Detection distance adaptive matching method and device of coaxial laser radar device

Abstract

The invention discloses a detection distance adaptive matching method and device of a coaxial laser radar device, a laser of the coaxial laser radar device is connected with a first end of a circulator through a collimator, and a second end of the circulator is connected with a zoom telescope system and a video auxiliary system. The third end of the circulator is connected with a data collecting and processing system through a detector, and the method comprises the steps that initial signal data collected by the zoom telescopic system when the zoom telescopic system is in an initial focal length are received, and the initial signal data comprise initial image data and / or initial echo data; on the basis of the initial signal data, traversing each focal length of the zoom telescopic system by using a hill climbing algorithm, and determining signal data corresponding to each focal length of the zoom telescopic system; determining a target focal length for the target detection object based on the signal data corresponding to each focal length; the detection strategy corresponding to the target detection object is determined based on the target focal length, and the detection precision of the coaxial laser radar can be effectively improved.

Description

Technical Field

[0001] The present disclosure generally relates to the technical field of coaxial lidar, and particularly relates to a method and device for adaptively matching the detection distance of a coaxial lidar device. Background Art

[0002] A lidar is a radar that uses laser as the working beam. Its working principle is that a laser emits pulsed laser to the surface of a target object for reflection, and the detection device detects the echo signal. By comparing the transmitted signal with the echo signal, time difference information is obtained, so as to obtain the distance between the lidar and the target object. Due to the advantages of high precision, high spatio-temporal resolution, long-distance detection, etc., lidar has a wide range of applications in environmental perception, special military, etc.

[0003] According to whether the optical axes of the transceiver in the lidar coincide, the lidar can be divided into a coaxial system and an off-axis system. The optical system design adopted by the off-axis lidar is that the transmitting lens and the receiving lens are designed separately, and the transmitting light source and the receiving detector are also arranged separately. Such an optical system design is relatively complex, the debugging process is cumbersome, and the optical path separation also brings the problem of large volume. Compared with the off-axis system, the coaxial system has obvious advantages, but the coaxial system usually has higher system crosstalk noise, and this crosstalk noise will have a great impact on the detection accuracy. And at different detection distances, if the same lens with a single focal length is used, the change of the detection spot will also have a great impact on the detection accuracy.

[0004] Therefore, providing a method for automatically matching the detection distance while meeting the coaxial setting of the lidar and the laser being relatively safe for the human eye has become an urgent technical problem to be solved. Summary of the Invention

[0005] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a method and device for adaptively matching the detection distance of a coaxial lidar device, which can effectively improve the detection accuracy of the coaxial lidar.

[0006] In a first aspect, an embodiment of the present application provides a method for adaptively matching the detection distance of a coaxial lidar device. The coaxial lidar device includes a laser, a collimator, a circulator, a zoom telescopic system, a detector, a data acquisition and processing system, and a video auxiliary system. The laser is connected to the first end of the circulator through the collimator. The second end of the circulator is connected to the zoom telescopic system and the video auxiliary system. The third end of the circulator is connected to the data acquisition and processing system through the detector. The method includes:

[0007] Receiving initial signal data collected when the zoom telescopic system is at an initial focal length, where the initial signal data includes initial image data and / or initial echo data;

[0008] Based on the initial signal data, traverse each focal length of the zoom telescopic system using the hill climbing algorithm to determine the signal data corresponding to each focal length of the zoom telescopic system;

[0009] Based on the signal data corresponding to each focal length, determine the target focal length for the target detection object;

[0010] Based on the target focal length, determine the detection strategy corresponding to the target detection object.

[0011] In some embodiments, when the initial signal data is the initial image data, the method includes:

[0012] Obtain the evaluation function corresponding to the initial image data; the evaluation function is used to evaluate the clarity of the initial image data;

[0013] Based on the initial image data, traverse each focal length of the zoom telescopic system using the hill climbing algorithm to determine the evaluation function corresponding to each focal length of the zoom telescopic system;

[0014] Based on the evaluation function corresponding to each focal length, determine the target focal length for the target detection object.

[0015] In some embodiments, the detection strategy further includes:

[0016] Control the coaxial lidar device to obtain the first image of the target detection object at the current position with the target focal length;

[0017] Identify that the target detection object in the first image meets a preset condition;

[0018] Control the coaxial lidar device to translate a first preset distance in a first direction and obtain the second image of the target detection object with the target focal length;

[0019] Control the coaxial lidar device to translate a second preset distance in a second direction and obtain the third image of the target detection object with the target focal length; the first direction and the second direction are perpendicular to each other;

[0020] Based on the second image and the third image, determine the target image of the target detection object.

[0021] In some embodiments, the controlling the coaxial lidar device to translate includes:

[0022] Determine the scanning area corresponding to the target detection object according to the first image;

[0023] Control the coaxial lidar device to translate a first preset distance in a first direction within the scanning area, and acquire a second image of the target detection object with the target focal length;

[0024] Control the coaxial lidar device to translate a second preset distance in a second direction within the scanning area, and acquire a third image of the target detection object with the target focal length.

[0025] In some embodiments, the laser wavelength of the laser is 1550 nm, the emission average power is 300 mw, the peak power is 1000 W, the emission frequency is 100 khz, and the pulse width is about 3 ns.

[0026] In some embodiments, the zoom telescopic system and the video assistance system perform spectroscopic transmission through a 45° mirror.

[0027] In a second aspect, an embodiment of the present application provides a detection distance adaptive matching device for a coaxial lidar device. The coaxial lidar device includes a laser, a collimator, a circulator, a zoom telescopic system, a detector, a data acquisition and processing system, and a video assistance system. The laser is connected to the first end of the circulator through the collimator. The second end of the circulator is connected to the zoom telescopic system and the video assistance system. The third end of the circulator is connected to the data acquisition and processing system through the detector. The adaptive matching device includes:

[0028] A receiving module, configured to receive initial signal data collected by the video assistance system when the zoom telescopic system is at an initial focal length. The initial signal data includes initial image data and / or initial echo data;

[0029] A first determination module, configured to traverse each focal length of the zoom telescopic system based on the initial signal data by using a hill climbing algorithm, and determine the signal data corresponding to each focal length of the zoom telescopic system;

[0030] A second determination module, configured to determine a target focal length for a target detection object based on the signal data corresponding to each focal length;

[0031] A detection module, configured to determine a detection strategy corresponding to the target detection object based on the target focal length.

[0032] In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the method described in the embodiment of the present application is implemented.

[0033] Fourthly, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the method described in the embodiment of the present application is implemented.

[0034] Fifthly, an embodiment of the present application provides a computer program product, including a computer program, characterized in that when the computer program is executed by a processor, the method described in the embodiment of the present application is implemented.

[0035] The detection distance adaptive matching method and device of the coaxial lidar device provided by the embodiment of the present application can use the hill climbing algorithm to optimize and evaluate based on the initial signal data collected by the zoom telescopic system, so as to select the target focal length that is most suitable for the target detection object, enabling the coaxial lidar to detect the target detection object using the optimal focal length of the zoom telescopic system, effectively improving the detection accuracy of the coaxial lidar.

[0036] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present invention. Description of the Drawings

[0037] By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes, and advantages of the present application will become more apparent:

[0038] Figure 1 Shows the architecture diagram of the coaxial lidar device provided by the embodiment of the present application;

[0039] Figure 2 Shows the schematic flow chart of the detection distance adaptive matching method of the coaxial lidar device provided by an embodiment of the present application;

[0040] Figure 3 Shows the schematic flow chart of the detection distance adaptive matching method of the coaxial lidar device provided by another embodiment of the present application;

[0041] Figure 4 Shows the schematic flow chart of the sub-pixel detection accuracy method of the coaxial lidar device provided by an embodiment of the present application;

[0042] Figure 5 Shows Figure 4 The corresponding principle schematic diagram;

[0043] Figure 6 Shows the schematic structural diagram of the detection distance adaptive matching device of the coaxial lidar device provided by an embodiment of the present application;

[0044] Figure 7A schematic structural diagram of a computer system of an electronic device or a server suitable for implementing the embodiments of the present application is shown. Detailed implementation manners

[0045] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related invention, rather than limiting the invention. Additionally, it should be noted that for the convenience of description, only the parts related to the invention are shown in the drawings.

[0046] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and embodiments.

[0047] For the specific implementation environment of the detection distance adaptive matching method of the coaxial lidar device proposed in the present application, refer to Figure 1 . Figure 1 A schematic diagram of the architecture of the coaxial lidar device provided by the embodiments of the present application is shown.

[0048] As Figure 1 shown, the coaxial lidar device includes: a laser, a collimator, a circulator, a zoom telescopic system, a detector, a data acquisition and processing system, and a video auxiliary system. The laser is connected to the first end of the circulator through the collimator. The second end of the circulator is connected to the zoom telescopic system and the video auxiliary system. The third end of the circulator is connected to the data acquisition and processing system through the detector.

[0049] It should be noted that in the coaxial lidar device of the embodiments of the present application, the laser optical path and the optical path transmission of the video auxiliary system in the zoom telescope are coaxial.

[0050] Specifically, the laser emits laser light, which enters the first end of the circulator through the collimator. The circulator sends the laser light to the zoom telescopic system from the second end based on a preset transmission order, so as to adjust the focal length through the zoom telescopic system to send the laser light to the target detection object, and receive the signal data returned by the target detection object, including but not limited to image data and echo data. Among them, after the image data is transmitted through the zoom telescopic system, it is split by a 45° mirror to the video auxiliary system, and the echo data continues to be transmitted to the circulator and the echo data is transmitted to the data acquisition and processing system through the detector from the third end.

[0051] Preferably, the wavelength of the laser light emitted by the laser is 1550 nm, the average emission power is 300 mw, the peak power is 1000 W, the emission frequency is 100 khz, and the pulse width is about 3 ns.

[0052] The detection distance adaptive matching method of the coaxial lidar device proposed in this application can be implemented by the detection distance adaptive matching device of the coaxial lidar device. The detection distance adaptive matching device of the coaxial lidar device can be installed in a video assistance system or a data acquisition and processing system, or can also be set on a server that communicates with and controls the coaxial lidar device.

[0053] To further illustrate the technical solutions provided in the embodiments of this application, the following will provide a detailed description in conjunction with the accompanying drawings and specific implementation manners. Although the embodiments of this application provide the following method operation instruction steps as shown in the embodiments or the accompanying drawings, based on routine or non-creative labor, more or fewer operation instruction steps may be included in the method. In steps where there is no necessary causal relationship logically, the execution order of these steps is not limited to the execution order provided in the embodiments of this application. When the method is actually processed or executed by the device, it can be executed in the method order shown in the embodiments or the accompanying drawings or executed in parallel.

[0054] Please refer to Figure 2 , Figure 2 which shows a schematic flowchart of the detection distance adaptive matching method of the coaxial lidar device provided by an embodiment of this application. As Figure 2 shown, the method includes:

[0055] Step 201, receiving initial signal data collected when the zoom telescopic system is at the initial focal length.

[0056] Among them, the initial signal data includes initial image data and / or initial echo data.

[0057] In the embodiments of this application, when using the video assistance system, the initial image data transmitted back by the zoom telescopic system is obtained through the video assistance system; when the video assistance system fails, such as in rainy or foggy weather, especially thick fog weather or when encountering strong backlight, the video assistance system fails. At this time, only the detector and the data acquisition and processing system are used to obtain the initial echo data transmitted back by the zoom telescopic system. Optionally, when the video assistance system is effective, the initial image data can also be obtained by using the video assistance system at the same time and the initial echo data transmitted back by the zoom telescopic system can be obtained by using the detector and the data acquisition and processing system.

[0058] Step 202, based on the initial signal data, using the hill climbing algorithm to traverse each focal length of the zoom telescopic system to determine the signal data corresponding to each focal length of the zoom telescopic system.

[0059] It should be noted that the Hill Climbing Algorithm is an optimization algorithm based on heuristic search, which is used to find the local optimal solution in the search space. The basic idea of this algorithm is to start from an initial solution and search for the optimal solution by continuously moving to a better solution within the neighborhood until no better solution can be found.

[0060] In the embodiment of the present application, initial signal data is obtained through the initial focal length of the zoom telescopic system, and starting from the initial signal data corresponding to the initial focal length, the hill climbing algorithm is used to traverse each focal length corresponding to the zoom telescopic system to obtain the corresponding signal data.

[0061] Step 203: Based on the signal data corresponding to each focal length, determine the target focal length for the target detection object.

[0062] Specifically, compare the signal data corresponding to each focal length, and use the focal length corresponding to the optimal signal data as the target focal length for the target detection object.

[0063] In a feasible embodiment, as Figure 3 shown, when the initial signal data is initial image data, it further includes:

[0064] Step 301: Obtain the evaluation function corresponding to the initial image data.

[0065] Among them, the evaluation function is used to evaluate the clarity of the initial image data.

[0066] Optionally, use the gradient operator corresponding to the image data as the evaluation function.

[0067] Step 302: Based on the initial image data, use the hill climbing algorithm to traverse each focal length of the zoom telescopic system to determine the evaluation function corresponding to each focal length of the zoom telescopic system.

[0068] Step 303: Based on the evaluation function corresponding to each focal length, determine the target focal length for the target detection object.

[0069] That is to say, after obtaining the initial image data, calculate the gradient operator of the initial image data as the evaluation function of the initial image data, then use the hill climbing algorithm to start from the initial image data, traverse the evaluation functions of the image data corresponding to each focal length of the zoom telescopic system, and then compare the evaluation functions corresponding to each focal length, and use the focal length corresponding to the image data with the optimal evaluation function as the target focal length for the target detection object.

[0070] In another feasible embodiment, when using the initial echo data, after obtaining the initial echo data, calculate the intensity of the initial echo data, start from the initial echo data using the hill-climbing algorithm, traverse the intensities of the echo data corresponding to each focal length of the zoom telescopic system, then compare the echo intensities corresponding to each focal length, and use the focal length corresponding to the echo data with the strongest echo intensity as the target focal length for the target detection object.

[0071] Optionally, when the initial image data and the initial echo data can be used simultaneously, the target focal length can be determined according to the comprehensive evaluation result of the initial image data and the initial echo data, including but not limited to using the focal length corresponding to the highest value of the weight sum of the evaluation function and the echo intensity as the target focal length for the target detection object.

[0072] Step 204, determine the detection strategy corresponding to the target detection object based on the target focal length.

[0073] That is to say, after determining the target focal length, the zoom telescopic system can be controlled to detect the target detection object according to the target focal length.

[0074] Therefore, the detection distance adaptive matching method of the coaxial lidar device provided by the embodiments of the present application can use the hill-climbing algorithm to perform optimization evaluation based on the initial signal data collected by the zoom telescopic system, so as to select the target focal length that is most suitable for the target detection object, enabling the coaxial lidar to detect the target detection object using the optimal focal length of the zoom telescopic system, effectively improving the detection accuracy of the coaxial lidar.

[0075] In a feasible embodiment, the detection strategy further includes the target detection power.

[0076] Specifically, after determining the target focal length corresponding to the target detection object, the distance range of the target detection object can be estimated according to the target focal length, and then the target detection power of the laser for the target detection object can be selected.

[0077] Optionally, the embodiments of the present application estimate the distance range of the target detection object by testing the time-of-flight method TOF.

[0078] Therefore, the embodiments of the present application can further match a reasonable target detection power according to the target focal length, enabling the detection of the target detection object by the coaxial lidar device to be under the optimal detection power and focal length, realizing efficient and high-quality target detection, that is, while improving the detection quality, the power consumption utilization rate of the coaxial lidar device is greatly improved by reasonably selecting the detection power.

[0079] Further, even if the target focal length and target detection power are determined, there may still be reasons such as the target detection object being relatively small or there still being a gap between the focal length / power and the optimal configuration of the target detection object, resulting in the image of the target detection object collected being unclear and unable to meet the detection accuracy requirements. Based on this, as Figure 4 shown, the present application further includes:

[0080] Step 401: Control the coaxial lidar device to obtain a first image of the target detection object at the current position with the target focal length.

[0081] Step 402: Identify that the target detection object in the first image meets a preset condition.

[0082] Step 403: Control the coaxial lidar device to translate a first preset distance in a first direction and obtain a second image of the target detection object with the target focal length.

[0083] Step 404: Control the coaxial lidar device to translate a second preset distance in a second direction and obtain a third image of the target detection object with the target focal length.

[0084] Wherein, the first direction and the second direction are perpendicular to each other, and the first preset distance and the second preset distance may be the same or different. Additionally, the translation in the second direction can be based on the original position of the coaxial lidar device, that is, after the coaxial lidar translates back to the correct position in the first direction, it then translates in the second direction.

[0085] Step 405: Determine the target image of the target detection object based on the second image and the third image.

[0086] It should be noted that the first image, the second image, and the third image can be video images formed by video data or echo images formed by echo data.

[0087] Specifically, as Figure 5As shown, after using a coaxial lidar device to scan the area where the target detection object is located at the current position with the target focal length, a first area A containing the target detection object is obtained. It is recognized that the space occupied by the target detection object in the first area is equal to 4 spot areas, that is, the first image D. The coaxial lidar device is controlled to translate a first preset distance in the first direction, as shown by the red spot coil in B, translating horizontally by half a spot distance relative to the blue spot coil, and re-scanning the area where the target detection object is located at this position with the target focal length, obtaining a second image E of the target detection object. The space occupied by the target detection object is equal to 2 spot areas. The coaxial lidar device is controlled to translate a second preset distance in the second direction, as shown by the red spot coil in C, translating vertically by half a spot distance relative to the blue spot coil, and re-scanning the area where the target detection object is located at this position with the target focal length, obtaining a third image F of the target detection object. The space occupied by the target detection object is equal to 2 spot areas. Finally, based on the second image E and the third image F, image fusion is performed to obtain the target image G corresponding to the target detection object. The space occupied by the target detection object is equal to 1 spot area. That is to say, when the target detection object is small, during the process of controlling the coaxial lidar device for translational scanning, the recognition range of the target detection object can be gradually reduced by calculation, thereby improving the detection accuracy.

[0088] Thus, the embodiment of the present application utilizes the sub-pixel spot translation technology. By means of multiple translational samplings and fusions, it is possible to obtain information data that fully expresses the target detection object, thereby effectively improving the accuracy of the detection result and the detection accuracy of the coaxial lidar device.

[0089] Preferably, in order to reduce detection loss, the present application can also, after obtaining the first image D, determine the local scanning area corresponding to the target detection object, that is, only perform sub-pixel spot detection on the scanning area corresponding to the target detection object, without performing global scanning on other areas.

[0090] Specifically, according to the first image, the scanning area of the target detection object is determined. The coaxial lidar device is controlled to translate a first preset distance in the first direction within the scanning area, and obtain the second image of the target detection object with the target focal length. The coaxial lidar device is controlled to translate a second preset distance in the second direction within the scanning area, and obtain the third image of the target detection object with the target focal length.

[0091] Optionally, after determining the position of the target detection object in the first image according to the first image, the spot where the target detection object is located and the area where the adjacent spots are located can be used as the scanning area.

[0092] It should be noted that although the operations of the method of the present invention are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result.

[0093] Figure 6 The structural schematic diagram of the detection distance adaptive matching device of the coaxial lidar device provided by an embodiment of the present application is shown.

[0094] As Figure 6 shown, the coaxial lidar device includes a laser, a collimator, a circulator, a zoom telescopic system, a detector, a data acquisition and processing system, and a video auxiliary system. The laser is connected to the first end of the circulator through the collimator. The second end of the circulator is connected to the zoom telescopic system and the video auxiliary system. The third end of the circulator is connected to the data acquisition and processing system through the detector. The detection distance adaptive matching device 10 of the coaxial lidar device includes:

[0095] A receiving module 11, configured to receive the initial signal data collected by the video auxiliary system when the zoom telescopic system is at the initial focal length. The initial signal data includes initial image data and / or initial echo data;

[0096] A first determination module 12, configured to traverse each focal length of the zoom telescopic system by using a hill climbing algorithm based on the initial signal data, and determine the signal data corresponding to each focal length of the zoom telescopic system;

[0097] A second determination module 13, configured to determine a target focal length for a target detection object based on the signal data corresponding to each focal length;

[0098] A detection module 14, configured to determine a detection strategy corresponding to the target detection object based on the target focal length.

[0099] In some embodiments, the first determination module 12 is further configured to:

[0100] Obtain an evaluation function corresponding to the initial image data; the evaluation function is used to evaluate the clarity of the initial image data;

[0101] Traverse each focal length of the zoom telescopic system by using a hill climbing algorithm based on the initial image data, and determine the evaluation function corresponding to each focal length of the zoom telescopic system;

[0102] Determine a target focal length for a target detection object based on the evaluation function corresponding to each focal length.

[0103] In some embodiments, the detection module 14 is further configured to:

[0104] Control the coaxial lidar device to obtain a first image of the target detection object at the current position with the target focal length;

[0105] Identify that the target detection object in the first image meets a preset condition;

[0106] Control the coaxial lidar device to translate a first preset distance in a first direction and obtain a second image of the target detection object with the target focal length;

[0107] Control the coaxial lidar device to translate a second preset distance in a second direction and obtain a third image of the target detection object with the target focal length; the first direction and the second direction are perpendicular to each other;

[0108] Determine the target image of the target detection object based on the second image and the third image.

[0109] In some embodiments, the detection module 14 is further configured to:

[0110] Determine the scanning area corresponding to the target detection object according to the first image;

[0111] Control the coaxial lidar device to translate a first preset distance in the first direction within the scanning area and obtain a second image of the target detection object with the target focal length;

[0112] Control the coaxial lidar device to translate a second preset distance in the second direction within the scanning area and obtain a third image of the target detection object with the target focal length.

[0113] In some embodiments, the laser wavelength of the laser is 1550 nm, the average emission power is 300 mw, the peak power is 1000 W, the emission frequency is 100 khz, and the pulse width is about 3 ns.

[0114] In some embodiments, the zoom telescopic system and the video assist system are split and transmitted through a 45° mirror.

[0115] It should be understood that the various modules described in the adaptive matching device 10 or the modules correspond to the respective steps in the method described with reference Figure 2 Therefore, the operations and features described above for the method also apply to the adaptive matching device 10 and the modules included therein, and will not be elaborated here. The adaptive matching device 10 can be pre-implemented in the browser or other secure applications of the electronic device, or can be loaded into the browser or its secure application of the electronic device by means of downloading, etc. The corresponding modules in the adaptive matching device 10 can cooperate with the modules in the electronic device to implement the solutions of the embodiments of the present application.

[0116] Among the several modules or units mentioned in the above detailed description, such a division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above may be embodied in one module or unit. Conversely, the features and functions of one module or unit described above may be further divided and embodied by multiple modules or units.

[0117] The following refers to Figure 7 , Figure 7 which shows a schematic structural diagram of a computer system suitable for an electronic device or a server for implementing the embodiments of the present application.

[0118] As Figure 7 shown, the computer system includes a central processing unit (CPU) 701, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 702 or the program loaded from the storage section 708 into the random access memory (RAM) 703. In the RAM 703, various programs and data required for the operation instructions of the system are also stored. The CPU 701, ROM 702, and RAM 703 are connected to each other via a bus 704. The input / output (I / O) interface 705 is also connected to the bus 704.

[0119] The following components are connected to the I / O interface 705; an input section 706 including a keyboard, a mouse, etc.; an output section 707 including, for example, a cathode ray tube (CRT), a liquid crystal display (LCD), etc. and speakers, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN card, a modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as required. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 710 as required, so that a computer program read from it can be installed into the storage section 708 as required.

[0120] In particular, according to the embodiments of the present application, with reference to the above flowchart Figure 2The described process may be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product that includes a computer program carried on a computer-readable medium, and the computer program includes program code for performing the method shown in the flowchart. In such an embodiment, the computer program includes program code for performing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network through a communication section 709, and / or installed from a removable medium 711. When the computer program is executed by a central processing unit (CPU) 701, the above-described functions defined in the system of the present application are performed.

[0121] It should be noted that the computer-readable medium shown in the present application may be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted by any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0122] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operation instructions of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the foregoing module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two connected blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as combinations of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that executes the specified functions or operation instructions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0123] The units or modules involved in the embodiments described in the present application can be implemented in software or in hardware. The described units or modules can also be provided in a processor. For example, it can be described as: a processor includes a receiving module, a first determination module, a second determination module, and a detection module. Among them, the names of these units or modules do not, in some cases, constitute a limitation on the units or modules themselves. For example, the receiving module can also be described as "for receiving the initial signal data collected by the video assistance system when the zoom telephoto system is at the initial focal length".

[0124] On the other hand, the present application also provides a computer-readable storage medium. The computer-readable storage medium can be included in the electronic device described in the above embodiments, or can exist separately without being assembled into the electronic device. The above computer-readable storage medium stores one or more programs, and when the above programs are executed by one or more processors, they are used to perform the detection distance adaptive matching method of the coaxial lidar device described in the present application.

[0125] The above description is only for the preferred embodiments of the present application and the explanation of the applied technical principles. Those skilled in the art should understand that the scope of disclosure involved in the present application is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the foregoing disclosure concept. For example, the technical solutions formed by mutually replacing the above features with the (but not limited to) technical features having similar functions disclosed in the present application.

Claims

1. A detection distance adaptive matching method for a coaxial lidar device, characterized in that, The coaxial lidar device includes a laser, a collimator, a circulator, a zoom telescopic system, a detector, a data acquisition and processing system, and a video auxiliary system. The laser is connected to the first end of the circulator through the collimator. The second end of the circulator is connected to the zoom telescopic system and the video auxiliary system. The third end of the circulator is connected to the data acquisition and processing system through the detector. The method includes: Receiving initial signal data collected when the zoom telescopic system is at the initial focal length, where the initial signal data includes initial image data and / or initial echo data; Based on the initial signal data, traversing each focal length of the zoom telescopic system using the hill climbing algorithm to determine the signal data corresponding to each focal length of the zoom telescopic system; Based on the signal data corresponding to each focal length, determining the target focal length for the target detection object; Determining the detection strategy corresponding to the target detection object based on the target focal length.

2. The detection distance adaptive matching method of the coaxial lidar device according to claim 1, characterized in that When the initial signal data is the initial image data, the method includes: Obtaining an evaluation function corresponding to the initial image data; the evaluation function is used to evaluate the clarity of the initial image data; Based on the initial image data, traversing each focal length of the zoom telescopic system using the hill climbing algorithm to determine the evaluation function corresponding to each focal length of the zoom telescopic system; Based on the evaluation function corresponding to each focal length, determining the target focal length for the target detection object.

3. The detection distance adaptive matching method of the coaxial lidar device according to claim 1, characterized in that, The detection strategy further includes: Controlling the coaxial lidar device to obtain a first image of the target detection object at the target focal length at the current position; Identifying that the target detection object in the first image meets a preset condition; Controlling the coaxial lidar device to translate a first preset distance in a first direction and obtain a second image of the target detection object at the target focal length; Controlling the coaxial lidar device to translate a second preset distance in a second direction and obtain a third image of the target detection object at the target focal length; the first direction and the second direction are perpendicular to each other; Based on the second image and the third image, determining the target image of the target detection object.

4. The detection distance adaptive matching method of the coaxial lidar device according to claim 3, characterized in that, The controlling the coaxial lidar device to translate includes: Determining the scanning area corresponding to the target detection object according to the first image; Controlling the coaxial lidar device to translate a first preset distance in the first direction within the scanning area and obtain a second image of the target detection object at the target focal length; Controlling the coaxial lidar device to translate a second preset distance in the second direction within the scanning area and obtain a third image of the target detection object at the target focal length.

5. The detection distance adaptive matching method of the coaxial lidar device according to claim 1, characterized in that, The laser wavelength of the laser is 1550 nm, the emission average power is 300 mw, the peak power is 1000 W, the emission frequency is 100 khz, and the pulse width is 3 ns.

6. The detection distance adaptive matching method of the coaxial lidar device according to claim 1, characterized in that, The zoom telescopic system and the video auxiliary system are split and transmitted through a 45° mirror.

7. A detection distance adaptive matching device for a coaxial lidar device, characterized in that, The coaxial lidar device includes a laser, a collimator, a circulator, a zoom telescopic system, a detector, a data acquisition and processing system, and a video assistance system. The laser is connected to the first end of the circulator through the collimator. The second end of the circulator is connected to the zoom telescopic system and the video assistance system. The third end of the circulator is connected to the data acquisition and processing system through the detector. The adaptive matching device includes: a receiving module, configured to receive initial signal data collected by the video assistance system when the zoom telescopic system is at an initial focal length, where the initial signal data includes initial image data and / or initial echo data; a first determination module, configured to traverse each focal length of the zoom telescopic system by using a hill climbing algorithm based on the initial signal data to determine signal data corresponding to each focal length of the zoom telescopic system; a second determination module, configured to determine a target focal length for a target detection object based on the signal data corresponding to each focal length; a detection module, configured to determine a detection strategy corresponding to the target detection object based on the target focal length.

8. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the detection distance adaptive matching method of the coaxial lidar device according to any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the detection distance adaptive matching method of the coaxial lidar device according to any one of claims 1-6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the detection distance adaptive matching method of the coaxial lidar device according to any one of claims 1-6.

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