LiDAR and its scanning method
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: 2021-02-26
WHST CO LTD
View PDF7 Cites 0 Cited by
- 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
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
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 and dark line areas of the photoelectric code disc with respect to the axis of rotation0Divide equally into N parts; where N is an integer, and N0 / N>Tm, Α is the divergence angle of the laser beam, TmThe longest time used by the laser ranging system for each detection;
[0116]Control and signal processing unit at time T1=n*T0When / N, the laser ranging unit is controlled to perform detection, and the angular resolution is changed by adjusting n each time to achieve rapid angular resolution detection; where n is an integer, and n≤N.
[0117]In this embodiment, by evenly dividing the time interval corresponding to the last bright line area 31 and dark line area 32 of the photoelectric code disc 230 in the time domain, detection of higher angular resolution is achieved, so that the angle of the code photoelectric disc 230 can...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More 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 field of radar technology, and particularly relates to a laser radar and a scanning method thereof.Background technique[0002]Lidar is a radar system that uses lasers to detect the distance, angle, and speed of a target. 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]Angular resolution, as an important performance index of lidar, 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 the lidar and the contour recognition capability of the detected target. In practical applications, people often need to use different angular resolutions to detect different scenes, and even detect...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): G01S7/481
CPCG01S7/4817
Inventor 秦屹林建东高瑶瑶马慧
Owner WHST CO LTD