Laser radar data real-time transmission system and method and storage medium

Abstract

The invention discloses a laser radar data real-time transmission system and method and a storage medium, relates to the technical field of radar data transmission, and solves the technical problems that in the prior art, light wave parameter setting of a laser radar cannot be reasonably performed during laser detection, and a light wave surveying and mapping period cannot be planned according to an actual target area. Specifically, a laser radar transmits light waves and recycles light waves to plot a target area, the plotted area is determined and set as the target area, laser emission is carried out on the target area through the laser radar, and the space environment of the target area is plotted through detection of the transmitted light waves. Target area data acquisition is carried out after the emission and recovery period is completed, and data acquisition is carried out on a target area after the emission and recovery period of the laser radar is determined.

Description

Technical Field

[0001] The present invention relates to the field of radar data transmission technology, and in particular to a laser radar data real-time transmission system, method and storage medium. Background Art

[0002] Laser radar, also known as LiDAR, is a radar system that emits laser beams to detect the position, speed and other characteristic quantities of the target. It is a scanning laser ranging sensor. Working principle: Laser pulse emission: The laser radar transmitter emits short and intense laser pulses; Target reflection: The laser pulse is reflected after it hits the surface of the object; Time measurement: The laser radar receiver detects the reflected pulse and measures the time difference from pulse emission to reception; Distance calculation: If the speed of light is known, the distance between the laser radar and the target can be calculated based on the time difference; The collected reflection signals are used to generate three-dimensional point cloud data of the target object, that is, a collection of points on the surface of the object.

[0003] The patent with announcement number CN108051823A discloses a non-rotating insect detection radar and method based on surface imaging laser radar; the optical surface imaging laser radar of the present invention is non-rotating and can detect the entire optical surface within a large angle range, with more stable results and faster response; it can accurately record the time and position of insects flying over and determine the insect species; it is used to quantitatively analyze the number, type and position information of insects flying over the plane detected by the laser radar, providing data support for ecological research.

[0004] However, in the prior art, it is not possible to reasonably set the light wave parameters of the laser radar during laser detection, and it is not possible to plan the light wave mapping cycle according to the actual target area, resulting in reduced mapping accuracy of the target area; in addition, it is not possible to perform detection effect detection during data transmission, resulting in reduced mapping effect.

[0005] In view of the above technical defects, a solution is now proposed. Summary of the invention

[0006] The purpose of the present invention is to solve the above-mentioned problems and to propose a real-time transmission system, method and storage medium for lidar data.

[0007] The purpose of the present invention can be achieved through the following technical solutions: A real-time transmission method for laser radar data, the real-time transmission method is as follows: The laser radar emits light waves and recovers light waves to map the target area, determines the mapping area and sets it as the target area, and emits lasers to the target area. The laser radar maps the spatial environment of the target area by emitting light waves for detection; After completing the launch recovery cycle, data collection is performed on the target area. After determining the launch recovery cycle of the laser radar, data collection is performed on the target area; Transmit the collected data of the target area, and transmit the data of the target area according to the real-time collected data. Through real-time data transmission and background processing, it is convenient to carry out surveying and mapping modeling according to the collected data; During data transmission, anti-interference detection is performed on the surveying and mapping transmission task, and whether the current data transmission meets the surveying and mapping requirements is inferred through anti-interference detection.

[0008] As a preferred embodiment of the present invention, after the light wave is emitted, a number of detection points are collected, and according to the actual arrival point of the light wave emitted by the laser radar emission point, the distance deviation of the corresponding detection point from the real-time arrival point is collected. If the current distance deviation is within the deviation range, the fixed-point detection of the target area is qualified. Conversely, if the current distance deviation is not within the deviation range, the fixed-point detection of the target area is unqualified.

[0009] As a preferred embodiment of the present invention, the divergent light coverage area centered on the detection point is obtained. If the divergent light coverage area of ​​a single detection point exceeds a set area threshold, and the divergent light coverage area fluctuation of adjacent detection points does not exceed the set floating area threshold, then it is inferred that the light wave parameters set when the light wave is emitted are qualified; otherwise, it is inferred that the light wave parameters set when the light wave is emitted are unqualified.

[0010] As a preferred embodiment of the present invention, after the light wave is recovered, the fixed point positions and the mobile point positions are determined, and the fixed detection information and the mobile detection information are obtained. If the fixed detection information exceeds the area deviation value threshold, or the mobile detection information exceeds the interruption distance cumulative value threshold, it is inferred that the corresponding period of the recovered light wave is not matched; if the fixed detection information does not exceed the area deviation value threshold, and the mobile detection information does not exceed the interruption distance cumulative value threshold, it is inferred that the corresponding period of the recovered light wave is adapted.

[0011] As a preferred embodiment of the present invention, the fixed detection information and the mobile detection information are respectively the area deviation value between the area of ​​the constructed area corresponding to multiple detection points after the fixed point corresponds to the detection point light wave reception and the actual area of ​​the multiple detection points, and the cumulative value of the interruption distance of the mobile point detection trajectory during mobile point detection.

[0012] As a preferred embodiment of the present invention, flight detection data and distance detection data are collected. If the flight detection data exceeds the floating deviation peak threshold, or the distance detection data exceeds the proportional floating amount threshold, the administrator adjusts the parameters of the laser radar; If the flight detection data does not exceed the floating deviation peak threshold, and the distance detection data does not exceed the proportional floating amount threshold, it is inferred that the data collection of the target area during the surveying and mapping cycle is normal; The flight detection data and distance detection data are respectively the peak value of the proportional floating deviation between the actual detection spacing between fixed detection points and mobile detection points at adjacent detection moments during the surveying and mapping period and the collection modeling spacing, and the mean proportional floating amount of the phase difference calculation error between fixed detection points and mobile detection points.

[0013] As a preferred embodiment of the present invention, the level fluctuation parameter and the omission influence parameter are collected. If the level fluctuation parameter exceeds the level fluctuation amount threshold, or the omission influence parameter exceeds the interval distance threshold, data supplementation is required; if the level fluctuation parameter does not exceed the level fluctuation amount threshold, and the omission influence parameter does not exceed the interval distance threshold, the current summary data is set as the transmission data; The horizontal fluctuation parameter and the omission influence parameter are respectively the horizontal fluctuation of all light wave receiving points between adjacent detection points when the adjacent detection points are in the corresponding divergent light coverage area during the surveying process, and the phase difference of the nearest light wave receiving point at the corresponding area boundary when the adjacent detection points are not in the corresponding divergent light coverage area during the surveying process, and the actual area interval distance corresponding to the current scale.

[0014] As a preferred implementation mode of the present invention, the target area is surveyed and data is transmitted, detection interference information is collected, and an anti-interference detection coefficient is obtained according to a formula. If the anti-interference detection coefficient exceeds the anti-interference detection coefficient threshold, the detection area of ​​the current surveying cycle is re-probe, and the lidar parameters are adjusted according to the surveying area environment; if the anti-interference detection coefficient does not exceed the anti-interference detection coefficient threshold, it is inferred that the anti-interference detection of the target area in the current surveying cycle is normal.

[0015] A real-time transmission system for laser radar data includes a radar detection platform, wherein a radar operation unit, a data acquisition unit and an acquisition and transmission unit are arranged in the radar detection platform, and the radar detection is also communicatively connected to an interference detection unit; A radar operation unit is used to map the target area by emitting light waves and recovering light waves through a laser radar, determine the mapped area and set it as the target area, emit lasers for the laser radar in the target area, and map the spatial environment of the target area by emitting light waves for detection; The data acquisition unit collects data of the target area after completing the emission recovery cycle, and collects data of the target area after determining the emission recovery cycle of the laser radar; The acquisition and transmission unit transmits the acquisition data of the target area, and transmits the target area data according to the real-time acquisition data. Through real-time data transmission and background processing, it is convenient to carry out surveying and mapping modeling according to the acquisition data; The interference detection unit performs anti-interference detection on the surveying and mapping transmission task during the data transmission process, and infers whether the current data transmission meets the surveying and mapping requirements through anti-interference detection; A storable medium stores a computer program, which, when executed by a processor, implements the above-mentioned real-time transmission system for laser radar data.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. In the present invention, laser radar is used to emit laser light in the target area, and the spatial environment of the target area is surveyed and mapped by emitting light waves for detection; light wave parameters of the laser radar are determined by light wave emission, and the light wave period of the laser radar is determined by light wave recovery, and the emission and recovery period is determined according to the light wave parameters and the light wave period; reasonable planning of light wave parameters can improve the accuracy of surveying and mapping, and reasonable planning of light wave period can ensure the feasibility of surveying and mapping execution, and avoid detection deviation of the target area during the surveying and mapping process; After determining the launch and recovery cycle of the laser radar, data is collected in the target area to achieve the target mapping effect; if the data collection of the target area within the mapping cycle is inferred to be abnormal, the detection abnormality may easily cause inaccurate corresponding positions between the mobile detection points and the fixed detection points, resulting in relative position deviations of the corresponding points during mapping and modeling, affecting the mapping effect. The administrator adjusts the parameters of the laser radar to avoid detection deviations caused by the increase in the number of fixed and mobile detection points during continuous detection, and adjusts the laser radar parameters in a timely manner to reduce detection deviations.

[0017] 2. In the present invention, the target area data is transmitted according to the real-time collected data. The accuracy of the target area data collection and the efficiency of data transmission are first inferred through real-time data transmission and background processing, so as to facilitate surveying and mapping modeling based on the collected data to fully understand the target area; the collected data during the surveying and mapping of the target area is summarized, and the availability of the collected data is inferred for screening. By screening out useless data before transmission, it is beneficial to improve the efficiency of laser radar data collection; Anti-interference detection is used to infer whether the current data transmission meets the surveying and mapping requirements, thereby avoiding interference with the collected data, reducing the authenticity of the data and affecting the surveying and mapping accuracy of the target area, while increasing the unnecessary workload of the surveying and mapping data processing caused by deviation data. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0019] Figure 1 A flow chart of the overall method of the present invention; Figure 2 This is a flow chart of a method according to Embodiment 1 of the present invention; Figure 3 This is a flow chart of the method of Embodiment 2 of the present invention; Figure 4This is a flow chart of the method of Embodiment 3 of the present invention; Figure 5 This is a flow chart of a method according to Embodiment 4 of the present invention; Figure 6 This is a system block diagram of Embodiment 5 of the present invention. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0022] See also Figure 1 As shown, a real-time transmission method of laser radar data is described, and the specific real-time transmission method is as follows: The laser radar emits light waves and recovers light waves to map the target area, determines the mapping area and sets it as the target area, and emits lasers to the target area. The laser radar maps the spatial environment of the target area by emitting light waves for detection; After completing the launch recovery cycle, data collection is performed on the target area. After determining the launch recovery cycle of the laser radar, data collection is performed on the target area to achieve the effect of target mapping; The collected data of the target area is transmitted, and the target area data is transmitted according to the real-time collected data. The accuracy of the data collection of the target area and the efficiency of data transmission are first inferred through real-time data transmission and background processing, so as to facilitate surveying and modeling based on the collected data to fully understand the target area; During the data transmission process, anti-interference detection is performed on the surveying and mapping transmission task. Through anti-interference detection, it is inferred whether the current data transmission meets the surveying and mapping requirements, so as to avoid interference with the collected data, reduce the authenticity of the data and affect the surveying and mapping accuracy of the target area, and increase the unnecessary workload brought by the deviation data to the surveying and mapping data processing; Embodiment 1 See also Figure 1 - Figure 2As shown in the figure, the mapping execution process is as follows: The laser radar performs light wave transmission and recovery on the target area; After the light wave is emitted, several detection points set in the target area are collected. According to the actual arrival point of the light wave emitted by the laser radar emission point, the distance deviation of the corresponding detection point from the real-time arrival point is collected. If the current distance deviation is within the deviation range, the fixed-point detection of the target area is qualified. On the contrary, if the current distance deviation is not within the deviation range, the fixed-point detection of the target area is unqualified and the parameters are adjusted. After determining that the fixed-point detection is qualified, when the qualified detection point receives the light wave emitted from the fixed point, the divergent light coverage area centered on the detection point is obtained under the divergent characteristics of the emitted light wave, and the light wave emission of several detection points is analyzed. If the divergent light coverage area of ​​a single detection point exceeds the set area threshold, and the divergent light coverage area of ​​adjacent detection points does not exceed the set floating area threshold, it is inferred that the light wave parameters set during the light wave emission are qualified, and the light wave emission parameters are fixed, such as wavelength and other parameters; If the divergent light coverage area of ​​a single detection point does not exceed the set area threshold, or the divergent light coverage area of ​​adjacent detection points fluctuates beyond the set floating area threshold, it is inferred that the light wave parameters set during light wave emission are unqualified, and the light wave emission parameters are adjusted; After the light wave is recovered, the light wave is recovered according to the transmitting point and the next round of light waves is quickly transmitted, and the detection point of the current target area is inferred to be a fixed point or a mobile point. The specific inference process is: when the point is fixed, there is no deviation in the corresponding time and distance of continuous light wave emission and recovery. On the contrary, when the point is mobile, there is a deviation in the corresponding time and distance of continuous light wave emission and recovery. During the light wave recovery process, the area deviation value between the area constructed by the multiple detection points corresponding to the fixed point after the light wave is received and the actual area of ​​the multiple detection points is obtained. At the same time, the cumulative value of the interruption distance of the detection trajectory of the mobile point during the detection of the mobile point is obtained. Specifically, if the light wave recovery transmission cycle is not suitable when the detection point is a mobile point, there is a missed monitoring, that is, the mobile point moves before the next round of light wave reception, causing the laser radar to be unable to perform trajectory detection according to the position of the mobile point; and the area deviation value between the area constructed by the multiple detection points corresponding to the fixed point after the light wave is received and the actual area of ​​the multiple detection points, and the cumulative value of the interruption distance of the detection trajectory of the mobile point during the detection of the mobile point are marked as fixed detection information and mobile detection information, respectively, and compared with the area deviation value threshold and the interruption distance cumulative value threshold respectively: If the area deviation between the area constructed by the multiple detection points and the actual area of ​​the multiple detection points after the fixed point corresponding to the detection point light wave is received exceeds the area deviation value threshold, or the cumulative value of the interruption distance of the moving point detection trajectory during the mobile point detection exceeds the cumulative value threshold of the interruption distance, it is inferred that the corresponding cycle of the recovered light wave is not suitable, and the light wave recovery transmission cycle is shortened and set to the current detection cycle; If the area deviation between the area constructed by the multiple detection points corresponding to the fixed point and the actual area of ​​the multiple detection points after the light wave corresponding to the detection point is received does not exceed the area deviation value threshold, and the cumulative value of the interruption distance of the moving point detection trajectory during the mobile point detection does not exceed the cumulative value threshold of the interruption distance, it is inferred that the corresponding cycle of the recovered light wave is adapted, and the current light wave recovery emission cycle is set as the current detection cycle; Determine the light wave parameters of the laser radar by light wave emission, determine the light wave period of the laser radar by light wave recovery, and determine the emission recovery period according to the light wave parameters and the light wave period; Embodiment 2 See also Figure 1 and Figure 3 As shown, a surveying and mapping cycle is constructed according to the launch recovery cycle, and the target area is surveyed and mapped in the surveying and mapping cycle, the spatial structure data of the target area is obtained through surveying and mapping, and the data collection is analyzed; Set the laser pulse speed of the LiDAR, calculate it at the speed of light in actual scenarios, and obtain the peak floating deviation of the proportion between the actual detection distance between fixed detection points and mobile detection points at adjacent detection moments in the surveying and mapping cycle and the acquisition modeling distance. That is, after the LiDAR completes the detection during surveying and mapping, model building is required. Here, we first infer whether different types of detection are qualified according to the modeling requirements, and mark the peak floating deviation of the proportion between the actual detection distance between fixed detection points and mobile detection points at adjacent detection moments in the surveying and mapping cycle and the acquisition modeling distance as flight detection data; When calculating the phase difference of light wave emission and recovery measurement within the surveying and mapping period, the mean proportional floating amount of the phase difference calculation error corresponding to the fixed detection point and the mobile detection point is obtained, and the mean proportional floating amount of the phase difference calculation error corresponding to the fixed detection point and the mobile detection point when calculating the phase difference of light wave emission and recovery measurement within the surveying and mapping period is marked as distance detection data, where the phase difference calculation error is expressed as the calculated error value of the parameter phase difference under different detection types, and the mean proportional floating amount is expressed as the floating amount of the corresponding calculation error mean ratio; The flight detection data and distance detection data are compared with the floating deviation peak threshold and the proportional floating amount threshold respectively: If the peak value of the proportional floating deviation between the actual detection distance between the fixed detection points and the mobile detection points and the acquisition modeling distance at adjacent detection moments within the surveying and mapping cycle exceeds the floating deviation peak threshold, or the average proportional floating amount of the phase difference calculation error between the fixed detection points and the mobile detection points when calculating the phase difference of the light wave emission and recovery measurement within the surveying and mapping cycle exceeds the proportional floating amount threshold, it is inferred that the data collection of the target area within the surveying and mapping cycle is abnormal. At this time, the detection abnormality is likely to cause inaccurate corresponding positions between the mobile detection points and the fixed detection points, causing relative position deviations of the corresponding points during surveying and mapping modeling, affecting the surveying and mapping effect. The administrator adjusts the parameters of the laser radar to avoid detection deviations caused by the increase in the number of fixed detection points and mobile detection points during continuous detection, and timely adjusts the laser radar parameters to reduce detection deviations; If the peak value of the proportional floating deviation between the actual detection interval and the acquisition modeling interval corresponding to the fixed detection points and the mobile detection points at adjacent detection moments within the surveying and mapping cycle does not exceed the floating deviation peak threshold, and the mean proportional floating amount of the phase difference calculation error between the fixed detection points and the mobile detection points when calculating the phase difference of the light wave emission and recovery measurement within the surveying and mapping cycle does not exceed the proportional floating amount threshold, it is inferred that the data collection of the target area within the surveying and mapping cycle is normal; Embodiment 3 See also Figure 1 and Figure 4 As shown, the data collected during the surveying of the target area is summarized, and the availability of the collected data is inferred and screened. By screening out useless data before transmission, it is beneficial to improve the efficiency of lidar data collection; The horizontal fluctuation amount of all light wave receiving points between adjacent detection points when the adjacent detection points are in the corresponding divergent light coverage area during the surveying and mapping process is obtained. Specifically, when the divergent light coverage area of ​​the detection point covers the corresponding adjacent detection point, the light wave receiving points between the adjacent detection points are counted, and whether there are other objects is distinguished according to the fluctuation of the corresponding points. If there are no other objects, the shape can be directly not recorded; and the horizontal fluctuation amount of all light wave receiving points between the adjacent detection points when the adjacent detection points are in the corresponding divergent light coverage area during the surveying and mapping process is marked as a horizontal fluctuation parameter; At the same time, when the adjacent detection points in the surveying process are not in the corresponding divergent light coverage area, the phase difference of the nearest light wave receiving point at the corresponding area boundary is obtained, and the actual area interval distance corresponding to the current scale is obtained. Specifically, if the divergent light coverage area of ​​the detection point does not cover the adjacent detection points, it indicates that there is a detection omission. According to the phase difference of the nearest light wave receiving point at the boundary of the divergent light coverage area corresponding to the two adjacent detection points, combined with the scale during actual modeling, the actual distance of the currently missed detection area is inferred. If the distance is very small or is currently lower than the current surveying and mapping accuracy, it is ignored, otherwise it is re-detected; and when the adjacent detection points in the surveying process are not in the corresponding divergent light coverage area, the phase difference of the nearest light wave receiving point at the corresponding area boundary is marked as the omission impact parameter with the actual area interval distance corresponding to the current scale; The horizontal fluctuation parameter and the omission influence parameter are compared with the horizontal fluctuation threshold and the interval distance threshold respectively: If the horizontal fluctuation parameter exceeds the horizontal fluctuation threshold, or the missing impact parameter exceeds the interval distance threshold, data supplementation is required; it is inferred that the current detection data requires additional detection of the detection points and the positions of each point between adjacent detection points need to be calibrated; If the horizontal fluctuation parameter does not exceed the horizontal fluctuation threshold, and the missing influence parameter does not exceed the interval distance threshold, the current summary data is set as the transmission data; and the transmission data is sent to the current surveying and mapping background terminal; Embodiment 4 See also Figure 1 and Figure 5 , survey and map the target area and transmit data, and detect the anti-interference of the target area; The numerical ratio of the reciprocating floating span of the ambient temperature in the laser radar light wave detection area during the target area mapping period to the corresponding span of the floating drop span of the light wave refractive index is obtained, where the numerical ratio corresponds to the collected data and ignores the influence of inconsistent units, and only performs statistical analysis on the influence of the numerical fluctuations of the two data, and the numerical ratio of the reciprocating floating span of the ambient temperature in the laser radar light wave detection area during the target area mapping period to the corresponding span of the floating drop span of the light wave refractive index is marked as KDB; The duration of continuous enhancement of electromagnetic intensity at the corresponding position when the power loss of high-voltage electric wire transmission increases in the laser radar light wave detection area is obtained, and the duration of continuous enhancement of electromagnetic intensity at the corresponding position when the power loss of high-voltage electric wire transmission increases in the laser radar light wave detection area is marked as ZQS; Obtain the detection distance deviation floating span corresponding to the mobile detection point when the light wave detection is blocked in the current mapping cycle in the laser radar light wave detection area, and mark the detection distance deviation floating span corresponding to the mobile detection point when the light wave detection is blocked in the current mapping cycle in the laser radar light wave detection area as TCF; The above collected data are uniformly marked as detection interference information, and substituted into the formula to obtain the anti-interference detection coefficient of the target area within the surveying cycle, where the formula is: , where K is the anti-interference detection coefficient, fw1, fw2 and fw3 are all preset proportional coefficients, e is a natural constant, and α is an error correction factor, which is 0.97; Compare the anti-interference detection coefficient of the target area within the mapping cycle with the anti-interference detection coefficient threshold: If the anti-interference detection coefficient of the target area in the surveying cycle exceeds the anti-interference detection coefficient threshold, it is inferred that the anti-interference detection of the target area in the current surveying cycle is abnormal, the detection area of ​​the current surveying cycle is re-detected, and the lidar parameters are adjusted according to the surveying area environment; If the anti-interference detection coefficient of the target area within the surveying and mapping cycle does not exceed the anti-interference detection coefficient threshold, it is inferred that the anti-interference detection of the target area within the current surveying and mapping cycle is normal; Embodiment 5 See also Figure 6 As shown, a real-time transmission system of laser radar data includes a radar detection platform, wherein a radar operation unit, a data acquisition unit and an acquisition and transmission unit are arranged in the radar detection platform, and the radar detection is also communicatively connected to an interference detection unit; A radar operation unit is used to map the target area by emitting light waves and recovering light waves through a laser radar, determine the mapped area and set it as the target area, emit lasers for the laser radar in the target area, and map the spatial environment of the target area by emitting light waves for detection; The data acquisition unit collects data of the target area after completing the emission recovery cycle and determines the emission recovery cycle of the laser radar, and then collects data of the target area; The acquisition and transmission unit transmits the acquisition data of the target area, and transmits the target area data according to the real-time acquisition data. Through real-time data transmission and background processing, it is convenient to carry out surveying and mapping modeling according to the acquisition data; The interference detection unit performs anti-interference detection on the surveying and mapping transmission task during the data transmission process, and infers whether the current data transmission meets the surveying and mapping requirements through anti-interference detection.

[0023] Additionally, a computer-readable storage medium stores a computer program, which, when executed by a processor, implements the above-mentioned real-time transmission system for lidar data.

[0024] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods.

[0025] Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory, the non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory, and the volatile memory may include random access memory (RAM) or external cache memory.

[0026] By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0027] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0028] The above formulas are obtained by collecting a large amount of data and performing software simulation, and a formula close to the actual value is selected. The coefficients in the formula are set by technicians in this field according to actual conditions; When the present invention is in use, the laser radar emits and recovers light waves to map the target area, determines the map area and sets it as the target area, emits laser for the target area, and maps the spatial environment of the target area by detecting the emitted light waves; collects data of the target area after the emission and recovery cycle is completed, and collects data of the target area after the emission and recovery cycle of the laser radar is determined; transmits the collected data of the target area, and transmits the target area data according to the real-time collected data, and through real-time data transmission and background processing, it is convenient to perform mapping and modeling according to the collected data; during the data transmission, anti-interference detection is performed on the mapping and transmission task, and it is inferred whether the current data transmission meets the mapping requirements through the anti-interference detection.

[0029] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A method for real-time transmission of laser radar data, characterized in that: The real-time transmission method is as follows: The laser radar emits light waves and recovers light waves to map the target area, determines the mapping area and sets it as the target area, and emits lasers to the target area. The laser radar maps the spatial environment of the target area by emitting light waves for detection; After completing the launch recovery cycle, data collection is performed on the target area. After determining the launch recovery cycle of the laser radar, data collection is performed on the target area; Transmit the collected data of the target area, and transmit the data of the target area according to the real-time collected data. Through real-time data transmission and background processing, it is convenient to carry out surveying and mapping modeling according to the collected data; During data transmission, anti-interference detection is performed on the surveying and mapping transmission task, and whether the current data transmission meets the surveying and mapping requirements is inferred through anti-interference detection.

2. A method for real-time transmission of laser radar data according to claim 1, characterized in that: After the light wave is emitted, several detection points are collected. According to the actual arrival point of the light wave emitted by the laser radar emission point, the distance deviation of the corresponding detection point from the real-time arrival point is collected. If the current distance deviation is within the deviation range, the fixed-point detection of the target area is qualified. Conversely, if the current distance deviation is not within the deviation range, the fixed-point detection of the target area is unqualified.

3. A method for real-time transmission of laser radar data according to claim 2, characterized in that: The divergent light coverage area centered on the detection point is obtained. If the divergent light coverage area of ​​a single detection point exceeds the set area threshold, and the divergent light coverage area fluctuation of adjacent detection points does not exceed the set floating area threshold, it is inferred that the light wave parameters set when the light wave is emitted are qualified; otherwise, it is inferred that the light wave parameters set when the light wave is emitted are unqualified.

4. A method for real-time transmission of laser radar data according to claim 3, characterized in that: After the light wave is recovered, the fixed points and mobile points are determined, and the fixed detection information and mobile detection information are obtained. If the fixed detection information exceeds the area deviation value threshold, or the mobile detection information exceeds the interruption distance cumulative value threshold, it is inferred that the corresponding period of the recovered light wave is not compatible; if the fixed detection information does not exceed the area deviation value threshold, and the mobile detection information does not exceed the interruption distance cumulative value threshold, it is inferred that the corresponding period of the recovered light wave is compatible.

5. A method for real-time transmission of laser radar data according to claim 4, characterized in that: The fixed detection information and mobile detection information are respectively the area deviation value between the area constructed by multiple detection points after the fixed point corresponds to the detection point light wave reception and the actual area of ​​multiple detection points, and the cumulative value of the interruption distance of the mobile point detection trajectory during mobile point detection.

6. The method for real-time transmission of laser radar data according to claim 1, characterized in that: Collect flight detection data and distance detection data. If the flight detection data exceeds the floating deviation peak threshold, or the distance detection data exceeds the proportional floating threshold, the administrator will adjust the parameters of the laser radar. If the flight detection data does not exceed the floating deviation peak threshold, and the distance detection data does not exceed the proportional floating amount threshold, it is inferred that the data collection of the target area during the surveying and mapping cycle is normal; The flight detection data and distance detection data are respectively the peak value of the proportional floating deviation between the actual detection spacing between fixed detection points and mobile detection points at adjacent detection moments during the surveying and mapping period and the collection modeling spacing, and the mean proportional floating amount of the phase difference calculation error between fixed detection points and mobile detection points.

7. The method for real-time transmission of laser radar data according to claim 1, characterized in that: Collect the horizontal fluctuation parameters and omission impact parameters. If the horizontal fluctuation parameters exceed the horizontal fluctuation threshold, or the omission impact parameters exceed the interval distance threshold, data supplementation is required; if the horizontal fluctuation parameters do not exceed the horizontal fluctuation threshold, and the omission impact parameters do not exceed the interval distance threshold, the current summary data is set as the transmission data; The horizontal fluctuation parameter and the omission influence parameter are respectively the horizontal fluctuation of all light wave receiving points between adjacent detection points when the adjacent detection points are in the corresponding divergent light coverage area during the surveying process, and the phase difference of the nearest light wave receiving point at the corresponding area boundary when the adjacent detection points are not in the corresponding divergent light coverage area during the surveying process, and the actual area interval distance corresponding to the current scale.

8. The method for real-time transmission of laser radar data according to claim 1, characterized in that: The target area is surveyed and data is transmitted, and detection interference information is collected. The anti-interference detection coefficient is obtained according to the formula. If the anti-interference detection coefficient exceeds the anti-interference detection coefficient threshold, the detection area of ​​the current surveying cycle is re-probe, and the lidar parameters are adjusted according to the surveying area environment; if the anti-interference detection coefficient does not exceed the anti-interference detection coefficient threshold, it is inferred that the anti-interference detection of the target area in the current surveying cycle is normal.

9. A laser radar data real-time transmission system, characterized in that: A method for real-time transmission of lidar data as described in any one of claims 1 to 8 above.

10. A storable medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor, a real-time transmission system for laser radar data as claimed in claim 9 is implemented.

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