CN114488191A - Laser radar scanning method, control equipment and laser radar - Google Patents
Laser radar scanning method, control equipment and laser radar Download PDFInfo
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- CN114488191A CN114488191A CN202210039097.1A CN202210039097A CN114488191A CN 114488191 A CN114488191 A CN 114488191A CN 202210039097 A CN202210039097 A CN 202210039097A CN 114488191 A CN114488191 A CN 114488191A
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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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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 relates to the technical field of laser radars, in particular to a laser radar scanning method, control equipment and a laser radar. The laser radar scanning method comprises the following steps: the method comprises the steps of rotationally scanning the environment where the laser radar is located with preset initial scanning accuracy to obtain scanning data, preprocessing the scanning data in a preset scanning period to determine the change degree of the environment corresponding to each scanning angle, and adjusting the scanning accuracy of the scanning angle corresponding to the environment in real time according to the change degree of the environment. The invention can adaptively adjust the scanning frequency and the sampling rate according to the change condition of the target area environment, so that the laser radar can keep higher scanning precision in various complex environments.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a laser radar scanning method, control equipment and a laser radar.
Background
Lidar is often used in automotive autopilot systems, building mapping, etc. where it is desirable to obtain the exact position or velocity of an object.
The existing laser radar realizes laser scanning to obtain a depth image of a measured object or a surrounding environment through mechanical rotation, but in the research and practice of the prior art, the inventor of the invention finds that some target environments are stable, some target environments change in real time and are stable to the target environments, and if the scanning frequency and the sampling rate of the laser radar are too high, the calculation pressure of equipment is too high, and the energy consumption is too high. For the condition that the environment of a target area changes rapidly, such as the environment is abnormal or an object moves at a high speed, if the scanning frequency and the sampling rate of the laser radar are too low, effective scanning data cannot be acquired for accurate mapping.
Disclosure of Invention
Based on the problems and disadvantages in the prior art, the invention provides a laser radar scanning method, a control device and a laser radar, which can adaptively adjust the scanning frequency and the sampling rate according to the change condition of the target area environment, so that the laser radar can maintain higher scanning precision in various complex environments.
An embodiment of the present application provides a laser radar scanning method, including:
a laser radar scanning method, comprising:
carrying out rotary scanning on the environment of the laser radar with preset initial scanning precision to obtain scanning data;
preprocessing the scanning data in a preset scanning period to determine the change degree of the environment corresponding to each scanning angle;
and adjusting the scanning precision on the scanning angle corresponding to the environment in real time according to the change degree of the environment.
Optionally, the preprocessing the scan data in a preset scan period to determine a degree of change of an environment corresponding to each scan angle includes:
within a preset period, calculating the variance of the distance values of the plurality of sampling points at each scanning angle according to the scanning data, and further calculating the average variance corresponding to the plurality of sampling points at each scanning angle;
and determining the change degree of the environment corresponding to each scanning angle according to the positive correlation of the preset average variance and the change degree.
Optionally, each sampling point corresponds to at least two distance values in the preset period.
Optionally, the scanning period is a scanning time period or a scanning rotation period.
Optionally, the adjusting, in real time, the scanning accuracy at the scanning angle corresponding to the environment according to the degree of change of the environment further includes:
when the change degree of the environment is smaller than or equal to a first preset threshold value, adjusting the scanning precision on the scanning angle corresponding to the environment to be initial scanning precision;
and when the change degree of the environment is greater than a first preset threshold value, improving the scanning precision on the scanning angle corresponding to the environment.
Optionally, the improving the scanning accuracy at the scanning angle corresponding to the environment includes:
reducing the scanning frequency on the scanning angle corresponding to the environment and keeping the sampling rate unchanged; or
Keeping the scanning frequency on the scanning angle corresponding to the environment unchanged and increasing the sampling rate; or
And reducing the scanning frequency at the scanning angle corresponding to the environment and improving the sampling rate.
Optionally, when the degree of change of the environment is greater than a first preset threshold, improving the scanning accuracy at the scanning angle corresponding to the environment includes:
when the change degree of the environment is greater than a first preset threshold and less than or equal to a second preset threshold, keeping the scanning frequency on the scanning angle corresponding to the environment unchanged and improving the sampling rate;
and when the change degree of the environment is greater than a second preset threshold value, reducing the scanning frequency on the scanning angle corresponding to the environment and improving the sampling rate.
Based on the same inventive concept, an embodiment of the present application further provides a lidar scanning device, which includes a control unit, and a processing unit and a scanning unit electrically connected to the control unit;
the scanning unit is used for rotationally scanning the environment of the laser radar with preset initial scanning precision to obtain scanning data;
the processing unit is used for preprocessing the scanning data in a preset scanning period so as to determine the change degree of the environment corresponding to each scanning angle;
and the control unit is used for adjusting the scanning precision on the scanning angle corresponding to the environment in real time according to the change degree of the environment.
Based on the same inventive concept, an embodiment of the present application further provides a computer storage medium for storing program data, which when executed by a processor, is used for implementing the laser radar scanning method as described above
Based on the same inventive concept, an embodiment of the present application further provides a lidar including the computer storage medium as described above.
One of the above technical solutions has the following advantages and beneficial effects:
according to the embodiment of the application, the scanning data are preprocessed to determine the change information of the target area environment, and then the scanning frequency and the sampling rate are adaptively adjusted according to the change condition of the target area environment indicated by the change information, so that the laser radar can keep high scanning precision in various complex environments.
Drawings
The present application will now be described with reference to the accompanying drawings. The drawings in the present application are for illustration purposes only and for description of the embodiments. Other embodiments based on the described steps can be readily made by those skilled in the art from the following description without departing from the principles of the present application.
FIG. 1 is a schematic flow chart illustrating a lidar scanning method according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a lidar scanning control apparatus according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures. 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 application.
The terms "first", "second", etc. in this application are used to distinguish between different objects and not to describe a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Some technical terms referred to herein are explained below to facilitate understanding by those skilled in the art.
Lidar: light detection and ranging, laser detection and ranging. The Lidar transmits laser beams to a target object and receives reflected laser beams, and measures parameters such as distance, direction, speed, attitude and the like of the target object by means of a time of flight (TOF) method and the like, so that targets such as obstacles, moving objects and the like are detected, tracked and identified.
Classifying according to the imaging scanning mode of Lidar:
mechanical rotation (mixed solid): the horizontal direction adopts a mechanical 360-degree rotation scanning technology, and the pitching/vertical direction adopts an electronic scanning technology. The main advantages are that: the single-point measurement precision is high, the anti-interference capability is strong, and the high laser power can be borne; the defects are large workload of adjustment and complex structure.
MEMS (Micro-Electro Mechanical System) type: all mechanical parts are integrated into a single chip by using the MEMS micro-galvanometer, and a semiconductor generation process is adopted. The advantages are that: the integration level is high, the volume is small, and the energy consumption is low; chip-level process, suitable for mass production. The disadvantages are as follows: the high-precision high-frequency vibration control difficulty is high, the requirement on manufacturing precision is high, 360-degree scanning cannot be realized, and the high-precision high-frequency vibration control device needs to be combined for use.
all-Solid-State laser radar (Solid-State Lidar): like the phased array radar, the emitting angle of the laser light is changed by adjusting the phase difference of each emitting unit in the emitting array. The advantages are that: high scanning speed (MHz), high scanning precision (mu rad/mu rad magnitude) and good controllability.
In one embodiment, the present application provides a scanning method for lidar that employs a mechanical 360 ° rotation scanning technique in the horizontal direction and an electronic scanning technique in the pitch/vertical direction, for example, using a mechanical rotation type.
As shown in fig. 1, the lidar scanning method includes steps S100 to S300.
Step S100: carrying out rotary scanning on the environment of the laser radar with preset initial scanning precision to obtain scanning data;
it will be appreciated that at the time scanning is initiated, the lidar is controlled to scan the target environment at an initial scanning frequency and an initial sampling rate. In the continuous scanning process, the laser radar is controlled to perform adaptive scanning, so that the scanning frequency and the sampling rate of the laser radar at the current moment are related to the target environment change condition at the current moment, and are not fixed scanning frequency or fixed sampling rate.
The target area environment is understood to be an area environment where the laser radar performs scanning, and the scanning data is understood to be data related to distance, direction, speed, attitude and the like acquired in the process of detecting, tracking and identifying the target area environment.
For example, it can be understood that the scanning data is point cloud data, which can be used to calculate and obtain coordinate information of corresponding points in the target environment.
Step S200: preprocessing the scanning data in a preset scanning period to determine the change degree of the environment corresponding to each scanning angle;
in an embodiment of the present application, the scan period is a scan time period or a scan rotation period.
In one embodiment, the preprocessing the scan data includes performing variance calculation on part or all of the scan data to obtain change information indicating whether the environment of the target area changes.
Illustratively, the scanning data comprises coordinate information of corresponding points in the target environment, and the distance information from the points to the laser radar can be calculated through the coordinate information of the points. And intercepting the scanning data of a certain time interval/laser radar rotation scanning interval, and respectively solving the variance through the distance information of a plurality of captured points. For example, the range information of K points in the target environment is captured when the lidar rotates to the nth turn, and the range information of K points in the target area is captured when the lidar rotates to the N + M th turn. It should be noted that the K points captured in the nth circle and the K points captured in the N + M th circle should be the same as the points corresponding to the target object/target position or the same as the points corresponding to the same azimuth. And obtaining the change information of whether the target area environment changes or not by calculating the variance of the scanning data in the interval from the Nth circle to the (N + M) th circle.
It should be noted that the scanning data of the nth to N + M th circles are calculated, where M is set according to specific situations, and the larger M is, i.e. the larger the data amount needs to be calculated.
Variance is a measure of the degree of dispersion in the case of probability theory and statistical variance measures a random variable or a set of data, and is used to represent the degree of deviation. The variance value obtained by the calculation can be used for more accurately judging the change size of the target environment.
In an embodiment of the application, the step S200 includes:
step S210: within a preset period, calculating the variance of the distance values of a plurality of sampling points on each scanning angle according to the scanning data, and further calculating the average variance corresponding to the plurality of sampling points on each scanning angle;
in an embodiment of the present application, each of the sampling points corresponds to at least two distance values in the preset period.
Step S220: and determining the change degree of the environment corresponding to each scanning angle according to the positive correlation of the preset average variance and the change degree.
Step S300: and adjusting the scanning precision on the scanning angle corresponding to the environment in real time according to the change degree of the environment.
It can be understood that the scanning frequency and the sampling rate in the direction in which the local environment is located are adjusted, and the scanning frequency and the sampling rate in other directions are restored to the initial scanning frequency and the initial sampling rate if the environment in other directions is not changed, so that the adaptive adjustment of the scanning frequency and the sampling rate is realized, and the laser radar can accurately scan under various changes of the target area environment.
In an embodiment of the application, the step S300 further includes:
step S310: when the change degree of the environment is smaller than or equal to a first preset threshold value, adjusting the scanning precision on the scanning angle corresponding to the environment to be initial scanning precision;
it should be understood that, based on the above-described embodiment, it may be set that when the variance of the scanning data in the interval from the nth circle to the N + mth circle is calculated to be zero or smaller than a preset value, it is determined that the target area environment is not changed. At this time, the current scanning frequency and sampling rate are restored to the initial scanning frequency and the initial sampling rate, so that on one hand, the energy consumption can be reduced, on the other hand, the calculation amount can be reduced, and the calculation speed can be increased.
In an embodiment of the present application, the step S310 includes:
step S311: reducing the scanning frequency on the scanning angle corresponding to the environment and keeping the sampling rate unchanged; or
Step S312: keeping the scanning frequency on the scanning angle corresponding to the environment unchanged and increasing the sampling rate; or
Step S313: and reducing the scanning frequency at the scanning angle corresponding to the environment and improving the sampling rate.
Step S320: and when the change degree of the environment is greater than a first preset threshold value, improving the scanning precision on the scanning angle corresponding to the environment.
In an embodiment of the present application, the step S320 includes:
step S321: when the change degree of the environment is greater than a first preset threshold and less than or equal to a second preset threshold, keeping the scanning frequency on the scanning angle corresponding to the environment unchanged and improving the sampling rate;
step S322: and when the change degree of the environment is greater than a second preset threshold value, reducing the scanning frequency on the scanning angle corresponding to the environment and improving the sampling rate.
Under the condition of adopting a mechanical 360-degree rotation scanning technology, when a certain local environment changes, the variance result of scanning data in the interval from the Nth circle to the (N + M) th circle can accurately indicate the change and the change degree of the certain local environment, and the position information of the certain local environment is determined according to the distance information of corresponding points.
It is understood that the first preset threshold and the second preset threshold are related to a threshold calibrated according to a priori physical size when the laser radar adopts a mechanical 360-degree rotation scanning technology. The first preset threshold and the second preset threshold can accurately define the change degree of the target area environment, and can also avoid the influence of the system jitter near the threshold on the scanning effect of the laser radar.
In the foregoing, in the embodiments of the present application, the scanning data is preprocessed to determine the change information of the target area environment, and then the scanning frequency and the sampling rate are adaptively adjusted according to the change condition of the target area environment indicated by the change information, so that the laser radar can maintain higher scanning accuracy in various complex environments.
As shown in fig. 2, based on the same inventive concept, an embodiment of the present application further provides a lidar scanning control device, which includes a scanning module 10, a preprocessing module 20, and a control module 30.
The scanning module 10 is configured to acquire scanning data for scanning an environment of a target area.
It will be appreciated that at the time scanning is initiated, the lidar is controlled to scan the target environment at an initial scanning frequency and an initial sampling rate. In the continuous scanning process, the laser radar is controlled to perform adaptive scanning, so that the scanning frequency and the sampling rate of the laser radar at the current moment are related to the target environment change condition at the current moment, and are not fixed scanning frequency or fixed sampling rate.
The target area environment is to be understood as an area environment where the laser radar performs a scanning action, and the scanning data is to be understood as data related to distance, direction, speed, attitude and the like acquired in the process of detecting, tracking and identifying the target area environment. For example, it can be understood that the scanning data is point cloud data, which can be used to calculate and obtain coordinate information of corresponding points in the target environment.
And a preprocessing module 20, configured to preprocess the scan data to determine change information of the environment of the target area.
In one embodiment, the preprocessing module 20 is configured to perform variance calculation on part or all of the scan data to obtain change information that can indicate whether the environment of the target area changes.
Illustratively, the scanning data comprises coordinate information of corresponding points in the target environment, and the distance information from the points to the laser radar can be calculated through the coordinate information of the points. And intercepting the scanning data of a certain time interval/laser radar rotation scanning interval, and respectively solving the variance through the distance information of a plurality of captured points. For example, the range information of K points in the target environment is captured when the lidar rotates to the nth turn, and the range information of K points in the target area is captured when the lidar rotates to the N + M th turn. It should be noted that the K points captured in the nth circle and the K points captured in the (N + M) th circle should be the same points corresponding to the target object/target position or the same points corresponding to the same azimuth. And obtaining the change information of whether the target area environment changes or not by calculating the variance of the scanning data in the interval from the Nth circle to the (N + M) th circle.
It should be noted that the scanning data of the nth to N + M th circles are calculated, where M is set according to specific situations, and the larger M is, i.e. the larger the data amount needs to be calculated.
Variance is a measure of the degree of dispersion in the case of probability theory and statistical variance measures a random variable or a set of data, and is used to represent the degree of deviation. The variance value obtained by the calculation can be used for more accurately judging the change size of the target environment.
And the control module 30 is configured to adjust the current scanning frequency and the sampling rate according to the change information, and adjust the adjusted scanning frequency and the adjusted sampling rate.
Illustratively, the control module 30 is configured to restore the current scanning frequency and sampling rate to the initial scanning frequency and the initial sampling rate when it is determined that the environment of the target area has not changed according to the change information.
It should be understood that, based on the above-described embodiment, it may be set that when the variance of the scanning data in the interval from the nth circle to the N + mth circle is calculated to be zero or smaller than a preset value, it is determined that the target area environment is not changed. At this time, the current scanning frequency and sampling rate are restored to the initial scanning frequency and the initial sampling rate, so that on one hand, the energy consumption can be reduced, on the other hand, the calculation amount can be reduced, and the calculation speed can be increased.
Illustratively, the control module 30 is further configured to determine, when it is determined that the target area environment changes according to the change information, location information of at least one local environment that changes in the target area environment and a corresponding change degree; and adjusting the scanning frequency and the sampling rate in the direction of the local environment according to the position information of the local environment and the corresponding change degree.
Under the condition of adopting a mechanical 360-degree rotation scanning technology, when a certain local environment changes, the variance result of scanning data in the interval from the Nth circle to the (N + M) th circle can accurately indicate the change and the change degree of the certain local environment, and the position information of the certain local environment is determined according to the distance information of corresponding points.
It can be understood that the scanning frequency and the sampling rate in the direction in which the local environment is located are adjusted, and the scanning frequency and the sampling rate in other directions are restored to the initial scanning frequency and the initial sampling rate if the environment in other directions is not changed, so that the adaptive adjustment of the scanning frequency and the sampling rate is realized, and the laser radar can accurately scan under various changes of the target area environment.
For example, the control module 30 determines that the current scanning frequency and the current sampling rate are recovered to the initial scanning frequency and the initial sampling rate if the degree of change of the local environment is less than or equal to a first preset threshold.
The control module 30 determines that if the change degree of the local environment is smaller than or equal to a second preset threshold and larger than the first preset threshold, the current scanning frequency is kept unchanged and the current sampling rate is increased.
The control module 30 determines that if the change degree of the local environment is greater than a second preset threshold, the current scanning frequency is reduced and the sampling rate is increased.
It is understood that the first preset threshold and the second preset threshold are related to a threshold calibrated according to a priori physical size when the laser radar adopts a mechanical 360-degree rotation scanning technology. The first preset threshold and the second preset threshold can accurately define the change degree of the target area environment, and can also avoid the influence of the system jitter near the threshold on the scanning effect of the laser radar.
In the foregoing, in the embodiments of the present application, the scanning data is preprocessed to determine the change information of the target area environment, and then the scanning frequency and the sampling rate are adaptively adjusted according to the change condition of the target area environment indicated by the change information, so that the laser radar can maintain higher scanning accuracy in various complex environments.
Based on the same inventive concept, an embodiment of the present application further provides a laser radar, which performs scanning by applying the laser radar scanning method.
The above description is only for the purpose of illustrating the preferred embodiments of the present application and is not intended to limit the scope of the present application, which is defined by the appended claims and their equivalents, and all changes that can be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. A lidar scanning method comprising:
carrying out rotary scanning on the environment of the laser radar with preset initial scanning precision to obtain scanning data;
preprocessing the scanning data in a preset scanning period to determine the change degree of the environment corresponding to each scanning angle;
and adjusting the scanning precision on the scanning angle corresponding to the environment in real time according to the change degree of the environment.
2. The lidar scanning method according to claim 1, wherein the preprocessing the scanning data in a preset scanning period to determine the degree of change of the environment corresponding to each scanning angle comprises:
within a preset period, calculating the variance of the distance values of the plurality of sampling points at each scanning angle according to the scanning data, and further calculating the average variance corresponding to the plurality of sampling points at each scanning angle;
and determining the change degree of the environment corresponding to each scanning angle according to the positive correlation of the preset average variance and the change degree.
3. The lidar scanning method of claim 2, wherein each of the sampling points corresponds to at least two distance values during the predetermined period.
4. A lidar scanning method according to any of claims 1 to 3, wherein the scanning period is a scanning time period or a scanning rotation period.
5. The lidar scanning method according to claim 1, wherein the adjusting, in real time, a scanning accuracy at a scanning angle corresponding to the environment according to a degree of change of the environment further comprises:
when the change degree of the environment is smaller than or equal to a first preset threshold value, adjusting the scanning precision on the scanning angle corresponding to the environment to be initial scanning precision;
and when the change degree of the environment is greater than a first preset threshold value, improving the scanning precision on the scanning angle corresponding to the environment.
6. The lidar scanning method of claim 5, wherein the increasing the scanning accuracy over the scanning angle corresponding to the environment comprises:
reducing the scanning frequency on the scanning angle corresponding to the environment and keeping the sampling rate unchanged; or
Keeping the scanning frequency on the scanning angle corresponding to the environment unchanged and increasing the sampling rate; or
And reducing the scanning frequency at the scanning angle corresponding to the environment and improving the sampling rate.
7. The lidar scanning method according to claim 4, wherein the increasing the scanning accuracy at the scanning angle corresponding to the environment when the degree of the environmental change is greater than a first preset threshold comprises:
when the change degree of the environment is greater than a first preset threshold and less than or equal to a second preset threshold, keeping the scanning frequency on the scanning angle corresponding to the environment unchanged and improving the sampling rate;
and when the change degree of the environment is greater than a second preset threshold value, reducing the scanning frequency on the scanning angle corresponding to the environment and improving the sampling rate.
8. The laser radar scanning equipment is characterized by comprising a control unit, a processing unit and a scanning unit, wherein the processing unit and the scanning unit are electrically connected with the control unit;
the scanning unit is used for rotationally scanning the environment of the laser radar with preset initial scanning precision to obtain scanning data;
the processing unit is used for preprocessing the scanning data in a preset scanning period so as to determine the change degree of the environment corresponding to each scanning angle;
and the control unit is used for adjusting the scanning precision on the scanning angle corresponding to the environment in real time according to the change degree of the environment.
9. A computer storage medium for storing program data for implementing a lidar scanning method according to any of claims 1 to 7 when executed by a processor.
10. A lidar characterized by comprising the computer storage medium of claim 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210039097.1A CN114488191A (en) | 2022-01-13 | 2022-01-13 | Laser radar scanning method, control equipment and laser radar |
| PCT/CN2023/072123 WO2023134748A1 (en) | 2022-01-13 | 2023-01-13 | Laser radar scanning method, control device and laser radar |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2023134748A1 (en) * | 2022-01-13 | 2023-07-20 | 杭州涂鸦信息技术有限公司 | Laser radar scanning method, control device and laser radar |
| CN116609740A (en) * | 2023-05-31 | 2023-08-18 | 深圳市镭神智能系统有限公司 | Laser radar adjustment method, laser radar adjustment device, vehicle and readable storage medium |
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| JP2012063236A (en) * | 2010-09-16 | 2012-03-29 | Ricoh Co Ltd | Laser radar device |
| CN108089198B (en) * | 2017-12-11 | 2023-12-19 | 同方威视技术股份有限公司 | Three-dimensional scanning device, robot, and data processing method |
| CN108375775B (en) * | 2018-01-17 | 2020-09-29 | 上海禾赛光电科技有限公司 | Vehicle-mounted detection equipment and parameter adjusting method, medium and detection system thereof |
| CN109239691A (en) * | 2018-11-08 | 2019-01-18 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN111537980B (en) * | 2020-07-08 | 2020-11-27 | 深圳市速腾聚创科技有限公司 | Laser radar parameter adjusting method and device and laser radar |
| CN113759342B (en) * | 2021-08-31 | 2023-10-24 | 柳州柳工叉车有限公司 | Laser radar scanning method and device, computer equipment and storage medium |
| CN114488191A (en) * | 2022-01-13 | 2022-05-13 | 杭州涂鸦信息技术有限公司 | Laser radar scanning method, control equipment and laser radar |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023134748A1 (en) * | 2022-01-13 | 2023-07-20 | 杭州涂鸦信息技术有限公司 | Laser radar scanning method, control device and laser radar |
| CN116609740A (en) * | 2023-05-31 | 2023-08-18 | 深圳市镭神智能系统有限公司 | Laser radar adjustment method, laser radar adjustment device, vehicle and readable storage medium |
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| WO2023134748A1 (en) | 2023-07-20 |
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