CN117607887A - Speed detection method and device based on TOF technology and laser radar - Google Patents
Speed detection method and device based on TOF technology and laser radar Download PDFInfo
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- CN117607887A CN117607887A CN202310679577.9A CN202310679577A CN117607887A CN 117607887 A CN117607887 A CN 117607887A CN 202310679577 A CN202310679577 A CN 202310679577A CN 117607887 A CN117607887 A CN 117607887A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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Abstract
The invention provides a speed detection method and device based on TOF technology and a laser radar, wherein the method comprises the following steps: controlling a first transmitter to transmit a first light source to a target object at a first time point; acquiring a second time point when the first receiver receives a first reflection light source corresponding to the first light source; calculating a first distance from the target object based on the first time point and the second time point; controlling the second emitter to emit the second light source to the target object at a third time point; acquiring a fourth time point when the second receiver receives a second reflection light source corresponding to the second light source; calculating a second distance from the target object based on the third time point and the fourth time point; and calculating the relative speed of the movement of the target object based on the first distance, the second distance and the time interval between the third time point and the first time point. The invention can realize speed measurement based on TOF, has low measurement cost and does not influence laser space scanning.
Description
Technical Field
The present disclosure relates to the field of lidar technologies, and in particular, to a speed detection method and device based on a TOF technology, and a lidar.
Background
Currently, lidar (laser radar) technology is developed mainly in two directions. One is Lidar based on TOF technology, which currently enables all-solid-state spatial scanning, but has the disadvantage of providing distance information only and not speed information. Referring to fig. 1, the TOF includes D-TOF and I-TOF, wherein fig. 1 (a) shows a scanning principle of D-TOF (direct measurement of time of flight of light) and fig. 1 (b) shows a scanning principle of I-TOF (indirect measurement of time of flight of light). Specifically, referring to FIG. 2, for an existing single channel D-TOF. For such single channel D-TOF, there are two problems if one and the same Lidar channel is to be used for speed measurement: (1) At least two periods of transmitting and receiving are needed, and the distance change in the two periods is calculated; (2) The two periodic light pulses must detect the object in the same fixed direction, resulting in dynamic spatial scanning of the laser on lidar (e.g., vehicle-mounted lidar), which affects the speed and resolution of the laser spatial scanning if two pulse periods are used to detect the object in one direction.
Referring to fig. 3, another development direction of Lidar is FMCW technology, specifically, using the dupler effect to provide distance and speed information, but the disadvantage is that the requirements for the laser light source are high, and the full solid-state space scanning is not easy to realize, and the cost is high.
Disclosure of Invention
In order to solve the technical problems, the invention provides a speed detection method and device based on TOF technology and a laser radar, which can realize speed measurement based on TOF, have low measurement cost and can not influence laser space scanning.
The invention adopts the following technical scheme:
in a first aspect, a speed detection method based on TOF technology includes:
controlling a first transmitter to transmit a first light source to a target object at a first time point;
acquiring a second time point when the first receiver receives a first reflection light source corresponding to the first light source;
calculating a first distance from the target object based on the first time point and the second time point;
controlling the second emitter to emit the second light source to the target object at a third time point;
acquiring a fourth time point when the second receiver receives a second reflection light source corresponding to the second light source;
calculating a second distance from the target object based on the third time point and the fourth time point;
and calculating the relative speed of the movement of the target object based on the first distance, the second distance and the time interval between the third time point and the first time point.
Preferably, after calculating the relative speed of the movement of the target object based on the first distance, the second distance, and the time interval between the third time point and the first time point, the method further includes:
and outputting the relative speed of the movement of the target object.
Preferably, the emission wavelength of the first emitter is different from the emission wavelength of the second emitter.
Preferably, the calculating the first distance from the target object based on the first time point and the second time point is specifically as follows:
d1 =speed of light (t 2-t 1)/2
Wherein D1 represents a first distance; t2 represents a second time point; t1 represents a first time point;
the calculating the second distance from the target object based on the third time point and the fourth time point specifically comprises the following steps:
d2 =speed of light (t 4-t 3)/2
Wherein D2 represents a second distance; t4 represents a fourth time point; t3 represents a third time point.
Preferably, the relative speed of the movement of the target object is calculated based on the first distance, the second distance, and the time interval between the third time point and the first time point, specifically as follows:
wherein v represents the relative speed at which the target object is moving; d2 represents a second distance; d1 represents a first distance; Δt represents the time interval between the third time point and the first time point.
In a second aspect, a speed detection device based on TOF technology includes:
the first transmitting module is used for controlling the first transmitter to transmit the first light source to the target object at a first time point;
the first receiving module is used for acquiring a second time point when the first receiver receives the first reflection light source corresponding to the first light source;
a first distance calculation module for calculating a first distance to a target object based on the first time point and the second time point;
the second transmitting module is used for controlling the second transmitter to transmit the second light source to the target object at a third time point;
the second receiving module is used for obtaining a fourth time point when the second receiver receives a second reflection light source corresponding to the second light source;
a second distance calculation module for calculating a second distance from the target object based on the third time point and the fourth time point;
and the first speed calculation module is used for calculating the relative speed of the movement of the target object based on the first distance, the second distance and the time interval between the third time point and the first time point.
In a third aspect, a speed detection method based on TOF technology includes:
controlling a first transmitter to transmit a first light source to a target object at a first time point;
acquiring a second time point when the first receiver receives a first reflection light source corresponding to the first light source;
calculating a first distance from the target object based on the first time point and the second time point;
controlling the second emitter to emit the second light source to the target object at a third time point;
acquiring a fourth time point when the second receiver receives a second reflection light source corresponding to the second light source;
calculating a second distance from the target object based on the third time point and the fourth time point;
and calculating the relative speed of the movement of the target object based on the first distance, the second distance and the time interval between the fourth time point and the second time point.
In a fourth aspect, a speed detection device based on TOF technology includes:
the first transmitting module is used for controlling the first transmitter to transmit the first light source to the target object at a first time point;
the first receiving module is used for acquiring a second time point when the first receiver receives the first reflection light source corresponding to the first light source;
a first distance calculation module for calculating a first distance to a target object based on the first time point and the second time point;
the second transmitting module is used for controlling the second transmitter to transmit the second light source to the target object at a third time point;
the second receiving module is used for obtaining a fourth time point when the second receiver receives a second reflection light source corresponding to the second light source;
a second distance calculation module for calculating a second distance from the target object based on the third time point and the fourth time point;
and the second speed calculation module is used for calculating the relative speed of the movement of the target object based on the first distance, the second distance and the time interval between the fourth time point and the second time point.
In a fifth aspect, a speed detection laser radar based on TOF technology includes a first transmitter, a first receiver, a second transmitter, a second receiver, and a first computer device; the computer device comprises a first memory and a first processor, wherein the first memory stores a first computer program, and the first processor realizes the steps of a speed detection method based on TOF technology when executing the first computer program.
In a sixth aspect, a speed detection laser radar based on TOF technology includes a first transmitter, a first receiver, a second transmitter, a second receiver, and a second computer device; the computer device comprises a second memory and a second processor, wherein the second memory stores a second computer program, and the second processor realizes the steps of a speed detection method based on TOF technology when executing the second computer program.
The invention has the following beneficial effects:
(1) The invention comprises two independent transmitting and receiving channels, each channel comprises a transmitter and a receiver, the light source signals and the receiving signals transmitted by the two channels are independent and are not affected, and the receiving ends cannot interfere with each other, so that the detection of the relative speed of an object can be carried out in the same dynamic scanning direction in one transmitting and receiving period;
(2) The emission wavelength of the first emitter is different from the emission wavelength of the second emitter, so that signals of the two channels are not interfered with each other, and the speed and the accuracy of detection are ensured.
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Drawings
FIG. 1 is a schematic diagram of the spatial scanning principle of TOF of the prior art; wherein (a) represents the scanning principle of D-TOF; (b) represents the scanning principle of I-TOF;
FIG. 2 is a schematic diagram of the prior art of transmitting and receiving a single channel TOF;
fig. 3 is a scanning principle of the FMCW technique of the prior art;
FIG. 4 is a flowchart of a speed detection method based on TOF technology according to an embodiment of the invention;
FIG. 5 is a schematic diagram illustrating a speed detection process of a dual-channel lidar according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of transmitting and receiving a dual-channel laser radar according to a first embodiment of the present invention;
FIG. 7 is a block diagram illustrating a speed detecting device based on TOF technology according to an embodiment of the present invention;
FIG. 8 is a block diagram of a speed detection laser radar based on TOF technology according to an embodiment of the present invention;
FIG. 9 is a flow chart of a speed detection method based on TOF technology according to a second embodiment of the invention;
FIG. 10 is a schematic diagram illustrating a speed detection process of a dual-channel lidar according to a second embodiment of the present invention;
FIG. 11 is a block diagram illustrating a speed detecting device based on TOF technology according to a second embodiment of the present invention;
fig. 12 is a block diagram of a speed detection laser radar based on TOF technology according to a second embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments, and that all other embodiments obtained by persons of ordinary skill in the art without making creative efforts based on the embodiments in the present invention are within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the description of the present invention, it should be noted that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "provided," "engaged/connected," "connected," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, may be a detachable connection, or may be an integral connection, may be a mechanical connection, may be an electrical connection, may be a direct connection, may be an indirect connection via an intermediary, may be a communication between two elements, and for one of ordinary skill in the art, the specific meaning of the terms in this disclosure may be understood in a specific case.
In the description of the present invention, unless explicitly stated and defined otherwise, the step identifiers S101, S102, S103, etc. are used for convenience of description, and do not represent an execution sequence, and the corresponding execution sequence may be adjusted.
Example 1
Referring to fig. 4, a speed detection method based on TOF technology in this embodiment includes:
s401, controlling a first emitter to emit a first light source to a target object at a first time point.
Specifically, referring to fig. 5, the first transmitter may be connected through a first calculation module in a processor (e.g., a processor or a microprocessor provided inside the computer device, etc.), and then the processor generates a control signal according to a software program of the first calculation module, etc., and transmits the control signal to the first transmitter through a first driving circuit to control the first transmitter. The first emitter is used for emitting a first light source, and in this embodiment, the first emitter is a laser emitter. The object may be a moving object such as a moving trolley, and the object is configured to move linearly, and in particular, may move in opposite directions or in the same direction as the first emitter.
S402, a second time point when the first receiver receives the first reflection light source corresponding to the first light source is obtained.
Specifically, referring to fig. 5, after the first emitter emits light source to the target object at the first time point t1, the light source is reflected back to the first receiver matched with the first emitter, and the first receiver sends the second time point t2 of receiving the first reflected light source to the first computing module corresponding to the processor.
S403, calculating a first distance from the target object based on the first time point and the second time point.
Specifically, the first calculating module corresponding to the processor may calculate, based on the first time point and the second time point, the first distance D1 between the first receiver and the target object when the first receiver receives the first reflected light source via the time of flight of the light.
The calculating the first distance from the target object based on the first time point and the second time point specifically comprises the following steps:
d1 =speed of light (t 2-t 1)/2
Wherein D1 represents a first distance; t2 represents a second time point; t1 represents a first point in time.
S404, controlling the second emitter to emit the second light source to the target object at a third time point.
Specifically, referring to fig. 5, the second transmitter may be connected through a first calculation module within a processor (e.g., a processor or a microprocessor provided inside the computer device, etc.), and then the processor generates a control signal according to a software program of the first calculation module, etc., and transmits the control signal to the second transmitter through a first driving circuit to control the second transmitter. The second emitter is used for emitting a second light source, and in this embodiment, the second emitter is a laser emitter.
It should be noted that, if necessary, the time t2 when the first receiver receives the first reflected light source may be earlier than the time t3 when the second transmitter transmits the second light source, that is, the step S404 is performed after the step S102. It is also possible that the second transmitter emits the second light source for a time t3 earlier than the time t2 when the first receiver receives the first reflected light source, i.e. step S404 is performed before step S102. It is also possible that both time points are identical. As above, the present embodiment does not limit the order of steps.
S405, a fourth time point when the second receiver receives the second reflection light source corresponding to the second light source is obtained.
Specifically, referring to fig. 5, after the light source emitted by the second emitter strikes the target object at the third time point t3, the light source is reflected back to the second receiver matched with the second emitter, and the second receiver sends the fourth time point t4 of receiving the second reflected light source to the first computing module corresponding to the processor.
And S406, calculating a second distance from the target object based on the third time point and the fourth time point.
Specifically, the first calculating module corresponding to the processor may calculate, based on the third time point and the fourth time point, the second distance D2 between the second receiver and the target object when the second receiver receives the second reflected light source via the time of flight of the light.
The calculating the second distance from the target object based on the third time point and the fourth time point specifically comprises the following steps:
d2 =speed of light (t 4-t 3)/2
Wherein D2 represents a second distance; t4 represents a fourth time point; t3 represents a third time point.
S407, calculating the relative speed of the movement of the target object based on the first distance, the second distance and the time interval between the third time point and the first time point.
Specifically, the first calculating module corresponding to the processor calculates the relative speed of the movement of the target object based on the first distance, the second distance, the third time point and the time interval between the first time point.
Calculating the relative speed of the movement of the target object based on the first distance, the second distance and the time interval between the third time point and the first time point, wherein the relative speed is specifically as follows:
wherein v represents the relative speed at which the target object is moving; d2 represents a second distance; d1 represents a first distance; Δt represents the time interval between the third time point and the first time point.
Referring to fig. 6, the above method can be applied to a dual channel (two transmitters, two receivers) Lidar system. Compared with the single-channel Lidar system of fig. 3, since the receiving ends do not interfere with each other, the object speed can be detected in the same dynamic scanning direction in a transmitting and receiving period, so that the speed detection of applications such as vehicle-mounted applications can be realized.
Furthermore, in order to ensure that the signals of the two channels do not interfere with each other, the emission wavelength of the first emitter and the emission wavelength of the second emitter in this embodiment are different, and this arrangement also ensures the speed and accuracy of detection.
In one embodiment, after calculating the relative speed of the movement of the target object based on the first distance, the second distance, and the time interval between the third time point and the first time point, the method further includes:
and outputting the relative speed of the movement of the target object.
Specifically, the relative speed may be displayed on a display interface or the like, or may be output by voice.
Further, in an embodiment, the displacement speed of the target object may be a real-time displacement speed, for example, the processor outputs the current relative speed every time the processor calculates the relative speed at a position point, so that the user can conveniently know the current motion state of the target object in real time. In other embodiments, the overall velocity profile of the target may be, for example, after the target moves from the starting point to the ending point, the processor calculates the relative velocity during the movement, and forms the velocity profile output during the overall process.
Referring to fig. 7, the present embodiment further discloses a speed detecting device based on the TOF technology, including:
a first emission module 701, configured to control the first emitter to emit the first light source to the target object at a first time point;
a first receiving module 702, configured to obtain a second time point when the first receiver receives a first reflection light source corresponding to the first light source;
a first distance calculating module 703, configured to calculate a first distance from the target object based on the first time point and the second time point;
a second emission module 704 for controlling the second emitter to emit the second light source to the target object at a third point in time;
the second receiving module 705 is configured to obtain a fourth time point when the second receiver receives the second reflection light source corresponding to the second light source;
a second distance calculating module 706, configured to calculate a second distance from the target object based on the third time point and the fourth time point;
a first speed calculating module 707, configured to calculate a relative speed of the movement of the target object based on the first distance, the second distance, and a time interval between the third time point and the first time point.
The implementation of the speed detection device based on the TOF technology is the same as the speed detection method based on the TOF technology, and the description of this embodiment will not be repeated.
Referring to fig. 8, the present embodiment further discloses a speed detection laser radar based on the TOF technology, including a first transmitter 801, a first receiver 802, a second transmitter 803, a second receiver 804, and a first computer device 805; the first computer device 805 comprises a first memory 8051 and a first processor 8052, the first memory 8051 storing a first computer program 8053, the first computer program 8053 being configured to be executed by the first processor 8052, the first computer program 8053 comprising instructions for performing the steps of:
controlling a first transmitter to transmit a first light source to a target object at a first time point;
acquiring a second time point when the first receiver receives a first reflection light source corresponding to the first light source;
calculating a first distance from the target object based on the first time point and the second time point;
controlling the second emitter to emit the second light source to the target object at a third time point;
acquiring a fourth time point when the second receiver receives a second reflection light source corresponding to the second light source;
calculating a second distance from the target object based on the third time point and the fourth time point;
and calculating the relative speed of the movement of the target object based on the first distance, the second distance and the time interval between the third time point and the first time point.
In addition, the first computer device 805 may further include a first driving circuit 8054, and the first computer program 8053 controls the first transmitter 801 to transmit the first light source to the target object 806 at a first time point and controls the second transmitter 803 to transmit the second light source to the target object 806 at a third time point through the second driving circuit 8054. The second point in time when the first receiver 801 receives the first reflected light source corresponding to the first light source and the fourth point in time when the second receiver 804 receives the second reflected light source corresponding to the second light source may be directly sent to the computer program 8053.
It should be noted that, the first driving circuit 8054 may be implemented in a separate circuit module or other devices instead of the second computer device 805, which is not limited in this embodiment.
The embodiment comprises two independent transmitting and receiving channels, each channel comprises a transmitter and a receiver, the light source signals and the receiving signals transmitted by the two channels are independent and are not affected, and the receiving ends cannot interfere with each other, so that the detection of the relative speed of an object can be carried out in the same dynamic scanning direction in one transmitting and receiving period, and the detection speed is improved.
Example two
Referring to fig. 9, a speed detection method based on TOF technology in this embodiment includes:
s901, controlling a first transmitter to transmit a first light source to a target object at a first time point;
s902, acquiring a second time point when the first receiver receives a first reflection light source corresponding to the first light source;
s903, calculating a first distance from the target object based on the first time point and the second time point;
s904, controlling a second emitter to emit a second light source to the target object at a third time point;
s905, acquiring a fourth time point when the second receiver receives the second reflection light source corresponding to the second light source;
s906 calculating a second distance from the target object based on the third time point and the fourth time point;
s907, calculating the relative speed of the target object based on the first distance, the second distance and the time interval between the fourth time point and the second time point.
In this embodiment, specific implementation of steps S901 to S906 can be seen from S401 to S406 of the first embodiment. The difference between the present embodiment and the first embodiment is that the relative speed of the movement of the target object is calculated based on the first distance, the second distance, and the time interval between the fourth time point and the second time point, that is, the relative speed of the movement of the target object is calculated based on the receiving time interval.
Specifically, referring to fig. 10, the second calculating module corresponding to the processor calculates the relative speed of the movement of the target object based on the first distance, the second distance, and the time interval between the fourth time point and the second time point.
Calculating the relative speed of the movement of the target object based on the first distance, the second distance and the time interval between the fourth time point and the second time point, wherein the relative speed is specifically as follows:
wherein v represents the relative speed at which the target object is moving; d2 represents a second distance; d1 represents a first distance; Δt represents the time interval between the fourth time point and the second time point.
Furthermore, in order to ensure that the signals of the two channels do not interfere with each other, the emission wavelength of the first emitter and the emission wavelength of the second emitter in this embodiment are different, and this arrangement also ensures the speed and accuracy of detection.
In one embodiment, after calculating the relative speed of the movement of the target object based on the first distance, the second distance, and the time interval between the fourth time point and the second time point, the method further includes:
and outputting the relative speed of the movement of the target object.
Specifically, the relative speed may be displayed on a display interface or the like, or may be output by voice.
Further, in an embodiment, the displacement speed of the target object may be a real-time displacement speed, for example, the processor outputs the current relative speed every time the processor calculates the relative speed at a position point, so that the user can conveniently know the current motion state of the target object in real time. In other embodiments, the overall velocity profile of the target may be, for example, after the target moves from the starting point to the ending point, the processor calculates the relative velocity during the movement, and forms the velocity profile output during the overall process.
Referring to fig. 11, the present embodiment further discloses a speed detecting device based on the TOF technology, including:
a first emission module 1101 for controlling the first emitter to emit the first light source to the target object at a first time point;
the first receiving module 1102 is configured to obtain a second time point when the first receiver receives a first reflection light source corresponding to the first light source;
a first distance calculating module 1103, configured to calculate a first distance from the target object based on the first time point and the second time point;
a second emission module 1104 for controlling the second emitter to emit the second light source to the target object at a third point in time;
a second receiving module 1105, configured to obtain a fourth time point when the second receiver receives the second reflected light source corresponding to the second light source;
a second distance calculating module 1106, configured to calculate a second distance from the target object based on the third time point and the fourth time point;
a second speed calculating module 1107, configured to calculate a relative speed of the target object moving based on the first distance, the second distance, and the time interval between the fourth time point and the second time point.
The implementation of the speed detection device based on the TOF technology is the same as the speed detection method based on the TOF technology, and the description of this embodiment will not be repeated.
Referring to fig. 12, the present embodiment further discloses a speed detection laser radar based on the TOF technology, including a first transmitter 1201, a first receiver 1202, a second transmitter 1203, a second receiver 1204 and a second computer device 1205; the second computer device 1205 includes a second memory 12051 and a second processor 12052, the second memory 12051 stores a second computer program 12053, the second computer program 12053 is configured to be executed by the second processor 12052, and the second computer program 12053 includes instructions for performing the following steps:
controlling a first transmitter to transmit a first light source to a target object at a first time point;
acquiring a second time point when the first receiver receives a first reflection light source corresponding to the first light source;
calculating a first distance from the target object based on the first time point and the second time point;
controlling the second emitter to emit the second light source to the target object at a third time point;
acquiring a fourth time point when the second receiver receives a second reflection light source corresponding to the second light source;
calculating a second distance from the target object based on the third time point and the fourth time point;
and calculating the relative speed of the movement of the target object based on the first distance, the second distance and the time interval between the fourth time point and the second time point.
In addition, the second computer device may further include a second driving circuit 12054, and the second computer program 12053 controls the first emitter 1201 to emit the first light source to the target object 1206 at the first time point and controls the second emitter 1203 to emit the second light source to the target object 1206 at the third time point through the second driving circuit 12054. The second point in time when the first receiver 1201 receives the first reflected light source corresponding to the first light source and the fourth point in time when the second receiver 1204 receives the second reflected light source corresponding to the second light source may be directly transmitted to the second computer program 12053.
It should be noted that the second driving circuit 12054 may be implemented as a separate circuit module or on another device instead of the second computer device 1205, which is not limited in this embodiment.
The above description is only of the preferred embodiments of the present invention; the scope of the invention is not limited in this respect. Any person skilled in the art, within the technical scope of the present disclosure, may apply to the present invention, and the technical solution and the improvement thereof are all covered by the protection scope of the present invention.
Claims (10)
1. A speed detection method based on TOF technology, comprising:
controlling a first transmitter to transmit a first light source to a target object at a first time point;
acquiring a second time point when the first receiver receives a first reflection light source corresponding to the first light source;
calculating a first distance from the target object based on the first time point and the second time point;
controlling the second emitter to emit the second light source to the target object at a third time point;
acquiring a fourth time point when the second receiver receives a second reflection light source corresponding to the second light source;
calculating a second distance from the target object based on the third time point and the fourth time point;
and calculating the relative speed of the movement of the target object based on the first distance, the second distance and the time interval between the third time point and the first time point.
2. The method of claim 1, further comprising, after calculating the relative speed of the movement of the target object based on the first distance, the second distance, and the time interval between the third time point and the first time point:
and outputting the relative speed of the movement of the target object.
3. The method of claim 1, wherein the first emitter has an emission wavelength different from the emission wavelength of the second emitter.
4. The method of claim 1, wherein the calculating the first distance from the target object based on the first time point and the second time point is as follows:
d1 =speed of light (t 2-t 1)/2
Wherein D1 represents a first distance; t2 represents a second time point; t1 represents a first time point;
the calculating the second distance from the target object based on the third time point and the fourth time point specifically comprises the following steps:
d2 =speed of light (t 4-t 3)/2
Wherein D2 represents a second distance; t4 represents a fourth time point; t3 represents a third time point.
5. The method of claim 1, wherein the calculating the relative speed of the target object based on the first distance, the second distance, and the time interval between the third time point and the first time point is as follows:
wherein v represents the relative speed at which the target object is moving; d2 represents a second distance; d1 represents a first distance; Δt represents the time interval between the third time point and the first time point.
6. A speed detection device based on TOF technology, comprising:
the first transmitting module is used for controlling the first transmitter to transmit the first light source to the target object at a first time point;
the first receiving module is used for acquiring a second time point when the first receiver receives the first reflection light source corresponding to the first light source;
a first distance calculation module for calculating a first distance to a target object based on the first time point and the second time point;
the second transmitting module is used for controlling the second transmitter to transmit the second light source to the target object at a third time point;
the second receiving module is used for obtaining a fourth time point when the second receiver receives a second reflection light source corresponding to the second light source;
a second distance calculation module for calculating a second distance from the target object based on the third time point and the fourth time point;
and the first speed calculation module is used for calculating the relative speed of the movement of the target object based on the first distance, the second distance and the time interval between the third time point and the first time point.
7. A speed detection method based on TOF technology, comprising:
controlling a first transmitter to transmit a first light source to a target object at a first time point;
acquiring a second time point when the first receiver receives a first reflection light source corresponding to the first light source;
calculating a first distance from the target object based on the first time point and the second time point;
controlling the second emitter to emit the second light source to the target object at a third time point;
acquiring a fourth time point when the second receiver receives a second reflection light source corresponding to the second light source;
calculating a second distance from the target object based on the third time point and the fourth time point;
and calculating the relative speed of the movement of the target object based on the first distance, the second distance and the time interval between the fourth time point and the second time point.
8. A speed detection device based on TOF technology, comprising:
the first transmitting module is used for controlling the first transmitter to transmit the first light source to the target object at a first time point;
the first receiving module is used for acquiring a second time point when the first receiver receives the first reflection light source corresponding to the first light source;
a first distance calculation module for calculating a first distance to a target object based on the first time point and the second time point;
the second transmitting module is used for controlling the second transmitter to transmit the second light source to the target object at a third time point;
the second receiving module is used for obtaining a fourth time point when the second receiver receives a second reflection light source corresponding to the second light source;
a second distance calculation module for calculating a second distance from the target object based on the third time point and the fourth time point;
and the second speed calculation module is used for calculating the relative speed of the movement of the target object based on the first distance, the second distance and the time interval between the fourth time point and the second time point.
9. A speed detection laser radar based on TOF technology, which is characterized by comprising a first transmitter, a first receiver, a second transmitter, a second receiver and first computer equipment; the computer device comprising a first memory storing a first computer program and a first processor implementing the steps of the method of any of claims 1 to 5 when the first processor executes the first computer program.
10. A speed detection laser radar based on TOF technology, which is characterized by comprising a first transmitter, a first receiver, a second transmitter, a second receiver and second computer equipment; the computer device comprising a second memory storing a second computer program and a second processor implementing the steps of the method of claim 7 when the second computer program is executed by the second processor.
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| CN202310679577.9A CN117607887A (en) | 2023-06-09 | 2023-06-09 | Speed detection method and device based on TOF technology and laser radar |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310679577.9A CN117607887A (en) | 2023-06-09 | 2023-06-09 | Speed detection method and device based on TOF technology and laser radar |
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