CN111670385A

CN111670385A - Data processing method, detection device, data processing device and movable platform

Info

Publication number: CN111670385A
Application number: CN201980005389.XA
Authority: CN
Inventors: 李延召; 张富; 陈涵; 王闯
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2019-01-07
Filing date: 2019-01-07
Publication date: 2020-09-15
Also published as: WO2020142879A1

Abstract

The embodiment of the invention provides a data processing method, a detection device, a data processing device and a movable platform of a scanning point. A data processing method of a scanning point comprises the following steps: detecting an echo signal in a transmit signal direction; determining the type of a scanning point corresponding to the transmitting signal direction according to whether an echo signal is detected in the transmitting signal direction; if an echo signal is detected in the transmitting signal direction, determining that the type of the scanning point is a normal scanning point; and if no echo signal is detected in the transmitting signal direction, determining that the type of the scanning point is a sky scanning point. The type of the scanning point in the direction of the transmitted signal can be determined, and the accuracy of object identification can be improved.

Description

Data processing method, detection device, data processing device and movable platform

Technical Field

The embodiment of the invention relates to the technical field of data processing, in particular to a data processing method, a detection device, a data processing device and a movable platform.

Background

Detection devices such as laser radars can transmit detection signals to different directions, so that depth information, reflectivity information and the like of an object can be acquired according to echoes of different directions. However, since the detection devices are typically discretely sampled, there are many directions in space that are not scanned. In addition, the probe signal emitted into the sky does not produce an echo. In the related art, the unscanned points and sky scanning points are not distinguished, so that wrong information distribution is caused, and subsequent processing such as object identification is not facilitated.

Disclosure of Invention

The embodiment of the invention provides a data processing method, a detection device, a data processing device and a movable platform.

In a first aspect, an embodiment of the present invention provides a data processing method for a scanning point, where the method includes:

detecting an echo signal in a transmit signal direction;

determining the type of a scanning point corresponding to the transmitting signal direction according to whether an echo signal is detected in the transmitting signal direction;

if an echo signal is detected in the transmitting signal direction, determining that the type of the scanning point is a normal scanning point;

and if no echo signal is detected in the transmitting signal direction, determining that the type of the scanning point is a sky scanning point.

In a second aspect, an embodiment of the present invention provides a data processing method for a scanning point, where the method includes:

acquiring scanning point data corresponding to the scanning points to determine the types of the scanning points;

wherein the types of the scanning points comprise a normal scanning point and a sky scanning point.

In a third aspect, an embodiment of the present invention provides a detection apparatus, including at least a memory and a processor; the memory is connected with the processor through a communication bus and is used for storing computer instructions executable by the processor; the processor is to read computer instructions from the memory to implement: the steps of the method of the first aspect.

In a fourth aspect, an embodiment of the present invention provides a data processing apparatus, including at least a memory and a processor; the memory is connected with the processor through a communication bus and is used for storing computer instructions executable by the processor; the processor is to read computer instructions from the memory to implement: the steps of the method of the second aspect.

In a fifth aspect, an embodiment of the present invention provides a movable platform, where the movable platform at least includes a machine body, a power supply battery disposed on the machine body, a power system, and the detection device of the third aspect, where the detection device is configured to detect a target scene, the power supply battery is capable of supplying power to the power system, and the power system provides power for the movable platform.

According to the technical scheme, in the embodiment, the type of the scanning point corresponding to the transmitting signal direction is determined by detecting the echo signal in the transmitting signal direction and then according to whether the echo signal is detected in the transmitting signal direction, and if the echo signal is detected in the transmitting signal direction, the type of the scanning point is determined to be a normal scanning point; if no echo signal is detected in the direction of the transmitted signal, the type of the scanning point is determined to be a sky scanning point. Therefore, the type of the scanning point in the emission signal direction can be determined in the embodiment, and then the sky scanning point can be eliminated in the subsequent interpolation process, so that the phenomenon that the edge of an object in the sky is widened is avoided, and the accuracy of object identification is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

Fig. 1 is a block diagram of a detection apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a detection apparatus using a coaxial optical path according to an embodiment of the present invention;

fig. 3 is a flowchart of a data processing method for scanning a point according to an embodiment of the present invention;

fig. 4 is a flowchart of another data processing method for scanning points according to an embodiment of the present invention;

fig. 5 is a flowchart of a data processing method for a scanning point according to another embodiment of the present invention;

fig. 6 is a flowchart of a data processing method for scanning a point according to an embodiment of the present invention;

FIG. 7 is a flow chart of determining the type of scan point provided by an embodiment of the present invention;

fig. 8 is a flowchart of a data processing method for scanning a point according to an embodiment of the present invention;

FIG. 9 is a block diagram of a detection apparatus provided in an embodiment of the present invention;

fig. 10 is a block diagram of a data processing apparatus according to an embodiment of the present invention;

fig. 11 is a perspective view of a movable platform according to an embodiment of the present invention.

Detailed Description

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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.

At present, detection devices such as laser radars can transmit detection signals to different directions, so that data such as depth information and reflectivity information of an object can be acquired according to echo signals of different directions. However, since the detection device is usually discretely sampled, many directions in the space are not scanned, and the points corresponding to such non-scanned directions usually need to be filled with their information loss through a specific algorithm, such as an interpolation algorithm, in the subsequent processing. In addition, the detection signal emitted into the sky can not generate an echo, but the sky scanning point does not need to be padded. In the related art, the processing that the points which are not scanned and the sky scanning points are not distinguished is performed, and information filling on the sky scanning points in the interpolation step can cause wrong information distribution, such as the problem of widening of the edge of an object in the sky, and is not beneficial to subsequent processing such as object identification.

For this reason, various embodiments of the present invention provide a data processing method for a scanning point, which may be applied to a detection device, where the detection device may be an electronic device such as a laser radar, a millimeter wave radar, or an ultrasonic radar. In one embodiment, the detection device is used to sense external environmental information, such as distance information, orientation information, reflection intensity information, velocity information, etc. of environmental objects. In one implementation, the detection device may detect the distance from the detection device to the detection object by measuring a Time-of-Flight (TOF) Time of light propagation between the detection device and the detection object. Alternatively, the detecting device may detect the distance from the detecting object to the detecting device by other techniques, such as a distance measuring method based on phase shift (phase shift) measurement or a distance measuring method based on frequency shift (frequency shift) measurement, which is not limited herein.

For ease of understanding, the following describes an example of the ranging process with reference to the detection apparatus 100 shown in fig. 1.

Referring to fig. 1, the detection apparatus 100 may include a transmission circuit 110, a reception circuit 120, a sampling circuit 130, and an operation circuit 140.

The transmit circuitry 110 may transmit a sequence of light pulses (e.g., a sequence of laser pulses). The receiving circuit 120 may receive an optical pulse sequence (which may also be referred to as an echo signal) reflected by the detected object, perform photoelectric conversion on the optical pulse sequence to obtain an electrical signal, process the electrical signal, and output the electrical signal to the sampling circuit 130. The sampling circuit 130 may sample the electrical signal to obtain a sampling result. The arithmetic circuit 140 may determine the distance between the detection apparatus 100 and the detected object based on the sampling result of the sampling circuit 130.

Optionally, the detection apparatus 100 may further include a control circuit 150, and the control circuit 150 may implement control of other circuits, for example, may control an operating time of each circuit and/or perform parameter setting on each circuit, and the like.

It should be understood that, although the detecting device shown in fig. 1 includes a transmitting circuit, a receiving circuit, a sampling circuit and an arithmetic circuit for emitting a light beam to detect, the embodiments of the present application are not limited thereto, and the number of any one of the transmitting circuit, the receiving circuit, the sampling circuit and the arithmetic circuit may be at least two, and the at least two light beams are emitted in the same direction or in different directions respectively; the at least two light paths may be emitted simultaneously or at different times. In one example, the light emitting chips in the at least two transmitting circuits are packaged in the same module. For example, each transmitting circuit comprises a laser emitting chip, and the laser emitting chips in the at least two transmitting circuits can be packaged together and accommodated in the same packaging space.

In some embodiments, in addition to the circuit shown in fig. 1, the detecting device 100 may further include a scanning module 160 for changing the propagation direction of at least one laser pulse sequence emitted from the emitting circuit.

Here, a module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, and the operation circuit 140, or a module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, the operation circuit 140, and the control circuit 150 may be referred to as a ranging module, and the ranging module 150 may be independent of other modules, for example, the scanning module 160.

The detection device may adopt a coaxial optical path, that is, the light beam emitted from the detection device and the reflected light beam share at least part of the optical path in the detection device. For example, at least one path of laser pulse sequence emitted by the emitting circuit is emitted by the scanning module after the propagation direction is changed, and the laser pulse sequence reflected by the detector is emitted to the receiving circuit after passing through the scanning module. Alternatively, the detection device may also adopt an off-axis optical path, that is, the light beam emitted from the detection device and the reflected light beam are transmitted along different optical paths in the detection device. FIG. 2 shows a schematic diagram of an embodiment of the detection apparatus of the present invention using coaxial optical paths.

The detection apparatus 200 comprises a ranging module 210, the ranging module 210 comprising an emitter 203 (which may comprise the above-described transmitting circuitry), a collimating element 204, a detector 205 (which may comprise the above-described receiving circuitry, sampling circuitry and arithmetic circuitry), and a beam path altering element 206. The distance measuring module 210 is configured to emit a light beam, receive return light, and convert the return light into an electrical signal. Wherein the emitter 203 may be configured to emit a sequence of light pulses. In one embodiment, the transmitter 203 may emit a sequence of laser pulses. Optionally, the laser beam emitted by the emitter 203 is a narrow bandwidth beam having a wavelength outside the visible range. The collimating element 204 is disposed on an emitting light path of the emitter, and is configured to collimate the light beam emitted from the emitter 203, and collimate the light beam emitted from the emitter 203 into parallel light to be emitted to the scanning module. The collimating element is also for converging at least a portion of the return light reflected by the detector. The collimating element 204 may be a collimating lens or other element capable of collimating a light beam.

In the embodiment shown in fig. 2, the transmit and receive optical paths within the detection apparatus are combined by the optical path changing element 206 before the collimating element 204, so that the transmit and receive optical paths can share the same collimating element, making the optical path more compact. In other implementations, the emitter 203 and the detector 205 may use respective collimating elements, and the optical path changing element 206 may be disposed in the optical path after the collimating elements.

In the embodiment shown in fig. 2, since the beam aperture of the light beam emitted from the emitter 203 is small and the beam aperture of the return light received by the detection device is large, the optical path changing element can adopt a small-area mirror to combine the emission optical path and the reception optical path. In other implementations, the optical path changing element may also be a mirror with a through hole, wherein the through hole is used for transmitting the outgoing light from the emitter 203, and the mirror is used for reflecting the return light to the detector 205. Therefore, the shielding of the bracket of the small reflector to the return light can be reduced in the case of adopting the small reflector.

In the embodiment shown in fig. 2, the optical path altering element is offset from the optical axis of the collimating element 204. In other implementations, the optical path altering element may also be located on the optical axis of the collimating element 204.

The probing apparatus 200 also includes a scanning module 202. The scanning module 202 is disposed on the emitting light path of the distance measuring module 210, and the scanning module 202 is configured to change the transmission direction of the collimated light beam 219 emitted by the collimating element 204, project the collimated light beam to the external environment, and project the return light beam to the collimating element 204. The return light is converged by the collimating element 204 onto the detector 205.

In one embodiment, the scanning module 202 may include at least one optical element for altering the propagation path of the light beam, wherein the optical element may alter the propagation path of the light beam by reflecting, refracting, diffracting, etc., the light beam. For example, the scanning module 202 includes a lens, mirror, prism, galvanometer, grating, liquid crystal, Optical Phased Array (Optical Phased Array), or any combination thereof. In one example, at least a portion of the optical element is moved, for example, by a driving module, and the moved optical element can reflect, refract, or diffract the light beam to different directions at different times. In some embodiments, multiple optical elements of the scanning module 202 may rotate or oscillate about a common axis 209, with each rotating or oscillating optical element serving to constantly change the direction of propagation of an incident beam. In one embodiment, the multiple optical elements of the scanning module 202 may rotate at different rotational speeds or oscillate at different speeds. In another embodiment, at least some of the optical elements of the scanning module 202 may rotate at substantially the same rotational speed. In some embodiments, the multiple optical elements of the scanning module may also be rotated about different axes. In some embodiments, the multiple optical elements of the scanning module may also rotate in the same direction, or in different directions; or in the same direction, or in different directions, without limitation.

In one embodiment, the scanning module 202 includes a first optical element 214 and a driver 216 coupled to the first optical element 214, the driver 216 configured to drive the first optical element 214 to rotate about the rotation axis 209, such that the first optical element 214 redirects the collimated light beam 219. The first optical element 214 projects the collimated beam 219 into different directions. In one embodiment, the angle between the direction of the collimated beam 219 after it is altered by the first optical element and the rotational axis 109 changes as the first optical element 214 is rotated. In one embodiment, the first optical element 214 includes a pair of opposing non-parallel surfaces through which the collimated light beam 219 passes. In one embodiment, the first optical element 214 includes a prism having a thickness that varies along at least one radial direction. In one embodiment, the first optical element 214 comprises a wedge angle prism that refracts the collimated beam 219.

In one embodiment, the scanning module 202 further comprises a second optical element 215, the second optical element 215 rotating around a rotation axis 209, the rotation speed of the second optical element 215 being different from the rotation speed of the first optical element 214. The second optical element 215 is used to change the direction of the light beam projected by the first optical element 214. In one embodiment, the second optical element 215 is coupled to another driver 217, and the driver 217 drives the second optical element 215 to rotate. The first optical element 214 and the second optical element 215 may be driven by the same or different drivers, such that the first optical element 214 and the second optical element 215 rotate at different speeds and/or turns, thereby projecting the collimated light beam 219 into different directions in the ambient space, which may scan a larger spatial range. In one embodiment, the controller 218 controls the

drivers

216 and 217 to drive the first optical element 214 and the second optical element 215, respectively. The rotation speed of the first optical element 214 and the second optical element 215 can be determined according to the region and the pattern expected to be scanned in the actual application. The

drives

216 and 217 may include motors or other drives.

In one embodiment, second optical element 215 includes a pair of opposing non-parallel surfaces through which the light beam passes. In one embodiment, second optical element 215 includes a prism having a thickness that varies along at least one radial direction. In one embodiment, second optical element 215 comprises a wedge angle prism.

In one embodiment, the scan module 202 further comprises a third optical element (not shown) and a driver for driving the third optical element to move. Optionally, the third optical element comprises a pair of opposed non-parallel surfaces through which the light beam passes. In one embodiment, the third optical element comprises a prism having a thickness that varies along at least one radial direction. In one embodiment, the third optical element comprises a wedge angle prism. At least two of the first, second and third optical elements rotate at different rotational speeds and/or rotational directions.

Rotation of the optical elements in the scanning module 202 may project light in different directions, such as

directions

211 and 213, thus scanning the space around the detection device 200. When the light 211 projected by the scanning module 202 hits the detection object 201, a part of the light is reflected by the detection object 201 to the detection device 200 in a direction opposite to the projected light 211. The return light 212 reflected by the object 201 passes through the scanning module 202 and then enters the collimating element 204.

The detector 205 is placed on the same side of the collimating element 204 as the emitter 203, and the detector 205 is used to convert at least part of the return light passing through the collimating element 204 into an electrical signal.

In one embodiment, each optical element is coated with an antireflection coating. Optionally, the thickness of the antireflection film is equal to or close to the wavelength of the light beam emitted by the emitter 203, which can increase the intensity of the transmitted light beam.

In one embodiment, a filter layer is coated on a surface of a component in the light beam propagation path of the detection device, or a filter is disposed on the light beam propagation path for transmitting at least a wavelength band in which the light beam emitted from the emitter is located and reflecting other wavelength bands, so as to reduce noise of the ambient light to the receiver.

In some embodiments, the transmitter 203 may include a laser diode through which laser pulses in the order of nanoseconds are emitted. Further, the laser pulse reception time may be determined, for example, by detecting the rising edge time and/or the falling edge time of the electrical signal pulse. In this manner, the detecting apparatus 200 can calculate TOF using the pulse reception time information and the pulse emission time information, thereby determining the distance of the probe 201 from the detecting apparatus 200.

The distance and orientation detected by the detection device 200 may be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like. In one embodiment, the detection device of the embodiment of the present invention may be applied to a movable platform, and the detection device may be mounted on a platform body of the movable platform. The movable platform with the detection device can measure the external environment, for example, the distance between the movable platform and an obstacle is measured for the purpose of avoiding the obstacle, and the external environment is mapped in two dimensions or three dimensions. In certain embodiments, the movable platform comprises at least one of an unmanned aerial vehicle, an automobile, a remote control car, a robot, a camera. When the detection device is applied to the unmanned aerial vehicle, the platform body is a fuselage of the unmanned aerial vehicle. When the detection device is applied to an automobile, the platform body is the automobile body of the automobile. The vehicle may be an autonomous vehicle or a semi-autonomous vehicle, without limitation. When the detection device is applied to the remote control car, the platform body is the car body of the remote control car. When the detection device is applied to a robot, the platform body is the robot. When the detection device is applied to a camera, the platform body is the camera itself.

Fig. 3 is a flowchart of a data processing method for a scanning spot according to an embodiment of the present invention, and referring to fig. 3, the data processing method for a scanning spot includes steps 301 to 302, where:

in step 301, an echo signal in the direction of the transmitted signal is detected.

In one embodiment, the detection device may detect the echo signal in the direction of the transmitted signal after the transmitted signal. The detection mode can be seen from the content shown in fig. 1 and fig. 2, and is not described herein again.

In step 302, the type of the scanning point corresponding to the transmitting signal direction is determined according to whether an echo signal is detected in the transmitting signal direction.

In one embodiment, the detection device may determine whether the echo signal is detected, and since the detection device has a certain working range, for example, 1-100 meters, the detection device may calculate the flight time of the echo signal according to the speed of light and the working range, and use the received signal within the time range of the calculated flight time as the echo signal.

In one example, if the detection device detects an echo signal in the direction of the transmitted signal, the detection device determines that the type of the scanning spot is a normal scanning spot (corresponding to step 3021).

In another example, if the detection device does not detect the echo signal in the transmission signal direction, the detection device determines that the scanning spot is a sky scanning spot (corresponding to step 3022).

In some embodiments, referring to fig. 4, if an echo signal is detected, the detection device may determine a preset parameter value corresponding to the scanning point according to the echo signal (corresponding to step 401). If the preset parameter value is outside the working range of the detection device, the detection device discards the scanning point (corresponding to step 402).

Wherein the preset parameter value may include at least one of: depth values and reflectance values. Accordingly, if the preset parameter value is a depth value, the depth value outside the working range may be understood as being smaller than the minimum value corresponding to the working range, or larger than the maximum value corresponding to the working range. If the preset parameter value is a reflectance value, the reflectance value outside the working range can be understood as being greater than the maximum reflectance value corresponding to the working range or smaller than the minimum reflectance value corresponding to the working range.

It should be noted that, a technician may adjust the preset parameters and the working range of the detection device according to a specific scene, and under the condition that a normal scanning point and a sky scanning point can be determined, the corresponding scheme falls into the protection scope of the present application.

In one example, the working range of the detection device may be 1-100 meters, and the preset parameter value outside the working range may include two cases: the preset parameter value is less than 1 meter, or the preset parameter value is more than 100 meters.

For example, the detection device may include a protective device such as a protective cover, or the detection device may have impurities within 1 meter in front of it. When the transmitted signal meets a protection device or impurities, the transmitted signal reflects the optical pulse signal to form an echo signal, so that the detection device can detect the echo signal. Since the depth value calculated from the echo signal is less than 1 meter, i.e. outside the working range of the detection device, the detection device may determine that the echo signal belongs to an invalid echo signal and discard the scanning spot. Like this, this embodiment can guarantee the degree of accuracy of the echo signal of gathering through abandoning the scanning point, is favorable to promoting the degree of accuracy of follow-up processing scanning point data.

For another example, after the signal emitted by the detection device encounters a preceding object, the object may reflect the light pulse signal to other objects, and finally the echo signal is detected by the detection device. Since the depth value calculated by the detection device according to the echo signal after multiple reflections is greater than 100 meters, that is, the depth value corresponding to the echo signal is outside the working range of the detection device, the detection device can determine that the echo signal belongs to an invalid echo signal, and discard the scanning point. Like this, this embodiment can guarantee the degree of accuracy of the echo signal of gathering through abandoning the scanning point, is favorable to promoting the degree of accuracy of follow-up processing scanning point data.

In this embodiment, the type of the scanning point corresponding to the transmission signal direction is determined by detecting an echo signal in the transmission signal direction, and if an echo signal is detected in the transmission signal direction, the type of the scanning point is determined to be a normal scanning point; if no echo signal is detected in the direction of the transmitted signal, the type of the scanning point is determined to be a sky scanning point. Therefore, the type of the scanning point in the emission signal direction can be determined in the embodiment, and then the sky scanning point can be eliminated in the subsequent interpolation process, so that the phenomenon that the edge of an object in the sky is widened is avoided, and the accuracy of object identification is improved.

Fig. 5 is a flowchart of a data processing method for a scanning spot according to an embodiment of the present invention, and referring to fig. 5, a data processing method for a scanning spot includes steps 501 to 503, where:

in step 501, an echo signal in the direction of the transmitted signal is detected.

The specific method and principle of step 501 and step 301 are the same, please refer to fig. 3 and related contents of step 301 for detailed description, which is not repeated herein.

In step 502, according to whether an echo signal is detected in the transmission signal direction, the type of the scanning point corresponding to the transmission signal direction is determined.

The specific method and principle of step 502 and step 302 are the same, please refer to fig. 3 and related contents of step 302 for detailed description, which is not repeated herein.

In step 503, the scanning point data corresponding to the scanning point is encoded according to the type of the scanning point.

In an embodiment, after determining the type of the scanning point, the detection device may further encode scanning point data corresponding to the scanning point according to the type of the scanning point.

Optionally, the detection device may update a preset parameter value in the scanning point data corresponding to the sky scanning point by using the first preset value, so as to obtain updated scanning point data. Thus, the process of updating the scan point data completes the encoding of the scan point data.

Wherein the preset parameter value may include at least one of: depth values and reflectance values. In one example, the first preset value may comprise any value outside the operating range of the detection device. In another example, the first preset value may include at least one of: a fixed value or a random value.

Taking the depth value as an example, the working range of the detection device can be set to be 1-100 meters, and the first preset value is 200 meters. If the detection device determines that the scanned point is a sky scanned point, the depth value of the sky scanned point may be set to 200 meters.

Continuing with the depth value as an example, the working range of the detection device may be set to 1-100 meters, and the first preset value is a random value greater than 100 meters. If the detection device determines that the scanned point is a sky scanned point, the depth value of the sky scanned point may be randomly set to 105 meters.

In practical applications, the scan point data can be represented in different manners, such as in a polar coordinate manner or in a cartesian coordinate manner. Therefore, in this embodiment, the detection device processes the following processes according to the representation mode when encoding the scanning point data:

in an example, if the scan point data is represented by polar coordinates, the detecting device may update the preset parameter value in the polar coordinates corresponding to the scan point by using the first preset value.

Taking the preset parameter value as the depth value as an example, the scanning point data before updating (angle 1, angle 2, depth value, reflectivity value) and the scanning point data after updating (angle 1, angle 2, first preset value, reflectivity value).

In another example, if the predetermined parameter value is a reflectance value, the detecting device may update the reflectance value in the cartesian coordinate corresponding to the scanning point by using the first predetermined value.

For example, the scanning point data before updating (x, y, z, reflectivity value), and the scanning point data after updating (x, y, z, first preset value).

Or, in another example, if the cartesian coordinate is used for representation, when the preset parameter value is a depth value, the detection device updates the x-axis coordinate value, the y-axis coordinate value and the z-axis coordinate value in the cartesian coordinate corresponding to the scanning point according to the first preset value.

As another example, the scan point data before the update (x, y, z, reflectance values), the scan point data after the update (x1, y1, z1, reflectance values), where

d1 denotes a first preset value.

Alternatively, the detection device can distinguish the sky scanning point from the normal scanning point by changing the dimension of the sky scanning point.

In this way, when the scanning point is determined to be a sky scanning point, the detection device adds a first flag bit to the scanning point data corresponding to the sky scanning point.

For example, if the polar coordinate system is adopted, the scan point data before updating (angle 1, angle 2, depth value, reflectance value) and the scan point data after updating (angle 1, angle 2, depth value, reflectance value, first flag) are updated.

For another example, if the scanning point data (x, y, z, reflectivity value) before updating and the scanning point data (x1, y1, z1, reflectivity value, first flag) after updating are expressed in cartesian coordinates.

Optionally, if the scanning point data includes a flag bit, the detection device may encode the scanning point data corresponding to the scanning point according to the type of the scanning point. For example, if the type of the scanning point is a sky scanning point, the flag position in the scanning point data is the first flag position. For another example, if the type of the scanning point is a normal scanning point, the flag position in the scanning point data is set as a second flag position.

It should be noted that the flag bits may be represented by numbers, for example, the first flag bit may be represented by a number 0, and the second flag bit may be represented by a number 1. The flag bits may also be represented literally, for example, the first flag bit may be represented as "sky" and the second flag bit may be represented as "normal". Of course, the skilled person may also represent the first flag and the second flag in other forms, and in case of the type of spot that can be scanned in an area, the corresponding solution falls within the scope of protection of the present application.

Optionally, if the scanning point data does not include a flag bit, the detection device may add a corresponding flag bit to the scanning point data according to the type of the scanning point to perform encoding. For example, if the type of the scanning point is a sky scanning point, a first flag bit is added to the scanning point data. For another example, if the type of the scanning point is a normal scanning point, a second flag bit is added to the scanning point data.

Optionally, when the detection device detects the echo signal, 2 storage regions may be opened up in advance, including the first storage region and the second storage region. In this way, after determining the type of each scanning point, the detection device can store scanning point data corresponding to the sky scanning point in the first storage area, and can store scanning point data corresponding to the normal scanning point in the second storage area. In this way, the detection device can indicate the determined type of each scanning point through different storage areas.

It should be noted that, in addition to storing the scanning point data, data related to the scanning point data may also be stored in the first storage area or the second storage area, for example, time for obtaining an echo signal, storage time, and a scanning point identifier adjacent to the time, so that the scanning point data can be processed in a subsequent scene conveniently. Of course, technicians may also adjust the relevant data of the scanning point data according to the specific scenario, and under the condition of facilitating subsequent data processing, the corresponding scheme falls within the scope of protection of the present application.

It should be noted that, in the process of transmitting the scanning point data, the detection device may transmit the scanning point data in each storage region according to the time sequence of obtaining each scanning point, and may also transmit the scanning point data according to the storage region. In the case that the scanning point type can be distinguished, the corresponding scheme falls within the scope of protection of the present application.

Therefore, in this embodiment, in addition to the advantages of the embodiment shown in fig. 3, by encoding the scanning point data of the determined type, the type of each scanning point can be quickly identified in the subsequent scanning point data processing process, so as to improve the speed of object identification.

Fig. 6 is a flowchart of a data processing method for scanning a point according to an embodiment of the present invention, which may be applied to a data processing apparatus such as a detection apparatus or a host computer, where the detection apparatus may include at least one of the following: laser radar, millimeter wave radar, ultrasonic radar. Referring to fig. 6, a data processing method of a scanning spot includes:

in step 601, obtaining scan point data corresponding to the scan point to determine a type of the scan point; wherein the types of the scanning points comprise a normal scanning point and a sky scanning point.

In an embodiment, referring to fig. 7, the data processing apparatus may obtain scan point data corresponding to each scan point (corresponding to step 701). It can be understood that, in the process of acquiring the scanning point data by the data processing device in the embodiment, the scanning point data and the position of the scanning point data can be obtained. The data processing device may then determine the type of scanning point (corresponding to step 702).

Optionally, the data processing apparatus obtains a preset parameter value from the scanning point data, where the preset parameter value may include at least one of: depth values and reflectance values.

Optionally, if the preset parameter value in the scanning point data is within the working range of the detection device, determining that the type of the scanning point is a normal scanning point; and if the preset parameter value in the scanning point data is out of the working range of the detection device, determining that the type of the scanning point is a sky scanning point.

In an example, if the scan point data is represented by polar coordinates, taking the preset parameter value as the depth value as an example, the scan point data (angle 1, angle 2, depth value, and reflectivity value) may be directly read from the scan point data by the data processing apparatus.

The depth value can be a first preset value or a second preset value. The first preset value may include any value outside the working range of the detecting device, and the first preset value may include at least one of: a fixed value or a random value. The second preset value may comprise any value within the operating range of the detecting means.

The data processing device determines the type of the scanning point according to the preset parameter value. Taking the preset parameter value as the depth value as an example, if the preset parameter value is the first preset value, the data processing device determines that the type of the scanning point is a sky scanning point. And if the preset parameter value is a second preset value, the data processing device determines that the type of the scanning point is a normal scanning point.

It should be noted that the processing manner when the preset parameter value is a reflectance value is the same as the processing manner when the preset parameter value is a depth value, and details are not described herein again.

In another example, if the predetermined parameter value is a reflectivity value, such as scan point data (x, y, z, reflectivity value), the data processing device can directly read the reflectivity value from the scan point data. The value of the reflectivity value can be a first preset value or a second preset value. The first preset value may include any value outside the working range of the detecting device, and the first preset value may include at least one of: a fixed value or a random value. The second preset value may comprise any value within the operating range of the detecting means.

If the depth value is represented by cartesian coordinates, when the preset parameter value is the depth value, such as scan point data (x, y, z, reflectivity value), the data processing apparatus may read the x-axis coordinate, the y-axis coordinate, and the z-axis coordinate from the scan point data, and then calculate the depth value d. Wherein

The data processing device determines the type of the scanning point according to the preset parameter value. And if the preset parameter value is a first preset value, the data processing device determines that the type of the scanning point is a sky scanning point. And if the preset parameter value is a second preset value, the data processing device determines that the type of the scanning point is a normal scanning point.

In an example, if the scan point data corresponding to the normal scan point does not include the flag bit and the scan point data corresponding to the sky scan point includes the flag bit, for example, the scan point data (angle 1, angle 2, depth value, reflectivity value, first flag bit) corresponding to the sky scan point, and the scan point data (angle 1, angle 2, depth value, reflectivity value) corresponding to the normal scan point are also included.

The data processing means may obtain the flag bit from the scanning spot data. Then, the data processing device determines the type of the scanning point according to the zone bit, and if the zone bit is the first zone bit, the data processing device determines that the type of the scanning point is a sky scanning point; and if the flag bit is not acquired from the scanning point data, the data processing device determines that the type of the scanning point is a normal scanning point.

In this example, the scanning point data corresponding to the normal scanning point and the scanning point data corresponding to the sky scanning point may have different dimensions, the data processing device may also directly determine the dimensions of the scanning point, if the dimensions are larger, it is determined that a flag bit exists in the scanning point data, and the data processing device determines that the type of the scanning point is the sky scanning point. And if the dimension is smaller, determining that no flag bit exists in the scanning point data, and determining that the type of the scanning point is a sky scanning point by the data processing device.

In another example, if the scan point data corresponding to the normal scan point and the sky scan point both include a flag, for example, the scan point data (angle 1, angle 2, depth value, reflectivity value, first flag) corresponding to the sky scan point, and the scan point data (angle 1, angle 2, depth value, reflectivity value, second flag) corresponding to the normal scan point.

The data processing means may acquire the flag bit from the scanning spot data. Then, the data processing device determines the type of the scanning point according to the zone bit, and if the zone bit is the first zone bit, the data processing device determines that the type of the scanning point is a sky scanning point; and if the zone bit is the second zone bit, the data processing device determines that the type of the scanning point is a normal scanning point.

Optionally, the sky scanning point and the normal scanning point may be stored in different storage regions, for example, scanning point data corresponding to the sky scanning point is stored in a first storage region, and scanning point data corresponding to the normal scanning point is stored in a second storage region. In this way, the data processing apparatus can acquire the scanning point data while acquiring the position where the scanning point data is stored. Accordingly, the data processing device may determine the type of the scanning point according to the position, for example, the scanning point data is obtained from the first storage area, and the data processing device determines the type of the scanning point as the sky scanning point. For another example, if the scanning point data is acquired from the second storage area, the data processing apparatus determines that the type of the scanning point is a normal scanning point.

In some embodiments, before obtaining the scanning point data corresponding to the scanning point to determine the type of the scanning point, the data processing apparatus further determines whether there is a scanning point in the preset direction, and if there is no scanning point in the preset direction, interpolates the point corresponding to the preset direction. If there is a scanning point in the preset direction, the data processing apparatus executes step 601.

Optionally, if the detection device does not emit the optical pulse signal in the preset direction, no scanning point data exists in the preset direction, and it can be determined that no scanning point exists in the preset direction; if the detection device emits the optical pulse signal in the preset direction, corresponding scanning point data exists in the preset direction, and a scanning point in the preset direction can be judged. Based on this, the embodiment of the invention can determine the unscanned points in the space and perform the interpolation step on the unscanned points to perform information padding.

The preset direction may be set at intervals of a preset angle within a preset spatial range. For example, the preset direction may be a preset direction set at an angular interval of 1 degree in a spherical surface having a radius of 5 m. It should be noted that, a person skilled in the art may set the preset direction according to an actual situation, and the embodiment of the present invention does not specifically limit this.

Therefore, the type of the scanning point can be determined by obtaining the scanning point data in the embodiment, and the sky scanning point can be eliminated in the subsequent interpolation process, so that the phenomenon that the edge of an object in the sky is widened is avoided, and the accuracy of object identification is favorably improved.

Fig. 8 is a flowchart of a data processing method for scanning a point according to an embodiment of the present invention, which may be applied to a data processing apparatus such as a detection apparatus or a host computer, where the detection apparatus may include at least one of the following: laser radar, millimeter wave radar, ultrasonic radar. Referring to fig. 8, a data processing method of a scanning spot includes

steps

801 and 802, wherein:

in step 801, scanning point data corresponding to the scanning points are acquired to determine types of the scanning points; wherein the types of the scanning points comprise a normal scanning point and a sky scanning point.

The specific method and principle of step 801 and step 601 are the same, please refer to fig. 6 and related contents of step 601 for detailed description, which is not repeated herein.

In step 802, if the scan point is a sky scan point, the sky scan point is excluded in a subsequent interpolation step.

In this embodiment, in the subsequent interpolation step, if the scan point is a sky scan point, the data processing apparatus excludes the sky scan point and does not interpolate the sky scan point.

The embodiment of the present invention further provides a detection apparatus, referring to fig. 9, which at least includes a memory 902 and a processor 901; the memory 902 is connected to the processor 901 through a communication bus 903, and is configured to store computer instructions executable by the processor 901; the processor 901 is configured to read computer instructions from the memory 902 to implement: the steps of the method described in fig. 3-5.

In one embodiment, the detection device 900 includes at least one of: laser radar, millimeter wave radar, ultrasonic radar. The skilled person can select the method according to a specific scenario, and the embodiment is not limited.

An embodiment of the present invention further provides a data processing apparatus, referring to fig. 10, including at least a memory 1002 and a processor 1001; the memory 1002 is connected to the processor 1001 through a communication bus 1003, and is configured to store computer instructions executable by the processor 1001; the processor 1001 is configured to read computer instructions from the memory 1002 to implement: the steps of the method described in fig. 6-8.

In an embodiment, the data processing device includes a detection device or an upper computer, and the detection device includes a laser radar, a millimeter wave radar, and an ultrasonic radar. The skilled person can select the method according to a specific scenario, and the embodiment is not limited.

The embodiment of the invention also provides a movable platform, and fig. 11 is a perspective view of the movable platform provided by the embodiment of the invention. Referring to fig. 11, the movable platform 1100 at least includes a body 1110, a power supply battery 1120 disposed on the body 1110, a power system 1130, and the detection device 1140 in the embodiment shown in fig. 9, where the detection device 1140 is used to detect a target scene, the power supply battery 1120 can supply power to the power system 1130, and the power system 1130 provides power to the movable platform 1100.

In one embodiment, the movable platform may include, but is not limited to: air vehicles such as unmanned aerial vehicles, land vehicles such as automobiles, water vehicles such as ships, and other types of motorized vehicles. The skilled person can select the method according to a specific scenario, and the embodiment is not limited.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The above detailed description of the detection apparatus and method provided by the embodiments of the present invention has been presented, and the present invention has been made by applying specific examples to explain the principle and the implementation of the present invention, and the above description of the embodiments is only used to help understanding the method and the core idea of the present invention; to sum up, the present disclosure should not be construed as limiting the invention, which will be described in the following description but will be modified within the scope of the invention by the spirit of the present disclosure.

Claims

A data processing method of a scanning spot, the method comprising:

detecting an echo signal in a transmit signal direction;

determining the type of a scanning point corresponding to the transmitting signal direction according to whether an echo signal is detected in the transmitting signal direction;

if an echo signal is detected in the transmitting signal direction, determining that the type of the scanning point is a normal scanning point;

and if no echo signal is detected in the transmitting signal direction, determining that the type of the scanning point is a sky scanning point.
The data processing method of claim 1, wherein the method further comprises:

and coding the scanning point data corresponding to the scanning point according to the type of the scanning point.
The data processing method of claim 2, wherein if the scan point is a sky scan point, the encoding the scan point data corresponding to the scan point according to the scan point type comprises:

and updating preset parameter values in the scanning point data by using the first preset value to obtain updated scanning point data.
The data processing method of claim 3, wherein the preset parameter value comprises at least one of: depth values and reflectance values; the first preset value comprises any value outside the working range of the detection device.
The data processing method of claim 3, wherein the first preset value comprises at least one of: a fixed value or a random value.
The data processing method of claim 3, wherein if the scan point data is represented in polar coordinates, the updating the preset parameter values in the scan point data by using the first preset value comprises:

and updating the preset parameter value in the polar coordinate corresponding to the scanning point by adopting the first preset value.
The data processing method of claim 3, wherein if the scan point data is represented in Cartesian coordinates, the updating the preset parameter values in the scan point data by the first preset value comprises:

if the preset parameter value is a reflectivity value, updating the reflectivity value in the Cartesian coordinate corresponding to the scanning point by adopting the first preset value;

and if the preset parameter value is the depth value, updating the coordinate value of the x axis, the coordinate value of the y axis and the coordinate value of the z axis in the Cartesian coordinate corresponding to the scanning point according to a first preset value.
The data processing method according to claim 2, wherein the scan point data includes a flag bit, and the encoding the scan point data corresponding to the scan point according to the type of the scan point includes:

if the type of the scanning point is a sky scanning point, setting a mark position in the scanning point data as a first mark position;

and if the type of the scanning point is a normal scanning point, setting the mark position in the scanning point data as a second mark position.
The data processing method according to claim 2, wherein the encoding of the scanning point data corresponding to the scanning point according to the type of the scanning point comprises:

and if the type of the scanning point is a sky scanning point, adding a first zone bit in the scanning point data.
The data processing method of claim 1, wherein the method further comprises:

if the type of the scanning point is a sky scanning point, storing scanning point data corresponding to the scanning point in a first storage area;

and if the type of the scanning point is a normal scanning point, storing the scanning point data corresponding to the scanning point in a second storage area.
The data processing method of claim 1, wherein the method further comprises:

if an echo signal is detected, determining a preset parameter value corresponding to the scanning point according to the echo signal;

and if the preset parameter value corresponding to the scanning point is out of the working range of the detection device, discarding the scanning point.
A data processing method of a scanning spot, the method comprising:

acquiring scanning point data corresponding to the scanning points to determine the types of the scanning points;

wherein the types of the scanning points comprise a normal scanning point and a sky scanning point.
The data processing method of claim 12, wherein the method further comprises:

and if the type of the scanning point is a sky scanning point, excluding the sky scanning point in a subsequent interpolation step.
The data processing method of claim 12, wherein the obtaining of the scan point data corresponding to the scan point to determine the type of the scan point comprises:

acquiring a preset parameter value in the scanning point data;

and determining the type of the scanning point according to the preset parameter value.
The data processing method of claim 14, wherein the preset parameter value comprises at least one of: depth values or reflectance values.
The data processing method of claim 15, wherein the determining the type of the scanning point according to the preset parameter value comprises:

if the preset parameter value in the scanning point data is in the working range of the detection device, determining the type of the scanning point to be a normal scanning point;

and if the preset parameter value in the scanning point data is out of the working range of the detection device, determining that the type of the scanning point is a sky scanning point.
The data processing method of claim 14, wherein if the scan point data is represented in polar coordinates, the obtaining of the preset parameter values in the scan point data comprises:

and directly reading the preset parameter value from the polar coordinate corresponding to the scanning point.
The data processing method of claim 14, wherein if the scan point data is expressed in cartesian coordinates, the obtaining of the preset parameter values in the scan point data comprises:

if the preset parameter value is a reflectivity value, directly reading the reflectivity value from the Cartesian coordinate corresponding to the scanning point;

or if the preset parameter value is a depth value, calculating the depth value according to an x-axis coordinate, a y-axis coordinate and a z-axis coordinate in the Cartesian coordinate corresponding to the scanning point.
The data processing method of claim 12, wherein if the scan point data includes a flag bit, the obtaining the scan point data corresponding to the scan point to determine the type of the scan point comprises:

if the flag bit is a first flag bit, determining that the type of the scanning point is a sky scanning point; or if the flag bit is the second flag bit, determining that the type of the scanning point is a normal scanning point.
The data processing method of claim 12, wherein the obtaining of the scan point data corresponding to the scan point to determine the type of the scan point comprises:

and if the scanning point data comprises a first zone bit, determining that the type of the scanning point is a sky scanning point, and otherwise, determining that the type of the scanning point is a normal scanning point.
The data processing method of claim 12, wherein the obtaining of the scan point data corresponding to the scan point to determine the type of the scan point comprises:

if the scanning point data is acquired from a first storage area, determining that the type of the scanning point is a sky scanning point;

and if the scanning point data is acquired from the second storage area, determining the type of the scanning point as a normal scanning point.
The data processing method according to claim 12, wherein the obtaining of the scan point data corresponding to the scan point to determine the type of the scan point further comprises:

judging whether a scanning point exists in a preset direction or not;

and if no scanning point exists in the preset direction, interpolating the point corresponding to the preset direction.
A detection apparatus, comprising at least a memory and a processor; the memory is connected with the processor through a communication bus and is used for storing computer instructions executable by the processor; the processor is to read computer instructions from the memory to implement: the process steps of any one of claims 1 to 11.
The probe apparatus of claim 23, wherein the probe apparatus comprises at least one of: laser radar, millimeter wave radar, ultrasonic radar.
A data processing apparatus comprising at least a memory and a processor; the memory is connected with the processor through a communication bus and is used for storing computer instructions executable by the processor; the processor is to read computer instructions from the memory to implement: the process steps of any one of claims 12 to 22.
The data processing device of claim 25, wherein the data processing device comprises a detection device or a host computer, and the detection device comprises a laser radar, a millimeter wave radar, and an ultrasonic radar.
A movable platform, characterized in that, the movable platform at least comprises a body, a power supply battery arranged on the body, a power system and the detection device of claim 23, the detection device is used for detecting a target scene, the power supply battery can supply power for the power system, and the power system provides power for the movable platform.