WO2020142879A1 - Procédé de traitement de données, dispositif de détection, dispositif de traitement de données et plateforme mobile - Google Patents

Procédé de traitement de données, dispositif de détection, dispositif de traitement de données et plateforme mobile Download PDF

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Publication number
WO2020142879A1
WO2020142879A1 PCT/CN2019/070697 CN2019070697W WO2020142879A1 WO 2020142879 A1 WO2020142879 A1 WO 2020142879A1 CN 2019070697 W CN2019070697 W CN 2019070697W WO 2020142879 A1 WO2020142879 A1 WO 2020142879A1
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WIPO (PCT)
Prior art keywords
scan point
point
type
scan
data processing
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PCT/CN2019/070697
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English (en)
Chinese (zh)
Inventor
李延召
张富
陈涵
王闯
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201980005389.XA priority Critical patent/CN111670385A/zh
Priority to PCT/CN2019/070697 priority patent/WO2020142879A1/fr
Publication of WO2020142879A1 publication Critical patent/WO2020142879A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications

Definitions

  • the embodiments of the present invention relate to the technical field of data processing, and in particular, to a data processing method, a detection device, a data processing device, and a movable platform.
  • Detection devices such as lidar can emit detection signals in different directions, thereby obtaining depth information and reflectivity information of objects based on echoes in different directions.
  • detection devices are usually discretely sampled, many directions in space are not scanned.
  • the detection signal emitted into the sky will not generate echoes.
  • no distinction is made between unscanned points and sky scan points, which may lead to erroneous information distribution and is not conducive to subsequent processing such as object recognition.
  • Embodiments of the present invention provide a data processing method, a detection device, a data processing device, and a movable platform.
  • an embodiment of the present invention provides a data processing method for a scan point, the method including:
  • an embodiment of the present invention provides a data processing method for a scan point, the method including:
  • the types of the scanning points include normal scanning points and sky scanning points.
  • an embodiment of the present invention provides a detection device, at least including a memory and a processor; the memory is connected to the processor through a communication bus, and is used to store computer instructions executable by the processor; the processing The device is used to read computer instructions from the memory to implement: the steps of the method in the first aspect.
  • an embodiment of the present invention provides a data processing apparatus including at least a memory and a processor; the memory is connected to the processor through a communication bus, and is used to store computer instructions executable by the processor; The processor is configured to read computer instructions from the memory to implement the steps of the method in the second aspect.
  • an embodiment of the present invention provides a movable platform, the movable platform includes at least a body, a power supply battery provided on the body, a power system, and the detection device according to the third aspect, the detection device For detecting a target scene, the power supply battery can supply power to the power system, and the power system provides power to the movable platform.
  • the type of the scanning point corresponding to the direction of the transmitted signal is determined. If an echo signal is detected in the signal direction, the type of scanning point is determined to be a normal scanning point; if an echo signal is not detected in the direction of the transmitted signal, the type of scanning point is determined to be a sky scanning point.
  • the type of the scanning point in the direction of the transmitted signal can be determined, and the sky scanning point can be excluded in the subsequent interpolation process, thereby avoiding the phenomenon of widening the edge of the object in the sky, which is helpful to improve the accuracy of object recognition degree.
  • FIG. 1 is a block diagram of a detection device provided by an embodiment of the present invention.
  • FIG. 2 is a schematic structural diagram of a detection device using a coaxial optical path provided by an embodiment of the present invention
  • FIG. 3 is a flowchart of a data processing method of a scan point according to an embodiment of the present invention.
  • FIG. 4 is a flowchart of another data processing method of a scan point provided by an embodiment of the present invention.
  • FIG. 5 is a flowchart of yet another data processing method for scanning points according to an embodiment of the present invention.
  • FIG. 6 is a flowchart of a data processing method of a scan point according to an embodiment of the present invention.
  • FIG. 8 is a flowchart of a data processing method of a scan point according to an embodiment of the present invention.
  • FIG. 9 is a block diagram of a detection device provided by an embodiment of the present invention.
  • FIG. 10 is a block diagram of a data processing device according to an embodiment of the present invention.
  • FIG. 11 is a perspective view of a movable platform provided by an embodiment of the present invention.
  • detection devices such as lidar can emit detection signals in different directions, thereby obtaining data such as depth information and reflectance information of objects according to echo signals in different directions.
  • the detection device is usually discretely sampled, many directions in the space are not scanned, and the points corresponding to this unscanned direction usually need to be filled with a specific algorithm in the subsequent processing to fill in the lack of information, such as interpolation algorithm.
  • the detection signal emitted into the sky will not generate echoes, however, the sky scan point does not need to be filled with information.
  • the unscanned points and the sky scan points are not distinguished. Filling in the sky scan points in the interpolation step will result in incorrect information distribution, such as the problem of widening the edges of objects in the sky, which is not conducive to Subsequent processing such as object recognition.
  • the detection device may be an electronic device such as a laser radar, a millimeter wave radar, or an ultrasonic radar.
  • the detection device is used to sense external environment information, for example, distance information, azimuth information, reflection intensity information, speed information, etc. of the environmental target.
  • the detection device may detect the distance between the detection object and the detection device by measuring the time of light propagation between the detection device and the detection object, that is, Time-of-Flight (TOF).
  • TOF Time-of-Flight
  • the detection device may detect the distance from the detection object to the detection device by other techniques, such as a distance measurement method based on phase shift measurement, or a distance measurement method based on frequency shift measurement, which is not described here Do restrictions.
  • the detection device 100 may include a transmitting circuit 110, a receiving circuit 120, a sampling circuit 130 and an arithmetic circuit 140.
  • the transmission circuit 110 may transmit a sequence of light pulses (for example, a sequence of laser pulses).
  • the receiving circuit 120 can receive a light pulse sequence (also called an echo signal) reflected by the detected object, and photoelectrically convert the light pulse sequence to obtain an electrical signal, and then process the electrical signal and then output it to Sampling circuit 130.
  • the sampling circuit 130 may sample the electrical signal to obtain the sampling result.
  • the arithmetic circuit 140 may determine the distance between the detection device 100 and the object to be detected based on the sampling result of the sampling circuit 130.
  • the detection device 100 may further include a control circuit 150, which may control other circuits, for example, may control the working time of each circuit and/or set parameters for each circuit.
  • a control circuit 150 may control other circuits, for example, may control the working time of each circuit and/or set parameters for each circuit.
  • the detection device shown in FIG. 1 includes a transmitting circuit, a receiving circuit, a sampling circuit, and an arithmetic circuit for emitting a beam of light for detection, the embodiments of the present application are not limited thereto.
  • the transmitting circuit, The number of any one of the receiving circuit, the sampling circuit, and the arithmetic circuit may also be at least two, for emitting at least two light beams in the same direction or respectively in different directions; wherein, the at least two light paths may be emitted simultaneously , Can also be shot at different times.
  • the light-emitting chips in the at least two emission circuits are packaged in the same module.
  • each emitting circuit includes a laser emitting chip, and the laser emitting chips in the at least two emitting circuits may be packaged together and housed in the same packaging space.
  • the detection device 100 may further include a scanning module 160 for emitting at least one laser pulse sequence emitted from the transmitting circuit by changing the propagation direction.
  • the module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, and the arithmetic circuit 140, or the module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, the arithmetic circuit 140, and the control circuit 150 may be referred to as a measurement
  • the distance measuring module 150 may be independent of other modules, for example, the scanning module 160.
  • a coaxial optical path may be used in the detection device, that is, the light beam emitted by the detection device and the reflected light beam share at least part of the optical path in the detection device.
  • the detection device may also adopt an off-axis optical path, that is, the light beam emitted by the detection device and the reflected light beam are transmitted along different optical paths in the detection device, respectively.
  • FIG. 2 shows a schematic diagram of an embodiment of the detection device of the present invention using a coaxial optical path.
  • the detection device 200 includes a distance measuring module 210.
  • the distance measuring module 210 includes a transmitter 203 (which may include the above-mentioned transmitting circuit), a collimating element 204, a detector 205 (which may include the above-mentioned receiving circuit, sampling circuit, and arithmetic circuit) and an optical path Change element 206.
  • the distance measuring module 210 is used to emit a light beam and receive back light, and convert the back light into an electrical signal.
  • the transmitter 203 may be used to transmit a light pulse sequence.
  • the transmitter 203 may emit a sequence of laser pulses.
  • the laser beam emitted by the transmitter 203 is a narrow-bandwidth beam with a wavelength outside the visible light range.
  • the collimating element 204 is disposed on the exit optical path of the emitter, and is used to collimate the light beam emitted from the emitter 203, and collimate the light beam emitted by the emitter 203 into parallel light to the scanning module.
  • the collimating element is also used to converge at least a part of the return light reflected by the detection object.
  • the collimating element 204 may be a collimating lens or other element capable of collimating the light beam.
  • the optical path changing element 206 is used to merge the transmitting optical path and the receiving optical path in the detection device before the collimating element 204, so that the transmitting optical path and the receiving optical path can share the same collimating element, making the optical path more compact.
  • the transmitter 203 and the detector 205 may respectively use respective collimating elements, and the optical path changing element 206 is disposed on the optical path behind the collimating element.
  • the light path changing element can use a small-area mirror to emit The optical path and the receiving optical path are merged.
  • the light path changing element may also use a reflector with a through hole, where the through hole is used to transmit the outgoing light of the emitter 203, and the reflector is used to reflect the return light to the detector 205. In this way, it is possible to reduce the blocking of the return light by the support of the small mirror in the case of using the small mirror.
  • the optical path changing element is offset from the optical axis of the collimating element 204. In some other implementations, the optical path changing element may also be located on the optical axis of the collimating element 204.
  • the detection device 200 further includes a scanning module 202.
  • the scanning module 202 is placed on the exit optical path of the distance measuring module 210.
  • the scanning module 202 is used to change the transmission direction of the collimated light beam 219 emitted through the collimating element 204 and project it to the outside environment, and project the return light to the collimating element 204 .
  • the returned light is converged on the detector 205 via the collimating element 204.
  • the scanning module 202 may include at least one optical element for changing the propagation path of the light beam, wherein the optical element may change the propagation path of the light beam by reflecting, refracting, diffracting, etc. the light beam.
  • the scanning module 202 includes a lens, a mirror, a prism, a galvanometer, a grating, a liquid crystal, an optical phased array (Optical Phased Array), or any combination of the above optical elements.
  • at least part of the optical element is moving, for example, the at least part of the optical element is driven to move by a driving module, and the moving optical element can reflect, refract or diffract the light beam to different directions at different times.
  • multiple optical elements of the scanning module 202 may rotate or vibrate about a common axis 209, and each rotating or vibrating optical element is used to continuously change the direction of propagation of the incident light beam.
  • the multiple optical elements of the scanning module 202 may rotate at different rotation speeds, or vibrate at different speeds.
  • at least part of the optical elements of the scanning module 202 can rotate at substantially the same rotational speed.
  • the multiple optical elements of the scanning module may also rotate around different axes.
  • the multiple optical elements of the scanning module may also rotate in the same direction, or rotate in different directions; or vibrate in the same direction, or vibrate in different directions, which is not limited herein.
  • the scanning module 202 includes a first optical element 214 and a driver 216 connected to the first optical element 214.
  • the driver 216 is used to drive the first optical element 214 to rotate about a rotation axis 209 to change the first optical element 214 The direction of the collimated light beam 219.
  • the first optical element 214 projects the collimated light beam 219 to different directions.
  • the angle between the direction of the collimated light beam 219 changed by the first optical element and the rotation axis 109 changes with the rotation of the first optical element 214.
  • the first optical element 214 includes a pair of opposed non-parallel surfaces through which the collimated light beam 219 passes.
  • the first optical element 214 includes a prism whose thickness varies along at least one radial direction.
  • the first optical element 214 includes a wedge-angle prism, aligning the straight beam 219 for refraction.
  • the scanning module 202 further includes a second optical element 215 that rotates about a rotation axis 209.
  • the rotation speed of the second optical element 215 is different from the rotation speed of the first optical element 214.
  • the second optical element 215 is used to change the direction of the light beam projected by the first optical element 214.
  • the second optical element 215 is connected to another driver 217, and the driver 217 drives the second optical element 215 to rotate.
  • the first optical element 214 and the second optical element 215 may be driven by the same or different drivers, so that the first optical element 214 and the second optical element 215 have different rotation speeds and/or rotations, thereby projecting the collimated light beam 219 to the outside space Different directions can scan a larger spatial range.
  • the controller 218 controls the drivers 216 and 217 to drive the first optical element 214 and the second optical element 215, respectively.
  • the rotation speeds of the first optical element 214 and the second optical element 215 can be determined according to the area and pattern expected to be scanned in practical applications.
  • Drives 216 and 217 may include motors or other drives.
  • the second optical element 215 includes a pair of opposed non-parallel surfaces through which the light beam passes. In one embodiment, the second optical element 215 includes a prism whose thickness varies along at least one radial direction. In one embodiment, the second optical element 215 includes a wedge angle prism.
  • the scanning module 202 further includes a third optical element (not shown) and a driver for driving the third optical element to move.
  • the third optical element includes a pair of opposed non-parallel surfaces through which the light beam passes.
  • the third optical element includes a prism whose thickness varies along at least one radial direction.
  • the third optical element includes a wedge angle prism. At least two of the first, second and third optical elements rotate at different rotational speeds and/or turns.
  • each optical element in the scanning module 202 can project light into different directions, such as directions 211 and 213, thus scanning the space around the detection device 200.
  • directions 211 and 213 scanning the space around the detection device 200.
  • the detector 205 is placed on the same side of the collimating element 204 as the emitter 203.
  • the detector 205 is used to convert at least part of the returned light passing through the collimating element 204 into an electrical signal.
  • each optical element is coated with an antireflection coating.
  • the thickness of the antireflection film is equal to or close to the wavelength of the light beam emitted by the emitter 203, which can increase the intensity of the transmitted light beam.
  • a filter layer is coated on the surface of an element on the beam propagation path in the detection device, or a filter is provided on the beam propagation path to transmit at least the wavelength band of the beam emitted by the emitter, Reflect other bands to reduce the noise caused by ambient light to the receiver.
  • the transmitter 203 may include a laser diode through which laser pulses in the order of nanoseconds are emitted.
  • the laser pulse receiving time may be determined, for example, by detecting the rising edge time and/or the falling edge time of the electrical signal pulse. In this way, the detection device 200 can use the pulse reception time information and the pulse emission time information to calculate the TOF, thereby determining the distance between the detection object 201 and the detection device 200.
  • the distance and orientation detected by the detection device 200 can be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like.
  • the detection device of the embodiment of the present invention can be applied to a movable platform, and the detection device can be installed on the platform body of the movable platform.
  • the movable platform with a detection device can measure the external environment. For example, the distance between the movable platform and the obstacle is measured for obstacle avoidance and other purposes, and the external environment is measured in two or three dimensions.
  • the movable platform includes at least one of an unmanned aerial vehicle, a car, a remote control car, a robot, and a camera.
  • the platform body When the detection device is applied to an unmanned aerial vehicle, the platform body is the fuselage of the unmanned aerial vehicle.
  • the platform body When the detection device is applied to an automobile, the platform body is the body of the automobile.
  • the car may be a self-driving car or a semi-automatic car, and no restriction is made here.
  • the detection device When the detection device is applied to a remote control car, the platform body is the body of the remote control car.
  • the platform body When the detection device is applied to a robot, the platform body is a robot.
  • the detection device When the detection device is applied to a camera, the platform body is the camera itself.
  • a data processing method of a scanning point includes steps 301 to 302, where:
  • step 301 the echo signal in the direction of the transmitted signal is detected.
  • the detecting device may detect the echo signal in the direction of the transmitted signal.
  • the detection method please refer to the contents shown in FIG. 1 and FIG. 2, which will not be repeated here.
  • step 302 according to whether an echo signal is detected in the direction of the transmission signal, the type of the scanning point corresponding to the direction of the transmission signal is determined.
  • the detection device can determine whether an echo signal is detected. Since the detection device has a certain working range, for example, 1-100 meters, the detection device can calculate the time of flight of the echo signal according to the speed of light and the working range, The signal received within the time range of the calculated flight time is used as the echo signal.
  • the detection device determines that the type of scanning point is a normal scanning point (corresponding to step 3021).
  • the detection device determines that the type of scanning point is a sky scanning point (corresponding to step 3022).
  • the detection device may determine the preset parameter value corresponding to the scan point according to the echo signal (corresponding to step 401). If the preset parameter value is outside the working range of the detection device, the detection device discards the scanning point (corresponding to step 402).
  • the preset parameter value may include at least one of the following: depth value and reflectance value.
  • the preset parameter value is the depth value, it can be understood that the depth value outside the working range is less than the minimum value corresponding to the working range or greater than the maximum value corresponding to the working range.
  • the preset parameter value is the reflectance value, it can be understood that the reflectance value is greater than the maximum reflectance value corresponding to the working range or less than the minimum reflectance value corresponding to the working range when it is outside the working range.
  • the technician can adjust the preset parameters and the working range of the detection device according to the specific scenario, and when the normal scanning point and the sky scanning point can be determined, the corresponding scheme falls within the protection scope of the present application.
  • the working range of the detection device may be 1-100 meters, and the preset parameter value is outside the working range may include two cases: the preset parameter value is less than 1 meter, or the preset parameter value is greater than 100 meters.
  • the detection device may include protective devices such as a protective cover, or there may be impurities within 1 meter in front of the detection device.
  • the transmission signal meets the protection device or impurities, it will reflect the optical pulse signal to form an echo signal, so that the detection device can detect the echo signal. Since the depth value calculated based on the echo signal is less than 1 meter, that is, outside the working range of the detection device, the detection device can determine that the echo signal belongs to an invalid echo signal, and discard the scanning point. In this way, in this embodiment, by discarding the scan points, the accuracy of the collected echo signals can be ensured, which is beneficial to improving the accuracy of subsequent processing of the scan point data.
  • the object can reflect the light pulse signal to other objects, and eventually the detection device detects the echo signal.
  • the depth value calculated by the detection device based on the echo signal is greater than 100 meters, that is, the depth value corresponding to the echo signal is outside the working range of the detection device, so the detection device can determine that the echo signal belongs to Invalid echo signal, discard the scan point.
  • the detection device can determine that the echo signal belongs to Invalid echo signal, discard the scan point.
  • the type of scanning point is determined to be a normal scanning point; if no echo signal is detected in the direction of the transmitted signal, the type of scanning point is determined to be a sky scanning point.
  • the type of the scanning point in the direction of the transmitted signal can be determined, and the sky scanning point can be excluded in the subsequent interpolation process, thereby avoiding the phenomenon of widening the edge of the object in the sky, which is helpful to improve the accuracy of object recognition degree.
  • FIG. 5 is a flowchart of a data processing method for scanning points according to an embodiment of the present invention.
  • a data processing method for scanning points includes steps 501 to 503, in which:
  • step 501 an echo signal in the direction of the transmitted signal is detected.
  • step 501 and step 301 are the same.
  • FIG. 3 and related content of step 301 which will not be repeated here.
  • step 502 according to whether an echo signal is detected in the direction of the transmission signal, the type of the scanning point corresponding to the direction of the transmission signal is determined.
  • step 502 and step 302 are the same. For detailed description, please refer to FIG. 3 and related content of step 302, which will not be repeated here.
  • step 503 the scan point data corresponding to the scan point is encoded according to the type of the scan point.
  • the detection device may also encode the scan point data corresponding to the scan point according to the type of the scan point.
  • the detection device may update the preset parameter values in the scan point data corresponding to the sky scan point using the first preset value, and the updated scan point data may be obtained. In this way, the process of updating the scan point data completes the encoding of the scan point data.
  • the preset parameter value may include at least one of the following: depth value and reflectance value.
  • the first preset value may include any value outside the operating range of the detection device.
  • the first preset value may include at least one of the following: a fixed value or a random value.
  • the working range of the detection device can be set from 1 to 100 meters, and the first preset value is 200 meters. If the detection device determines that the scanning point is a sky scanning point, the depth value of the sky scanning point may be set to 200 meters.
  • the working range of the detection device may be set to 1-100 meters, and the first preset value is a random value greater than 100 meters. If the detection device determines that the scanning point is a sky scanning point, the depth value of the sky scanning point may be randomly set to 105 meters.
  • the scan point data can be expressed in different ways, such as polar coordinates or Cartesian coordinates. Therefore, in this embodiment, the detection device separately processes the scan point data according to the representation mode:
  • the detection device may use a first preset value to update the preset parameter value in the polar coordinates corresponding to the scan point.
  • the preset parameter value as the depth value for example, the scan point data before update (angle 1, angle 2, depth value, reflectance value), the updated scan point data (angle 1, angle 2, first preset Value, reflectance value).
  • the detection device may use the first preset value to update the reflectance value in the Cartesian coordinates corresponding to the scan point.
  • the scan point data before the update (x, y, z, reflectance values), and the updated scan point data (x, y, z, the first preset value).
  • the detection device updates the x-axis coordinate value in the Cartesian coordinates corresponding to the scan point according to the first preset value, Y-axis coordinate value and z-axis coordinate value.
  • the scan point data before the update (x, y, z, reflectance value), and the updated scan point data (x1, y1, z1, reflectance value), where d1 represents the first preset value.
  • the detection device can distinguish the sky scanning point from the normal scanning point by changing the dimension of the sky scanning point.
  • the detection device when it is determined that the type of the scan point is the sky scan point, the detection device adds the first flag bit to the scan point data corresponding to the sky scan point.
  • the scan point data before the update (angle 1, angle 2, depth value, reflectance value)
  • the updated scan point data (angle 1, angle 2, depth value, reflectance value , The first flag).
  • the scan point data before update (x, y, z, reflectance value), and the updated scan point data (x1, y1, z1, reflectance value, first flag Bit).
  • the detection device may encode the scan point data corresponding to the scan point according to the type of the scan point. For example, if the type of the scan point is a sky scan point, then the position of the mark in the scan point data will be the first mark bit. For another example, if the type of the scan point is a normal scan point, the mark position in the scan point data is the second mark bit.
  • the flag bit may be represented by a number, for example, the first flag bit may be represented by a number 0, and the second flag bit may be represented by a number 1.
  • the flag bit can also be represented by words, for example, the first flag bit can be represented by "sky", and the second flag bit can be represented by "normal".
  • the technician can also use other forms to represent the first flag bit and the second flag bit. In the case of the type of area scanning point, the corresponding solution falls within the protection scope of the present application.
  • the detection device may add a corresponding flag bit to the scan point data according to the type of the scan point for encoding. For example, if the type of scanning point is a sky scanning point, the first flag bit is added to the scanning point data. In another example, if the type of the scan point is a normal scan point, a second flag bit is added to the scan point data.
  • the detection device when detecting the echo signal, may further open up two storage areas, including a first storage area and a second storage area. In this manner, after determining the type of each scan point, the detection device may store the scan point data corresponding to the sky scan point in the first storage area, and may store the scan point data corresponding to the normal scan point in the second storage area. In this way, the detection device can mark the determined types of each scanning point through different storage areas.
  • data related to the scan point data can also be stored, such as the time for acquiring the echo signal, the storage time, and the phase Adjacent scan point identification to facilitate the processing of scan point data in subsequent scenes.
  • the technician can also adjust the relevant data of the scan point data according to the specific scenario, and in the case of facilitating subsequent data processing, the corresponding solution falls within the protection scope of the present application.
  • the detection device may transmit the scan point data in each storage area according to the time sequence of acquiring each scan point, and may also transmit the scan point data according to the storage area.
  • the corresponding scheme falls within the protection scope of the present application.
  • the type of each scan point can be quickly identified in the subsequent scan point data processing process, thereby Increase the speed of object recognition.
  • a data processing method of a scanning point includes:
  • step 601 scan point data corresponding to the scan point is acquired to determine a type of scan point; wherein, the type of the scan point includes a normal scan point and a sky scan point.
  • the data processing apparatus may acquire scan point data corresponding to each scan point (corresponding to step 701). It can be understood that, in the process of acquiring the scan point data by the data processing device in this embodiment, the scan point data and the location of the scan point data can be obtained. Then, the data processing device can determine the type of scanning point (corresponding to step 702).
  • the data processing device obtains a preset parameter value from the scan point data, where the preset parameter value may include at least one of the following: a depth value and a reflectance value.
  • the type of the scan point is determined to be a normal scan point; if the preset parameter value in the scan point data is outside the working range of the detection device , It is determined that the type of the scan point is a sky scan point.
  • the scan point data is expressed in polar coordinates, taking the preset parameter value as the depth value for example, the scan point data (angle 1, angle 2, depth value, reflectance value), so that the data processing device can Read preset parameter values directly from the scan point data.
  • the depth value may be a first preset value or a second preset value.
  • the first preset value may include any value outside the working range of the detection device, and the first preset value may include at least one of the following: a fixed value or a random value.
  • the second preset value may include any value within the working range of the detection device.
  • the data processing device determines the type of scanning point according to the preset parameter value. Continue to take the preset parameter value as the depth value for example. If the preset parameter value is the first preset value, the data processing device determines that the type of the scan point is the sky scan point. If the preset parameter value is the second preset value, the data processing device determines that the type of scan point is a normal scan point.
  • processing method when the preset parameter value is the reflectance value is the same as the processing method when the preset parameter value is the depth value, and details are not described herein again.
  • the data processing device can scan the point data Read the reflectance value directly in.
  • the value of the reflectance value may be a first preset value or a second preset value.
  • the first preset value may include any value outside the operating range of the detection device, and the first preset value may include at least one of the following: a fixed value or a random value.
  • the second preset value may include any value within the working range of the detection device.
  • the data processing device can read the x-axis coordinates from the scan point data, y-axis coordinates and z-axis coordinates, and then calculate the depth value d. among them
  • the data processing device determines the type of scanning point according to the preset parameter value. If the preset parameter value is the first preset value, the data processing device determines that the type of the scan point is the sky scan point. If the preset parameter value is the second preset value, the data processing device determines that the type of scan point is a normal scan point.
  • the scan point data corresponding to the normal scan point does not include the flag bit and the scan point data corresponding to the sky scan point includes the flag bit, for example, the scan point data corresponding to the sky scan point (angle 1, angle 2, depth Value, reflectance value, first flag bit), and the scan point data (angle 1, angle 2, depth value, reflectance value) corresponding to the normal scan point.
  • the data processing device can obtain the flag bit from the scan point data. Then, the data processing device determines the type of the scan point according to the flag bit. If the flag bit is the first flag bit, the data processing device determines that the type of the scan point is the sky scan point; if the flag bit is not obtained from the scan point data, then The data processing device determines that the type of scan point is a normal scan point.
  • the scan point data corresponding to the normal scan point and the scan point data corresponding to the sky scan point may have different dimensions, and the data processing device may also directly determine the dimension of the scan point. If the dimension is larger, the scan There is a flag bit in the point data, and the data processing device determines that the type of scanning point is the sky scanning point. If the dimension is small, it is determined that there is no flag bit in the scan point data, and the data processing device determines that the type of the scan point is the sky scan point.
  • the scan point data corresponding to the normal scan point and the sky scan point both include flag bits, for example, the scan point data corresponding to the sky scan point (angle 1, angle 2, depth value, reflectance value, first Flag), and the scan point data corresponding to the normal scan point (angle 1, angle 2, depth value, reflectance value, second flag bit).
  • the data processing device can acquire the flag bit from the scan point data. Then, the data processing device determines the type of the scan point according to the flag bit. If the flag bit is the first flag bit, the data processing device determines the type of the scan point as the sky scan point; if the flag bit is the second flag bit, the data processing device Make sure the type of scan point is normal scan point.
  • the flag bit may be represented by a number, for example, the first flag bit may be represented by a number 0, and the second flag bit may be represented by a number 1.
  • the flag bit can also be represented by words, for example, the first flag bit can be represented by "sky", and the second flag bit can be represented by "normal".
  • the technician can also use other forms to represent the first flag bit and the second flag bit. In the case of the type of area scanning point, the corresponding solution falls within the protection scope of the present application.
  • the sky scan point and the normal scan point may be stored in different storage areas, for example, the scan point data corresponding to the sky scan point is stored in the first storage area, and the scan point data corresponding to the normal scan point is stored in the second storage area.
  • the data processing device can acquire the scan point data, and at the same time can obtain the location where the scan point data is stored. Accordingly, the data processing device may determine the type of the scan point according to the position, for example, the scan point data is acquired from the first storage area, and the data processing device determines that the type of the scan point is the sky scan point. For another example, if the scan point data is acquired from the second storage area, the data processing device determines that the type of scan point is a normal scan point.
  • the data processing device before acquiring the scan point data corresponding to the scan point to determine the type of the scan point, the data processing device also determines whether there is a scan point in the preset direction, and if there is no scan point in the preset direction, the preset Interpolate the point corresponding to the direction. If there is a scanning point in the preset direction, the data processing device executes step 601.
  • the detection device does not emit an optical pulse signal in the preset direction, there is no scan point data in the preset direction, and it can be determined that there is no scan point in the preset direction; if the detection device is in the preset direction If a light pulse signal is emitted in the direction, there is corresponding scan point data in the preset direction, and it can be determined that there is a scan point in the preset direction. Based on this, the embodiments of the present invention can determine unscanned points in space, and perform interpolation steps on the unscanned points to fill in information.
  • the preset direction may be set at intervals of a preset angle within a preset space range.
  • the preset direction may be set at an angular interval of 1 degree on a spherical surface with a radius of 5 m. It should be noted that, those skilled in the art can set the preset direction according to the actual situation, and the embodiment of the present invention does not specifically limit this.
  • the scan point data can be obtained to determine the type of the scan point, and the sky scan point can be excluded in the subsequent interpolation process, thereby avoiding the phenomenon of widening the edge of the object in the sky, which is helpful to improve the accuracy of object recognition.
  • a data processing method of a scan point includes steps 801 and 802, where:
  • step 801 scan point data corresponding to the scan point is acquired to determine the type of scan point; wherein, the type of the scan point includes a normal scan point and a sky scan point.
  • step 801 and step 601 are the same.
  • FIG. 6 and related content of step 601 please refer to FIG. 6 and related content of step 601, which will not be repeated here.
  • step 802 if the type of the scan point is a sky scan point, the sky scan point is excluded in the subsequent interpolation step.
  • the data processing device excludes the sky scan point and does not interpolate the sky scan point.
  • the scan point data can be obtained to determine the type of the scan point, and the sky scan point can be excluded in the subsequent interpolation process, thereby avoiding the phenomenon of widening the edge of the object in the sky, which is helpful to improve the accuracy of object recognition.
  • An embodiment of the present invention further provides a detection device.
  • a memory 902 and a processor 901 are included; the memory 902 is connected to the processor 901 through a communication bus 903, and is used to store the processor 901. Computer instructions executed; the processor 901 is used to read computer instructions from the memory 902 to implement: the steps of the method shown in FIG. 3 to FIG. 5.
  • the detection device 900 includes at least one of the following: lidar, millimeter wave radar, and ultrasonic radar. Technicians can choose according to specific scenarios, and this embodiment is not limited.
  • An embodiment of the present invention further provides a data processing apparatus.
  • a memory 1002 and a processor 1001 are included; the memory 1002 is connected to the processor 1001 through a communication bus 1003 and used to store the processor 1001 Executable computer instructions; the processor 1001 is used to read computer instructions from the memory 1002 to implement: the steps of the method shown in FIGS. 6-8.
  • the data processing device includes a detection device or a host computer, and the detection device includes a laser radar, a millimeter wave radar, and an ultrasonic radar. Technicians can choose according to specific scenarios, and this embodiment is not limited.
  • FIG. 11 is a perspective view of a movable platform provided by the embodiment of the present invention.
  • the movable platform 1100 includes at least a body 1110, a power supply battery 1120 provided on the body 1110, a power system 1130, and a detection device 1140 described in the embodiment shown in FIG. 9, the detection device 1140 is used to To detect a target scene, the power supply battery 1120 can supply power to the power system 1130, and the power system 1130 provides power to the movable platform 1100.
  • the movable platform may include, but is not limited to: air vehicles such as unmanned aerial vehicles, land vehicles such as automobiles, underwater vehicles such as ships, and other types of motorized vehicles. Technicians can choose according to specific scenarios, and this embodiment is not limited.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

Les modes de réalisation de la présente invention concernent un procédé de traitement de données pour des points de balayage, un dispositif de détection, un dispositif de traitement de données et une plateforme mobile. Le procédé de traitement de données pour des points de balayage comprend : la détection d'un signal d'écho dans une direction d'émission de signal ; la détermination du type d'un point de balayage correspondant à la direction d'émission de signal suivant le fait qu'un signal d'écho est ou non détecté dans la direction d'émission de signal ; si un signal d'écho est détecté dans la direction d'émission de signal, la détermination du type du point de balayage comme étant un point de balayage normal ; et si aucun signal d'écho n'est détecté dans la direction d'émission de signal, la détermination du type du point de balayage comme étant un point de balayage de ciel. Selon les modes de réalisation de la présente invention, le type du point de balayage dans la direction d'émission de signal peut être déterminé, ce qui est utile pour améliorer la précision de la reconnaissance d'objet.
PCT/CN2019/070697 2019-01-07 2019-01-07 Procédé de traitement de données, dispositif de détection, dispositif de traitement de données et plateforme mobile WO2020142879A1 (fr)

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PCT/CN2019/070697 WO2020142879A1 (fr) 2019-01-07 2019-01-07 Procédé de traitement de données, dispositif de détection, dispositif de traitement de données et plateforme mobile

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