Multi-line navigation lidar and method of controlling the same

Abstract

The application provides a multi-line navigation laser radar and a control method thereof, the laser radar comprising: a laser emission unit for forming a plurality of outgoing lights, wherein the plurality of outgoing lights comprise a horizontal outgoing light parallel to a horizontal plane where the laser radar is located; a bottom control unit for generating code disc information according to position information of the horizontal outgoing light; and a top control unit for controlling the laser emission unit to emit outgoing lights with different light frequencies in the same direction and different directions of the horizontal outgoing light based on the code disc information. Through the scheme of the application, a multi-line laser radar with a horizontal line beam can be realized, which can be used to realize target positioning navigation and SLAM navigation.

Description

Technical Field

[0001] The present invention relates to the field of laser radar detection, and in particular to a multi-line navigation laser radar and a control method thereof. Background Art

[0002] LiDAR is a radar system that uses laser beams to detect the position, speed and other characteristic quantities of a target. Its working principle is to first emit a detection laser beam to the target, and then compare the received signal reflected from the target with the transmitted signal. After appropriate processing, relevant information about the target can be obtained, such as target distance, direction, altitude, speed, posture, and even shape parameters. It is widely used in unmanned warehousing, service robots, drones, unmanned driving or assisted driving and other fields.

[0003] In the prior art, traditional rotating multi-line laser radars typically lack beams parallel to the horizontal plane. All of their beams often form a certain angle with the horizontal plane. Furthermore, due to the influence of devices and communication speeds, the horizontal angular resolution of each beam of a multi-line laser radar cannot be very small. However, navigation laser radars used for positioning require highly precise and very small horizontal angular resolution. Therefore, traditional multi-line laser radars are not well suited for target navigation and certain SLAM navigation applications. This paper proposes a laser radar and method, wherein the laser radar has only one outgoing light parallel to the horizontal plane. Through this method, the light emission frequency of the transmitter corresponding to the outgoing light parallel to the horizontal direction can be increased, thereby reducing its horizontal angular resolution.

[0004] In addition, the traditional multi-line laser radar light-emitting timing control method can only ensure that each beam of the multi-line laser radar emits light at a uniform frequency, and cannot make a certain beam emit light at another frequency. This paper proposes a new multi-line laser radar light-emitting timing control method. Using this method, one of the beams of the multi-line laser radar can be emitted alone at a higher frequency, while the remaining frequencies emit light at another relatively low frequency. It also effectively prevents the possibility of burning the laser transmitting board due to abnormal conditions such as unstable code disk or loss of code disk signal. Summary of the Invention

[0005] In view of this, an embodiment of the present disclosure provides a vehicle type identification method, which at least partially solves the problems existing in the prior art.

[0006] In a first aspect, an embodiment of the present disclosure provides a multi-line navigation laser radar, comprising:

[0007] A laser emitting unit, configured to form a plurality of outgoing lights, wherein the plurality of outgoing lights include a horizontal outgoing light parallel to the horizontal plane where the laser radar is located;

[0008] A bottom control unit, configured to generate code disk information according to the position information of the horizontally emitted light;

[0009] The top control unit is used to control the laser emitting unit to emit light with different luminous frequencies in the same direction and different direction as the horizontal emergent light based on the code disk information.

[0010] According to a specific implementation of the embodiment of the present disclosure, the laser emitting unit includes a plurality of laser emitting plates, and the light-emitting end surfaces of the plurality of laser emitting plates are collimated by a laser collimation unit to form a plurality of emitted lights.

[0011] According to a specific implementation of the embodiment of the present disclosure, the bottom control unit includes a logic control module and a motor drive module;

[0012] The motor drive module is used to obtain code disk information;

[0013] After the logic control module obtains the code disk information, it multiplies or divides the code disk information according to the luminous frequency of the transmitting plate corresponding to the outgoing light parallel to the horizontal direction, and then sends the processed code disk information to the top control unit through the wireless communication unit.

[0014] According to a specific implementation method of an embodiment of the present disclosure, the top control unit includes a light-emitting timing control module for controlling the light-emitting timing of the multiple laser emitting panels. The laser emitting panels that are parallel to the outgoing light and the horizontal plane where the laser radar is located emit light at a preset frequency, and the remaining laser emitting panels are grouped and interpolated to emit light between every two consecutive times that the outgoing light is parallel to the horizontal direction.

[0015] According to a specific implementation of the embodiment of the present disclosure, each laser emitting board includes a charging module, a discharging module and a laser emitter, and the control signals of the charging module and the discharging module are controlled by the top control unit.

[0016] According to a specific implementation of the embodiment of the present disclosure, the light emission frequency of the laser emitting plate parallel to the horizontal emitted light is greater than the light emission frequency of the other laser emitting plates.

[0017] According to a specific implementation of the embodiment of the present disclosure, the light emission frequency of the laser emitting panel parallel to the horizontal emergent light is determined by the minimum horizontal angular resolution corresponding to the laser emitting panel.

[0018] According to a specific implementation of the embodiment of the present disclosure, the bottom control unit and the top control unit respectively perform wireless idle encoding and decoding on the data, and exchange data through the wireless communication unit.

[0019] In a second aspect, an embodiment of the present disclosure provides a method for controlling the timing of light emission of a multi-line navigation laser radar, comprising the following steps:

[0020] Group multiple laser emitting panels according to the luminous frequency of the emitting panel whose corresponding outgoing light of the multi-line navigation laser radar is parallel to the horizontal plane of the laser radar, the luminous frequency of the remaining beams, and the number of beams of the laser radar;

[0021] According to the luminous frequency of the corresponding outgoing light of the multi-line navigation laser radar and the transmitting plate parallel to the horizontal plane where the laser radar is located, the bottom control unit sends the frequency-divided or frequency-multiplied code disk signal to the top control unit through the wireless communication unit;

[0022] Using the top control board, after receiving the code disk signal sent by the wireless communication unit, it first discharges and measures the distance of the corresponding emitting board whose outgoing light is parallel to the horizontal plane of the laser radar, and then discharges and measures the distance of the remaining laser emitting boards in the group in turn, and finally charges all the laser emitting boards in the group together;

[0023] The top control board sends the calculated distance result to the bottom control unit through the wireless communication module.

[0024] According to a specific implementation of the embodiment of the present disclosure, based on the light emission frequency of the corresponding outgoing light of the multi-line navigation laser radar and the transmitting plate parallel to the horizontal plane where the laser radar is located, the bottom control unit sends the code disk signal after frequency division or frequency multiplication to the top control unit through the wireless communication unit;

[0025] After receiving the code disk signal sent by the wireless communication unit, the top control panel first discharges and measures the distance of the transmitting plate corresponding to the outgoing light parallel to the horizontal plane where the laser radar is located, so as to ensure that the horizontal angle of the transmitting plate corresponding to the outgoing light parallel to the horizontal plane where the laser radar is located is synchronized with the code disk signal.

[0026] According to a specific implementation of an embodiment of the present disclosure, performing a charging operation on a plurality of laser emitting panels includes:

[0027] First, discharge and measure the distance of the corresponding emitting board whose outgoing light is parallel to the horizontal plane of the laser radar, and then discharge and measure the distance of the remaining laser emitting boards in the group in turn. Finally, charge all the laser emitting boards in the group together, so as to ensure the safety of the multiple laser emitting boards and reduce their burning risk.

[0028] According to a specific implementation of the embodiment of the present disclosure, if the last laser emitting board in each group is a emitting board whose corresponding outgoing light is parallel to the horizontal plane where the laser radar is located, the laser emitting board is deleted from the group.

[0029] In a third aspect, an embodiment of the present disclosure provides a wireless idle coding method, wherein the coding comprises the following steps:

[0030] Define valid codes and idle codes;

[0031] When sending data, if two consecutive valid codes appear, two idle codes are forcibly inserted;

[0032] When receiving data, if two consecutive valid codes appear, the following two idle codes will be removed;

[0033] According to a specific implementation of the embodiment of the present disclosure,

[0034] When the valid code is 1, the idle code is 0;

[0035] When the valid code is 0, the idle code is 1.

[0036] The multi-line navigation laser radar in the disclosed embodiment includes: a laser emitting unit for generating multiple outgoing beams, wherein the multiple outgoing beams include a horizontal outgoing beam parallel to the horizontal plane in which the laser radar is located; a bottom control unit for generating code disk information based on the position information of the horizontal outgoing beam; and a top control unit for controlling the laser emitting unit to emit outgoing beams of different luminous frequencies in the same and different directions as the horizontal outgoing beam, respectively, based on the code disk information. The laser radar has only one outgoing beam parallel to the horizontal plane, and the luminous frequency of the emitter corresponding to the outgoing beam parallel to the horizontal direction can be increased, thereby reducing its horizontal angular resolution. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0038] Figure 1 A schematic diagram of a 16-line navigation laser radar provided by an embodiment of the present invention;

[0039] Figure 2 A 16-line navigation laser radar light emission timing diagram provided by an embodiment of the present invention;

[0040] Figure 3 A schematic diagram of a wireless idle coding method provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0041] The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0042] The following describes the embodiments of the present disclosure through specific examples, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. The present disclosure can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0043] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on this disclosure, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement an apparatus and / or practice a method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this apparatus and / or practice this method.

[0044] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present disclosure. The illustrations only show components related to the present disclosure and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0045] Additionally, in the following description, specific details are provided to provide a thorough understanding of the examples. However, one skilled in the art will appreciate that the aspects described can be practiced without these specific details.

[0046] See also Figure 1 and Figure 2 The multi-line navigation laser radar provided by the present invention includes: a laser emitting unit for forming a plurality of outgoing lights, wherein the plurality of outgoing lights include a horizontal outgoing light parallel to the horizontal plane where the laser radar is located; a bottom control unit for generating code disk information according to the position information of the horizontal outgoing light; and a top control unit for controlling the laser emitting unit to emit outgoing lights of different luminous frequencies in the same and different directions as the horizontal outgoing light based on the code disk information.

[0047] Specifically, the multi-line navigation laser radar includes a laser emitting unit, a laser collimation unit, a top control unit, a laser receiving unit, a bottom control unit, a rotary motor unit, and a wireless communication unit. The laser emitting unit includes multiple laser emitting panels. The light-emitting end surfaces of the multiple laser emitting panels are collimated by the laser collimation unit to form multiple output beams. Among the multiple output beams, only one output beam is parallel to the horizontal plane of the laser radar.

[0048] The bottom control unit includes a logic control module and a motor drive module; the motor drive module is used to obtain code disk information; after the logic control module obtains the code disk information, it multiplies or divides the code disk information according to the light emission frequency of the transmitting plate corresponding to the outgoing light parallel to the horizontal direction, and then sends the processed code disk information to the top control unit through the wireless communication unit.

[0049] The top control unit includes a light-emitting timing control module for controlling the light-emitting timing of the multiple laser emitting panels, characterized in that the laser emitting panels parallel to the outgoing light and the horizontal plane where the laser radar is located emit light at a certain frequency, and the remaining laser emitting panels are grouped and interpolated to emit light between every two consecutive times when the outgoing light is parallel to the horizontal direction.

[0050] As a method, each of the multiple laser emitting panels includes a charging module, a discharging module, and a laser emitter, and the control signals of the charging module and the discharging module are controlled by the top control unit.

[0051] As a method, the laser emitting plate parallel to the horizontal plane where the outgoing light is located and the laser radar has a light emission frequency greater than the light emission frequencies of the remaining laser emitting plates;

[0052] As a method, the luminous frequency of the emitting plate corresponding to the outgoing light parallel to the horizontal direction is determined by the minimum horizontal angular resolution corresponding to the emitting plate corresponding to the outgoing light parallel to the horizontal direction.

[0053] As a method, the bottom control unit and the top control unit respectively perform wireless idle encoding and decoding on the data, and exchange data through the wireless communication unit.

[0054] In addition, the present disclosure also provides a multi-line navigation laser radar light emission timing control method, comprising the following steps:

[0055] S101, grouping multiple laser emitting panels based on the beam and the light emission frequency;

[0056] S102, obtaining code disk information by allocating or multiplying the light emission frequency of the corresponding outgoing light of the multi-line navigation laser radar and the emission frequency of the transmitting plate parallel to the horizontal plane where the laser radar is located;

[0057] S103, performing a charging operation on the plurality of laser emission plates based on the code disc information;

[0058] S104, after the charging is completed, performing an outgoing light emission operation on the plurality of laser emission plates according to a preset light emission timing.

[0059] In the process of implementing steps S101-S104, the plurality of laser emission plates can be grouped according to the light emission frequency of the emission plate corresponding to the outgoing light parallel to the horizontal plane where the laser radar is located, the light emission frequency of the remaining beam, the number of beams of the laser radar.

[0060] According to the light emission frequency of the emission plate corresponding to the outgoing light parallel to the horizontal plane where the laser radar is located, the code disc signal after frequency division or frequency multiplication is sent to the top control unit by the bottom control unit through the wireless communication unit.

[0061] After receiving the code disc signal sent by the wireless communication unit, the top control board first discharges and measures the distance of the emission plate corresponding to the outgoing light parallel to the horizontal plane where the laser radar is located, and then sequentially discharges and measures the distance of the remaining laser emission plates in the group, and finally charges the laser emission plates in the group together. Finally, the top control board sends the calculated distance result to the bottom control unit through the wireless communication module.

[0062] According to a specific implementation manner of an embodiment of the present disclosure,

[0063] According to the light emission frequency of the emission plate corresponding to the outgoing light parallel to the horizontal plane where the laser radar is located, the code disc signal after frequency division or frequency multiplication is sent to the top control unit by the bottom control unit through the wireless communication unit.

[0064] After receiving the code disc signal sent by the wireless communication unit, the top control board first discharges and measures the distance of the emission plate corresponding to the outgoing light parallel to the horizontal plane where the laser radar is located, and then sequentially discharges and measures the distance of the remaining laser emission plates in the group, and finally charges the laser emission plates in the group together. Finally, the top control board sends the calculated distance result to the bottom control unit through the wireless communication module.

[0065] According to a specific implementation manner of an embodiment of the present disclosure, the charging operation on the plurality of laser emission plates comprises:

[0066] First, discharge and measure the distance of the emission plate corresponding to the outgoing light parallel to the horizontal plane where the laser radar is located, and then sequentially discharge and measure the distance of the remaining laser emission plates in the group, and finally charge the laser emission plates in the group together.

[0067] According to a specific implementation manner of an embodiment of the present disclosure,

[0068] If the last laser emitting board in each group is a emitting board whose corresponding outgoing light is parallel to the horizontal plane where the laser radar is located, then the laser emitting board is deleted from this group.

[0069] The present disclosure also provides a wireless idle coding method, wherein the coding comprises the following steps:

[0070] Define valid codes and idle codes. When sending data, if two consecutive valid codes appear, two idle codes are forcibly inserted. When receiving data, if two consecutive valid codes appear, the following two idle codes are removed.

[0071] As an example, Figure 1 A schematic diagram of a 16-line navigation lidar provided in an embodiment of the present invention has a vertical field of view angle of +11.7° to -12.8°, a vertical angular resolution of 1.6°, and an angle of 0° between the 8th line and the horizontal plane. The horizontal angular resolution of the 8th line is 0.05°, and the horizontal angular resolution of the remaining beams is 2°. The rotation frequency of the whole machine is 10 Hz.

[0072] Figure 2 A 16-line navigation laser radar light emission timing diagram provided in an embodiment of the present invention includes the following steps:

[0073] S1: 8 lines are illuminated at a fixed frequency with a resolution of 0.05°. The illumination frequency is F_0 = 10*360 / 0.05 = 72000. Similarly, the illumination frequency of the remaining lines is F_1 = 10*360 / 0.2 = 18000. The number of groups NG = 72000 / 18000 = 4 groups.

[0074] S2: In each group, the number of laser emitting panels is N = 16 / 4 + 1 = 5; then the multiple laser emitting panels are grouped in the following order;

[0075] Group 1: {8, 1, 2, 3, 4}

[0076] Group 2: {8, 5, 6, 7}

[0077] Group 3: {8, 9, 10, 11, 12}

[0078] Group 3: {8, 13, 14, 15, 16}

[0079] S3: The time interval between two consecutive emission waves of the emitter corresponding to the outgoing light parallel to the horizontal direction is calculated to be 13.89us. Therefore, the bottom control board divides or multiplies the frequency according to the code disk signal and sends the code disk signal to the top control board every 13.89us.

[0080] S4-S5: Timing control is performed in the following order:

[0081] 1) 8, 1, 2, 3, 4-wire discharge ranging;

[0082] 2) Charge 8, 1, 2, 3, and 4 together;

[0083] 3) Send 8, 1, 2, 3, 4 distance data to the bottom control unit

[0084] 4) 8, 5, 6, 7 line discharge ranging;

[0085] 5) 8, 5, 6, 7 charging

[0086] 6) Send 8, 5, 6, 7 distance data to the bottom control unit

[0087] 7) 8, 9, 10, 11, 12 line discharge ranging;

[0088] 8) Charge at 8, 9, 10, 11, 12

[0089] 9) Send 8, 9, 10, 11, 12 distance data to the bottom control unit

[0090] 10) 8, 13, 14, 15, 16 line discharge ranging;

[0091] 11) Charge at 8, 13, 14, 15, and 16

[0092] 12) Send distance data 8, 13, 14, 15, 16 to the bottom control unit

[0093] S6: The bottom control unit performs subsequent processing on the full circle data

[0094] Figure 3 Provides a wireless idle code encoding method (in this embodiment, the effective code is 1 and the idle code is 0) 1)01110001

[0096] After encoding using the encoding method of the present invention, 011(00)10001 has a coding efficiency of 80%. 2)11111111

[0098] After encoding using the encoding method of the present invention, the result is 11(00)11(00)11(00)11(00), and the encoding efficiency is 50%. 3)01001010

[0100] After encoding 01001010 using the encoding method of the present invention, the encoding efficiency is 100%.

[0101] The above merely provides the specific implementation of the present disclosure, but the protection scope of the present disclosure is not limited thereto, any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present disclosure, which should be covered in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A multi-line navigation laser radar, characterized in that: include: A laser emitting unit, configured to form a plurality of outgoing lights, wherein the plurality of outgoing lights include a horizontal outgoing light parallel to a horizontal plane where the laser radar is located; The bottom control unit is used to obtain the code disk information, multiply or divide the code disk information according to the luminous frequency of the emission plate of the outgoing light parallel to the horizontal direction, and then send the processed code disk information to the top control unit through the wireless communication unit; A top control unit is used to control the laser emitting unit to emit light of different luminous frequencies in the same and different directions as the horizontally emitted light based on the code disk information after frequency multiplication or division; wherein the luminous frequency of the laser emitting plate parallel to the horizontally emitted light is greater than the luminous frequency of the remaining laser emitting plates.

2. The multi-line navigation laser radar according to claim 1, characterized in that: The laser emitting unit includes a plurality of laser emitting plates, and the light-emitting end surfaces of the plurality of laser emitting plates are collimated by the laser collimating unit to form a plurality of emitted lights.

3. The multi-line navigation laser radar according to claim 1, characterized in that: The top control unit includes a light-emitting timing control module for controlling the light-emitting timing of the multiple laser emitting panels. The laser emitting panels that are parallel to the horizontal plane where the outgoing light is located emit light at a preset frequency, and the remaining laser emitting panels are grouped and interpolated to emit light between every two consecutive times when the outgoing light is parallel to the horizontal direction.

4. The multi-line navigation laser radar according to claim 1, characterized in that: Each laser emitting board includes a charging module, a discharging module and a laser emitter. The control signals of the charging module and the discharging module are controlled by the top control unit.

5. The multi-line navigation laser radar according to claim 1, characterized in that: The light emission frequency of the laser emitting panel parallel to the horizontally emitted light is determined by the minimum horizontal angular resolution corresponding to the laser emitting panel.

6. The multi-line navigation laser radar according to claim 1, characterized in that: The bottom control unit and the top control unit respectively perform wireless idle encoding and decoding on the data, and exchange data through the wireless communication unit.

7. A multi-line navigation laser radar light emission timing control method, characterized in that: The multi-line navigation laser radar light emission timing control method is applied to the multi-line navigation laser radar according to any one of claims 1 to 6, comprising the following steps: Group multiple laser emitting panels according to the luminous frequency of the emitting panel whose corresponding outgoing light of the multi-line navigation laser radar is parallel to the horizontal plane of the laser radar, the luminous frequency of the remaining beams, and the number of beams of the laser radar; According to the luminous frequency of the corresponding outgoing light of the multi-line navigation laser radar and the transmitting plate parallel to the horizontal plane where the laser radar is located, the bottom control unit sends the frequency-divided or frequency-multiplied code disk signal to the top control unit through the wireless communication unit; Using the top control board, after receiving the code disk signal sent by the wireless communication unit, it first discharges and measures the distance of the corresponding emitting board whose outgoing light is parallel to the horizontal plane of the laser radar, and then discharges and measures the distance of the remaining laser emitting boards in the group in turn, and finally charges all the laser emitting boards in the group together; The top control board sends the calculated distance result to the bottom control unit through the wireless communication module.

8. The method according to claim 7, wherein: According to the luminous frequency of the corresponding outgoing light of the multi-line navigation laser radar and the transmitting plate parallel to the horizontal plane where the laser radar is located, the bottom control unit sends the frequency-divided or frequency-multiplied code disk signal to the top control unit through the wireless communication unit; After receiving the code disk signal sent by the wireless communication unit, the top control panel first discharges and measures the distance of the transmitting plate corresponding to the outgoing light parallel to the horizontal plane where the laser radar is located, so as to ensure that the horizontal angle of the transmitting plate corresponding to the outgoing light parallel to the horizontal plane where the laser radar is located is synchronized with the code disk signal.

9. The method according to claim 7, characterized in that The charging operation of the plurality of laser emission panels includes: First, discharge and measure the distance of the corresponding emitting board whose outgoing light is parallel to the horizontal plane of the laser radar, and then discharge and measure the distance of the remaining laser emitting boards in the group in turn. Finally, charge all the laser emitting boards in the group together, so as to ensure the safety of the multiple laser emitting boards and reduce their burning risk.

10. The method according to claim 7, wherein: If the last laser emitting board in each group is a emitting board whose corresponding outgoing light is parallel to the horizontal plane where the laser radar is located, then the laser emitting board is deleted from this group.

11. A wireless idle coding method, characterized in that: The wireless idle coding method is applied to the multi-line navigation laser radar according to any one of claims 1 to 6, and the coding comprises the following steps: Define valid codes and idle codes; When sending data, if two consecutive valid codes appear, two idle codes are forcibly inserted; When receiving data, if two consecutive valid codes appear, the following two idle codes will be removed.

12. The method according to claim 11, wherein: When the valid code is 1, the idle code is 0; When the valid code is 0, the idle code is 1.

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