A three-dimensional laser radar ranging method, device and terminal equipment

A technology of radar ranging and three-dimensional laser, which is applied in the direction of measuring devices, radio wave measuring systems, instruments, etc., can solve the problems of low ranging efficiency and idle time, so as to improve ranging efficiency, save ranging time, and solve The effect of part-time inactivity

Active Publication Date: 2021-06-11
深圳越登智能技术有限公司 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In view of this, the embodiment of the present invention provides a three-dimensional laser radar ranging method, device and terminal equipment to solve the problems of idle time and low efficiency of ranging in the prior art

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  • A three-dimensional laser radar ranging method, device and terminal equipment
  • A three-dimensional laser radar ranging method, device and terminal equipment
  • A three-dimensional laser radar ranging method, device and terminal equipment

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Embodiment 1

[0029] figure 1 It shows a three-dimensional laser radar ranging system provided by an embodiment of the present invention, including a three-dimensional laser radar ranging device 1, a laser emitting device 2, an optical device 3 and an AD conversion device 4; the laser emitting device 2 includes Laser drive circuit 21 , laser 22 and echo detector 23 .

[0030] In this embodiment, the three-dimensional laser radar distance measuring device 1 is electrically connected to the laser drive circuit 21 and the AD conversion device 4 respectively, and the laser drive circuit 21 is respectively connected to the laser 22 and the AD converter The device 4 is electrically connected, the laser 22 is optically connected to the optical device 3, the optical device 3 is optically connected to the echo detector 23, and the echo detector 23 is connected to the three-dimensional laser radar ranging device It is electrically connected with the AD converting device 4 .

[0031] Wherein, the th...

Embodiment 2

[0088] Such as Figure 4 As shown, an embodiment of the present invention provides a three-dimensional laser radar ranging device 100, which is used to perform figure 1 The method step in the corresponding embodiment, it comprises:

[0089] The distance measurement result calculation module 110 is used to send a control signal according to the preset distance measurement cycle, and the control signal is used to control the laser emitting device to generate pulsed lasers to perform distance measurement on each distance measurement channel in sequence to obtain the distance measurement of each distance measurement channel. distance from the result.

[0090] The predicted peak phase calculation module 120 is configured to calculate the predicted peak phase of the laser echo of each ranging channel according to the ranging results of each ranging channel and the preset fuzzy control rules.

[0091] The dynamic ranging period calculation module 130 is configured to determine the ...

Embodiment 3

[0118] The embodiment of the present invention also provides a terminal device 7, including a memory 71, a processor 70, and a computer program 72 stored in the memory 71 and operable on the processor 70, and the processor 70 executes the computer program 72 When realizing the steps in each embodiment as described in embodiment 1, for example figure 1 Step S101 to step S103 are shown. Alternatively, when the processor 70 executes the computer program 72, it realizes the functions of each module in each device embodiment as described in Embodiment 2, for example Figure 4 The functions of modules 110 to 130 are shown.

[0119] The terminal device 7 may be computing devices such as desktop computers, notebooks, palmtop computers, and cloud servers. The terminal device may include, but not limited to, a processor and a memory. For example, the terminal device may also include an input and output device, a network access device, a bus, and the like.

[0120] The so-called proc...

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Abstract

The invention is applicable to the technical field of laser ranging, and provides a three-dimensional laser radar ranging method, device and terminal equipment. The method includes: sending a control signal according to a preset ranging period, and the control signal is used to control the laser emitting device to generate pulsed lasers to perform ranging on each ranging channel in sequence, to obtain the ranging results of each ranging channel; according to each Calculate the predicted peak phase of the laser echo of each ranging channel based on the ranging results of the ranging channel and the preset fuzzy control rules; determine the next ranging phase of each ranging channel according to the predicted peak phase of the laser echo of each ranging channel Dynamic ranging period. The present invention can adopt a dynamic ranging period for ranging in the next ranging, solves the problem of idle time in the ranging period, saves ranging time, and improves ranging efficiency.

Description

technical field [0001] The invention belongs to the technical field of laser ranging, and in particular relates to a three-dimensional laser radar ranging method, device and terminal equipment. Background technique [0002] The distance measurement of three-dimensional lidar requires the measurement of three data: horizontal viewing angle, vertical viewing angle, and distance. Generally, multiple lasers and echo detectors are used to cooperate with FPGA, AD conversion device and optical device to complete the ranging of multiple vertical viewing angles in a fixed horizontal viewing angle plane, in which the number of lasers and echo detectors is equal and corresponds to each other. , each pair of corresponding lasers and echo detectors forms a ranging channel to complete ranging in the direction of a fixed vertical viewing angle. [0003] The traditional laser ranging method is a serial driving method to drive the laser transmitter and the echo detector in turn. A pair of ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S17/08G01S7/481
CPCG01S7/481G01S17/08
Inventor 王品何隆棋张家利句鹏覃雁鸿
Owner 深圳越登智能技术有限公司
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