CN112083395A - Laser radar scanning method, system, device and storage medium - Google Patents
Laser radar scanning method, system, device and storage medium Download PDFInfo
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- CN112083395A CN112083395A CN202010805117.2A CN202010805117A CN112083395A CN 112083395 A CN112083395 A CN 112083395A CN 202010805117 A CN202010805117 A CN 202010805117A CN 112083395 A CN112083395 A CN 112083395A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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Abstract
The invention discloses a laser radar scanning method, a system, a device and a storage medium, wherein the method comprises the following steps: acquiring the vertical installation height, the vertical installation angle, the road surface scanning width and the horizontal distance from a scanning point to an installation point of a laser radar; and acquiring the vertical scanning angle of the laser radar and the horizontal scanning angle of the laser radar according to the vertical mounting height of the laser radar, the mounting angle in the vertical direction and the horizontal distance from the scanning point to the mounting point. According to the embodiment of the invention, the horizontal scanning angle is determined according to the vertical scanning angle, the scanning road surface width, the vertical installation height of the laser radar and the installation angle in the vertical direction through the geometric relation met by the laser radar in the ground scanning process, so that all point cloud data of the laser radar in the scanning process fall in the effective range of the road surface, the effective scanning range is met, and the utilization rate of the point cloud data is improved. The embodiment of the invention can be widely applied to the technical field of laser radars.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a laser radar scanning method, a laser radar scanning system, a laser radar scanning device and a storage medium.
Background
At present, no matter the scanning mode of the laser radar of car end or way end is all that fixed vertical scanning angle and horizontal scanning angle scan simultaneously, because the horizontal distance that road surface scanning width and laser radar scanning point were to the mounting point all is inequality in laser radar every time uses, if adopt fixed vertical scanning angle and horizontal scanning angle to scan, then can lead to the scope on laser radar scanning ground unreasonable, and some cloud data can not obtain reasonable utilization. When the scanning range of the laser radar exceeds the effective range of the road surface area to be scanned, data outside the effective range is regarded as invalid data, so that the point cloud data is wasted and the utilization rate is reduced; when the scanning range of the laser radar is smaller than the effective range of the road surface area to be scanned, the extraction of the road surface data information is insufficient.
Disclosure of Invention
Embodiments of the present invention provide a laser radar scanning method, system, apparatus, and storage medium. The invention can make the effective scanning range of the laser radar meet the requirement and improve the utilization rate of the scanning data.
In a first aspect, an embodiment of the present invention provides a laser radar scanning method, including the following steps:
acquiring the vertical installation height of a laser radar, the installation angle of the laser radar in the vertical direction, the road surface scanning width of the laser radar and the horizontal distance from a laser radar scanning point to an installation point;
acquiring a vertical scanning angle of the laser radar according to the vertical installation height of the laser radar, the installation angle of the laser radar in the vertical direction and the horizontal distance from a scanning point of the laser radar to the installation point;
acquiring a horizontal scanning angle of the laser radar according to the road surface scanning width of the laser radar, the horizontal distance from a laser radar scanning point to a mounting point and the vertical scanning angle of the laser radar; wherein the horizontal scanning period of the lidar remains unchanged.
Optionally, the vertical scanning angle of the laser radar is obtained by the following formula:
βn＝arctan(S/L)-α
where β n denotes a vertical scanning angle of the laser radar, S denotes a horizontal distance from a scanning point of the laser radar to a mounting point, L denotes a vertical mounting height of the laser radar, and α denotes a mounting angle of the laser radar in the vertical direction.
Optionally, the horizontal scanning angle of the laser radar is obtained by the following formula:
θn＝2*arsin(R/2L*tan(α+βn))
where θ n represents a horizontal scanning angle of the laser radar, and R represents a road surface scanning width of the laser radar.
In a second aspect, an embodiment of the present invention provides a laser radar scanning system, including:
the acquisition module is used for acquiring the vertical installation height of the laser radar, the installation angle of the laser radar in the vertical direction, the road surface scanning width of the laser radar and the horizontal distance from a laser radar scanning point to an installation point;
the first calculation module is used for acquiring the vertical scanning angle of the laser radar according to the vertical installation height of the laser radar, the installation angle of the laser radar in the vertical direction and the horizontal distance from the scanning point of the laser radar to the installation point;
the second calculation module is used for acquiring the horizontal scanning angle of the laser radar according to the road surface scanning width of the laser radar, the horizontal distance from a laser radar scanning point to a mounting point and the vertical scanning angle of the laser radar; wherein the horizontal scanning period of the lidar remains unchanged.
In a third aspect, an embodiment of the present invention provides a laser radar scanning apparatus, including:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement the lidar scanning method described above.
In a fourth aspect, embodiments of the present invention provide a storage medium having stored therein processor-executable instructions, which when executed by a processor, are configured to perform the above-mentioned laser radar scanning method.
In a fifth aspect, an embodiment of the present invention provides a laser radar scanning system, including a laser radar scanning device and a computer device connected to the laser radar scanning device; wherein,
the laser radar scanning equipment is used for realizing scanning of a laser radar;
the computer device includes:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement the lidar scanning method described above.
Optionally, the scanning device of the lidar scanning apparatus includes 2 one-dimensional galvanometers.
Optionally, the scanning device of the lidar scanning apparatus comprises 1 two-dimensional galvanometer.
Optionally, the scanning device of the lidar scanning apparatus includes 1 one-dimensional galvanometer and 1 rotating polygon.
The implementation of the embodiment of the invention has the following beneficial effects: according to the embodiment of the invention, the horizontal scanning angle of the laser radar is determined according to the vertical scanning angle, the scanning road surface width, the vertical installation height of the laser radar and the installation angle of the laser radar and the vertical direction through the geometrical relation met in the ground scanning process of the laser radar, so that all point cloud data of the laser radar in the scanning process fall in the effective range of the road surface, the effective scanning range is met, and the utilization rate of the point cloud data is improved.
Drawings
FIG. 1 is a perspective view of a prior art lidar scanning range;
FIG. 2 is a side view of a scanning range of a prior art lidar after installation;
FIG. 3 is a top view of a scanning range after installation of a prior art lidar;
FIG. 4 is a side view of a prior art scanning range for varying vertical scan angles after installation of a lidar;
FIG. 5 is a top view of a prior art lidar mounted with a horizontal scan angle changed from a vertical scan angle;
FIG. 6 is a flowchart illustrating steps of a laser radar scanning method according to an embodiment of the present invention;
FIG. 7 is a side view of a lidar scanning position provided by an embodiment of the invention;
FIG. 8 is a top view of a scanning range after a scanning mode of a laser radar is changed according to an embodiment of the present invention;
fig. 9 is a block diagram of a lidar scanning system according to an embodiment of the present invention;
fig. 10 is a block diagram of a lidar scanning apparatus according to an embodiment of the present invention;
fig. 11 is a block diagram of another structure of a lidar scanning system according to an embodiment of the present invention;
FIG. 12 is a schematic diagram of the prior art galvanometer movement of a lidar scanning mode with 2 one-dimensional galvanometers;
FIG. 13 is a schematic view of a combination of scanning angle and trajectory of a galvanometer in a laser radar scanning mode with 2 one-dimensional galvanometers in the prior art;
FIG. 14 is a top view of a road scanning trajectory with a fixed scanning angle for a lidar in the prior art;
FIG. 15 is a schematic diagram of a combination of scanning angle and trajectory of a galvanometer in a laser radar scanning method according to an embodiment of the present invention;
FIG. 16 is a top view of a road scanning trajectory of a laser radar scanning method according to an embodiment of the present invention;
fig. 17 is a schematic diagram of point cloud distribution for different lidar scanning methods.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments. The step numbers in the following embodiments are provided only for convenience of illustration, the order between the steps is not limited at all, and the execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art.
As shown in fig. 1, the scanning range after the lidar is fixed can be collectively described by a horizontal scanning angle θ and a vertical scanning angle β. As shown in fig. 2, a side view of a scanning range of the laser radar after installation, O is an installation point of the laser radar, L is a vertical installation height of the laser radar, α is a vertical installation angle of the laser radar, and a and b respectively represent a closest distance and a farthest distance from the laser radar to the ground. As shown in fig. 3, when the horizontal scanning angle θ and the vertical scanning angle β of the laser radar are fixed, the scanning range of the road surface is as shown in the figure, the point cloud data falling on the road surface area a is regarded as valid data, and the point cloud data falling on the non-road surface area B is regarded as invalid data, so that the point cloud data falling on the non-road surface area causes the point cloud data utilization rate to be reduced. As shown in fig. 4 and 5, when the vertical scanning angle of the laser radar is β 1, the corresponding horizontal scanning angle is θ 1, and the laser radar scans a position a1 on the road surface; when the vertical scanning angle of the laser radar is β 2, the corresponding horizontal scanning angle is θ 2, the laser radar scans the position a2 on the road surface, and so on.
The invention aims to enable scanning point cloud data of the laser radar to fall on a road completely, cover the width of the road surface to be scanned and avoid point cloud data scattered outside the road area.
As shown in fig. 6, an embodiment of the present invention provides a laser radar scanning method, including the following steps:
and S1, acquiring the vertical installation height L of the laser radar, the installation angle alpha of the laser radar in the vertical direction, the road scanning width R of the laser radar, and the horizontal distance S from the laser radar scanning point to the installation point.
And S2, acquiring a vertical scanning angle beta n of the laser radar according to the vertical installation height L of the laser radar, the installation angle alpha of the laser radar in the vertical direction and the horizontal distance S between a scanning point of the laser radar and an installation point.
S3, acquiring a horizontal scanning angle theta n of the laser radar according to the road surface scanning width R of the laser radar, the horizontal distance S from a laser radar scanning point to a mounting point and the vertical scanning angle beta n of the laser radar; wherein the horizontal scanning period T of the lidar remains unchanged.
Optionally, the vertical scanning angle (β n) of the lidar is obtained by the following formula:
βn＝arctan(S/L)-α
wherein, β n represents the vertical scanning angle of the laser radar, S represents the horizontal distance from the scanning point of the laser radar to the installation point, L represents the vertical installation height of the laser radar, and α represents the vertical direction installation angle of the laser radar.
Optionally, the horizontal scanning angle (θ n) of the laser radar is obtained by the following formula:
θn＝2*arsin(R/2L*tan(α+βn))
where θ n represents a horizontal scanning angle of the laser radar, and R represents a road surface scanning width of the laser radar.
As shown in fig. 7, the inclination angle of the lidar is α, α is a fixed angle after the lidar is mounted, the corresponding vertical scanning angle range is (α, α + β), when the lidar rotates vertically by β n, the included angle between the scanning light and the vertical direction is (a + β n), the position where the light strikes the road surface is an, and the distance from an to the vertical direction where the lidar is mounted is S. From the trigonometric relationship, the following equation is obtained:
S＝L*tan(α+βn) (1)
as shown in fig. 8, when the scanning width of the laser radar to the road is constant, the horizontal scanning angle θ n is varied according to S, and satisfies the following formula:
θn＝2*arsin(R/2S) (2)
where R represents the width of the road surface to be scanned.
Combining equation (1) and equation (2) yields:
θn＝2*arsin(R/2L*tan(α+βn)) (3)
as can be seen from the above formula (3), when the scanned road surface is determined, the road surface width R can be actually measured and determined; l represents the vertical installation height of the laser radar and can also be determined according to actual measurement; alpha represents the inclination angle of the laser radar in the vertical direction after installation, and can also be determined according to actual measurement; and the beta n represents the vertical scanning angle of the laser radar and can be obtained according to the real-time feedback of a scanning device.
The implementation of the embodiment of the invention has the following beneficial effects: according to the embodiment of the invention, the horizontal scanning angle of the laser radar is determined according to the vertical scanning angle, the scanning road surface width, the vertical installation height of the laser radar and the installation angle of the laser radar and the vertical direction through the geometrical relation met in the ground scanning process of the laser radar, so that all point cloud data of the laser radar in the scanning process fall in the effective range of the road surface, the effective scanning range is met, and the utilization rate of the point cloud data is improved.
As shown in fig. 9, an embodiment of the present invention provides a laser radar scanning system, including:
the system comprises an acquisition module, a storage module and a display module, wherein the acquisition module is used for acquiring the vertical installation height (L) of the laser radar, the vertical direction installation angle (alpha) of the laser radar, the road surface scanning width (R) of the laser radar and the horizontal distance (S) from a laser radar scanning point to an installation point;
the first calculation module is used for acquiring a vertical scanning angle (beta n) of the laser radar according to the vertical installation height (L) of the laser radar, the vertical direction installation angle (alpha) of the laser radar and the horizontal distance (S) from a scanning point of the laser radar to an installation point;
the second calculation module is used for acquiring a horizontal scanning angle (theta n) of the laser radar according to the road surface scanning width (R) of the laser radar, the horizontal distance (S) from a laser radar scanning point to a mounting point and the vertical scanning angle (beta n) of the laser radar; wherein the horizontal scanning period T of the lidar remains unchanged.
It can be seen that the contents in the foregoing method embodiments are all applicable to this system embodiment, the functions specifically implemented by this system embodiment are the same as those in the foregoing method embodiment, and the advantageous effects achieved by this system embodiment are also the same as those achieved by the foregoing method embodiment.
As shown in fig. 10, an embodiment of the present invention provides a laser radar scanning apparatus, including:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement the lidar scanning method described above.
It can be seen that the contents in the foregoing method embodiments are all applicable to this apparatus embodiment, the functions specifically implemented by this apparatus embodiment are the same as those in the foregoing method embodiment, and the advantageous effects achieved by this apparatus embodiment are also the same as those achieved by the foregoing method embodiment.
Furthermore, a storage medium is provided, in which processor-executable instructions are stored, and when executed by a processor, the processor-executable instructions are configured to perform the steps of the laser radar scanning method according to the foregoing method embodiment. Likewise, the contents of the above method embodiments are all applicable to the present storage medium embodiment, the functions specifically implemented by the present storage medium embodiment are the same as those of the above method embodiments, and the advantageous effects achieved by the present storage medium embodiment are also the same as those achieved by the above method embodiments.
As shown in fig. 11, a lidar scanning system includes a lidar scanning device and a computer device connected to the lidar scanning device; wherein,
the laser radar scanning equipment is used for realizing scanning of a laser radar;
the computer device includes:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement the lidar scanning method described above.
Specifically, the lidar scanning device is mainly implemented by combining software and hardware, and may specifically include at least a laser scanning device and corresponding control software; the computer device may be different types of electronic devices, including but not limited to a desktop computer, a laptop computer, and other terminals.
It can be seen that the contents in the foregoing method embodiments are all applicable to this system embodiment, the functions specifically implemented by this system embodiment are the same as those in the foregoing method embodiment, and the advantageous effects achieved by this system embodiment are also the same as those achieved by the foregoing method embodiment.
Optionally, the scanning device of the lidar scanning apparatus includes 2 one-dimensional galvanometers.
Optionally, the scanning device of the lidar scanning apparatus comprises 1 two-dimensional galvanometer.
Optionally, the scanning device of the lidar scanning apparatus includes 1 one-dimensional galvanometer and 1 rotating polygon.
It should be noted that, the scanning device of the lidar scanning apparatus may share the existing laser scanning device, and the composition modes of the scanning device include three types: the device comprises a first one-dimensional galvanometer, a second one-dimensional galvanometer, a first two-dimensional galvanometer, a second two-dimensional galvanometer, a third one-dimensional galvanometer in the vertical direction, a first 1 one-dimensional galvanometer and a first 1 rotating polyhedron.
The following description will be given by taking 2 one-dimensional galvanometers of the first embodiment as an example. When the horizontal scanning angle and the vertical scanning angle of the laser radar are fixed, as shown in fig. 12, the motion track of the one-dimensional galvanometer M1 swinging left and right around the long axis is a sine wave; the motion track of the one-dimensional galvanometer M2 swinging up and down around the short shaft is triangular wave; the scanning angle track combination of the laser radar galvanometer scanning is shown in fig. 13, wherein N is the rotation frequency ratio of M1 and M2, CZ represents a vertical scanning track, and SP represents a horizontal scanning track; the scanning track plan view of the laser radar on the road surface is shown in fig. 14, and it can be seen from the figure that the data falling on the non-road surface area causes the data utilization rate to be reduced. Fig. 15 is a scanning angle track combination of galvanometer scanning in the laser radar scanning manner provided in the embodiment of the present invention, that is, a horizontal scanning angle is modulated according to a change of a vertical scanning angle, and a scanning track top view of the laser radar on the road surface is obtained as shown in fig. 16.
As shown in fig. 17, the horizontal scanning period of the two scanning methods is not changed, but only the scanning angle is changed. In the case where the repetition rate is the same, the number of laser scanning points in the same time period is the same, for example, 3 points are scanned per line in the figure. If the laser is emitted at a fixed angle, the point cloud data of the laser can fall on the non-road surface area B; in the embodiment of the invention, the point cloud is completely fallen on the road surface. Meanwhile, the corresponding scanning average angular resolution is also improved, namely the original horizontal angular resolution theta/3 is changed into theta n/3, and theta is larger than theta n. While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A laser radar scanning method, comprising the steps of:
acquiring the vertical installation height of a laser radar, the installation angle of the laser radar in the vertical direction, the road surface scanning width of the laser radar and the horizontal distance from a laser radar scanning point to an installation point;
acquiring a vertical scanning angle of the laser radar according to the vertical installation height of the laser radar, the installation angle of the laser radar in the vertical direction and the horizontal distance from a scanning point of the laser radar to the installation point;
acquiring a horizontal scanning angle of the laser radar according to the road surface scanning width of the laser radar, the horizontal distance from a laser radar scanning point to a mounting point and the vertical scanning angle of the laser radar; wherein the horizontal scanning period of the lidar remains unchanged.
2. The lidar scanning method of claim 1, wherein the vertical scanning angle of the lidar is obtained by the following equation:
βn＝arctan(S/L)-α
where β n denotes a vertical scanning angle of the laser radar, S denotes a horizontal distance from a scanning point of the laser radar to a mounting point, L denotes a vertical mounting height of the laser radar, and α denotes a mounting angle of the laser radar in the vertical direction.
3. The lidar scanning method of claim 2, wherein the horizontal scanning angle of the lidar is obtained by the following equation:
θn＝2*arsin(R/2L*tan(α+βn))
where θ n represents a horizontal scanning angle of the laser radar, and R represents a road surface scanning width of the laser radar.
4. A lidar scanning system, comprising:
the acquisition module is used for acquiring the vertical installation height of the laser radar, the installation angle of the laser radar in the vertical direction, the road surface scanning width of the laser radar and the horizontal distance from a laser radar scanning point to an installation point;
the first calculation module is used for acquiring the vertical scanning angle of the laser radar according to the vertical installation height of the laser radar, the installation angle of the laser radar in the vertical direction and the horizontal distance from the scanning point of the laser radar to the installation point;
the second calculation module is used for acquiring the horizontal scanning angle of the laser radar according to the road surface scanning width of the laser radar, the horizontal distance from a laser radar scanning point to a mounting point and the vertical scanning angle of the laser radar; wherein the horizontal scanning period of the lidar remains unchanged.
5. A lidar scanning apparatus, comprising:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement the lidar scanning method of any of claims 1-3.
6. A storage medium having stored therein processor-executable instructions, which when executed by a processor, are configured to perform a lidar scanning method according to any of claims 1 to 3.
7. A laser radar scanning system is characterized by comprising laser radar scanning equipment and computer equipment connected with the laser radar scanning equipment; wherein,
the laser radar scanning equipment is used for realizing scanning of a laser radar;
the computer device includes:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement the lidar scanning method of any of claims 1-3.
8. The lidar scanning system of claim 7, wherein the scanning device of the lidar scanning apparatus comprises 2 one-dimensional galvanometers.
9. The lidar scanning system of claim 7, wherein the scanning device of the lidar scanning apparatus comprises 1 two-dimensional galvanometer.
10. The lidar scanning system of claim 7, wherein the scanning device of the lidar scanning apparatus comprises 1 galvanometer and 1 rotating polygon.
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