ2。
2. The lidar of claim 1, wherein the first laser beam comprises a different number of scan lines than the second laser beam comprises and a different angular resolution of scan lines.
3. The lidar of claim 1, wherein the transmit system further comprises: a collimating lens group;
the laser emitted by the first laser source forms a first laser beam after passing through the collimating mirror group, and the laser emitted by the second laser source forms a second laser beam after passing through the collimating mirror group.
4. The lidar of claim 1, wherein the receiving system further comprises: a receiving lens group;
a first echo signal returned by the first laser beam is received by the first detector after passing through the receiving mirror group;
and a second echo signal returned by the second laser beam is received by the second detector after passing through the receiving mirror group.
5. The lidar of claim 1, further comprising: a motor and a motor driving module;
the motor and the motor driving module are used for driving the laser radar to rotate, and 360-degree scanning is achieved.
6. A lidar ranging method based on the lidar for realizing scanning field division according to any of claims 1 to 5, comprising:
scanning a first area of a space to be measured by using a first laser beam emitted by the first laser light source;
scanning a second area of the space to be measured by using a second laser beam emitted by the second laser light source;
and obtaining the spatial distribution information of the space to be measured according to the processing result of the control and signal processing unit.
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| CN118311587A (en) * | 2022-12-28 | 2024-07-09 | 武汉万集光电技术有限公司 | OPA laser radar, target detection method, device, medium and product |
| CN116884250B (en) * | 2023-07-12 | 2024-01-26 | 凉山州交通运输应急指挥中心 | Early warning method based on laser radar and expressway early warning system |
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| US10451740B2 (en) * | 2016-04-26 | 2019-10-22 | Cepton Technologies, Inc. | Scanning lidar systems for three-dimensional sensing |
| CN106291509B (en) * | 2016-10-12 | 2019-05-17 | 北京万集科技股份有限公司 | Laser radar optical system |
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