CN115792856A - Laser radar and control method thereof - Google Patents
Laser radar and control method thereof Download PDFInfo
- Publication number
- CN115792856A CN115792856A CN202211386884.XA CN202211386884A CN115792856A CN 115792856 A CN115792856 A CN 115792856A CN 202211386884 A CN202211386884 A CN 202211386884A CN 115792856 A CN115792856 A CN 115792856A
- Authority
- CN
- China
- Prior art keywords
- region
- interest
- scanning
- period
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a laser radar and a control method thereof, wherein the control method of the laser radar comprises the following steps: setting a scanning cycle of the first scanning mechanism to comprise a first scanning period corresponding to the region of interest, a second scanning period corresponding to the jump region and a third scanning period corresponding to the region of no interest, controlling the first scanning mechanism to move at a speed k within the first scanning period 1 Rotates at a speed k during a second scan period 2 Rotates at a speed k during a third scan period 3 Rotating; wherein k is 2 ＞k 3 ＞k 1 (ii) a And acquiring multiple scanning view fields respectively formed on the basis of the lasers emitted by the plurality of emission mechanisms, and splicing the multiple scanning view fields to enable at least one region of interest to be overlapped with a jump region of another scanning view field. Overlapping the region of interest with the jump region may reduce waste of field of view pencil compared to overlapping the region of interest with a non-region of interest.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a laser radar and a control method thereof.
Background
The laser radar is a radar system for detecting characteristic quantities such as position, speed and the like of a target object by utilizing laser, and the working principle of the radar system is that a transmitting module transmits laser for detection, then a scanning module reflects the laser to the target object, finally a receiving module receives the laser reflected by the target object, and the received laser is processed to obtain relevant information of the target object, such as parameters of distance, direction, height, speed, shape and the like.
At present, in order to increase the ROI (i.e. the region of interest) of the lidar, a multi-path superposition method is usually adopted. However, the existing multi-path superposition mode can cause the non-ROI area to be scanned repeatedly. For example, in the schematic diagram of three-way superposition shown in fig. 1, the ROI areas of the second light and the third light scanning fields repeatedly scan the non-ROI area of the first light, that is, the ROI areas of the second light and the third light scanning fields overlap with the non-ROI area of the first light, and a larger overall ROI can be formed by combining them, but the repeated scanning area is too large, which causes waste of field beams, and the more the number of paths, the more the waste of beams is.
Disclosure of Invention
In view of this, the invention provides a laser radar and a using method thereof, so as to solve the problem that the existing laser radar causes the waste of field wire harnesses in the splicing process.
A method of controlling a lidar comprising a transmitter module for transmitting laser light, a scan module for reflecting the laser light from the transmitter module onto a target, and a receiver module for receiving the laser light reflected from the target, the scan module comprising a first scanning mechanism for reflecting the laser light from the transmitter module to the second scanning mechanism, and a second scanning mechanism for reflecting the laser light from the first scanning mechanism to the target, the transmitter module comprising a plurality of transmitter mechanisms spaced from one another in a first direction; the control method of the laser radar comprises the following steps:
setting a scanning cycle of the first scanning mechanism to include a first scanning period corresponding to a region of interest, a second scanning period corresponding to a jump region, and a third scanning period corresponding to a region not of interest, controlling the first scanning mechanism to perform scanning during the first scanning periodInternal velocity k 1 Rotate at a speed k during the second scan period 2 Rotate at a speed k during the third scan period 3 Rotating; wherein k is 2 ＞k 3 ＞k 1 ；
And acquiring a plurality of scanning view fields respectively formed on the basis of the lasers emitted by the plurality of emission mechanisms, and splicing the plurality of scanning view fields to enable at least one region of interest to be overlapped with a jumping region of the other scanning view field.
In some embodiments, the scanning field of view corresponding to each of the emission mechanisms includes a plurality of the jump regions symmetrically distributed with respect to the region of interest, and the second scanning period includes a field angle θ with respect to the jump regions located on one side of the region of interest 2 Corresponding t 1 To t 2 A time period and an angle of view theta with the jump region on the other side of the region of interest 4 Corresponding t 3 To t 4 A period of time, said time being at a speed k within said second scan period 2 The rotating includes:
at t 1 To t 2 Controlling the first scanning mechanism to rotate at a speed k during a period of time 2 Rotating;
at t 3 To t 4 Controlling the first scanning mechanism to rotate at a speed k during a period of time 2 Is rotated, wherein t 4 －t 3 ＝t 2 －t 1 。
In some embodiments, the scanning field of view corresponding to each of the emission mechanisms includes a plurality of the regions of non-interest symmetrically distributed with respect to the region of interest, and the third scanning period includes a field angle θ with respect to the region of non-interest on one side of the region of interest 1 Corresponding t 0 To t 1 A time period and an angle of view theta with the non-region of interest on the other side of the region of interest 5 Corresponding t 4 To t 5 A period of time, said time being at a speed k within said third scan period 3 The rotating includes:
at t 0 To t 1 Controlling the first scanning mechanism to rotate at a speed k during a period of time 3 Rotating;
at t 4 To t 5 Controlling the first scanning mechanism to rotate at a speed k during a period of time 3 Is rotated, wherein t 5 －t 4 ＝t 1 －t 0 。
In some embodiments, each of the emission mechanisms includes a plurality of the jump regions and a plurality of the regions of interest symmetrically distributed with respect to the region of interest, the jump regions being located between the region of non-interest and the region of interest, the first scanning period including a field angle θ with the region of interest 3 Corresponding t 2 To t 3 A period of time including an angle of view θ with the jump region on one side of the region of interest 2 Corresponding t 1 To t 2 A time period and an angle of view theta with the jump region on the other side of the region of interest 4 Corresponding t 3 To t 4 A period of time including an angle of field θ with the non-region of interest on one side of the region of interest 1 Corresponding t 0 To t 1 A time period and an angle of view theta with the non-region of interest on the other side of the region of interest 5 Corresponding t 4 To t 5 A period of time during which the first scanning mechanism is controlled to be at a speed k 1 Rotate at a speed k during the second scan period 2 Rotate at a speed k during the third scan period 3 The rotating includes:
at t 0 To t 1 Controlling the first scanning mechanism to rotate at a speed k during a period of time 3 Rotating;
at t 1 To t 2 Controlling the first scanning mechanism to rotate at a speed k during a period of time 2 Rotating;
at t 2 To t 3 Controlling the first scanning mechanism to rotate at a speed k during a period of time 1 Rotating;
at t 3 To t 4 Controlling the first scanning mechanism to rotate at a speed k during a period of time 2 Rotating;
at t 4 To t 5 Controlling the first scanning mechanism to rotate at a speed k during a period of time 3 Is rotated, wherein theta 1 ＝θ 5 ＝θ 2 ＝θ 4 ＝2θ 3 。
In some embodiments, the scanning field of view corresponding to each of the emission mechanisms includes a plurality of the regions of interest symmetrically distributed with respect to the jump region, and the first scanning period includes a field angle θ with respect to the region of interest on one side of the jump region 2 Corresponding t 1 To t 2 A period of time, and an angle of view θ with the region of interest on the other side of the jump region 4 Corresponding t 3 To t 4 A period of time during which said first scanning mechanism is controlled to move at a speed k 1 The rotating includes:
at t 1 To t 2 Controlling the first scanning mechanism to rotate at a speed k during a period of time 1 Rotating;
at t 3 To t 4 Controlling the first scanning mechanism to rotate at a speed k during a period of time 1 Is rotated, wherein t 4 －t 3 ＝t 2 －t 1 。
In some embodiments, the scanning field of view corresponding to each of the emission mechanisms includes a plurality of the regions of non-interest symmetrically distributed with respect to the jump region, and the third scanning period includes a field angle θ with respect to the region of non-interest on one side of the jump region 1 Corresponding t 0 To t 1 A period of time, and an angle of view θ with the region of non-interest on the other side of the jump region 5 Corresponding t 4 To t 5 A period of time, said time being at a speed k within said third scan period 3 The rotating includes:
at t 0 To t 1 Controlling the first scanning mechanism to rotate at a speed k during a period of time 3 Is rotated；
At t 4 To t 5 Controlling the first scanning mechanism to rotate at a speed k during a period of time 3 Is rotated, wherein t 5 －t 4 ＝t 1 －t 0 。
In some embodiments, the scan field of view corresponding to each of the emission mechanisms includes a plurality of the regions of interest and a plurality of the regions of non-interest symmetrically distributed with respect to the jump region, and the first scan period includes a field angle θ with respect to the region of interest on one side of the jump region 2 Corresponding t 1 To t 2 A period of time, and an angle of view θ with the region of interest on the other side of the jump region 4 Corresponding t 3 To t 4 A period of time including a field angle θ with the jump region 3 Corresponding t 2 To t 3 A period of time including an angle of view θ with the region of non-interest on one side of the jump region 1 Corresponding t 0 To t 1 A period of time, and an angle of field θ with the region of non-interest on the other side of the jump region 5 Corresponding t 4 To t 5 A period of time during which the first scanning mechanism is controlled to be at a speed k 1 Rotate at a speed k during the second scan period 2 Rotate at a speed k during the third scan period 3 The rotating includes:
at t 0 To t 1 Controlling the first scanning mechanism to rotate at a speed k during a period of time 3 Rotating;
at t 1 To t 2 Controlling the first scanning mechanism to rotate at a speed k during a period of time 1 Rotating;
at t 2 To t 3 Controlling the first scanning mechanism to rotate at a speed k during a period of time 2 Rotating;
at t 3 To t 4 Controlling the first scanning mechanism to rotate at a speed k during a period of time 1 Rotating;
at t 4 To t 5 Controlling the first scanning mechanism to rotate at a speed k during a period of time 3 Is rotated, wherein theta 1 ＝θ 5 ，θ 2 ＝θ 4 ，θ 1 ＞θ 3 ＝3θ 2 。
In some embodiments, further comprising:
control the firing mechanism to fire at a frequency v during the first scan period 1 Emitting laser;
controlling the firing mechanism to frequency v within the second scan period 2 Emitting laser;
controlling the firing mechanism to frequency v within the third scan period 3 Emitting laser light of which v 1 ＞v 2 ，v 1 ＞v 3 。
The invention also provides a laser radar which comprises a transmitting module for transmitting laser, a scanning module for reflecting the laser of the transmitting module to a target object, and a receiving module for receiving the laser reflected from the target object;
the transmitting module comprises a plurality of transmitting mechanisms which are mutually spaced in a first direction, and laser emitted by the plurality of transmitting mechanisms can form a multi-path scanning field of view;
the scanning module comprises a first scanning mechanism and a second scanning mechanism, the first scanning mechanism is used for reflecting the laser from the emission module to the second scanning mechanism, and the second scanning mechanism is used for reflecting the laser from the first scanning mechanism to the target object;
the first scanning mechanism is rotatable at different speeds to divide the scanning field of view into a region of interest, a region of non-interest, and a jump region in the first direction, with a resolution of the region of interest > a resolution of the region of non-interest > a resolution of the jump region, at least one of the regions of interest overlapping the jump region of another of the scanning fields of view.
In some embodiments, the lidar further comprises a first scanning module located between the transmitting module and the first scanning moduleThe focal length of the emission mirror group is f, the distance between two adjacent emission mechanisms in the first direction is d, the included angle theta = atan (d/f) between the laser emitted by two adjacent emission mechanisms, and the angle theta of the vertical direction of the region of interest corresponding to a single emission mechanism ROI ＝θ。
According to the laser radar using method provided by the invention, when the multiple scanning view fields are spliced, the region of interest is overlapped with the jump region of the other scanning view field due to k 2 ＞k 3 Therefore, when the multiple paths are superposed, the interesting area is overlapped with the jumping area, compared with the interesting area and the non-interesting area, and the waste of the field beam can be reduced.
Drawings
FIG. 1 is a schematic diagram of three-way splicing of a conventional lidar;
FIG. 2 is a schematic diagram of a lidar provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a scanning waveform of the first scanning mechanism according to the present invention;
FIG. 4 is a schematic illustration of the effect of the first scanning mechanism waveform slope on the field of view;
FIG. 5 is a schematic view of a scan field of view provided by an embodiment of the present invention;
FIG. 6 is a schematic view of the emission module and the emission lens set shown in FIG. 2;
fig. 7 (a) is a schematic scanning waveform diagram of a first scanning mechanism according to an embodiment of the present invention;
FIG. 7 (b) is a schematic illustration of a one-way scan field of view derived from the scan waveform of FIG. 7 (a);
FIG. 7 (c) is a four-way schematic view of the scan field shown in FIG. 7 (b);
FIG. 8 is a schematic view of the four-pass scan field shown in FIG. 7 (c) after stitching;
FIG. 9 (a) is a view of the field of view of the region of interest with the emitting mechanism emitting laser light at a low spot frequency;
FIG. 9 (b) is a view of the field of view of the region of interest with the emitting mechanism emitting laser light at a low high frequency;
fig. 10 (a) is a schematic view of a scanning waveform when the first scanning mechanism scans at a constant speed;
FIG. 10 (b) is a schematic illustration of a scan field of view derived from the scan waveform of FIG. 10 (a);
fig. 11 (a) is a schematic scanning waveform diagram of a first scanning mechanism according to another embodiment of the present invention;
FIG. 11 (b) is a schematic illustration of a one-way scan field of view derived from the scan waveform of FIG. 11 (a);
FIG. 12 is a four-way view of the scan field shown in FIG. 11 (b) after stitching.
In the figure: 110. a transmitting module; 111. a first emitting mechanism; 112. a second launching mechanism; 120. an emission lens group; 130. an optical mirror; 140. a scanning module; 141. a first scanning mechanism; 142. a second scanning mechanism; 180. a receiving lens group; 190. a detector; 170. a target object; 150. detecting laser; 160. echo laser; 10. a region of interest; 20. a jump area; 30. a region of non-interest.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
It should be noted that all directional indications (such as upper, lower, left, right, front, back, inner, outer, top, bottom \8230;) in the embodiments of the present invention are only used to explain the relative positional relationship between the components in a particular posture (as shown in the drawing) and the like, and if the particular posture is changed, the directional indication is changed accordingly.
It will also be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Referring to fig. 2, an embodiment of the invention provides a lidar including a transmitting module 110, a scanning module 140 and a receiving module, where the transmitting module 110 is configured to transmit laser, the scanning module 140 is configured to reflect the laser transmitted by the transmitting module 110 to a target 170, and the receiving module is configured to receive the laser reflected from the target 170. Specifically, the transmitting module 110 transmits the detection laser 150 to the scanning module 140, the detection laser 150 is reflected by the scanning module 140 after reaching the scanning module 140, so that the detection laser 150 propagates toward the target 170, after the detection laser 150 reaches the target 170, the target 170 reflects the detection laser 150 to return to its original path, so as to form the echo laser 160, after the echo laser 160 is reflected by the scanning mechanism, the echo laser 160 is received by the receiving module, and a scanning field of view is formed according to the echo laser 160 received by the receiving module.
The emitting module 110 includes a plurality of emitting mechanisms, and the plurality of emitting mechanisms are arranged in the first direction at intervals, and the laser emitted by the plurality of emitting mechanisms can form a plurality of scanning fields, that is, the laser emitted by each emitting mechanism can form a single scanning field. Each scan field of view comprises in a first direction a region of interest 10 (i.e. a ROI region) and a region of non-interest 30 (i.e. a non-ROI region), the resolution of the region of interest 10 being greater than the resolution of the region of non-interest 30. Because the plurality of transmitting mechanisms are arranged in the first direction, each transmitting mechanism can form a scanning view field, the interested areas 10 of the plurality of scanning view fields can form a superposition effect in the first direction, and the whole interested area 10 of the laser radar in the first direction is increased.
Specifically, in the present embodiment, the first direction is a vertical direction.
The number of the emitting mechanisms is not limited, that is, the number of the scanning fields is not limited, for example, the number of the emitting mechanisms may be two, or four, or other numbers. In the embodiment shown in fig. 2, the number of the launching mechanisms is two, the two launching mechanisms are a first launching mechanism 111 and a second launching mechanism 112, respectively, and the first launching mechanism 111 and the second launching mechanism 112 are spaced apart from each other in the first direction.
The scanning module 140 includes a first scanning mechanism 141 and a second scanning mechanism 142, the first scanning mechanism 141 being configured to reflect the laser light from the emission module 110 to the second scanning mechanism 142, and the second scanning mechanism 142 being configured to reflect the laser light from the first scanning mechanism 141 to the target 170. The scanning frequency of the second scanning mechanism 142 is much greater than that of the first scanning mechanism 141, so that the first scanning mechanism 141 is easier to perform scanning waveform control than the second scanning mechanism 142.
The scanning waveforms of the first scanning mechanism 141 and the second scanning mechanism 142 are shown in fig. 3, where the dotted line is the scanning waveform of the first scanning mechanism 141 and the solid line is the scanning waveform of the second scanning mechanism 142.
Fig. 4 is a schematic diagram illustrating the influence of the waveform slope of the first scanning mechanism on the field of view. In the vertical direction, the resolution of the field of view is inversely proportional to the slope of its corresponding scan waveform (i.e., the rotational speed of the first scanning mechanism), with lower slopes yielding higher resolutions for lidar systems with smaller spacing between adjacent lines in the vertical direction. As can be seen from fig. 4, the slope of the left side scan waveform is smaller than that of the right side scan waveform, so that points in the field of view map corresponding to the left side scan waveform are denser than points in the field of view map corresponding to the right side scan waveform, meaning that the resolution of the left side field of view map is greater than that of the right side field of view map.
It is understood that the first scanning mechanism 141 and the second scanning mechanism 142 may be galvanometers, MEMS micro-galvanometers, polygonal mirrors, or a combination thereof.
In some embodiments, an optical mirror 130 is disposed between the emission module 110 and the scanning module 140, and the optical mirror 130 may be an aperture mirror or a polarization beam splitter. After the emission module 110 emits the detection laser 150, the detection laser 150 first passes through the optical mirror 130, then reaches the first scanning mechanism 141, and then reaches the target 170 after being reflected by the first scanning mechanism 141 and the second scanning mechanism 142. The echo laser 160 is reflected by the second scanning mechanism 142 and the first scanning mechanism 141, and then reaches the optical mirror 130, and the optical mirror 130 reflects the echo laser 160, so that the echo laser 160 is emitted to the receiving module.
The receiving module comprises a receiving mirror group 180 and a detector 190, wherein the receiving mirror group 180 is positioned between the optical mirror 130 and the detector 190. The echo laser 160 is reflected by the optical mirror 130, then reaches the receiving mirror assembly 180, is focused by the receiving mirror assembly 180, and finally is received by the detector 190.
In some embodiments, the lidar further comprises a transmitting mirror group 120 located between the transmitting module 110 and the first scanning mechanism 141. Specifically, the emission mirror group 120 is located between the emission module 110 and the optical mirror 130, and the detection laser 150 passes through the emission mirror group 120 and then reaches the optical mirror 130.
Referring to fig. 5, in the present embodiment, the first scanning mechanism 141 can rotate at different speeds, that is, the first scanning mechanism 141 can rotate at different speeds in different periods of a scanning cycle, so that the scanning field of view is divided into the region of interest 10, the region of non-interest 30 and the jumping region 20 in the first direction. The resolution of the region of interest 10 > the resolution of the region of non-interest 30 > the resolution of the jump region 20, i.e. the speed of the first scanning mechanism 141 during the period corresponding to the region of interest 10 < the speed of the first scanning mechanism 141 during the period corresponding to the region of non-interest 30 < the speed of the first scanning mechanism 141 during the period corresponding to the jump region 20, at least one region of interest 10 overlapping the jump region 20 of another scanning field of view. Since the resolution of the jump region 20 is lowest, overlapping the region of interest 10 with the jump region 20 may reduce the waste of the field of view beam compared to overlapping the region of interest 10 with the region of non-interest 30.
Referring to fig. 6, in some embodiments, the distance between two adjacent emission mechanisms in the first direction is d, the focal length of the emission mirror group 120 is f, the included angle θ = atan (d/f) between the laser lights emitted by two adjacent emission mechanisms, and the angle θ of the vertical direction of the region of interest 10 corresponding to a single emission mechanism, that is, the region of interest 10 of the one-way scanning field of view ROI (= θ). Due to theta ROI = θ, the regions of interest 10 of the multiple scan fields can be completely spliced, so as to avoid the problem of overlapping or too large distance between the regions of interest 10.
Referring to fig. 7 and 8, an embodiment of the present invention further provides a method for controlling a laser radar, where the laser radar includes a transmitting module 110 for transmitting laser light, a scanning module 140 for reflecting the laser light from the transmitting module 110 to a target 170, and a receiving module for receiving the laser light reflected from the target 170, the scanning module 140 includes a first scanning mechanism 141 and a second scanning mechanism 142, the first scanning mechanism 141 is used for reflecting the laser light from the transmitting module 110 to the second scanning mechanism 142, the second scanning mechanism 142 is used for reflecting the laser light from the first scanning mechanism 141 to the target 170, and the transmitting module 110 includes a plurality of transmitting mechanisms spaced apart from each other in a first direction; the control method of the laser radar comprises the following steps:
the scanning cycle in which the first scanning mechanism 141 is set to include a first scanning period corresponding to the region of interest 10, a second scanning period corresponding to the jumping region 20, and a third scanning period corresponding to the non-region of interest 30, the first scanning mechanism 141 is controlled to move at a speed k within the first scanning period 1 Rotates at a speed k during a second scan period 2 Rotates at a speed k during a third scan period 3 Is rotated, wherein k 2 ＞k 3 ＞k 1 ；
The resolution of the corresponding region is larger as the rotation speed of the first scanning mechanism 141 is smaller, whereas the resolution of the corresponding region is smaller as the rotation speed of the first scanning mechanism 141 is larger, since k is 2 ＞k 3 ＞k 1 Therefore, the larger the resolution of the region of interest 10, the smallest the resolution of the jump region 20, and the jump region 20 is adjacent to the region of interest 10 in the first direction.
Multiple scanning fields of view respectively formed based on the laser light emitted by the plurality of emission mechanisms are acquired, and the multiple scanning fields of view are stitched such that at least one region of interest overlaps a jump region 20 of another scanning field of view.
By arranging a plurality of emission mechanisms in the first direction, the laser emitted by each emission mechanism can form a scanning view field, when the multi-path scanning view fields are spliced, the interested areas 10 of the plurality of scanning view fields can form a superposition effect in the first direction, and the superposition effect is increasedThe overall region of interest 10 of the lidar in the first direction. And due to k 2 ＞k 3 Since the scan lines in the jump region 20 are made smaller than those in the non-interest region 30, the interest region 10 and the jump region 20 are overlapped, and the waste of the field beam can be reduced. Specifically, in the present embodiment, as can be seen from fig. 7 (a), 7 (b) and 7 (c), k 2 Is much greater than k 3 Only 1 to 2 scan lines are in the jump region 30, which is far less than the scan lines in the region of non-interest 30, so that when multiple paths of overlapping are performed, the waste of the beam is substantially negligible, and a space is left for the region of interest 10 of other paths.
The specific number of scanning fields is not limited, and in the present embodiment, the number of scanning fields is 4.
In some embodiments, the scanning field of view corresponding to the emission mechanism comprises a plurality of jump zones 20 symmetrically distributed with respect to the region of interest 10, and the second scanning period comprises a field angle θ corresponding to the jump zones 20 located on one side of the region of interest 10 2 Corresponding t 1 To t 2 Period of time, and angle of field θ with the jump zone 20 located on the other side of the region of interest 10 4 Corresponding t 3 To t 4 A period of time within the second scanning period at a speed k 2 The rotating includes:
at t 1 To t 2 During the period, the first scanning mechanism 141 is controlled to have a speed k 2 Rotating;
at t 3 To t 4 During the period, the first scanning mechanism 141 is controlled to have a speed k 2 Is rotated, wherein t 4 －t 3 ＝t 2 －t 1 。
θ 2 ＝k 2 *(t 4 －t 3 )，θ 4 ＝k 2 *(t 2 －t 1 ) Due to t 4 －t 3 ＝t 2 －t 1 Thus, θ 2 ＝θ 4 。
The specific number of jump regions 20 per scan field is not limited, and in the present embodiment, each scan field has two jump regions 20, and the two jump regions 20 have the same size and are symmetrically distributed on both sides of the region of interest 10 along the first direction.
In some embodiments, the scanning field of view corresponding to each emission mechanism comprises a plurality of regions of non-interest 30 symmetrically distributed with respect to the region of interest 10, and the third scanning period comprises a field angle θ with the region of non-interest 30 located on one side of the region of interest 10 1 Corresponding t 0 To t 1 Period of time, and angle of field θ with the non-region of interest 30 located on the other side of the region of interest 10 5 Corresponding t 4 To t 5 Period of time, at speed k during the third scanning period 3 The rotating includes:
at t 0 To t 1 During the period, the first scanning mechanism 141 is controlled to have a speed k 3 Rotating;
at t 4 To t 5 During the period, the first scanning mechanism 141 is controlled to have a speed k 3 Is rotated, wherein t 5 －t 4 ＝t 1 －t 0 。
θ 1 ＝k 3 *(t 1 －t 0 )，θ 5 ＝k 3 *(t 5 －t 4 ) Due to t 5 －t 4 ＝t 1 －t 0 Thus, θ 1 ＝θ 5 。
The specific number of the regions of non-interest 30 of each scan field is not limited, and in this embodiment, each scan field has two regions of non-interest 30, and the two regions of non-interest 30 have the same size and are symmetrically distributed on two sides of the region of interest 10 along the first direction.
As shown in FIG. 5, in some embodiments, each emission mechanism corresponding scanning mechanism includes a plurality of jump regions 20 and a plurality of regions of interest 10 symmetrically distributed with respect to the region of interest 10, the jump regions 20 being located between the region of non-interest 30 and the region of interest 10, the first scanning period including an angle of view θ with the region of interest 10 3 Corresponding t 2 To t 3 A second scanning period including a scan pulse corresponding to the region of interest 1Angle of view θ of 0 side jump area 20 2 Corresponding t 1 To t 2 The time period, and the angle of view theta with the jump area 20 located on the other side of the region of interest 10 4 Corresponding t 3 To t 4 A period of time, the third scanning period including an angle of view θ with the non-region of interest 30 located on the side of the region of interest 10 1 Corresponding t 0 To t 1 The time period, and the angle of view θ with the non-region of interest 30 located on the other side of the region of interest 10 5 Corresponding t 4 To t 5 A period of time for controlling the first scanning mechanism 141 to move at a speed k during the first scanning period 1 Rotates at a speed k during a second scan period 2 Rotates at a speed k during a third scan period 3 The rotating includes:
at t 0 To t 1 During the period, the first scanning mechanism 141 is controlled to have a speed k 3 Rotating;
at t 1 To t 2 During the period, the first scanning mechanism 141 is controlled to have a speed k 2 Rotating;
at t 2 To t 3 During the period, the first scanning mechanism 141 is controlled to have a speed k 1 Rotating;
at t 3 To t 4 During the period, the first scanning mechanism 141 is controlled to have a speed k 2 Rotating;
at t 4 To t 5 During the period, the first scanning mechanism 141 is controlled to have a speed k 3 Is rotated, wherein theta 1 ＝
θ 5 ＝θ 2 ＝θ 4 ＝2θ 3 。
θ 1 ＝k 3 *(t 1 －t 0 )，θ 5 ＝k 3 *(t 5 －t 4 ) And t is of 5 －t 4 ＝t 1 －t 0 Therefore, theta 1 ＝θ 5 ；θ 2 ＝
k 2 *(t 4 －t 3 )，θ 4 ＝k 2 *(t 2 －t 1 ) And t is 4 －t 3 ＝t 2 －t 1 Therefore, theta 2 ＝θ 4 。t 1 －t 0 ＞t 2 －t 1 ，k 3 ＜k 2 Let k be 3 *(t 1 －t 0 )＝k 2 *(t 2 －t 1 ) I.e. theta 1 ＝θ 4 Finally make theta 1 ＝θ 5 ＝θ 2 ＝θ 4 The effect of up-down symmetrical distribution is formed, and the splicing of multiple scanning view fields can be complete and seamless.
The specific number of regions of non-interest 30 and jump regions 20 per scan field is not limited, and in the present embodiment, each scan field has two regions of non-interest 30 and two jump regions 20, with one jump region 20 between the region of interest 10 and each region of non-interest 30. The two regions of non-interest 30 and the two jump regions 20 are all the same size, and in the first direction, the two regions of non-interest 30 and the two jump regions 20 are both symmetrical with respect to the region of interest 10.
In the present embodiment, the scanning frequency of the second scanning mechanism 142 is w k The angle between the laser emitted by the emitting mechanism and the normal of the first scanning mechanism 141 is theta', and the single-path resolution of the non-region-of-interest 30 is theta f ，
θ f Satisfies the following conditions:
or
(N is more than or equal to 1, N is more than 1, and N and N are respectively positive integers), wherein N refers to the number of times that one path of light approaches to another adjacent path of light through N times of scanning, and N refers to the number of times that the single-line resolution is equally divided in the non-interested area 30. In the present embodiment, N =4,n =2, and the resolution of the region of non-interest 30 is θ f /2。
In order to solve the problem of low resolution of the laser radar, the inventor considers that the higher the output dot frequency is,the denser the points in the scanning field of view are, the higher the resolution is, the emission mechanism is controlled to increase the output dot frequency in the time period corresponding to the region of interest, so as to increase the resolution of the region of interest. For example, fig. 9 and 10, fig. 9 (a) is a view of the region of interest obtained by the emission mechanism emitting laser light at a low spot frequency, and fig. 9 (b) is a view of the region of interest obtained by the emission mechanism emitting laser light at a high spot frequency, and it is obvious that the dots in fig. 9 (b) are denser than those in fig. 9 (a), i.e., meaning that the resolution of the region of interest in fig. 9 (b) is greater than that in fig. 9 (a). Fig. 10 (a) is a schematic view of a scanning waveform of the first scanning mechanism during uniform scanning, and fig. 10 (b) is a schematic view of a scanning field obtained according to the scanning waveform of fig. 10 (a). As can be seen from fig. 10 (a), the first scanning mechanism is at t a To t b Within a time interval t b To t c Within a time period and t c To t d The scanning frequency (i.e., slope) over the time period is the same, but the points of the region of interest (i.e., ROI region) are significantly denser than the points of the region of non-interest (i.e., non-ROI region) in FIG. 10 (b), precisely because the emitting mechanism is at t b To t c The output dot frequency in the time interval is greater than t a To t b Within a time period and t c To t d The output dot frequency within the time period is such that the resolution of the region of interest is greater than the resolution of the region of non-interest. However, by controlling the input dot frequency, only the resolution of the scanning field in the horizontal direction can be scanned, and the resolution in the vertical direction cannot be improved, so the inventor of the present application further proposes a technical idea of adopting a multi-path overlapping mode in the vertical direction, rotating the first scanning mechanism at different speeds in different time periods to obtain an interested area, a non-interested area and a jumping area, and overlapping the interested area and the jumping area in different paths, and proposes a technical scheme of the present application.
In some embodiments, the control method of the lidar further comprises:
controlling a firing mechanism at a frequency v during said first scan period 1 Emitting laser;
controlling the firing mechanism to operate at a frequency v during said second scan period 2 Emitting laser;
controlling a firing mechanism to fire at a frequency v during said third scan period 3 Emitting laser light of which v 1 ＞v 2 ，v 1 ＞v 3 ，v 2 And v 3 May be equal or unequal.
The higher the transmission frequency (i.e., the output dot frequency) of the transmission mechanism, the more laser transmission points are in the same time, the denser the points in the horizontal direction of the laser radar are, and the higher the resolution in the horizontal direction is. The emission mechanism is controlled at a frequency v during a first scanning period corresponding to the region of interest 10 1 Emitting laser light, v 1 Greater than v 3 And v 2 Thus, the resolution of the region of interest 10 in the horizontal direction can be improved.
Referring to fig. 11 and 12, in a lidar control method according to another embodiment of the present invention, a scanning field corresponding to each emitting mechanism includes a plurality of regions of interest 10 symmetrically distributed with respect to the jump region 20, and a first scanning period includes a field angle θ with respect to the region of interest 10 located on one side of the jump region 20 2 Corresponding t 1 To t 2 Period of time, and angle of field θ with the region of interest 10 located on the other side of the jump zone 20 4 Corresponding t 3 To t 4 A period of time for controlling the first scanning mechanism 141 to move at a speed k during the first scanning period 1 The rotating includes:
at t 1 To t 2 During the period, the first scanning mechanism 141 is controlled to have a speed k 1 Rotating;
at t 3 To t 4 During the period, the first scanning mechanism 141 is controlled to have a speed k 1 Is rotated, wherein t 4 －t 3 ＝t 2 －t 1 。
θ 2 ＝k 1 *(t 4 －t 3 )，θ 4 ＝k 1 *(t 2 －t 1 ) Due to t 4 －t 3 ＝t 2 －t 1 Thus, θ 2 ＝θ 4 。
The specific number of the regions of interest 10 of each scan field is not limited, and in the present embodiment, each scan field has two regions of interest 10, and the two regions of interest 10 have the same size and are symmetrically distributed on two sides of the jump region 20 along the first direction.
The specific number of scanning fields is not limited, and in the present embodiment, the number of scanning fields is 4.
In some embodiments, the scanning field of view corresponding to each emission mechanism includes a plurality of regions of non-interest 30 symmetrically distributed with respect to the jump region 20, and the third scanning period includes a field angle θ with the regions of non-interest 30 located on one side of the jump region 20 1 Corresponding t 0 To t 1 The time period, and the angle of view theta with the region of non-interest 30 on the other side of the jump region 20 5 Corresponding t 4 To t 5 A period of time within the third scanning period at a speed k 3 The rotating includes:
at t 0 To t 1 During the period, the first scanning mechanism 141 is controlled to have a speed k 3 Rotating;
at t 4 To t 5 During the period, the first scanning mechanism 141 is controlled to have a speed k 3 Is rotated, wherein t 5 －t 4 ＝t 1 －t 0 。
θ 1 ＝k 3 *(t 1 －t 0 )，θ 5 ＝k 3 *(t 5 －t 4 ) Due to t 5 －t 4 ＝t 1 －t 0 Thus, θ 1 ＝θ 5 。
The specific number of the regions of non-interest 30 of each scan field is not limited, and in this embodiment, each scan field has two regions of non-interest 30, and the two regions of non-interest 30 have the same size and are symmetrically distributed on two sides of the region of interest 10 along the first direction.
As shown in FIG. 12, in some embodiments, the scan field of view for each emission mechanism includes a plurality of regions of interest 10 and a plurality of regions of non-interest 30 symmetrically distributed with respect to the jump region 20, and the first scan period includes a scan period corresponding to a scan period located on one side of the jump region 20Angle of view theta of the region of interest 10 2 Corresponding t 1 To t 2 The time period, and the angle of view theta with the region of interest 10 on the other side of the jump region 20 4 Corresponding t 3 To t 4 A period of time, the second scanning period including an angle of view theta with the jump region 20 3 Corresponding t 2 To t 3 A period of time, the third scanning period including an angle of view θ with the region of non-interest 30 located on the side of the jump region 20 1 Corresponding t 0 To t 1 Period of time, and angle of field θ with the region of non-interest 30 located on the other side of the jump region 20 5 Corresponding t 4 To t 5 A period of time for controlling the first scanning mechanism 141 to move at a speed k during the first scanning period 1 Rotates at a speed k during a second scan period 2 Rotates at a speed k during a third scan period 3 The rotating includes:
at t 0 To t 1 During the period, the first scanning mechanism 141 is controlled to have a speed k 3 Rotating;
at t 1 To t 2 During the period, the first scanning mechanism 141 is controlled to have a speed k 1 Rotating;
at t 2 To t 3 During the period, the first scanning mechanism 141 is controlled to have a speed k 2 Rotating;
at t 3 To t 4 During the period, the first scanning mechanism 141 is controlled to have a speed k 1 Rotating;
at t 4 To t 5 During the period, the first scanning mechanism 141 is controlled to have a speed k 3 Is rotated, wherein theta 1 ＝
θ 5 ，θ 2 ＝θ 4 ，θ 1 ＞θ 3 ＝3θ 2 。
θ 1 ＝k 3 *(t 1 －t 0 )，θ 5 ＝k 3 *(t 5 －t 4 ) And t is 5 －t 4 ＝t 1 －t 0 Therefore, θ 1 ＝θ 5 ；θ 2 ＝
k 2 *(t 4 －t 3 )，θ 4 ＝k 2 *(t 2 －t 1 ) And t is 4 －t 3 ＝t 2 －t 1 Therefore, θ 2 ＝θ 4 . The interested region 10 and the non-interested region 30 form an effect of up-down symmetrical distribution in the first direction, so that the splicing of multiple scanning fields can be complete and seamless.
In the present embodiment, the scanning frequency of the second scanning mechanism 142 is w k The angle between the laser beam emitted by the emitting mechanism and the normal of the first scanning mechanism 141 is θ', and the one-way resolution of the non-region-of-interest 30 is θ f ，
θ f Satisfies the following conditions:
or
(N is more than or equal to 1, N is more than 1, and N and N are respectively positive integers), wherein N refers to the number of times that one path of light approaches to another adjacent path of light through N times of scanning, and N refers to the number of times that the single-line resolution is equally divided in the non-interested area 30. In the present embodiment, N =4,n =4, and the resolution of the region of non-interest 30 is θ f /4。。
According to the laser radar using method provided by the invention, when the multiple scanning view fields are spliced, the region of interest is overlapped with the jump region of the other scanning view field due to k 2 ＞k 3 The resolution of the jumping region is smaller than that of the non-interested region, and the wiring harness of the jumping region is rare, so that the waste of the wiring harness of the field of view can be reduced compared with the situation that the interested region overlaps with the jumping region.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (10)
1. A method of controlling a lidar comprising a transmit module (110) for transmitting laser light, a scan module (140) for reflecting the laser light of the transmit module (110) towards a target (170), and a receive module for receiving the laser light reflected back from the target (170), the scan module (140) comprising a first scan mechanism (141) and a second scan mechanism (142), the first scan mechanism (141) for reflecting the laser light from the transmit module (110) towards the second scan mechanism (142), the second scan mechanism (142) for reflecting the laser light from the first scan mechanism (141) towards the target (170), characterised in that the transmit module (110) comprises a plurality of transmit mechanisms spaced from one another in a first direction; the control method of the laser radar comprises the following steps:
setting a scanning cycle of the first scanning mechanism (141) to include a first scanning period corresponding to a region of interest (10), a second scanning period corresponding to a jump region (20), and a third scanning period corresponding to a region of no interest (30), controlling the first scanning mechanism (141) at a speed k within the first scanning period 1 Rotate at a speed k during the second scan period 2 Rotate at a speed k during the third scan period 3 Rotating; wherein k is 2 ＞k 3 ＞k 1 ；
Acquiring a plurality of scanning fields of view respectively formed on the basis of laser emitted by a plurality of emission mechanisms, and splicing the plurality of scanning fields of view to enable at least one region of interest (10) to be overlapped with a jump region (20) of another scanning field of view.
2. The lidar control method according to claim 1, wherein the scanning field of view corresponding to each of the emission mechanisms includes a plurality of the jump regions (20) symmetrically distributed with respect to the region of interest (10), and wherein the second scanning period includes a field angle θ with respect to the jump region (20) located on the side of the region of interest (10) 2 Corresponding t 1 To t 2 A period of time, and an angle of view theta with the jump area (20) located on the other side of the region of interest (10) 4 Corresponding t 3 To t 4 A period of time within which the second scan is at a speed k 2 The rotating includes:
at t 1 To t 2 Controlling the first scanning mechanism (141) at a speed k during a time period 2 Rotating;
at t 3 To t 4 Controlling the first scanning mechanism (141) at a speed k during a time period 2 Is rotated, wherein t 4 －t 3 ＝t 2 －t 1 。
3. The lidar control method according to claim 1, wherein the scanning field of view corresponding to each of the transmitting mechanisms includes a plurality of the regions of non-interest (30) symmetrically distributed with respect to the region of interest (10), and the third scanning period includes a field angle θ with respect to the region of non-interest (30) located on a side of the region of interest (10) 1 Corresponding t 0 To t 1 A period of time, and an angle of field θ with the region of non-interest (30) located on the other side of the region of interest (10) 5 Corresponding t 4 To t 5 A period of time, said time being at a speed k within said third scan period 3 The rotating includes:
at t 0 To t 1 Controlling the first scanning mechanism (141) at a speed k during a time period 3 Rotating;
at t 4 To t 5 Controlling the first scanning mechanism (141) at a speed k during a time period 3 Is rotated, wherein t 5 －t 4 ＝t 1 －t 0 。
4. The lidar control method according to claim 1, wherein each of the transmitting mechanisms comprises a plurality of jump regions (20) and a plurality of interest regions (10) symmetrically distributed with respect to the scanning mechanismA region (10), the jump region (20) being located between the region of non-interest (30) and the region of interest (10), the first scanning period comprising a field angle θ with the region of interest (10) 3 Corresponding t 2 To t 3 A period of time including an angle of field θ with the jump region (20) located on one side of the region of interest (10) 2 Corresponding t 1 To t 2 A period of time and an angle of field θ with the jump zone (20) located on the other side of the region of interest (10) 4 Corresponding t 3 To t 4 A period of time including an angle of field θ with the region of non-interest (30) on one side of the region of interest (10) 1 Corresponding t 0 To t 1 A period of time, and an angle of field θ with the region of non-interest (30) located on the other side of the region of interest (10) 5 Corresponding t 4 To t 5 A period of time during which the first scanning mechanism (141) is controlled to be at a speed k 1 Rotate at a speed k during the second scan period 2 Rotate at a speed k during the third scan period 3 The rotating includes:
at t 0 To t 1 Controlling the first scanning mechanism (141) at a speed k during a time period 3 Rotating;
at t 1 To t 2 Controlling the first scanning mechanism (141) at a speed k during a time period 2 Rotating;
at t 2 To t 3 Controlling the first scanning mechanism (141) at a speed k during a time period 1 Rotating;
at t 3 To t 4 Controlling the first scanning mechanism (141) at a speed k during a time period 2 Rotating;
at t 4 To t 5 Controlling the first scanning mechanism (141) at a speed k during a time period 3 Is rotated, wherein theta 1 ＝θ 5 ＝θ 2 ＝θ 4 ＝2θ 3 。
5. The lidar control method according to claim 1, wherein the scanning field of view corresponding to each of the emission mechanisms includes a plurality of the regions of interest (10) symmetrically distributed with respect to the jump region (20), and the first scanning period includes a field angle θ with respect to the region of interest (10) located on the side of the jump region (20) 2 Corresponding t 1 To t 2 A period of time, and an angle of field θ with the region of interest (10) located on the other side of the jump region (20) 4 Corresponding t 3 To t 4 A period of time during which the first scanning mechanism (141) is controlled at a speed k 1 The rotating includes:
at t 1 To t 2 Controlling the first scanning mechanism (141) at a speed k during a time period 1 Rotating;
at t 3 To t 4 Controlling the first scanning mechanism (141) at a speed k during a time period 1 Is rotated, wherein t 4 －t 3 ＝t 2 －t 1 。
6. The lidar control method according to claim 1, wherein the scanning field of view corresponding to each of the transmitting mechanisms includes a plurality of the regions of non-interest (30) symmetrically distributed with respect to the jump region (20), and the third scanning period includes a field angle θ with respect to the region of non-interest (30) located on the side of the jump region (20) 1 Corresponding t 0 To t 1 A period of time, and an angle of view θ with the region of non-interest (30) located on the other side of the jump region (20) 5 Corresponding t 4 To t 5 A period of time, said time being at a speed k within said third scan period 3 The rotating includes:
at t 0 To t 1 Controlling the first scanning mechanism (141) at a speed k during a time period 3 Rotating;
at t 4 To t 5 Controlling the first scanning mechanism (141) at a speed k during a time period 3 Is rotated, wherein t 5 －t 4 ＝t 1 －t 0 。
7. The lidar control method according to claim 1, wherein the scanning field of view corresponding to each of the transmitting mechanisms includes a plurality of the regions of interest (10) and a plurality of the regions of non-interest (30) symmetrically distributed with respect to the jump region (20), and the first scanning period includes an angle of view θ with respect to the region of interest (10) located on the side of the jump region (20) 2 Corresponding t 1 To t 2 A period of time and an angle of field θ with the region of interest (10) located on the other side of the jump zone (20) 4 Corresponding t 3 To t 4 A period of time including an angle of view θ with the jump region (20) 3 Corresponding t 2 To t 3 A period of time including an angle of field θ with the region of non-interest (30) located on one side of the jump region (20) 1 Corresponding t 0 To t 1 A period of time and an angle of field θ with the region of non-interest (30) located on the other side of the jump region (20) 5 Corresponding t 4 To t 5 A period of time during which the first scanning mechanism (141) is controlled at a speed k 1 Rotate at a speed k during the second scan period 2 Rotate at a speed k during the third scan period 3 The rotating includes:
at t 0 To t 1 Controlling the first scanning mechanism (141) at a speed k during a time period 3 Rotating;
at t 1 To t 2 Controlling the first scanning mechanism (141) at a speed k during a time period 1 Rotating;
at t 2 To t 3 Controlling the first scanning mechanism (141) at a speed k during a time period 2 Rotating;
at t 3 To t 4 Controlling the first scanning mechanism (141) at a speed k during a time period 1 Rotating;
at t 4 To t 5 Controlling the first scanning mechanism (141) at a speed k during a time period 3 Is rotated, wherein theta 1 ＝θ 5 ，θ 2 ＝θ 4 ，θ 1 ＞θ 3 ＝3θ 2 。
8. The lidar control method according to any one of claims 1 to 7, further comprising:
controlling the firing mechanism to fire at a frequency v during the first scan period 1 Emitting laser;
control the firing mechanism to fire at a frequency v during the second scan period 2 Emitting laser;
controlling the firing mechanism to frequency v within the third scan period 3 Emitting laser light, wherein v 1 ＞v 2 ，v 1 ＞v 3 。
9. Lidar characterized by a transmitting module (110) for transmitting laser light, a scanning module (140) for reflecting the laser light of the transmitting module (110) towards a target (170), and a receiving module for receiving the laser light reflected back from the target (170);
the transmitting module (110) comprises a plurality of transmitting mechanisms which are mutually spaced in a first direction, and laser emitted by the plurality of transmitting mechanisms can form a multi-path scanning field of view;
the scanning module (140) comprises a first scanning mechanism (141) and a second scanning mechanism (142), the first scanning mechanism (141) being configured to reflect the laser light from the emission module (110) to the second scanning mechanism (142), the second scanning mechanism (142) being configured to reflect the laser light from the first scanning mechanism (141) to the target object (170);
the first scanning mechanism (141) is rotatable at different speeds to divide the scanning field of view in the first direction into a region of interest (10), a region of non-interest (30), and a jump region (20), with the resolution of the region of interest (10) > the resolution of the region of non-interest (30) > the resolution of the jump region (20), at least one of the regions of interest overlapping the jump region (20) of another of the scanning field of view.
10. The lidar of claim 9, wherein the lidar further comprises a set of transmitting optics (120) disposed between the transmitting module (110) and the first scanning mechanism (141), a focal length of the set of transmitting optics (120) is f, a distance between two adjacent transmitting mechanisms in the first direction is d, an included angle θ = atan (d/f) between the laser beams emitted by two adjacent transmitting mechanisms, and an angle θ of the vertical direction of the region of interest (10) corresponding to a single transmitting mechanism ROI ＝θ。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211386884.XA CN115792856A (en) | 2022-11-07 | 2022-11-07 | Laser radar and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211386884.XA CN115792856A (en) | 2022-11-07 | 2022-11-07 | Laser radar and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115792856A true CN115792856A (en) | 2023-03-14 |
Family
ID=85435908
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211386884.XA Pending CN115792856A (en) | 2022-11-07 | 2022-11-07 | Laser radar and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115792856A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116593997A (en) * | 2023-07-17 | 2023-08-15 | 北京亮道智能汽车技术有限公司 | Anti-crosstalk and anti-interference method and device for laser radar |
-
2022
- 2022-11-07 CN CN202211386884.XA patent/CN115792856A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116593997A (en) * | 2023-07-17 | 2023-08-15 | 北京亮道智能汽车技术有限公司 | Anti-crosstalk and anti-interference method and device for laser radar |
| CN116593997B (en) * | 2023-07-17 | 2023-09-19 | 北京亮道智能汽车技术有限公司 | Anti-crosstalk and anti-interference method and device for laser radar |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3779502B1 (en) | Distributed lidar | |
| US10782392B2 (en) | Scanning optical system and light projecting and receiving apparatus | |
| US9897687B1 (en) | Lidar system with improved scanning speed for high-resolution depth mapping | |
| KR101665938B1 (en) | Optical system of multi lidar scanner using mirror rotation | |
| US5552893A (en) | Distance measuring apparatus | |
| US5898483A (en) | Method for increasing LADAR resolution | |
| KR20200096632A (en) | Multi-pulse lidar system for multi-dimensional detection of objects | |
| EP3206074B1 (en) | Scanning optical system and light projection and reception device | |
| US20220276350A1 (en) | Lidar device and operation method thereof | |
| CN113227827A (en) | Laser radar and autopilot device | |
| US20190011539A1 (en) | Light Projecting/Reception Unit And Radar | |
| CN115792856A (en) | Laser radar and control method thereof | |
| US20210311193A1 (en) | Lidar sensor for optically detecting a field of vision, working device or vehicle including a lidar sensor, and method for optically detecting a field of vision | |
| CN115480254A (en) | Detection method and device | |
| EP4130795A1 (en) | Laser radar and automatic driving apparatus | |
| JPH08261753A (en) | Optical radar device | |
| JPH10153653A (en) | Vehicle-mounted laser radar device and hologram scanner applicable to the same | |
| JP2021162475A (en) | Scanner, scanning method, and scanning program | |
| US20190120941A1 (en) | Arrangement of light sources and detectors in a lidar system | |
| US20050018037A1 (en) | Multi-beam laser scanning unit and laser-beam deflection compensating method | |
| CN211786078U (en) | Light path system and laser radar | |
| JPH0123071B2 (en) | ||
| CN102411279B (en) | Image processing system and image forming method | |
| CN220855345U (en) | Optical path structure and hybrid solid-state laser radar | |
| CN110662980A (en) | Method and apparatus for scanning spatial angles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |