Data processing method and device of laser radar

Abstract

The invention provides a data processing method and device of a laser radar. The method comprises the following steps: emitting laser beams for multiple times; echo waves of laser beams emitted at a time are sampled through at least two receiving blocks, sampling data of the at least two receiving blocks on the laser beams emitted at the time are obtained, the first receiving block in the at least two receiving blocks is used for sampling the laser beams emitted at the Nth time and the laser beams emitted at the (N + 1) th time, and the second receiving block in the at least two receiving blocks is used for sampling the laser beams emitted at the N + 1 th time. The second receiving block is used for sampling the laser beam emitted for the Nth time but not used for sampling the laser beam emitted for the (N + 1) th time; according to the sampling data of the at least two receiving blocks on the laser beams emitted at one time, obtaining point cloud data of the laser beams emitted at one time corresponding to the at least two receiving blocks; and generating a frame of point cloud data according to a copy of point cloud data of the laser beam emitted once corresponding to the at least one receiving block. The cost of the laser radar can be reduced.

Description

Technical Field

[0001] The present application relates to the field of laser detection, and in particular to a laser radar data processing method and device. Background Art

[0002] Laser radar is an active remote sensing device that uses photoelectric technology for detection. It combines photoelectric detection technology with laser technology and is an advanced detection method that uses laser as a detection light source. Laser radar includes a transmitting module, a scanning module, a receiving module, a data processing module, etc. The transmitting module is used to transmit a detection signal to the target, the scanning module is used to change the transmission direction of the detection signal, the receiving module is used to sample the echo signal of the detection signal to obtain the sampled data, and the data processing module is used to process the sampled data to obtain the point cloud data of the detection target, including at least one information such as distance, reflectivity, speed, size, etc.

[0003] The sampling data obtained by multiple detections by the receiving module in the laser radar is handed over to the data processing module for processing to obtain the point cloud data of multiple detections. However, since the echoes of the same laser beam reflected by objects at different distances have different light spot positions when they are collected and converged to the receiving module of the laser radar, the echoes reflected by the farther objects have a larger light spot position offset on the receiving block than the echoes reflected by the closer objects. Therefore, the receiving module needs a larger area to ensure that the light spot is received, which makes the laser radar costly and difficult to miniaturize. Summary of the invention

[0004] The present application provides a laser radar data processing method and device, which can reduce the cost of the laser radar.

[0005] In a first aspect, the present application provides a laser radar data processing method, comprising:

[0006] Fire laser beams multiple times;

[0007] Sampling the echo of the laser beam emitted once through at least two receiving blocks to obtain sampling data of the laser beam emitted once respectively by the at least two receiving blocks, wherein the first receiving block of the at least two receiving blocks is used to sample the laser beam emitted N times and the laser beam emitted N+1 times, and the second receiving block of the at least two receiving blocks is used to sample the laser beam emitted N times but not to sample the laser beam emitted N+1 times, and N is a positive integer greater than or equal to 1;

[0008] According to the sampling data of the laser beam emitted once respectively by the at least two receiving blocks, a piece of point cloud data of the laser beam emitted once respectively corresponding to the at least two receiving blocks is acquired;

[0009] A frame of point cloud data is generated according to a portion of point cloud data of the laser beam emitted once corresponding to at least one of the receiving blocks.

[0010] Optionally, generating a frame of point cloud data according to a piece of point cloud data of the laser beam emitted once corresponding to at least one of the receiving blocks comprises:

[0011] For the first receiving block, each point cloud data of the laser beam emitted by the first receiving block in each time corresponding to the preset time interval is merged into a compressed point cloud data corresponding to the preset time interval;

[0012] A frame of point cloud data is generated according to the compressed point cloud data of the first receiving block corresponding to the preset time interval.

[0013] Optionally, the emitting laser beams multiple times comprises:

[0014] Laser beams are fired at different azimuth angles in sequence along a row.

[0015] Among the emission pitch angles of the laser beams emitted along a row, the difference between the maximum emission pitch angle and the minimum emission pitch angle is less than a preset angle,

[0016] The preset time interval is at least a part of the emission time interval corresponding to the laser beam emitted in the row.

[0017] Optionally, compressing the points cloud data corresponding to the laser beams emitted each time within a preset time interval by the first receiving block into one point cloud data includes:

[0018] The first receiving block stores the point cloud data of each laser beam emitted each time in the preset time interval in the buffer area in sequence,

[0019] Before being stored in the cache area for the i-th time, a piece of point cloud data acquired for the i-th time and a piece of point cloud data stored in the cache area for the i-1th time are merged into a piece of point cloud data, and stored in the cache area for the i-th time, i is a positive integer greater than 1,

[0020] The piece of point cloud data acquired for the i-th time is the point cloud data of the laser beam emitted for the i-th time by the first receiving block within the preset time interval.

[0021] Optionally, compressing the points cloud data corresponding to the laser beams emitted each time within the preset time interval by the first receiving block into one point cloud data further includes:

[0022] Before the i-th storage in the buffer area, the point cloud data of the first receiving block stored in the buffer area for the (i-1)th time is also released.

[0023] Optionally, the buffer area includes at least two partitions, the number of the at least two partitions is consistent with the number of receiving blocks of the at least two receiving blocks, and each of the partitions is used to store a copy of point cloud data corresponding to one of the receiving blocks.

[0024] And a portion of point cloud data corresponding to each of the at least two receiving blocks is stored in the buffer area in a serial manner.

[0025] Optionally, the first receiving block includes a plurality of receiving units, and the sampling data of the laser beam emitted once by the first receiving block includes the sampling data of the laser beam emitted once by the plurality of receiving units in the first receiving block respectively, and the plurality of receiving units include the first receiving unit;

[0026] The step of acquiring a portion of point cloud data of the laser beam emitted once by the at least two receiving blocks respectively corresponding to the laser beam emitted once according to the sampling data of the laser beam emitted once by the at least two receiving blocks respectively comprises:

[0027] Acquire a set of point cloud data of the laser beam emitted once by the first receiving unit according to the sampling data of the laser beam emitted once by the first receiving unit;

[0028] The first receiving of each point cloud data corresponding to each laser beam emitted within a preset time interval, and compressing the data into one point cloud data, comprises:

[0029] The first receiving unit compresses each group of point cloud data corresponding to the laser beam emitted each time within the preset time interval into a group of point cloud data.

[0030] Optionally, compressing each group of point cloud data of the laser beams emitted each time by the first receiving unit within the preset time interval into a group of point cloud data includes:

[0031] The first receiving unit sequentially stores each group of point cloud data of the laser beam emitted each time within the preset time interval into the buffer area,

[0032] Wherein, before being stored in the cache area for the i-th time, a set of point cloud data acquired for the i-th time and a set of point cloud data stored in the cache area for the i-1th time are fused into a set of fused point cloud data, and the set of fused point cloud data is used as the point cloud data stored in the cache area for the i-th time or as a partial output of the compressed point cloud data, i is a positive integer greater than 1,

[0033] The set of point cloud data acquired for the i-th time is the point cloud data of the laser beam emitted for the i-th time by the first receiving unit within the preset time interval.

[0034] Optionally, the step of fusing a set of point cloud data acquired for the i-th time with a set of point cloud data stored in the buffer area for the (i-1)th time into a set of fused point cloud data comprises:

[0035] Obtaining a difference between the set of point cloud data acquired for the i-th time and the set of point cloud data stored in the buffer area for the i-1th time;

[0036] When the gap is smaller than a preset gap, a weighted sum of the set of point cloud data acquired for the i-th time and the set of point cloud data stored in the buffer area for the (i-1)th time is used as the fused point cloud data.

[0037] Optionally, the point cloud data includes a light spot area, and the light spot area is determined according to the light energy sampled by the first receiving unit from the laser beam emitted once;

[0038] The step of fusing a set of point cloud data acquired for the i-th time with a set of point cloud data stored in the buffer area for the i-1th time into a set of fused point cloud data further includes:

[0039] When the gap is not less than the preset gap, the fused point cloud data is determined according to the spot area in the set of point cloud data acquired for the i-th time and the spot area in the set of point cloud data stored in the buffer area for the i-1th time.

[0040] Optionally, determining the fused point cloud data according to the spot area in the set of point cloud data acquired for the i-th time and the spot area in the set of point cloud data stored in the buffer area for the (i-1)th time includes:

[0041] When the light spot area in the set of point cloud data acquired for the i-th time is not less than the light spot area in the set of point cloud data stored in the buffer area for the i-1th time, at least one of the following is performed:

[0042] When the value of the spot area or distance in the set of point cloud data stored in the buffer area for the i-1th time is 0, the set of point cloud data acquired for the i-th time is determined as the fused point cloud data;

[0043] When the spot area in the set of point cloud data acquired for the i-th time is greater than the saturation area, the spot area in the set of point cloud data stored in the cache for the i-1th time is greater than the preset area, the difference between the spot area in the set of point cloud data acquired for the i-th time and the spot area in the set of point cloud data stored in the cache for the i-1th time is less than a preset area comparison threshold, and the value of the distance in the set of point cloud data stored in the cache for the i-1th time is not 0, then the set of point cloud data stored in the cache for the i-1th time is determined as the fused point cloud data;

[0044] When the spot area in the set of point cloud data acquired for the i-th time is not greater than the saturation area, or the spot area in the set of point cloud data stored in the cache area for the i-1th time is not greater than the preset area, or the difference between the spot area in the set of point cloud data acquired for the i-th time and the spot area in the set of point cloud data stored in the cache area for the i-1th time is not less than the preset area comparison threshold, and the difference between the distance in the set of point cloud data acquired for the i-th time and the distance in the set of point cloud data stored in the cache area for the i-1th time is less than the preset distance comparison threshold, or the value of the distance in the set of point cloud data stored in the cache area for the i-1th time is equal to 0 and the spot area is not equal to 0, then the set of point cloud data acquired for the i-th time is determined as the fused point cloud data.

[0045] Optionally, determining the fused point cloud data according to the spot area in the set of point cloud data acquired for the i-th time and the spot area in the set of point cloud data stored in the buffer area for the (i-1)th time includes:

[0046] When the light spot area in the set of point cloud data acquired for the i-th time is smaller than the light spot area in the set of point cloud data stored in the buffer area for the i-1th time, at least one of the following is performed:

[0047] When the spot area in the set of point cloud data stored in the buffer area for the (i-1)th time is greater than the saturation area, and the distance in the set of point cloud data acquired for the i-th time is not equal to 0, the set of point cloud data acquired for the i-th time is determined as the fused point cloud data;

[0048] When the spot area in the set of point cloud data stored in the cache area for the i-1th time is not greater than the saturation area, or the distance in the set of point cloud data acquired for the i-1th time is equal to 0, the set of point cloud data stored in the cache area for the i-1th time is determined as the fused point cloud data.

[0049] Optionally, the set of point cloud data acquired for the i-th time includes a light spot area, and the light spot area is determined according to the light energy sampled by the first receiving unit from the laser beam emitted for the i-th time within the preset time interval;

[0050] Before obtaining the difference between the set of point cloud data obtained for the i-th time and the set of point cloud data stored in the buffer area for the i-1th time, the method further includes:

[0051] Determine that the spot area in the set of point cloud data acquired for the i-th time is not less than a preset area.

[0052] Optionally, the storing in a buffer area in sequence the groups of point cloud data of the laser beams emitted each time by the first receiving unit in the preset time interval respectively, further comprises:

[0053] When it is determined that the spot area in the set of point cloud data acquired for the i-th time is smaller than the preset area, determining whether the spot area in the set of point cloud data stored in the buffer area for the i-1th time is smaller than the preset area;

[0054] When the spot area in the set of point cloud data stored in the buffer area for the i-1th time is smaller than the preset area, the set of point cloud data acquired for the i-th time is stored in the buffer area for the i-th time, and / or,

[0055] When the spot area in a set of point cloud data stored in the cache area for the i-1th time is not less than the preset area, the set of point cloud data stored in the cache area for the i-1th time is stored in the cache area.

[0056] In a second aspect, the present application provides a sampling data processing device, including a transmitting module, a sampling module, at least two intermediate processing modules, a data center module, a framing module, a grabbing module and a control module.

[0057] The transmitting module is used to transmit the laser beam multiple times.

[0058] A sampling module, comprising at least two receiving blocks, wherein the at least two receiving blocks are used to sample an echo of a laser beam emitted once, and obtain sampling data of the laser beam emitted once by the at least two receiving blocks respectively, wherein a first receiving block of the at least two receiving blocks is used to sample a laser beam emitted for an Nth time and a laser beam emitted for an N+1th time, and a second receiving block of the at least two receiving blocks is used to sample a laser beam emitted for an Nth time but not for sampling a laser beam emitted for an N+1th time, and N is a positive integer greater than or equal to 1;

[0059] An acquisition module, configured to acquire a portion of point cloud data of the laser beam emitted once by the at least two receiving blocks respectively corresponding to the laser beam emitted once according to the sampling data of the laser beam emitted once by the at least two receiving blocks respectively;

[0060] A generating module is used to generate a frame of point cloud data according to a piece of point cloud data of the laser beam emitted once corresponding to at least one of the receiving blocks.

[0061] It can be understood that the implementation of the device module can refer to the above method embodiment, which will not be repeated here.

[0062] In a third aspect, the present application provides a laser radar, comprising: a processor; and a memory, on which executable code is stored, and when the executable code is executed by the processor, the processor executes any one of the methods described.

[0063] In an embodiment of the present application, the echo of a laser beam emitted once is sampled by at least two receiving blocks, and one of the receiving blocks samples the echoes of at least two adjacent emissions. This can ensure that the number of receiving blocks in the sampling module is small while ensuring that the echo of the laser beam emitted this time can be collected by the receiving blocks in the sampling module, which can reduce the cost of the laser radar and help to miniaturize the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 is a schematic diagram of an embodiment of a laser radar data processing method of the present application;

[0065] Figure 2 It is a schematic diagram of an embodiment of a transmitting module and a sampling module of a laser radar of the present application;

[0066] Figure 3 yes Figure 2 A schematic diagram of an embodiment of the working timing relationship between the transmitting module and the sampling module shown;

[0067] Figure 4 3 is a schematic diagram of the compression process of the point cloud data of the first three transmissions in a row of transmission corresponding to the receiving block row 22;

[0068] Figure 5 The schematic diagram of the compression process of the point cloud data of the 4th to 8th transmissions in the transmission of a row corresponding to the receiving block row 22 as shown in 3;

[0069] Figure 6 It is a schematic diagram of the compression process of the point cloud data of the 9th to 11th transmissions in a row of transmissions corresponding to the receiving block row 22 as shown in 3;

[0070] Figure 7 The schematic diagram of the compression process of the point cloud data of the 12th transmission in the transmission of a row corresponding to the receiving block row 22 as shown in 3;

[0071] Figure 8 A schematic diagram of an embodiment of a sampling data processing device of the present application;

[0072] Fig. 9 It is a schematic diagram of an embodiment of a laser radar in an embodiment of the present application. DETAILED DESCRIPTION

[0073] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0074] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0075] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0076] Lidar is a radar system that emits laser beams to detect the position, speed and other characteristic quantities of a target. Its working principle is to use a laser transmitter to emit multiple laser beams in sequence. If the laser beam encounters an object, it will be reflected, and a receiver will receive the reflected echo. Lidar can be a mechanical Lidar, a semi-solid-state Lidar or a pure solid-state Lidar. Lidar calculates the time difference between the time of receiving the reflected echo and the time of emitting the laser beam, and the time difference is the flight time of the laser beam. Lidar can calculate the distance, direction and other parameters of the object that reflects the echo based on the flight time, or it can also calculate the reflectivity based on the energy of the echo and the energy of the emitted laser beam, so as to detect the external environment.

[0077] like Figure 1 As shown, Figure 1 1 is a schematic diagram of an embodiment of a laser radar data processing method of the present application. The laser radar data processing method 100 of the present application includes:

[0078] Step S101, emitting laser beams multiple times.

[0079] Specifically, a laser radar is provided with a transmitting module, through which laser beams are sequentially emitted. Each time a laser beam is emitted, only one laser beam may be emitted, or at least two laser beams may be emitted simultaneously, wherein the emission directions of the at least two laser beams may be the same or different. The emission directions of laser beams emitted at different times may be the same or different. Optionally, a scanning module is provided in the laser radar, which is used to change the emission direction of the laser beam so that the laser beam scans in different directions in sequence.

[0080] Optionally, the laser radar emits laser beams at different azimuth angles along a row, wherein the emission pitch angles of the laser beams emitted along a row have a maximum emission pitch angle and a minimum emission pitch angle that differ by less than a preset angle. In some examples, after emitting laser beams at different azimuth angles along a row, the laser radar adjusts the emission pitch angle, and then continues to emit laser beams at different azimuth angles along another row, and scans back and forth along multiple rows in sequence. In a frame of point cloud obtained after scanning in this way, each point cloud point is arranged in multiple rows.

[0081] Step S102: sampling the echo of the laser beam emitted once through at least two receiving blocks to obtain sampling data of the laser beam emitted once respectively by the at least two receiving blocks.

[0082] The laser radar is also provided with a sampling module, through which the echo (if any) of each emitted laser beam is sampled. Optionally, the sampling module includes a plurality of receiving blocks, wherein different receiving blocks correspond to different transmissions, and each receiving block is used to sample the echo of the corresponding laser beam emitted once. For example, after each emission of the laser beam, the receiving block corresponding to the emission enters the sampling working state to sample the echo of the laser beam emitted once and obtain sampling data.

[0083] There are at least two receiving blocks in the sampling module corresponding to one transmission. Optionally, for each transmission in the multiple transmissions in step S101, there are at least two receiving blocks in the sampling module corresponding to each transmission. At least one receiving block in the sampling module corresponds to at least two adjacent transmissions.

[0084] Among the at least two receiving blocks corresponding to the one emission, the first receiving block corresponds to the laser beam emitted for the Nth time and the laser beam emitted for the N+1th time, and is used to sample the laser beams emitted for the Nth time. Optionally, the first receiving block also corresponds to the laser beam emitted for the N+2th time.

[0085] Among the at least two receiving blocks corresponding to the one transmission, the second receiving block is used to sample the laser beam transmitted for the Nth time but not to sample the laser beam transmitted for the N+1th time, where N is a positive integer greater than or equal to 1. Optionally, when N is greater than 1, the second receiving block is also used to sample the laser beam transmitted for the N-1th time. Optionally, when N is greater than 2, the second receiving block is also used to sample the laser beam transmitted for the N-2th time.

[0086] Step S103, acquiring a portion of point cloud data of the laser beam emitted once respectively corresponding to the at least two receiving blocks according to the sampling data of the laser beam emitted once respectively by the at least two receiving blocks.

[0087] After obtaining the sampling data corresponding to the first transmission by the first receiving block, the point cloud data corresponding to the first transmission by the first receiving block can be obtained according to the sampling data. The same is true for other receiving blocks. The point cloud data may include at least one of the distance, orientation, reflectivity, and spot area, which is used to characterize the target object that reflects the laser beam of the transmission to form an echo.

[0088] Step S104, generating a frame of point cloud data according to a portion of point cloud data of the laser beam emitted once corresponding to at least one of the receiving blocks.

[0089] After emitting laser beams multiple times in step S101, point cloud data of at least one laser beam corresponding to each receiving block in the sampling module can be obtained, including point cloud data of at least two adjacent laser beams corresponding to some receiving blocks. Thus, a frame of point cloud data can be generated based on these point cloud data.

[0090] In an embodiment of the present application, the echo of a laser beam emitted once is sampled by at least two receiving blocks, and one of the receiving blocks samples the echoes of at least two adjacent emissions. This can ensure that the number of receiving blocks in the sampling module is small while ensuring that the echo of the laser beam emitted this time can be collected by the receiving blocks in the sampling module, which can reduce the cost of the laser radar and help to miniaturize the laser radar.

[0091] In the case where the laser beam hits an object in the laser beam emitted multiple times, each receiving block in at least part of the receiving blocks corresponds to at least two laser beams emitted within a period of time, which will generate at least two sets of point cloud data, and the laser beams emitted at least twice within the period of time will most likely hit the same object successively. Optionally, for each receiving block in the at least part of the receiving blocks, at least two sets of point cloud data emitted at least twice within a period of time corresponding to the receiving block are compressed into one set of point cloud data, which can reduce the amount of point cloud data and then reduce the consumption of bandwidth resources by point cloud data, while maintaining a small amount of information loss.

[0092] Specifically, in one example, in step S104, a frame of point cloud data is generated based on a portion of point cloud data of the laser beam emitted once corresponding to at least one of the receiving blocks, including: for a first receiving block among the at least two receiving blocks, the portions of point cloud data of the laser beam emitted each time within a preset time interval corresponding to the first receiving block are merged into a portion of compressed point cloud data corresponding to the preset time interval; and a frame of point cloud data is generated based on the compressed point cloud data of the first receiving block corresponding to the preset time interval.

[0093] There are multiple settings for the preset time interval. For example, in the example where the laser beam is emitted multiple times in step S101 and specifically includes emitting laser beams at different azimuths in sequence along a row, the preset time interval is at least part of the emission time interval corresponding to the laser beams emitted in the row. For example, the preset time interval is the emission time interval corresponding to the laser beams emitted in the row, or a part of the emission time interval corresponding to the laser beams emitted in the row, for example, each preset laser beam is emitted in the laser beams emitted in the row, and the emission time interval of the preset laser beam is a preset time interval, which is not limited here.

[0094] Combine the following Figure 2 and Figure 3A specific example of the preset time interval of this application is explained. Figure 2 and Figure 3 As shown, Figure 2 It is a schematic diagram of an embodiment of a transmitting module and a sampling module of the laser radar of the present application. Figure 3 yes Figure 2 FIG. 1 is a schematic diagram of an embodiment of the working timing relationship between the transmitting module and the sampling module. Figure 2 As shown, the transmitting module of the laser radar includes a first transmitting unit 201 and a second transmitting unit 202. In each transmission, the first transmitting unit 20 and the second transmitting unit 21 are used to simultaneously transmit a laser beam. The sampling module includes a receiving block array 21, which includes multiple rows of receiving blocks.

[0095] The laser beam emitted by the transmitting module is used to scan along different rows in sequence, wherein the receiving blocks of different rows correspond to the scanning of the different rows respectively, and each row of receiving blocks is used to sample the echo of the laser beam emitted during the scanning of the corresponding row. Among them, for each emission in each row scanning, three receiving blocks are used for sampling for each of the two laser beams in the emission. Figure 3 FIG. 2 illustrates the working state changes of the first receiving block row 22 of the receiving block array in different transmissions in the first row scan of the transmitting module.

[0096] The receiving block row 22 includes two receiving blocks located in the left and right areas 31 and 32 of the receiving block array respectively, wherein the receiving block located in area 31 is mainly used to sample the echo of the laser beam emitted by the first transmitting unit 20, and the receiving block located in area 32 is mainly used to sample the echo of the laser beam emitted by the second transmitting unit 21.

[0097] Specifically, Figure 2 As described above, in the first emission of the first row scan of the corresponding emission module, the echo of the laser beam EL1 emitted by the first emission unit is sampled by the 1st to 3rd receiving blocks RL1 on the left side of the first row, and the echo of the laser beam ER1 emitted by the second emission unit is sampled by the last two receiving blocks in the first row in area 31 and the first receiving block in area 32, a total of three receiving blocks RR1. Each receiving block in the receiving block RL1 is used to obtain a corresponding point cloud data according to the echo sampling data of the laser beam EL1. Each receiving block in the receiving block RR1 is used to obtain a corresponding point cloud data according to the echo sampling data of the laser beam ER1.

[0098] In the second transmission of the first row scan of the corresponding transmitting module, the echo of the laser beam EL2 emitted by the first transmitting unit is sampled by the 2nd to 4th receiving modules RL2 on the left side of the first row, and the echo of the laser beam ER2 emitted by the second transmitting unit is sampled by the last receiving block in the first row in area 31 and the first two receiving blocks in area 32, a total of three receiving modules RR2. Each receiving block in the receiving block RL2 is used to obtain a corresponding point cloud data according to the echo sampling data of the laser beam EL2. Each receiving block in the receiving block RR2 is used to obtain a corresponding point cloud data according to the echo sampling data of the laser beam ER2.

[0099] In the third transmission of the first row scan of the corresponding transmitting module, the echo of the laser beam EL3 emitted by the first transmitting unit is sampled by the 3rd to 5th receiving modules RL3 on the left side of the first row, and the echo of the laser beam ER3 emitted by the second transmitting unit is sampled by the 1st to 3rd receiving blocks in the area 32, a total of three receiving modules RR3. Each receiving block in the receiving block RL3 is used to obtain a corresponding point cloud data according to the echo sampling data of the laser beam EL3. Each receiving block in the receiving block RR3 is used to obtain a corresponding point cloud data according to the echo sampling data of the laser beam ER3.

[0100] By analogy, until the i-th emission of the first row scan of the corresponding emission module (also the last emission in a row scan), the echo of the laser beam ELi emitted by the first emission unit is sampled by the three receiving blocks RLi, namely the last receiving block in the first row located in area 31 and the first two receiving blocks in area 32, and the echo of the laser beam ERi emitted by the second emission unit is sampled by the last three receiving blocks RRi in area 32. Each receiving block in the receiving blocks RLi is used to obtain a corresponding piece of point cloud data according to the sampled data of the echo of the laser beam ELi. Each receiving block in the receiving blocks RR3 is used to obtain a corresponding piece of point cloud data according to the sampled data of the echo of the laser beam ER3.

[0101] Taking the preset time interval as the time interval for a row of transmission as an example, each receiving block in the receiving block row 22 corresponds to each point cloud data of the laser beam emitted each time within the preset time interval, and is fused into a compressed point cloud data corresponding to the preset time interval, which means that the point cloud data of all laser beams sampled by the receiving block in the row of transmission are compressed into one compressed point cloud data.

[0102] Among them, the first receiving block on the left in the receiving block row 22 corresponds to only one transmission within the preset time interval, so the point cloud data corresponding to the receiving block is directly output.

[0103] The second receiving block from the left in the receiving block row 22 corresponds to two transmissions within a preset time interval, so the two points cloud data corresponding to the two transmissions of the receiving block are compressed into one point cloud data output.

[0104] Among them, the third receiving block from the left in the receiving block row 22 corresponds to three transmissions within a preset time interval, so the three points of cloud data corresponding to the three transmissions of this receiving block are compressed into one point cloud data output.

[0105] Similarly, the last receiving block on the left in the receiving block row 22 corresponds to five transmissions (laser beams ER1, ER2, ELi-2, ELi-1 and ELi) within the preset time interval, so the five point cloud data corresponding to the five transmissions of this receiving block are compressed into one point cloud data output. The same is true for other receiving blocks in the receiving block row 22.

[0106] There are multiple ways to compress each point cloud data transmitted by each receiving block within a preset time interval. In some examples, after obtaining all point cloud data of all receiving blocks in the sampling module, the point cloud data of each receiving block is compressed by software. In some examples, the point cloud data of each receiving block can be compressed by hardware.

[0107] For example, before forming a frame of point cloud, each point cloud data transmitted by a receiving block in a preset time interval is compressed into one point cloud data by hardware. Optionally, after the preset time interval, each point cloud data transmitted by each receiving block in the preset time interval can be compressed into one point cloud data at one time. Or, optionally, since there is enough time gap between two adjacent transmissions, a serial processing method can be used. After each point cloud data transmitted by a receiving block in a preset time interval is obtained, the point cloud data corresponding to the current transmission of the receiving block and the point cloud data corresponding to the last transmission in the preset time interval are compressed into one point cloud data by hardware, until the point cloud data transmitted by the receiving block in the preset time interval for the last time and the point cloud data transmitted in the preset time interval are compressed into one point cloud data, so as to obtain a compressed point cloud data of the receiving block corresponding to the preset time interval.

[0108] Optionally, taking the first receiving block as an example, each copy of point cloud data of the laser beam emitted each time within a preset time interval by the first receiving block is compressed into one copy of point cloud data, including: storing each copy of point cloud data of the laser beam emitted each time within the preset time interval by the first receiving block in sequence in a cache area, wherein, before being stored in the cache area for the i-th time, a copy of point cloud data acquired for the i-th time and a copy of point cloud data stored in the cache area for the i-1th time are merged into one copy of point cloud data, and stored in the cache area for the i-th time, i being a positive integer greater than 1, wherein the copy of point cloud data acquired for the i-th time is the point cloud data of the laser beam emitted for the i-th time within the preset time interval by the first receiving block.

[0109] Optionally, before the i-th storage in the buffer area, the point cloud data of the first receiving block stored in the buffer area for the i-1th time is also released, so that the storage resources occupied by the point cloud data can be reduced. In one example, the buffer area includes at least two partitions, and the number of partitions of the at least two partitions is consistent with the number of receiving blocks of the at least two receiving blocks, and each partition is used to store a copy of point cloud data corresponding to one of the receiving blocks. In the example where the preset time interval is the time interval of the transmission of one row, the number of partitions in the buffer area is the same as the number of receiving blocks of a row of receiving blocks corresponding to the transmission of the row. A copy of point cloud data corresponding to each receiving block in the row is stored in the buffer area in a serial manner.

[0110] Combine the following Figures 4 to 7 To explain the use of a laser radar buffer area in one embodiment of the present application Figure 3 The point cloud data of the receiving block row 22 is compressed. Figures 4 to 7 In the example shown, the preset time interval is Figure 3 The emission time interval corresponding to a row of emitted laser beams is taken as an example.

[0111] Since the leftmost and rightmost receiving blocks in receiving block row 22 correspond to only one transmission in the preset time interval, after obtaining the point cloud data corresponding to one transmission in the preset time interval of the leftmost and rightmost receiving blocks, there is no need to store them in the cache area, and the point cloud data can be directly output to form a frame of point cloud. The other receiving blocks in receiving block row 22 correspond to at least two transmissions in the preset time interval, respectively. For each of the other receiving blocks, after obtaining the point cloud data of the first transmission in the preset time interval corresponding to the receiving block, the point cloud data is directly stored in the cache area. After obtaining the point cloud data of each of the remaining transmissions in the preset time interval corresponding to the receiving block, the last stored point cloud data is read out, merged with the point cloud data corresponding to this transmission into a point cloud data, and then written into the cache area. Optionally, the last stored point cloud data is also released from the cache area.

[0112] Specifically, Figure 4 As shown, Figure 4 FIG3 is a schematic diagram of the compression process of the point cloud data of the first three transmissions in a row of transmission corresponding to the receiving block row 22 as shown in FIG3. Taking the receiving block row 22 including 12 receiving blocks located in the area 31 and 12 receiving blocks located in the area 32 as an example, in the following description, the left i block refers to the i-th receiving block located in the area 31 in the receiving block row 22, and the right i block refers to the i-th receiving block located in the area 32 in the receiving block row 22.

[0113] After the first transmission, the point cloud data corresponding to the left block 1 is directly output without compression, the point cloud data corresponding to the left block 2 is stored in the partition L_ram0 of the cache area, and the point cloud data corresponding to the left block 3 is stored in the partition L_ram2 of the cache area. The point cloud data corresponding to the left block 11 is stored in the partition L_ram3, the point cloud data corresponding to the left block 12 is stored in the partition L_ram1, and the point cloud data corresponding to the right block 1 is stored in the partition R_ram1.

[0114] After the second transmission, since the left 2 blocks only correspond to 2 transmissions in the preset time interval, the point cloud data corresponding to the second transmission of the left 2 blocks and the data of the last stored left 2 blocks read from the partition L_ram0 are compressed and output to output the final compressed point cloud data corresponding to the left 2 blocks, and the partition L_ram0 is released at the same time. The point cloud data corresponding to the second transmission of the left 3 blocks and the point cloud data corresponding to the last stored left 3 blocks read from the partition L_ram2 are compressed and stored in the partition L_ram0 that has just been released, and the partition L_ram2 is released at the same time. The point cloud data corresponding to the left 4 blocks received for the first time are stored in the partition L_ram2 that has just been released. The point cloud data corresponding to the left 12 blocks and the data of the last stored left 12 blocks read from the partition L_ram1 are compressed and stored in the partition L_ram1 again. The point cloud data corresponding to the right block 1 and the point cloud data corresponding to the right block 1 stored last time read from the partition R_ram1 are compressed and stored in the partition R_ram1 again; the point cloud data corresponding to the right block 2 received for the first time is stored in the partition R_ram3.

[0115] After the third transmission, the point cloud data corresponding to the left 3 blocks are compressed with the point cloud data corresponding to the last stored left 3 blocks read from partition L_ram0, and the compressed point cloud data of the left 3 blocks are output, and partition L_ram0 is released at the same time. The point cloud data corresponding to the left 4 blocks are compressed with the point cloud data corresponding to the last stored left 4 blocks read from partition L_ram2, and stored in the partition L_ram0 that has just been released, and partition L_ram2 is released at the same time. The point cloud data corresponding to the left 5 blocks received for the first time are stored in the partition L_ram2 that has just been released. The point cloud data corresponding to the right 1 block is compressed with the data of the last stored right 1 block read from partition R_ram1, and stored in partition R_ram1 again; the point cloud data corresponding to the right 2 blocks is compressed with the point cloud data corresponding to the last stored right 2 blocks read from partition R_ram3, and stored in partition R_ram3 again. The point cloud data corresponding to the right 3 blocks received for the first time are stored in partition R_ram2.

[0116] like Figure 5 As shown, Figure 5 The schematic diagram of the compression process of the point cloud data of the 4th to 8th transmissions in a row of transmissions corresponding to the receiving block row 22 as shown in 3 is shown.

[0117] After the fourth transmission, the point cloud data corresponding to the left 4 blocks are compressed with the point cloud data corresponding to the last stored left 4 blocks read from partition L_ram0, and the compressed point cloud data corresponding to the left 4 blocks are output, and partition L_ram0 is released at the same time. The point cloud data corresponding to the left 5 blocks are compressed with the point cloud data corresponding to the last stored left 5 blocks read from partition L_ram2 and stored in the partition L_ram0 that has just been released, and partition L_ram2 is released at the same time. The point cloud data corresponding to the left 6 blocks received for the first time are stored in the partition L_ram2 that has just been released. The point cloud data corresponding to the right 2 blocks are compressed with the point cloud data corresponding to the last stored right 2 blocks read from partition R_ram3 and stored in partition R_ram3 again. The point cloud data corresponding to the right 3 blocks are compressed with the point cloud data corresponding to the last stored right 3 blocks read from partition R_ram2 and stored in partition R_ram2 again. The point cloud data corresponding to the right 4 blocks received for the first time are stored in partition R_ram0.

[0118] So far, the first 4 scans have received 6 blocks of data and output only 1 block of data. From the 5th scan onwards, it will receive 6 blocks and output 2 blocks.

[0119] After the 5th transmission, the point cloud data corresponding to the left 5 blocks are compressed with the point cloud data corresponding to the last stored left 5 blocks read from partition L_ram0, and the compressed point cloud data corresponding to the left 5 blocks are output, and partition L_ram0 is released at the same time. The point cloud data corresponding to the left 6 blocks are compressed with the point cloud data corresponding to the last stored left 6 blocks read from partition L_ram2, and stored in the partition L_ram0 that has just been released, and partition L_ram2 is released at the same time. The point cloud data corresponding to the left 7 blocks received for the first time are stored in L_ram2 that has just been released. The point cloud data corresponding to the right 3 blocks are compressed with the point cloud data corresponding to the last stored right 3 blocks read from partition R_ram2, and the compressed point cloud data corresponding to the right 3 blocks are output, and partition R_ram2 is released at the same time. The point cloud data corresponding to the right 4 blocks are compressed with the last stored right 4 blocks read from partition R_ram0 as shown in the figure. Figure 5 As shown, Figure 5 The schematic diagram of the compression process of the point cloud data of the 4th to 8th transmissions in a row of transmissions corresponding to the receiving block row 22 as shown in 3 is shown.

[0120] The data is compressed and stored in the partition R_ram2 that has just been released. The point cloud data corresponding to the first received 5 right blocks is stored in the partition R_ram0.

[0121] The compression process after the 6th to 8th launch is similar to the compression process after the 5th launch, and the RAM used is also the same.

[0122] like Figure 6 As shown, Figure 6The schematic diagram of the compression process of the point cloud data of the 9th to 11th transmissions in a row of transmissions corresponding to the receiving block row 22 as shown in 3 is shown.

[0123] After the 9th transmission, the point cloud data corresponding to the left 9 blocks are compressed with the point cloud data corresponding to the last stored left 9 blocks read from partition L_ram0, and the point cloud data corresponding to the left 9 blocks are output, and partition L_ram0 is released at the same time. The point cloud data corresponding to the left 10 blocks are compressed with the point cloud data corresponding to the last stored left 12 blocks read from partition L_ram2, and stored in the partition L_ram0 that has just been released, and partition L_ram2 is released at the same time. The point cloud data corresponding to the left 11 blocks are compressed with the point cloud data corresponding to the first transmission of the left 11 blocks read from partition L_ram3, and stored in partition L_ram3. The point cloud data corresponding to the right 7 blocks are compressed with the point cloud data corresponding to the last stored right 7 blocks read from partition R_ram2, and the compressed point cloud data of the right 7 blocks are output, and partition R_ram2 is released at the same time. The point cloud data corresponding to the right 8 blocks are compressed with the point cloud data corresponding to the last stored right 8 blocks read from partition R_ram0, and stored in the partition R_ram2 that has just been released. The point cloud data corresponding to the right 9 blocks received for the first time are stored in partition R_ram0.

[0124] The compression process after the 10th to 11th launch is similar to the compression process after the 9th launch, and the RAM used is also the same.

[0125] like Figure 7 As shown, Figure 7 The schematic diagram of the compression process of the point cloud data of the 12th transmission in a row of transmission corresponding to the receiving block row 22 as shown in 3 is shown.

[0126] After the 12th transmission, the compressed point cloud data of the 6 receiving blocks are all output. Among them, the point cloud data corresponding to the left 12 blocks are compressed with the point cloud data corresponding to the left 12 blocks stored last time read from L_ram1, and then the compressed point cloud data corresponding to the left 12 blocks are output. The point cloud data corresponding to the right 1 block is compressed with the point cloud data corresponding to the right 1 block stored last time read from R_ram1, and then the compressed point cloud data corresponding to the right 1 block is output. The point cloud data corresponding to the right 2 block is compressed with the point cloud data corresponding to the right 2 block stored last time read from R_ram3, and then the compressed point cloud data corresponding to the right 2 block is output. The point cloud data corresponding to the right 10 block is compressed with the point cloud data corresponding to the right 10 block stored last time read from R_ram2, and then the compressed point cloud data of the right 10 block is output. The point cloud data corresponding to the right 11 block is compressed with the point cloud data corresponding to the right 11 block stored last time read from R_ram0, and then the point cloud data corresponding to the right 11 block is output. The point cloud data corresponding to the right 12 block is directly output without fusion.

[0127] Optionally, in some examples, each receiving block includes at least two receiving units, and all receiving units in each receiving block enter the sampling working state when the receiving block enters the sampling working state. The sampling data of each receiving block includes the sampling data of each receiving unit. Taking the first receiving block as an example, the sampling data of the laser beam emitted once by the first receiving block includes the sampling data of the laser beam emitted once by the multiple receiving units in the first receiving block. The receiving unit can be a pixel in the receiving block.

[0128] When a receiving block corresponds to point cloud data emitted at different times within a preset time interval, specifically, each receiving unit in the receiving block corresponds to point cloud data emitted at different times within a preset time interval. Taking the first receiving unit of the at least two receiving units as an example, Figure 1 In the illustrated embodiment, in step S103, based on the sampling data of the laser beam emitted once respectively by the at least two receiving blocks, a portion of point cloud data of the laser beam emitted once respectively corresponding to the at least two receiving blocks is obtained, including: based on the sampling data of the laser beam emitted once by the first receiving unit, a group of point cloud data of the laser beam emitted once corresponding to the first receiving unit is obtained; in step S104, the portions of point cloud data of the laser beam emitted each time within a preset time interval respectively corresponding to the first receiving blocks are compressed into a portion of point cloud data, including: the portions of point cloud data of the laser beam emitted each time within the preset time interval respectively corresponding to the first receiving blocks are compressed into a group of point cloud data.

[0129] Optionally, in Figures 4 to 7 In the illustrated embodiment, the partition corresponding to each receiving block in the buffer area includes a sub-area corresponding to each receiving unit of the receiving block. When compressing each group of point cloud data corresponding to each laser beam emitted by the first receiving unit in the preset time interval into a group of point cloud data, the each group of point cloud data corresponding to each laser beam emitted by the first receiving unit in the preset time interval is specifically stored in sequence in the corresponding sub-area in the buffer area. Wherein, before being stored in the buffer area for the i-th time, the group of point cloud data acquired for the i-th time and the group of point cloud data stored in the buffer area for the i-1th time are fused into a group of fused point cloud data, and the group of fused point cloud data is used as the point cloud data stored in the buffer area for the i-th time or as a partial output of the fused point cloud data, i is a positive integer greater than 1, and the group of point cloud data acquired for the i-th time is the point cloud data of the laser beam emitted by the first receiving unit in the preset time interval.

[0130] There are multiple methods for fusing a set of point cloud data acquired for the i-th time with a set of point cloud data stored in the buffer area for the (i-1)th time into a set of fused point cloud data.

[0131] In one example, the difference between the set of point cloud data acquired for the i-th time and the set of point cloud data stored in the cache for the i-1th time is obtained, and when the difference is less than a preset difference, the weighted sum of the set of point cloud data acquired for the i-th time and the set of point cloud data stored in the cache for the i-1th time is used as the fused point cloud data. Optionally, when the difference is not less than the preset difference, the fused point cloud data is determined based on the spot area in the set of point cloud data acquired for the i-th time and the spot area in the set of point cloud data stored in the cache for the i-1th time.

[0132] There are multiple methods for determining whether the gap between a set of point cloud data acquired for the i-th time and a set of point cloud data stored in the cache area for the i-1th time is smaller than a preset gap. For example, a set of point cloud data acquired for the i-th time and a set of point cloud data stored in the cache area for the i-1th time respectively include at least one of distance, reflectivity, and spot area, wherein the spot area is determined based on the light energy sampled by the first receiving unit for a laser beam emitted once. Whether the gap between a set of point cloud data acquired for the i-th time and a set of point cloud data stored in the cache area for the i-1th time is smaller than a preset gap can be determined based on at least one of the following:

[0133] whether the difference between the distance value obtained for the i-th time and the distance value stored in the cache for the i-1th time is less than a preset distance value;

[0134] whether the difference between the reflectivity value acquired for the i-th time and the reflectivity value stored in the cache area for the (i-1)th time is less than a preset distance value;

[0135] Whether the difference between the light spot area value acquired for the i-th time and the light spot area value stored in the buffer area for the (i-1)th time is less than a preset distance value.

[0136] There are multiple methods for determining the fused point cloud data according to the spot area in the set of point cloud data acquired for the i-th time and the spot area in the set of point cloud data stored in the buffer area for the (i-1)th time.

[0137] For example, when the spot area in the set of point cloud data acquired for the i-th time is not less than the spot area in the set of point cloud data stored in the buffer area for the i-1th time, at least one of the following is performed:

[0138] When the value of the spot area or distance in the set of point cloud data stored in the buffer area for the i-1th time is 0, the set of point cloud data acquired for the i-th time is determined as the fused point cloud data;

[0139] When the spot area in the set of point cloud data acquired for the i-th time is greater than the saturation area, the spot area in the set of point cloud data stored in the cache for the i-1th time is greater than the preset area, the difference between the spot area in the set of point cloud data acquired for the i-th time and the spot area in the set of point cloud data stored in the cache for the i-1th time is less than a preset area comparison threshold, and the value of the distance in the set of point cloud data stored in the cache for the i-1th time is not 0, then the set of point cloud data stored in the cache for the i-1th time is determined as the fused point cloud data;

[0140] When the spot area in the set of point cloud data acquired for the i-th time is not greater than the saturation area, or the spot area in the set of point cloud data stored in the cache area for the i-1th time is not greater than the preset area, or the difference between the spot area in the set of point cloud data acquired for the i-th time and the spot area in the set of point cloud data stored in the cache area for the i-1th time is not less than the preset area comparison threshold, and the difference between the distance in the set of point cloud data acquired for the i-th time and the distance in the set of point cloud data stored in the cache area for the i-1th time is less than the preset distance comparison threshold, or the value of the distance in the set of point cloud data stored in the cache area for the i-1th time is equal to 0 and the spot area is not equal to 0, then the set of point cloud data acquired for the i-th time is determined as the fused point cloud data.

[0141] For another example, when the spot area in the set of point cloud data acquired for the i-th time is smaller than the spot area in the set of point cloud data stored in the buffer area for the (i-1)th time, at least one of the following is performed:

[0142] When the spot area in the set of point cloud data stored in the buffer area for the (i-1)th time is greater than the saturation area, and the distance in the set of point cloud data acquired for the i-th time is not equal to 0, the set of point cloud data acquired for the i-th time is determined as the fused point cloud data;

[0143] When the spot area in the set of point cloud data stored in the cache area for the i-1th time is not greater than the saturation area, or the distance in the set of point cloud data acquired for the i-1th time is equal to 0, the set of point cloud data stored in the cache area for the i-1th time is determined as the fused point cloud data.

[0144] Optionally, in an example where a set of point cloud data acquired for the i-th time includes a spot area, before obtaining the difference between the set of point cloud data acquired for the i-th time and the set of point cloud data stored in the cache area for the i-1th time, it is also determined that the spot area in the set of point cloud data acquired for the i-th time is not less than a preset area. Further optionally, when the sets of point cloud data corresponding to the laser beams emitted each time by the first receiving unit in the preset time interval are sequentially stored in the cache area, it is also determined whether the spot area in the set of point cloud data acquired for the i-th time is less than the preset area. When it is determined that the spot area in the set of point cloud data acquired for the i-th time is less than the preset area, it is determined whether the spot area in the set of point cloud data stored in the cache area for the i-1th time is less than the preset area.

[0145] When the spot area of ​​a set of point cloud data stored in the cache area for the i-1th time is smaller than the preset area, the set of point cloud data acquired for the i-th time is stored in the cache area for the i-th time, and / or, when the spot area of ​​a set of point cloud data stored in the cache area for the i-1th time is not smaller than the preset area, the set of point cloud data stored in the cache area for the i-1th time is stored in the cache area for the i-1th time.

[0146] The following is a specific example of a method for fusing a set of point cloud data acquired for the i-th time in this application with a set of point cloud data stored in the buffer area for the i-1th time into a set of fused point cloud data. In the laser radar, thresholds csr_dist_th and csr_squa_th for comparison are pre-stored, as well as abs_squa_th, which represents the minimum spot area of ​​the effective spot, and csr_satu_t, which represents the saturated spot area. In the set of point cloud data acquired for the i-th time, Sc (representing the spot area value), Dc (representing the distance value) and Rc (representing the reflectivity value) are included. In the set of point cloud data stored in the buffer area for the i-1th time, Sl (representing the spot area value), Dl (representing the distance value) and Rl (representing the reflectivity value) are included.

[0147] Optionally, if Sc>=abs_squa_th, then:

[0148] When |Dc-Dl|<=csr_dist_th, and |Sc-Sl|<=csr_squa_th, select {(Dc+Dl) / 2, (Rc+Rl) / 2, (Sc+Sl) / 2} as the fused point cloud data;

[0149] When |Dc - Dl| > csr_dist_th or |Sc - Sl| > csr_squa_th, compare Sc and Sl:

[0150] (1) If Sc >= Sl,

[0151] ① If Dl or Sl is zero, then select {Dc, Rc, Sc} as the fused point cloud data;

[0152] ② If Sc > csr_satu_t, and Sl > abs_squa_th, and |Sc - Sl| <= csr_squa_th and Dl is not equal to zero, then select {Dl, Rl, Sl} as the fused point cloud data;

[0153] ③ Otherwise select {Dc, Rc, Sc} as the fused point cloud data;

[0154] (2) If Sc < Sl,

[0155] ① If Sl > csr_satu_t, and Dc is not equal to zero, then select {Dc, Rc, Sc} as the fused point cloud data;

[0156] ② Otherwise select {Dl, Rl, Sl} as the fused point cloud data.

[0157] Optionally, if Sc < abs_squa_th, then compare Sl with abs_squa_th:

[0158] 1) If Sl < abs_squa_th, then select {Dc, Rc, Sc} as the fused point cloud data,

[0159] 2) Otherwise select {Dl, Rl, Sl} as the fused point cloud data.

[0160] This application also provides a sampling data processing device. As Figure 8 shown, Figure 8 is a schematic diagram of an embodiment of the sampling data processing device of this application. The sampling data processing device 800 includes:

[0161] A transmitting module 801, configured to emit laser beams multiple times;

[0162] The sampling module 802 includes at least two receiving blocks, and the at least two receiving blocks are used to sample the echo of the laser beam emitted once, and obtain the sampling data of the laser beam emitted once by the at least two receiving blocks respectively, wherein the first receiving block of the at least two receiving blocks is used to sample the laser beam emitted N times and the laser beam emitted N+1 times, and the second receiving block of the at least two receiving blocks is used to sample the laser beam emitted N times but not to sample the laser beam emitted N+1 times, and N is a positive integer greater than or equal to 1;

[0163] An acquisition module 803 is used to acquire a piece of point cloud data of the laser beam emitted once by the at least two receiving blocks respectively according to the sampling data of the laser beam emitted once by the at least two receiving blocks respectively;

[0164] The generating module 804 is used to generate a frame of point cloud data according to a piece of point cloud data of the laser beam emitted once corresponding to at least one of the receiving blocks.

[0165] Optionally, when generating a frame of point cloud data according to a piece of point cloud data of the laser beam emitted once corresponding to at least one of the receiving blocks, the generating module 804 is specifically configured to:

[0166] For the first receiving block, each point cloud data of the laser beam emitted by the first receiving block in each time corresponding to the preset time interval is merged into a compressed point cloud data corresponding to the preset time interval;

[0167] A frame of point cloud data is generated according to the compressed point cloud data of the first receiving block corresponding to the preset time interval.

[0168] Optionally, when the transmitting module 801 transmits the laser beam multiple times, it is specifically used to:

[0169] Laser beams are fired at different azimuth angles in sequence along a row.

[0170] Among the emission pitch angles of the laser beams emitted along a row, the difference between the maximum emission pitch angle and the minimum emission pitch angle is less than a preset angle,

[0171] The preset time interval is at least a part of the emission time interval corresponding to the laser beam emitted in the row.

[0172] Optionally, when the generating module 804 compresses the points cloud data of the laser beams emitted by the first receiving block respectively corresponding to each time within the preset time interval into one point cloud data, it is specifically used to:

[0173] The first receiving block stores the point cloud data of each laser beam emitted each time in the preset time interval in the buffer area in sequence,

[0174] Before being stored in the cache area for the i-th time, a piece of point cloud data acquired for the i-th time and a piece of point cloud data stored in the cache area for the i-1th time are merged into a piece of point cloud data, and stored in the cache area for the i-th time, i is a positive integer greater than 1,

[0175] The piece of point cloud data acquired for the i-th time is the point cloud data of the laser beam emitted for the i-th time by the first receiving block within the preset time interval.

[0176] Optionally, when compressing the points cloud data of the laser beams emitted by the first receiving block respectively corresponding to each time within the preset time interval into one point cloud data, the generating module 804 is further used to:

[0177] Before the i-th storage in the buffer area, the point cloud data of the first receiving block stored in the buffer area for the (i-1)th time is also released.

[0178] Optionally, the buffer area includes at least two partitions, the number of the at least two partitions is consistent with the number of receiving blocks of the at least two receiving blocks, and each of the partitions is used to store a copy of point cloud data corresponding to one of the receiving blocks.

[0179] And a portion of point cloud data corresponding to each of the at least two receiving blocks is stored in the buffer area in a serial manner.

[0180] Optionally, the first receiving block includes a plurality of receiving units, and the sampling data of the laser beam emitted once by the first receiving block includes the sampling data of the laser beam emitted once by the plurality of receiving units in the first receiving block respectively, and the plurality of receiving units include the first receiving unit;

[0181] The step of acquiring a portion of point cloud data of the laser beam emitted once by the at least two receiving blocks respectively corresponding to the laser beam emitted once according to the sampling data of the laser beam emitted once by the at least two receiving blocks respectively comprises:

[0182] Acquire a set of point cloud data of the laser beam emitted once by the first receiving unit according to the sampling data of the laser beam emitted once by the first receiving unit;

[0183] When the generating module 804 compresses the first receiving points cloud data of the laser beams emitted each time within the preset time interval into one point cloud data, it includes:

[0184] The first receiving unit compresses each group of point cloud data corresponding to the laser beam emitted each time within the preset time interval into a group of point cloud data.

[0185] Optionally, compressing each group of point cloud data of the laser beams emitted each time by the first receiving unit within the preset time interval into a group of point cloud data includes:

[0186] The first receiving unit sequentially stores each group of point cloud data of the laser beam emitted each time within the preset time interval into the buffer area,

[0187] Wherein, before being stored in the cache area for the i-th time, a set of point cloud data acquired for the i-th time and a set of point cloud data stored in the cache area for the i-1th time are fused into a set of fused point cloud data, and the set of fused point cloud data is used as the point cloud data stored in the cache area for the i-th time or as a partial output of the compressed point cloud data, i is a positive integer greater than 1,

[0188] The set of point cloud data acquired for the i-th time is the point cloud data of the laser beam emitted for the i-th time by the first receiving unit within the preset time interval.

[0189] Optionally, the step of fusing a set of point cloud data acquired for the i-th time with a set of point cloud data stored in the buffer area for the (i-1)th time into a set of fused point cloud data comprises:

[0190] Obtaining a difference between the set of point cloud data acquired for the i-th time and the set of point cloud data stored in the buffer area for the i-1th time;

[0191] When the gap is smaller than a preset gap, a weighted sum of the set of point cloud data acquired for the i-th time and the set of point cloud data stored in the buffer area for the (i-1)th time is used as the fused point cloud data.

[0192] Optionally, the point cloud data includes a light spot area, and the light spot area is determined according to the light energy sampled by the first receiving unit from the laser beam emitted once;

[0193] The step of fusing a set of point cloud data acquired for the i-th time with a set of point cloud data stored in the buffer area for the i-1th time into a set of fused point cloud data further includes:

[0194] When the gap is not less than the preset gap, the fused point cloud data is determined according to the spot area in the set of point cloud data acquired for the i-th time and the spot area in the set of point cloud data stored in the buffer area for the i-1th time.

[0195] Optionally, determining the fused point cloud data according to the spot area in the set of point cloud data acquired for the i-th time and the spot area in the set of point cloud data stored in the buffer area for the (i-1)th time includes:

[0196] When the light spot area in the set of point cloud data acquired for the i-th time is not less than the light spot area in the set of point cloud data stored in the buffer area for the i-1th time, at least one of the following is performed:

[0197] When the value of the spot area or distance in the set of point cloud data stored in the buffer area for the i-1th time is 0, the set of point cloud data acquired for the i-th time is determined as the fused point cloud data;

[0198] When the spot area in the set of point cloud data acquired for the i-th time is greater than the saturation area, the spot area in the set of point cloud data stored in the cache for the i-1th time is greater than the preset area, the difference between the spot area in the set of point cloud data acquired for the i-th time and the spot area in the set of point cloud data stored in the cache for the i-1th time is less than a preset area comparison threshold, and the value of the distance in the set of point cloud data stored in the cache for the i-1th time is not 0, then the set of point cloud data stored in the cache for the i-1th time is determined as the fused point cloud data;

[0199] When the spot area in the set of point cloud data acquired for the i-th time is not greater than the saturation area, or the spot area in the set of point cloud data stored in the cache area for the i-1th time is not greater than the preset area, or the difference between the spot area in the set of point cloud data acquired for the i-th time and the spot area in the set of point cloud data stored in the cache area for the i-1th time is not less than the preset area comparison threshold, and the difference between the distance in the set of point cloud data acquired for the i-th time and the distance in the set of point cloud data stored in the cache area for the i-1th time is less than the preset distance comparison threshold, or the value of the distance in the set of point cloud data stored in the cache area for the i-1th time is equal to 0 and the spot area is not equal to 0, then the set of point cloud data acquired for the i-th time is determined as the fused point cloud data.

[0200] Optionally, determining the fused point cloud data according to the spot area in the set of point cloud data acquired for the i-th time and the spot area in the set of point cloud data stored in the buffer area for the (i-1)th time includes:

[0201] When the light spot area in the set of point cloud data acquired for the i-th time is smaller than the light spot area in the set of point cloud data stored in the buffer area for the i-1th time, at least one of the following is performed:

[0202] When the spot area in the set of point cloud data stored in the buffer area for the (i-1)th time is greater than the saturation area, and the distance in the set of point cloud data acquired for the i-th time is not equal to 0, the set of point cloud data acquired for the i-th time is determined as the fused point cloud data;

[0203] When the spot area in the set of point cloud data stored in the cache area for the i-1th time is not greater than the saturation area, or the distance in the set of point cloud data acquired for the i-1th time is equal to 0, the set of point cloud data stored in the cache area for the i-1th time is determined as the fused point cloud data.

[0204] Optionally, the set of point cloud data acquired for the i-th time includes a light spot area, and the light spot area is determined according to the light energy sampled by the first receiving unit from the laser beam emitted for the i-th time within the preset time interval;

[0205] Before obtaining the difference between the set of point cloud data obtained for the i-th time and the set of point cloud data stored in the buffer area for the i-1th time, the method further includes:

[0206] Determine that the spot area in the set of point cloud data acquired for the i-th time is not less than a preset area.

[0207] Optionally, the storing in a buffer area in sequence the groups of point cloud data of the laser beams emitted each time by the first receiving unit in the preset time interval respectively, further comprises:

[0208] When it is determined that the spot area in the set of point cloud data acquired for the i-th time is smaller than the preset area, determining whether the spot area in the set of point cloud data stored in the buffer area for the i-1th time is smaller than the preset area;

[0209] When the spot area in the set of point cloud data stored in the buffer area for the i-1th time is smaller than the preset area, the set of point cloud data acquired for the i-th time is stored in the buffer area for the i-th time, and / or,

[0210] When the spot area in a set of point cloud data stored in the cache area for the i-1th time is not less than the preset area, the set of point cloud data stored in the cache area for the i-1th time is stored in the cache area.

[0211] The present application also provides a laser radar, such as Fig. 9 As shown, Fig. 9 FIG. 9 is a schematic diagram of an embodiment of a laser radar in an embodiment of the present application. The laser radar 900 includes a memory 901 and a processor 902 .

[0212] The processor 902 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0213] The memory 901 may include various types of storage units, such as system memory, read-only memory (ROM) and permanent storage devices. Among them, ROM can store static data or instructions required by the processor 902 or other modules of the computer. The permanent storage device may be a readable and writable storage device. The permanent storage device may be a non-volatile storage device that does not lose the stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a large-capacity storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device. In some other embodiments, the permanent storage device may be a removable storage device (such as a floppy disk, an optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as a dynamic random access memory. The system memory may store some or all instructions and data required by the processor at run time. In addition, the memory 901 may include any combination of computer-readable storage media, including various types of semiconductor storage chips (such as DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, the memory 1000 may include a readable and / or writable removable storage device, such as a laser disc (CD), a read-only digital versatile disc (such as a DVD-ROM, a double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (such as an SD card, a mini SD card, a Micro-SD card, etc.), a magnetic floppy disk, etc. The computer-readable storage medium does not include carrier waves and transient electronic signals transmitted wirelessly or wired.

[0214] The memory 901 stores executable codes, and when the executable codes are processed by the processor 902 , the processor 902 can execute part or all of the methods described above.

[0215] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A laser radar data processing method, characterized in that: The method comprises: Fire laser beams multiple times; Sampling the echo of the laser beam emitted once through at least two receiving blocks to obtain sampling data of the laser beam emitted once respectively by the at least two receiving blocks, wherein the first receiving block of the at least two receiving blocks is used to sample the laser beam emitted N times and the laser beam emitted N+1 times, and the second receiving block of the at least two receiving blocks is used to sample the laser beam emitted N times but not to sample the laser beam emitted N+1 times, and N is a positive integer greater than or equal to 1; According to the sampling data of the laser beam emitted once respectively by the at least two receiving blocks, a piece of point cloud data of the laser beam emitted once respectively corresponding to the at least two receiving blocks is acquired; A frame of point cloud data is generated according to a portion of point cloud data of the laser beam emitted once corresponding to at least one of the receiving blocks.

2. The method according to claim 1, characterized in that The step of generating a frame of point cloud data according to a portion of point cloud data of the laser beam emitted once corresponding to at least one of the receiving blocks comprises: For the first receiving block, each point cloud data of the laser beam emitted by the first receiving block in each time corresponding to the preset time interval is merged into a compressed point cloud data corresponding to the preset time interval; A frame of point cloud data is generated according to the compressed point cloud data of the first receiving block corresponding to the preset time interval.

3. The method according to claim 2, characterized in that The multiple emission of laser beams comprises: Laser beams are fired at different azimuth angles in sequence along a row. Among the emission pitch angles of the laser beams emitted along a row, the difference between the maximum emission pitch angle and the minimum emission pitch angle is less than a preset angle, The preset time interval is at least a part of the emission time interval corresponding to the laser beam emitted in the row.

4. The method according to claim 2, characterized in that: The step of compressing each point cloud data of the laser beam emitted each time within the preset time interval by the first receiving block into one point cloud data comprises: The first receiving block stores the point cloud data of each laser beam emitted each time in the preset time interval in the buffer area in sequence, Before being stored in the cache area for the i-th time, a piece of point cloud data acquired for the i-th time and a piece of point cloud data stored in the cache area for the i-1th time are merged into a piece of point cloud data, and stored in the cache area for the i-th time, i is a positive integer greater than 1, The piece of point cloud data acquired for the i-th time is the point cloud data of the laser beam emitted for the i-th time by the first receiving block within the preset time interval.

5. The method according to claim 4, characterized in that The step of compressing the points cloud data of the laser beams emitted by the first receiving block respectively in the preset time interval into one point cloud data further includes: Before the i-th storage in the buffer area, the point cloud data of the first receiving block stored in the buffer area for the (i-1)th time is also released.

6. The method according to claim 5, characterized in that The buffer area includes at least two partitions, the number of the at least two partitions is consistent with the number of receiving blocks of the at least two receiving blocks, and each of the partitions is used to store a copy of point cloud data corresponding to one of the receiving blocks. And a portion of point cloud data corresponding to each of the at least two receiving blocks is stored in the buffer area in a serial manner.

7. The method according to any one of claims 1 to 6, characterized in that: The first receiving block includes a plurality of receiving units, the sampling data of the laser beam emitted once by the first receiving block includes the sampling data of the laser beam emitted once by the plurality of receiving units in the first receiving block, respectively, and the plurality of receiving units include a first receiving unit; The step of acquiring a portion of point cloud data of the laser beam emitted once by the at least two receiving blocks respectively corresponding to the laser beam emitted once according to the sampling data of the laser beam emitted once by the at least two receiving blocks respectively comprises: Acquire a set of point cloud data of the laser beam emitted once by the first receiving unit according to the sampling data of the laser beam emitted once by the first receiving unit; The first receiving of each point cloud data corresponding to each laser beam emitted within a preset time interval, and compressing the data into one point cloud data, comprises: The first receiving unit compresses each group of point cloud data corresponding to the laser beam emitted each time within the preset time interval into a group of point cloud data.

8. The method according to claim 7, characterized in that The step of compressing each group of point cloud data of the laser beams emitted by the first receiving unit respectively in the preset time interval into a group of point cloud data comprises: The first receiving unit sequentially stores each group of point cloud data of the laser beam emitted each time within the preset time interval into the buffer area, Wherein, before being stored in the cache area for the i-th time, a set of point cloud data acquired for the i-th time and a set of point cloud data stored in the cache area for the i-1th time are fused into a set of fused point cloud data, and the set of fused point cloud data is used as the point cloud data stored in the cache area for the i-th time or as a partial output of the compressed point cloud data, i is a positive integer greater than 1, The set of point cloud data acquired for the i-th time is the point cloud data of the laser beam emitted for the i-th time by the first receiving unit within the preset time interval.

9. The method according to claim 8, characterized in that The step of fusing a set of point cloud data acquired for the i-th time with a set of point cloud data stored in the buffer area for the i-1th time into a set of fused point cloud data includes: Obtaining a difference between the set of point cloud data acquired for the i-th time and the set of point cloud data stored in the buffer area for the i-1th time; When the gap is smaller than a preset gap, a weighted sum of the set of point cloud data acquired for the i-th time and the set of point cloud data stored in the buffer area for the (i-1)th time is used as the fused point cloud data.

10. The method according to claim 9, characterized in that The point cloud data includes a light spot area, and the light spot area is determined according to the light energy sampled by the first receiving unit from the laser beam emitted once; The step of fusing a set of point cloud data acquired for the i-th time with a set of point cloud data stored in the buffer area for the i-1th time into a set of fused point cloud data further includes: When the gap is not less than the preset gap, the fused point cloud data is determined according to the spot area in the set of point cloud data acquired for the i-th time and the spot area in the set of point cloud data stored in the buffer area for the i-1th time.

11. The method according to claim 10, characterized in that The determining the fused point cloud data according to the light spot area in the set of point cloud data acquired for the i-th time and the light spot area in the set of point cloud data stored in the buffer area for the i-1th time comprises: When the light spot area in the set of point cloud data acquired for the i-th time is not less than the light spot area in the set of point cloud data stored in the buffer area for the i-1th time, at least one of the following is performed: When the value of the spot area or distance in the set of point cloud data stored in the buffer area for the i-1th time is 0, the set of point cloud data acquired for the i-th time is determined as the fused point cloud data; When the spot area in the set of point cloud data acquired for the i-th time is greater than the saturation area, the spot area in the set of point cloud data stored in the cache for the i-1th time is greater than the preset area, the difference between the spot area in the set of point cloud data acquired for the i-th time and the spot area in the set of point cloud data stored in the cache for the i-1th time is less than a preset area comparison threshold, and the value of the distance in the set of point cloud data stored in the cache for the i-1th time is not 0, then the set of point cloud data stored in the cache for the i-1th time is determined as the fused point cloud data; When the spot area in the set of point cloud data acquired for the i-th time is not greater than the saturation area, or the spot area in the set of point cloud data stored in the cache area for the i-1th time is not greater than the preset area, or the difference between the spot area in the set of point cloud data acquired for the i-th time and the spot area in the set of point cloud data stored in the cache area for the i-1th time is not less than the preset area comparison threshold, and the difference between the distance in the set of point cloud data acquired for the i-th time and the distance in the set of point cloud data stored in the cache area for the i-1th time is less than the preset distance comparison threshold, or the value of the distance in the set of point cloud data stored in the cache area for the i-1th time is equal to 0 and the spot area is not equal to 0, then the set of point cloud data acquired for the i-th time is determined as the fused point cloud data.

12. The method according to claim 10, characterized in that The determining the fused point cloud data according to the light spot area in the set of point cloud data acquired for the i-th time and the light spot area in the set of point cloud data stored in the buffer area for the i-1th time comprises: When the light spot area in the set of point cloud data acquired for the i-th time is smaller than the light spot area in the set of point cloud data stored in the buffer area for the i-1th time, at least one of the following is performed: When the spot area in the set of point cloud data stored in the buffer area for the (i-1)th time is greater than the saturation area, and the distance in the set of point cloud data acquired for the i-th time is not equal to 0, the set of point cloud data acquired for the i-th time is determined as the fused point cloud data; When the spot area in the set of point cloud data stored in the cache area for the i-1th time is not greater than the saturation area, or the distance in the set of point cloud data acquired for the i-1th time is equal to 0, the set of point cloud data stored in the cache area for the i-1th time is determined as the fused point cloud data.

13. The method according to claim 9, characterized in that The set of point cloud data acquired for the i-th time includes a light spot area, and the light spot area is determined according to the light energy sampled by the first receiving unit from the laser beam emitted for the i-th time within the preset time interval; Before obtaining the difference between the set of point cloud data obtained for the i-th time and the set of point cloud data stored in the buffer area for the i-1th time, the method further includes: Determine that the spot area in the set of point cloud data acquired for the i-th time is not less than a preset area.

14. The method according to claim 13, characterized in that The step of sequentially storing each group of point cloud data of the laser beams emitted by the first receiving unit respectively in the preset time interval into the buffer area further includes: When it is determined that the spot area in the set of point cloud data acquired for the i-th time is smaller than the preset area, determining whether the spot area in the set of point cloud data stored in the buffer area for the i-1th time is smaller than the preset area; When the spot area in the set of point cloud data stored in the buffer area for the i-1th time is smaller than the preset area, the set of point cloud data acquired for the i-th time is stored in the buffer area for the i-th time, and / or, When the spot area in a set of point cloud data stored in the cache area for the i-1th time is not less than the preset area, the set of point cloud data stored in the cache area for the i-1th time is stored in the cache area.

15. A sampling data processing device, characterized in that: include: A transmitting module, used for transmitting laser beams multiple times; A sampling module, comprising at least two receiving blocks, wherein the at least two receiving blocks are used to sample an echo of a laser beam emitted once, and obtain sampling data of the laser beam emitted once by the at least two receiving blocks respectively, wherein a first receiving block of the at least two receiving blocks is used to sample a laser beam emitted for an Nth time and a laser beam emitted for an N+1th time, and a second receiving block of the at least two receiving blocks is used to sample a laser beam emitted for an Nth time but not for sampling a laser beam emitted for an N+1th time, and N is a positive integer greater than or equal to 1; An acquisition module, configured to acquire a portion of point cloud data of the laser beam emitted once by the at least two receiving blocks respectively corresponding to the laser beam emitted once according to the sampling data of the laser beam emitted once by the at least two receiving blocks respectively; A generating module is used to generate a frame of point cloud data according to a piece of point cloud data of the laser beam emitted once corresponding to at least one of the receiving blocks.

16. A laser radar, characterized in that: include: processor; as well as A memory having executable codes stored thereon, which, when executed by the processor, causes the processor to execute the method according to any one of claims 1 to 14.

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