CN115792930B - Laser radar capable of orthogonal receiving and transmitting and scanning method and system thereof - Google Patents
Laser radar capable of orthogonal receiving and transmitting and scanning method and system thereof Download PDFInfo
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Abstract
The invention discloses an orthogonal transceiving laser radar and a scanning method and a system thereof, relating to the technical field of laser radars, comprising orthogonal transceiving modules, wherein a transmitting end and a receiving end of each orthogonal transceiving module respectively transmit and receive signals to antennas in two orthogonal directions, a plurality of orthogonal transceiving modules are sequentially spliced along a first direction, each orthogonal transceiving module points to a different second direction, and the second directions of the sequentially spliced orthogonal transceiving modules are arranged according to the angle range of a single orthogonal transceiving module; all the spliced orthogonal transceiver modules scan at the same time and the same speed, or at least one orthogonal transceiver module operates independently. A scanning range expanding technology in one direction is designed in a mode of combining a plurality of small-range modules, and a product which needs a more complex process to realize originally is realized by a simple scheme.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a laser radar for orthogonal transceiving and a scanning method and a scanning system thereof.
Background
Chinese patent publications: a laser radar orthogonal transceiving system based on discrete adjustable grating is disclosed as follows: CN113567960A, published date: in 2021, 29 months and 10 days, the laser radar orthogonal transmitting and receiving method is proposed for the first time. That is, the transmitting end and the receiving end respectively transmit and receive signals to two orthogonal antennas. Laser is transmitted along a first direction through a transmitting antenna, a transmitting end radiation pattern covers a straight line along the first direction, objects in the lighted first direction are detected, the laser is reflected back to a chip, radiation patterns in different configurations of a receiving end cover straight lines in different second directions, the laser reflected back in different second direction coordinate directions is received by receiving antennas in different configurations, and the configuration of the receiving end is scanned, so that second direction coordinates of the detected objects can be determined, two-dimensional position information of the objects can be obtained by combining the configuration of the transmitting antenna, and longitudinal distance and speed information of the objects can be obtained by utilizing the flight time of the laser or continuous wave modulation; and then converting the x-ray emitted by the emitting end, and receiving the signal by the same operation, thereby further scanning the whole area. With such orthogonal transceiving, the conventional N × N phase shifter array is reduced to only 2N phase shifters.
The same chip is adopted for transmitting and receiving or the same chip is adopted for transmitting and receiving, so that the cost can be reduced, higher integration can be realized, and the scannable area of the orthogonal transmitting and receiving laser radar for transmitting and receiving is square, as shown in figure 5. The orthogonal transceiver modules use the same structure for transmitting and receiving, so that the FOV angles in two orthogonal directions are consistent, however, in practical use, the scan angle requirement for one direction is often higher than that for the other direction, for example, the scan field of view needs to be 120 ° x 30 °, for a common transceiver configuration, this results in a field of view of 120 ° x 120 ° being required to meet the requirement, and the scan area requirement is greatly increased. As the scanning area expands, the number of transmitting and receiving antennas needs to be increased or a larger range of varying wavelengths used, resulting in a large increase in the complexity and cost of the lidar chip.
In practice, the scanning area is usually a small scanning angle multiplied by a large scanning angle. The configuration using a large scanning angle increases the complexity of the chip and increases the cost; if the transceiver chips with different designs are adopted, the problems of complicated design system, high cost and the like exist.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an orthogonal laser radar spliced at multiple angles and a scanning mode thereof, and the problem is solved by the following technical scheme:
an orthogonal transmitting and receiving laser radar for realizing the scan range extension of an orthogonal transmitting and receiving module which shares transmitting and receiving or is transmitted and received as the same chip comprises an orthogonal transmitting and receiving module, wherein a transmitting end and a receiving end of the orthogonal transmitting and receiving module respectively transmit and receive signals to two antennas in orthogonal directions,
the plurality of orthogonal transceiver modules are sequentially spliced along a first direction, each orthogonal transceiver module points to a different second direction, and the second directions of the sequentially spliced orthogonal transceiver modules are set according to the angle range of a single orthogonal transceiver module; the scanning range of the latter orthogonal transceiver module is carried behind the scanning range of the former orthogonal transceiver module, and the scanning range of all the spliced orthogonal transceiver modules completely covers the preset total angle;
all the spliced orthogonal transceiver modules scan at the same time and the same speed, or at least one orthogonal transceiver module operates independently.
Optionally, the scanning ranges of adjacent orthogonal transceiver modules overlap at adjacent positions.
Optionally, the number of the orthogonal transceiver modules and the scanning range of each orthogonal transceiver module are determined according to a preset total angle, and the plurality of orthogonal transceiver modules are spliced along one scanning direction.
Optionally, the orthogonal transceiver module includes a PCB circuit board, a laser radar chip, a signal input end, a signal output end, and an input/output optical fiber.
Optionally, the orthogonal transceiver module further includes a temperature control base, and the orthogonal transceiver module is mounted on the temperature control base; the temperature control mode comprises that each temperature control module is independently controlled, or the temperature control bases of a plurality of orthogonal transceiver modules are electrically connected, so that the unified temperature control of the orthogonal transceiver modules is realized.
A scanning method of laser radar capable of orthogonal receiving and transmitting adopts the laser radar.
The method comprises the following steps:
the orthogonal transceiver modules scan in parallel and in the same direction, and each orthogonal transceiver module starts to scan at the same speed from the same angle in the normal direction of the orthogonal transceiver module during scanning.
Optionally, the method includes an adaptive scanning method, including the following steps:
at least one orthogonal transceiver module separately realizes scanning control for the corresponding detection scanning area.
Optionally, a plurality of orthogonal transceiver modules of the laser radar perform parallel and same-direction scanning;
and returning a self-adaptive scanning control instruction according to the parallel and same-direction scanning result, and receiving the self-adaptive scanning control instruction by at least one orthogonal transceiver module to independently realize scanning control.
Optionally, the adaptive scanning method further includes:
responding to an object at the edge of the scanning range of the adjacent orthogonal transceiver module, judging the moving speed and the moving direction of the object, calculating the time of the object entering the scanning area of the other adjacent orthogonal transceiver module according to the current moving speed and the moving direction of the object, and transmitting the time parameter to the adjacent orthogonal transceiver module;
and responding to the time parameter, and the orthogonal transceiver module receiving the time parameter executes an adaptive scanning method to scan the object predicted occurrence area.
The laser radar scanning system comprises the laser radar and a master control unit, wherein the master control unit is used for realizing the scanning method of the laser radar by executing a computer program.
The invention has the beneficial effects that: based on the existing orthogonal transceiver module which shares the transceiver or is the same chip for the transceiver, if a large scanning range is to be realized, the difficulty of chip complexity and cost is faced, a form of combining a plurality of small-range modules is provided, and a scanning range expanding technology in one direction is designed aiming at the existing application scene (namely, the requirement on the scanning range in one direction is higher in practical application). The method realizes the product which needs more complex process to realize by a simple scheme, and has breakthrough progress.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic diagram of four orthogonal transceiver modules spliced together;
fig. 2 is a schematic diagram of a single orthogonal transceiver module architecture;
FIG. 3 is a schematic view of scanning directions of four orthogonal transceiver modules after being spliced;
FIG. 4 is a flow chart of the scanning of the orthogonal transceiver modules after splicing;
fig. 5 is a schematic view of a scannable area of an orthogonal transmitting and receiving lidar that is shared by both transmitting and receiving.
Detailed Description
The present invention will be described in further detail with reference to examples, which are illustrative of the present invention and are not to be construed as being limited thereto.
An orthogonal transmitting and receiving laser radar is used for realizing the scanning range expansion of an orthogonal transmitting and receiving module which is shared for transmitting and receiving or is transmitted and received as the same chip, a transmitting end and a receiving end of the orthogonal transmitting and receiving module respectively transmit and receive signals to two orthogonal antennas,
the plurality of orthogonal transceiver modules are sequentially spliced along a first direction, each orthogonal transceiver module points to a different second direction, and the second directions of the sequentially spliced orthogonal transceiver modules are set according to the angle range of a single orthogonal transceiver module; the scanning range of the latter orthogonal transceiver module is connected with the scanning range of the former orthogonal transceiver module, and the scanning range of all the spliced orthogonal transceiver modules fully covers the preset total angle;
all the spliced orthogonal transceiver modules scan at the same time and the same speed, or at least one orthogonal transceiver module operates independently.
The transmitting end and the receiving end of the orthogonal transceiving module respectively transmit and receive signals in x and y directions of the antenna.
The number of the orthogonal transceiver modules and the scanning range of each orthogonal transceiver module are determined according to a preset total angle, and the orthogonal transceiver modules are spliced along one scanning direction.
Taking an orthogonal transceiver module of 30 ° × 30 ° as an example to realize an overall angle covering 120 ° in total, if the orthogonal transceiver module is to realize a coverage range of 120 ° in the first direction, a chip of 120 ° × 120 ° needs to be manufactured, which has high process complexity and high cost.
Alternatively, the scanning ranges of adjacent orthogonal transceiver modules overlap in the vicinity. Ideally, if the scanning range of the first orthogonal transceiver module is 0 ° to 30 °, and the scanning range of the adjacent orthogonal transceiver module is 30 ° to 60 °, but in order to ensure full coverage in practical implementation, the scanning ranges of the adjacent two orthogonal transceiver modules are not omitted, and the scanning ranges of the adjacent two orthogonal transceiver modules may also be configured to partially overlap.
Through the innovative design of this scheme, effectively solve above-mentioned problem, refer to fig. 1.
And four orthogonal transceiver modules are sequentially spliced at an interval of 30 degrees, wherein each orthogonal transceiver module points to a different second direction, and the four orthogonal transceiver modules form a scanning angle of 120 degrees multiplied by 30 degrees. On the mechanical level, the term "splice" in this embodiment refers to a fixation according to a second, different direction (angle) as a whole. From the control aspect, the four orthogonal transceiver modules can be all connected with a master control unit, and the master control unit uniformly sends instructions such as start signals, stop signals and the like.
Each orthogonal transceiver module comprises a PCB circuit board, a laser radar chip, a signal input end, a signal output end and an input/output optical fiber. And the input and output optical fiber and the laser radar chip are packaged in an optical coupling way. The orthogonal transceiver module also comprises a temperature control base, and the orthogonal transceiver module is arranged on the temperature control base to realize temperature control; the temperature control mode comprises that each temperature control module is independently controlled, and the temperature control bases of a plurality of orthogonal transceiving modules can be electrically connected to realize unified temperature control.
And each spliced orthogonal transceiver module needs to be provided with a base, and all the orthogonal transceiver modules are fixed on the base according to the angle and the direction.
Further, a scanning method of the laser radar for orthogonal transceiving is provided, which adopts the laser radar described above.
The method specifically comprises a plurality of scanning methods, one of which is a parallel scanning method, a plurality of orthogonal transceiver modules perform parallel and same-direction scanning, and each orthogonal transceiver module starts to perform scanning at the same speed from the same angle in the normal direction of the orthogonal transceiver module during parallel scanning. Referring to fig. 3, (a) of fig. 3 shows that the scanning angles of the four orthogonal transceiver modules at time 1 are consistent, and all the scanning angles are θ 1 FIG. 3 (b) shows that the scanning angles of the four orthogonal transceiver modules at time 2 are still consistent, and all the scanning angles are θ 2 And the scanning direction and the scanning speed are the same, so that signal interference can be effectively avoided.
The second is a self-adaptive scanning method, which comprises the following steps: at least one orthogonal transceiver module separately realizes scanning control for the corresponding detection scanning area. Based on the self-adaptive scanning method, a key scanning strategy for the movable object in the scanning range edge area of the orthogonal transceiver module is further disclosed, wherein the key scanning strategy comprises high-speed scanning, repeated scanning and the like. The method comprises the following steps:
responding to an object at the edge of the scanning range of the adjacent orthogonal transceiver module, judging the moving speed and the moving direction of the object, calculating the time of the object entering the scanning area of the other adjacent orthogonal transceiver module according to the current moving speed and the moving direction of the object, and transmitting the time parameter to the adjacent orthogonal transceiver module;
and responding to the time parameter, and the orthogonal transceiver module receiving the time parameter executes an adaptive scanning method to scan the object predicted occurrence area.
The control method refers to the flow chart in fig. 4.
The third is a parallel scanning and self-adaptive scanning combined control method. The method comprises the following steps: a plurality of orthogonal receiving and transmitting modules of the laser radar execute parallel equidirectional scanning; and returning a self-adaptive scanning control command according to the parallel and same-direction scanning result, and receiving the self-adaptive scanning control command by at least one orthogonal transceiver module to independently realize scanning control.
For example, the respective scanning ranges of the orthogonal transceiver module 1, the orthogonal transceiver module 2, the orthogonal transceiver module 3, and the orthogonal transceiver module 4 are area 1, area 2, area 3, and area 4, and when the four orthogonal transceiver modules are scanned in parallel and in the same direction in the previous time, the total control unit analyzes that the density of the objects to be detected in the areas 1, 2, 3, and 4 is reduced in sequence through the received feedback signals, and the moving speed of the objects is also reduced in sequence. The master control unit sends the adaptive scanning methods to the orthogonal transceiver modules 1, 2, 3, and 4 respectively, including scanning at different scanning rates, where the scanning rate of the orthogonal transceiver module 1 is the highest and the scanning rate of the orthogonal transceiver module 4 is the slowest. For another example, a user may have a higher detection accuracy requirement for a region for which a higher scan rate is used and a lower scan rate for other regions. The method can reduce data processing pressure and reduce interference among modules due to different scanning rates of the areas.
Further discloses an orthogonal transceiving laser radar scanning system, which comprises the laser radar and a master control unit, wherein the master control unit implements the scanning methods of the various laser radars disclosed above by executing stored computer programs.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus, system, and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules or units is only one type of logical functional division, and other divisions may be realized in practice, for example, multiple units or components may be combined or integrated into another device, or some features may be omitted, or not executed.
The units may or may not be physically separate, and components displayed as units may be one physical unit or a plurality of physical units, that is, may be located in one place, or may be distributed in a plurality of different places. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a readable storage medium. Based on such understanding, the technical solution of the embodiments of the present invention may be essentially or partially contributed to by the prior art, or all or part of the technical solution may be embodied in the form of a software product, where the software product is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, an optical disk, or other various media capable of storing program codes.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions within the technical scope of the present invention are intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (8)
1. The laser radar capable of orthogonal transceiving is characterized by comprising orthogonal transceiving modules, wherein a transmitting end and a receiving end of each orthogonal transceiving module respectively transmit and receive signals to antennas in two orthogonal directions, the orthogonal transceiving modules are sequentially spliced along a first direction, each orthogonal transceiving module points to a different second direction, and the second directions of the sequentially spliced orthogonal transceiving modules are set according to the angle range of a single orthogonal transceiving module; the scanning range of the latter orthogonal transceiver module is connected with the scanning range of the former orthogonal transceiver module, and the scanning range of all the spliced orthogonal transceiver modules fully covers the preset total angle; all spliced orthogonal transceiver modules adopt a self-adaptive scanning method to scan, and at least one orthogonal transceiver module operates independently;
responding to an object at the edge of the scanning range of the adjacent orthogonal transceiver module, judging the moving speed and the moving direction of the object, calculating the time of the object entering the scanning area of the other adjacent orthogonal transceiver module according to the current moving speed and the moving direction of the object, and transmitting the time parameter to the adjacent orthogonal transceiver module; and responding to the time parameter, and the orthogonal transceiver module receiving the time parameter executes an adaptive scanning method to scan the object predicted occurrence area.
2. An orthogonally transceived lidar according to claim 1, wherein scanning ranges of adjacent orthogonal transceiving modules overlap in adjacent.
3. An orthogonal transceiver lidar according to claim 1, wherein the number of orthogonal transceiver modules and the scanning range of each orthogonal transceiver module is determined by a predetermined total angle, and wherein the plurality of orthogonal transceiver modules are connected in a scanning direction.
4. The laser radar of claim 1, wherein the orthogonal transceiver module comprises a PCB circuit board, a laser radar chip, a signal input terminal, a signal output terminal, and an input-output optical fiber.
5. The laser radar of orthogonal transceiving according to any of claims 1 to 4, wherein said orthogonal transceiving module further comprises a temperature controlled base, said temperature controlled base having said orthogonal transceiving module mounted thereon; the temperature control mode comprises that each temperature control module is independently controlled, or the temperature control bases of a plurality of orthogonal transceiver modules are electrically connected, so that the unified temperature control of the orthogonal transceiver modules is realized.
6. A method of scanning an orthogonal transmit-receive lidar according to any of claims 1-5, comprising: the plurality of orthogonal transceiver modules adopt a self-adaptive scanning method, and at least one orthogonal transceiver module independently realizes scanning control on a corresponding detection scanning area;
the adaptive scanning method comprises the following steps: responding to an object at the edge of the scanning range of the adjacent orthogonal transceiver module, judging the moving speed and the moving direction of the object, calculating the time of the object entering the scanning area of the other adjacent orthogonal transceiver module according to the current moving speed and the moving direction of the object, and transmitting the time parameter to the adjacent orthogonal transceiver module; and responding to the time parameter, and executing an adaptive scanning method by the orthogonal transceiver module receiving the time parameter to scan the object predicted occurrence area.
7. The scanning method of orthogonal transceiving lidar according to claim 6, wherein a plurality of orthogonal transceiving modules of the lidar perform parallel and same-direction scanning; and returning a self-adaptive scanning control command according to the parallel and same-direction scanning result, and receiving the self-adaptive scanning control command by at least one orthogonal transceiver module to independently realize scanning control.
8. An orthogonal transmitting and receiving lidar scanning system, comprising the orthogonal transmitting and receiving lidar of any one of claims 1 to 5 and a general control unit, wherein the general control unit implements the scanning method of the orthogonal transmitting and receiving lidar of claim 6 or 7 by executing a computer program.
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| US10627516B2 (en) * | 2018-07-19 | 2020-04-21 | Luminar Technologies, Inc. | Adjustable pulse characteristics for ground detection in lidar systems |
| CN110632618B (en) * | 2019-11-22 | 2020-11-27 | 深圳市速腾聚创科技有限公司 | Laser radar, control method thereof and automatic driving device |
| CN112616318B (en) * | 2020-01-03 | 2024-06-28 | 深圳市速腾聚创科技有限公司 | Laser radar and automatic driving equipment |
| CN113567960B (en) * | 2021-09-23 | 2022-04-19 | 长沙思木锐信息技术有限公司 | Laser radar orthogonal transceiving system based on discrete adjustable grating |
| CN113721256A (en) * | 2021-09-24 | 2021-11-30 | 探维科技(北京)有限公司 | Angle splicing laser radar system |
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