Coordinate conversion circuit and method

Abstract

The invention provides a coordinate conversion circuit and method, the method is applied to the laser radar technology field, the circuit comprises at least one coordinate conversion module, and the coordinate conversion module comprises a control module and a data processing module; the control module is connected with the optical detection module, and the data processing module is connected with the control module; the optical detection module is used for acquiring scanning coordinates and detection distances of detection points in the operation process; the control module is used for receiving the operation trigger signal and the scanning coordinate and the detection distance of the detection point sent by the optical detection module; and under the condition that the operation trigger signal is received, the control module sends the scanning coordinate and the detection distance to the data processing module, and controls the data processing module to determine the radar coordinate of the detection point based on the scanning coordinate and the detection distance. According to the circuit, scanning coordinates can be converted into radar coordinates through a hardware module, occupation of processor resources is reduced, the requirement for the computing power of a processor is low, and point cloud output delay is effectively avoided.

Description

Technical Field

[0001] The present application relates to the field of laser radar technology, and more specifically, to a coordinate conversion circuit and method in the field of laser radar technology. Background Art

[0002] Laser radar has important applications in unmanned driving, robotics and other fields due to its advantages such as high resolution and little interference from environmental factors. It is generally used to measure the distance to the target, and can also be used to detect reflection information such as the reflectivity of the target.

[0003] In existing radar optical systems, lasers are used to perform two-dimensional scanning through scanning devices, but the original point cloud data obtained are all based on the scanning device coordinate system, which needs to be further converted to the radar coordinate system for subsequent point cloud data processing and application. Due to the huge amount of original point cloud data, the coordinate conversion through software requires a lot of computing resources, which requires high computing power of the processor, and will also have a great impact on the delay of point cloud output. Summary of the invention

[0004] The present application provides a coordinate conversion circuit and method, which can convert scanning coordinates into radar coordinates through a hardware module, reduce the occupation of processor processing resources by coordinate conversion, have low requirements on processor computing power, and effectively avoid point cloud output delay.

[0005] In a first aspect, a coordinate conversion circuit is provided, the circuit comprising at least one coordinate conversion module, the coordinate conversion module comprising a control module and a data processing module;

[0006] The control module is connected to the optical detection module, and the data processing module is connected to the control module; the optical detection module is used to obtain the scanning coordinates and detection distance of the detection point during operation;

[0007] The control module is used to receive an operation trigger signal, a scanning coordinate and a detection distance of a detection point sent by the optical detection module; upon receiving the operation trigger signal, the control module sends the scanning coordinate and the detection distance to the data processing module, and controls the data processing module to determine the radar coordinates of the detection point based on the scanning coordinate and the detection distance.

[0008] In the above technical solution, the coordinate conversion circuit includes multiple coordinate conversion modules, the number of coordinate conversion modules is not less than the number of detection channels of the laser radar, and one detection channel corresponds to at least one coordinate conversion module. For any coordinate conversion module, the coordinate conversion module includes a control module and a data processing module. The control module is connected to the optical detection module, and the data processing module is connected to the control module. The optical detection module is used to obtain the scanning coordinates and detection distance of the detection point of the detection channel corresponding to the coordinate conversion module during the operation of the laser radar. The control module is used to receive an operation trigger signal, and when the operation trigger signal is received, the scanning coordinates and detection distance of the detection point of the corresponding detection channel are obtained, and the scanning coordinates and detection distance of the detection point are sent to the data processing module, and the data processing module is controlled to determine the radar coordinates of the detection point based on the scanning coordinates and detection distance of the detection point. The present application embeds a coordinate conversion algorithm into a data processing module to convert the scanning coordinates of a detection point into radar coordinates through a hardware module, thereby reducing the occupation of processor processing resources by the coordinate conversion and requiring lower computing power of the processor; and the coordinate conversion circuit can perform real-time conversion on the scanning coordinates of the detection point to obtain the radar coordinates of the detection point, so that the coordinate data of the detection point received by subsequent other modules or software is directly the radar coordinate data of the detection point, effectively avoiding point cloud output delays.

[0009] In combination with the first aspect, in some possible implementations, the data processing module includes an advanced computing unit, a basic computing unit, and a first memory;

[0010] The advanced computing unit is connected to the control module, the basic computing unit and the first memory respectively, the basic computing unit is connected to the control module and the first memory respectively, and the first memory is connected to the control module;

[0011] The control module controls the advanced operation unit to perform at least matrix multiplication operation, trigonometric function operation, complex number operation, exponential operation, square root operation or logarithmic operation, and controls the basic operation unit to perform addition operation and subtraction operation;

[0012] The first memory is used to store intermediate values ​​obtained by operations performed by the advanced operation unit and the basic operation unit.

[0013] In the above technical solution, complex mathematical and logical operations such as matrix multiplication, trigonometric function, complex number, exponential, square root or logarithmic operations are performed by the advanced operation unit, and basic addition and subtraction operations are performed by the basic operation unit. The basic operation unit is connected to the advanced operation unit, so that the basic operation and complex operation work together, which can meet the calculation requirements of coordinate transformation; and the intermediate values ​​obtained by the advanced operation unit and the basic operation unit are stored in the first memory, which can avoid repeated calculations, so that data can be shared between multiple operations, and the calculation process of coordinate transformation is further optimized; in addition, according to the coordinate transformation requirements of scanning coordinates to radar coordinates, the execution order of the advanced operation unit and the basic operation unit can be dynamically adjusted through the control module to maximize the calculation efficiency of the data processing module.

[0014] In combination with the first aspect and the above implementation manner, in some possible implementation manners, the high-level operation unit includes a selector and at least one first high-level operation subunit;

[0015] The first advanced operation subunit is connected to the control module and the selector respectively, and the selector is connected to the control module and the basic operation unit respectively;

[0016] The first high-level operator unit is used to perform a matrix multiplication operation on at least one of the scanning coordinates of the detection point, the detection distance and the intermediate value to obtain an operation result;

[0017] The selector is used to determine a target first high-level operation subunit in at least one first high-level operation subunit according to a selection instruction from the control module and output the operation result of the target first high-level operation subunit.

[0018] In the above technical scheme, multiple first high-level operator units are configured according to the matrix multiplication operations of different dimensions involved in the scanning coordinates, detection distance and intermediate values ​​of the detection points during the coordinate transformation process. Each first high-level operator unit is used to perform matrix multiplication operations of different dimensions during the coordinate transformation process, so as to realize accurate calculation of matrix multiplication operations of different dimensions, thereby ensuring the accuracy of the coordinate transformation. Each first high-level operator unit has independent input and output, and the first high-level operator unit can be configured according to the actual operation requirements during the coordinate transformation process to adapt to different coordinate transformation requirements. At the same time, since each first high-level operator unit is responsible for processing operations of a specific dimension, the number of first high-level operator units can be flexibly increased or decreased as needed to meet coordinate transformation tasks of different scales or complexities.

[0019] In combination with the first aspect and the above implementation manner, in some possible implementation manners, the high-level operation unit further includes at least one second high-level operation subunit;

[0020] The second high-level operation subunit is connected to the control module and the first memory respectively;

[0021] The second high-level operation subunit is used to perform the trigonometric function operation, the complex number operation, the exponential operation, the square root operation or the logarithmic operation on at least one of the scanning coordinates of the detection point, the detection distance and the intermediate value, and each of the second high-level operation subunits performs different operations.

[0022] In the above technical scheme, according to the types of operations such as trigonometric function operations, complex number operations, exponential operations, square root operations and logarithmic operations involved in the coordinate conversion process, second high-level operation sub-units equal to the number of operation types are configured to perform different types of operations, which can meet the various high-level operation requirements involved in the coordinate conversion process, and each second high-level operation sub-unit is specifically used to perform a specific type of high-level operation, which can ensure the accuracy and efficiency of the calculation; at the same time, configuring multiple second high-level operation sub-units can provide diversified high-level operation support, and achieve the technical effects of parallel computing acceleration and flexible expansion configuration to meet the needs of various types of high-level operations in the coordinate conversion process.

[0023] In combination with the first aspect and the above implementation manner, in some possible implementation manners, the circuit further includes a second memory, the second memory is connected to the control module, and a lookup table is stored in the second memory, wherein the lookup table includes pre-stored conversion parameters;

[0024] The control module obtains the lookup table from the second memory, and controls the execution of the advanced operation unit and the basic operation unit according to the conversion parameters in the lookup table.

[0025] In the above technical solution, the coordinate conversion circuit also includes a second memory, in which a lookup table is stored, and the lookup table includes pre-stored conversion parameters. The control module can obtain the lookup table from the second memory, and control the execution of the advanced operation unit and the basic operation unit according to the conversion parameters in the lookup table, so that the coordinate conversion circuit can dynamically select appropriate conversion parameters according to the scanning coordinate range of the detection point, realize flexible processing of different scanning coordinate ranges, effectively improve the accuracy and efficiency of coordinate conversion, and allow the conversion parameters to be updated and configured according to the coordinate conversion requirements to adapt to different scanning coordinate ranges and requirements, and has a wide range of applications.

[0026] In combination with the first aspect and the above implementation manner, in some possible implementation manners, when there are multiple coordinate conversion modules, the coordinate conversion circuit further includes an arbitrator;

[0027] The arbitrator is respectively connected to the control module of each coordinate conversion module, and the arbitrator is also connected to the second memory;

[0028] Wherein, when the control modules of at least two of the coordinate conversion modules simultaneously request to obtain the lookup table, the arbitrator is used to make a priority decision on the acquisition requests of the at least two coordinate conversion modules.

[0029] In the above technical scheme, in the embodiment of the present application, when there are multiple coordinate conversion modules, an arbitrator is introduced to handle the request conflicts of multiple coordinate conversion modules, so as to ensure the stability and reliability of the coordinate conversion circuit during concurrent access by multiple tasks, and the priority decision algorithm of the arbitrator can be designed according to specific needs to meet the flexible requirements for request order in different application scenarios.

[0030] In a second aspect, a coordinate conversion method is provided, the method comprising:

[0031] When receiving the operation trigger signal, the scanning coordinates and detection distance of the detection point are obtained;

[0032] Sending the scanning coordinates and the detection distance to a data processing module;

[0033] Based on the scanning coordinates and the detection distance, the radar coordinates of the detection point are determined.

[0034] In conjunction with the second aspect, in some possible implementations, determining the radar coordinates of the detection point based on the scanning coordinates and the detection distance includes:

[0035] Performing trigonometric operation on the scanning coordinates to obtain trigonometric function values ​​corresponding to the scanning coordinates;

[0036] The radar coordinates of the detection point are determined according to the scanning coordinates, the trigonometric function value and the detection distance.

[0037] In combination with the second aspect and the above implementation manner, in some possible implementation manners, before performing trigonometric function operation on the scanning coordinates to obtain trigonometric function values ​​corresponding to the scanning coordinates, the method further includes:

[0038] The scanning coordinates are corrected to obtain the corrected scanning coordinates.

[0039] In combination with the second aspect and the above implementation manner, in some possible implementation manners, performing a trigonometric function operation on the scanning coordinates to obtain a trigonometric function value corresponding to the scanning coordinates includes:

[0040] Obtaining a lookup table, wherein the lookup table includes pre-stored conversion parameters;

[0041] A trigonometric function operation is performed according to the conversion parameters to determine the trigonometric function value corresponding to the scanning coordinate.

[0042] In a third aspect, a laser radar is provided, comprising the coordinate conversion circuit in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is a schematic diagram of a system architecture of a laser radar provided in an embodiment of the present application;

[0044] Figure 2 It is a circuit principle block diagram of a coordinate conversion circuit and an optical detection module provided in an embodiment of the present application;

[0045] Figure 3 It is a circuit principle block diagram of a coordinate conversion module provided in an embodiment of the present application;

[0046] Figure 4 is a schematic diagram of a scanning coordinate system provided in an embodiment of the present application;

[0047] Figure 5 is a schematic diagram of a radar coordinate system provided in an embodiment of the present application;

[0048] Figure 6 is a circuit principle block diagram of a coordinate conversion module, an arbitrator, and a second memory provided in an embodiment of the present application;

[0049] Figure 7 is an interaction timing diagram within a coordinate conversion module provided in an embodiment of the present application;

[0050] Figure 8 It is a request-response timing diagram of an arbitrator to multiple coordinate conversion modules provided in an embodiment of the present application;

[0051] Fig. 9 It is a schematic flow chart of a coordinate transformation method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0053] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0054] First, the terms involved in one or more embodiments of this specification are explained.

[0055] Lidar: A radar system that uses a laser beam to detect the position, speed and other characteristic quantities of a target. Its working principle is: a detection signal (outgoing laser) is emitted to the target object, and an echo signal (electrical signal of the echo laser) reflected from the target object is received. The echo signal is analyzed to obtain the flight time of the echo laser, and based on the emission direction of the outgoing laser and the flight time of the echo laser, relevant information of the target object is obtained, such as the target distance, direction, height, speed, attitude, and even shape of the target object.

[0056] The embodiment of the present application provides a coordinate conversion circuit, which can be arranged between the optical detection module and the signal processing device of the laser radar. The optical detection module obtains the scanning coordinates and detection distance of the detection point during the operation of the laser radar, and sends the scanning coordinates and detection distance of the detection point to the coordinate conversion circuit. The coordinate conversion circuit performs coordinate conversion on the scanning coordinates of the detection point according to the scanning coordinates and detection distance of the detection point to obtain the radar coordinates corresponding to the scanning coordinates of the detection point. The coordinate conversion circuit provided in the embodiment of the present application can embed the coordinate conversion algorithm into the data processing module to convert the scanning coordinates of the detection point into radar coordinates through the hardware module, thereby reducing the occupation of the processor processing resources by the coordinate conversion and requiring lower computing power for the processor; and the coordinate conversion circuit can perform real-time conversion on the scanning coordinates of the detection point to obtain the radar coordinates of the detection point, so that the coordinate data of the detection point received by other subsequent modules or software is directly the radar coordinates of the detection point, which is convenient for directly processing the point cloud data and effectively avoids the delay of the point cloud output.

[0057] like Figure 1 As shown, Figure 11 is a schematic diagram of a system architecture of a laser radar provided in an embodiment of the present application. In the embodiment of the present application, the laser radar 10 includes an optical detection module 101, an analog front end (AFE) 102, a signal processing device 103, a coordinate conversion circuit 104, a communication module and a power module, etc. The optical detection module includes a transceiver module 1011 and a scanning device 1012. The specific structure of the laser radar can be set according to actual needs, and the embodiment of the present application does not limit the specific structure of the laser radar.

[0058] Transceiver module 1011, transceiver module 1011 includes a transmitting module (light source module) and a receiving module (photoelectric detection module). Transmitter module: used to transmit a detection signal (exit laser) to the scanning device 1012. The transmitting module includes a laser and an optical lens group. The laser is used to emit the exit laser. The optical lens group is used to perform optical shaping on the exit laser, such as collimation and splitting. Receiving module: used to receive the echo laser reflected by the target object from the detection signal emitted by the transmitting module. The receiving module includes a receiver and a receiving lens group. The receiver is used to convert the echo laser into an echo signal. The receiving lens group is used to perform optical shaping on the echo signal and then emit it to the receiver, such as convergence and collimation.

[0059] The transceiver module 1011 is used to send the detection signal (TX) generated by the transmitting module to the scanning device 1012; the scanning device 1012 is used to reflect the detection signal (TX) toward the target object, and also receive and deflect the echo signal (RX) reflected by the detection signal (TX) from the target object to the transceiver module 1011; the transceiver module 1011 is also used to receive the echo signal (RX) of the detection signal reflected by the target object.

[0060] Scanning device 1012: The scanning device 1012 is used to receive the detection signal (TX) sent by the transceiver module 1011 and reflect the detection signal (TX) toward the target object; it is also used to receive and deflect the echo signal (RX) returned by the detection signal (TX) after being reflected by the target object to the transceiver module 1011. The scanning device 1012 may include one or more of a multi-faceted mirror, a galvanometer, and a rotating reflector.

[0061] Polyhedral mirror: usually prism-shaped, with multiple side surfaces arranged in an array around an axis, which are reflection surfaces for reflecting detection signals and echo signals. The polyhedral mirror can rotate around its axis so that the reflection surface can reflect the detection signal and echo signal. The polyhedral mirror is used to achieve one-dimensional scanning; for example, the axis of the polyhedral mirror can be set vertically, and its reflection surface rotates around the axis to achieve horizontal scanning of the detection signal and echo signal.

[0062] Galvanometer: In some embodiments, the galvanometer has a rotation axis, so as to perform one-dimensional scanning of the detection signal and the echo signal by rotating around the rotation axis. This kind of galvanometer is a one-dimensional galvanometer; this kind of one-dimensional galvanometer can cooperate with the above-mentioned multi-faceted rotating mirror to realize two-dimensional scanning of the detection signal and the echo signal, for example, the above-mentioned multi-faceted rotating mirror is used to scan the detection signal and the echo signal horizontally, and the one-dimensional galvanometer is used to scan the detection signal and the echo signal vertically. In other embodiments, two one-dimensional galvanometers can also cooperate to realize two-dimensional scanning of the detection signal and the echo signal, for example, one of the one-dimensional galvanometers is used to scan the detection signal and the echo signal horizontally, and the other one-dimensional galvanometer is used to scan the detection signal and the echo signal vertically. In some other embodiments, the galvanometer has two-directional rotation axes, namely the fast axis and the slow axis, and the fast axis and the slow axis are perpendicular to each other. The galvanometer can rotate around the fast axis and around the slow axis to realize two-dimensional scanning; for example, the fast axis is usually used for scanning in the horizontal direction, and the slow axis is usually used for scanning in the vertical direction.

[0063] Analog Front End (AFE) 102: used to process the echo signal (RX) provided by the transceiver module 1011 to obtain a processed echo signal; the main functions of the analog front end include the following aspects: signal amplification, signal shaping and other processing.

[0064] The signal processing device 103 may include a processor, and may also include at least an analog to digital converter (ADC), a time to digital converter (TDC), a memory, etc. The processor may also have its own internal storage space and analog to digital conversion function to replace the analog to digital converter and the memory. The analog to digital converter and the time to digital converter are used to convert the processed echo signal output by the analog front end 102 into a digital signal. The processor is used to sample the digital signal output by the analog to digital converter to obtain the receiving time of the echo signal (RX), and obtain the detection distance of the detection point according to the receiving time of the echo signal (RX); it is also used to determine the scanning coordinates of the detection point according to the emission direction of the emitted laser, and transmit the scanning coordinates and the detection distance of the detection point to the coordinate conversion circuit 104.

[0065] In the embodiments of the present application, the processor 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 any conventional processor, etc.

[0066] In the embodiment of the present application, first, the transceiver module 1011 transmits a detection signal (TX) to the scanning device 1012, and the scanning device 1012 reflects the detection signal (TX) to the target object, and transmits the echo signal (RX) returned by the detection signal (TX) after being reflected by the target object to the transceiver module 1011, and the transceiver module 1011 receives the echo signal (RX); secondly, the transceiver module 1011 sends the echo signal (RX) to the analog front end 102, and the analog front end 102 processes the echo signal (RX) to obtain a processed echo signal, and sends the processed echo signal to the transceiver module 1011. The echo signal is sent to the signal processing device 103, which converts the processed echo signal into a digital signal, samples the digital signal, obtains the reception time of the echo signal (RX), obtains the detection distance of the detection point according to the reception time of the echo signal (RX), and determines the scanning coordinates of the detection point according to the emission direction of the detection signal (TX); finally, the detection distance and scanning coordinates of the detection point are input into the coordinate conversion circuit 104, and the coordinate conversion circuit 104 performs coordinate conversion on the scanning coordinates of the detection point to obtain the radar coordinates of the detection point.

[0067] In the embodiment of the present application, it should be noted that, in addition to the above-mentioned method for obtaining the detection distance and scanning coordinates of the detection point, the detection distance and scanning coordinates of the detection point can also be obtained by other methods, and the obtained detection distance and scanning coordinates of the detection point are input into the coordinate conversion circuit 104, and the coordinate conversion circuit 104 performs coordinate conversion on the scanning coordinates of the detection point to obtain the radar coordinates of the detection point. This embodiment does not specifically limit this.

[0068] like Figure 2 As shown, Figure 2 It is a circuit principle block diagram of a coordinate conversion circuit provided in an embodiment of the present application. The coordinate conversion circuit 104 includes: at least one coordinate conversion module 1041 , and the coordinate conversion module 1041 includes a control module 10411 and a data processing module 10412 .

[0069] In one embodiment, the number of coordinate conversion modules 1041 in the coordinate conversion circuit 104 is equal to and corresponds to the number of detection channels of the laser radar 10, ensuring that the scanning coordinates collected by each detection channel can be correctly converted and processed by the coordinate conversion module 1041 corresponding to the detection channel, thereby improving the accuracy of the coordinate conversion.

[0070] In another embodiment, the number of coordinate conversion modules 1041 in the coordinate conversion circuit 104 is greater than the number of detection channels of the laser radar 10. One detection channel of the laser radar 10 can correspond to multiple coordinate conversion modules 1041, so that the scanning coordinates of different detection points output by the detection channel can be simultaneously converted by multiple coordinate conversion modules 1041, thereby effectively improving the coordinate conversion efficiency of multiple detection points of the detection channel; and when some of the multiple coordinate conversion modules 1041 corresponding to the detection channel fail, other coordinate conversion modules 1041 in the multiple coordinate conversion modules 1041 can still continue to convert the detection points of the detection channel, thereby improving the fault tolerance of the coordinate conversion circuit 104.

[0071] Among them, the number of detection channels of the laser radar 10 depends on the number of transceiver modules 1011 in the laser radar 10, and the number of detection channels is equal to the number of transceiver modules 1011 and corresponds one to one.

[0072] In the embodiment of the present application, the number of detection channels of the laser radar 10 can be one or more; the laser radar 10 with a single detection channel can provide basic distance measurement capabilities, with a simple structure and high reliability; the laser radar 10 with multiple detection channels can simultaneously acquire data from multiple angles, thereby increasing the laser radar's detection field of view of the target object. Through the coordinated work of multiple detection channels, the error in the measurement of a single detection channel can be eliminated or reduced, thereby improving the resolution and accuracy of the laser radar 10.

[0073] The control module 10411 is connected to the optical detection module 101, and the data processing module 10412 is connected to the control module 10411; the optical detection module 101 is used to obtain the scanning coordinates and detection distance of the detection point during operation.

[0074] Among them, when the coordinate conversion circuit 104 includes multiple coordinate conversion modules 1041, the structures of the multiple coordinate conversion modules 1041 are the same; for any coordinate conversion module 1041 among the multiple coordinate conversion modules 1041, the input end of the coordinate conversion module 1041 is connected to the optical detection module 101 through the signal processing device 103 and the analog front end 102, so that the echo signal output by the optical detection module 101 is processed by the analog front end 102 and the signal processing device 103 to obtain the scanning coordinates and detection distance corresponding to the echo signal, and the scanning coordinates and detection distance corresponding to the echo signal are input into the coordinate conversion circuit 104.

[0075] It should be noted that the field of view formed by the laser radar 10 detecting the target object is the target field of view, and the target field of view refers to the spatial range in which the laser radar 10 can detect the target object; when the laser radar 10 is working, the laser radar 10 will emit an outgoing laser beam at a higher frequency, and use a scanning device to scan the outgoing laser beam. When the outgoing laser beam contacts the target object, the laser radar 10 receives an echo signal corresponding to the outgoing laser beam reflected by the target object, and obtains a detection result. The detection result includes a distance value, horizontal coordinate, and vertical coordinate calculated according to the echo signal. Based on the distance value, the horizontal coordinate, and the vertical coordinate, the detection result can be represented as a detection point in the target field of view.

[0076] The control module 10411 is used to receive the operation trigger signal, the scanning coordinates and the detection distance of the detection point sent by the optical detection module 101; when the operation trigger signal is received, the control module 10411 sends the scanning coordinates and the detection distance to the data processing module 10412, and controls the data processing module 10412 to determine the radar coordinates of the detection point based on the scanning coordinates and the detection distance.

[0077] It should be noted that before the multiple detection points of the multiple detection channels of the laser radar 10 are input into the coordinate conversion circuit 104, the scanning coordinates and detection distances of the multiple detection points are pre-stored in the third memory of the laser radar 10; the laser radar 10 also includes an upper-level monitoring module 105, and the control modules 10411 of the multiple coordinate conversion modules 1041 are respectively connected to the upper-level monitoring module 105, and the upper-level monitoring module 105 is used to monitor the working status of each coordinate conversion module 1041 in the multiple coordinate conversion modules 1041. The working status of each coordinate conversion module 1041 includes an idle state and a busy state. When the upper-level monitoring module 105 monitors that the coordinate conversion module 1041 is in an idle state, the upper-level monitoring module 105 sends an operation trigger signal to the control module 10411 of the coordinate conversion module 1041, so that the control module 10411 of the coordinate conversion module 1041 reads the scanning coordinates and detection distances of the detection points of the detection channel corresponding to the coordinate conversion module 1041 from the third memory, and starts the coordinate conversion operation.

[0078] Among them, for any coordinate conversion module 1041 among the multiple coordinate conversion modules 1041, the coordinate conversion module 1041 corresponds to one of the multiple detection channels of the laser radar 10, and the control module 10411 of the coordinate conversion module 1041 only receives the scanning coordinates and detection distance of the detection point detected by the corresponding detection channel. Each coordinate conversion module 1041 is independently responsible for the coordinate conversion of a detection point in a detection channel, without waiting for the data of other detection channels, thereby improving the efficiency and response speed of coordinate conversion; at the same time, it can make the design and implementation of the coordinate conversion circuit more concise and clear, and each coordinate conversion module 1041 only needs to pay attention to the detection channel it is responsible for, reducing the coupling and mutual influence between the coordinate conversion modules 1041, effectively avoiding data confusion or dislocation, and ensuring the accuracy and reliability of coordinate conversion.

[0079] In an embodiment of the present application, after the control module 10411 of the coordinate conversion module 1041 receives the operation trigger signal sent by the superior monitoring module 105, the control module 10411 reads the scanning coordinates and the detection distance of the detection point of the corresponding detection channel from the third memory, and sends the scanning coordinates and the detection distance of the detection point to the data processing module 10412 of the coordinate conversion module 1041, controls the data processing module 10412 to perform coordinate conversion operation on the scanning coordinates, obtains the radar coordinates of the detection point, and returns the radar coordinates of the detection point to the control module 10411; after the control module 10411 receives the radar coordinates of the detection point, the control module 10411 can send the radar coordinates of the detection point to the lower-level processing circuit, and the lower-level processing circuit performs the next-level processing, the control module 10411 can also store the radar coordinates of the detection point in the fourth memory, and the control module 10411 can also send the radar coordinates of the detection point to the superior monitoring module 105, which is not specifically limited in this embodiment.

[0080] In an embodiment of the present application, the coordinate conversion circuit includes multiple coordinate conversion modules, the number of coordinate conversion modules is not less than the number of detection channels of the laser radar, and one detection channel corresponds to at least one coordinate conversion module. For any coordinate conversion module, the coordinate conversion module includes a control module and a data processing module. The control module is connected to the optical detection module, and the data processing module is connected to the control module. The optical detection module is used to obtain the scanning coordinates and detection distance of the detection point of the detection channel corresponding to the coordinate conversion module during the operation of the laser radar. The control module is used to receive an operation trigger signal, and when the operation trigger signal is received, the scanning coordinates and detection distance of the detection point of the corresponding detection channel are obtained, and the scanning coordinates and detection distance of the detection point are sent to the data processing module, and the data processing module is controlled to determine the radar coordinates of the detection point based on the scanning coordinates and detection distance of the detection point. The present application embeds a coordinate conversion algorithm into a data processing module to convert the scanning coordinates of a detection point into radar coordinates through a hardware module, thereby reducing the occupation of processor processing resources by the coordinate conversion and requiring lower computing power of the processor; and the coordinate conversion circuit can perform real-time conversion on the scanning coordinates of the detection point to obtain the radar coordinates of the detection point, so that the coordinate data of the detection point received by subsequent other modules or software is directly the radar coordinate data of the detection point, effectively avoiding point cloud output delays.

[0081] like Figure 3 As shown, Figure 3 It is a circuit principle block diagram of a coordinate conversion module provided in an embodiment of the present application. In one embodiment, the data processing module 10412 includes an advanced operation unit 10412-1, a basic operation unit 10412-2 and a first memory 10412-3.

[0082] The advanced operation unit 10412-1 is connected to the control module 10411, the basic operation unit 10412-2 and the first memory 10412-3 respectively, the basic operation unit 10412-2 is connected to the control module 10411 and the first memory respectively, and the first memory is connected to the control module 10411; the control module 10411 controls the advanced operation unit 10412-1 to at least perform matrix multiplication, trigonometric function, complex number, exponential, square root or logarithmic operation, and controls the basic operation unit 10412-2 to perform addition and subtraction; the first memory is used to store the intermediate values ​​obtained by the advanced operation unit 10412-1 and the basic operation unit 10412-2.

[0083] like Figure 4 As shown, Figure 4 It is a schematic diagram of a scanning coordinate system provided in an embodiment of the present application. It should be noted that, at each moment when the laser radar 10 is working, a scanning coordinate system o′-x′y′z′ is constructed with the center of the scanning device as the origin o′, the normal vector of the scanning device as the z′ axis, the axis parallel to the working surface where the scanning device is located as the y′ axis, and the axis passing through the origin o′ and perpendicular to the yoz plane as the x′ axis; wherein, during the operation of the laser radar 10, the outgoing vector and the incident vector are symmetrical about the normal vector of the scanning device. Since the normal vector of the scanning device is always in a changing state, the scanning coordinate system o′-x′y′z′ is also always in a changing state. Although the incident vector is fixed, the angle between the incident vector and the normal vector of the scanning device is always in a changing state, which causes the outgoing vector to change with the change of the scanning coordinate system o′-x′y′z′; therefore, the scanning coordinates of different detection points are scanning coordinates under different scanning coordinate systems, and the data of different detection points cannot be directly viewed and compared.

[0084] In the embodiment of the present application, the scanning device is preferably a galvanometer.

[0085] like Figure 5 As shown, Figure 5It is a schematic diagram of a radar coordinate system provided in an embodiment of the present application. It should be noted that, when the scanning device is stationary (i.e., the galvanometer is not powered on), a radar coordinate system o-xyz is constructed with the center of the scanning device as the origin o, the horizontal direction as the z-axis, the vertical direction as the y-axis, and the axis passing through the origin o and perpendicular to the yoz plane as the x-axis; wherein the radar coordinate system o-xyz remains unchanged, and for the scanning coordinates of any detection point, the scanning coordinates of the detection point in the scanning coordinate system o′-x′y′z′ can be converted into radar coordinates under the radar coordinate system o-xyz, and then the scanning coordinates of all detection points collected by the laser radar 10 are converted into radar coordinates under the radar coordinate system, so as to facilitate direct viewing and comparison of data from different detection points.

[0086] The specific method of converting the scanning coordinates of the detection point in the scanning coordinate system o′-x′y′z′ into the radar coordinates in the radar coordinate system o-xyz is as follows: first, the first normal vector of the detection point in its corresponding scanning coordinate system o′-x′y′z′ is known, and the second normal vector in the radar coordinate system o-xyz is known. According to the relationship between the first normal vector and the second normal vector, the conversion relationship between the scanning coordinate system o′-x′y′z′ and the radar coordinate system o-xyz is obtained; secondly, in the scanning coordinate system o′-x′y′z′, the incident vector is known, and the initial exit vector of the detection point is determined according to the incident vector and the first normal vector, and the scanning coordinates of the detection point in its corresponding scanning coordinate system o′-x′y′z′ are obtained according to the initial exit vector of the detection point and the distance value of the detection point; finally, according to the scanning coordinates of the detection point and the conversion relationship between the scanning coordinate system o′-x′y′z′ and the radar coordinate system o-xyz, the radar coordinates of the detection point in the radar coordinate system o-xyz are obtained. The first normal vector is the normal vector of the scanning device at the detection point in the corresponding scanning coordinate system o′-x′y′z′, and the second normal vector is the normal vector of the scanning device in the radar coordinate system o-xyz.

[0087] It should be noted that the normal vector of the scanning device refers to the vector represented by the straight line perpendicular to the plane where the scanning device is located; the incident vector refers to the propagation direction of the light irradiated to the scanning device; the exit vector refers to the propagation direction of the light after refraction, reflection or transmission from the surface of the scanning device; the pitch in the scanning coordinates (pitch, yaw) describes the deflection angle of the detection point in the vertical direction of its corresponding scanning coordinate system, and yaw describes the deflection angle of the detection point in the horizontal direction of its corresponding scanning coordinate system. By combining the pitch angle and the yaw angle, the rotation direction and posture of the detection point in its corresponding scanning coordinate system can be described.

[0088] It should be noted that for any detection point, when converting the scanning coordinates of the detection point into radar coordinates, some advanced operations and basic operations are involved; among them, the advanced operations include at least one of matrix multiplication operations, trigonometric function operations, complex number operations, exponential operations, square root operations, logarithmic operations, etc., and the basic operations include addition operations and subtraction operations.

[0089] Among them, the advanced operation unit can perform one or more of matrix multiplication operations, trigonometric function operations, complex number operations, exponential operations, square root operations, logarithmic operations, etc., and this embodiment does not make specific limitations on this.

[0090] In an embodiment of the present application, the data processing module includes a high-level operation unit, a basic operation unit and a first memory. The high-level operation unit and the basic operation unit are both connected to the control module so that the control module controls the high-level operation unit and the basic operation unit to perform corresponding operations; at the same time, the high-level operation unit and the basic operation unit are both connected to the first memory, and the first memory is used to store intermediate results obtained by the high-level operation unit and the basic operation unit, so as to store the intermediate results of multiple operations inside the coordinate conversion circuit, thereby reducing the amount of input and output data, and can effectively reduce the delay and throughput of the coordinate conversion circuit; at the same time, the first memory can be used as a high-level operation unit and a basic operation unit. The cache between the high-level operation units simplifies the design and implementation of the data processing module and improves the maintainability and scalability of the coordinate conversion circuit. In addition, the high-level operation unit is also connected to the basic operation unit, and basic operation operations can be performed through the basic operation unit. These basic operations are expanded through the high-level operation unit, so that the data processing module can support more complex mathematical and logical operations, effectively improve the computing efficiency, and realize more abundant and diverse computing operations. The high-level operation unit has a more complex structure than the basic operation unit. Connecting the high-level operation unit with the basic operation unit can avoid repeated execution of basic calculations when processing complex calculations, thereby reducing the power consumption and chip area of ​​the coordinate conversion circuit.

[0091] In an embodiment of the present application, complex mathematical and logical operations such as matrix multiplication, trigonometric function, complex number, exponential, square root or logarithmic operations are performed by an advanced operation unit, and basic addition and subtraction operations are performed by a basic operation unit. The basic operation unit is connected to the advanced operation unit, thereby realizing the coordinated work of basic operations and complex operations, and can meet the calculation requirements of coordinate transformation; and the intermediate values ​​obtained by the advanced operation unit and the basic operation unit are stored in the first memory, which can avoid repeated calculations, so that data can be shared between multiple operations, and the calculation process of coordinate transformation is further optimized; in addition, according to the coordinate conversion requirements of scanning coordinates to radar coordinates, the execution order of the advanced operation unit and the basic operation unit can be dynamically adjusted through the control module to maximize the calculation efficiency of the data processing module.

[0092] like Figure 3 As shown, in one embodiment, the high-level operation unit 10412-1 includes a selector 10412-11 and at least one first high-level operation subunit 10412-12; the first high-level operation subunit 10412-12 is respectively connected to the control module 10411 and the selector, and the selector is respectively connected to the control module 10411 and the basic operation unit 10412-2; the first high-level operation subunit 10412-12 is used to perform a matrix multiplication operation on at least one of the scanning coordinates, detection distance and intermediate values ​​of the detection point to obtain an operation result; the selector 10412-11 is used to determine the target first high-level operation subunit in at least one first high-level operation subunit 10412-12 and output the operation result of the target first high-level operation subunit according to the selection instruction from the control module 10411.

[0093] Among them, the first high-level operator unit is used to perform matrix multiplication operations on at least one of the scanning coordinates, detection distance and intermediate values ​​of the detection point and obtain the operation results. Different first high-level operations are used to perform matrix multiplication operations of different dimensions in the coordinate transformation process. Matrix multiplications of different dimensions involve different numbers of dimensions and parameters. The present application performs these operations by setting different first high-level operator units.

[0094] It should be noted that the number of first high-level operator units depends on the number of matrix multiplication operations of different dimensions involved in the scanning coordinates, detection distance and intermediate values ​​of the detection point during the coordinate transformation process. For example, the number of first high-level operator units can be three, the first first high-level operator unit is used to perform a 3×1-order matrix multiplication operation, the second first high-level operator unit performs a 3×3-order matrix multiplication operation, and the third first high-level operator unit performs a 2×2-order matrix multiplication operation. By assigning matrix multiplication operations of different dimensions to different first high-level operator units, efficient coordinate transformation can be achieved, and the high-level operation unit can flexibly process data of different dimensions.

[0095] In an embodiment of the present application, the control module selects to call the corresponding first high-level operation subunit according to the matrix operation that needs to be performed in the current coordinate transformation process, and uses the selector to select the operation result of the first high-level operation subunit called by the output control module.

[0096] In an embodiment of the present application, multiple first high-level operator units are configured according to the matrix multiplication operations of different dimensions involved in the scanning coordinates, detection distance and intermediate values ​​of the detection points during the coordinate transformation process. Each first high-level operator unit is used to perform matrix multiplication operations of different dimensions during the coordinate transformation process, so as to achieve accurate calculation of matrix multiplication operations of different dimensions, thereby ensuring the accuracy of the coordinate transformation. Each first high-level operator unit has independent input and output, and the first high-level operator unit can be configured according to the actual operation requirements during the coordinate transformation process to adapt to different coordinate transformation requirements. At the same time, since each first high-level operator unit is responsible for processing operations of a specific dimension, the number of first high-level operator units can be flexibly increased or decreased as needed to meet coordinate transformation tasks of different scales or complexities.

[0097] like Figure 3 As shown, in one embodiment, the high-level operation unit 10412-1 also includes at least one second high-level operation subunit 10412-13; the second high-level operation subunit 10412-13 is respectively connected to the control module 10411 and the first memory 10412-3; the second high-level operation subunit 10412-13 is used to perform trigonometric function operations, complex number operations, exponential operations, square root operations or logarithmic operations on at least one of the scanning coordinates, detection distance and intermediate values ​​of the detection point, and each second high-level operation subunit 10412-13 performs different operations.

[0098] Among them, the second high-level operation subunit is used to perform trigonometric function operation, complex number operation, exponential operation, square root operation or logarithmic operation on at least one of the scanning coordinates, detection distance and intermediate value of the detection point, and different second high-level operation subunits are used to perform different high-level operations in the coordinate conversion process.

[0099] It should be noted that the number of the second high-level operator subunits depends on the type of high-level operations involved in the coordinate conversion process. For example, in the coordinate conversion process, the scanning coordinates, the detection distance and the intermediate value only involve trigonometric operations and complex operations, then the number of the second high-level operator subunits can be set to two, one second high-level operator subunit is used to perform trigonometric operations on at least one of the scanning coordinates, the detection distance and the intermediate value of the detection point, and the other second high-level operator subunit is used to perform complex operations on at least one of the scanning coordinates, the detection distance and the intermediate value of the detection point. For another example, in the coordinate conversion process, the scanning coordinates, the detection distance and the intermediate value involve trigonometric operations, complex operations, exponential operations, square root operations and logarithmic operations, then the number of the second high-level operator subunits can be set to five, and the five second high-level operator subunits are used to perform trigonometric operations, complex operations, exponential operations, square root operations and logarithmic operations respectively.

[0100] In an embodiment of the present application, according to the types of operations such as trigonometric function operations, complex number operations, exponential operations, square root operations and logarithmic operations involved in the coordinate conversion process, second high-level operation sub-units equal to the number of operation types are configured to perform different types of operations, which can meet the various high-level operation requirements involved in the coordinate conversion process, and each second high-level operation sub-unit is specifically used to perform a specific type of high-level operation, which can ensure the accuracy and efficiency of the calculation; at the same time, configuring multiple second high-level operation sub-units can provide diversified high-level operation support, and achieve the technical effects of parallel computing acceleration and flexible expansion configuration to meet the needs of various types of high-level operations in the coordinate conversion process.

[0101] like Figure 2 As shown, in one embodiment, the coordinate conversion circuit 104 also includes a second memory 1043, the second memory 1043 is connected to the control module 10411, and a lookup table is stored in the second memory 1043, and the lookup table includes pre-stored conversion parameters; the control module 10411 obtains the lookup table from the second memory 1043, and controls the execution of the advanced operation unit and the basic operation unit according to the conversion parameters in the lookup table.

[0102] Among them, different scanning coordinate ranges correspond to different calculation matrices, and a plurality of pre-defined groups of conversion parameters are stored in the lookup table, each group of conversion parameters corresponds to a different scanning coordinate range. When the scanning coordinates of the detection point are converted, it specifically includes: first, according to the scanning coordinates of the detection point, determining the scanning coordinate range to which the detection point belongs; second, according to the scanning coordinate range corresponding to the detection point, finding a group of conversion parameters corresponding to the scanning coordinate range in the lookup table, the group of conversion parameters including matrix parameters for coordinate conversion within the scanning coordinate range; finally, writing the group of conversion parameters into the first high-level operation unit, so that the first high-level operation unit can use the group of conversion parameters to perform matrix multiplication operations within a specific scanning coordinate range.

[0103] It should be noted that the scanning coordinate range is related to the area division rule of the target field of view. For example, when the target field of view is divided into three areas: upper, middle, and lower according to the pitch value of the scanning coordinates, the upper, middle, and lower areas correspond to different scanning coordinate ranges, the scanning coordinate range of the upper area is pitch∈[A1~A2), the scanning coordinate range of the middle area is pitch∈[A2~A3), and the scanning coordinate range of the lower area is pitch∈[A3~A4]. Each scanning coordinate range corresponds to a set of conversion parameters; for another example, when the target field of view is divided into 2×2 areas according to the pitch value and yaw value of the scanning coordinates, the upper left area corresponds to The scanning coordinate range is pitch∈[B1~B2) and yaw∈[C1~C2), the scanning coordinate range of the upper right area is pitch∈[B1~B2) and yaw∈[C2~C3], the scanning coordinate range of the lower left area is pitch∈[B2~B3] and yaw∈[C1~C2), the scanning coordinate range of the lower right area is pitch∈[B2~B3] and yaw∈[C2~C3], each scanning coordinate range corresponds to a set of conversion parameters, and the conversion parameters corresponding to different scanning coordinate ranges may be the same or different, which is not specifically limited in this embodiment.

[0104] In the case of determining the scanning coordinate range to which the detection point belongs according to the scanning coordinates of the detection point, it is necessary to combine the area division of the target field of view and the scanning coordinates of the detection point to determine the scanning coordinate range to which the detection point belongs.

[0105] In an embodiment of the present application, the coordinate conversion circuit also includes a second memory, in which a lookup table is stored, and the lookup table includes pre-stored conversion parameters. The control module can obtain the lookup table from the second memory, and control the execution of the advanced operation unit and the basic operation unit according to the conversion parameters in the lookup table, so that the coordinate conversion circuit can dynamically select appropriate conversion parameters according to the scanning coordinate range of the detection point, realize flexible processing of different scanning coordinate ranges, effectively improve the accuracy and efficiency of the coordinate conversion, and allow the conversion parameters to be updated and configured according to the coordinate conversion requirements to adapt to different scanning coordinate ranges and requirements, and has a wide range of applications.

[0106] like Figure 6 As shown, Figure 6 It is a circuit principle block diagram of the coordinate conversion module, arbitrator and second memory provided in an embodiment of the present application. In one embodiment, when there are multiple coordinate conversion modules, the coordinate conversion circuit 104 also includes an arbitrator 1044; the arbitrator 1044 is respectively connected to the control module 10411 of each coordinate conversion module 1041, and the arbitrator 1044 is also connected to the second memory 1043; wherein, when the control modules 10411 of at least two coordinate conversion modules 1041 simultaneously request to obtain the lookup table, the arbitrator 1044 is used to make priority decisions on the acquisition requests of at least two coordinate conversion modules 1041.

[0107] In which, when the laser radar 10 has multiple detection channels, the number of coordinate conversion modules is also multiple, and the number of the multiple coordinate conversion modules is equal to the number of the multiple detection channels and corresponds one to one.

[0108] Among them, the arbitrator is used to receive acquisition requests from the control modules of multiple coordinate transformation modules, and determine which coordinate transformation module's request should be executed first based on the priority decision algorithm; the arbitrator is responsible for coordinating access conflicts between different coordinate transformation modules to ensure that each coordinate transformation module can access the lookup table in the second memory in the correct order.

[0109] It should be noted that the arbitrator uses a priority decision algorithm to determine the priority order of each request, and the priority decision algorithm can make decisions based on multiple factors. For example, the priority decision algorithm can be defined based on the position of the field of view corresponding to the detection channel in the target field of view. The detection channel corresponding to the field of view located in the middle of the target field of view has the highest priority, and the detection channel corresponding to the field of view located on both sides of the target field of view has a lower priority than the detection channel corresponding to the field of view located in the middle of the target field of view; the priority decision algorithm can also be defined based on the difference between the angle between the yaw value of the scanning coordinates of the detection point and the 0° horizontal line and the preset angle. The detection channel whose angle between the yaw value and the 0° horizontal line is less than the preset angle has the highest priority, and the detection channel whose angle between the yaw value and the 0° horizontal line is greater than or equal to the preset angle has a lower priority than the detection channel whose angle between the yaw value and the 0° horizontal line is less than the preset angle; the priority decision algorithm can also be defined based on other rules, which are not specifically limited in this embodiment.

[0110] In an embodiment of the present application, when there are multiple coordinate conversion modules, an arbitrator is introduced to handle request conflicts among the multiple coordinate conversion modules, thereby ensuring the stability and reliability of the coordinate conversion circuit during concurrent access by multiple tasks, and the priority decision algorithm of the arbitrator can be designed according to specific needs to meet the flexible requirements for request order in different application scenarios.

[0111] like Figure 7 As shown, Figure 7 It is an interactive timing diagram within a coordinate conversion module provided by an embodiment of the present application. For any coordinate conversion module among multiple coordinate conversion modules, when the control module of the coordinate conversion module receives the operation trigger signal valid=1 sent by the superior monitoring module, the control module reads the scanning coordinates (pitch, yaw) and the detection distance L of the detection point of the corresponding detection channel from the third memory, and the pitch value and yaw value of the scanning coordinates of the detection point, and the detection distance L of the detection point are valid; after the control module of the coordinate conversion module receives the operation trigger signal valid=1, the coordinate conversion module is converted from an idle state to a busy state (busy=1), and the control module controls the data processing module to perform coordinate conversion on the scanning coordinates of the detection point according to the received pitch value and yaw value of the scanning coordinates of the detection point, and the detection distance L of the detection point. At this time, the pitch value and yaw value of the scanning coordinates of the detection point, and the detection distance L of the detection point are invalid; when the coordinate conversion module completes the coordinate conversion of the detection point, the coordinate conversion module outputs a calculation end (done=1) signal, and at the same time, outputs a calculation result (output is valid).

[0112] like Figure 8 As shown, Figure 8 It is a request-response timing diagram of an arbitrator to multiple coordinate conversion modules provided by an embodiment of the present application, req represents request, ack represents response, rden represents read enable, raddr represents the address of reading the lookup table, and rdata represents the conversion parameters of reading the lookup table; in the case that multiple coordinate conversion modules simultaneously request to obtain the lookup table, the coordinate conversion module initiates a request to obtain the lookup table (req=1), the arbitrator makes a priority decision on the requests to obtain the lookup table of multiple coordinate conversion modules according to the priority decision algorithm, and gives a response (ack=1) to the coordinate conversion module that obtains the occupation right, and at the same time, does not respond to the coordinate conversion module that does not obtain the occupation right (ack=0), and the coordinate conversion module that does not obtain the occupation right maintains the request until it is responded; after the coordinate conversion module that obtains the occupation right receives the response (ack=1), the coordinate conversion module reads the conversion parameters required by the coordinate conversion module in the lookup table.

[0113] like Figure 8 As shown, for example, for any coordinate conversion module among multiple coordinate conversion modules, when the coordinate conversion module initiates a request to obtain a lookup table (req=1) for the first time, there are other coordinate conversion modules initiating a request to obtain a lookup table (req=1) at the same time, and the priority of the other coordinate conversion modules is higher than the priority of the coordinate conversion module. Therefore, in the first clock cycle when the coordinate conversion module initiates a request to obtain a lookup table (req=1) for the first time, the coordinate conversion module does not obtain the occupation right, and the arbitrator does not respond to the coordinate conversion module (ack=0). In the second clock cycle when the coordinate conversion module initiates a request to obtain a lookup table (req=1) for the first time, the coordinate conversion module obtains the occupation right, and the arbitrator gives a response to the coordinate conversion module. Answer (ack=1) so that the coordinate conversion module can read the conversion parameters required by the coordinate conversion module in the lookup table (D0 is valid); when the coordinate conversion module initiates the second request to obtain the lookup table (req=1), there may be no other coordinate conversion modules initiating the request to obtain the lookup table at the same time, or there may be other coordinate conversion modules initiating the request to obtain the lookup table (req=1) at the same time, but the priority of other coordinate conversion modules is lower than the priority of the coordinate conversion module. Therefore, after the coordinate conversion module initiates the second request to obtain the lookup table (req=1), the arbitrator directly gives a response (ack=1) to the coordinate conversion module, so that the coordinate conversion module can read the conversion parameters required by the coordinate conversion module in the lookup table (D0 is valid).

[0114] In the embodiment of the present application, it should be noted that the upper-level monitoring module is also used to poll or query the coordinate conversion module within a preset time interval to obtain the working status of the coordinate conversion module. By monitoring the status information of the coordinate conversion module, the upper-level monitoring module can promptly discover the failure or other abnormal conditions of the coordinate conversion module. When the coordinate conversion module fails, the upper-level monitoring module can take corresponding fault-tolerant processing measures to improve the reliability of the coordinate conversion module.

[0115] like Fig. 9 As shown, Fig. 9 It is a schematic flow chart of a coordinate conversion method provided in an embodiment of the present application. Taking the execution subject as a control module of any coordinate conversion module in the above-mentioned coordinate conversion circuit as an example, the coordinate conversion method 900 includes steps 901 to 903.

[0116] Step 901: upon receiving a calculation trigger signal, the control module obtains the scanning coordinates and detection distance of the detection point sent by the optical detection module.

[0117] Step 902: The control module sends the scanning coordinates and the detection distance to the data processing module.

[0118] Step 903: The control module determines the radar coordinates of the detection point based on the scanning coordinates and the detection distance.

[0119] In the embodiment of the present application, first, the control module of the coordinate conversion module waits to receive the operation trigger signal sent by the superior monitoring module, and when receiving the operation trigger signal sent by the superior monitoring module, obtains the scanning coordinates and detection distance of the detection point of the detection channel corresponding to the coordinate conversion module pre-stored in the third memory by the optical detection module from the third memory; secondly, the scanning coordinates and detection distance of the detection point are sent to the data processing module of the coordinate conversion module; finally, the control module controls the data processing module to perform coordinate conversion on the scanning coordinates of the detection point based on the scanning coordinates and detection distance of the detection point to obtain the radar coordinates of the detection point. The coordinate conversion method can obtain the scanning coordinates and detection distance of the detection point in time when receiving the operation trigger signal, and control the coordinate conversion module to perform coordinate conversion calculation on the scanning coordinates of the detection point, and finally obtain the radar coordinates of the detection point. The coordinate conversion method has good accuracy and real-time performance, and provides valuable information for subsequent further data processing and application.

[0120] In one embodiment, in step 903 , the control module determines the radar coordinates of the detection point based on the scanning coordinates and the detection distance, which specifically includes steps 9032 and 9033 .

[0121] Step 9032: The control module performs trigonometric operation on the scanning coordinates to obtain trigonometric function values ​​corresponding to the scanning coordinates.

[0122] Among them, the control module controls the second high-level operation subunit in the high-level operation unit of the data processing module for performing trigonometric function operations to perform trigonometric function operations on the scanning coordinates, obtain the trigonometric function values ​​corresponding to the scanning coordinates, and store the trigonometric function values ​​in the first memory to facilitate subsequent calls to the trigonometric function values.

[0123] Step 9033: The control module determines the radar coordinates of the detection point according to the scanning coordinates, trigonometric function values ​​and detection distance.

[0124] Among them, the control module controls the advanced operation unit and the basic operation unit of the data processing module to perform at least one operation of related matrix multiplication, trigonometric function operation, complex number operation, exponential operation, square root operation, logarithmic operation, addition operation and subtraction operation on the scanning coordinates, trigonometric function values ​​and detection distance of the detection point according to the scanning coordinates, trigonometric function values ​​and detection distance of the detection point to obtain the radar coordinates of the detection point.

[0125] In an embodiment of the present application, the control module first performs trigonometric operations on the scanning coordinates to obtain the trigonometric function values ​​corresponding to the scanning coordinates, and then determines the radar coordinates of the detection point based on the scanning coordinates, the trigonometric function values ​​and the detection distance, thereby realizing the coordinate conversion of the detection point from the scanning coordinate system to the radar coordinates with high conversion efficiency.

[0126] In one embodiment, before the control module performs trigonometric operation on the scanning coordinates to obtain trigonometric function values ​​corresponding to the scanning coordinates in step 9032 , step 903 further includes: step 9031 , correcting the scanning coordinates to obtain corrected scanning coordinates.

[0127] It should be noted that after obtaining the corrected scanning coordinates, in subsequent steps 9032 and 9033, the control module performs trigonometric operations on the corrected scanning coordinates to obtain the trigonometric function values ​​corresponding to the corrected scanning coordinates; and determines the radar coordinates of the detection point based on the corrected scanning coordinates, the trigonometric function values ​​of the corrected scanning coordinates and the detection distance.

[0128] In an embodiment of the present application, by correcting the scanning coordinates, errors caused by galvanometer installation errors or environmental factors can be eliminated or reduced. The corrected scanning coordinates are more accurate, and the accuracy of the scanning coordinates is improved. By correcting the scanning coordinates, possible deviations or distortions in the scanning coordinates can be identified and corrected, thereby reducing the uncertainty of the data and making the data more reliable.

[0129] In one embodiment, in step 9033, the control module determines the radar coordinates of the detection point according to the scanning coordinates, the trigonometric function value and the detection distance, which specifically includes steps 90331 and 90332.

[0130] Step 90331, obtain a lookup table, which includes pre-stored conversion parameters.

[0131] Step 90332, determine the radar coordinates of the detection point based on the conversion parameters, scanning coordinates, trigonometric function values ​​and detection distance.

[0132] In an embodiment of the present application, in the process of the control module determining the radar coordinates of the detection point according to the scanning coordinates, the trigonometric function values ​​and the detection distance, the scanning coordinate range to which the detection point belongs is determined according to the scanning coordinates of the detection point; secondly, according to the scanning coordinate range corresponding to the detection point, a set of conversion parameters corresponding to the scanning coordinate range is found in the lookup table; finally, the set of conversion parameters is written into the first high-level operation unit, so that the scanning coordinates, the trigonometric function values ​​and the detection distance are calculated by the first high-level operation unit, the second high-level operation unit and the basic operation unit, so as to obtain the radar coordinates of the detection point.

[0133] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A coordinate conversion circuit, characterized in that: It includes at least one coordinate conversion module, and the coordinate conversion module includes a control module and a data processing module; The control module is connected to the optical detection module, and the data processing module is connected to the control module; the optical detection module is used to obtain the scanning coordinates and detection distance of the detection point during operation; The control module is used to receive an operation trigger signal, a scanning coordinate and a detection distance of a detection point sent by the optical detection module; upon receiving the operation trigger signal, the control module sends the scanning coordinate and the detection distance to the data processing module, and controls the data processing module to determine the radar coordinates of the detection point based on the scanning coordinate and the detection distance.

2. The circuit according to claim 1, characterized in that The data processing module includes an advanced computing unit, a basic computing unit and a first memory; The advanced computing unit is connected to the control module, the basic computing unit and the first memory respectively, the basic computing unit is connected to the control module and the first memory respectively, and the first memory is connected to the control module; The control module controls the advanced operation unit to perform at least matrix multiplication operation, trigonometric function operation, complex number operation, exponential operation, square root operation or logarithmic operation, and controls the basic operation unit to perform addition operation and subtraction operation; The first memory is used to store intermediate values ​​obtained by operations performed by the advanced operation unit and the basic operation unit.

3. The circuit according to claim 2, characterized in that The high-level operation unit comprises a selector and at least one first high-level operation subunit; The first advanced operation subunit is connected to the control module and the selector respectively, and the selector is connected to the control module and the basic operation unit respectively; The first high-level operator unit is used to perform a matrix multiplication operation on at least one of the scanning coordinates of the detection point, the detection distance and the intermediate value to obtain an operation result; The selector is used to determine a target first high-level operation subunit in at least one first high-level operation subunit according to a selection instruction from the control module and output the operation result of the target first high-level operation subunit.

4. The circuit according to claim 2, characterized in that The high-level operation unit further comprises at least one second high-level operation subunit; The second high-level operation subunit is connected to the control module and the first memory respectively; The second high-level operation subunit is used to perform the trigonometric function operation, the complex number operation, the exponential operation, the square root operation or the logarithmic operation on at least one of the scanning coordinates of the detection point, the detection distance and the intermediate value, and each of the second high-level operation subunits performs different operations.

5. The circuit according to claim 2, characterized in that It also includes a second memory, the second memory is connected to the control module, and a lookup table is stored in the second memory, and the lookup table includes pre-stored conversion parameters; The control module obtains the lookup table from the second memory, and controls the execution of the advanced operation unit and the basic operation unit according to the conversion parameters in the lookup table.

6. The circuit according to claim 5, characterized in that In the case where there are multiple coordinate conversion modules, the coordinate conversion circuit further includes an arbitrator; The arbitrator is respectively connected to the control module of each coordinate conversion module, and the arbitrator is also connected to the second memory; Wherein, when the control modules of at least two of the coordinate conversion modules simultaneously request to obtain the lookup table, the arbitrator is used to make a priority decision on the acquisition requests of the at least two coordinate conversion modules.

7. A coordinate conversion method, used in the coordinate conversion circuit according to any one of claims 1 to 6, characterized in that: The coordinate conversion method comprises: When receiving the operation trigger signal, the scanning coordinates and detection distance of the detection point are obtained; Sending the scanning coordinates and the detection distance to a data processing module; Based on the scanning coordinates and the detection distance, the radar coordinates of the detection point are determined.

8. The method according to claim 7, characterized in that The step of determining the radar coordinates of the detection point based on the scanning coordinates and the detection distance includes: Performing trigonometric operation on the scanning coordinates to obtain trigonometric function values ​​corresponding to the scanning coordinates; The radar coordinates of the detection point are determined according to the scanning coordinates, the trigonometric function value and the detection distance.

9. The method according to claim 8, characterized in that Before performing trigonometric operation on the scanning coordinates to obtain trigonometric function values ​​corresponding to the scanning coordinates, the method further includes: The scanning coordinates are corrected to obtain the corrected scanning coordinates.

10. The method according to claim 8, characterized in that The step of determining the radar coordinates of the detection point according to the scanning coordinates, the trigonometric function value and the detection distance comprises: Obtaining a lookup table, wherein the lookup table includes pre-stored conversion parameters; The radar coordinates of the detection point are determined according to the conversion parameters, the scanning coordinates, the trigonometric function value and the detection distance.

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