Data compression frequency modulation continuous wave laser radar method and device

Abstract

The invention relates to the technical field of laser radars, in particular to a data compression frequency modulated continuous wave laser radar method and device, and the method comprises the steps: enabling an emission light signal in a certain working wavelength range in a laser radar to irradiate a preset target, so as to generate an echo light signal of the preset target; acquiring a time domain overlapping linear frequency modulation optical pulse string meeting a certain frequency condition based on the echo optical signal; performing compression processing on the echo optical signal by using the time domain overlapping linear frequency modulation optical pulse string so as to obtain an echo output signal meeting a data compression ratio; and based on the echo output signal, obtaining a detection result which is generated when the laser radar detects the preset target and meets a certain detection condition. Therefore, the problems that the detection distance range is limited, the time consumption and complexity of rear-end data processing are high, the real-time performance of the laser radar is poor, the resolution ratio is low, and the advantage of high-resolution detection of the frequency-modulated continuous wave laser radar cannot be fully reflected in the prior art are solved.

Description

Technical Field

[0001] The present application relates to the field of laser radar technology, and in particular to a data compression frequency modulated continuous wave laser radar method and device. Background Art

[0002] LiDAR is a device that uses lasers for detection. It emits laser signals and receives the reflected light from the target to obtain information such as the target's distance and speed. LiDAR has been widely used in the fields of intelligent transportation, geographical exploration, production monitoring, etc. due to its high-resolution and high-precision detection capabilities.

[0003] In the related technology, higher resolution and measurement accuracy detection can be performed through frequency modulated continuous wave based laser radar; the detection distance range can be improved by increasing the time width and period of the emitted light pulse and reducing the beat frequency by the equivalent method; related targets can also be detected by using data compression based on swept frequency mixing.

[0004] However, in the related technologies, the detection distance range of FMCW-based lidar is limited due to the use of de-slanted reception; increasing the duration and period of the emitted light pulse increases the total data volume, thereby increasing the time and complexity of back-end data processing and reducing the real-time performance of the lidar; and data compression based on swept frequency mixing deteriorates the resolution and fails to reflect the advantages of FMCW lidar's high-resolution detection, which urgently needs to be improved. Summary of the invention

[0005] The present application provides a data compression frequency modulated continuous wave laser radar method and device to solve the problems in the related technology, such as limited detection distance range, high time-consuming and complex back-end data processing, poor real-time performance of the laser radar, low resolution, and failure to fully reflect the advantages of high-resolution detection of the frequency modulated continuous wave laser radar.

[0006] The first aspect of the present application provides a data compression frequency modulated continuous wave laser radar method, comprising the following steps: irradiating an emission light signal in a preset working wavelength range in the laser radar onto a preset target to generate an echo light signal of the preset target; based on the echo light signal, obtaining a time-domain overlapping linear frequency modulated light pulse train that meets a preset frequency condition; using the time-domain overlapping linear frequency modulated light pulse train to compress the echo light signal to obtain an echo output signal that meets a data compression ratio; based on the echo output signal, obtaining a detection result that meets a preset detection condition and is generated when the laser radar detects the preset target.

[0007] Optionally, in one embodiment of the present application, the detection result that meets the preset detection conditions generated when the laser radar detects the preset target is obtained based on the echo output signal, including: based on the echo output signal, determining a low-frequency echo output signal in the echo output signal that meets a preset low-frequency condition; sampling and quantizing the low-frequency echo output signal to obtain a detection signal that meets the preset detection condition; and performing signal processing on the detection signal to obtain the detection result.

[0008] Optionally, in one embodiment of the present application, before irradiating the emitted light signal in the laser radar that is in the preset working wavelength range onto the preset target, it also includes: judging whether the working wavelength of the emitted light signal is in the preset working wavelength range; if the working wavelength of the emitted light signal is not in the preset working wavelength range, adjusting the working wavelength of the emitted light signal based on the laser radar and the preset working wavelength range until the working wavelength of the emitted light signal is in the preset working wavelength range, and allowing the emitted light signal in the preset working wavelength range to irradiate the preset target; if the working wavelength of the emitted light signal is in the preset working wavelength range, allowing the emitted light signal in the preset working wavelength range to irradiate the preset target.

[0009] Optionally, in one embodiment of the present application, irradiating the emission light signal in the laser radar within a preset working wavelength range onto a preset target includes: performing electro-optical conversion on the initial emission light signal within the preset working wavelength range to obtain the emission light signal; and irradiating the emission light signal onto the preset target.

[0010] The second aspect of the present application provides a data compression frequency modulated continuous wave laser radar device, including: a first generation module, used to irradiate the emission light signal in the laser radar within a preset working wavelength range onto a preset target to generate an echo light signal of the preset target; a first acquisition module, used to obtain a time-domain overlapping linear frequency modulated light pulse train that meets a preset frequency condition based on the echo light signal; a second generation module, used to compress the echo light signal using the time-domain overlapping linear frequency modulated light pulse train to obtain an echo output signal that meets the data compression ratio; and a second acquisition module, used to obtain a detection result that meets the preset detection condition when the laser radar detects the preset target based on the echo output signal.

[0011] Optionally, in one embodiment of the present application, the second acquisition module includes: a determination unit, used to determine, based on the echo output signal, a low-frequency echo output signal in the echo output signal that meets a preset low-frequency condition; a generation unit, used to sample and quantize the low-frequency echo output signal to obtain a detection signal that meets the preset detection condition; and an acquisition unit, used to perform signal processing on the detection signal to obtain the detection result.

[0012] Optionally, in one embodiment of the present application, it also includes: a judgment module, used to judge whether the working wavelength of the transmitted light signal in the laser radar is within the preset working wavelength range before irradiating the transmitted light signal to the preset target; an adjustment module, used to adjust the working wavelength of the transmitted light signal based on the laser radar and the preset working wavelength range when the working wavelength of the transmitted light signal is not within the preset working wavelength range, until the working wavelength of the transmitted light signal is within the preset working wavelength range, and allow the transmitted light signal within the preset working wavelength range to be used to irradiate the preset target; an irradiation module, used to allow the transmitted light signal within the preset working wavelength range to be used to irradiate the preset target when the working wavelength of the transmitted light signal is within the preset working wavelength range.

[0013] Optionally, in one embodiment of the present application, the first generating module includes: a conversion unit, used to perform electro-optical conversion on an initial emission light signal in a preset working wavelength range to obtain the emission light signal; and an irradiation unit, used to irradiate the emission light signal onto the preset target.

[0014] The third aspect of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the data compression frequency modulated continuous wave lidar method as described in the above embodiment.

[0015] The fourth aspect of the present application provides a computer-readable storage medium, which stores a computer program, and when the program is executed by a processor, it implements the above data compression frequency modulated continuous wave lidar method.

[0016] The fifth aspect embodiment of the present application provides a computer program product, including a computer program, which, when executed, implements the above-mentioned data compression frequency-modulated continuous wave lidar method.

[0017] The embodiment of the present application can irradiate the emission light signal in a certain working wavelength range in the laser radar onto a preset target, thereby obtaining an echo light signal, and using the echo light signal to obtain a time-domain overlapping linear frequency modulation light pulse train that meets certain frequency conditions, thereby compressing the echo light signal to obtain an echo output signal that meets the data compression ratio, and then obtaining the detection result that meets certain detection conditions when the laser radar detects the preset target, thereby achieving high detection resolution while compressing the data volume, and using a time-domain overlapping linear frequency modulation light pulse train as a reference signal, so that the echo light signal at any distant position can beat with the nearest linear frequency modulation signal, breaking through the restriction that the target distance is proportional to the beat frequency in traditional de-slant reception, thereby reducing the beat frequency, further reducing the receiving bandwidth and the total data volume, and also reducing the laser radar's requirements for large-bandwidth photoelectric detectors, high-performance memory and processors. Therefore, the problems in the related technology that the detection distance range is limited, the back-end data processing is time-consuming and complex, the real-time performance of the laser radar is poor, the resolution is low, and the advantages of high-resolution detection of the frequency-modulated continuous wave laser radar are not fully reflected.

[0018] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0020] Figure 1 A flowchart of a data compression frequency modulated continuous wave laser radar method provided according to an embodiment of the present application;

[0021] Figure 2 A schematic diagram of the structure of a data compression frequency modulated continuous wave laser radar system provided according to an embodiment of the present application;

[0022] Figure 3 A schematic block diagram of a time domain waveform of a time domain overlapping linear frequency modulated optical pulse train provided according to an embodiment of the present application;

[0023] Figure 4 A schematic diagram of a method for implementing a data compression frequency modulated continuous wave laser radar according to an embodiment of the present application;

[0024] Figure 5 A schematic block diagram of an output signal spectrum of an echo optical signal after processing according to an embodiment of the present application;

[0025] Figure 6A schematic block diagram of a high-resolution one-dimensional range image of a target provided according to an embodiment of the present application;

[0026] Figure 7 It is a block diagram of a data compression frequency modulation continuous wave laser radar device provided according to an embodiment of the present application;

[0027] Figure 8 It is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0028] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0029] The following describes the data compression frequency modulated continuous wave laser radar method and device of the embodiment of the present application with reference to the accompanying drawings. In view of the problems mentioned in the above background technology that the detection distance range is limited, the back-end data processing is time-consuming and complex, the real-time performance of the laser radar is poor, the resolution is low, and the advantages of the high-resolution detection of the frequency modulated continuous wave laser radar are not fully reflected, the present application provides a data compression frequency modulated continuous wave laser radar method, in which the emission light signal in a certain working wavelength range of the laser radar can be irradiated onto a preset target to obtain an echo light signal, and the echo light signal is used to obtain a time-domain overlapping linear frequency modulated light pulse train that meets certain frequency conditions, thereby compressing the echo light signal to obtain a target that meets certain frequency conditions. The echo output signal with a data compression ratio is used to obtain the detection result that meets certain detection conditions when the laser radar detects the preset target, thereby achieving high detection resolution while compressing the data volume. A time-domain overlapping linear frequency modulation optical pulse train is used as a reference signal, so that the echo optical signal at any distant position can beat with the nearest linear frequency modulation signal, breaking through the restriction that the target distance is proportional to the beat frequency in traditional de-slant reception, thereby reducing the beat frequency, further reducing the receiving bandwidth and the total data volume, and also reducing the laser radar's demand for large-bandwidth photoelectric detectors, high-performance memory and processors. As a result, the problems in related technologies such as limited detection distance range, high time-consuming and complex back-end data processing, poor real-time performance of laser radar, low resolution, and failure to fully reflect the advantages of high-resolution detection of frequency-modulated continuous wave laser radar are solved.

[0030] Specifically, Figure 1 This is a flow chart of a data compression frequency modulated continuous wave laser radar method provided according to an embodiment of the present application.

[0031] like Figure 1As shown, the data compression frequency modulated continuous wave laser radar method includes the following steps:

[0032] In step S101, an emission light signal in a preset working wavelength range of a laser radar is irradiated onto a preset target to generate an echo light signal of the preset target.

[0033] As a possible implementation method, the embodiment of the present application can transmit a laser radar light signal within a certain working wavelength range to a preset target, thereby obtaining a corresponding echo light signal reflected by the preset target.

[0034] Among them, a certain working wavelength range can be set by technicians in this field according to actual conditions, and this application does not make any specific restrictions.

[0035] Exemplary, combined Figure 2 As shown, the embodiment of the present application can use a frequency modulated continuous light generation module to generate and transmit a transmission light signal for detection, illuminate a preset target, and then generate an echo light signal. The transmission light signal is within a certain working wavelength range.

[0036] Optionally, in one embodiment of the present application, an emission light signal in a preset working wavelength range in a laser radar is irradiated onto a preset target, including: performing electro-optical conversion on an initial emission light signal in the preset working wavelength range to obtain an emission light signal; and irradiating the emission light signal onto a preset target.

[0037] In some embodiments, the embodiments of the present application can perform electro-optical conversion on an initial emission light signal emitted by a laser radar within a certain working wavelength range to obtain an emission light signal, and then irradiate the emission light signal onto a preset target.

[0038] Optionally, in one embodiment of the present application, before irradiating the emitted light signal in the laser radar that is within the preset working wavelength range onto a preset target, it also includes: determining whether the working wavelength of the emitted light signal is within the preset working wavelength range; if the working wavelength of the emitted light signal is not within the preset working wavelength range, adjusting the working wavelength of the emitted light signal based on the laser radar and the preset working wavelength range until the working wavelength of the emitted light signal is within the preset working wavelength range, and allowing the emitted light signal within the preset working wavelength range to irradiate the preset target; if the working wavelength of the emitted light signal is within the preset working wavelength range, allowing the emitted light signal within the preset working wavelength range to irradiate the preset target.

[0039] In some embodiments, the embodiments of the present application may first determine whether the operating wavelength of the transmitted optical signal is within a certain operating wavelength range.

[0040] Furthermore, in some embodiments, in the embodiments of the present application, if the working wavelength of the transmitted light signal is not within a certain working wavelength range, the working wavelength of the transmitted light signal will be readjusted according to the laser radar and the certain wavelength range. This adjustment process will continue until the working wavelength of the transmitted light signal is within a certain working wavelength range. Only then can the transmitted light signal be allowed to be used to illuminate the preset target.

[0041] In some embodiments, if the working wavelength of the transmitted light signal of the embodiment of the present application is within a certain working wavelength range, the transmitted light signal can be directly used to illuminate a preset target.

[0042] In step S102, based on the echo optical signal, a time-domain overlapping linear frequency modulated optical pulse train that meets a preset frequency condition is acquired.

[0043] It can be understood that, in the embodiment of the present application, the time-domain overlapping linear frequency modulated optical pulse train can be understood as a series of optical pulse sequences that overlap each other in the time domain and in which the instantaneous frequency of each pulse varies linearly with time.

[0044] As a possible implementation method, the embodiment of the present application can extract a time-domain overlapping linear frequency modulation optical pulse train that meets a certain frequency condition based on the received echo optical signal. The certain frequency condition can be set by a person skilled in the art according to actual conditions, and the present application does not impose any specific restrictions.

[0045] Exemplary, combined Figure 2 As shown, the embodiment of the present application can use the time domain overlapping linear frequency modulation optical pulse train generation module to generate a time domain overlapping linear frequency modulation optical pulse train whose received echo optical signal meets certain frequency conditions, and send it to the coherent receiving module. Among them, the time domain waveform diagram of the time domain overlapping linear frequency modulation optical pulse train generated by the embodiment of the present application is as follows Figure 3 shown.

[0046] In step S103, the echo optical signal is compressed using the time-domain overlapping linear frequency modulation optical pulse train to obtain an echo output signal that satisfies the data compression ratio.

[0047] In actual implementation, the embodiment of the present application may use a time-domain overlapping linear frequency modulated optical pulse train as a processing means to compress the received echo optical signal, thereby obtaining an echo output signal that satisfies the data compression ratio.

[0048] Exemplary, combined Figure 2 As shown, the coherent receiving module of the embodiment of the present application performs coherent receiving processing on the input time-domain overlapping linear frequency modulation optical pulse train and the echo optical signal, and inputs the echo output signal that meets the data compression ratio into the low-pass filtering module. Among them, in the embodiment of the present application, the calculation formula of the data compression ratio can be but is not limited to:

[0049] R = B / B_Rx,

[0050] Among them, R is the data compression ratio, B is the frequency sweep range, and B_Rx is the receiving bandwidth.

[0051] In step S104, based on the echo output signal, a detection result that meets the preset detection conditions and is generated when the laser radar detects the preset target is obtained.

[0052] It can be understood by those skilled in the art that the embodiments of the present application can obtain the detection result generated by the laser radar when detecting a preset target and meeting certain detection conditions according to the echo output signal. Among them, the certain detection conditions can be set by those skilled in the art according to actual conditions, and this application does not make specific restrictions.

[0053] Optionally, in one embodiment of the present application, based on the echo output signal, a detection result that meets preset detection conditions generated when the laser radar detects a preset target is obtained, including: based on the echo output signal, determining a low-frequency echo output signal that meets a preset low-frequency condition in the echo output signal; sampling and quantizing the low-frequency echo output signal to obtain a detection signal that meets the preset detection conditions; and performing signal processing on the detection signal to obtain a detection result.

[0054] In some embodiments, the embodiments of the present application can first filter out low-frequency echo output signals that meet certain low-frequency conditions from the echo output signals to form low-frequency echo output signals, and then perform sampling and quantization operations on this part of the low-frequency echo output signals to obtain detection signals that meet certain detection conditions, and further perform signal processing on the detection signals to obtain detection results.

[0055] Among them, certain low-frequency conditions and certain detection conditions can be set by technicians in this field according to actual conditions, and this application does not impose specific restrictions.

[0056] Exemplary, combined Figure 2 As shown, the embodiment of the present application can use a low-pass filtering module to select a low-frequency echo output signal that meets a certain low-frequency condition in the echo output signal, thereby obtaining a low-frequency echo output signal, and input the low-frequency echo output signal into a signal acquisition module.

[0057] Furthermore, the embodiment of the present application utilizes a signal acquisition module to sample and quantize the low-frequency echo output signal, outputs a detection signal that meets certain detection conditions, and inputs the detection signal into an algorithm processing module. After implementing corresponding signal processing, high-resolution detection of a preset target can be achieved, and corresponding detection results can be obtained.

[0058] The working principle of the data compression frequency modulated continuous wave lidar method proposed in the embodiment of the present application is introduced below in conjunction with a specific embodiment.

[0059] in, Figure 4 A schematic diagram of the structure of a method for implementing data compression frequency modulated continuous wave laser radar according to an embodiment of the present application.

[0060] Specifically, the structure 40 includes a light source 401 , an optical coupler 402 , an electro-optical conversion module 403 , an electro-optical conversion module 404 , an optical coupler 405 , a photodetector 406 , a low-pass filter 407 , an electrical digital-to-analog converter 408 , and a processor 409 .

[0061] The light source 401 is used to provide the optical carrier necessary for the operation of the electro-optical conversion module 403 and the electro-optical conversion module 404. The light source 401 outputs a single-wavelength continuous light wave, and the operating wavelength should be within the operating wavelength range of the electro-optical conversion module 403 and the electro-optical conversion module 404. The output end is connected to the input end of the optical coupler 402.

[0062] The optical coupler 402 is used to split the input optical signal, and its operating wavelength should be within the operating wavelength range of the light source 401. The output end is connected to the input end of the electro-optical conversion module 403 and the electro-optical conversion module 404 respectively.

[0063] The electro-optical conversion module 403 may include, but is not limited to, an electro-optical modulator for realizing the generation of a transmission waveform. The response rate of the electro-optical modulator is greater than the highest frequency of the linear frequency modulation signal, and the electro-optical modulator outputs a transmission light signal.

[0064] The electro-optic conversion module 404 may include, but is not limited to, an electro-optic modulator for realizing the generation of a time-domain overlapped linear frequency modulated optical pulse train. The response rate of the electro-optic modulator is greater than the highest frequency of the time-domain overlapped linear frequency modulated signal, and its output is connected to the optical coupler 405 .

[0065] The optical coupler 405 is used to combine the echo optical signal with the local optical signal, and its operating wavelength should be within the operating wavelength range of the light source 401 . The output end is connected to the input end of the photodetector 406 .

[0066] The photodetector 406 is used to convert the optical signal into a microwave signal. Its operating wavelength should be within the operating wavelength range of the light source 401, and its response rate should be greater than the highest frequency of the output signal after the target echo is processed. The output end is connected to the input end of the low-pass filter 407.

[0067] The low-pass filter 407 is used to select the low-frequency part of the signal, and its bandwidth is the highest frequency of the output signal after the target echo is processed. The output end is connected to the input end of the electrical analog-to-digital converter 408.

[0068] The electrical analog-to-digital converter 408 is used to sample and quantize the input signal. Its bandwidth is greater than the highest frequency of the output signal after the target echo is processed. Its output is connected to the input of the processor 409.

[0069] Processor 409 is used to implement corresponding signal processing algorithms to obtain high-resolution detection results of the target.

[0070] Combination Figure 4 As shown, the embodiment of the present application sets three targets in sequence, which are located at a relative radar distance of 30.8m, 86.1m and 148.5m respectively. The transmitted signal is a linear frequency modulated light wave, with a time width Tr = 1μs, a period T = 2μs, (corresponding to a maximum unambiguous detection distance range of 300m), a sweep range B = 8GHz, and a corresponding theoretical 3dB distance resolution of 0.886*c / 2B = 1.66cm (c is the speed of light 3×108m / s). In the time-domain overlapping linear frequency modulated light pulse train adopted, the time domain interval between adjacent linear frequency modulated light pulses is ΔT = 31.25ns, and the time width, frequency band range and sweep range are consistent with the transmitted linear frequency modulated light wave. Set the receiver bandwidth B_Rx = 125MHz.

[0071] Furthermore, after the echo optical signal of the embodiment of the present application is processed by the time-domain overlapping linear frequency modulated optical pulse train, the time-domain waveform diagram of the time-domain overlapping linear frequency modulated optical pulse train generated is as follows: Figure 3 It can be seen that the optical signal in the 8 GHz sweep frequency range of the embodiment of the present application can be received using only a 125 MHz receiving bandwidth, and the corresponding data compression ratio can reach 64.

[0072] Furthermore, after the corresponding algorithm is implemented on the echo output signal of the embodiment of the present application, the one-dimensional distance image obtained is as follows: Figure 6 The distance resolutions are 2.02 cm, 1.76 cm and 1.97 cm respectively, which are close to the theoretical values, indicating that the embodiment of the present application can achieve high-resolution imaging of distant targets, and the data compression ratio is 64.

[0073] According to the data compression frequency modulated continuous wave laser radar method proposed in the embodiment of the present application, the emission light signal in a certain working wavelength range of the laser radar can be irradiated onto a preset target to obtain an echo light signal, and the echo light signal can be used to obtain a time-domain overlapping linear frequency modulated light pulse train that meets certain frequency conditions, thereby compressing the echo light signal to obtain an echo output signal that meets the data compression ratio, and then obtain the detection result that meets certain detection conditions when the laser radar detects the preset target, thereby achieving high detection resolution while compressing the data volume, and using a time-domain overlapping linear frequency modulated light pulse train as a reference signal, so that the echo light signal at any distant position can beat with the nearest linear frequency modulated signal, breaking through the constraint that the target distance is proportional to the beat frequency in traditional de-skewing reception, thereby reducing the beat frequency, further reducing the receiving bandwidth and the total data volume, and also reducing the laser radar's requirements for large-bandwidth photoelectric detectors, high-performance memory and processors. As a result, problems in related technologies such as limited detection distance range, high time-consuming and complex back-end data processing, poor real-time performance of lidar, low resolution, and failure to fully reflect the advantages of high-resolution detection of frequency-modulated continuous wave lidar have been solved.

[0074] Next, the data compression frequency modulated continuous wave laser radar device proposed according to the embodiment of the present application is described with reference to the accompanying drawings.

[0075] Figure 7 It is a block diagram of a data compression frequency modulated continuous wave laser radar device provided according to an embodiment of the present application.

[0076] like Figure 7 As shown, the data compression frequency modulated continuous wave laser radar device 70 includes: a first generation module 701, a first acquisition module 702, a second generation module 703 and a second acquisition module 704.

[0077] Among them, the first generating module 701 is used to irradiate the emission light signal in the laser radar within the preset working wavelength range onto a preset target to generate an echo light signal of the preset target.

[0078] The first acquisition module 702 is configured to acquire a time-domain overlapping linear frequency modulated optical pulse train that meets a preset frequency condition based on the echo optical signal.

[0079] The second generating module 703 is used to compress the echo optical signal by using the time-domain overlapping linear frequency modulation optical pulse train to obtain an echo output signal that meets the data compression ratio.

[0080] The second acquisition module 704 is used to acquire, based on the echo output signal, a detection result that meets a preset detection condition when the laser radar detects a preset target.

[0081] Optionally, in one embodiment of the present application, the second acquisition module 704 includes: a determination unit, a generation unit and an acquisition unit.

[0082] Wherein, the determining unit is used to determine, based on the echo output signal, a low-frequency echo output signal in the echo output signal that meets a preset low-frequency condition.

[0083] The generating unit is used to sample and quantize the low-frequency echo output signal to obtain a detection signal that meets a preset detection condition.

[0084] The acquisition unit is used to perform signal processing on the detection signal to obtain the detection result.

[0085] Optionally, in one embodiment of the present application, it further includes: a judgment module, an adjustment module and an illumination module.

[0086] Among them, the judgment module is used to judge whether the working wavelength of the emitted light signal in the preset working wavelength range is within the preset working wavelength range before irradiating the emitted light signal in the laser radar within the preset working wavelength range onto the preset target.

[0087] The adjustment module is used to adjust the working wavelength of the transmitted light signal based on the laser radar and the preset working wavelength range when the working wavelength of the transmitted light signal is not within the preset working wavelength range, until the working wavelength of the transmitted light signal is within the preset working wavelength range, and allow the transmitted light signal within the preset working wavelength range to be used to illuminate the preset target.

[0088] The irradiation module is used to allow the irradiation of a preset target with the emitting light signal within the preset working wavelength range when the working wavelength of the emitting light signal is within the preset working wavelength range.

[0089] Optionally, in one embodiment of the present application, the first generating module 701 includes: a conversion unit and an irradiation unit.

[0090] The conversion unit is used to perform electrical-optical conversion on the initial emission light signal within the preset working wavelength range to obtain the emission light signal.

[0091] The irradiation unit is used to irradiate the emitted light signal onto a preset target.

[0092] It should be noted that the aforementioned explanation of the data compression frequency modulated continuous wave laser radar method embodiment is also applicable to the data compression frequency modulated continuous wave laser radar device of this embodiment, and will not be repeated here.

[0093] According to the data compression frequency modulation continuous wave laser radar device proposed in the embodiment of the present application, the emission light signal in a certain working wavelength range of the laser radar can be irradiated onto a preset target to obtain an echo light signal, and the echo light signal is used to obtain a time-domain overlapping linear frequency modulation light pulse train that meets certain frequency conditions, thereby compressing the echo light signal to obtain an echo output signal that meets the data compression ratio, and then obtain the detection result that meets certain detection conditions when the laser radar detects the preset target, thereby achieving high detection resolution while compressing the data volume, and using a time-domain overlapping linear frequency modulation light pulse train as a reference signal, so that the echo light signal at any distant position can beat with the nearest linear frequency modulation signal, breaking through the constraint that the target distance is proportional to the beat frequency in traditional de-skewing reception, thereby reducing the beat frequency, further reducing the receiving bandwidth and the total data volume, and also reducing the laser radar's requirements for large-bandwidth photoelectric detectors, high-performance memory and processors. As a result, problems in related technologies such as limited detection distance range, high time-consuming and complex back-end data processing, poor real-time performance of lidar, low resolution, and failure to fully reflect the advantages of high-resolution detection of frequency-modulated continuous wave lidar have been solved.

[0094] Figure 8 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present application. The electronic device may include:

[0095] A memory 801 , a processor 802 , and a computer program stored in the memory 801 and executable on the processor 802 .

[0096] When the processor 802 executes the program, the data compression frequency modulated continuous wave laser radar method provided in the above embodiment is implemented.

[0097] Furthermore, the electronic device further comprises:

[0098] The communication interface 803 is used for communication between the memory 801 and the processor 802 .

[0099] The memory 801 is used to store computer programs that can be executed on the processor 802 .

[0100] The memory 801 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0101] If the memory 801, the processor 802 and the communication interface 803 are implemented independently, the communication interface 803, the memory 801 and the processor 802 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0102] Optionally, in a specific implementation, if the memory 801, the processor 802 and the communication interface 803 are integrated on a chip, the memory 801, the processor 802 and the communication interface 803 can communicate with each other through an internal interface.

[0103] The processor 802 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0104] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned data compression frequency-modulated continuous wave lidar method.

[0105] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed, implements the above data compression frequency modulated continuous wave lidar method.

[0106] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0107] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0108] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0109] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0110] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented by hardware, as in another embodiment, it can be implemented by any one or a combination of multiple of the following technologies known in the art: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0111] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0112] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0113] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A data compression frequency modulated continuous wave laser radar method, characterized in that: The following steps are involved: Irradiating the emitted light signal in the laser radar within the preset working wavelength range onto a preset target to generate an echo light signal of the preset target; Based on the echo optical signal, obtaining a time-domain overlapping linear frequency modulated optical pulse train that meets a preset frequency condition; Using the time-domain overlapping linear frequency modulation optical pulse train to compress the echo optical signal to obtain an echo output signal that meets the data compression ratio; Based on the echo output signal, a detection result that meets a preset detection condition and is generated when the laser radar detects the preset target is obtained.

2. The method according to claim 1, characterized in that The acquiring, based on the echo output signal, a detection result that satisfies a preset detection condition and is generated when the laser radar detects the preset target, comprises: Based on the echo output signals, determining a low-frequency echo output signal in the echo output signals that meets a preset low-frequency condition; Sampling and quantizing the low-frequency echo output signal to obtain a detection signal that meets the preset detection condition; The detection signal is processed to obtain the detection result.

3. The method according to claim 1, characterized in that Before irradiating the emitted light signal in the preset working wavelength range of the laser radar onto the preset target, it also includes: Determining whether the operating wavelength of the transmitted optical signal is within the preset operating wavelength range; If the operating wavelength of the transmitted light signal is not within the preset operating wavelength range, adjusting the operating wavelength of the transmitted light signal based on the laser radar and the preset operating wavelength range until the operating wavelength of the transmitted light signal is within the preset operating wavelength range, and allowing the transmitted light signal within the preset operating wavelength range to illuminate the preset target; If the operating wavelength of the emission light signal is within the preset operating wavelength range, then the emission light signal within the preset operating wavelength range is allowed to illuminate the preset target.

4. The method according to claim 1, characterized in that: The step of irradiating the emitted light signal in the laser radar within the preset working wavelength range onto the preset target comprises: Performing electro-optical conversion on an initial emission light signal within a preset working wavelength range to obtain the emission light signal; The emitted light signal is irradiated onto the preset target.

5. A data compression frequency modulated continuous wave laser radar device, characterized in that: include: A first generating module is used to irradiate the emission light signal in the laser radar within the preset working wavelength range onto a preset target to generate an echo light signal of the preset target; A first acquisition module, configured to acquire a time-domain overlapping linear frequency modulation optical pulse train that meets a preset frequency condition based on the echo optical signal; A second generating module is used to compress the echo optical signal by using the time-domain overlapping linear frequency modulation optical pulse train to obtain an echo output signal that meets the data compression ratio; The second acquisition module is used to acquire, based on the echo output signal, a detection result that meets a preset detection condition and is generated when the laser radar detects the preset target.

6. The device according to claim 5, characterized in that The second acquisition module includes: a determining unit, configured to determine, based on the echo output signals, a low-frequency echo output signal in the echo output signals that meets a preset low-frequency condition; A generating unit, configured to sample and quantize the low-frequency echo output signal to obtain a detection signal that meets the preset detection condition; An acquisition unit is used to perform signal processing on the detection signal to obtain the detection result.

7. The device according to claim 5, characterized in that Also includes: A judgment module, used for judging whether the working wavelength of the emitted light signal in the laser radar within the preset working wavelength range is within the preset working wavelength range before irradiating the emitted light signal in the laser radar onto the preset target; an adjustment module, configured to adjust the operating wavelength of the transmitted light signal based on the laser radar and the preset operating wavelength range when the operating wavelength of the transmitted light signal is not within the preset operating wavelength range, until the operating wavelength of the transmitted light signal is within the preset operating wavelength range, and allow the transmitted light signal within the preset operating wavelength range to be used to illuminate the preset target; The irradiation module is used to allow the preset target to be irradiated with the emitting light signal within the preset working wavelength range when the working wavelength of the emitting light signal is within the preset working wavelength range.

8. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the data compression frequency modulated continuous wave laser radar method as described in any one of claims 1 to 4.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the data compression frequency modulated continuous wave lidar method as described in any one of claims 1 to 4.

10. A computer program product, characterized in that It comprises a computer program which, when executed, is used to implement the data compression frequency modulated continuous wave lidar method as described in any one of claims 1 to 4.

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