CN109917408A - Echo processing techniques, distance measuring method and the laser radar of laser radar - Google Patents
- ️Fri Jun 21 2019
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- CN109917408A CN109917408A CN201910246377.8A CN201910246377A CN109917408A CN 109917408 A CN109917408 A CN 109917408A CN 201910246377 A CN201910246377 A CN 201910246377A CN 109917408 A CN109917408 A CN 109917408A Authority
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- echo
- distance measuring
- laser radar
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Abstract
The present invention provides the echo processing techniques, distance measuring method and laser radar of a kind of laser radar, and the laser radar is suitable for emitting multiple laser beams to object space, and the multiple laser beam has same or different exit direction；And receive multiple echoes corresponding with the multiple laser beam；The echo processing techniques include: to be detected in the received echo of laser radar according to first threshold with the presence or absence of distance measuring signal；If detecting in several echoes, there is no distance measuring signals, and several laser beams corresponding with several echoes are located in default scanning angular region, then are for data processing to several echoes, obtain revised echo；First threshold is corrected according to the echo number for carrying out data processing, and is detected according to revised first threshold and whether there is distance measuring signal in revised echo.The echo processing techniques and distance measuring method improve the probability that Airborne Lidar measures barrier, improve the range capability of laser radar.
Description
Technical field
The present invention relates to technical field of laser detection more particularly to a kind of echo processing techniques of laser radar, ranging side Method and laser radar.
Background technique
Laser radar is a kind of advanced detection mode for combining laser technology with detecting technique.Laser radar because Its high resolution, good concealment, active jamming rejection ability are strong, low-altitude detection performance is good, the small in size and advantages such as light-weight, wide It is general to be applied to the fields such as automatic Pilot, traffic communication, unmanned plane, intelligent robot, energy security detection, resource exploration.
The range capability of laser radar is stronger, and the information of road surface of acquisition is abundanter, also can more prevent trouble before it happens, and guarantees vehicle And personal safety.Based on the laser radar of flight time measurement method (Time of Flight, TOF) ranging, sent out by measurement The time interval of light pulse is penetrated and received to obtain the distance of detection target, the premise of this measurement method is that laser radar needs Light pulse is detected from the waveform time sequence that photodetector receives.
How improving the ability of laser radar detection light pulse and then improving its range capability is current laser radar application Middle urgent problem to be solved.
Summary of the invention
In order to improve the ability of laser radar detection light pulse and then improve its range capability, the embodiment of the present invention is provided A kind of echo processing techniques of laser radar.
In some embodiments, the laser radar is suitable for: emitting multiple laser beams, the multiple laser to object space Beam has same or different exit direction；And receive multiple echoes corresponding with the multiple laser beam；The echo Processing method includes: to be detected in the received echo of laser radar according to first threshold with the presence or absence of distance measuring signal；If detection Distance measuring signal is not present into several echoes, and several laser beams corresponding with several echoes are located at default scan angle model In enclosing, then data processing is carried out to several echoes, obtain revised echo；And according to the echo for carrying out data processing Number corrects the first threshold, and is detected in the revised echo and be whether there is according to revised first threshold Distance measuring signal.
Optionally, carrying out data processing to several echoes includes: to be averaging after being overlapped several echoes.
Optionally, making amendment to the first threshold according to the echo number for carrying out data processing includes: by described first Threshold value is divided by the number of echoes purpose square root for being overlapped processing.
Optionally, the laser beam is pulse laser, according to described laser radar received time of first threshold detection With the presence or absence of the pulse letter that distance measuring signal includes: in the detection echo with the presence or absence of wave amplitude greater than the first threshold in wave Number；If it exists, then determine that there are distance measuring signals in the echo, and wave amplitude in the echo is greater than to the arteries and veins of the first threshold It rushes signal and is determined as the distance measuring signal；If it does not exist, then determine that there is no distance measuring signals in the echo.
Optionally, the laser beam is pulse laser, detects the revised echo according to revised first threshold In with the presence or absence of distance measuring signal include: to be greater than described revised first with the presence or absence of wave amplitude in the detection revised echo The pulse signal of threshold value；If it exists, then determine that there are distance measuring signals in the revised echo, and by described revised time The pulse signal that wave amplitude is greater than revised first threshold in wave is determined as the distance measuring signal；If it does not exist, then described in determining Distance measuring signal is not present in revised echo.
Optionally, the default scanning angular region includes the angle of horizontal direction or vertical direction along the object space Several scan angles of offset within a preset range.
Optionally, the default scanning angular region includes the angle of horizontal direction or vertical direction along the object space Two scan angles of offset within a preset range, the echo processing techniques include: to swash according to first threshold detection is described It whether there is distance measuring signal in received first echo of optical radar, first echo corresponds to the of laser radar transmitting One laser beam；If detecting, there is no distance measuring signals in first echo, are detected the laser radar received second time It whether there is distance measuring signal in wave, second echo corresponds to the second laser beam of laser radar transmitting, and described the The angle offset of dual-laser beam and the first laser beam is in the preset range；If detecting in second echo also not There are distance measuring signals, then are averaging after being superimposed first echo and second echo, obtain revised echo；With And by the first threshold divided byAs revised first threshold, according to the revised first threshold detection It whether there is distance measuring signal in revised echo.
Optionally, the echo processing techniques further include: deposited if being detected in first echo according to the first threshold In distance measuring signal, then the time of reception of the distance measuring signal is the time of reception of first echo；If being repaired according to described First threshold after just detects in the revised echo that there are distance measuring signal, then the time of reception of the distance measuring signal is The time of reception and the institute of the time of reception or first echo of the time of reception of first echo or second echo State any moment between the time of reception of the second echo.
Optionally, the first threshold is determined according to ambient light noise and electronic system noise.
Correspondingly, the embodiment of the present invention also provides a kind of distance measuring method of laser radar, and the distance measuring method includes: with pre- Determine frequency and emit multiple laser beams to object space, the multiple laser beam has same or different exit direction；It receives Multiple echoes, the multiple echo are reflected multiple laser beams that the laser radar emits by the barrier in the object space It is formed；The received several echoes of laser radar are handled using the echo processing techniques of the laser radar of the embodiment of the present invention, To detect distance measuring signal；And the time of reception and laser beam corresponding with the distance measuring signal according to the distance measuring signal detected Emission time between time interval, calculate the distance between the laser radar and barrier.
Optionally, the distance measuring signal includes the ranging letter detected in the received several echoes of the laser radar Number, according between the time of reception of the distance measuring signal detected and the emission time of laser beam corresponding with the distance measuring signal Time interval, calculate the distance between the laser radar and barrier include: according to time of reception of each echo and with institute State the time interval between the emission time of the corresponding laser beam of each echo, the barrier that calculating said ranging signal detection arrives The distance between described laser radar.
Optionally, the distance measuring signal includes the distance measuring signal detected in the revised echo, the amendment Echo afterwards is by the way that received first echo of the laser radar and received second echo of the laser radar to be superimposed It is averaging and obtains afterwards, wherein first echo is corresponding with the first laser beam that the laser radar emits, second echo Corresponding with the second laser beam of laser radar transmitting, the angle offset of the first laser beam and the second laser beam exists In preset range.
Optionally, the laser radar is suitable for detecting in real time in its received each echo with the presence or absence of distance measuring signal, First echo is this received echo of measurement of the laser radar, and second echo is the laser radar described Certain before this measurement measures received echo；When detecting in the revised echo there are when distance measuring signal, institute State distance measuring method further include: according between the time of reception of first echo and the emission time of the first laser beam when Between be spaced, the distance between the barrier that calculating said ranging signal detection arrives and the laser radar.
Optionally, the preset range is two times of the angular resolution of the laser radar, is believed according to the ranging detected Number the time of reception and laser beam corresponding with the distance measuring signal emission time between time interval, calculate the laser When the distance between radar and barrier include: the transmitting according to time of reception of first echo and the first laser beam Time interval between quarter, the distance between barrier and the laser radar that calculating said ranging signal detection arrives, or According to the time interval between the time of reception of the second echo and the emission time of the second laser beam, calculating said ranging letter The distance between number barrier detected and the laser radar.
Correspondingly, the embodiment of the present invention also provides a kind of laser radar, and the laser radar includes: transmitting module, is suitable for Emit multiple laser beams to object space, the multiple laser beam has same or different exit direction；Scan module is fitted In the exit direction for changing the multiple laser beam；Detecting module is suitable for receiving multiple echoes, and the multiple echo is by the mesh Multiple laser beams that barrier in mark space reflects the laser radar transmitting are formed；And processing module, it is suitable for using this The echo processing techniques of the laser radar of inventive embodiments handle the received several echoes of detecting module, to detect ranging letter Number；And according to the emission time of time of reception of the distance measuring signal detected and laser beam corresponding with the distance measuring signal it Between time interval, calculate the distance between the laser radar and barrier.
Compared with prior art, the technical solution of the embodiment of the present invention has the advantages that
Using the echo processing techniques of the laser radar of the embodiment of the present invention, when laser radar detects it in default scanning When distance measuring signal being not present in the echo of several laser beams emitted in angular region, pass through the echo to several laser beams Data processing is carried out, obtains revised echo, and repair to the first threshold according to the echo number for carrying out data processing Just, then being detected according to revised first threshold whether there is distance measuring signal in the revised echo, increase described Airborne Lidar measures the probability of distance measuring signal, and then improves the range capability of the laser radar.
Further, the default scanning angular region includes the angle of horizontal direction or vertical direction along the object space Two scan angles of degree offset within a preset range, the echo processing techniques include: according to first threshold detection It whether there is distance measuring signal in received first echo of laser radar, first echo corresponds to laser radar transmitting First laser beam；If detecting, there is no distance measuring signals in first echo, detect the laser radar received second It whether there is distance measuring signal in echo, second echo corresponds to the second laser beam of laser radar transmitting, and described Second laser beam is the smallest sharp with the angle offset of the first laser beam in several laser beams of laser radar transmitting Light beam；If detecting, also there is no distance measuring signals in second echo, and first echo and second echo are made It is averaging after superposition, obtains revised echo；And by the first threshold divided byAs revised first threshold, Being detected according to the revised first threshold whether there is distance measuring signal in the revised echo.This method is by by angle Degree deviates the smallest echo-signal measured twice and makees superposition processing, and detects distance measuring signal using revised first threshold, On the one hand signal-to-noise ratio is improved, increases the probability that the Airborne Lidar measures barrier, improves the laser radar Range capability；On the other hand increasing considerably for the data volume of system storage is avoided, the complexity of calculating is reduced.
The distance measuring method of the laser radar of the embodiment of the present invention, due to including the laser radar using the embodiment of the present invention Echo processing techniques handle the echo of the received several laser beams of the laser radar, to detect distance measuring signal the step of, thus It can be improved signal-to-noise ratio, increase the probability that the Airborne Lidar measures barrier, improve the range capability of the laser radar.
The laser radar of the embodiment of the present invention, since its processing module for including is suitable for the laser using the embodiment of the present invention The echo processing techniques of radar handle the received several echoes of the detecting module, to detect distance measuring signal, it is thus possible to improve Signal-to-noise ratio increases the probability that the Airborne Lidar measures barrier, improves the range capability of the laser radar.
Detailed description of the invention
Fig. 1 is the flow chart of the echo processing techniques of the laser radar of one embodiment of the invention；
Fig. 2 is the flow chart of the echo processing techniques of the laser radar of another embodiment of the present invention；
Fig. 3 is the direction signal of the first laser beam and second laser beam of the laser radar transmitting of one embodiment of the invention Figure；
Fig. 4 is the waveform diagram of the echo of the received first laser beam of laser radar of one embodiment of the invention；
Fig. 5 is the waveform diagram of the echo of the received second laser beam of laser radar of one embodiment of the invention；
Fig. 6 is to be averaging to obtain after being superimposed the echo of the echo of the first laser beam and the second laser beam The waveform diagram of revised echo；
Fig. 7 is the flow chart of the distance measuring method of the laser radar of one embodiment of the invention；
Fig. 8 is the structural block diagram of the laser radar 100 of one embodiment of the invention.
Specific embodiment
It is understandable to enable above-mentioned purpose of the invention, feature and beneficial effect to become apparent, with reference to the accompanying drawing to this The specific embodiment of invention is described in detail.Each embodiment in this specification is described in a progressive manner, each implementation What example stressed is the difference from other embodiments, and same or similar part refers to each other i.e. between each embodiment It can.
Based on the laser radar of flight time measurement method (TOF) ranging, the laser pulse for emitting and receiving by measurement Time interval obtain the distance of detection target, the premise of this measurement method is that the laser radar is needed from photodetection Pulse signal is detected in the waveform time sequence that device receives.Usually distance is remoter, and target is more black, and the pulse signal of return is just It is fainter.Detection pulse at present mostly uses greatly threshold method, that is, sets a voltage threshold, once having signal in waveform is more than threshold Value, both thinks to have received pulsatile once signal.Threshold value necessarily is greater than the ambient light noise and electronic system noise of waveform, no Then will result in false triggering causes to detect noise.Therefore waveform signal-to-noise ratio determines the detectivity of laser radar, and signal-to-noise ratio is got over Height, detectivity are stronger.After the Electronics noice of system is optimized to the limit, improves range capability and rely only on raising transmitting Optical power increases receiving lens bore to improve the signal-to-noise ratio of signal, however this power consumption that obviously will lead to system increases, human eye The problems such as security risk raising, laser device reliability decline, cost increase and volume increase.
For this purpose, the embodiment of the present invention provides the echo processing techniques, distance measuring method and laser radar of a kind of laser radar, energy It is enough to improve the ability of laser radar detection laser pulse under the premise of without improving transmitting optical power, and then improve its ranging Ability.
To more fully understand those skilled in the art and implementing the present invention, with reference to the accompanying drawing to the embodiment of the present invention Echo processing techniques, distance measuring method and the laser radar of laser radar are described in detail.
It is the flow chart of the echo processing techniques of the laser radar of one embodiment of the invention with reference to Fig. 1, Fig. 1.
In some embodiments, the laser radar is suitable for: emitting multiple laser beams, the multiple laser to object space Beam has same or different exit direction, and receives multiple echoes corresponding with the multiple laser beam, the laser The echo processing techniques of radar are the following steps are included: S11, being detected in the received echo of laser radar according to first threshold is It is no that there are distance measuring signals；S13, if detecting, there is no distance measuring signals in the received several echoes of the laser radar, and with The corresponding several laser beams of several echoes are located in default scanning angular region, then carry out at data to several echoes Reason, obtains revised echo；And S15, the first threshold is corrected according to the echo number for carrying out data processing, and Being detected according to revised first threshold whether there is distance measuring signal in the revised echo.
In some embodiments, the laser beam can be pulse laser, being examined in step S11 according to the first threshold Surveying in the received echo of the laser radar with the presence or absence of distance measuring signal may include: in the detection echo with the presence or absence of wave amplitude Greater than the pulse signal of the first threshold；If it exists, then determine that there are distance measuring signals in the echo, and will be in the echo The pulse signal that wave amplitude is greater than the first threshold is determined as distance measuring signal；If it does not exist, then determine to be not present in the echo Distance measuring signal.In some embodiments, the first threshold can be determined according to ambient light noise and electronic system noise.
In some embodiments, may include: to several echoes progress data processings in step S13 will be described several Echo is averaging after being overlapped.Specifically, divided by described several times after the wave amplitude of several echoes being overlapped The number of wave, in this, as the wave amplitude of the revised echo.
In some embodiments, the default scanning angular region in step S13 may include along the object space Several scan angles of the angle offset of horizontal direction or vertical direction within a preset range.
In some embodiments, the first threshold is repaired according to the echo number for carrying out data processing in step S15 It just may include: by the first threshold divided by the number of echoes purpose square root for being overlapped processing；According to amendment in step S15 Whether there is distance measuring signal in the first threshold detection revised echo afterwards includes: in the detection revised echo It is greater than the pulse signal of the revised first threshold with the presence or absence of wave amplitude；If it exists, then determine the revised echo In there are distance measuring signals, and by wave amplitude in the revised echo be greater than revised first threshold pulse signal be determined as The distance measuring signal；If it does not exist, then determine that there is no distance measuring signals in the revised echo.
In some embodiments, the laser radar may include light source, scan module and detecting module.In some implementations In example, the light source can be point light source, be suitable for emitting several laser beams, the scan module can be 2-D vibration mirror, be suitable for Change the scanning direction of several laser beams along the two-dimensional direction of object space.Specifically, the laser beam can be pulse Laser.
In further embodiments, the light source may include array laser device, and the array laser device is suitable for pressing Emit several laser beams to object space according to default timing, the scan module can be one-dimensional galvanometer, be suitable for along the target The one-dimensional square in space changes the scanning direction of several laser beams.Specifically, the laser beam can be pulse laser.
In some embodiments, the laser radar can be mechanical rotary laser radar, comprising: rotor and stator, institute It states internal rotor and is isolated into emission cavity and receiving cavity；Transmitting module is set in the emission cavity, and the transmitting module includes Array laser device, the array laser device are suitable for emitting several laser along the different direction of object space according to default timing Beam；And detecting module, it is set in the receiving cavity.Wherein, the rotor is suitable for changing several laser by rotation The scanning direction of beam.Specifically, the laser beam can be pulse laser.
It is the echo processing techniques of the laser radar of another embodiment of the present invention in conjunction with reference Fig. 3, Fig. 2 with reference to Fig. 2 Flow chart, Fig. 3 are the direction signals of the first laser beam and second laser beam of the laser radar transmitting of one embodiment of the invention Figure.
In some embodiments, the echo processing techniques of the laser radar may comprise steps of: S211, according to It whether there is distance measuring signal, first echo and the laser in received first echo of laser radar described in one threshold test The first laser beam of radar emission is corresponding；S212, if detecting, there is no distance measuring signals in first echo, detect institute It states in received second echo of laser radar with the presence or absence of distance measuring signal, the of second echo and laser radar transmitting Dual-laser beam is corresponding, and the angle offset of the second laser beam and the first laser beam is within a preset range；S23, if Detect that also there is no distance measuring signals in second echo, then ask after being superimposed to first echo and second echo It is average, obtain revised echo；And S25, by the first threshold divided byAs revised first threshold, according to The revised first threshold, which detects, whether there is distance measuring signal in the revised echo.
In some embodiments, in step S212, when detecting in first echo there is no distance measuring signal, institute State echo processing techniques further include: search second echo, second echo can satisfy: corresponding with second echo Second laser beam be the laser radar transmitting several laser beams in it is the smallest with the angle offset of the first laser beam Laser beam, i.e., the described second laser beam can be equal to the angle of the laser radar relative to the angle offset of the first laser beam Resolution ratio.
In some embodiments, before the second laser beam can be located at the first laser beam in outgoing timing. Specifically, the second laser beam can also both swash in outgoing timing close to the first laser beam with described first Several laser beams are separated between light beam.
As shown in figure 3, in some embodiments, the second laser beam either along the object space Vertical Square To the laser beam (as shown in the upper figure in Fig. 3) that with the first laser beam there are minimum angles to deviate, it is also possible to along described The horizontal direction of object space and the first laser beam have the laser beam of minimum angles offset (such as the following figure institute in Fig. 3 Show).The first laser beam can correspond to the laser radar this measurement (i.e. the measurement at current time), described second Laser beam can correspond to certain measurement (measurement at a certain moment before i.e.) of the laser radar before this measurement.
It should be noted that embodiment shown in Fig. 2 can be regarded as a kind of specific embodiment party of embodiment illustrated in fig. 1 Case, i.e., being detected respectively according to first threshold whether there is distance measuring signal in received two echoes of the laser radar, and described two Corresponding two laser beams of a echo have lesser angle offset in object space, when detecting in described two echoes not It there are when distance measuring signal, is averaging after being overlapped to described two echoes, and according to the new revised echo of threshold test In whether there is distance measuring signal.
In some embodiments, it is averaging, obtains after being superimposed in step S23 to first echo and second echo Make after may include: the wave amplitude summation to the wave amplitude and second echo of first echo to revised echo divided by 2 For the wave amplitude of revised echo.
In some embodiments, the echo processing techniques of the laser radar further include: if according to institute in step S211 It states first threshold and detects that there are distance measuring signals in received first echo of the laser radar, then connecing first echo Time receiving carves the time of reception as the distance measuring signal；Alternatively, if being examined in step s 25 according to the revised first threshold Measure in the revised echo that there are distance measuring signals, then by the time of reception of first echo or second echo The time of reception or first echo the time of reception and second echo the time of reception between any moment conduct The time of reception of the distance measuring signal.It should be noted that for above-mentioned second situation, i.e., in the revised echo When detecting distance measuring signal, if when the time of reception of first echo and the very close time of reception of second echo, This kind of approximate algorithm can be used.
In some embodiments, the laser radar is suitable for detecting in real time in its received each echo with the presence or absence of survey Away from signal, first echo can be (i.e. current time) received echo in this measurement of the laser radar, and described the Two echoes can be the laser radar (a certain moment before i.e.) in certain measurement before this described measurement and receive Echo, if detecting that there are rangings in the revised echo according to the revised first threshold in step s 25 Signal, then the echo processing techniques of the laser radar include: to believe the time of reception of first echo as the ranging Number the time of reception.
The echo processing techniques of the laser radar of embodiment illustrated in fig. 2, principle are addition of waveforms, and signal is double, noise IncreaseTimes, thus the signal-to-noise ratio of distance measuring signal improvesTimes, that is, detection range can be improved.In the present embodiment, by laser thunder After the echo of the scanning angle reached close (i.e. scanning angle offset is smaller) measured twice is overlapped and is used as amendment divided by 2 Echo, by the first threshold divided byAs revised first threshold with detect in the revised echo whether There are distance measuring signals.Since the revised first threshold is less than the first threshold, do not found in described measure twice In the case where distance measuring signal more than the first threshold, it can be increased by above-mentioned echo processing techniques described revised The probability of the distance measuring signal more than the revised first threshold is detected in echo.If described do not find more than first The measurement twice of the distance measuring signal of threshold value is scanning on the same barrier, then increases the probability for detecting the barrier, To improve the detectivity of the laser radar.
It is the waveform of received first echo of laser radar of one embodiment of the invention with reference to Fig. 4, Fig. 5 and Fig. 6, Fig. 4 Schematic diagram, Fig. 5 are the waveform diagrams of received second echo of the laser radar of one embodiment of the invention, in conjunction with reference Fig. 3, Wherein second echo is corresponding with second laser beam, and first echo is corresponding with first laser beam, and described second Laser beam is the smallest laser beam of angle offset in several laser beams of laser radar transmitting with the first laser beam. Fig. 6 is the waveform signal for the revised echo being averaging after being superimposed to first echo and second echo Figure.
In some embodiments, the first threshold can be set as 3.5, then by Fig. 4 and Fig. 5 it is found that the laser thunder Do not detect the distance measuring signal more than first threshold up to measurement received first echo of institute and the second echo twice, but will described in Divided by 2 after the addition of waveforms of first echo and second echo, revised echo as shown in FIG. 6 is obtained, using amendment First threshold afterwardsThe revised first threshold is less than the first threshold, can detect at this time One distance measuring signal more than the revised first threshold.
What the present embodiment provided is to be overlapped the echo that two find no the distance measuring signal more than first threshold The case where averaging, corresponding two laser beams of described two echoes have relatively small angle offset in object space, main If since current laser radar utilizes field programmable gate array (Field Programmable Gate Array, FPGA) Operation is carried out, arithmetic speed is fast but its ability for storing data is limited.Theoretically, the number of echo superposition is more, signal-to-noise ratio Improve to be more obvious and (be averaging after being superimposed to the echo of the laser beam of n times measurement, revised first threshold is set asThe laser beam of n times measurement may be set within the scope of certain angle offset), but due to laser radar line number It is more, it is desirable that the data of system storage are also more, need correspondingly to increase memory.
With reference to following formula (1)-formula (5), gives after making superposition processing to the echo of the laser beam of n times measurement, obtain The signal-to-noise ratio of revised echo.
SiFor the signal measured every time, SiIn include noise, if by n times measuring signal sum obtain assembly average, Repeating summation every time all can superposed signal Si, the resultant signal S of n times measurementnAre as follows:
For noise, variance is superposition (standard deviation is non-superimposed), the population variance of n times measurement are as follows:
Standard deviation or total root mean square noise value are:
The superimposed signal-to-noise ratio of n times measuring signal (S/N)nAre as follows:
From the foregoing, it will be observed that the echo of the laser beam of n times measurement to be made to the noise of the revised echo obtained after superposition processing Than the signal-to-noise ratio of echo for single measurementTimes, therefore the echo processing techniques of the embodiment of the present invention can be improved noise Than, and then improve the detectivity of the laser radar.
The embodiment of the present invention also provides a kind of distance measuring method of laser radar.It is one implementation of the present invention with reference to Fig. 7, Fig. 7 The flow chart of the distance measuring method of the laser radar of example.
In some embodiments, the distance measuring method of the laser radar is the following steps are included: S31, with preset frequency to mesh The multiple laser beams of spatial emission are marked, the multiple laser beam has same or different exit direction；S33 is received multiple times Wave, the multiple echo reflect multiple laser beams that the laser radar emits by the barrier in the object space and are formed； S35, using echo processing techniques processing described laser radar received several times of the laser radar of present invention Wave, to detect distance measuring signal；And S37, according to time of reception of the distance measuring signal detected and corresponding with the distance measuring signal Laser beam emission time between time interval, calculate the distance between the laser radar and barrier.
In some embodiments, the distance measuring signal detected in step S35 may include the laser thunder described in step S33 Up to the distance measuring signal detected in received echo, then in step S37 according to the time of reception of distance measuring signal detected and with Time interval between the emission time of the corresponding laser beam of the distance measuring signal, calculates between the laser radar and barrier Distance may include: according between the time of reception of the echo and the emission time of laser beam corresponding with the echo Time interval, the distance between barrier and the laser radar that calculating said ranging signal detection arrives.
In some embodiments, the distance measuring signal detected in step S35 may include detecting in revised echo The distance measuring signal arrived, the revised echo are obtained by carrying out data processing to the received several echoes of the laser radar , distance measuring signal is not detected before not correcting in several echoes, and several laser beams corresponding with several echoes In default scanning angular region, then believe according to the time of reception of the distance measuring signal detected in step S37 and with the ranging Time interval between the emission time of number corresponding laser beam, calculating the distance between the laser radar and barrier can be with It include: to be connect according to the emission time of any laser beam in several laser beams and with any corresponding echo of laser beam Time interval between quarter in time receiving, the distance between barrier and the laser radar that calculating said ranging signal detection arrives. Specifically, the laser radar is suitable for detecting in real time in its received each echo with the presence or absence of distance measuring signal, the laser The distance measuring method of radar may include according to the laser radar this measurement (i.e. current time) echo the time of reception and This measurement laser beam emission time between time interval, the barrier that calculating said ranging signal detection arrives with it is described The distance between laser radar.
Specifically, the revised echo can be by by received first echo of the laser radar and it is described swash Received second echo of optical radar is averaging after being superimposed and obtains, wherein the of second echo and laser radar transmitting Dual-laser beam is corresponding, and first echo is corresponding with the first laser beam that the laser radar emits, the second laser beam with The angle offset of the first laser beam within a preset range, then detects survey in the revised echo in step S35 After signal, according to the time of reception of the distance measuring signal detected and laser beam corresponding with the distance measuring signal in step S37 Emission time between time interval, calculating the distance between the laser radar and barrier may include: according to Time interval between the time of reception of first echo and the emission time of the first laser beam, calculating said ranging signal are visited The distance between barrier and the laser radar for measuring, or the time of reception and described second according to second echo Time interval between the emission time of laser beam, barrier that calculating said ranging signal detection arrives and the laser radar it Between distance, or according to the time interval calculating said ranging signal detection between third emission time and the third time of reception The distance between barrier and the laser radar for arriving, wherein the third emission time is the transmitting of the first laser beam Any moment between moment and the emission time of the second laser beam, the third time of reception are first echo Any moment between the time of reception and the time of reception of the second echo.It should be noted that working as the hair of the first laser beam Penetrate moment and the second laser beam emission time is very close and/or the time of reception of first echo and described the It, can be using the approximatively calculating said ranging of method either in above-mentioned three kinds of methods when times of reception of two echoes is very close The distance between barrier and laser radar that signal detection arrives.
As it was noted above, before the second laser beam can be located at the first laser beam in transmitting timing, specifically Ground, the second laser beam both can be close to the first laser beams in transmitting timing, can also be with the first laser beam Between between be separated with several laser beams.Such as the laser radar can detect in real time and whether there is in its received each echo Distance measuring signal, first echo can be (i.e. current time) received echo in this measurement of the laser radar, described It is received that second echo can be the laser radar (a certain moment before i.e.) in certain measurement before this measurement Echo, the distance measuring method may include the emission time of the time of reception and the first laser beam according to first echo Between time interval, the distance between barrier and the laser radar that calculating said ranging signal detection arrives.
The embodiment of the present invention also provides a kind of laser radar.It is the laser thunder of one embodiment of the invention with reference to Fig. 8, Fig. 8 Up to 100 structural block diagram.
In some embodiments, the laser radar 100 may include: transmitting module 101, and the transmitting module 101 is suitable In the multiple laser beams of transmitting；Scan module 102, the scan module 102 are suitable for changing the exit direction of the multiple laser beam； Detecting module 103, the detecting module 103 are suitable for receiving multiple echoes, and the multiple echo is by the barrier in the object space The multiple laser beams for hindering object to reflect the laser radar transmitting are formed；And processing module 104, the processing module 104 are suitable for Using echo processing techniques processing described detecting module 103 received several times of the laser radar of present invention Wave, to detect distance measuring signal；And according to time of reception of the distance measuring signal detected and corresponding with the distance measuring signal swash Time interval between the emission time of light beam calculates the distance between the laser radar and barrier.
In some embodiments, the laser radar 100 can also include control module 105, and the control module 105 is suitable Emit multiple laser beams in controlling the transmitting module 101, controls the scan module 102 and change going out for the multiple laser beam Direction is penetrated, the detecting module 103 is controlled and receives multiple echoes, and/or the control processing module 104 carries out corresponding data Processing.
In some embodiments, the processing module 104 can integrate in the detecting module 103, or independently of The detecting module 103 and be arranged.The control module 105 can integrate in the processing module 104, or independently of institute It states processing module 104 and is arranged.
Similarly with the distance measuring method of the laser radar of embodiment illustrated in fig. 7, the ranging that the processing module 104 detects Signal may include the distance measuring signal detected in the received echo of the detecting module 103, at this time the processing module 104 Suitable for according to the time interval between the time of reception of the echo and the emission time of laser beam corresponding with the echo, meter Calculate the distance between barrier that the distance measuring signal detects and described laser radar.
In some embodiments, the distance measuring signal that the processing module 104 detects also may include at revised time The distance measuring signal detected in wave, the revised echo can be the processing module 104 and receive to the laser radar Several echoes carry out data processing acquisition, wherein distance measuring signal is not detected in several echoes, and with it is described several The corresponding several laser beams of echo are located in default scanning angular region, then the processing module 104 is further adapted for according to described several Time in laser beam between the emission time of any laser beam and the time of reception of echo corresponding with any laser beam Interval, the distance between barrier and the laser radar that calculating said ranging signal detection arrives.
Specifically, the revised echo can be the processing module 104 for the detecting module 103 received One echo and received second echo of the detecting module 103 are averaging after being superimposed and obtain, wherein first echo and institute The first laser beam for stating laser radar transmitting is corresponding, the second laser beam phase that second echo emits with the laser radar Corresponding, the second laser beam is the angle in several laser beams of the transmitting module 101 transmitting with the first laser beam The smallest laser beam is deviated, then the processing module 104 is further adapted for the time of reception and described first according to first echo Time interval between the emission time of laser beam, barrier that calculating said ranging signal detection arrives and the laser radar it Between distance, or according between the time between the time of reception of second echo and the emission time of the second laser beam Every, the distance between barrier and the laser radar that calculating said ranging signal detection arrives, or when being emitted according to third Carve the barrier that arrives of time interval calculating said ranging signal detection between the third time of reception and the laser radar it Between distance, wherein the third emission time be the first laser beam emission time and the second laser beam transmitting Any moment between moment, the third time of reception be first echo the time of reception and the second echo reception when Any moment between quarter.It should be noted that at the time of the transmitting module 101 emits the first laser beam and described Transmitting module 101 is not much different at the time of emitting the second laser beam and/or the detecting module 103 receives described first When being not much different at the time of receiving second echo with the detecting module 103 at the time of echo, above-mentioned three kinds can be used The distance between the method barrier that approximatively calculating said ranging signal detection arrives and laser radar either in method.
As it was noted above, before the second laser beam can be located at the first laser beam in transmitting timing, specifically Ground, the second laser beam both can be close to the first laser beams in transmitting timing, can also be with the first laser beam Between between be separated with several laser beams.Such as can to detect the detecting module 103 in real time received every for the processing module 104 It whether there is distance measuring signal in a echo, first echo can be in this measurement of the laser radar (i.e. current time) Received echo, second echo can be the laser radar in certain measurement before this measurement (before i.e. The a certain moment) received echo, the processing module 104 is further adapted for the time of reception and described first according to first echo Time interval between the emission time of laser beam, barrier that calculating said ranging signal detection arrives and the laser radar it Between distance.
In some embodiments, the transmitting module 101 may include light source.The light source can be point light source, be suitable for Emit laser beam, the scan module 102 may include 2-D vibration mirror, suitable for along object space horizontally and vertically Change the scanning direction of the laser beam；Alternatively, the light source may include several lasers in array arrangement, the battle array Column laser is suitable for emitting several laser beams according to default timing, and the scan module 102 may include one-dimensional galvanometer, be suitable for Change the scanning direction of several laser beams along the horizontal direction of the object space.In some embodiments, the light source The laser beam of transmitting can be pulse laser.
In some embodiments, the laser radar 100 can be mechanical rotary laser radar, further includes: rotor and fixed Son, the internal rotor are isolated into emission cavity and receiving cavity；The transmitting module 101 is set in the emission cavity, described Transmitting module 101 includes array laser device, and the array laser device is suitable for emitting several laser beams according to default timing；Institute Detecting module 103 is stated to be set in the receiving cavity.The rotor is suitable for changing by rotation the outgoing of several laser beams Direction.
The embodiment of the present invention also provides a kind of vehicle, comprising: the laser thunder of vehicle body and present invention It reaches.
In some embodiments, the laser radar can be installed on the vehicle body, be suitable for detecting the vehicle The information of ontology surrounding objects.Specifically, the laser radar may be mounted at the top of the vehicle.The vehicle body week The information for enclosing object may include the information such as distance, speed or the orientation of barrier around the vehicle body.
In conclusion the echo processing techniques of the laser radar using the embodiment of the present invention, when laser radar detects it When distance measuring signal is not present in the echo of several laser beams emitted in default scanning angular region, by described several sharp The echo of light beam carries out data processing, obtains revised echo, and according to carrying out the echo number of data processing to described the One threshold value is corrected, and then being detected according to revised first threshold whether there is distance measuring signal in the revised echo, It increases the Airborne Lidar and measures the probability of distance measuring signal, and then improve the range capability of the laser radar.
Further, the default scanning angular region includes the angle of horizontal direction or vertical direction along the object space Two scan angles of degree offset within a preset range, the echo processing techniques include: according to first threshold detection It whether there is distance measuring signal in received first echo of laser radar, first echo corresponds to laser radar transmitting First laser beam；If detecting, there is no distance measuring signals in first echo, detect the laser radar received second It whether there is distance measuring signal in echo, second echo corresponds to the second laser beam of laser radar transmitting, and described Second laser beam is the smallest sharp with the angle offset of the first laser beam in several laser beams of laser radar transmitting Light beam；If detecting, also there is no distance measuring signals in second echo, and first echo and second echo are made It is averaging after superposition, obtains revised echo；And by the first threshold divided byAs revised first threshold, Being detected according to the revised first threshold whether there is distance measuring signal in the revised echo.This method is by by angle Degree deviates the smallest echo-signal measured twice and makees superposition processing, and uses new threshold test distance measuring signal, on the one hand mentions High signal-to-noise ratio, increases the probability that the Airborne Lidar measures barrier, improves the range capability of the laser radar； On the other hand increasing considerably for the data volume of system storage is avoided, the complexity of calculating is reduced.
The distance measuring method of the laser radar of the embodiment of the present invention, due to including the laser radar using the embodiment of the present invention Echo processing techniques handle the echo of the received several laser beams of the laser radar, to detect distance measuring signal the step of, thus It can be improved signal-to-noise ratio, increase the probability that the Airborne Lidar measures barrier, improve the range capability of the laser radar.
The laser radar of the embodiment of the present invention comprising processing module be suitable for using the embodiment of the present invention laser radar Echo processing techniques handle the received several echoes of the detecting module, to detect distance measuring signal, it is thus possible to improve noise Than increasing the probability that the Airborne Lidar measures barrier, improving the range capability of the laser radar.
Although present disclosure is as above, present invention is not limited to this.Anyone skilled in the art are not departing from this It in the spirit and scope of invention, can make various changes or modifications, therefore protection scope of the present invention should be with claim institute Subject to the range of restriction.
Claims (15)
1. a kind of echo processing techniques of laser radar, which is characterized in that the laser radar is suitable for: emitting to object space more A laser beam, the multiple laser beam have same or different exit direction；And it receives and the multiple laser beam pair The multiple echoes answered；The echo processing techniques include:
Being detected according to first threshold whether there is distance measuring signal in the received echo of laser radar；
If detecting in several echoes, there is no distance measuring signals, and several laser beams corresponding with several echoes be located at it is pre- If scanning in angular region, then data processing is carried out to several echoes, obtain revised echo；And
The first threshold is corrected according to the echo number for carrying out data processing, and is detected according to revised first threshold It whether there is distance measuring signal in the revised echo.
2. echo processing techniques as described in claim 1, which is characterized in that carry out data processing packet to several echoes It includes: being averaging after several echoes are overlapped.
3. echo processing techniques as claimed in claim 2, which is characterized in that according to the echo number of progress data processing to institute Stating first threshold to make amendment includes: by the first threshold divided by the number of echoes purpose square root for being overlapped processing.
4. echo processing techniques as described in claim 1, which is characterized in that the laser beam is pulse laser, according to described First threshold detects in the received echo of laser radar
Detect the pulse signal for being greater than the first threshold in the echo with the presence or absence of wave amplitude；
If it exists, then determine that there are distance measuring signals in the echo, and wave amplitude in the echo is greater than the first threshold Pulse signal is determined as the distance measuring signal；If it does not exist, then determine that there is no distance measuring signals in the echo.
5. echo processing techniques as described in claim 1, which is characterized in that the laser beam is pulse laser, according to amendment First threshold afterwards detects in the revised echo
Detect the pulse signal for being greater than the revised first threshold in the revised echo with the presence or absence of wave amplitude；
If it exists, then determine that there are distance measuring signals in the revised echo, and wave amplitude in the revised echo is big It is determined as the distance measuring signal in the pulse signal of revised first threshold；If it does not exist, then determine described revised time Distance measuring signal is not present in wave.
6. echo processing techniques as described in claim 1, which is characterized in that the default scanning angular region includes along the mesh Several scan angles of the angle offset of the horizontal direction or vertical direction of marking space within a preset range.
7. echo processing techniques as claimed in claim 6, which is characterized in that the default scanning angular region includes along the mesh Two scan angles of the angle offset of the horizontal direction or vertical direction of marking space within a preset range, the echo processing techniques Include:
It is detected according to the first threshold and whether there is distance measuring signal in received first echo of laser radar, described first Echo corresponds to the first laser beam of laser radar transmitting；
If detecting, there is no distance measuring signals in first echo, and detecting in received second echo of the laser radar is It is no that there are distance measuring signal, second laser beam of second echo corresponding to laser radar transmitting, and the second lasers The angle offset of beam and the first laser beam is in the preset range；
If detecting, also there is no distance measuring signals in second echo, and first echo and second echo are folded It is averaging after adding, obtains revised echo；And
By the first threshold divided byAs revised first threshold, institute is detected according to the revised first threshold It states in revised echo with the presence or absence of distance measuring signal.
8. echo processing techniques as claimed in claim 7, which is characterized in that further include:
If being detected in first echo according to the first threshold, there are distance measuring signal, the times of reception of the distance measuring signal For the time of reception of first echo；Or
If detecting that there are distance measuring signal, the rangings in the revised echo according to the revised first threshold The time of reception of signal is the time of reception of first echo or the time of reception or first time described of second echo Any moment between the time of reception of wave and the time of reception of second echo.
9. echo processing techniques as described in claim 1, which is characterized in that the first threshold is according to ambient light noise and electricity Son is learned system noise and is determined.
10. a kind of distance measuring method of laser radar characterized by comprising
Emit multiple laser beams to object space with preset frequency, the multiple laser beam has same or different outgoing side To；
Multiple echoes are received, the multiple echo reflects the more of the laser radar transmitting by the barrier in the object space A laser beam is formed；
The laser radar is handled using the echo processing techniques of laser radar as described in any one of claim 1 to 9 to receive Several echoes, to detect distance measuring signal；And
According between the time of reception of the distance measuring signal detected and the emission time of laser beam corresponding with the distance measuring signal Time interval, calculate the distance between the laser radar and barrier.
11. distance measuring method as claimed in claim 10, which is characterized in that the distance measuring signal is included in the laser radar and connects The distance measuring signal detected in the echo of receipts, according to time of reception of the distance measuring signal detected and corresponding with the distance measuring signal Laser beam emission time between time interval, calculating the distance between the laser radar and barrier includes:
According to the time interval between the time of reception of the echo and the emission time of laser beam corresponding with the echo, meter Calculate the distance between barrier that the distance measuring signal detects and described laser radar.
12. distance measuring method as claimed in claim 10, which is characterized in that the distance measuring signal is included in described revised time The distance measuring signal detected in wave, the revised echo are by by received first echo of the laser radar and described Received second echo of laser radar is averaging after being superimposed and obtains, wherein what first echo and the laser radar emitted First laser beam is corresponding, and second echo is corresponding with the second laser beam that the laser radar emits, the first laser beam Within a preset range with the angle offset of the second laser beam.
13. distance measuring method as claimed in claim 12, which is characterized in that the laser radar is suitable for detecting its reception in real time Each echo in whether there is distance measuring signal, first echo be the laser radar this measure received echo, institute Stating the second echo is certain the received echo of measurement of the laser radar before this described measurement；
When detecting in the revised echo there are when distance measuring signal, the distance measuring method further include: according to described first Time interval between the time of reception of echo and the emission time of the first laser beam, calculating said ranging signal detection arrive Barrier and the distance between the laser radar.
14. distance measuring method as claimed in claim 12, which is characterized in that the preset range is the angle point of the laser radar Two times of resolution, when according to the transmitting of the time of reception of the distance measuring signal detected and laser beam corresponding with the distance measuring signal Time interval between quarter, calculating the distance between the laser radar and barrier includes:
According to the time interval between the time of reception of first echo and the emission time of the first laser beam, institute is calculated State the distance between barrier that distance measuring signal detects and described laser radar, or when according to the reception of second echo Carve the time interval between the emission time of the second laser beam, the barrier and institute that calculating said ranging signal detection arrives State the distance between laser radar.
15. a kind of laser radar characterized by comprising
Transmitting module, is suitable for emitting to object space multiple laser beams, and the multiple laser beam goes out with same or different Penetrate direction；
Scan module, suitable for changing the exit direction of the multiple laser beam；
Detecting module, is suitable for receiving multiple echoes, and the multiple echo is swashed by the barrier reflection in the object space is described Multiple laser beams of optical radar transmitting are formed；And
Processing module is suitable for:
The detecting module is handled using the echo processing techniques of laser radar as described in any one of claim 1 to 9 to receive Several echoes, to detect distance measuring signal；And
According between the time of reception of the distance measuring signal detected and the emission time of laser beam corresponding with the distance measuring signal Time interval, calculate the distance between the laser radar and barrier.
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