Laser radar signal processing method and device and laser radar system

Abstract

The embodiment of the invention provides a laser radar signal processing method, device and system, and the method comprises the steps: transmitting a laser generation instruction to different laser radars according to a preset time sequence signal, enabling the laser radars to scan a tested object according to the laser generation instruction, enabling the tested object to generate a reflected laser beam, and enabling the reflected laser beam to generate a reflected laser beam; receiving the reflected laser beam returned by the tested object; and receiving the reflected laser beams generated by the tested object, and determining the reflected laser beams corresponding to the different laser radars according to the preset time sequence signal. According to the embodiment of the invention, the time synchronization is carried out on the numerous laser radars working in the same area; the laser transmitters of the plurality of laser radars with time synchronization emit laser beams in sequence under the control of respective MCUs (Microprogrammed Control Units); the false alarm rate caused by mutual interference between the laser radars is reduced to 0.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a laser radar signal processing method, device and laser radar system. Background Art

[0002] At present, many application scenarios require many LiDARs to work in the same area. During data transmission, the signals transmitted by LiDARs interfere with each other, resulting in inaccurate LiDAR measurements and false alarms. In order to reduce false alarms, the relative position of the radar is changed so that the transmitting window and receiving window of the LiDAR are not at the same horizontal position. In this way, the position of the LiDAR needs to be changed frequently, which is cumbersome to operate. Therefore, how to reduce the mutual interference between different LiDARs in the same system is an urgent problem to be solved. Summary of the invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide a method, device and laser radar system for processing laser radar signals that overcome the above problems or at least partially solve the above problems.

[0004] In a first aspect, an embodiment of the present invention provides a method for processing a laser radar signal, the method comprising:

[0005] According to a preset timing signal, a laser generation instruction is sent to different laser radars, so that the laser radars scan the object under test according to the laser generation instruction, so that the object under test generates a reflected laser beam, and receives the reflected laser beam returned by the object under test;

[0006] The reflected laser beam generated by the tested object is received, and the reflected laser beam corresponding to different laser radars is determined according to the preset timing signal.

[0007] Optionally, the preset timing signal is determined according to the timing of emitting the laser beam and the corresponding laser beam flight time.

[0008] Optionally, the receiving of the reflected laser beam generated by the tested object and determining the reflected laser beams corresponding to different laser radars according to the preset timing signal includes:

[0009] Receiving reflected laser beams corresponding to a plurality of laser radars generated by the tested object;

[0010] The reflected laser beam corresponding to the laser radar is determined according to the moment when the reflected laser beam is received by the laser radar and the laser flight time between the laser radar and the object under test.

[0011] Optionally, determining the reflected laser beam corresponding to the laser radar according to the time when the reflected laser beam is received by the laser radar and the laser flight time between the laser radar and the object under test includes:

[0012] Acquire a first moment when a receiving module of the first laser radar receives a reflected laser beam;

[0013] Determine a first reflected laser beam corresponding to the first laser radar according to the first moment and the first laser flight time; the first laser flight time is determined according to a first distance between the first laser radar and the object under test;

[0014] Acquire a second moment when a receiving module of a second laser radar receives a reflected laser beam;

[0015] Determine a second reflected laser beam corresponding to the second laser radar according to the second moment and the second laser flight time; the second laser flight time is determined according to a second distance between the second laser radar and the object under test;

[0016] Acquire a third moment when a receiving module of the third laser radar receives the reflected laser beam;

[0017] Determine a third reflected laser beam corresponding to the third laser radar according to the third moment and the third laser flight time; the third laser flight time is determined according to a third distance between the third laser radar and the object under test;

[0018] And the first moment is smaller than the second moment, and the second moment is smaller than the third moment.

[0019] In a second aspect, an embodiment of the present invention provides a laser radar signal processing device, the device comprising:

[0020] A sending module, used for sending laser generation instructions to different laser radars according to a preset timing signal, so that the laser radars scan the tested object according to the laser generation instructions, so that the tested object generates a reflected laser beam, and receives the reflected laser beam returned by the tested object;

[0021] The receiving module is used to receive the reflected laser beam generated by the tested object and determine the reflected laser beam corresponding to different laser radars according to the preset timing signal.

[0022] Optionally, the preset timing signal is determined according to the timing of emitting the laser beam and the corresponding laser beam flight time.

[0023] Optionally, the receiving module is used for:

[0024] Receiving reflected laser beams corresponding to a plurality of laser radars generated by the tested object;

[0025] The reflected laser beam corresponding to the laser radar is determined according to the moment when the reflected laser beam is received by the laser radar and the laser flight time between the laser radar and the object under test.

[0026] Optionally, the receiving module is used for:

[0027] Acquire a first moment when a receiving module of the first laser radar receives a reflected laser beam;

[0028] Determine a first reflected laser beam corresponding to the first laser radar according to the first moment and the first laser flight time; the first laser flight time is determined according to a first distance between the first laser radar and the object under test;

[0029] Acquire a second moment when a receiving module of a second laser radar receives a reflected laser beam;

[0030] Determine a second reflected laser beam corresponding to the second laser radar according to the second moment and the second laser flight time; the second laser flight time is determined according to a second distance between the second laser radar and the object under test;

[0031] Acquire a third moment when a receiving module of the third laser radar receives the reflected laser beam;

[0032] Determine a third reflected laser beam corresponding to the third laser radar according to the third moment and the third laser flight time; the third laser flight time is determined according to a third distance between the third laser radar and the object under test;

[0033] And the first moment is smaller than the second moment, and the second moment is smaller than the third moment.

[0034] In the third aspect, an embodiment of the present invention provides a laser radar system, which comprises at least: a processing module, a clock module and multiple laser radar modules, wherein the processing module is connected to the clock module and the multiple laser radar modules respectively, and the processing module is used to execute the first laser radar signal processing method.

[0035] Optionally, the clock module is used to provide the same timing for the multiple lidar modules.

[0036] The embodiments of the present invention include the following advantages:

[0037] The laser radar signal processing method, device and system provided by the embodiments of the present invention send laser generation instructions to different laser radars according to a preset timing signal, so that the laser radar scans the tested object according to the laser generation instruction, so that the tested object generates a reflected laser beam, and receives the reflected laser beam returned by the tested object; receives the reflected laser beam generated by the tested object, and determines the reflected laser beams corresponding to different laser radars according to the preset timing signal. The embodiments of the present application add time synchronization to multiple laser radars working in the same area, and the laser transmitters of the multiple laser radars with time synchronization sequentially emit laser beams under the control of their respective MCUs; the false alarm rate caused by mutual interference between laser radars is reduced to 0. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a flowchart of a method for processing a laser radar signal according to an embodiment of the present invention;

[0039] Figure 2 It is a structural block diagram of a laser radar system composed of three laser radars and a clock source of the present invention;

[0040] Figure 3 It is a block diagram of the present invention in which three laser radar laser transmitters emit laser beams according to a protocol under the control of their respective MCUs under the same clock source;

[0041] Figure 4 The present invention is a block diagram of a signal receiving unit of three laser radars under the same clock source to obtain the required data signal through a custom filtering algorithm;

[0042] Figure 5 is a flowchart of another embodiment of a laser radar signal processing method of the present invention;

[0043] Figure 6 It is a structural block diagram of an embodiment of a laser radar signal processing device of the present invention. DETAILED DESCRIPTION

[0044] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0045] Reference Figure 1 , shows a flowchart of a method for processing a laser radar signal according to an embodiment of the present invention, and the method may specifically include the following steps:

[0046] S101, sending laser generation instructions to different laser radars according to a preset timing signal, so that the laser radar scans the object under test according to the laser generation instruction, so that the object under test generates a reflected laser beam, and receives the reflected laser beam returned by the object under test;

[0047] S102, receiving a reflected laser beam generated by the object under test, and determining the reflected laser beams corresponding to different laser radars according to a preset timing signal.

[0048] The laser radar signal processing method provided in the embodiment of the present invention sends laser generation instructions to different laser radars according to a preset timing signal, so that the laser radar scans the object under test according to the laser generation instruction, so that the object under test generates a reflected laser beam, and receives the reflected laser beam returned by the object under test; receives the reflected laser beam generated by the object under test, and determines the reflected laser beams corresponding to different laser radars according to the preset timing signal. The embodiment of the present application adds time synchronization to multiple laser radars working in the same area, and the laser transmitters of the multiple laser radars with time synchronization sequentially emit laser beams under the control of their respective MCUs; the false alarm rate caused by mutual interference between the laser radars is reduced to 0.

[0049] Another embodiment of the present invention further supplements the method for processing the laser radar signal provided in the above embodiment.

[0050] Optionally, the preset timing signal is determined according to the timing of emitting the laser beam and the corresponding laser beam flight time.

[0051] Optionally, receiving a reflected laser beam generated by the object under test, and determining the reflected laser beams corresponding to different laser radars according to a preset timing signal, includes:

[0052] Receiving reflected laser beams corresponding to multiple laser radars generated by the object under test;

[0053] The reflected laser beam corresponding to the laser radar is determined based on the moment when the reflected laser beam is received by the laser radar and the laser flight time between the laser radar and the object under test.

[0054] Optionally, determining the reflected laser beam corresponding to the laser radar according to the time when the reflected laser beam is received by the laser radar and the laser flight time between the laser radar and the object under test includes:

[0055] Acquire a first moment when a receiving module of the first laser radar receives a reflected laser beam;

[0056] Determine a first reflected laser beam corresponding to the first laser radar according to the first moment and the first laser flight time; the first laser flight time is determined according to a first distance between the first laser radar and the object under test;

[0057] Acquire a second moment when a receiving module of a second laser radar receives a reflected laser beam;

[0058] Determine a second reflected laser beam corresponding to the second laser radar according to the second moment and the second laser flight time; the second laser flight time is determined according to a second distance between the second laser radar and the object under test;

[0059] Acquire a third moment when a receiving module of the third laser radar receives the reflected laser beam;

[0060] Determine a third reflected laser beam corresponding to the third laser radar according to the third moment and the third laser flight time; the third laser flight time is determined according to a third distance between the third laser radar and the object under test;

[0061] And the first moment is smaller than the second moment, and the second moment is smaller than the third moment.

[0062] like Figure 2 The structure block diagram of a laser radar system consisting of three laser radars and a clock source is shown. The laser radar system 10 includes a laser radar A11, a laser radar B12, a laser radar C13 and a clock system 14; the laser radar A11, the laser radar B12, and the laser radar C13 are respectively connected to the clock system 14.

[0063] like Figure 3 A block diagram is shown of three laser radar laser transmitters emitting laser beams according to a protocol under the control of their respective MCUs under the same clock source, specifically including: laser radar A generates a laser beam module 21, laser radar B generates a laser beam module 22, and laser radar C generates a laser beam module 23.

[0064] like Figure 4 A block diagram is shown of a signal receiving unit of three laser radars obtaining the required data signal through a custom filtering algorithm under the action of the same clock source, including a laser radar A signal receiving module 31, a laser radar B signal receiving module 32 and a laser radar C signal receiving module 33.

[0065] Figure 4 In the paper, STM32F407ZGT6 is taken as the main control chip of each laser radar, that is, the processing module laser radar system provides a synchronous clock source with a center frequency of 8MHZ. A laser radar system composed of three laser radars is taken as an example to eliminate the mutual interference between the laser radars, and reduce the false alarm rate caused by the mutual interference between the laser radars to 0.

[0066] The laser radar signal processing method includes:

[0067] Step 21: According to the preset timing signal, the processing module sends a laser generation instruction to each different laser radar;

[0068] Step 21A-1: After the laser radar A uses the reference clock provided by the system (processing module) to start the main program, the main program calls the laser radar A to generate a laser beam module;

[0069] Step 21A-2: At time T1, the laser radar A generates a laser beam module to emit a 905nm laser beam, and the pulse width is set to 200ns and the frequency is set to 20K;

[0070] Step 21B-1: After the laser radar B uses the reference clock provided by the system to start the main program, the main program calls the laser radar B to generate a laser beam module;

[0071] Step 21B-2: At time T2, the laser radar B generates a laser beam module to emit a 905nm laser beam, and sets the pulse width to 200ns and the frequency to 20K;

[0072] Step 21C-1: After the laser radar C uses the reference clock provided by the system to start the main program, the main program calls the laser radar C to generate a laser beam module;

[0073] Step 21C-2: At time T3, the laser radar C generates a laser beam module to emit a 905nm laser beam, and sets the pulse width to 200ns and the frequency to 20K;

[0074] Step 22: The laser beam scans the object under test, and the object under test generates a reflected laser beam.

[0075] Step 23: receiving the reflected laser beam generated by the tested object, and determining the reflected laser beam corresponding to different laser radars according to the preset timing signal.

[0076] Step 43A-1: After the laser radar A uses the reference clock provided by the system to start the main program, the main program calls the laser radar A receiving module;

[0077] Step 43A-2: The laser radar A receiving module receives the reflected light beam of the laser beam generated by the tested object to the laser radar A, the reflected light beam of the laser beam generated to the laser radar B, and the reflected light beam of the laser beam generated to the laser radar C; and selects the reflected light beam of the laser beam generated by the tested object to the laser radar A according to the timing and the pulse width of the received signal. The specific process takes the first valid received signal as an example. The laser radar A receiving module starts timing from the first moment T1. The laser flight time before T1 + the corresponding displacement or after T1 + the corresponding displacement is considered to be an interference signal, and only the laser flight time equal to T1 + the corresponding displacement (the first laser flight time) is taken.

[0078] Step 43B-1: After the laser radar B uses the reference clock provided by the system to start the main program, the main program calls the laser radar B receiving module;

[0079] Step 43B-2: The laser radar B receiving module receives the reflected beam of the laser beam generated by the laser radar A, the reflected beam of the laser beam generated by the laser radar B, and the reflected beam of the laser beam generated by the laser radar C from the tested object; and selects the reflected beam of the laser beam generated by the laser radar B from the tested object according to the timing and the pulse width of the received signal. The specific process takes the first valid received signal as an example. The laser radar B receiving module starts timing from the second moment T2. The laser flight time before T2 + the corresponding displacement or after T2 + the corresponding displacement is considered to be an interference signal, and only the laser flight time equal to T2 + the corresponding displacement (the second laser flight time) is taken.

[0080] Step 43C-1: After the laser radar C uses the reference clock provided by the system to start the main program, the main program calls the laser radar C receiving module;

[0081] Step 43C-2: The laser radar C receiving module receives the reflected light beam of the laser beam generated by the laser radar A, the reflected light beam of the laser beam generated by the laser radar B, and the reflected light beam of the laser beam generated by the laser radar C from the tested object; and selects the reflected light beam of the laser beam generated by the laser radar C from the tested object according to the timing and the pulse width of the received signal. The specific process takes the first valid received signal as an example. The laser radar C receiving module starts timing from the third moment T3. The laser flight time before T3 + the corresponding displacement or after T3 + the corresponding displacement is considered to be an interference signal, and only the laser flight time equal to T3 + the corresponding displacement (the third laser flight time) is taken.

[0082] And the first time T1 is earlier than the second time T2 and earlier than the third time T3.

[0083] In the embodiment of the present application, the same external clock source is used in the same laser radar system composed of multiple laser radars. In the same laser radar system composed of multiple laser radars, each laser radar generates laser emission in a certain timing sequence. In the same laser radar system composed of multiple laser radars, each laser radar receives signals in a certain timing sequence; the timing is determined by the emission laser beam timing + the corresponding laser beam flight time.

[0084] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0085] The laser radar signal processing method provided in the embodiment of the present invention sends laser generation instructions to different laser radars according to a preset timing signal, so that the laser radar scans the object under test according to the laser generation instruction, so that the object under test generates a reflected laser beam, and receives the reflected laser beam returned by the object under test; receives the reflected laser beam generated by the object under test, and determines the reflected laser beams corresponding to different laser radars according to the preset timing signal. The embodiment of the present application adds time synchronization to multiple laser radars working in the same area, and the laser transmitters of the multiple laser radars with time synchronization sequentially emit laser beams under the control of their respective MCUs; the false alarm rate caused by mutual interference between the laser radars is reduced to 0.

[0086] Another embodiment of the present invention provides a laser radar signal processing device, which is used to execute the laser radar signal processing method provided in the above embodiment.

[0087] Reference Figure 6 , shows a structural block diagram of an embodiment of a laser radar signal processing device of the present invention, the device may specifically include the following modules: a sending module 601 and a receiving module 602, wherein:

[0088] The sending module 601 is used to send laser generation instructions to different laser radars according to a preset timing signal, so that the laser radar scans the object under test according to the laser generation instruction, so that the object under test generates a reflected laser beam, and receives the reflected laser beam returned by the object under test;

[0089] The receiving module 602 is used to receive the reflected laser beam generated by the tested object, and determine the reflected laser beam corresponding to different laser radars according to a preset timing signal.

[0090] The laser radar signal processing device provided in the embodiment of the present invention sends laser generation instructions to different laser radars according to a preset timing signal, so that the laser radar scans the object under test according to the laser generation instruction, so that the object under test generates a reflected laser beam, and receives the reflected laser beam returned by the object under test; receives the reflected laser beam generated by the object under test, and determines the reflected laser beams corresponding to different laser radars according to the preset timing signal. The embodiment of the present application adds time synchronization to multiple laser radars working in the same area, and the laser transmitters of the multiple laser radars with time synchronization sequentially emit laser beams under the control of their respective MCUs; the false alarm rate caused by mutual interference between the laser radars is reduced to 0.

[0091] Another embodiment of the present invention further supplements the laser radar signal processing device provided in the above embodiment.

[0092] Optionally, the preset timing signal is determined according to the timing of emitting the laser beam and the corresponding laser beam flight time.

[0093] Optionally, the receiving module is used to:

[0094] Receiving reflected laser beams corresponding to multiple laser radars generated by the object under test;

[0095] The reflected laser beam corresponding to the laser radar is determined based on the moment when the reflected laser beam is received by the laser radar and the laser flight time between the laser radar and the object under test.

[0096] Optionally, the receiving module is used to:

[0097] Acquire a first moment when a receiving module of the first laser radar receives a reflected laser beam;

[0098] Determine a first reflected laser beam corresponding to the first laser radar according to the first moment and the first laser flight time; the first laser flight time is determined according to a first distance between the first laser radar and the object under test;

[0099] Acquire a second moment when a receiving module of a second laser radar receives a reflected laser beam;

[0100] Determine a second reflected laser beam corresponding to the second laser radar according to the second moment and the second laser flight time; the second laser flight time is determined according to a second distance between the second laser radar and the object under test;

[0101] Acquire a third moment when a receiving module of the third laser radar receives the reflected laser beam;

[0102] Determine a third reflected laser beam corresponding to the third laser radar according to the third moment and the third laser flight time; the third laser flight time is determined according to a third distance between the third laser radar and the object under test;

[0103] And the first moment is smaller than the second moment, and the second moment is smaller than the third moment.

[0104] It should be noted that each implementable method in this embodiment may be implemented separately, or may be implemented in combination in any combination without conflict, and this application is not limited thereto.

[0105] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0106] The laser radar signal processing device provided in the embodiment of the present invention sends laser generation instructions to different laser radars according to a preset timing signal, so that the laser radar scans the object under test according to the laser generation instruction, so that the object under test generates a reflected laser beam, and receives the reflected laser beam returned by the object under test; receives the reflected laser beam generated by the object under test, and determines the reflected laser beams corresponding to different laser radars according to the preset timing signal. The embodiment of the present application adds time synchronization to multiple laser radars working in the same area, and the laser transmitters of the multiple laser radars with time synchronization sequentially emit laser beams under the control of their respective MCUs; the false alarm rate caused by mutual interference between the laser radars is reduced to 0.

[0107] Another embodiment of the present invention provides a laser radar system for executing the laser radar signal processing method provided in the above embodiment.

[0108] An embodiment of the present invention provides a laser radar system, which includes at least: a processing module, a clock module and multiple laser radar modules, wherein the processing module is connected to the clock module and the multiple laser radar modules respectively, and the processing module is used to execute the above-mentioned laser radar signal processing method.

[0109] Optionally, a clock module is used to provide the same timing for multiple lidar modules.

[0110] The laser radar system provided by the embodiment of the present invention sends laser generation instructions to different laser radars according to a preset timing signal, so that the laser radar scans the object under test according to the laser generation instruction, so that the object under test generates a reflected laser beam, and receives the reflected laser beam returned by the object under test; receives the reflected laser beam generated by the object under test, and determines the reflected laser beams corresponding to different laser radars according to the preset timing signal. The embodiment of the present application adds time synchronization to many laser radars working in the same area, and the laser transmitters of the many laser radars with time synchronization sequentially emit laser beams under the control of their respective MCUs; the false alarm rate caused by mutual interference between the laser radars is reduced to 0.

[0111] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0112] It will be appreciated by those skilled in the art that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0113] The embodiments of the present invention are described with reference to flowcharts and / or block diagrams of methods, electronic devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing electronic device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing electronic device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0114] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing electronic device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0115] These computer program instructions can also be loaded onto a computer or other programmable data processing electronic device so that a series of operating steps are executed on the computer or other programmable electronic device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable electronic device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0116] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0117] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or electronic device that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements that are inherent to such process, method, article or electronic device. In the absence of further restrictions, the elements defined by the sentence "comprises a..." do not exclude the presence of other identical elements in the process, method, article or electronic device that includes the elements.

[0118] The above is a detailed introduction to a laser radar signal processing method and a laser radar signal processing device provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for processing laser radar signals, characterized in that: The method comprises: According to a preset timing signal, a laser generation instruction is sent to different laser radars, so that the laser radars scan the object under test according to the laser generation instruction, so that the object under test generates a reflected laser beam, and receives the reflected laser beam returned by the object under test; The reflected laser beam generated by the tested object is received, and the reflected laser beam corresponding to different laser radars is determined according to the preset timing signal.

2. The method according to claim 1, characterized in that The preset timing signal is determined according to the timing of emitting the laser beam and the corresponding laser beam flight time.

3. The method according to claim 2, characterized in that The receiving of the reflected laser beam generated by the tested object and determining the reflected laser beams corresponding to different laser radars according to the preset timing signal include: Receiving reflected laser beams corresponding to a plurality of laser radars generated by the tested object; The reflected laser beam corresponding to the laser radar is determined according to the moment when the reflected laser beam is received by the laser radar and the laser flight time between the laser radar and the object under test.

4. The method according to claim 3, characterized in that The step of determining the reflected laser beam corresponding to the laser radar according to the time when the reflected laser beam is received by the laser radar and the laser flight time between the laser radar and the object under test comprises: Acquire a first moment when a receiving module of the first laser radar receives a reflected laser beam; Determine a first reflected laser beam corresponding to the first laser radar according to the first moment and the first laser flight time; the first laser flight time is determined according to a first distance between the first laser radar and the object under test; Acquire a second moment when a receiving module of a second laser radar receives a reflected laser beam; Determine a second reflected laser beam corresponding to the second laser radar according to the second moment and the second laser flight time; the second laser flight time is determined according to a second distance between the second laser radar and the object under test; Acquire a third moment when a receiving module of the third laser radar receives the reflected laser beam; Determine a third reflected laser beam corresponding to the third laser radar according to the third moment and the third laser flight time; the third laser flight time is determined according to a third distance between the third laser radar and the object under test; And the first moment is smaller than the second moment, and the second moment is smaller than the third moment.

5. A laser radar signal processing device, characterized in that: The device comprises: A sending module, used for sending laser generation instructions to different laser radars according to a preset timing signal, so that the laser radars scan the tested object according to the laser generation instructions, so that the tested object generates a reflected laser beam, and receives the reflected laser beam returned by the tested object; The receiving module is used to receive the reflected laser beam generated by the tested object and determine the reflected laser beam corresponding to different laser radars according to the preset timing signal.

6. The device according to claim 5, characterized in that The preset timing signal is determined according to the timing of emitting the laser beam and the corresponding laser beam flight time.

7. The device according to claim 6, characterized in that The receiving module is used for: Receiving reflected laser beams corresponding to a plurality of laser radars generated by the tested object; The reflected laser beam corresponding to the laser radar is determined according to the moment when the reflected laser beam is received by the laser radar and the laser flight time between the laser radar and the object under test.

8. The device according to claim 7, characterized in that The receiving module is used for: Acquire a first moment when a receiving module of the first laser radar receives a reflected laser beam; Determine a first reflected laser beam corresponding to the first laser radar according to the first moment and the first laser flight time; the first laser flight time is determined according to a first distance between the first laser radar and the object under test; Acquire a second moment when a receiving module of a second laser radar receives a reflected laser beam; Determine a second reflected laser beam corresponding to the second laser radar according to the second moment and the second laser flight time; the second laser flight time is determined according to a second distance between the second laser radar and the object under test; Acquire a third moment when a receiving module of the third laser radar receives the reflected laser beam; Determine a third reflected laser beam corresponding to the third laser radar according to the third moment and the third laser flight time; the third laser flight time is determined according to a third distance between the third laser radar and the object under test; And the first moment is smaller than the second moment, and the second moment is smaller than the third moment.

9. A laser radar system, characterized in that: The laser radar system includes at least: a processing module, a clock module and multiple laser radar modules, wherein the processing module is connected to the clock module and the multiple laser radar modules respectively, and the processing module is used to execute the laser radar signal processing method as described in any one of claims 1-4.

10. The system according to claim 9, characterized in that The clock module is used to provide the same timing for the multiple lidar modules.

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