CN107153202A - The control method of multi-line laser radar system and multi-line laser radar system - Google Patents
The control method of multi-line laser radar system and multi-line laser radar system Download PDFInfo
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- CN107153202A CN107153202A CN201611186156.9A CN201611186156A CN107153202A CN 107153202 A CN107153202 A CN 107153202A CN 201611186156 A CN201611186156 A CN 201611186156A CN 107153202 A CN107153202 A CN 107153202A
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- line laser
- laser radar
- predetermined angle
- angle
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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
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
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- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The control method of a kind of multi-line laser radar system and multi-line laser radar system is disclosed in embodiments of the invention, the multi-line laser radar system includes：At least two multi-line laser radars, the shooting angle of the shoot laser of at least two multi-line laser radar staggers.The control method of the multi-line laser radar system includes：The shooting angle of the shoot laser of at least two multi-line laser radar is set to stagger.The present invention can improve vertical resolution during multi-line laser radar system scanning.
Description
Technical field
The present invention relates to detection field, the control of more particularly to a kind of multi-line laser radar system and multi-line laser radar system
Method processed.
Background technology
Laser radar is the radar system that the characteristic quantities such as position, the speed of target are detected to launch laser beam, its work
It is first to objective emission exploring laser light light beam, then by the signal reflected from target and transmission signal that receive as principle
It is compared, makees after proper treatment, so that it may obtain target for information about, for example target range, orientation, height, speed, appearance
The parameters such as state, even shape.
Multi-line laser radar is one kind of laser radar, is to launch laser, the electricity passed through by semiconductor laser transmitter
Machine rotates, and forms the scanning of a plurality of wire harness, and the equipment detected to echo optical signal.In theory, multi-line laser radar is sent out
The laser wire harness penetrated is more, and what environment was described is more comprehensive, but multi-line laser radar is limited to component in unit height
Height can not accomplish very little, therefore can not infinitely increase the wire harness in unit height, so that higher vertical point can not be obtained
Resolution.
It can be seen that, vertical resolution during multi-line laser radar scanning of the prior art is not also high.
The content of the invention
The control method of a kind of multi-line laser radar system and multi-line laser radar system is provided in the embodiment of the present invention,
Vertical resolution during multi-line laser radar system scanning can be improved.
In order to solve the above-mentioned technical problem, the embodiment of the invention discloses following technical scheme：
On the one hand there is provided a kind of multi-line laser radar system, including：
At least two multi-line laser radars, the shooting angle of the shoot laser of at least two multi-line laser radar is wrong
Open.
Optionally, the shooting angle of the shoot laser of at least two multi-line laser radar staggers, including：
The shooting angle of the shoot laser of the first multi-line laser radar in the multi-line laser radar system is in Vertical Square
To deflecting the first predetermined angle.
Optionally, the shooting angle of the shoot laser of at least two multi-line laser radar staggers, including：
The shooting angle of the shoot laser of the second multi-line laser radar in the multi-line laser radar system is in Vertical Square
To deflecting the second predetermined angle.
Optionally, the yawing moment of first predetermined angle and the yawing moment of the second predetermined angle are on the contrary, and described
The numerical value of first predetermined angle is equal with the numerical value of the second predetermined angle.
Optionally, the yawing moment of first predetermined angle and the yawing moment of the second predetermined angle are identical and described
The numerical value of first predetermined angle and the first predetermined angle numerical value are unequal.
There is provided a kind of control method of multi-line laser radar system, the multi-line laser radar system bag for second aspect
At least two multi-line laser radars are included, methods described includes：
The shooting angle of the shoot laser of at least two multi-line laser radar is set to stagger.
Optionally, the shooting angle of the shoot laser for making at least two multi-line laser radars staggers, including：
Make the shooting angle of shoot laser of the first multi-line laser radar in the multi-line laser radar system vertical
Direction deflects the first predetermined angle.
Optionally, the shooting angle of the shoot laser for making at least two multi-line laser radars staggers, including：
Make the shooting angle of shoot laser of the second multi-line laser radar in the multi-line laser radar system vertical
Direction deflects the second predetermined angle.
Optionally, the yawing moment of first predetermined angle and the yawing moment of the second predetermined angle are on the contrary, and described
The numerical value of first predetermined angle is equal with the numerical value of the second predetermined angle.
Optionally, the yawing moment of first predetermined angle and the yawing moment of the second predetermined angle are identical and described
The numerical value of first predetermined angle and the first predetermined angle numerical value are unequal.
A kind of multi-line laser radar system, including at least two multi-line laser radars are disclosed in embodiments of the invention,
The shooting angle of the shoot laser of at least two multi-line laser radar staggers.In the embodiment of the present invention, multi-line laser radar
Shoot laser be diverging, the shoot laser of at least two above-mentioned multi-line laser radars can detect same target area
Domain, equivalent to adding the line number that scans the shoot laser of same target area in vertical direction, while shoot laser
Shooting angle staggers, can with when target area shoot laser in vertical direction it is more uniform, improve multi-line laser radar
The vertical resolution of system.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 show the structural representation of the multi-line laser radar system of the embodiment of the present invention；
Fig. 2 show the structural representation of the multi-line laser radar system of the embodiment of the present invention；
Fig. 3 show the structural representation of the multi-line laser radar system of the embodiment of the present invention；
Fig. 4 show the schematic diagram of the multi-line laser radar system hot spot of the embodiment of the present invention；
Fig. 5 show the schematic diagram of the multi-line laser radar system hot spot of the embodiment of the present invention；
Fig. 6 show the schematic diagram of the multi-line laser radar system hot spot of the embodiment of the present invention.
Embodiment
Following examples of the present invention provide the controlling party of a kind of multi-line laser radar system and multi-line laser radar system
Method, can improve the vertical resolution of multi-line laser radar system.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Whole description, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1 show the structural representation of the multi-line laser radar system of the embodiment of the present invention, as shown in figure 1, described many
Wire laser radar system includes at least two multi-line laser radars, and the shoot laser of at least two multi-line laser radar goes out
Firing angle degree staggers.
The center line that the two multi-line laser radars in two multi-line laser radars, Fig. 1 are merely illustrated in Fig. 1 is overlapped,
The shooting angle of shoot laser staggers, and shoot laser is not shown in Fig. 1.
In other embodiments of the invention, multiple multi-line laser radars can be located at same horizontal plane, and centerline parallel,
Fig. 2, which is shown in the structural representation of the multi-line laser radar system of the embodiment of the present invention, Fig. 2, shows line laser thunder more than two
Up to the embodiment positioned at same horizontal plane.
The shooting angle of the shoot laser of multiple multi-line laser radars staggers, can be by adjusting inside multi-line laser radar
Generating laser realize, or can be realized by adjusting the overall angle of laser radar.
If adjusting between the overall angle of laser radar, the center line of multiple multi-line laser radars has certain angle,
Line laser more than two is shown in the structural representation of the multi-line laser radar system of the embodiment of the present invention shown in Fig. 3, in Fig. 3
Angle between the center line of radar.
The set-up mode of at least two multi-line laser radars in the embodiment of the present invention also has other a variety of, such as triangle
Place etc., it will not be repeated here.
A kind of multi-line laser radar system, including at least two multi-line laser radars are disclosed in embodiments of the invention,
The shooting angle of the shoot laser of at least two multi-line laser radar staggers.In the embodiment of the present invention, multi-line laser radar
Shoot laser be diverging, the shoot laser of at least two above-mentioned multi-line laser radars can detect same target area
Domain, equivalent to adding the line number that scans the shoot laser of same target area in vertical direction, while shoot laser
Shooting angle staggers, can with when target area shoot laser in vertical direction it is more uniform, improve multi-line laser radar
The vertical resolution of system.In addition, the multi-line laser radar system of the embodiment of the present invention, make use of existing multi-line laser radar
Fusion measurement, can be with cost-effective without making the change on hardware to original multi-line laser radar.
Fig. 4 show the schematic diagram of the multi-line laser radar system hot spot of the embodiment of the present invention.Usual multi-line laser radar
Shooting angle be it is fixed, such as -15 °, -13 °, -11 °, -9 °, -7 °, -5 °, -3 °, -1 °, 1 °, 3 °, 5 °, 7 °, 9 °, 11 °,
13°、15°。
Due to the distance between target object and multi-line laser radar system farther out, two center line weights in vertical direction
The shoot laser that the laser radar of conjunction is corresponding is parallel, as shown in figure 4,411,412,413 be the light of laser radar 410
Spot, 421,422,423 be the hot spot of laser radar 420, as seen from Figure 4, due to testee farther out, same laser thunder
Distance is also farther out between the hot spot reached.Due to parallel when laser radar 410 is with 420 corresponding shoot laser, so this hair
In the laser radar system of bright embodiment, hot spot distribution is as shown in figure 4, the light of the corresponding shoot laser of different laser radars
Spot is closer to the distance, the hot spot of the whole system skewness in detection plane.
The shooting angle of the shoot laser of the first multi-line laser radar in the laser radar system of the embodiment of the present invention exists
Vertical direction deflects the first predetermined angle.
Assuming that the first predetermined angle is a, then the shooting angle of the shoot laser of the laser radar after the deflection is：-15+
a°、-13+a°、-11+a°、-9+a°、-7+a°、-5+a°、-3+a°、-1+a°、1+a°、3+a°、5+a°、7+a°、9+a°、11+
a°、13+a°、15+a°。
In the above-described embodiments, if two multi-line laser radars, one of multi-line laser radar shoot laser is not
Become, the shooting angle deflection of the shoot laser of another multi-line laser radar, the first predetermined angle can be 1 °.
In the embodiment of the present invention, the shoot laser of the second multi-line laser radar in the multi-line laser radar system goes out
Firing angle degree deflects the second predetermined angle in vertical direction.
That is, if there are more than two multi-line laser radars in system, the outgoing of shoot laser can be kept with a radar
Angle does not change, and remaining several laser radar enters horizontal deflection, such as four laser radars, and one keeps shoot laser angle not
Change, its excess-three laser radar deflects 0.5 °, 1 °, 1.5 ° respectively.
In embodiments of the present invention, the yawing moment phase of the yawing moment of first predetermined angle and the second predetermined angle
Instead, and first predetermined angle numerical value it is equal with the numerical value of the second predetermined angle.
In the embodiment of the present invention, deflection certain angle can be two or more multi-line laser radars.Including
The system of two multi-line laser radars, one of deflection b, another deflection-b, such as one is inclined upwards in vertical direction
Turn 0.5 °, another deflects down 0.5 ° in vertical direction.
The yawing moment of first predetermined angle and the yawing moment of the second predetermined angle are identical, and described first default
The numerical value of angle and the first predetermined angle numerical value are unequal.
If there is multiple laser radars in system, such as four, can two upward deflect, deflection angle is different, two
Deflect down, deflection angle is also different, the combination of other deflection ways can also be used, be will not be repeated here.
Fig. 5 show the schematic diagram of the multi-line laser radar system hot spot of the embodiment of the present invention, and Fig. 5 show two centers
Line perpendicular to the ground and the hot spot after the laser radar deflection predetermined angle that overlaps of center line, as shown in figure 5, overall detection model
Meeting slight variations are enclosed, the hot spot of every shoot laser can also change, in Fig. 5, the emergent light spot 511 of laser radar 510,
512 and 513, the emergent light spot of laser radar 520 is 521,522 and 523.As seen from Figure 5, in investigative range, outgoing
Hot spot distribution is more uniform, can detect more objects, vertical resolution is higher.
Fig. 6 show the schematic diagram of the multi-line laser radar system hot spot of the embodiment of the present invention, and shown in Fig. 6 is left and right water
The hot spot of two multi-line laser radars of placing flat, as shown in fig. 6, overall investigative range meeting slight variations, every outgoing swashs
The hot spot of light can also change, in Fig. 6, the emergent light spot 611,612 and 613 of laser radar 610, and laser radar 620 goes out
It is 621,622 and 623 to penetrate hot spot.As seen from Figure 6, in investigative range, although laser radar 610 and laser radar 620
Emergent light spot in synchronization not on same vertical line, but be due to multi-line laser radar in detection be that rotation is visited
Survey, in vertical direction, the emergent light spot of present system is still distributed more uniformly, can detect more objects,
Vertical resolution is higher.
The multi-line laser radar system of the embodiment of the present invention, can improve vertical resolution.
Corresponding with above-mentioned multi-line laser radar system, the embodiment of the present invention additionally provides a kind of multi-line laser radar system
Control method, the multi-line laser radar system includes at least two multi-line laser radars, and methods described includes：
The shooting angle of the shoot laser of at least two multi-line laser radar is set to stagger.
Optionally, the shooting angle of the shoot laser for making at least two multi-line laser radars staggers, including：
Make the shooting angle of shoot laser of the first multi-line laser radar in the multi-line laser radar system vertical
Direction deflects the first predetermined angle.
Optionally, the shooting angle of the shoot laser for making at least two multi-line laser radars staggers, including：
Make the shooting angle of shoot laser of the second multi-line laser radar in the multi-line laser radar system vertical
Direction deflects the second predetermined angle.
Optionally, the yawing moment of first predetermined angle and the yawing moment of the second predetermined angle are on the contrary, and described
The numerical value of first predetermined angle is equal with the numerical value of the second predetermined angle.
Optionally, the yawing moment of first predetermined angle and the yawing moment of the second predetermined angle are equal and described
The numerical value of first predetermined angle and the first predetermined angle numerical value are unequal.
The method of the embodiment of the present invention, can improve the vertical resolution of multi-line laser radar system.
The controlling party of a kind of multi-line laser radar system and multi-line laser radar system is disclosed in embodiments of the invention
Method, the system includes at least two multi-line laser radars, the outgoing of the shoot laser of at least two multi-line laser radar
Angle staggers.In the embodiment of the present invention, the shoot laser of multi-line laser radar is diverging, above-mentioned line laser more than at least two
The shoot laser of radar can detect same target area, and same target area is scanned in vertical direction equivalent to adding
On shoot laser line number, while the shooting angle of shoot laser staggers, can with when target area going out in vertical direction
Penetrate that laser is more uniform, improve the vertical resolution of multi-line laser radar system.In addition, many line lasers of the embodiment of the present invention
Radar system, make use of existing multi-line laser radar to carry out fusion measurement, without being made firmly to original multi-line laser radar
Change on part, can be with cost-effective.
It is required that those skilled in the art can be understood that the technology in the embodiment of the present invention can add by software
The mode of common hardware realize that common hardware includes universal integrated circuit, universal cpu, general-purpose storage, universal elements
Deng, naturally it is also possible to application specific integrated circuit, dedicated cpu, private memory, special components and parts etc. are included come real by specialized hardware
It is existing, but the former is more preferably embodiment in many cases.Understood based on such, the technical scheme sheet in the embodiment of the present invention
The part contributed in other words to prior art in matter can be embodied in the form of software product, computer software production
Product can be stored in storage medium, such as read-only storage (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), magnetic disc, CD etc., including some instructions are to cause a computer equipment (can be
People's computer, server, or network equipment etc.) perform described in some parts of each embodiment of the invention or embodiment
Method.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Divide mutually referring to what each embodiment was stressed is the difference with other embodiment.It is real especially for system
Apply for example, because it is substantially similar to embodiment of the method, so description is fairly simple, related part is referring to embodiment of the method
Part explanation.
The embodiments of the present invention described above are not intended to limit the scope of the present invention.It is any in the present invention
Spirit and principle within the modifications, equivalent substitutions and improvements made etc., should be included in the scope of the protection.
Claims (10)
1. a kind of multi-line laser radar system, it is characterised in that including：
At least two multi-line laser radars, the shooting angle of the shoot laser of at least two multi-line laser radar staggers.
2. the system as claimed in claim 1, it is characterised in that the shoot laser of at least two multi-line laser radar goes out
Firing angle degree staggers, including：
The shooting angle of the shoot laser of the first multi-line laser radar in the multi-line laser radar system is inclined in vertical direction
Turn the first predetermined angle.
3. system as claimed in claim 2, it is characterised in that the shoot laser of at least two multi-line laser radar goes out
Firing angle degree staggers, including：
The shooting angle of the shoot laser of the second multi-line laser radar in the multi-line laser radar system is inclined in vertical direction
Turn the second predetermined angle.
4. system as claimed in claim 3, it is characterised in that the yawing moment and the second preset angle of first predetermined angle
The yawing moment of degree on the contrary, and first predetermined angle numerical value it is equal with the numerical value of the second predetermined angle.
5. system as claimed in claim 3, it is characterised in that the yawing moment and the second preset angle of first predetermined angle
The yawing moment of degree is identical, and the numerical value of first predetermined angle and the first predetermined angle numerical value are unequal.
6. a kind of control method of multi-line laser radar system, it is characterised in that the multi-line laser radar system is included at least
Two multi-line laser radars, methods described includes：
The shooting angle of the shoot laser of at least two multi-line laser radar is set to stagger.
7. method as claimed in claim 6, it is characterised in that the shoot laser for making at least two multi-line laser radars
Shooting angle staggers, including：
Make the shooting angle of shoot laser of the first multi-line laser radar in the multi-line laser radar system in vertical direction
Deflect the first predetermined angle.
8. method as claimed in claim 7, it is characterised in that the shoot laser for making at least two multi-line laser radars
Shooting angle staggers, including：
Make the shooting angle of shoot laser of the second multi-line laser radar in the multi-line laser radar system in vertical direction
Deflect the second predetermined angle.
9. method as claimed in claim 8, it is characterised in that the yawing moment and the second preset angle of first predetermined angle
The yawing moment of degree on the contrary, and first predetermined angle numerical value it is equal with the numerical value of the second predetermined angle.
10. method as claimed in claim 8, it is characterised in that the yawing moment of first predetermined angle and second is preset
The yawing moment of angle is identical, and the numerical value of first predetermined angle and the first predetermined angle numerical value are unequal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611186156.9A CN107153202B (en) | 2016-12-21 | 2016-12-21 | Multi-line laser radar system and control method thereof |
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|---|---|---|---|
| CN201611186156.9A CN107153202B (en) | 2016-12-21 | 2016-12-21 | Multi-line laser radar system and control method thereof |
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| CN107153202B CN107153202B (en) | 2020-08-28 |
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| CN113567954A (en) * | 2021-03-29 | 2021-10-29 | 华为技术有限公司 | Laser emission method and device, detection device and mobile platform |
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| CN107153202B (en) | 2020-08-28 |
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