CN116736266B - Code wheel angle method for scanning laser radar - Google Patents
Code wheel angle method for scanning laser radar Download PDFInfo
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- CN116736266B CN116736266B CN202311024450.XA CN202311024450A CN116736266B CN 116736266 B CN116736266 B CN 116736266B CN 202311024450 A CN202311024450 A CN 202311024450A CN 116736266 B CN116736266 B CN 116736266B
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Abstract
The application discloses a code wheel angle method, a system and a storage medium for scanning a laser radar, wherein the method comprises the following steps: setting an initial rotation speed frequency f1 and a light emitting frequency f2; the motor receives a rotation instruction to drive the code disc to rotate so as to obtain a code disc signal; collecting a time period t1 when a current code disc value is a preset value and a time period t2 when a last code disc value is the preset value; determining zero calibration zone bits according to t1 and t2 to perform angle calibration; and obtaining the number of points of one circle of the code wheel by using the initial rotating speed frequency f1 and the luminous frequency f2, and obtaining the angle of each point according to the number of points of the circle. The application does not need to rely on the code disc with high-precision scale, reduces the requirement on an optical encoder, and realizes high and stable angular resolution of the code disc.
Description
Technical Field
The application relates to the technical field of laser radars, in particular to a code wheel angle scanning method, a code wheel angle scanning system and a storage medium for a laser radar.
Background
A Laser Radar (english: laser Radar) is a Radar system that detects characteristic quantities such as the position and speed of a target by emitting a Laser beam. The working principle is that a detection signal (laser beam) is emitted to a target, then a received signal (target echo) reflected from the target is compared with the emission signal, and after proper processing, the related information of the target, such as parameters of the target, such as the distance, the azimuth, the altitude, the speed, the gesture, the even the shape and the like, can be obtained, so that the targets of an airplane, a missile and the like are detected, tracked and identified. The laser changes the electric pulse into the light pulse to be emitted, and the light receiver restores the light pulse reflected from the target into the electric pulse to be sent to the display.
The existing laser radar code wheel angle algorithm depends on a code wheel with high-precision graduation, and has higher requirements on an optical encoder and unstable resolution.
In view of the above problems, there is a need to propose an effective technical solution.
Disclosure of Invention
The application aims to provide a code wheel angle method, a system and a storage medium for scanning a laser radar, which are used for carrying out angle calibration by acquiring a time period when a current code wheel value is a preset value and then determining a zero point calibration marker bit, obtaining the number of points of one circle of the code wheel by initial rotating speed frequency and luminous frequency, and obtaining the angle of each point according to the number of points of one circle.
In a first aspect, the present application provides a code wheel angle method for scanning a lidar, the method comprising:
setting an initial rotation speed frequency f1 and a light emitting frequency f2;
the motor receives a rotation instruction to drive the code disc to rotate so as to obtain a code disc signal;
collecting a time period t1 when a current code disc value is a preset value and a time period t2 when a last code disc value is the preset value;
determining zero calibration zone bits according to t1 and t2 to perform angle calibration;
and obtaining the number of points of one circle of the code wheel by using the initial rotating speed frequency f1 and the luminous frequency f2, and obtaining the angle of each point according to the number of points of the circle.
In the scheme, when the code wheel only has one gear, the rising edge moment is collected on the corresponding code wheel signal and used as a zero point calibration zone bit.
In this scheme, the preset value of the code disc value is 0.
In this scheme, utilize initial rotational speed frequency f1 and luminous frequency f2 to obtain the number of points of code wheel round, specific computational formula is:
n=f2/f 1, where N represents the number of dots of one turn of the code wheel.
In the present solution, in the case of the present solution,
obtaining the angle of each point according to the number of points in the circle, wherein the calculation formula is as follows:
Φ=360°/N, where Φ represents the angle of each point.
In the scheme, the luminous frequency can be set according to the requirement, the code disc period is certain for the set luminous frequency, and in each circle, the initial luminous moment is calibrated through the zero point calibration zone bit, so that the corresponding angle of the data point of each circle is stable.
In the scheme, the motor drives the code disc to rotate, and the code disc is converted into an electric signal after passing through the optical encoder, so that the code disc signal can be obtained.
In a second aspect, the present application also provides a code wheel angle system for scanning a lidar, the code wheel angle system for scanning a lidar comprising: the system comprises an upper computer, a laser radar, a central processing unit, a motor unit and a code disc unit, wherein the upper computer is in communication connection with the laser radar, the upper computer is used for issuing scanning instructions, the central processing unit is respectively in communication connection with the laser radar, the motor unit and the code disc unit, the central processing unit is used for controlling a motor to rotate and acquire code disc signals, calculating zero calibration zone bits according to the code disc signals, the zero calibration zone bits are used for calibrating the angle position of each circle of laser radar point cloud data, and the laser radar uploads the point cloud data of the calibrated angle position to the upper computer.
In the scheme, when the code wheel only has one gear, the rising edge moment is collected on the corresponding code wheel signal and used as a zero point calibration zone bit.
In a third aspect, the present application further provides a computer readable storage medium, where the computer readable storage medium includes a code wheel angle method program for scanning a laser radar, where the code wheel angle method program for scanning a laser radar, when executed by a processor, implements the steps of the code wheel angle method for scanning a laser radar.
As can be seen from the above, the method, system and storage medium for scanning the angle of the code wheel of the laser radar provided by the present application comprise: setting an initial rotation speed frequency f1 and a light emitting frequency f2; the motor receives a rotation instruction to drive the code disc to rotate so as to obtain a code disc signal; collecting a time period t1 when a current code disc value is a preset value and a time period t2 when a last code disc value is the preset value; determining zero calibration zone bits according to t1 and t2 to perform angle calibration; and obtaining the number of points of one circle of the code wheel by using the initial rotating speed frequency f1 and the luminous frequency f2, and obtaining the angle of each point according to the number of points of the circle. According to the application, the time period that the current code disc value is the preset value is acquired, the zero point calibration zone bit is further determined to perform angle calibration, the initial rotating speed frequency and the luminous frequency obtain the number of points of one circle of the code disc, and the angle of each point is obtained according to the number of points of the circle.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the embodiments of the application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a method for scanning a code wheel angle of a lidar according to an embodiment of the present application;
FIG. 2 is a diagram of a calibration luminescence frequency signal of a scanning radar code wheel signal according to an embodiment of the present application;
fig. 3 is a block diagram of a code wheel angle system for scanning a lidar according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, a flowchart of a method for scanning a code wheel angle of a laser radar according to some embodiments of the application is shown. The code wheel angle method for scanning the laser radar can be used for scanning the laser radar. The code wheel angle method for scanning the laser radar comprises the following steps:
s101, setting an initial rotating speed frequency f1 and a luminous frequency f2;
s102, the motor receives a rotation instruction to drive the code disc to rotate so as to obtain a code disc signal;
s103, collecting a time period t1 when the current code disc value is a preset value and a time period t2 when the last code disc value is the preset value;
s104, determining a zero calibration zone bit according to t1 and t2 to perform angle calibration;
s105, obtaining the number of points of one circle of the code wheel by using the initial rotating speed frequency f1 and the luminous frequency f2, and obtaining the angle of each point according to the number of points of the circle.
It should be noted that a Lidar Encoder (Lidar Encoder) is a device for measuring and detecting distance, and is used in a laser access system. Consists of a rotary optical encoder and a laser emitting a laser beam.
The function of the lidar code wheel is to calculate the distance between the target object and the lidar by measuring the time difference from the laser light emission to the laser light. It scans the entire environment by rotating an optical encoder to orient the laser beam. When the laser beam encounters a target object, it is reflected back and captured by the receiver. By measuring the round trip time of the laser beam, the distance between the target object and the lidar can be calculated.
Laser radar coders are widely used in many fields including autopilot, machine navigation, mapping, three-dimensional modeling, and the like. It can provide high-precision distance measurement and can rapidly acquire a large amount of spatial data. These data can be used to create tasks such as environmental, obstacle detection, path planning, and target recognition, providing necessary awareness capabilities for the automation system.
In the present application, the initial rotation frequency f1 and the light emission frequency f2 are set first; and then the motor receives a rotation instruction to drive the code wheel to rotate to obtain a code wheel signal, a time period t1 with the current code wheel value being a preset value and a time period t2 with the last code wheel value being the preset value are acquired, zero point calibration marker bits are determined according to t1 and t2 to conduct angle calibration, the number of points of one circle of the code wheel is obtained by utilizing the initial rotation speed frequency f1 and the luminous frequency f2, and the angle of each point is obtained according to the number of points of one circle. The application does not need to rely on the code disc with high-precision scale, reduces the requirement on an optical encoder, and realizes high and stable angular resolution of the code disc.
It should be noted that in a specific embodiment, an initial rotation speed is set for the motor, the frequency of the initial rotation speed is f1, the code wheel is fixed on the motor shaft, the angle between two connected code wheels is phi (except for the angle of the zero point position), the motor drives the code wheel to rotate, the code wheel signals are converted into electric signals after passing through the optical encoder, and therefore the code wheel signals can be obtained to perform program processing on the code wheel signals, and a time period t1 when the current code wheel value is a preset value and a time period t2 when the last code wheel value is the preset value are obtained; the zero point calibration zone bit can be determined through t1 and t2, and the number of points of one circle of the code disc can be obtained through the motor rotating speed frequency f1 and the luminous frequency f2 to be N=f2/f 1, so that the angle of each point is phi=360 degrees/N.
It should be noted that, the angular resolution is controlled by changing the light emitting frequency, in practical application, the high light emitting frequency can be set, so that data point output with different angular intervals, such as different angular intervals of 0.01 ° interval, 0.036 °, 0.36 ° interval and the like, can be selected according to the requirement, and the point cloud data output with different angular resolution can be easily realized by issuing instructions from the upper computer, thereby being convenient for practical application.
According to the embodiment of the application, when the code wheel has only one gear, the rising edge moment is collected on the corresponding code wheel signal and used as the zero point calibration zone bit.
It should be noted that, at the rising edge of each code disc signal, counting the interval time t2 of each code disc value being 0, and simultaneously performing register buffer memory for the interval time of the last code disc value being 0 for one level to be t1, and obtaining the zero calibration zone bit through t1 and t2, when the code disc has only one gear, collecting the rising edge moment on the corresponding code disc signal as the zero calibration zone bit.
According to the embodiment of the application, the preset value of the code disc value is 0.
It should be noted that, in the present application, when the light emitting frequency signal is calibrated by using the code disc signal, the interval time of each code disc value of 0 is counted at the rising edge of each code disc signal, and the time is counted by using the code disc value of 0, so that the rapid determination is facilitated.
According to the embodiment of the application, the number of the points of one circle of the code wheel is obtained by using the initial rotation speed frequency f1 and the luminous frequency f2, and a specific calculation formula is as follows:
n=f2/f 1, where N represents the number of dots of one turn of the code wheel.
According to the embodiment of the application, the angle of each point is obtained according to the number of points in the circle, and the calculation formula is as follows:
Φ=360°/N, where Φ represents the angle of each point.
According to the embodiment of the application, the luminous frequency can be set according to the requirement, the code disc period is certain for the set luminous frequency, and in each circle, the initial luminous moment is calibrated through the zero calibration zone bit, so that the corresponding angle of the data point of each circle can be stabilized.
It should be noted that, the light emitting frequency of the laser radar may be configured, and after the configuration, the light emitting frequency is fixed, as shown in fig. 2, the light emitting frequency signal has a certain frequency and a certain period, and in each circle, the zero point calibration flag bit is used to calibrate the initial light emitting time, so that the corresponding angle of the data point of each circle is stable.
According to the embodiment of the application, the motor drives the code wheel to rotate, and the code wheel signal can be obtained by converting the code wheel signal into the electric signal after passing through the optical encoder.
Fig. 3 shows a block diagram of a code wheel angle system for scanning a lidar.
In a second aspect, the present application also provides a code wheel angle system for scanning a lidar, the code wheel angle system for scanning a lidar comprising: the system comprises an upper computer, a laser radar, a central processing unit, a motor unit and a code disc unit, wherein the upper computer is in communication connection with the laser radar, the upper computer is used for issuing scanning instructions, the central processing unit is respectively in communication connection with the laser radar, the motor unit and the code disc unit, the central processing unit is used for controlling a motor to rotate and acquire code disc signals, calculating zero calibration zone bits according to the code disc signals, the zero calibration zone bits are used for calibrating the angle position of each circle of laser radar point cloud data, and the laser radar uploads the point cloud data of the calibrated angle position to the upper computer. The system performs the following steps when in operation:
s101, setting an initial rotating speed frequency f1 and a luminous frequency f2;
s102, the motor receives a rotation instruction to drive the code disc to rotate so as to obtain a code disc signal;
s103, collecting a time period t1 when the current code disc value is a preset value and a time period t2 when the last code disc value is the preset value;
s104, determining a zero calibration zone bit according to t1 and t2 to perform angle calibration;
s105, obtaining the number of points of one circle of the code wheel by using the initial rotating speed frequency f1 and the luminous frequency f2, and obtaining the angle of each point according to the number of points of the circle.
It should be noted that a Lidar Encoder (Lidar Encoder) is a device for measuring and detecting distance, and is used in a laser access system. Consists of a rotary optical encoder and a laser emitting a laser beam.
The function of the lidar code wheel is to calculate the distance between the target object and the lidar by measuring the time difference from the laser light emission to the laser light. It scans the entire environment by rotating an optical encoder to orient the laser beam. When the laser beam encounters a target object, it is reflected back and captured by the receiver. By measuring the round trip time of the laser beam, the distance between the target object and the lidar can be calculated.
Laser radar coders are widely used in many fields including autopilot, machine navigation, mapping, three-dimensional modeling, and the like. It can provide high-precision distance measurement and can rapidly acquire a large amount of spatial data. These data can be used to create tasks such as environmental, obstacle detection, path planning, and target recognition, providing necessary awareness capabilities for the automation system.
In the present application, the initial rotation frequency f1 and the light emission frequency f2 are set first; and then the motor receives a rotation instruction to drive the code wheel to rotate to obtain a code wheel signal, a time period t1 with the current code wheel value being a preset value and a time period t2 with the last code wheel value being the preset value are acquired, zero point calibration marker bits are determined according to t1 and t2 to conduct angle calibration, the number of points of one circle of the code wheel is obtained by utilizing the initial rotation speed frequency f1 and the luminous frequency f2, and the angle of each point is obtained according to the number of points of one circle. The application does not need to rely on the code disc with high-precision scale, reduces the requirement on an optical encoder, and realizes high and stable angular resolution of the code disc.
It should be noted that in a specific embodiment, an initial rotation speed is set for the motor, the frequency of the initial rotation speed is f1, the code wheel is fixed on the motor shaft, the angle between two connected code wheels is phi (except for the angle of the zero point position), the motor drives the code wheel to rotate, the code wheel signals are converted into electric signals after passing through the optical encoder, and therefore the code wheel signals can be obtained to perform program processing on the code wheel signals, and a time period t1 when the current code wheel value is a preset value and a time period t2 when the last code wheel value is the preset value are obtained; the zero point calibration zone bit can be determined through t1 and t2, and the number of points of one circle of the code disc can be obtained through the motor rotating speed frequency f1 and the luminous frequency f2 to be N=f2/f 1, so that the angle of each point is phi=360 degrees/N.
It should be noted that, the angular resolution is controlled by changing the light emitting frequency, in practical application, the high light emitting frequency can be set, so that data point output with different angular intervals, such as different angular intervals of 0.01 ° interval, 0.036 °, 0.36 ° interval and the like, can be selected according to the requirement, and the point cloud data output with different angular resolution can be easily realized by issuing instructions from the upper computer, thereby being convenient for practical application.
According to the embodiment of the application, when the code wheel has only one gear, the rising edge moment is collected on the corresponding code wheel signal and used as the zero point calibration zone bit.
It should be noted that, at the rising edge of each code disc signal, counting the interval time t2 of each code disc value being 0, and simultaneously performing register buffer memory for the interval time of the last code disc value being 0 for one level to be t1, and obtaining the zero calibration zone bit through t1 and t2, when the code disc has only one gear, collecting the rising edge moment on the corresponding code disc signal as the zero calibration zone bit.
According to the embodiment of the application, the preset value of the code disc value is 0.
It should be noted that, in the present application, when the light emitting frequency signal is calibrated by using the code disc signal, the interval time of each code disc value of 0 is counted at the rising edge of each code disc signal, and the time is counted by using the code disc value of 0, so that the rapid determination is facilitated.
According to the embodiment of the application, the number of the points of one circle of the code wheel is obtained by using the initial rotation speed frequency f1 and the luminous frequency f2, and a specific calculation formula is as follows:
n=f2/f 1, where N represents the number of dots of one turn of the code wheel.
According to the embodiment of the application, the angle of each point is obtained according to the number of points in the circle, and the calculation formula is as follows:
Φ=360°/N, where Φ represents the angle of each point.
According to the embodiment of the application, the luminous frequency can be set according to the requirement, the code disc period is certain for the set luminous frequency, and in each circle, the initial luminous moment is calibrated through the zero calibration zone bit, so that the corresponding angle of the data point of each circle can be stabilized.
It should be noted that, the light emitting frequency of the laser radar may be configured, and after the configuration, the light emitting frequency is fixed, as shown in fig. 2, the light emitting frequency signal has a certain frequency and a certain period, and in each circle, the zero point calibration flag bit is used to calibrate the initial light emitting time, so that the corresponding angle of the data point of each circle is stable.
According to the embodiment of the application, the motor drives the code wheel to rotate, and the code wheel signal can be obtained by converting the code wheel signal into the electric signal after passing through the optical encoder.
In a third aspect, the present application further provides a computer readable storage medium, where the computer readable storage medium includes a code wheel angle method program for scanning a laser radar, where the code wheel angle method program for scanning a laser radar, when executed by a processor, implements the steps of the code wheel angle method for scanning a laser radar, including:
s101, setting an initial rotating speed frequency f1 and a luminous frequency f2;
s102, the motor receives a rotation instruction to drive the code disc to rotate so as to obtain a code disc signal;
s103, collecting a time period t1 when the current code disc value is a preset value and a time period t2 when the last code disc value is the preset value;
s104, determining a zero calibration zone bit according to t1 and t2 to perform angle calibration;
s105, obtaining the number of points of one circle of the code wheel by using the initial rotating speed frequency f1 and the luminous frequency f2, and obtaining the angle of each point according to the number of points of the circle.
It should be noted that a Lidar Encoder (Lidar Encoder) is a device for measuring and detecting distance, and is used in a laser access system. Consists of a rotary optical encoder and a laser emitting a laser beam.
The function of the lidar code wheel is to calculate the distance between the target object and the lidar by measuring the time difference from the laser light emission to the laser light. It scans the entire environment by rotating an optical encoder to orient the laser beam. When the laser beam encounters a target object, it is reflected back and captured by the receiver. By measuring the round trip time of the laser beam, the distance between the target object and the lidar can be calculated.
Laser radar coders are widely used in many fields including autopilot, machine navigation, mapping, three-dimensional modeling, and the like. It can provide high-precision distance measurement and can rapidly acquire a large amount of spatial data. These data can be used to create tasks such as environmental, obstacle detection, path planning, and target recognition, providing necessary awareness capabilities for the automation system.
In the present application, the initial rotation frequency f1 and the light emission frequency f2 are set first; and then the motor receives a rotation instruction to drive the code wheel to rotate to obtain a code wheel signal, a time period t1 with the current code wheel value being a preset value and a time period t2 with the last code wheel value being the preset value are acquired, zero point calibration marker bits are determined according to t1 and t2 to conduct angle calibration, the number of points of one circle of the code wheel is obtained by utilizing the initial rotation speed frequency f1 and the luminous frequency f2, and the angle of each point is obtained according to the number of points of one circle. The application does not need to rely on the code disc with high-precision scale, reduces the requirement on an optical encoder, and realizes high and stable angular resolution of the code disc.
It should be noted that in a specific embodiment, an initial rotation speed is set for the motor, the frequency of the initial rotation speed is f1, the code wheel is fixed on the motor shaft, the angle between two connected code wheels is phi (except for the angle of the zero point position), the motor drives the code wheel to rotate, the code wheel signals are converted into electric signals after passing through the optical encoder, and therefore the code wheel signals can be obtained to perform program processing on the code wheel signals, and a time period t1 when the current code wheel value is a preset value and a time period t2 when the last code wheel value is the preset value are obtained; the zero point calibration zone bit can be determined through t1 and t2, and the number of points of one circle of the code disc can be obtained through the motor rotating speed frequency f1 and the luminous frequency f2 to be N=f2/f 1, so that the angle of each point is phi=360 degrees/N.
It should be noted that, the angular resolution is controlled by changing the light emitting frequency, in practical application, the high light emitting frequency can be set, so that data point output with different angular intervals, such as different angular intervals of 0.01 ° interval, 0.036 °, 0.36 ° interval and the like, can be selected according to the requirement, and the point cloud data output with different angular resolution can be easily realized by issuing instructions from the upper computer, thereby being convenient for practical application.
According to the embodiment of the application, when the code wheel has only one gear, the rising edge moment is collected on the corresponding code wheel signal and used as the zero point calibration zone bit.
It should be noted that, at the rising edge of each code disc signal, counting the interval time t2 of each code disc value being 0, and simultaneously performing register buffer memory for the interval time of the last code disc value being 0 for one level to be t1, and obtaining the zero calibration zone bit through t1 and t2, when the code disc has only one gear, collecting the rising edge moment on the corresponding code disc signal as the zero calibration zone bit.
According to the embodiment of the application, the preset value of the code disc value is 0.
It should be noted that, in the present application, when the light emitting frequency signal is calibrated by using the code disc signal, the interval time of each code disc value of 0 is counted at the rising edge of each code disc signal, and the time is counted by using the code disc value of 0, so that the rapid determination is facilitated.
According to the embodiment of the application, the number of the points of one circle of the code wheel is obtained by using the initial rotation speed frequency f1 and the luminous frequency f2, and a specific calculation formula is as follows:
n=f2/f 1, where N represents the number of dots of one turn of the code wheel.
According to the embodiment of the application, the angle of each point is obtained according to the number of points in the circle, and the calculation formula is as follows:
Φ=360°/N, where Φ represents the angle of each point.
According to the embodiment of the application, the luminous frequency can be set according to the requirement, the code disc period is certain for the set luminous frequency, and in each circle, the initial luminous moment is calibrated through the zero calibration zone bit, so that the corresponding angle of the data point of each circle can be stabilized.
It should be noted that, the light emitting frequency of the laser radar may be configured, and after the configuration, the light emitting frequency is fixed, as shown in fig. 2, the light emitting frequency signal has a certain frequency and a certain period, and in each circle, the zero point calibration flag bit is used to calibrate the initial light emitting time, so that the corresponding angle of the data point of each circle is stable.
According to the embodiment of the application, the motor drives the code wheel to rotate, and the code wheel signal can be obtained by converting the code wheel signal into the electric signal after passing through the optical encoder.
According to the code wheel angle method, the system and the storage medium for scanning the laser radar, the current code wheel value is acquired to be the preset value, the zero point calibration marker bit is further determined to conduct angle calibration, the initial rotating speed frequency and the luminous frequency obtain the number of points of one circle of the code wheel, and the angle of each point is obtained according to the number of points of the circle.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above described device embodiments are only illustrative, e.g. the division of the units is only one logical function division, and there may be other divisions in practice, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units; can be located in one place or distributed to a plurality of network units; some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-only memory (ROM), a random access memory (RAM, randomAccessMemory), a magnetic disk or an optical disk, or the like, which can store program codes.
Alternatively, the above-described integrated units of the present application may be stored in a readable storage medium if implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solution of the embodiments of the present application may be embodied in essence or a part contributing to the prior art in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a removable storage device, ROM, RAM, magnetic or optical disk, or other medium capable of storing program code.
Claims (4)
1. A code wheel angle method for scanning a lidar, the method comprising:
setting an initial rotation speed frequency f1 and a light emitting frequency f2;
the motor receives a rotation instruction to drive the code disc to rotate so as to obtain a code disc signal;
collecting a time period t1 when a current code disc value is a preset value and a time period t2 when a last code disc value is the preset value;
determining zero calibration zone bits according to t1 and t2 to perform angle calibration;
obtaining the number of points of one circle of the code wheel by utilizing the initial rotating speed frequency f1 and the luminous frequency f2, and obtaining the angle of each point according to the number of points of the circle;
when the code disc has only one gear, collecting rising edge time on a corresponding code disc signal as a zero calibration zone bit;
the preset value of the code disc value is 0;
the number of the points of one circle of the code disc is obtained by utilizing the initial rotating speed frequency f1 and the luminous frequency f2, and a specific calculation formula is as follows:
n=f2/f 1, where N represents the number of points of one turn of the code wheel;
obtaining the angle of each point according to the number of points in the circle, wherein the calculation formula is as follows:
Φ=360°/N, where Φ represents the angle of each point;
the luminous frequency can be set according to the needs, the period of the code disc is certain for the set luminous frequency, and in each circle, the initial luminous moment is calibrated through the zero calibration zone bit, so that the corresponding angle of the data point of each circle can be stabilized;
the motor drives the code wheel to rotate, and the code wheel is converted into an electric signal after passing through the optical encoder, so that the code wheel signal can be obtained.
2. A code wheel angle system for scanning a lidar, applied to the code wheel angle method for scanning a lidar of claim 1, characterized in that the code wheel angle system for scanning a lidar comprises: the system comprises an upper computer, a laser radar, a central processing unit, a motor unit and a code disc unit, wherein the upper computer is in communication connection with the laser radar, the upper computer is used for issuing scanning instructions, the central processing unit is respectively in communication connection with the laser radar, the motor unit and the code disc unit, the central processing unit is used for controlling a motor to rotate and acquire code disc signals, calculating zero calibration zone bits according to the code disc signals, the zero calibration zone bits are used for calibrating the angle position of each circle of laser radar point cloud data, and the laser radar uploads the point cloud data of the calibrated angle position to the upper computer.
3. A code wheel angle system for scanning lidar according to claim 2, wherein when the code wheel has only one gear, the rising edge moment is collected on the corresponding code wheel signal as a zero calibration flag.
4. A computer-readable storage medium, characterized in that a code wheel angle method program for scanning a lidar is included in the computer-readable storage medium, which code wheel angle method program for scanning a lidar, when being executed by a processor, implements the steps of the code wheel angle method for scanning a lidar as claimed in claim 1.
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