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Laser radar and scanning method thereof

A technology of laser radar and scanning method, which is applied in the field of radar, can solve the problem that the laser radar cannot adaptively adjust the angle resolution, and achieve the effect of optimizing the detection performance

Active Publication Date: 2019-03-08
WHST CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of this, the embodiment of the present invention provides a laser radar and its scanning method to solve the problem in the prior art that the laser radar cannot adaptively adjust the angular resolution according to different areas of the same application scene

Method used

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  • Laser radar and scanning method thereof
  • Laser radar and scanning method thereof
  • Laser radar and scanning method thereof

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Embodiment approach

[0114] As an implementable manner, the adjusting the current angular resolution includes:

[0115] The time length T corresponding to the angle θ between the adjacent bright line and dark line areas of the photoelectric code wheel relative to the rotation axis 0 Evenly divided into N parts; where N is an integer, and N0 / N>T m , α is the laser beam divergence angle, T m The maximum time used for each detection of the laser ranging system;

[0116] The control and signal processing unit at time T 1 =n*T 0 When / N, the laser ranging unit is controlled to perform detection, and each detection changes the angular resolution by adjusting n to achieve fast-changing angular resolution detection; where n is an integer, and n≤N.

[0117] In this embodiment, the detection of higher angular resolution is realized by evenly dividing the time interval corresponding to the last bright line area 31 and dark line area 32 of the photoelectric code disk 230 in the time domain, so that the a...

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Abstract

The invention relates to the technical field of radars, and discloses a laser radar and a resolution adaptive adjusting method thereof. The laser radar comprises a shell, a laser ranging unit, a rotary scanning unit, an angle measurement unit and a control and signal processing unit, wherein the laser ranging unit is used for measuring a target distance value of a target object through a laser beam, and sending the target distance value to the control and signal processing unit; the rotary scanning unit is used for changing the propagation direction of the laser beam, so that a laser beam pathcan scan the target object; the angle measurement unit and the rotary scanning unit can coaxially rotate, and the angle measurement unit is used for determining the current angle position of the rotary scanning unit; the control and signal processing unit is used for obtaining the current angle position information of the rotary scanning unit and the corresponding target distance value, and adjusting the current angular resolution according to the angle position information and / or the target distance value corresponding to an existing preset rotation angle of the rotary scanning unit.

Description

technical field [0001] The invention belongs to the technical field of radar, and in particular relates to a laser radar and a scanning method thereof. Background technique [0002] Lidar is a radar system that uses laser light to detect characteristic quantities such as distance, angle, and speed of targets. Because lidar has the advantages of strong anti-interference ability, high angular resolution and high detection accuracy, it has been more and more widely used in robot obstacle avoidance navigation, unmanned driving, security detection and map mapping. [0003] As an important performance index of lidar, angular resolution refers to the angle formed by the line between two adjacent laser points on the detection target and the laser transmitter. The angular resolution determines the spatial detection resolution capability of lidar and the contour recognition capability of detection targets. In practical applications, people often need to use different angular resolut...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/481
CPCG01S7/4817
Inventor 秦屹林建东高瑶瑶马慧
Owner WHST CO LTD
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