A detection and communication system, a control device, and a detection system

Abstract

A detection and communication system, a control device, and a detection system, which can be applied to fields such as augmented reality (AR), virtual reality (VR), or vehicle-road cooperation. The detection and communication system includes: N radars for respectively searching for targets and respectively aligning with the targets, where N is an integer greater than 1; K radars among the N radars that are aligned with the targets are used to communicate with the targets, and the N - K radars other than the aforementioned K radars are used to track the targets, where K is a positive integer less than N. By respectively aligning the N radars with the targets, it helps to improve the alignment accuracy between the radars and the targets. Moreover, some of the N radars can be used to communicate with the targets. When there are more than one radar communicating with the target, it helps to improve the stability and reliability of the communication between the radar and the target.

Description

Technical Field

[0001] This application relates to the field of detection and communication technologies, and in particular, to a detection and communication system, a control device, and a detection system. Background Art

[0002] With the increasing demand for high-bandwidth communication, traditional microwave communication can no longer meet the bandwidth requirements. Space optical communication can meet the high-bandwidth requirements. So-called space optical communication refers to a communication technology that uses light waves as carriers to transmit information in a vacuum or the atmosphere. Compared with traditional microwaves, the light wave frequency is 3-5 orders of magnitude higher than that of microwaves, and the data rate that can be transmitted can reach 10G+bps, or even as high as hundreds of G+bps; moreover, the antenna gain in space optical communication is greatly improved compared with microwave antennas (60-90 dBi). Therefore, high-speed communication can be achieved with a lower transmission power.

[0003] However, the light spot of the light beam in space optical communication is very small. Therefore, the target needs to be aligned before communication. When the target moves, it is necessary to promptly sense the movement of the target and readjust the light direction to ensure the stability of communication. Currently, space optical communication uses the method of acquisition, tracking, and pointing (ATP) to establish a communication link, but it takes a long time and cannot quickly establish a connection. Especially when the target moves, it is impossible to quickly align with the target. In order to achieve quick alignment with the target, multi-point positioning technologies such as satellite positioning, mobile base station positioning, and Bluetooth positioning have been proposed. However, the accuracy of satellite positioning, mobile base station positioning, and Bluetooth positioning in the prior art is poor.

[0004] In summary, in the prior art, the scheme for target alignment takes a long time for alignment or has low alignment accuracy. Summary of the Invention

[0005] This application provides a detection and communication system, a control device, and a detection system for improving the accuracy of radar alignment with a target.

[0006] In a first aspect, this application provides a detection and communication system. The detection and communication system includes N radars. The N radars can be used to search for a target respectively and align with the target respectively. N is an integer greater than 1; among them, the first radar can be used to communicate with the target, and the second radar can be used to track and aim at the target; the first radar is K of the N radars that are aligned with the target, and the second radar is the radar other than the first radar among the N radars. K is a positive integer less than N.

[0007] Based on this solution, in this detection and communication system, N radars are respectively aligned with the target, which helps to improve the alignment accuracy between the radar and the target. Moreover, the K radars aligned with the target can achieve communication with the target. Especially when multiple radars communicate with the target, it helps to improve the stability and reliability of the communication between the radar and the target.

[0008] In a possible implementation, the coverage areas of the electromagnetic waves emitted by the N radars overlap. Exemplarily, the N radars are not on a straight line.

[0009] Through the above solution, all N radars can search for the target. When the N radars are not on a straight line, the electromagnetic waves emitted by the N radars can cover a larger area; and the distances between the N radars should preferably satisfy that the electromagnetic waves emitted by the radars do not interfere with each other.

[0010] In a possible implementation, the radars among the N radars that search for the target can be used to feedback first information to the control device, and the first information is used to indicate the first distance between the target and the radar that searches for the target; the radars among the N radars that do not search for the target can be used to receive the first instruction from the control device and search in the area where the target is located according to the first instruction.

[0011] Correspondingly, the control device is further configured to receive the first information from the radar that searches for the target, determine the area where the target is located according to the first information; generate a first instruction according to the area where the target is located, and send the first instruction to the radars that do not search for the target.

[0012] Through the above solution, the N radars and the control device cooperate to enable the N radars to search for the target, so that the radar can search for the target relatively quickly, which helps to reduce the time for the radar to search for the target, and further helps to reduce the time for the radar to align with the target.

[0013] As follows, three possible scenarios are exemplarily shown to enable the N radars and the control device to cooperate to enable the N radars to search for the target.

[0014] Scenario 1, the control device searches for the target according to the distance information fed back by the radar.

[0015] Based on Scenario 1, the following three possible scenarios can be divided.

[0016] Scenario 1.1, one radar searches for the target.

[0017] In a possible implementation, if one radar searches for the target, the first instruction is used to instruct the radars that do not search for the target to search on the spherical surface with the radar that searches for the target as the center of the sphere and the first distance as the radius.

[0018] That is to say, the target is on the spherical surface with the radar that has detected the target as the center of the sphere and the first distance as the radius.

[0019] Situation 1.2: Two radars detect the target.

[0020] In a possible implementation, if two radars detect the target, the first instruction is used to instruct the radar that has not detected the target to search on the intersection line of the spherical surfaces corresponding to the two radars that have detected the target, where the spherical surface corresponding to the radar that has detected the target is a spherical surface with the radar that has detected the target as the center of the sphere and the first distance as the radius.

[0021] That is to say, the target is on the intersection line of the spherical surfaces corresponding to the two radars that have detected the target.

[0022] Situation 1.3: Three radars detect the target.

[0023] In a possible implementation, if at least three radars detect the target, the first instruction is used to instruct the radar that has not detected the target to search at the intersection point of the spherical surfaces corresponding to the at least three radars that have detected the target, where the spherical surface corresponding to the radar that has detected the target is a spherical surface with the radar that has detected the target as the center of the sphere and the first distance as the radius.

[0024] That is to say, the target is at the intersection point of the spherical surfaces corresponding to the at least three radars that have detected the target.

[0025] Situation 2: The control device determines the area where the target is located according to the point cloud data sent by the radar.

[0026] In a possible implementation, N radars are respectively used for: receiving the echo signals reflected from the detection area; determining the point cloud data corresponding to the detection area according to the received echo signals; feeding back the third information to the control device, and the third information includes the corresponding point cloud data. Correspondingly, the control device can also be used for: receiving the point cloud data from N radars; determining the area where the target is located according to the received point cloud data; sending the fourth instruction to each of the N radars respectively, and the fourth instruction is used to indicate the area where the target is located.

[0027] Further, optionally, the control device can send the fourth instruction to each of the N radars respectively, where the fourth instruction is used to indicate the area where the target is located. Correspondingly, the N radars are also used for: respectively receiving the fourth instruction from the control device, and the fourth instruction is used to indicate the area where the target is located; searching in the area where the target is located according to the fourth instruction.

[0028] Based on the above two situations, the N radars and the control device cooperate to search for the target, so that the radar can be aligned with the target more quickly.

[0029] In a possible implementation, each of the N radars corresponds to a feedback control component; the feedback control component is configured to receive fourth information from the radar that has detected the target, where the fourth information is used to indicate the positional relationship between the central region of the electromagnetic wave emitted by the radar that has detected the target and the target; and generate a control instruction according to the fourth information, where the control instruction is used to indicate that the central region of the electromagnetic wave emitted by the radar that has detected the target is aligned with the target.

[0030] Through this solution, the feedback control component can accurately control the central region (usually the region with the strongest intensity) of the radar emission to be aligned with the target, thereby enabling precise tracking of the target.

[0031] In a possible implementation, the target may move. After the target moves, the second radar can also be used to send second information to the control device, where the second information is used to indicate the position of the target after movement.

[0032] In a possible implementation, the control device is further configured to receive second information from the second radar, where the second information is used to indicate the position of the target after movement; determine the pointing of the first radar when it is aligned with the target after movement; generate a third instruction according to the pointing of the first radar when it is aligned with the target after movement, and send the third instruction to the first radar.

[0033] Through this solution, the second radar can track the target in real time and feedback it to the control device, and the control device can control the first radar to quickly align with the target after it moves, which helps to further improve the stability and reliability of communication with the target.

[0034] In a possible implementation, if N is an integer greater than 2 and N - K is an integer greater than or equal to 2; the control device is further configured to determine the radar among the K first radars that is not aligned with the target, and send a second instruction to M of the N - K second radars, where the second instruction is used to indicate that the M radars communicate with the target, and M is a positive integer less than N - K.

[0035] In a possible implementation, if N is an integer greater than 2 and N - K is an integer greater than or equal to 2, M of the N - K second radars can also be configured to receive the second instruction from the control device and communicate with the target according to the second instruction, where the second instruction is sent when there is a radar among the K first radars that is not aligned with the target after movement, and M is an integer less than N - K.

[0036] Through this solution, if there is a radar among the K first radars that is not aligned with the target after the target moves, some of the second radars that are aligned with the target can be quickly switched to communicate with the target, which helps to further improve the stability and reliability of communication with the target.

[0037] In a possible implementation, the first radar can be used for communicating with the target and also for tracking the target. The following are two exemplary possible implementation methods.

[0038] Implementation method one: Modulation by communication code and ranging code.

[0039] In a possible implementation, the first radar is further configured to transmit a first electromagnetic wave carrying communication information to the target in a first time domain; and transmit a second electromagnetic wave to the target in a second time domain, where the second electromagnetic wave is used to determine a first distance between the first radar and the target; the second radar is further configured to transmit a third electromagnetic wave to the target, where the third electromagnetic wave is used to determine a first distance between the second radar and the target. Optionally, the first time domain and the second time domain are arranged alternately. Further optionally, the first time domain and the second time domain are arranged alternately and form a continuous time domain.

[0040] Exemplarily, the first radar can specifically be configured to encode the communication information in the first time domain to obtain a communication code, and modulate the communication code on the electromagnetic wave to be transmitted to obtain a first electromagnetic wave; in the second time domain, obtain a second electromagnetic wave by modulating a ranging code on the electromagnetic wave to be transmitted.

[0041] Implementation method two: Crest modulation.

[0042] In a possible implementation, the first radar can also be configured to encode the communication information to obtain a communication code; combine the communication code and the ranging code, and modulate the combined communication code and ranging code on the electromagnetic wave to be transmitted to obtain a fourth electromagnetic wave; and transmit the fourth electromagnetic wave to the target. It should be understood that the fourth electromagnetic wave carries communication information and can also be used to determine a first distance between the first radar and the target.

[0043] In a possible implementation, the first radar further includes a first detector; the first detector is configured to receive a second echo signal from the target and determine a first distance between the first detector and the target according to the second echo signal, where the second echo signal is obtained by the target reflecting the second electromagnetic wave; the second radar further includes a second detector; the second detector is configured to receive a third echo signal from the target and determine a first distance between the second detector and the target according to the third echo signal, where the third echo signal is obtained by the target reflecting the third electromagnetic wave.

[0044] Through the first detector in this solution, the first distance between the first radar and the target can be determined; through the second detector, the first distance between the second radar and the target can be determined.

[0045] In a possible implementation, the detection and communication system may further include a target, which includes a lens assembly, a reflective assembly, and a third detector; the lens assembly is configured to converge the received first electromagnetic wave to the third detector; the third detector is configured to demodulate the received first electromagnetic wave to obtain communication information; the reflective assembly is configured to reflect the second electromagnetic wave to obtain a second echo signal; and reflect the third electromagnetic wave to obtain a third echo signal.

[0046] In a possible implementation, the lens assembly is a hemispherical lens, and the reflective assembly is fixed to the cross-section of the hemisphere.

[0047] With this solution, the hemispherical lens can converge the first electromagnetic wave to the third detector as much as possible, which helps to further improve the stability and reliability of the communication between the target and the radar. The reflective assembly can reflect the echo signal as much as possible, which helps to improve the accuracy of the determined first distance.

[0048] Further, optionally, the reflective assembly is a corner cube.

[0049] In a second aspect, the present application provides a detection and communication system, which includes N radars and a control device. The control device is configured to control the N radars to search for a target respectively, and the N radars are configured to align with the target respectively, where N is an integer greater than 1; the first radar is configured to communicate with the target, and the second radar is configured to track the target; the first radar is K of the N radars aligned with the target, and the second radar is the radars among the N radars except the first radar, where K is a positive integer less than N.

[0050] Based on this solution, the N radars and the control device cooperate to implement the N radars searching for the target, so that the radar can align with the target relatively quickly, which helps to reduce the time for the N radars to search for the target. Moreover, by aligning the N radars with the target respectively, it helps to improve the accuracy of the alignment between the radar and the target. Further, K radars in the detection and communication system can communicate with the target. When there are more than one radar communicating with the target, it helps to improve the stability and reliability of the communication between the radar and the target.

[0051] For the possible implementations in the second aspect, reference can be made to the introduction of any of the possible methods in the first aspect above, and details will not be repeated here.

[0052] In a third aspect, the present application provides a detection system, including N radars, where the N radars are respectively used to search for a target and respectively align with the target, and N is an integer greater than 1; the radar that searches for the target among the N radars is used to: feedback first information to a control device, and the first information is used to indicate a first distance between the target and the radar that searches for the target; the radars among the N radars that do not search for the target are used to receive a first instruction from the control device and can search in the area where the target is located according to the first instruction. Based on this solution, by respectively aligning the N radars with the target, it helps to improve the alignment accuracy between the radar and the target.

[0053] In a possible implementation manner, the detection system further includes a control device; the control device is used to receive the first information from the radar that searches for the target; and determine the area where the target is located according to the first information; and further generate a first instruction according to the area where the target is located and send the first instruction to the radars that do not search for the target, so that the radars that do not search for the target search in the area where the target is located according to the first instruction.

[0054] Through the above solution, the N radars and the control device cooperate to implement the N radars to search for the target, so that the radar can search for the target relatively quickly, which helps to reduce the time for the radar to search for the target, and further helps to improve the alignment efficiency between the radar and the target.

[0055] In a possible implementation manner, each of the N radars corresponds to a feedback control component; the feedback control component can be used to receive second information from the radar that searches for the target, and the second information is used to indicate the positional relationship between the central area of the electromagnetic wave emitted by the radar that searches for the target and the target (for example, indicating the distance between the central area of the electromagnetic wave and the target through the intensity information of the electromagnetic wave); and generate a control instruction according to the second information, and the control instruction is used to indicate that the central area of the electromagnetic wave emitted by the radar that searches for the target is aligned with the target.

[0056] Further, optionally, the feedback control center can send a control instruction to the radar that searches for the target. Correspondingly, the radar that searches for the target adjusts the central area of the emitted electromagnetic wave to be aligned with the target according to the received control instruction.

[0057] In a possible implementation manner, the first radar among the N radars is used to communicate with the target, and the second radar is used to track the target, where the first radar is K radars among the N radars that are aligned with the target, the second radar is the radars among the N radars except the first radar, and K is a positive integer less than N.

[0058] Fourthly, the present application provides a control method, which includes receiving first information from a radar that has detected a target, where the first information is used to indicate a first distance between the target and the radar that has detected the target; determining a region where the target is located according to the first information, and generating a first instruction according to the region where the target is located; and sending the first instruction to radars that have not detected the target, where the first instruction is used to instruct the radars that have not detected the target to search in the region where the target is located, and N is an integer greater than 1.

[0059] Based on this solution, N radars cooperate with the control device to search for the target, so that the radars can align with the target relatively quickly, which helps to reduce the time for the N radars to detect the target. Moreover, by aligning the N radars with the target respectively, it helps to improve the accuracy of the alignment between the radars and the target. Further, in this detection and communication system, K radars can communicate with the target. When there are more than one radar communicating with the target, it helps to improve the stability and reliability of the communication between the radars and the target.

[0060] In a possible implementation, determine that among the K first radars, there is a radar that has not aligned with the target after movement, where the first radars are K of the radars among the N radars that have aligned with the target, N is an integer greater than 2, and N - K is an integer greater than or equal to 2; send a second instruction to M of the N - K second radars, where the second instruction is used to instruct the M radars to communicate with the target, and the second radars are the radars among the N radars other than the first radars, and M is an integer less than N - K.

[0061] In a possible implementation, receive second information from the second radar, where the second information is used to indicate the position of the target after movement; determine the direction when the first radar aligns with the target after movement according to the second information; generate a third instruction according to the direction when the first radar aligns with the target after movement; and send the third instruction to the first radar.

[0062] Fifthly, the present application provides a control device, which includes a processing module, a receiving module, and a sending module. The receiving module is used to receive first information from a radar that has detected a target, where the first information is used to indicate a first distance between the target and the radar that has detected the target; the processing module is used to determine a region where the target is located according to the first information, and generate a first instruction according to the region where the target is located; and the sending module is further used to send the first instruction to radars that have not detected the target, where the first instruction is used to instruct the radars that have not detected the target to search in the region where the target is located.

[0063] In a possible implementation, the processing module is further configured to determine the radar in the first radars that fails to align with the target after movement, where the first radars are K of the radars among N radars that are aligned with the target, N is an integer greater than 2, and N - K is an integer greater than or equal to 2; the sending module is further configured to send a second instruction to M of the N - K second radars, where the second instruction is used to instruct the M radars to communicate with the target, and the second radars are the radars among the N radars except the first radars, and M is an integer less than N - K.

[0064] In a possible implementation, the receiving module is further configured to receive second information from the second radar, where the second information is used to indicate the position of the target after movement; the processing module is further configured to determine the pointing direction when the first radar aligns with the target after movement according to the second information; generate a third instruction according to the pointing direction when the first radar aligns with the target after movement; and the sending module is further configured to send the third instruction to the first radar.

[0065] In a sixth aspect, the present application provides a control device, which includes a processor, a receiver, and a transmitter. The receiver is configured to receive first information from a radar that has detected a target, where the first information is used to indicate a first distance between the target and the radar that has detected the target; the processor is configured to determine the area where the target is located according to the first information, and generate a first instruction according to the area where the target is located; and the transmitter is further configured to send the first instruction to the radars that have not detected the target, where the first instruction is used to instruct the radars that have not detected the target to search in the area where the target is located.

[0066] In a possible implementation, the processor is further configured to determine the radar in the first radars that fails to align with the target after movement, where the first radars are K of the radars among N radars that are aligned with the target, N is an integer greater than 2, and N - K is an integer greater than or equal to 2; the transmitter is further configured to send a second instruction to M of the N - K second radars, where the second instruction is used to instruct the M radars to communicate with the target, and the second radars are the radars among the N radars except the first radars, and M is an integer less than N - K.

[0067] In a possible implementation, the receiving module is further configured to receive second information from the second radar, where the second information is used to indicate the position of the target after movement; the processing module is further configured to determine the pointing direction when the first radar aligns with the target after movement according to the second information; generate a third instruction according to the pointing direction when the first radar aligns with the target after movement; and the transmitter is further configured to send the third instruction to the first radar.

[0068] The technical effects that can be achieved by any one of the above fifth aspect to sixth aspect can refer to the description of the beneficial effects in the above fourth aspect, and will not be repeated here.

[0069] In a seventh aspect, the present application provides a computer-readable storage medium storing a computer program or instructions, which, when executed by a control device, cause the control device to execute the method in the above-mentioned fourth aspect or any possible implementation manner of the fourth aspect.

[0070] In an eighth aspect, the present application provides a computer program product, which includes a computer program or instructions, which, when executed by a control device, cause the control device to execute the method in the above-mentioned fourth aspect or any possible implementation manner of the fourth aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] Figure 1a FIG. is a schematic diagram of the principle of detecting a target by a lidar provided by the present application;

[0072] Figure 1b FIG. is a schematic diagram of a possible application scenario provided by the present application;

[0073] Figure 1c FIG. is another schematic diagram of a possible application scenario provided by the present application;

[0074] Figure 1d FIG. is another schematic diagram of a possible application scenario provided by the present application;

[0075] Figure 1e FIG. is a schematic diagram of a vehicle-road cooperation scenario provided by the present application;

[0076] Figure 1f FIG. is a schematic diagram of an AGV cart scenario provided by the present application;

[0077] Figure 1g FIG. is a schematic diagram of remote interaction and real-scenario reproduction provided by the present application;

[0078] Figure 1h FIG. is a schematic diagram of remote interaction and a virtual scenario provided by the present application;

[0079] Figure 2 FIG. is a schematic diagram of the architecture of a detection and communication system provided by the present application;

[0080] Figure 3a FIG. is a schematic diagram of the coverage area of electromagnetic waves emitted by N lidars provided by the present application;

[0081] Figure 3b FIG. is a schematic diagram of the positional relationship of the emission positions of N lidars provided by the present application;

[0082] Figure 3c FIG. is a schematic diagram of the relationship between the number of lidars and the scanning area provided by the present application;

[0083] Figures 4a to 4c Schematic diagram of the process for the lidar provided in this application to cooperate with the control device to search for a target;

[0084] Figures 5a to 5b Schematic diagram of one-to-one communication between the lidar provided in this application and the target;

[0085] Figures 5c to 5d Schematic diagram of one-to-many communication between the lidar provided in this application and the target;

[0086] Figure 6 Schematic diagram of the relationship between a first time domain and a second time domain provided in this application;

[0087] Figure 7 Schematic diagram of a dithering process provided in this application;

[0088] Figure 8a Schematic diagram of the structure of a target provided in this application;

[0089] Figure 8b Schematic diagram of the structure of a target provided in this application;

[0090] Figure 8c Schematic diagram of the structure of a target provided in this application;

[0091] Figure 9 Schematic diagram of the structure of a retroreflective component provided in this application;

[0092] Figure 10 Schematic diagram of the cross-section of a hemisphere in which corner cubes are arranged and fixed to the hemisphere of a hemispherical lens provided in this application;

[0093] Figure 11a Schematic diagram of the structure of a first detector provided in this application;

[0094] Figure 11b Schematic diagram of the process for the lidar provided in this application to perform fine alignment with the target;

[0095] Figure 12a Schematic diagram of the structure of another detection and communication system provided in this application;

[0096] Figure 12b Schematic diagram of the structure of another detection and communication system provided in this application;

[0097] Figure 13a Schematic diagram of the process of a detection method provided in this application;

[0098] Figure 13b Schematic diagram of the process of a detection and communication method provided in this application;

[0099] Figure 13c Another schematic flow chart of the detection and communication method provided by this application;

[0100] Figure 13d Another schematic flow chart of the detection method provided by this application;

[0101] Figure 14 Another schematic flow chart of the detection and communication method provided by this application;

[0102] Figure 15 A schematic flow chart of a control method provided by this application;

[0103] Figure 16 Another schematic flow chart of the detection and communication method provided by this application;

[0104] Figure 17 Another schematic flow chart of the detection method provided by this application;

[0105] Figure 18 A schematic structural diagram of a control device provided by this application;

[0106] Figure 19 A schematic structural diagram of a control device provided by this application. Detailed implementation manners

[0107] Next, embodiments of this application will be described in detail with reference to the accompanying drawings.

[0108] Hereinafter, some terms in this application will be explained. It should be noted that these explanations are for the convenience of those skilled in the art to understand and do not constitute a limitation on the protection scope required by this application.

[0109] I. Space optical communication

[0110] Free space optics communication (FSO), free space optics communication refers to a communication technology that uses light waves as carriers to transmit information in a vacuum or the atmosphere.

[0111] II. Ranging code

[0112] A ranging code is a binary coding sequence used to measure the distance from a target to a radar, and it is a pseudo-random noise code. A binary code sequence is called a random noise code if each bit is randomly generated. Random noise codes have excellent autocorrelation and cross-correlation characteristics, which are required for ranging codes. Since each digit of a random noise code is randomly generated, it is impossible to independently generate two sets of completely identical random noise codes in the target and the radar, but this is a condition for ranging. Therefore, pseudo-random noise codes are introduced. Pseudo-random noise codes have similar autocorrelation and cross-correlation characteristics to random noise codes. This set of binary code sequences of pseudo-random noise codes is a binary code sequence arranged according to a certain rule generated by a certain code generator. Two sets of completely identical ranging codes can be generated in the target and the radar using the same method.

[0113] III. Communication Codes

[0114] Communication codes are obtained by encoding information. Encoding is the process of converting information from one form or format to another. Characters, numbers, or other objects can be encoded into digital codes using pre-specified methods, or information and data can be converted into specified electrical pulse signals. Decoding is the reverse process of encoding.

[0115] IV. Radar Pointing

[0116] The pointing of a radar refers to the direction in which the radar emits electromagnetic waves, specifically the direction of the center of the electromagnetic waves emitted by the radar, and is usually simply referred to as the radar pointing. Combining the following Figure 3b , the position of the radar can be represented by (x i , y i , z i ), and the pointing of the radar can be represented by (α i , β i ), where α i represents the azimuth angle between the projection line of the direction of the electromagnetic waves emitted by the i-th radar on the XOY plane and the X-axis, and β i represents the angle between the direction of the electromagnetic waves emitted by the i-th radar and the Z-axis.

[0117] V. Region of Interest (ROI)

[0118] In machine vision and image processing, the area that needs to be processed outlined in a box, circle, ellipse, irregular polygon, etc. from the processed image is called the region of interest.

[0119] The foregoing introduced some terms related to the present application. Below, the technical features and possible application scenarios related to the present application are introduced. It should be noted that these explanations are for the convenience of those skilled in the art to understand and do not constitute a limitation on the scope of protection claimed by the present application.

[0120] Radar generally works by emitting high-frequency electromagnetic waves and receiving the electromagnetic energy reflected by the target. By comparing and analyzing the received echo signal with the emitted electromagnetic wave, information related to the target can be obtained. For example, the distance between the radar and the target, the moving speed of the target, etc. As Figure 1a shown, it is a schematic diagram of the principle of a radar detecting a target provided by the present application. The radar may include a laser and a detector. The laser can be used to emit electromagnetic waves. If there is a target within a certain distance along the emission direction of the electromagnetic wave, the electromagnetic wave can be reflected by the surface of the target, and the reflected signal is called an echo signal. The echo signal returns to the detector of the radar, and the detector can be used to determine the distance to the target, the moving speed of the target, etc. based on the received echo signal and the emitted laser beam.

[0121] The radar in the present application can be a lidar, a microwave radar, or a millimeter-wave radar. In the following introduction, the lidar is taken as an example. It should be noted that the electromagnetic wave emitted by the lidar is called a laser beam, the electromagnetic wave emitted by the microwave radar is called a microwave, and the laser beam emitted by the millimeter-wave radar is called a millimeter wave. That is to say, in the following text, the lidar can be replaced by a millimeter-wave radar, and the electromagnetic wave can be replaced by a millimeter wave; in the following text, the lidar can also be replaced by a microwave radar, and the electromagnetic wave can be replaced by a microwave.

[0122] The following exemplarily shows possible scenarios to which the present application can be applied.

[0123] As Figure 1b shown, it is a schematic diagram of a possible application scenario provided by the present application. In this scenario, the lidar can be installed on a mobile device. For example, the lidar can be installed on a motor vehicle (such as a driverless vehicle, a smart vehicle, an electric vehicle, a digital car, etc.) and used as an in-vehicle lidar; or for another example, the lidar can be installed on a drone and used as an airborne lidar, and so on.

[0124] As Figure 1cAs shown, this is another possible application scenario provided by the present application. In this scenario, the lidar can also be installed on a fixed platform. For example, the lidar can be installed on a roadside unit (RSU), a roof, a base station, etc. In the scenario where the lidar is installed on a fixed platform, the lidar needs the assistance of other devices in the fixed platform to determine its current position and steering information, so as to ensure the availability of measurement data. For example, the fixed platform may also include a global positioning system (GPS) device and an inertial measurement unit (IMU) device. The lidar can combine the measurement data of the GPS device and the IMU device to obtain characteristic quantities such as the position and speed of the target. For example, the lidar can obtain the geographical location information of the fixed platform through the GPS device in the fixed platform, and record the attitude and steering information of the fixed platform through the IMU device. After determining the distance to the target based on the echo signal and the emitted laser beam, at least one of the geographical location information provided by the GPS device or the attitude and steering information provided by the IMU device can be used to convert the measurement point of the target from the relative coordinate system to the position point on the absolute coordinate system, so as to obtain the geographical location information of the target, thereby enabling the lidar to be applied in the fixed platform.

[0125] It should be noted that the application does not limit the number of lidars and the number of targets included in each scenario. For example, the scenario may include multiple lidars installed on a fixed platform and movable targets. Please refer to Figure 1d , taking four lidars installed on a fixed platform and one movable target as an example. Among them, the movable target is illustrated by a display device worn by the user (for example, a virtual reality (VR) helmet, VR glasses, an augmented reality (AR) helmet, AR glasses).

[0126] The present application can also be applied to other possible scenarios. For example Figure 1e the vehicle-road cooperation (or called intelligent vehicle-road cooperation system) scenario as shown. Another example is Figure 1f the automated guided vehicle (AGV) cart scenario as shown, where the AGV cart refers to a transport vehicle equipped with an automatic navigation device such as electromagnetic or optical, capable of traveling along a specified navigation path, and having safety protection and various transfer functions. Another example is Figure 1g the remote interaction and real-scene reproduction as shown, and this scenario can be, for example, telemedicine or remote training, etc. Another example is Figure 1hThe remote interaction and virtual scene shown, which can be, for example, game interaction (such as multiple people playing games, training, or participating in other activities in a virtual scene) or dangerous scene training, etc. Another example is face recognition and other scenes. They are not listed one by one here.

[0127] As introduced in the background art, in the existing solutions for achieving target alignment, the time required for alignment is relatively long, or the alignment accuracy is relatively low.

[0128] In view of this, the present application proposes a detection and communication system. The detection and communication system aligns with a target through N lidars respectively, which can improve the accuracy of aligning with the target; and can also achieve communication between the radar and the target.

[0129] The following combines the attached Figure 2 to the attached Figure 12b to specifically elaborate on the detection and communication system proposed in the present application.

[0130] Please refer to Figure 2 , which is a schematic diagram of the architecture of a detection and communication system provided by the present application. The detection and communication system may include N radars, where N is an integer greater than 1; the N radars can be used to search for a target respectively and align with the target respectively. Among the N radars, K radars (referred to as the first radars) that are aligned with the target are used to communicate with the target, and the second radars are used to track the target; where the second radars are the radars among the N radars except the first radars, and K is a positive integer less than N.

[0131] In a possible implementation manner, it can be that after K radars are all aligned with the target, the K radars communicate with the target; or after all N radars are aligned with the target, K of them communicate with the target; or after one of the N radars is aligned with the target, this radar that is aligned with the target starts to communicate with the target, and the radars that are not aligned with the target continue to align with the target. After there is another radar aligned with the target, this newly aligned radar then communicates with the target, and so on until K radars are aligned with the target, and these K radars are used to communicate with the target.

[0132] It should be noted that in addition to being used to communicate with the target, the first radar can also be used to track the target. That is, the first radar can be used both to communicate with the target and to track the target.

[0133] Based on this solution, in the detection and communication system, aligning with the target through N radars respectively helps to improve the accuracy of aligning the radar with the target. Moreover, the K radars that are aligned with the target can achieve communication with the target. Especially when K is greater than 1, it helps to improve the stability and reliability of communication between the radar and the target.

[0134] Furthermore, when the radar is a lidar, the communication between the lidar and the target is optical communication, which can achieve high bit rate and large bandwidth transmission, thus enabling ultra-high speed interconnection between the lidar and the target.

[0135] The following provides a detailed introduction to N radars to give an exemplary implementation solution. In the following description, the radar is described by taking the lidar as an example.

[0136] In a possible implementation, the coverage areas of the laser beams emitted by N lidars overlap. Please refer to Figure 3a . The shaded area is the overlapping area of the coverage areas of the laser beams respectively emitted by Lidar 1, Lidar 2, Lidar 3, and Lidar 4. In this way, all N lidars can detect the target.

[0137] Exemplarily, if N is an integer greater than 2, the N lidars are located on at least two different lines. That is to say, the N lidars are not on the same line. Further, optionally, the distances between the N lidars should preferably satisfy that the laser beams emitted by the lidars do not interfere with each other. In this way, the laser beams emitted by the N lidars can cover a larger area and help reduce the interference between the laser beams emitted by the lidars.

[0138] It should be noted that the placement positions of the N lidars are also related to the application scenario. For example, if four lidars need to detect a display device used by users in a house, the four lidars can be evenly distributed at four positions on the roof, as Figure 3b shown. Lidar 1, Lidar 2, Lidar 3, and Lidar 4 are in the same plane (i.e., the roof). According to the three-dimensional coordinate system established in Figure 3b , the plane where Lidar 1, Lidar 2, Lidar 3, and Lidar 4 are located is parallel to the XOY plane. It should be understood that Figure 3b the distribution of the four lidars shown is only a schematic diagram. The N lidars do not necessarily need to be in the same plane, as long as the placement positions satisfy that the coverage areas of the laser beams emitted by the N lidars overlap.

[0139] A high-resolution image can be obtained through N lidars. Combining Figure 3c, taking two lidars as an example, the angular resolution of lidar 1 is θ1, and the angular resolution of lidar 2 is θ2. If only lidar 1 exists in the detection and communication system, there are only the projection points of the laser beams emitted by lidar 1 in area a; if both lidar 1 and lidar 2 exist in the detection and communication system, the laser beams emitted by lidar 2 may overlap with the laser beams emitted by lidar 1 (which can be partial overlap or complete overlap). It can also be understood that in the same area a, there are two laser beams projected, which helps to improve the image resolution.

[0140] Furthermore, searching for a target through N lidars helps to expand the search range of the detection and communication system (including but not limited to distance, area).

[0141] In this application, the detection and communication system may further include a control device. Exemplarily, the control device can be a server, such as a single server, a server cluster, or a cloud server, etc.; the control device can also be a chip or a circuit board, or it can also be a terminal device, etc.; this application does not limit the specific form of the control device.

[0142] In a possible implementation, the control device can be connected to N lidars respectively by wired (such as optical fiber) or wireless means.

[0143] As follows, two possible scenarios of N lidars searching for a target are exemplarily shown. It should be noted that in the following text, the lidar that searches for the target refers to the lidar whose emitted laser beam points to the area where the target is located, and the lidar that does not search for the target refers to the lidar whose emitted laser beam does not point to the area where the target is located. The lidar aligned with the target refers to the lidar whose central area of the emitted laser beam is aligned with the target.

[0144] Scenario 1, the control device searches for the target according to the distance information fed back by the lidar.

[0145] Based on Scenario 1, it can be that the lidar that searches for the target feeds back the first information to the control device, where the first information is used to indicate the first distance between the target and the lidar that searches for the target. The control device can determine the area where the target is located according to the first information, generate the first instruction according to the area where the target is located, and send the first instruction to the lidars that do not search for the target. The lidars that do not search for the target search in the area where the target is located according to the received first instruction.

[0146] Alternatively, it can also be that the lidar that has detected the target feeds back the first information to the control device. The control device can determine the area where the target is located based on the first information, generate a first command according to the area where the target is located, and send the first command to all N lidars. The lidars that have not detected the target search in the area where the target is located according to the received first command. It should be understood that for the lidar that has detected the target, the search range can be determined again as the area where the target is located, or the first command can be ignored.

[0147] It should be noted that it can be the lidar that has detected the target that feeds back the first information to the control device, or all N lidars can feed back the current search situation to the control device in real time. The lidar that has detected the target can feed back the first information, and the lidar that has not detected the target can feed back the information indicating that the target has not been detected. Among them, the information indicating that the target has not been detected can be pre-determined between the lidar and the control device, or can also be configured by the detection and communication system.

[0148] The following describes the process of N lidars searching for the target respectively based on the number of lidars that have detected the target.

[0149] It should be noted that in the following description, it is exemplified that the lidar that has detected the target sends the first information to the control device, and the control device sends the first command to the lidars that have not detected the target.

[0150] Case 1.1: One lidar has detected the target.

[0151] When one lidar has detected the target, for the convenience of explaining the solution, combined with the above Figure 1d , taking the lidar that has detected the target as lidar 1 for example, and the lidars that have not detected the target as lidar 2, lidar 3, and lidar 4 for example. Please refer to Figure 4a , after lidar 1 has detected the target, it can estimate the first distance to the target and feed back the first distance to the control device. Based on the received first distance, the control device can determine that the area where the target is located is: on the first spherical surface 1 with lidar 1 as the center and the first distance as the radius; and generate a first command according to the area where the target is located. The first command is used to instruct the lidars that have not detected the target (i.e., lidar 2, lidar 3, and lidar 4) to search on the spherical surface with lidar 1 as the center of the sphere and the first distance as the radius. In other words, the first command is used to indicate that the target is on the first spherical surface 1 with lidar 1 as the center and the first distance as the radius. Correspondingly, the lidars that have not detected the target (i.e., lidar 2, lidar 3, and lidar 4) can search in the area where the target is located according to the received first command, that is, search on the spherical surface with lidar 1 as the center of the sphere and the first distance as the radius.

[0152] Further, optionally, the first instruction may include any one of the following two possible ways, so that the lidar that has not searched for the target can search in the area where the target is located.

[0153] Way 1, the first instruction includes the area where the target is located.

[0154] The control device may generate a first instruction according to the area where the target is located, and send the first instruction to the lidar that has not searched for the target. Accordingly, the lidar that has not searched for the target may adjust the scanning area according to the current search position and the area where the target is located, so as to search for the target on the first sphere 1.

[0155] Way 2, the first instruction includes the deflection amounts (Δα i , Δβ i ) when the lidar that has not searched for the target points to the area where the target is located.

[0156] Wherein, Δα i = α i后 - α i前 , Δβ i = β i后 - β i前 , wherein, (α i后 , β i后 ) represents the pointing when the lidar searches in the area where the target is located, and (α i前 , β i前 ) represents the pointing of the lidar that has not searched for the target in the current search area.

[0157] The control device may determine the deflection amount for the lidar that has not searched for the target to scan in the area where the target is located according to the area where the target is located and the current search area of the lidar that has not searched for the target, generate a first instruction according to the deflection amount, and send the first instruction to the lidar that has not searched for the target. In other words, the control device may determine the target search area for the lidar that has not searched for the target to search for the target according to the area where the target is located, and generate a first instruction according to the determined target search area. Accordingly, after receiving the first instruction, the lidar that has not searched for the target adjusts to search in the area where the target is located according to the deflection amount included in the first instruction.

[0158] It should be noted that for Way 2, each of the N lidars needs to report the current search area to the control device in real time.

[0159] Situation 1.2, two lidars search for the target.

[0160] When two lidars search for the target, for the convenience of explaining the solution, in combination with the aboveFigure 1d , taking lidar 1 and lidar 2 as examples of the lidars that have detected the target, and taking lidar 3 and lidar 4 as examples of the lidars that have not detected the target. Please refer to Figure 4b , lidar 1 can determine the first distance A between itself and the target and feedback the first distance A to the control device; lidar 2 can determine the first distance B between itself and the target and feedback the first distance B to the control device. The control device can, based on the first distance A and the first distance B, determine that the area where the target is located is: on the first spherical surface A centered on lidar 1 with the first distance A as the radius, and on the first spherical surface B centered on lidar 2 with the first distance B as the radius, that is, the area where the target is located is: on the intersection line of the first spherical surface A and the first spherical surface B; and generate a first instruction according to the area where the target is located. The first instruction is used to instruct the lidars that have not detected the target (i.e., lidar 3 and lidar 4) to search on the intersection line of the first spherical surface A and the first spherical surface B. That is to say, the first instruction is used to indicate that the target is on the intersection line of the first spherical surface A and the first spherical surface B. Correspondingly, the lidars that have not detected the target (i.e., lidar 3 and lidar 4) can search in the area where the target is located according to the first instruction, that is, search on the intersection line of the first spherical surface A and the first spherical surface B.

[0161] Further, optionally, the methods for enabling the lidars that have not detected the target to search for the target in the area where the target is located can refer to Method 1 and Method 2 in the above-mentioned Scenario 1.1, which will not be repeated here.

[0162] Scenario 1.3, three lidars have detected the target.

[0163] When three lidars have detected the target, for the convenience of explaining the solution, in combination with the above Figure 1d , taking lidar 1, lidar 2 and lidar 3 as examples of the lidars that have detected the target, and taking lidar 4 as an example of the lidar that has not detected the target. Please refer to Figure 4c, the lidar 1 can determine the first distance A to the target and feedback the first distance A to the control device; the lidar 2 can determine the first distance B to the target and feedback the first distance B to the control device; the lidar 3 can determine the first distance C to the target and feedback the first distance C to the control device. The control device can determine the area where the target is located based on the first distance A, the first distance B, and the first distance C as follows: on the first spherical surface A centered on the lidar 1 with the first distance A as the radius, on the first spherical surface B centered on the lidar 2 with the first distance B as the radius, and on the first spherical surface C centered on the lidar 3 with the first distance C as the radius. That is, the area where the target is located is at the intersection of the first spherical surface A, the first spherical surface B, and the first spherical surface C; and based on the area where the target is located, a first instruction is generated. The first instruction is used to instruct the lidar that has not detected the target (i.e., the lidar 4) to search at the intersection of the first spherical surface A, the first spherical surface B, and the first spherical surface C. In other words, the first instruction is used to indicate that the target is at the intersection of the first spherical surface A, the first spherical surface B, and the first spherical surface C. Correspondingly, the lidar that has not detected the target (i.e., the lidar 4) can search in the area where the target is located according to the first instruction, that is, at the intersection of the first spherical surface A, the first spherical surface B, and the first spherical surface C.

[0164] Further, optionally, the methods for enabling the lidar that has not detected the target to search in the area where the target is located can refer to Method 1 and Method 2 in the above-mentioned Scenario 1.1, and will not be repeated here.

[0165] It should be noted that for the above Scenario 1.2 and Scenario 1.3, two or more lidars have detected the target. These lidars that have detected the target may have detected the target in sequence, or may have detected the target simultaneously. Additionally, there may be more lidars that have detected the target. The present application does not limit this.

[0166] Through the above Scenario 1.1 to Scenario 1.3, the cooperation between N lidars and the control device can achieve the search for the target by N lidars, so that at least K of the N lidars can be aligned with the target relatively quickly, and the time for aligning the lidar with the target can be further reduced.

[0167] Further, optionally, N lidars can search for the target simultaneously. For example, it can be that the control device controls N lidars to search for the target simultaneously, or the detection and communication system pre-sets N lidars to search for the target simultaneously; the present application does not limit this.

[0168] Scenario 2, the control device determines the area where the target is located based on the point cloud data sent by the lidar.

[0169] In a possible implementation, N lidar sensors scan in a detection area to obtain point cloud data of the detection area. The N lidar sensors can respectively send the obtained point cloud data to a control device, and the control device can determine the area where the target is located based on the received point cloud data. Specifically, the control device can establish a three-dimensional model of the detection area according to the received point cloud data, and based on the three-dimensional model, the area where the target is located can be determined.

[0170] Furthermore, optionally, the control device can respectively send a fourth instruction to the N lidar sensors, where the fourth instruction is used to indicate the area where the target is located. Accordingly, each of the N lidar sensors searches in the area where the target is located according to the fourth instruction.

[0171] Based on the above Scenario 1 or Scenario 2, the N lidar sensors have all detected the target, that is, the N lidar sensors are all pointed to the area where the target is located, so that the N lidar sensors can respectively achieve rough alignment with the target. However, at this time, the central area of the laser beam emitted by the lidar sensor may not be aligned with the target. Even in Scenario 1.3 of Scenario 1 above, when three or more lidar sensors detect the target and the target is at the intersection of the first spherical surface A, the first spherical surface B, and the first spherical surface C, due to the relatively large radius of the laser beam emitted by the lidar sensor, the intersection of the first spherical surface A, the first spherical surface B, and the first spherical surface C is also relatively large, and the central area of the laser beam spot emitted by the lidar sensor may not be aligned with the target (i.e., there may be scanning residuals), especially when the target is relatively small. Therefore, it is still necessary to further adjust the pointing of the lidar sensor to align the central area of the laser beam emitted by the lidar sensor with the target. It should be understood that generally, the light intensity in the central area of the laser beam is the strongest.

[0172] After the lidar sensor is pointed to the area where the target is located, in order to align the central area of the laser beam emitted by each lidar sensor with the target, the pointing of the lidar sensor can be adjusted through the control instructions transmitted by the feedback control component corresponding to each lidar sensor to achieve precise tracking of the target, so that the central area of the laser beam emitted by the lidar sensor that has detected the target is aligned with the target.

[0173] In a possible implementation, each of the N lidars corresponds to a feedback control component; the lidar that has detected the target can emit a laser beam towards the detection area, receive the reflected light signal from the target, and based on the reflected light signal, determine the positional relationship (such as deviation) between the central area of the emitted laser beam and the target, and send the fourth information to the feedback control component. This fourth information can indicate the positional relationship between the central area of the electromagnetic wave emitted by the lidar that has detected the target and the target. Correspondingly, the feedback control component can be used to receive the fourth information from the lidar that has detected the target, generate a control instruction based on the fourth information, and send the control instruction to the lidar that has detected the target. Correspondingly, the lidar that has detected the target can adjust the direction of the emitted laser beam according to this control instruction so that the central area of the emitted laser beam is aligned with the target.

[0174] Exemplarily, a lidar may include a detector and a scanning component. Among them, the detector can be a quadrant detector. As Figure 11a shown, it is a schematic structural diagram of a quadrant detector provided in this application. This quadrant detector is an optoelectronic detector formed by arranging four optoelectronic diodes with exactly the same performance according to the requirements of rectangular coordinates. The quadrant detector includes the optoelectronic diode in quadrant 1, the optoelectronic diode in quadrant 2, the optoelectronic diode in quadrant 3, and the optoelectronic diode in quadrant 4.

[0175] As Figure 11b shown, it is a schematic diagram of the process of aligning a lidar with a target provided in this application. The lidar may include a quadrant detector (see the above Figure 11a ) and a scanning component. After the lidar receives the first instruction from the control device, it adjusts the direction of the lidar to point to the area where the target is located and emits a laser beam towards the area where the target is located. After the laser beam is reflected by the area where the target is located, a reflected light signal is obtained. After the quadrant detector receives the reflected light signal from the area where the target is located, each quadrant can detect an optical intensity information. The quadrant detector can respectively transmit the detected optical intensity information of the four quadrants (i.e., the fourth information) to the feedback control component. Correspondingly, the feedback control component can determine the adjustment direction of the scanning component by comparing the optical intensity information of the four quadrants; based on the determined adjustment direction, generate a control instruction and send the control instruction to the scanning component. Correspondingly, the scanning component receives this control instruction from the feedback control component and adjusts the direction of the laser beam according to this control instruction to achieve the alignment of the central area of the emitted laser beam with the target. It should be understood that when the intensity information of the four quadrants is the same, it means that the reflected light signal received by the detector in the lidar just hits the center of the quadrant, that is, the central area of the laser beam emitted by the lidar is aligned with the target.

[0176] In a possible implementation, one laser radar corresponds to one feedback control component, wherein the feedback control component can be integrated inside the corresponding laser radar or connected to the corresponding laser radar through a physical connection. Exemplarily, the feedback control component can be a control component such as a processor, a microprocessor, a controller, etc., for example, a general-purpose central processing unit (CPU), a general-purpose processor, a digital signal processing (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof.

[0177] In a possible implementation, the scanning component may be a scanner, such as a reflective scanner. The reflective scanner includes but is not limited to a mechanical rotating mirror and a MEMS micro-vibration mirror. The reflective scanner changes the scanning direction of the scanner by mechanical rotation.

[0178] When at least K of the N laser radars are aligned with the target, the first laser radar is used to communicate with the target, and the second laser radar is used to track the target.

[0179] In one possible implementation, a control device may control which of the N laser radars are used to communicate with the target and which are used to track the target; the detection and communication system may also be pre-configured, for example, laser radars at certain positions may be used to communicate with the target, and laser radars at other positions may be used to track the target; or the laser radar may determine whether it can communicate with the target, for example, if the laser radar determines that the intensity of the received echo signal is greater than an intensity threshold, it determines that it can communicate with the target.

[0180] As follows, three possible ways of determining which lidars to use to communicate with a target are illustrated.

[0181] Method 1: The lidar determines whether it can be used to communicate with the target.

[0182] Based on method 1, the laser radar receives an echo signal from the target. If it is determined that the intensity of the received echo signal is greater than the intensity threshold, it is determined that the laser radar can communicate with the target and can be used as the first laser radar.

[0183] Method 2: The control device determines which lidars can be used to communicate with the target.

[0184] Based on this Method 2, N lidars respectively receive echo signals from the target, and respectively determine the intensities of the corresponding echo signals, and feedback the determined intensities of the echo signals to the control device. The control device can determine the K lidars corresponding to the top K intensities (arranged in descending order of intensity) of the echo signals as the first lidars; alternatively, the control device can determine the K lidars corresponding to the intensities of the echo signals greater than the intensity threshold as the first lidars.

[0185] It should be understood that the greater the intensity of the echo signal, the higher the accuracy of the alignment between the laser beam emitted by the lidar and the target, and the target is not blocked, and the echo signal can be reflected as much as possible.

[0186] Method 3, the control device randomly selects.

[0187] The control device can randomly select K out of N lidars as the first lidars.

[0188] It should be noted that among the K first lidars, one first lidar can communicate with one target, that is, the first lidar communicates with the target one-to-one. See Figure 5a Or Figure 5b ; alternatively, multiple first lidars can also communicate with one target, that is, the first lidars communicate with the target many-to-one. See Figure 5c Or Figure 5d .

[0189] The first lidar can be used both for communicating with the target and for tracking the target. The process of interaction between the first lidar and the target will be introduced below to give an exemplary implementation solution.

[0190] In a possible implementation manner, the first lidar can also be used to emit a first laser beam to the target in a first time domain. The first laser beam carries communication information, that is, the first laser beam is used to realize communication between the first lidar and the target; the first lidar can also be used to emit a second laser beam to the target in a second time domain. The second laser beam is used to determine the first distance between the first lidar and the target. In other words, the first lidar can emit the first laser beam or the second laser beam to the target in different time domains respectively. That is to say, the first lidar emits the first laser beam and the second laser beam to the target in a time-division multiplexing manner.

[0191] Please refer to Figure 6, is a schematic diagram of the relationship between a first time domain and a second time domain provided in the present application. The first time domain and the second time domain are arranged alternately and constitute a continuous time domain. Among them, the first time domain includes the first time domain 1 and the first time domain 3, and the second time domain includes the second time domain 2 and the second time domain 4. The first time domain 1, the second time domain 2, the first time domain 3 and the second time domain 4 constitute a continuous time domain. In other words, the first time domain 1, the second time domain 2, the first time domain 3 and the second time domain 4 are four continuous time domains. That is, the first laser beam and the second laser beam emitted by the first laser radar are continuous laser beams.

[0192] It should be noted that the duration of the first time domain 1 may be the same as or different from the duration of the first time domain 3; the duration of the second time domain 2 may be the same as or different from the duration of the second time domain 4; the duration of the first time domain may be the same as or different from the duration of the second time domain, and this application does not impose any limitations on this.

[0193] Combined with the above Figure 6 , the first laser radar may emit a first laser beam carrying communication information to the target in the first time domain 1; then emit a second laser beam for determining the first distance to the target in the second time domain 2; then emit the first laser beam carrying communication information to the target in the first time domain 3; then emit the second laser beam for determining the first distance to the target in the second time domain 4. It should be understood that the communication information carried by the first laser beam emitted in the first time domain 1 may be the same as the communication information carried by the first laser beam emitted in the first time domain 2, or may be different, and this application does not limit this.

[0194] In order to allow the target to distinguish the first laser beam from the second laser beam, two possible implementations of modulating the laser beam are exemplarily shown below.

[0195] Implementation method 1: Modulation through communication code and ranging code.

[0196] For example, in the first time domain, the first laser radar may encode the communication information to obtain a communication code (see the above Figure 6 ), and modulate the communication code on the laser beam to be emitted to obtain the first laser beam; in the second time domain, the first laser radar can transmit the ranging code (see the above Figure 6 ) is modulated on the laser beam to be emitted to obtain a second laser beam. Figure 6 The ranging code in is 1101100101, and the ranging codes in the first time domain 1 and the first time domain 3 are the same.

[0197] It should be noted that the ranging code is the same in different time periods; the communication code can be the same or different in different time periods.

[0198] The second implementation method is to adjust the top.

[0199] Tone-on-top means adding a small-amplitude low-frequency sine or cosine modulation to each wavelength as an identifier, and different wavelengths use different frequency identifiers. When this low-frequency sine or cosine signal is superimposed on the optical wavelength, there is a certain modulation amplitude on the top of the optical wavelength. By using tone-on-top to mark the optical channel, the tone-on-top signal is superimposed on the original signal and transmitted to the target together.

[0200] Exemplarily, the first lidar can also be used to combine (or superimpose) a communication code and a ranging code, and modulate the combined communication code and ranging code on the laser beam to be transmitted to obtain a fourth laser beam; and transmit the fourth laser beam to the target. Among them, the combination method of the communication code and the ranging code includes but is not limited to multiplication.

[0201] In a possible implementation manner, it can be that the communication code is superimposed on the ranging code, or the ranging code is superimposed on the encoded communication information. Please refer to Figure 7 , which is a schematic diagram of a tone-on-top process provided by this application. Figure 7 In (a), it represents the communication code, Figure 7 in (b) represents the ranging code, and Figure 7 the (a) in can be multiplied by Figure 7 the (b) in to obtain Figure 7 the (c) in; or the (b) in Figure 7 can also be multiplied by Figure 7 the (a) in to obtain Figure 7 the (c) in.

[0202] It should be noted that the above modulation can be performed by a modulator inside the lidar or a modulator outside the lidar. Generally, the modulation by the modulator can modulate the phase by an acousto-optic modulator or an electro-optic modulator.

[0203] When K is greater than 1, K lidars can communicate with the target simultaneously, thereby increasing the data communication ability. Specifically, after K lidars are all aligned with the target, the lidar closer to the target can delay sending data, which can ensure that the data sent by the lidar closer to the target and the lidar farther from the target can reach the target simultaneously, thereby ensuring that the data reaching the target is consistent. When the data received by the target is inconsistent, the received data can be compensated. For example, if the target receives the data from lidar 1 as 101100000 and the data from lidar 2 as 1100000, the target can compensate the data 1100000 from lidar 2 to 101100000, thereby ensuring that the data obtained by the target is consistent.

[0204] Further, by communicating with the target through K first lidars, the communication capacity with the target can be increased. Taking two lidars (Lidar 1 and Lidar 2) as an example, Lidar 1 can transmit a signal carrying m1G of data to the target, and Lidar 2 can transmit a signal carrying m2G of data to the target. The transmission times of the signals emitted by the two lidars can be controlled to be the same to ensure simultaneous arrival at the target, that is, the capacity that the detection and communication system can transmit to the target simultaneously is (m1 + m2)G.

[0205] In this application, the detection and communication system may further include a target. The target can be an object that needs to measure distance and / or speed, etc., and can be a moving object or a stationary object. For the introduction of the target in the above scenarios, please refer to the relevant content above and will not be repeated here.

[0206] As Figure 8a shown, it is a schematic structural diagram of a target provided by this application. The target is a cooperative target. The target may include a lens assembly, a reflective assembly, and a third detector. The lens assembly is used to converge the received first laser beam to the third detector. The third detector is used to demodulate the received first laser beam to obtain the communication information carried by the first laser beam. The reflective assembly is used to reflect the second laser beam to obtain a second echo signal. Further, optionally, the reflective assembly can be used to reflect the second echo signal to the first lidar so that the first lidar can determine the first distance between the target and the target according to the second laser beam and the second echo signal.

[0207] It should be noted that the lens assembly is also used to receive the second laser beam from the first lidar and converge the received second laser beam to the third detector, but the third detector cannot demodulate the second laser beam. In addition, the reflective assembly is also used to reflect the first laser beam. However, since the first laser beam carries the communication information sent by the lidar to the target, generally, the reflection effect of the target on the first laser beam is not considered.

[0208] This target can be applied to user-wearable display devices, such as helmets (see Figure 8b ) or AR glasses. One or more targets can be set on the user-wearable display device. Figure 8b Taking the example of setting three targets, when more targets are set, the area where the target is located can be further determined quickly.

[0209] When there is one target set on the user-wearable display device, in order to accurately and quickly determine the area where the target is located, at least one circular reflective band can also be set on the user-wearable display device. See Figure 8c . It should be understood that the positional relationship between the reflective band and the target set on the target is determined. Therefore, by determining the position where the laser beam hits the reflective band, the area where the target is located can be roughly estimated.

[0210] The following Figure 8a introduces and explains each functional component and structure shown respectively to give an exemplary specific implementation solution.

[0211] I. Reflective Component

[0212] As Figure 9 shown, it is a schematic structural diagram of a reflective component provided by this application. The reflective component is a corner cube. The corner cube includes a reflective surface A, a reflective surface B, and a cylinder G. The second laser beam can enter the reflective surface A from the cylinder G of the corner cube, be reflected by the reflective surface A to the reflective surface B, and then be reflected by the reflective surface B to obtain a second echo signal, and the second echo signal is emitted towards the first lidar through the cylinder G.

[0213] In a possible implementation manner, the lens component can be a hemispherical lens, and the corner cubes can be closely arranged and fixed on the cross-section of the hemisphere. For example, the reflective component can be adhesively bonded to the cross-section of the hemisphere. Please refer to Figure 10 , which exemplarily shows a schematic diagram of a cross-section of a hemisphere where corner cubes are closely arranged and fixed on the hemispherical lens.

[0214] II. Third Detector

[0215] In a possible implementation manner, the third detector can be, for example, any one of a PIN-type photodiode (also known as a PIN junction diode), an avalanche photodiode (APD), a PIN-type photodiode array, an APD array, or a balanced detection formed by a combination of PIN-type photodiodes, a balanced detection formed by a combination of APDs, or a balanced detection formed by a combination of PIN-type photodiode arrays, or a balanced detection formed by a combination of APD arrays.

[0216] If the first lidar is modulated to obtain the first laser beam and the second laser beam through the above-mentioned implementation manner 1, after the third detector receives the first laser beam and the second laser beam, it can determine the second laser beam through the ranging code, and then determine the first laser beam. Combining the above Figure 6 , the third detector can determine that the first laser beam is between the two second laser beams, and then demodulate the first laser beam to obtain communication information.

[0217] If the first lidar is modulated to obtain the fourth laser beam through the above-mentioned implementation manner 2, by separating the combined ranging code and communication code modulated on the fourth laser beam, the communication code can be obtained, and demodulating the communication code can obtain communication information.

[0218] It should be understood that the N lidars in the detection and communication system and the target can pre-agree on the ranging code.

[0219] Based on the second echo signal reflected back by the above-mentioned target, the first detector included in the first lidar can determine the first distance to the target according to the received second echo signal and the emitted second laser beam.

[0220] Exemplarily, the first detector can also be any one of a PIN photodiode (also known as a PIN junction diode), an avalanche photodiode (APD), a PIN photodiode array, an APD array, or a balanced detection formed by combining PIN photodiodes, a balanced detection formed by combining APDs, or a balanced detection formed by combining PIN photodiode arrays, or a balanced detection formed by combining APD arrays, or a charge-coupled device (CCD). It should be noted that when the first detector is a quadrant detector, during the process of the lidar performing rough alignment with the target, the quadrant outputs the total light intensity information and does not need to output the light intensity information of each quadrant.

[0221] In a possible implementation, the first detector can determine the first distance between the first lidar and the target according to the echo time delay τ corresponding to the second laser beam and the speed of light C. Among them, the echo time delay corresponding to the second laser beam refers to the time difference between the moment when the first lidar emits the second laser beam and the moment when the second echo signal is received by the first detector.

[0222] Exemplarily, in combination with the above Figure 6 , the ranging code corresponding to the second laser beam emitted by the first lidar is 1101100101, and the corresponding moment is t1. The moment when the first detector receives the second echo signal with the ranging code 1101100101 is t2. The first distance can be determined as = C×τ / 2 = C×(t2 - t1) / 2.

[0223] The following describes the process of the second lidar tracking the target to give an exemplary implementation solution.

[0224] In a possible implementation, the second lidar is also used to emit a third laser beam towards the target, and the third laser beam is used to determine the first distance between the second lidar and the target. Further, optionally, the second lidar can also include a second detector. It should be understood that the second lidar determines the first distance to the target in the same way as the first lidar, and will not be repeated here.

[0225] It should be noted that based on the above Figures 8a to 10For any target, the lens assembly can also be used to receive a third laser beam from a second lidar and converge the third laser beam onto a third detector; since the third laser beam is used to determine the distance between the second lidar and the target, generally, the third detector does not need to demodulate the third laser beam. The reflective component can also be used to reflect the third laser beam to obtain a third echo signal. Further, optionally, the reflective component can be used to reflect the third echo signal to the second lidar so that the second lidar determines a first distance from the target based on the third laser beam and the third echo signal.

[0226] In this application, the target may move. After the target moves, the second lidar can promptly determine that the target has moved, and in combination with the corresponding feedback control component of the second lidar, can accurately adjust the pointing of the second lidar to achieve precise tracking of the moving target and send a second message to the control device. The second message is used to indicate the position of the target after movement. Correspondingly, the control device is also used to receive the second message from the second lidar, determine the pointing of the first lidar when it is aligned with the moved target based on the second message; generate a third command based on the pointing of the first lidar when it is aligned with the moved target, and send the third command to the first lidar. The first lidar that receives the third command readjusts the pointing of the first lidar, thereby enabling the central region of the laser beam emitted by the first lidar to be aligned with the target.

[0227] Due to the movement of the target, there may be some lidars that cannot promptly align with the target. To ensure the reliability of communication, the control device is also used to send a second command to M of the second lidars when it determines that there is a lidar among the K first lidars that is not aligned with the target. The second command is used to instruct the M lidars to communicate with the target. Correspondingly, the M of the second lidars are also used to receive the second command from the control device and communicate with the target according to the second command, where N is an integer greater than 2, N - K is an integer greater than or equal to 2, and M is a positive integer less than N - K. That is to say, the M second lidars that receive the second command switch to the communication mode.

[0228] It should be noted that M being an integer less than N - K can ensure that among the N lidars, there are both first lidars for communicating with the target and second lidars for tracking the target.

[0229] Exemplarily, if the control device determines that one of the first lidars is not aligned with the target, it can send a second command to one or two or more of the second lidars so that some of the second lidars switch to communicate with the target. When two or more of the second lidars are switched to communicate with the target, it not only helps to ensure the reliability of communication but also helps to improve the transmission rate of communication information.

[0230] To further ensure the reliability of communication, when the second lidar (referred to as the second lidar a) switched to the communication mode sends communication information to the target, it is necessary to have partial overlap with the communication sent by the first lidar (referred to as the first lidar a) that is not aligned with the target. Combining Figure 12a , the communication information to be sent is as Figure 12a in (1) of Figure 12a , the communication information sent by the first lidar a is as Figure 12a in (2) of

[0231] Based on the above content, below in combination with the specific hardware structure, a specific implementation manner of the above detection and communication system is given. To facilitate further understanding of the structure of the above detection and communication system and the implementation process of the detection target.

[0232] As Figure 12b shown, it is a schematic structural diagram of another detection and communication system provided by the present application. The detection and communication system includes four lidars (lidar 1, lidar 2, lidar 3, and lidar 4), a control device, and a movable target. Each lidar is connected to a feedback control component through a physical connection. Lidar 1 and lidar 2 serve as the first lidar, and lidar 3 and lidar 4 serve as the second lidar. The position of the target can be represented by (x T , y T , z T ).

[0233] The four lidars can search for the target simultaneously and align with the target respectively. The specific process of searching for the target can refer to the relevant descriptions in the above cases 1.1 to 1.3. When all four lidars are aligned with the target, lidar 1 and lidar 2 are used to communicate with the target. The specific process can refer to the relevant descriptions of the interaction process between the first lidar and the target above. It should be understood that the communication is one-way, that is, the first lidar emits communication information to the target, and the target does not emit signals to the first lidar. Lidar 3 and lidar 4 are used to track the target. The specific process can refer to the relevant descriptions of the process of the second lidar tracking the target above, and will not be elaborated here one by one.

[0234] Based on the above content and the same concept, the present application provides a detection method. Please refer to the introduction in Figure 13a . This detection method can be applied to the above Figures 2 to 12bThe detection and communication system in any embodiment. Among them, the control device can be the control device in any of the above embodiments, and the N lidars can be the N lidars in any of the above embodiments.

[0235] As Figure 13a shown, the detection method includes the following steps:

[0236] Step 1301, the N lidars start to search for a target.

[0237] Here, it can be that the control device controls the N lidars to start searching for a target, or it can be pre-agreed by the N lidars.

[0238] Step 1302, the lidar that has searched for the target determines the first distance to the target.

[0239] Step 1303, the lidar that has searched for the target sends the first information to the control device. Correspondingly, the control device receives the first information from the lidar that has searched for the target.

[0240] Here, the first information can be used to indicate the first distance between the target and the lidar that has searched for the target.

[0241] Step 1304, the control device determines the area where the target is located according to the first information.

[0242] Step 1305, the control device generates a first instruction according to the area where the target is located, and sends the first instruction to the lidars that have not searched for the target. Correspondingly, the lidars that have not searched for the target receive the first instruction from the control device.

[0243] Here, the control device can respectively determine the search area of each lidar that has not searched for the target according to the area where the target is located; generate a first instruction according to the search area of the lidar that has not searched for the target, and the first instruction is used to instruct the lidar that has not searched for the target to search in the area where the target is located.

[0244] For a detailed introduction to the first instruction, reference can be made to the above Method 1 and Method 2, which will not be repeated here.

[0245] Step 1306, the lidars that have not searched for the target search in the area where the target is located according to the first instruction.

[0246] Step 1307, the lidar that has searched for the target adjusts the radar's pointing according to the control instruction of the feedback control component, so that the central area of the electromagnetic wave emitted by the radar that has searched for the target is aligned with the target.

[0247] Based on the above steps 1301 to 1306, it is possible to achieve that all N lidars detect the target. Through the above step 1307, the central region of the laser beams emitted by the N lidars can be aligned with the target.

[0248] After at least K of the N lidars are aligned with the target, the first lidar is used to communicate with the target, and the second lidar is used to track the target. For the specific method flow, please refer to the following Figure 13b .

[0249] As Figure 13b shown, the method includes the following steps:

[0250] Step 1331: The first lidar encodes the communication information to obtain a communication code, and modulates the communication code onto the laser beam to be emitted, obtaining a first laser beam.

[0251] Step 1332: The first lidar modulates the ranging code onto the laser beam to be emitted, obtaining a second laser beam.

[0252] It should be noted that there is no order between step 1331 and step 1332. Step 1331 can be executed first and then step 1332, or step 1332 can be executed first and then step 1331, or they can be executed simultaneously.

[0253] Step 1333: The first lidar emits the first laser beam to the target in the first time domain. Correspondingly, the target receives the first laser beam from the first lidar.

[0254] Step 1334: The first lidar emits the second laser beam to the target in the second time domain. Correspondingly, the target receives the second laser beam from the first lidar.

[0255] Step 1335: The target demodulates the first laser beam to obtain the communication information.

[0256] Step 1336: The target reflects a second echo signal to the first lidar.

[0257] Step 1337: The first lidar determines the first distance from the target based on the second laser beam and the second echo signal.

[0258] Step 1338: The second lidar emits a third laser beam to the target. Correspondingly, the target receives the third laser beam from the second lidar.

[0259] It should be noted that the above step 1338 can be executed before the above step 1331, or it can be executed at any step after the above step 1331. That is to say, the first lidar and the second lidar can independently emit laser beams, and there is no order between their emissions.

[0260] Step 1339, the target reflects the third echo signal to the second lidar.

[0261] Step 1340, the second lidar can determine the first distance to the target according to the third electromagnetic wave and the third echo signal.

[0262] After at least K of the N lidars are aligned with the target, the first lidar is used to communicate with the target, and the second lidar is used to track the target. The specific method flow can be referred to the following Figure 13c 。

[0263] Step 1321, the first lidar encodes the communication information through a communication code to obtain a communication code.

[0264] Step 1322, the first lidar combines the communication code and the ranging code, and modulates the combined communication code and ranging code onto the laser beam to be emitted, obtaining a fourth laser beam.

[0265] Step 1323, the first lidar emits the fourth laser beam towards the target.

[0266] Step 1324, the target demodulates the fourth laser beam to obtain communication information, and reflects a fourth echo signal to the first lidar.

[0267] Step 1325, the first lidar determines the first distance to the target according to the fourth laser beam and the fourth echo signal.

[0268] Step 1326, the second lidar emits a third laser beam towards the target. Correspondingly, the target receives the third laser beam from the second lidar.

[0269] Step 1327, the target reflects the third echo signal to the second lidar.

[0270] Step 1328, the second lidar can determine the first distance to the target according to the third laser beam and the third echo signal.

[0271] After at least K of the N lidars are aligned with the target, the second lidar can also be used to scan the target to obtain three-dimensional information of the scene where the target is located. The specific method flow can be referred to the following Figure 13d 。

[0272] Step 1341, the second lidar emits a fifth laser beam towards the area where the target is located.

[0273] Step 1342, the area where the target is located and the target reflect a fifth echo signal to the second lidar.

[0274] Step 1343: The second lidar can establish a three-dimensional model of the area where the target is located based on the fifth echo signal.

[0275] Through the above steps 1341 to 1343, information such as the attitude of the target and the three-dimensional model can be obtained.

[0276] In this application, the target may move. After the target moves, in order to enable the lidar to align with the target in a timely manner, as Figure 14 shown, another detection method provided by this application includes the following steps:

[0277] Step 1401: The second lidar determines that the target has moved and sends a second message to the control device. Correspondingly, the control device receives the second message from the second lidar.

[0278] Here, the second message includes the position of the target after movement.

[0279] Step 1402: The control device determines the pointing direction of the first lidar when it aligns with the moved target based on the second message, and generates a third instruction according to the pointing direction of the first lidar when it aligns with the moved target.

[0280] Step 1403: The control device sends the third instruction to the first lidar. Correspondingly, the first lidar receives the third instruction from the control device.

[0281] In a possible implementation, the control device determines the pointing direction of the first lidar when it aligns with the moved target based on the second message.

[0282] Step 1404: The first lidar adjusts the pointing direction of the first lidar to point to the moved target according to the third instruction.

[0283] Step 1405: The control device determines the lidars among the K first lidars that are not aligned with the target, and sends a second instruction to M of the second lidars. Correspondingly, the M second lidars receive the second instruction from the control device.

[0284] Here, the second instruction is used to instruct the M lidars to communicate with the target.

[0285] Step 1406: The M second lidars communicate with the target according to the second instruction.

[0286] It should be noted that steps 1402 to 1404 can be executed first, and then steps 1405 to 1406; or steps 1405 to 1406 can be executed first, and then steps 1402 to 1404.

[0287] Based on the above content and the same concept, this application provides a control method, please refer to Figure 15 This control method can be applied to the above Figures 2 to 12b The control device of any embodiment.

[0288] like Figure 15 As shown, the control method includes the following steps:

[0289] Step 1501: The laser radar that has searched for the target sends first information to the control device. Accordingly, the control device receives the first information from the laser radar that has searched for the target, and the first information is used to indicate a first distance between the target and the laser radar that has searched for the target, and the laser radar that has searched for the target is at least one of the N laser radars.

[0290] Step 1502: The control device determines the area where the target is located according to the first information.

[0291] Step 1503: The control device generates a first instruction according to the area where the target is located.

[0292] In step 1504, the control device sends a first instruction to the laser radar that has not found the target, and the first instruction is used to instruct the laser radar that has not found the target to search in the area where the target is located; the laser radar that has not found the target is the laser radar among the N laser radars except the laser radar that has found the target, and N is an integer greater than 1.

[0293] Step 1505: The laser radar that has not found the target searches in the area where the target is located according to the first instruction.

[0294] It should be noted that the possible implementation methods of the N laser radars and the control device in the above method embodiment can be found in the above related descriptions and will not be repeated here.

[0295] Based on the above content and the same concept, combined with possible application scenarios of the present application, the following exemplarily shows a schematic diagram of the method flow in different scenarios.

[0296] like Figure 16 As shown, it is a flow chart of another detection and communication method provided by the present application. This method can be applied to the above Figures 1b to 1h In any scenario. The method comprises the following steps:

[0297] Step 1601, N laser radars search for targets.

[0298] This step can be referred to the introduction of the above step 1301, which will not be repeated here. It should be understood that N laser radars search for a target, that is, N laser radars scan in the detection area.

[0299] Step 1602: The N lidars respectively obtain the point cloud data of the scanned detection area and send the point cloud data to the control device. Correspondingly, the control device receives the point cloud data from the N lidars.

[0300] Step 1603: The control device performs 3D modeling based on the received point cloud data.

[0301] Here, since the N lidars scan the entire detection area, the control device can establish a 3D model of the entire detection area. It should be understood that if the laser beam emitted by one lidar is blocked, the laser beams of other lidars can be used for scanning, so that the control device can establish a more accurate 3D model.

[0302] Step 1604: The control device cooperates with the N lidars to align the N lidars with the target respectively.

[0303] For the introduction of this step 1604, reference can be made to the introduction of the above steps 1302 to 1307, which will not be repeated here.

[0304] It should be noted that there is no sequential order between the above step 1603 and step 1604. Step 1603 can be executed first and then step 1604, or step 1604 can be executed first and then step 1603.

[0305] Step 1605: The first lidar communicates with the target.

[0306] Here, if this method is applied to the scenarios shown in the above Figure 1b , Figure 1c , Figure 1d , Figure 1g or Figure 1h , the communication information includes but is not limited to graphic data. If this method is applied to the scenarios shown in the above Figure 1f or Figure 1e , it can be that the first lidar sends the driving direction information to the target (i.e., the communication information is the driving direction information), or it can also be that the first lidar sends the high-precision map to the target (i.e., the communication information is the high-precision map). It should be understood that when this method is applied to the scenarios shown in the above Figure 1f or Figure 1e , when the N lidars search for the target, they can scan the road. Further, the N lidars can respectively upload the data to the control device, and the control device can transmit the scanned data to the map server. The map server can overlay the information scanned by the lidars on the map and send it to the target.

[0307] Step 1606: The second lidar tracks the target.

[0308] For the relevant introductions of Step 1605 and Step 1606, please refer to the above Figure 13b and Figure 13c , and no repeated elaboration will be provided here.

[0309] In a possible implementation, during the process of the second lidar tracking the target, it can scan only the area where the target is located, so as to obtain the pose of the target; it can also scan the entire detection area to update the three-dimensional model established in Step 1603 in a timely manner; or, when there are multiple second lidars, some are used to scan the area where the target is located, and some are used to scan the entire detection area.

[0310] As Figure 17 shown, it is a schematic flowchart of another detection method provided by this application. This method can be applied to the scenario of face recognition, and the target in this scenario can be a person. This method includes the following steps:

[0311] Step 1701, N lidars search for the target.

[0312] For this step, please refer to the introduction of Step 1301 above, and no repeated elaboration will be provided here.

[0313] Step 1702, N lidars respectively obtain the point cloud data obtained by scanning the detection area and send the point cloud data to the control device. Correspondingly, the control device receives the point cloud data from N lidars.

[0314] Step 1703, the control device performs three-dimensional modeling according to the received point cloud data.

[0315] For this Step 1703, please refer to the introduction of Step 1603 above, and no repeated elaboration will be provided here.

[0316] Step 1704, the control device cooperates with N lidars so that N lidars respectively aim at the target.

[0317] For this Step 1704, please refer to the introduction of Step 1604 above, and no repeated elaboration will be provided here.

[0318] Step 1705, N lidars respectively perform region of interest (ROI) scanning to obtain the point cloud data of the ROI.

[0319] Here, the ROI can be a face.

[0320] Step 1706, N lidars respectively send the point cloud data of the ROI to the control device. Correspondingly, the control device can respectively receive the point cloud data of the ROI from N lidars.

[0321] Combined with the above Figure 3a, 360-degree scanning can be achieved through N lidars.

[0322] Step 1707, the control device can perform 3D modeling based on the point cloud data of the ROI from N lidars.

[0323] Here, if the ROI is a human face, the established model can be a 3D human face model.

[0324] Through the above steps 1701 to 1707, N lidars scan to achieve 3D modeling, and the established model has high accuracy. For example, a human face model, so that the accuracy of face recognition can be high.

[0325] It can be understood that in order to implement the functions in the above embodiments, the control device includes the corresponding hardware structure and / or software module for executing each function. Those skilled in the art should easily realize that, combined with the modules and method steps of each example described in the embodiments disclosed in this application, this application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application scenario and design constraint conditions of the technical solution.

[0326] Based on the above content and the same concept, Figure 18 and Figure 19 are schematic structural diagrams of possible control devices provided by this application. These control devices can be used to implement the functions of the control device in the above method embodiments, and thus can also achieve the beneficial effects possessed by the above method embodiments.

[0327] As Figure 18 shown, the control device 1800 includes a processing module 1801, a receiving module 1802, and a sending module 1803. The control device 1800 is used to implement the functions of the control device in the above Figure 15 shown method embodiments.

[0328] When the control device 1800 is used to implement the functions of the control device in the Figure 15 shown method embodiments: The receiving module 1802 is used to receive the first information from the lidar that has searched for the target, and the first information is used to indicate the first distance between the target and the lidar that has searched for the target. The lidar that has searched for the target is at least one of the N lidars, and N is an integer greater than 1; the processing module 1801 is used to determine the area where the target is located according to the first information, and generate a first instruction according to the area where the target is located; the sending module 1803 is used to send the first instruction to the lidars that have not searched for the target, and the first instruction is used to instruct the lidars that have not searched for the target to search in the area where the target is located; the lidars that have not searched for the target are the lidars among the N lidars except the lidar that has searched for the target.

[0329] For a more detailed description of the above processing module 1801, receiving module 1802, and transmitting module 1803, reference may be made to Figure 15 the relevant descriptions in the illustrated method embodiments, which will not be elaborated here one by one.

[0330] It should be understood that the processing module 1801 in the embodiments of the present application may be implemented by a processor or processor-related circuit components, the receiving module 1802 may be implemented by a receiver or receiver-related circuit components, and the transmitting module 1803 may be implemented by a transmitter or transmitter-related circuit components.

[0331] Based on the above content and the same concept, as Figure 17 shown, the present application further provides a control device 1900. The control device 1900 may include a processor 1901, a receiver 1902, and a transmitter 1903. The processor 1901, the receiver 1902, and the transmitter 1903 are coupled to each other. It can be understood that the receiver 1902 may be an interface circuit or an input / output interface, and the transmitter 1903 may also be an interface circuit or an input / output interface. Optionally, the control device 1900 may further include a memory 1904 for storing instructions executed by the processor 1901 or input data required for the processor 1901 to run the instructions or data generated after the processor 1901 runs the instructions.

[0332] When the control device 1900 is used to implement Figure 15 the method shown, the processor 1901 is used to execute the functions of the above processing module 1801, the receiver 1902 is used to execute the functions of the above receiving module 1802, and the transmitter 1903 is used to execute the functions of the above transmitting module 1803.

[0333] It can be understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0334] The method steps in the embodiments of this application can be implemented in a hardware manner or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in a random access memory (RAM), flash memory, read-only memory (ROM), programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), register, hard disk, removable hard disk, CD-ROM, or any other form of storage medium well-known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. Additionally, the ASIC can be located in a network device or a terminal device. Of course, the processor and the storage medium can also exist as discrete components in a network device or a terminal device.

[0335] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions of the embodiments of this application are executed in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, or other programmable devices. The computer program or instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer program or instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired or wireless manner. The computer-readable storage medium can be any available medium that the computer can access or a data storage device such as a server or a data center integrating one or more available mediums. The available medium can be a magnetic medium, such as a floppy disk, a hard disk, or a magnetic tape; it can also be an optical medium, such as a digital video disc (DVD); or it can be a semiconductor medium, such as a solid state drive (SSD).

[0336] In various embodiments of the present application, without special instructions and logical conflicts, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0337] In the present application, "uniform" does not mean absolute uniformity, and "vertical" does not mean absolute perpendicularity. A certain engineering error is allowed. "At least one" means one or more, and "a plurality of" means two or more. "And / or" describes the association relationship of associated objects and indicates that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B can be singular or plural. "At least one of the following" or its similar expressions refer to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple. In the written description of the present application, the character " / " generally indicates an "or" relationship between the associated objects before and after. In the formulas of the present application, the character " / " indicates a "division" relationship between the associated objects before and after. Additionally, in the present application, the term "exemplary" is used to mean an example, illustration, or explanation. Any embodiment or design solution described as "exemplary" in the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Or it can be understood that the use of the term "exemplary" is intended to present concepts in a specific manner and does not constitute a limitation to the present application.

[0338] It can be understood that the various numerical numbers involved in the present application are only for the convenience of description and are not used to limit the scope of the embodiments of the present application. The magnitudes of the serial numbers of the above processes do not mean the sequence of execution. The execution sequence of each process should be determined according to its function and inherent logic. Terms such as "first", "second", etc. are used to distinguish similar objects and do not necessarily need to be used to describe a specific order or sequence. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a method, system, product, or device comprising a series of steps or units does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0339] Although the present application has been described in connection with specific features and their embodiments, it will be apparent that various modifications and combinations can be made without departing from the spirit and scope of the present application. Accordingly, the present specification and the drawings are merely illustrative of the solutions defined by the appended claims and are considered to cover any and all modifications, variations, combinations or equivalents within the scope of the present application.

[0340] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these changes and modifications.

Claims

1. A detection and communication system, characterized in that, Including: N radars, which are respectively used to search for a target and respectively align with the target, where N is an integer greater than 1; The first radar is used to communicate with the target, and the second radar is used to track the target; where the first radar is K radars among the N radars that are aligned with the target, and the second radar is the radars among the N radars except the first radar, and K is a positive integer less than N; The radars among the N radars that search for the target are used to feedback first information to the control device, and the first information is used to indicate the first distance between the target and the radar that searches for the target; The radars among the N radars that do not search for the target are used to receive a first instruction from the control device and search in the area where the target is located according to the first instruction.

2. The system according to claim 1, characterized in that, The coverage areas of the electromagnetic waves emitted by the N radars overlap.

3. The system according to claim 1, characterized in that, If a radar searches for the target, the first instruction is used to indicate that the radars that do not search for the target search on the spherical surface with the radar that searches for the target as the center of the sphere and the first distance as the radius.

4. The system according to claim 1, characterized in that, N is an integer greater than 2. If two radars search for the target, the first instruction is used to indicate that the radars that do not search for the target search on the intersection line of the spherical surfaces corresponding to the two radars that search for the target, where the spherical surface corresponding to the radar that searches for the target is a spherical surface with the radar that searches for the target as the center of the sphere and the first distance as the radius.

5. The system according to claim 1, characterized in that, N is an integer greater than 3. If at least three radars search for the target, the first instruction is used to indicate that the radars that do not search for the target search at the intersection points of the spherical surfaces corresponding to at least three radars that search for the target, where the spherical surface corresponding to the radar that searches for the target is a spherical surface with the radar that searches for the target as the center of the sphere and the first distance as the radius.

6. The system according to claim 1, characterized in that, The N radars are respectively used for: Receiving the echo signals reflected from the detection area; Determining the point cloud data corresponding to the detection area according to the received echo signals; Feeding back third information to the control device, and the third information includes the corresponding point cloud data.

7. The system according to claim 6, characterized in that, The N radars are respectively further used for: Receiving a fourth instruction from the control device, and the fourth instruction is used to indicate the area where the target is located; Searching in the area where the target is located according to the fourth instruction.

8. The system according to any one of claims 1 to 7, characterized in that, Each of the N radars corresponds to a feedback control component; The feedback control component is used for: Receiving fourth information from the radar that searches for the target, and the fourth information is used to indicate the positional relationship between the central area of the electromagnetic wave emitted by the radar that searches for the target and the target; Generating a control instruction according to the fourth information, and the control instruction is used to indicate that the central area of the electromagnetic wave emitted by the radar that searches for the target is aligned with the target.

9. The system according to any one of claims 1 to 7, characterized in that, The second radar is further used for: Sending second information to the control device, and the second information is used to indicate the position of the target after movement.

10. The system according to claim 9, characterized in that, If N is an integer greater than 2, N - K is an integer greater than or equal to 2, and M of the N - K second radars are further used for: Receive a second instruction from the control device, where the second instruction is sent when there are radars among the K first radars that do not align with the target after movement, and M is an integer less than N - K; Communicate with the target according to the second instruction.

11. The system according to any one of claims 1 to 7, characterized in that, The first radar is further configured to: Transmit a first electromagnetic wave to the target in a first time domain, where the first electromagnetic wave carries communication information; Transmit a second electromagnetic wave to the target in a second time domain, where the second electromagnetic wave is used to determine a first distance between the first radar and the target; The second radar is further configured to: Transmit a third electromagnetic wave to the target, where the third electromagnetic wave is used to determine a first distance between the second radar and the target.

12. The system according to claim 11, wherein, Specifically, the first radar is configured to: In the first time domain, encode the communication information to obtain a communication code, and modulate the communication code on the electromagnetic wave to be transmitted to obtain the first electromagnetic wave; In the second time domain, modulate a ranging code on the electromagnetic wave to be transmitted to obtain the second electromagnetic wave.

13. The system according to claim 11, wherein, The first time domain and the second time domain are arranged alternately.

14. The system according to any one of claims 1 to 7, wherein, The first radar is further configured to: Encode the communication information to obtain a communication code; Combine the communication code and the ranging code, and modulate the combined communication code and ranging code on the electromagnetic wave to be transmitted to obtain a fourth electromagnetic wave; Transmit the fourth electromagnetic wave to the target.

15. The system according to claim 11, wherein, The first radar further includes a first detector; The first detector is configured to receive a second echo signal from the target, and determine the first distance between the first detector and the target according to the second echo signal, where the second echo signal is obtained by the target reflecting the second electromagnetic wave; The second radar further includes a second detector; The second detector is configured to receive a third echo signal from the target, and determine the first distance between the second detector and the target according to the third echo signal, where the third echo signal is obtained by the target reflecting the third electromagnetic wave.

16. The system according to claim 15, wherein, The detection and communication system further includes the target, and the target includes a lens assembly, a reflective assembly, and a third detector; The lens assembly is configured to converge the received first electromagnetic wave to the third detector; The third detector is configured to demodulate the received first electromagnetic wave to obtain the communication information; The reflective assembly is configured to reflect the second electromagnetic wave to obtain the second echo signal; and reflect the third electromagnetic wave to obtain the third echo signal.

17. The system according to claim 16, wherein, The lens assembly is a hemispherical lens, and the reflective assembly is fixed on the cross-section of the hemisphere.

18. The system according to claim 16, wherein, The reflective assembly is a corner cube.

19. The system according to any one of claims 1 to 7, wherein, The detection and communication system further includes a control device; The control device is configured to: Receive first information from the radar that has searched for the target, where the first information is used to indicate a first distance between the target and the radar that has searched for the target; Determine the area where the target is located according to the first information; Generate a first instruction according to the area where the target is located, and send the first instruction to the radars that have not searched for the target.

20. The system according to claim 6 or 7, wherein, The control device is further configured to: Receive point cloud data from the N radars; Determine the area where the target is located according to the received point cloud data; Send a fourth instruction to each of the N radars, and the fourth instruction is used to indicate the area where the target is located.

21. The system according to claim 19, wherein, The control device is further configured to: Receive second information from the second radar, and the second information is used to indicate the position of the target after movement; Determine the pointing direction of the first radar when it is aligned with the target after movement according to the second information; Generate a third instruction according to the pointing direction of the first radar when it is aligned with the target after movement, and send the third instruction to the first radar.

22. The system according to claim 21, wherein, If N is an integer greater than 2, and N-K is an integer greater than or equal to 2; the control device is further configured to: Determine that there are radars among the K first radars that are not aligned with the target, and send a second instruction to M of the N-K second radars, and the second instruction is used to instruct the M radars to communicate with the target, where M is a positive integer less than N-K.

23. A control device, wherein, Comprising: A processor, a transmitter and a receiver, The receiver is configured to receive first information from a radar that has searched for a target, and the first information is used to indicate a first distance between the target and the radar that has searched for the target; The processor is configured to determine the area where the target is located according to the first information, and generate a first instruction according to the area where the target is located; The transmitter is configured to send the first instruction to radars that have not searched for the target, and the first instruction is used to instruct the radars that have not searched for the target to search in the area where the target is located.

24. The device according to claim 23, wherein, The processor is further configured to: Determine that there is a radar among the first radars that is not aligned with the target after movement, where the first radar is K of the radars among the N radars that are aligned with the target, N is an integer greater than 2, and N-K is an integer greater than or equal to 2; The transmitter is further configured to: Send a second instruction to M of the N-K second radars, and the second instruction is used to instruct the M radars to communicate with the target, where M is an integer less than N-K, and the second radar is a radar among the N radars other than the first radar.

25. The device according to claim 24, wherein, The receiver is further configured to: Receive second information from the second radar, and the second information is used to indicate the position of the target after movement; The processor is further configured to: Determine the pointing direction of the first radar when it is aligned with the target after movement according to the second information; Generate a third instruction according to the pointing direction of the first radar when it is aligned with the target after movement; The transmitter is further configured to send the third instruction to the first radar.

26. A detection system, wherein, Comprising: N radars for searching for a target respectively, where N is an integer greater than 1; The radars among the N radars that have searched for the target are configured to feedback first information to the control device, and the first information is used to indicate a first distance between the target and the radar that has searched for the target; The radars among the N radars that have not searched for the target are configured to receive the first instruction from the control device and search in the area where the target is located according to the first instruction.

27. The system according to claim 26, wherein, The detection system further includes the control device; The control device is configured to: Receive first information from the radar that has detected the target; Determine the area where the target is located according to the first information; Generate a first instruction according to the area where the target is located, and send the first instruction to the radars that have not detected the target.

28. The system according to claim 26 or 27, wherein, Each of the N radars corresponds to a feedback control component; The feedback control component is configured to: Receive second information from the radar that has detected the target, where the second information is used to indicate the positional relationship between the central area of the electromagnetic wave emitted by the radar that has detected the target and the target; Generate a control instruction according to the second information, where the control instruction is used to indicate that the central area of the electromagnetic wave emitted by the radar that has detected the target is aligned with the target.

29. The system according to claim 26 or 27, wherein, The first radar among the N radars is used to communicate with the target, and the second radar is used to track the target. Among them, the first radar is K radars among the N radars that are aligned with the target, the second radar is the radars among the N radars except the first radar, and K is a positive integer less than N.

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