CN112346068A - Device and method for improving angular resolution of laser radar - Google Patents
Device and method for improving angular resolution of laser radar Download PDFInfo
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- CN112346068A CN112346068A CN202011186619.8A CN202011186619A CN112346068A CN 112346068 A CN112346068 A CN 112346068A CN 202011186619 A CN202011186619 A CN 202011186619A CN 112346068 A CN112346068 A CN 112346068A
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
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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
Abstract
The invention provides a device and a method for improving the angular resolution of a laser radar, which comprise a laser radar optical module, a laser radar control module, a point cloud data register and a point cloud data processor; the laser emission system in the laser radar optical module comprises a plurality of light sources which are arranged in parallel, and detection light spots of the light sources are distributed at intervals in a detection plane; or the laser emission system comprises a light source, the laser scanning system performs multiple scanning under the light source, and the adjacent two scanning are staggered by a preset angle; the laser radar control module forms point cloud data based on detection data of a plurality of light sources or during multiple scanning; the point cloud data processor is used for splicing the point cloud data of a plurality of light sources or a plurality of times of scanning into point cloud data of single scanning. According to the invention, on the premise of not increasing the repetition frequency of the detection light source, the angular resolution of the laser radar is optimized, and the spatial target identification capability of the laser radar can be effectively improved.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of laser radars, in particular to a device and a method for improving the angular resolution of a laser radar.
[ background of the invention ]
At present, the mainstream technology of the laser radar is pulse detection laser radar, that is, the spatial position information of a target is detected by a pulse emission mode, and the technical mode is characterized in that the repetition frequency of a detection light source determines the angular resolution of spatial detection. Taking a two-dimensional plane scanning laser radar as an example, within an effective laser detection angle range, the higher the light source repetition frequency is, more pulse signals can be averagely divided into smaller angle positions, and the finer space target information can be acquired.
If the spatial detection angular resolution of the target is to be improved, the conventional method can send more detection pulses to a finer angle mainly by increasing the repetition frequency of the light source, and the laser radar has finer angular resolution and can distinguish finer spatial target information. However, this approach has significant limitations, for example, higher repetition rates require faster control circuitry; moreover, after the repetition frequency of the light source is increased to a certain value, the stability of the pulse light signal is deteriorated, the peak power is attenuated to a certain extent, and the detection effect of the laser radar is greatly limited; in addition, the higher light source repetition frequency, the more heat the light source will also, and the long-term service life of the light source will also be affected.
In view of the above, it is an urgent problem in the art to overcome the above-mentioned drawbacks of the prior art.
[ summary of the invention ]
The invention provides a device and a method for improving the angular resolution of a laser radar, aiming at optimizing the angular resolution of the laser radar on the premise of not increasing the repetition frequency of a detection light source and effectively improving the spatial target recognition capability of the laser radar, so that the problems that the detection effect of the laser radar is influenced and the service life of the light source is prolonged when the angular resolution is improved by improving the repetition frequency of the detection light source in the traditional laser radar are solved.
In order to achieve the purpose, the invention provides a device for improving the angular resolution of a laser radar, which comprises a laser radar optical module 1, a laser radar control module 2, a point cloud data register 3 and a point cloud data processor 4 which are sequentially connected;
the laser radar optical module 1 comprises a laser emitting system, a laser scanning system and a laser receiving system, which are respectively used for emitting, scanning and receiving a detection light signal; the laser emission system comprises a plurality of light sources which are arranged in parallel, the laser scanning system performs single scanning, and detection light spots of the light sources are distributed at intervals in a detection plane; or, the laser emission system comprises a light source, and the laser scanning system performs multiple scans under the light source, and the adjacent two scans are staggered by a preset angle;
the laser radar control module 2 is used for controlling the working state and parameter setting of the laser radar and forming point cloud data based on detection angles and detection distances of a plurality of light sources or during multiple scanning; the point cloud data register 3 is used for caching point cloud data of a plurality of light sources or a plurality of times of scanning; the point cloud data processor 4 is used for splicing the point cloud data of a plurality of light sources or a plurality of times of scanning and converting the point cloud data into point cloud data of a single scanning.
Preferably, when a plurality of light sources are provided, the detection wavelengths of the light sources are the same, and the light sources send out detection light signals in turn; or the detection wavelengths of the light sources are different, and the light sources simultaneously emit detection light signals.
Preferably, when two light sources are provided, the lidar optical module 1 comprises a first transmitting light source 6, a second transmitting light source 7, a transmitting lens system 8, a receiving lens system 12, an optical filter, a first receiving detector 9 and a second receiving detector 10;
the first emitting light source 6 and the second emitting light source 7 are placed in parallel on the front focal plane of the emitting lens system 8, the two emitted detection light signals are collimated by the emitting lens system 8 and then transmitted to a distance at a certain detection angle, the two detection light signals are reflected by a target, then received by the receiving lens system 12, and then received by the first receiving detector 9 and the second receiving detector 10 after passing through the optical filter.
Preferably, the detection wavelengths of the first and second emission light sources 6 and 7 are the same and are both λ1；
The optical filter is a uniform optical filter 11, and the uniform optical filter 11 is used for passing light with a wavelength of lambda1Filters out the optical signals of the remaining wavelengths.
Preferably, the detection wavelengths of the first and second emission light sources 6 and 7 are different, and are respectively lambda1And λ2；
The filter is a non-uniform filter 13, and the non-uniform filter 13 is divided into two regions for passing light with a wavelength λ1And λ2The optical signal of (1).
Preferably, the detection wavelengths of the first and second emission light sources 6 and 7 are different, and are respectively lambda1And λ2；
Two optical filters are arranged, are respectively arranged in front of the first receiving detector 9 and the second receiving detector 10, and are respectively used for passing light with the wavelength lambda1And λ2The optical signal of (1).
Preferably, when a light source is arranged and multiple scans are performed, the staggered preset angle between two adjacent scans is delta theta/n; wherein n is the total scanning times, and Δ θ is the angular resolution of the lidar during the first scanning.
In another aspect, the present invention provides a method for improving the angular resolution of a laser radar, which can be achieved by the apparatus for improving the angular resolution of a laser radar of the first aspect, including:
carrying out single scanning detection by using a plurality of light sources or carrying out multiple scanning detection by using a single light source to obtain detection angles and detection distances respectively corresponding to the plurality of light sources or multiple scanning;
forming point cloud data based on detection angles and detection distances of a plurality of light sources or during multiple scanning, and splicing the point cloud data of the plurality of light sources or the multiple scanning to convert the point cloud data into point cloud data of single scanning;
when a plurality of light sources are used for single scanning detection, detection light spots of the light sources are distributed at intervals in a detection plane; when a single light source is used for scanning and detecting for multiple times, the adjacent two times of scanning are staggered by a preset angle.
Preferably, when a plurality of light sources are used for single scanning detection, the detection wavelengths of the plurality of light sources are the same, and the plurality of light sources send out detection light signals in turn; or the detection wavelengths of the light sources are different, and the light sources simultaneously emit detection light signals.
Preferably, when a single light source is used for multiple scanning detection, the preset angle staggered between two adjacent scans is delta theta/n, and point cloud data scanned for n times are spliced and then converted into point cloud data with the angular resolution of delta theta/n; wherein n is the total scanning times, and Δ θ is the angular resolution of the lidar during the first scanning.
Generally, compared with the prior art, the technical scheme of the invention has the following beneficial effects: in the laser radar device provided by the invention, on one hand, a plurality of detection light sources can be arranged in the laser radar optical module, the repetition frequency of the laser radar is improved by increasing the number of the light sources, and the problem of too low repetition frequency of a single light source is further solved; on the other hand, multiple scans can be performed under a single detection light source, and adjacent scans are staggered by an angle interval; finally, the point cloud data of multiple light sources or multiple scans are spliced and converted into point cloud data of single scan, and finer spatial target scanning angle resolution is obtained. Based on the device, the angular resolution of the laser radar is optimized on the premise of not improving the repetition frequency of the detection light source, and the space target identification capability of the laser radar can be effectively improved.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a diagram of an apparatus for improving an angular resolution of a laser radar according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a dual detection light source (same wavelength) lidar according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a point cloud stitching principle of two detection light sources (with the same wavelength) according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a dual detection light source (different wavelengths) lidar according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating a point cloud stitching principle of two detection light sources (different wavelengths) according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a point cloud stitching principle of multiple scans by a single light source according to an embodiment of the present invention;
fig. 7 is a flowchart of a method for improving an angular resolution of a laser radar according to an embodiment of the present invention;
wherein the reference numbers are as follows:
1: a laser radar optical module; 2: a laser radar control module; 3: a point cloud data register; 4: a point cloud data processor; 5: an external system; 6: a first emission light source; 7: a second emission light source; 8: an emission lens system; 9: a first receiving detector; 10: a second receiving detector; 11: a uniform filter plate; 12: a receiving lens system; 13: a non-uniform filter.
[ detailed description ] embodiments
In order to solve the problem that the detection effect of the laser radar and the service life of a light source are influenced when the angular resolution is improved by improving the repetition frequency of a detection light source in the traditional laser radar, the invention improves the angular resolution of the laser radar on the basis of the following thought on the premise of not increasing the repetition frequency of the detection light source:
1) placing a plurality of detection light sources side by side, and the emergent facula of a plurality of light sources interval distribution in surveying the plane, a plurality of light sources send the detection light signal in turn, improve laser radar's repetition frequency through increasing light source figure, solve the problem that the repetition frequency of single light source is low excessively, if need higher repetition frequency, then can increase more detection light source figures.
2) Further, the light sources in 1) are detection light sources with the same wavelength, and a plurality of light sources cannot emit light simultaneously; on this basis can also set the light source to different detection wavelength, through increase different filter plates on the detector, a plurality of light sources can give out light simultaneously and mutual noninterference, can increase laser radar's detection efficiency.
3) Under the premise of not increasing the detection light source, the maximum repetition frequency of the light source is fixed, at the moment, in order to improve the angular resolution of the laser radar, the scanning times can be increased, and the scanning angles of adjacent scanning times are staggered by an interval.
Based on the three ideas, the point cloud data of multiple light sources or multiple scans are synthesized into point cloud data of single scan and then transmitted to an external system, so that finer spatial target scanning angle resolution can be obtained.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, the terms "inside", "outside", "longitudinal", "lateral", "upper", "lower", "top", "bottom", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention but do not require that the present invention must be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other. The invention will be described in detail below with reference to the figures and examples.
Example 1:
the embodiment of the invention provides a device for improving the angular resolution of a laser radar, which mainly comprises a laser radar optical module 1, a laser radar control module 2, a point cloud data register 3 and a point cloud data processor 4 which are sequentially connected and arranged as shown in figure 1.
The laser radar optical module 1 can detect spatial position information of a target, and specifically includes a laser emitting system, a laser scanning system and a laser receiving system, which are respectively used for emitting, scanning and receiving a detection light signal, so as to obtain a corresponding detection angle θ (i.e. a scanning angle during scanning) and a detection distance l. The laser emission system comprises a plurality of light sources which are arranged in parallel, the laser scanning system performs single scanning, and detection light spots of the light sources are distributed at intervals in a detection plane; or, the laser emission system comprises a light source, and the laser scanning system performs multiple scans under the light source, and the two adjacent scans are staggered from each other by a preset angle.
The laser radar control module 2 is used for controlling the working state and parameter setting of the laser radar, and forming point cloud data (theta, l) based on detection angles theta and detection distances l of a plurality of light sources or during multiple scanning, wherein each light source can generate a plurality of point cloud data during each scanning; the point cloud data register 3 is used for caching point cloud data of a plurality of light sources or a plurality of times of scanning; the point cloud data processor 4 is used for splicing the point cloud data of multiple light sources or multiple scans, converting the point cloud data into point cloud data of single scan, and then transmitting the point cloud data to the external system 5.
Further, when a plurality of light sources are provided, the detection wavelengths of the light sources may be set to be the same, at this time, the light sources send out detection light signals in turn, and the detection light spots of the light sources are distributed at equal angular intervals in the detection plane, that is, a fixed angular difference is provided between every two adjacent detection light panels. The detection wavelengths of the light sources can be set to be different, at the moment, different optical filters are added in the laser receiving system, the light sources can simultaneously send out detection light signals, the detection light signals are not interfered with each other, and the detection efficiency of the laser radar can be increased; likewise, the detection light spots of the plurality of light sources are also distributed at equal angular intervals in the detection plane.
Further, when a light source is arranged and multiple scans are performed, the preset angle staggered between two adjacent scans is preferably delta theta/n; wherein n is the total scanning times, and Δ θ is the angular resolution of the lidar during the first scanning. Therefore, after the point cloud data scanned for n times are spliced, the point cloud data can be converted into point cloud data with the angular resolution of delta theta/n; therefore, the larger n, i.e., the larger the number of scans, the finer the angular resolution obtained.
In the laser radar device provided by the embodiment of the invention, on one hand, a plurality of detection light sources can be arranged in the laser radar optical module, and the repetition frequency of the laser radar is improved by increasing the number of the light sources, so that the problem of too low repetition frequency of a single light source is solved; on the other hand, multiple scans can be performed under a single detection light source, and adjacent scans are staggered by an angle interval; finally, the point cloud data of multiple light sources or multiple scans are spliced and converted into point cloud data of single scan, and finer spatial target scanning angle resolution is obtained. Based on the device, the angular resolution of the laser radar is optimized on the premise of not improving the repetition frequency of the detection light source, and the space target identification capability of the laser radar can be effectively improved.
Example 2:
on the basis of the embodiment 1, the embodiment of the invention provides a laser radar device capable of improving the angular resolution based on splicing of a plurality of light sources, namely, a plurality of detection light sources are integrated in a single detection plane, the overall repetition frequency of the laser radar is increased by increasing the number of the detection light sources, and the angular resolution of the laser radar is further improved. Without loss of generality, the detailed description is given here by taking a dual light source as an example, and so on for other numbers of light sources cascaded.
As shown in fig. 1, the laser radar apparatus provided in the embodiment of the present invention includes a laser radar optical module 1, a laser radar control module 2, a point cloud data register 3, and a point cloud data processor 4, which are sequentially connected to each other.
As shown in fig. 2, the lidar optical module 1 includes a first transmitting light source 6, a second transmitting light source 7, a transmitting lens system 8, a receiving lens system 12, a uniform filter 11, a first receiving detector 9, and a second receiving detector 10. Wherein the detection wavelengths of the first emission light source 6 and the second emission light source 7 are the same and are both lambda1。
With further reference to fig. 2, the first emission light source 6 and the second emission light source 7 are disposed in parallel on the front focal plane of the emission lens system 8, and two emitted detection light signals with the same wavelength are collimated by the emission lens system 8 and transmitted to a distance at a certain detection angle; the two detection optical signals with the same wavelength are reflected back by the target, received by the receiving lens system 12, and then received by the first receiving detector 9 and the second receiving detector 10 after passing through the uniform optical filter 11. It should be noted that the filter here is a uniform filter 11, and the uniform filter 11 is used for passing light with a wavelength λ1The optical signals of the other wavelengths are filtered, i.e. all areas only pass through the same wavelength lambda1The remaining wavelengths are filtered out.
The detection point cloud information of the first emission light source 6 is (theta)k+1，lk+1) Then the next point cloud data is (theta)k+1，lk+1). At this time, the detection point cloud information of the second emission light source 7 should be set to (θ)k+δθ，lk‘) The corresponding next point cloud data is (theta)k+1+δθ，l(k+1)‘) I.e. the detection spot of the second emission light source 7 is offset by a fixed angular difference δ θ in the same angular order with respect to the detection spot of the first emission light source 6. Further, the point cloud data of the two are combined as shown in fig. 3, the detection light spot of the second emission light source 7 is uniformly inserted into the detection light spot of the first emission light source 6, so that the first emission light source 6 and the second emission light source 6 are enabled to emit lightThe detection light spots of the light source 7 are distributed in the detection plane at equal angular intervals, so that the repetition frequency of the laser radar is increased, and the angular resolution is optimized.
Of course, the above embodiments are described only by using dual light sources, and are not intended to limit the present invention. On the basis of the dual light source device provided by the embodiment of the invention, if more repetition frequencies are required to be increased, more emission light sources can be further added, the emission light sources are arranged in parallel with the first emission light source 6, more detection light spots are added at equal angular intervals in the detection light spots of the first emission light source 6, and the number of receiving detectors is correspondingly increased. The specific device structure and the point cloud data can refer to the above embodiments, and are not described herein.
Example 3
In the above embodiment 2, the detection wavelengths of the first emission light source 6 and the second emission light source 7 are the same, and there is optical signal crosstalk between the emission light sources with the same wavelength, so that the emission light sources cannot emit light simultaneously, and the emission light sources must emit light at time intervals, that is, the detection light signals are emitted in turn, so that the detection time of the laser radar is too long.
In order to further optimize the above problem, the embodiments of the present invention provide a more optimized technical solution, in which the emission light sources are set to different wavelengths. Without loss of generality, the detailed description is given here by taking a dual light source as an example, and so on.
As shown in fig. 1, the laser radar apparatus provided in the embodiment of the present invention includes a laser radar optical module 1, a laser radar control module 2, a point cloud data register 3, and a point cloud data processor 4, which are sequentially connected to each other.
As shown in fig. 4, the lidar optical module 1 includes a first transmitting light source 6, a second transmitting light source 7, a transmitting lens system 8, a receiving lens system 12, a non-uniform filter 13, a first receiving detector 9, and a second receiving detector 10. Wherein the detection wavelengths of the first emission light source 6 and the second emission light source 7 are different and are respectively lambda1And λ2。
With further reference to FIG. 4, the first emission source 6 and the second emission sourceThe two emitting light sources 7 are arranged in parallel on the front focal plane of the emitting lens system 8, and two emitted detection light signals with different wavelengths are respectively collimated by the emitting lens system 8 and then transmitted to a remote place at a certain detection angle; the two detection optical signals with different wavelengths are reflected back by the target, received by the receiving lens system 12, and then received by the first receiving detector 9 and the second receiving detector 10 after passing through the non-uniform optical filter 13. It should be noted that, since the detection wavelengths of the two light sources are different, the filter is adjusted to be a non-uniform filter 13, and the non-uniform filter 13 is divided into two regions for passing light with a wavelength λ1And λ2I.e. the transmission wavelengths corresponding to different regions do not coincide. In an alternative embodiment, two different homogeneous filters may be provided directly, each being arranged before the first receiving detector 9 and the second receiving detector 10, and each being adapted to pass a wavelength λ1And λ2The optical signal of (1).
Based on the setting of above-mentioned different wavelengths, all transmitting light source can give out light simultaneously, when optimizing laser radar angular resolution, can not increase laser radar's single scanning time, have promoted detection efficiency. At this time, the point cloud data of the two are combined as shown in FIG. 5, λ2Representative probe spots being inserted at equiangular intervals to λ1Representative of the detection spot.
Of course, the above embodiments are described only by using dual light sources, and are not intended to limit the present invention. On the basis of the dual light source device provided by the embodiment of the invention, if more repetition frequencies are required to be increased, more emission light sources with different wavelengths can be further increased and are arranged in parallel with the first emission light source 6 and correspond to lambda1The represented detection light spots are increased in the equal angle interval, and the number of receiving detectors is increased correspondingly. The specific device structure and the point cloud data can refer to the above embodiments, and are not described herein.
Further, in the above embodiment, two light sources with different wavelengths are provided, so that the non-uniform filter 13 is divided into two regions passing through different wavelengths; in the case of three light sources of different wavelengths, the non-uniform filter 13 is divided into three regions passing through different wavelengths; and so on, in the case of m light sources of different wavelengths, the non-uniform filter 13 is divided into m regions passing different wavelengths. In addition, the non-uniform filter 13 can be replaced by m different uniform filters, which are respectively arranged in front of each receiving detector and are respectively used for passing optical signals with different wavelengths.
Example 4
In the above embodiments 2 and 3, increasing the number of the transmission light sources and the reception detectors increases the complexity of the optical system of the laser radar, which in turn increases the cost of the laser radar. In some application scenarios, the requirement on cost is relatively high, but the requirement on response time of the laser radar is relatively low, and in order to reduce cost, the optimization of the angular resolution can be performed by only changing the control algorithm of the laser radar without changing the hardware setting of the laser radar.
Therefore, the embodiment of the invention provides a more optimized technical scheme, in the optimized scheme, the laser radar device still comprises a laser radar optical module 1, a laser radar control module 2, a point cloud data register 3 and a point cloud data processor 4 which are sequentially connected, and the laser radar optical module 1 comprises a transmitting light source and a receiving detector. The difference is that a plurality of scans are performed under a single light source, and adjacent two scans are staggered from each other by a preset angle.
Without loss of generality, the scanning point cloud data of the two-dimensional laser scanner is used for illustrating the point cloud data splicing principle of the invention. As shown in fig. 6, the point cloud data of the first scanning is shown as black dots and respectively marked as (θ)k，lk) Then the next point cloud data is (theta)k+1，lk+1) Wherein, thetak+1＝θkAnd + delta theta, wherein delta theta is the angular resolution of the laser radar during the first scanning, namely, one point cloud data is added every time the angle corresponding to the angular resolution is added to the laser radar.
After the laser radar finishes the first scanning, the first scanning is carried outThe point cloud data of the secondary scanning is cached in the point cloud data register 3, and meanwhile, the laser radar carries out secondary scanning. When the second scanning is carried out, the initial angle can not adopt the same angle as the first scanning, delta theta/2 needs to be added, and the point cloud data is recorded as (theta)k+Δθ/2，lk) The next point cloud data is recorded as (theta)k+1+Δθ/2，lk+1) Namely, each point cloud data of the second scanning is respectively deviated from each point cloud data of the first scanning by an angle delta theta/2. Then, the laser radar control module 2 transmits the point cloud data scanned for the second time to the point cloud data register 3, and the point cloud data scanned for the second time are spliced by the point cloud data processor 4 to form point cloud data with the angular resolution of delta theta/2, namely, the angular resolution is doubled. If finer angle resolution is needed, splicing the point cloud data scanned for three times can be considered to form point cloud data with the angle resolution of delta theta/3, and the like; and after the point cloud data scanned for n times are spliced, point cloud data with the angular resolution of delta theta/n is formed. However, it should be noted that the more the number of scanning times of the point cloud is, the lower the testing efficiency of the laser radar is, and the method is not suitable for being applied to a scene where a target moves rapidly, and the method should perform suitable scanning point cloud data splicing according to an actual application scene.
Of course, the above embodiment is described only by taking the two-dimensional laser scanner as an example, and is not intended to limit the present invention, and on this basis, the two-dimensional laser scanner may be replaced by a three-dimensional laser scanner, and the specific splicing principle may refer to the above embodiment, and is not described herein again.
Example 5
On the basis of the foregoing embodiments 1 to 4, an embodiment of the present invention further provides a method for improving the angular resolution of a laser radar, which can be achieved by the laser radar apparatuses in the embodiments 1 to 4. As shown in fig. 7, the method mainly includes the following steps:
and step 10, performing single scanning detection by using a plurality of light sources or performing multiple scanning detection by using a single light source to obtain detection angles and detection distances respectively corresponding to the plurality of light sources or multiple scanning.
The step is mainly realized through the laser radar optical module 1, the laser emitting system emits a detection light signal, the laser scanning system scans the detection light signal (the scanning angle is theta) and then sends the detection light signal to a target, and the detection light signal reflected by the target is received by the laser receiving system to obtain the detection distance l of the target.
When a plurality of light sources are used for single scanning detection, detection light spots of the plurality of light sources are distributed at intervals in a detection plane. The detection wavelengths of the light sources may be the same, and the light sources emit detection light signals in turn at this time, which may be specifically accomplished by using a device similar to that shown in fig. 2; the detection wavelengths of the light sources may also be different, and the light sources may emit detection light signals simultaneously, which may be implemented by using a device similar to that shown in fig. 4.
When a single light source is used for carrying out scanning detection for multiple times, adjacent two times of scanning are staggered by a preset angle, and the preset angle is preferably delta theta/n; wherein n is the total scanning times, and Δ θ is the angular resolution of the lidar during the first scanning.
And 20, forming point cloud data based on the detection angles and the detection distances of a plurality of light sources or during multiple scanning, and splicing the point cloud data of the plurality of light sources or multiple scanning to convert the point cloud data into point cloud data of single scanning.
Specifically, the lidar control module 2 forms point cloud data (θ, l) based on the detection angles θ and the detection distances l of the plurality of light sources or the plurality of scans obtained by the lidar optical module 1, and caches the point cloud data in the point cloud data register 3, and finally the point cloud data processor 4 splices the point cloud data of the plurality of light sources or the plurality of scans, converts the point cloud data into point cloud data of a single scan, and transmits the point cloud data to the external system 5.
When a plurality of light sources are used for single scanning detection, reference may be made to embodiments 2 and 3 for a specific splicing principle and process, which are not described herein again. When a single light source is used for multiple scanning detection, point cloud data scanned for n times is spliced and then converted into point cloud data with an angular resolution of delta theta/n, and the specific splicing principle and process refer to embodiment 4 and are not described herein.
In the method provided by the embodiment of the invention, on one hand, the repetition frequency of the laser radar can be improved by increasing the number of the light sources, and the problem of too low repetition frequency of a single light source is further solved; on the other hand, multiple scans can be performed under a single detection light source, and adjacent scans are staggered by an angle interval; finally, the point cloud data of multiple light sources or multiple scans are spliced and converted into point cloud data of single scan, so that finer spatial target scanning angle resolution is obtained, the angular resolution of the laser radar is optimized on the premise of not increasing the repetition frequency of the detection light sources, and the spatial target recognition capability of the laser radar can be effectively improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The device for improving the angular resolution of the laser radar is characterized by comprising a laser radar optical module (1), a laser radar control module (2), a point cloud data register (3) and a point cloud data processor (4) which are sequentially connected;
the laser radar optical module (1) comprises a laser emitting system, a laser scanning system and a laser receiving system, which are respectively used for emitting, scanning and receiving the detection light signals; the laser emission system comprises a plurality of light sources which are arranged in parallel, the laser scanning system performs single scanning, and detection light spots of the light sources are distributed at intervals in a detection plane; or, the laser emission system comprises a light source, and the laser scanning system performs multiple scans under the light source, and the adjacent two scans are staggered by a preset angle;
the laser radar control module (2) is used for controlling the working state and parameter setting of the laser radar and forming point cloud data based on detection angles and detection distances of a plurality of light sources or during multiple scanning; the point cloud data register (3) is used for caching point cloud data of a plurality of light sources or a plurality of times of scanning; the point cloud data processor (4) is used for splicing the point cloud data of a plurality of light sources or a plurality of times of scanning and converting the point cloud data into point cloud data of single scanning.
2. The apparatus for improving the angular resolution of lidar according to claim 1, wherein when a plurality of light sources are provided, the detection wavelengths of the plurality of light sources are the same, and the plurality of light sources emit detection light signals in turn; or the detection wavelengths of the light sources are different, and the light sources simultaneously emit detection light signals.
3. The apparatus for improving the angular resolution of lidar according to claim 1, wherein when two light sources are provided, the lidar optical module (1) comprises a first transmitting light source (6), a second transmitting light source (7), a transmitting lens system (8), a receiving lens system (12), a filter, a first receiving detector (9), and a second receiving detector (10);
the first emitting light source (6) and the second emitting light source (7) are arranged on a front focal plane of the emitting lens system (8) in parallel, two emitted detection light signals are collimated by the emitting lens system (8) respectively and then transmitted to a far place at a certain detection angle, the two detection light signals are reflected by a target and then received by the receiving lens system (12), and then the two detection light signals are received by the first receiving detector (9) and the second receiving detector (10) respectively after passing through the optical filter.
4. The apparatus for improving the angular resolution of lidar according to claim 3, wherein the first emitting light source (6) and the second emitting light source (7) have the same detection wavelength, and each detection wavelength is λ1；
The optical filter is a uniform optical filter (11), and the uniform optical filter (11) is used for passing light with the wavelength of lambda1Filters out the optical signals of the remaining wavelengths.
5. According to the claimsThe device for improving the angular resolution of the laser radar is characterized in that the first emitting light source (6) and the second emitting light source (7) have different detection wavelengths which are lambda respectively1And λ2；
The filter is a non-uniform filter (13), the non-uniform filter (13) is divided into two regions for passing light with a wavelength of lambda1And λ2The optical signal of (1).
6. The apparatus for increasing the angular resolution of lidar according to claim 3, wherein the first emitting light source (6) and the second emitting light source (7) have different detection wavelengths λ1And λ2；
The two optical filters are respectively arranged in front of the first receiving detector (9) and the second receiving detector (10) and are respectively used for passing light with the wavelength of lambda1And λ2The optical signal of (1).
7. The apparatus for improving the angular resolution of lidar according to claim 1, wherein when one light source is provided and a plurality of scans are performed, a predetermined angle staggered between two adjacent scans is Δ θ/n; wherein n is the total scanning times, and Δ θ is the angular resolution of the lidar during the first scanning.
8. A method of increasing the angular resolution of a lidar comprising:
carrying out single scanning detection by using a plurality of light sources or carrying out multiple scanning detection by using a single light source to obtain detection angles and detection distances respectively corresponding to the plurality of light sources or multiple scanning;
forming point cloud data based on detection angles and detection distances of a plurality of light sources or during multiple scanning, and splicing the point cloud data of the plurality of light sources or the multiple scanning to convert the point cloud data into point cloud data of single scanning;
when a plurality of light sources are used for single scanning detection, detection light spots of the light sources are distributed at intervals in a detection plane; when a single light source is used for scanning and detecting for multiple times, the adjacent two times of scanning are staggered by a preset angle.
9. The method for improving the angular resolution of laser radar according to claim 8, wherein when a plurality of light sources are used for single scanning detection, the detection wavelengths of the plurality of light sources are the same, and the plurality of light sources emit detection light signals in turn; or the detection wavelengths of the light sources are different, and the light sources simultaneously emit detection light signals.
10. The method for improving the angular resolution of the laser radar according to claim 8, wherein when a single light source is used for multiple scanning detections, a preset angle staggered between two adjacent scans is Δ θ/n, and after the point cloud data of n scans are spliced, the point cloud data are converted into point cloud data with an angular resolution of Δ θ/n; wherein n is the total scanning times, and Δ θ is the angular resolution of the lidar during the first scanning.
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