Echo signal processing method, point cloud resolving method and signal processing system

Abstract

The invention discloses a signal processing method, detection equipment and a signal processing system.The echo signal processing method is applied to a laser detection device, the laser detection device is used for emitting detection laser so that the detection laser can be reflected by a target object to obtain echo laser, and the laser detection device is used for obtaining point cloud according to multiple beams of echo laser; the point cloud comprises a plurality of data points, the echo signal processing method comprises the steps that waveform contour information corresponding to an echo signal is determined according to the echo signal, the echo signal is a signal obtained through photovoltaic conversion of echo laser, the waveform contour information comprises amplitudes of the echo signal at a plurality of detection moments, and the detection moments are later than rising edge moments of the echo signal; a time interval exists between any two detection moments; and determining the waveform contour information as the information carried by the corresponding data point. In this way, richer detection information can be provided.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of signal processing, in particular to an echo signal processing method, a point cloud solving method and a signal processing system. BACKGROUND

[0002] After receiving the echo signal, the traditional laser detection device (such as TOF laser radar) will solve the intensity information of the echo signal. Since the stronger the reflectivity of the target object, the stronger the echo, the intensity information solved represents the reflection ability of the target object, and thus the reflectivity of the target object can be obtained.

[0003] However, the intensity information of the echo signal can be affected by many factors, for example, it is not only related to the characteristics of the target object itself, but also related to the strength of the detection signal emitted by the laser detection device and the sensitivity of the laser detection device. If only the echo intensity is used to describe the echo signal, a lot of information may be hidden; for example, the echo intensity of single-wave signal and multi-wave signal may be the same, but their characteristics are completely different, and the echo intensity may not accurately determine the reflectivity information of the target echo signal. SUMMARY

[0004] Embodiments of the present application provide a signal processing method, a detection device and a signal processing system, which can provide more rich detection information.

[0005] In a first aspect, embodiments of the present application provide an echo signal processing method applied to a laser detection device, the laser detection device being configured to emit a detection laser, so that the detection laser is reflected by a target object to obtain an echo laser, and the laser detection device is configured to obtain a point cloud according to a plurality of the echo lasers, the point cloud comprising a plurality of data points. The echo signal processing method comprises: determining, according to an echo signal, waveform profile information corresponding to the echo signal, wherein the echo signal is a signal obtained by photoelectric conversion of the echo laser, the waveform profile information comprises amplitudes of the echo signal at a plurality of detection time instants, the detection time instants are later than rising edge time instants of the echo signal, and any two of the detection time instants have a time interval; and determining the waveform profile information as information carried by the corresponding data point.

[0006] In one or more embodiments, the determining, according to the echo signal, the waveform profile information corresponding to the echo signal comprises: determining a rising edge time of the echo signal relative to a detection threshold; obtaining a plurality of detection times according to the rising edge time and a plurality of preset time intervals relative to the rising edge time, wherein each detection time corresponds to a preset time interval, and the detection time is the rising edge time plus the corresponding preset time interval; determining amplitudes of the echo signal at the plurality of detection times according to the plurality of detection times; and determining the waveform profile information according to the rising edge time and the amplitudes corresponding to the detection times.

[0007] In one or more embodiments, the plurality of preset time intervals are distributed in an arithmetic sequence.

[0008] In one or more embodiments, the method further comprises: determining a first correction value as information carried by the data point, wherein the first correction value corresponds to a time interval or a corresponding optical path between the laser detection device generating a laser enable signal and the detection laser exit; and determining a second correction value as information carried by the data point, wherein the second correction value is obtained according to a time interval or a corresponding optical path of a slope of the echo signal at the rising edge time, and the second correction value is used to compensate the rising edge time.

[0009] In one or more embodiments, the method further comprises: determining a ranging value corresponding to the echo signal as information carried by the data point.

[0010] In a second aspect, the embodiments of the present application provide a point cloud solving method, applied to a mobile device, the mobile device being configured to receive a point cloud, the point cloud being obtained by the echo signal processing method described above, and the point cloud solving method comprising: determining reflectivity corresponding to the data point according to the waveform profile information.

[0011] In one or more embodiments, the determining, according to the waveform profile information, the reflectivity corresponding to the data point comprises: determining a rising edge time and a falling edge time of the echo signal according to the waveform profile information; and determining the reflectivity according to the rising edge time and the falling edge time; or the determining, according to the waveform profile information, the reflectivity corresponding to the data point comprises: determining a waveform of the echo signal according to the waveform profile information; determining an energy of the echo signal according to the waveform of the echo signal and a detection threshold; and determining the reflectivity according to the energy of the echo signal.

[0012] In a third aspect, the embodiments of the present application provide a point cloud solving method, applied to a movable device, the movable device being configured to receive a point cloud, the point cloud being obtained by the echo signal processing method as described above, and the point cloud solving method comprising: determining a measured distance value according to the rising edge moment.

[0013] In a fourth aspect, the embodiments of the present application provide a point cloud solving method, applied to a movable device, the movable device being configured to receive a point cloud, the point cloud being obtained by the echo signal processing method as described above, and the point cloud solving method comprising: determining a measured distance value according to the rising edge moment; and correcting the measured distance value according to at least one of the first correction value and the second correction value to obtain a distance value corresponding to the data point.

[0014] In a fifth aspect, the embodiments of the present application provide a laser detection device, comprising: a first control processing unit, comprising: at least one first processor and a first memory; the first memory being coupled with the first processor, and the first memory being configured to store instructions or programs, when the instructions or programs are executed by the at least one first processor, causing the at least one first processor to execute the echo signal processing method as described above.

[0015] In a sixth aspect, the embodiments of the present application provide a movable device, comprising: a second control processing unit, comprising: at least one second processor and a second memory; the second memory being coupled with the second processor, and the second memory being configured to store instructions or programs, when the instructions or programs are executed by the at least one second processor, causing the at least one second processor to execute the point cloud solving method as described above.

[0016] In a seventh aspect, the embodiments of the present application provide a signal processing system, comprising: the laser detection device as described above; and the movable device as described above.

[0017] The beneficial effects of the present application are: the embodiments of the present application determine the waveform profile information corresponding to the echo signal as the information carried by the corresponding data point, in this case, more abundant detection information can be provided by transmitting the point cloud. BRIEF DESCRIPTION OF DRAWINGS

[0018] One or more embodiments are illustrated by way of example in the drawings that are not intended to be limiting of the embodiments as disclosed herein. Like reference numbers in the figures indicate like elements, and

[0019] Figure 1 FIG. 1 is a schematic diagram of a signal processing system provided by the embodiments of the present application; Figure 2is a flowchart of an echo signal processing method provided by an embodiment of the present application. Figure 3 is a schematic diagram of an echo signal provided by an embodiment of the present application. Figure 1 ; Figure 4 is a schematic diagram of an embodiment of step S210 shown in Figure 2 . Figure 5 is a flowchart of a point cloud solving method provided by an embodiment of the present application. Figure 1 ; Figure 6 is a flowchart of a point cloud solving method provided by an embodiment of the present application. Figure 2 ; Figure 7 is a flowchart of a point cloud solving method provided by an embodiment of the present application. Figure 3 . DETAILED DESCRIPTION

[0020] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and in detail below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0021] It should be noted that when one element is described as being “connected” to another element, it can be directly connected to the other element or one or more intermediate elements can be present therebetween.

[0022] In addition, the technical features involved in each of the embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0023] Please refer to Figure 1 , Figure 1 is a schematic diagram of a signal processing system provided by an embodiment of the present application. As shown in Figure 1 , the signal processing system 1 comprises a laser detection device 10 and a movable device 20.

[0024] In some embodiments, the movable device 200 is an electronic device capable of automatic movement and having independent operation capability, for example, a car, a robot, a sweeper or a drone.

[0025] In some embodiments, the laser detection device 10 is a device that uses laser technology to measure, detect and monitor. The laser detection device 10 obtains information about a target object by emitting a detection laser and analyzing the return signal (i.e. echo signal) after its interaction with the target object. The laser detection device 10 can construct a set of multiple three-dimensional points, called point cloud, by processing a large number of echo signals. The point cloud includes multiple data points, each of which carries a three-dimensional coordinate calculated according to the corresponding echo signal. Mapping the multiple data points to a three-dimensional coordinate system can obtain a three-dimensional point cloud.

[0026] In some embodiments, the laser detection device 10 includes a laser radar and / or a camera. The laser radar (LiDAR, Light Detection and Ranging) is a device that detects the position, velocity and characteristics of a target object by emitting a detection laser to the target object and receiving the reflected signal (i.e. echo signal) of the target object. The camera is a device that converts an optical image into an electronic signal. It captures light through a photosensitive element (such as CMOS or CCD) and generates a visual digital image or video through an image processing system.

[0027] Taking the laser detection device 10 including a camera and a laser radar as an example, it can be applied in autonomous vehicles, robots (such as logistics robots), security monitoring and other application fields that require high-precision environmental perception. Among them, the laser radar is used to measure the distance of a target object by using laser pulses. Specifically, the laser radar calculates the distance to the target object by emitting a detection laser and receiving the light signal (i.e. echo laser) reflected from the surface of the target object. According to the technology used, the laser radar can be divided into different types, such as mechanical laser radar, MEMS semi-solid laser radar and solid-state laser radar, etc. Each pixel in the camera contains one or more photodiodes, which are responsible for converting incident photons into electrical signals. The generated electrical signals are amplified and digitized to form a digital image.

[0028] Take the application of laser detection device 10 in logistics robots as an example. Laser radar is used to construct a three-dimensional model of the surrounding environment by emitting laser beams and receiving signals reflected back, which enables the logistics robot to accurately understand its own position and the distribution of obstacles around it. Secondly, laser radar is used to provide high-precision distance information, and the logistics robot can dynamically adjust its driving path according to the high-precision distance information to avoid obstacles and ensure safe transportation of goods. Laser radar is also used to continuously scan the surrounding environment to enable the logistics robot to update its position estimate and gradually build a detailed environmental map, which is crucial for accurate positioning in complex warehouse environments. Cameras are used to process captured optical images to identify information such as item type, size, and shape on shelves, and combined with deep learning algorithms, the logistics robot can accurately identify target objects and improve sorting efficiency. Using cameras, the logistics robot can directly read barcodes or QR codes on goods to achieve automated inventory management. In some specific scenarios, such as when an automated guided vehicle (AGV) runs on marked tracks, cameras can help detect ground markings to guide the vehicle to travel along the predetermined route.

[0029] In some embodiments, laser detection device 10 can be mounted on movable device 20. When laser detection device 10 is mounted on movable device 20, laser detection device 10 is communicatively connected to movable device 20 through wired (such as a communication interface) or wireless means, so that laser detection device 10 performs the echo signal processing method in any embodiment of the present application, and movable device 20 performs the point cloud solving method in any embodiment of the present application, so that movable device 20 can obtain more abundant information related to the target object.

[0030] Laser detection device 10 includes a first control processing unit 100, which includes a first memory 101 and at least one first processor 102. The first memory 101 is a non-volatile computer readable storage medium and can be used to store non-volatile software programs, non-volatile computer executable programs and modules. The first memory 101 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and application programs required by at least one function; the data storage area can store data created according to the use of the terminal, etc. In addition, the first memory 101 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the first memory 101 can optionally include a memory remotely arranged relative to the first processor 102, which can be connected to the terminal through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0031] The first processor 102 performs various functions of the terminal and processes data by running or executing software programs and / or modules stored in the first memory 101 and calling data stored in the first memory 101, thereby performing overall control of the terminal, for example, implementing the echo signal processing method according to any one of the embodiments of the present application.

[0032] The first processor 102 can be one or more of a Figure 1 The first processor 102 and the first memory 101 can be connected through a bus or other means. The first processor 102 can include a central processing unit (CPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a controller, a field programmable gate array (FPGA) device, etc. The first processor 102 can also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

[0033] The mobile device 20 includes a second control processing unit 200 including a second memory 201 and at least one second processor 202. The second memory 201, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The second memory 201 can include a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs required for at least one function; the data storage area can store data created according to the use of the terminal, etc. In addition, the second memory 201 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state memory device. In some embodiments, the second memory 201 can optionally include a memory remotely disposed with respect to the second processor 202, and these remote memories can be connected to the terminal through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0034] The second processor 202 performs various functions of the terminal and processes data by running or executing software programs and / or modules stored in the second memory 201 and calling data stored in the second memory 201, thereby performing overall control of the terminal, for example, implementing the point cloud solving method according to any one of the embodiments of the present application.

[0035] The second processor 202 can be one or more of a Figure 1The example provided is a second processor 202. The second processor 202 and the second memory 201 can be connected via a bus or other means. The second processor 202 may include a central processing unit (CPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a controller, a field-programmable gate array (FPGA) device, etc. The second processor 202 can also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration.

[0036] Please refer to Figure 2 , Figure 2 This is a flowchart illustrating the echo signal processing method provided in an embodiment of this application. The echo signal processing method is applied to a laser detection device 10, which emits a detection laser to obtain an echo laser by reflection from a target object. The laser detection device 10 is used to obtain a point cloud based on multiple echo laser beams, the point cloud comprising multiple data points. The specific implementation process of the laser detection device 10 can be referred to the method described in the application. Figure 1 The explanation will not be repeated here. Figure 2 As shown, the echo signal processing method includes the following steps S210 to S220. It should be noted that the "target object" mentioned in this application is the detection object of the lidar, which includes, but is not limited to, pedestrians, vehicles, buildings, vegetation and road surfaces; "detection laser" means the laser beam used to detect the above-mentioned target object, and "echo laser" is the laser beam obtained by the target object reflecting the detection laser.

[0037] Step S210: Determine the waveform profile information corresponding to the echo signal based on the echo signal.

[0038] The echo signal is the signal obtained by photoelectric conversion of the echo laser, that is, converting the optical signal of the echo laser into an electrical signal, which is the echo signal.

[0039] The waveform profile information includes the amplitude of the echo signal at multiple detection times, where the detection time is later than the rising edge of the echo signal, and there is a time interval between any two detection times. Figure 3 For example, Figure 3 An example is shown of the echo signal S11, wherein, in Figure 3 In the diagram, the horizontal axis represents time, and the vertical axis represents the amplitude of the echo signal. It can be understood that in practical applications, only the portion of the echo signal S11 that is greater than the detection threshold S2 can be used to determine information related to the target object. Therefore, the waveform contour information includes only the portion of the echo signal amplitude that is greater than the detection threshold S2 (i.e., the portion of the echo signal S11 at time T). S With time T Ethe rising edge of the echo signal S11 (i.e., the time T S , i.e., the time at which the echo signal S11 increases to the detection threshold S2. The detection threshold S2 can be set according to an actual application scenario, and embodiments of the present application do not make specific limitations thereon. The plurality of detection times include detection time T1, detection time T2, …, and detection time T K , K is an integer greater than 1. The detection time T1, the detection time T2, …, and the detection time T K are all later than the rising edge time (i.e., the time T S ) of the echo signal S11. Any two detection times have a time interval, for example, the time interval between the time T2 and the time T3. The amplitudes of the echo signal S11 at the detection time T1, the detection time T2, …, and the detection time T K are sequentially recorded as A1, A2, …, and AK, and the waveform profile information includes A1, A2, …, and AK.

[0040] In some embodiments, as shown in FIG. 2, the process of determining the waveform profile information corresponding to the echo signal according to the echo signal in step S210 includes steps S410 to S440. Figure 4

[0041] Step S410: determining the rising edge time of the echo signal relative to the detection threshold.

[0042] Step S420: obtaining a plurality of detection times according to the rising edge time and a plurality of preset time intervals relative to the rising edge time, wherein each detection time corresponds to a preset time interval, and the detection time is the rising edge time plus the corresponding preset time interval.

[0043] Step S430: determining the amplitudes of the echo signal at the plurality of detection times according to the plurality of detection times.

[0044] Step S440: determining the waveform profile information according to the rising edge time and the amplitudes corresponding to each detection time.

[0045] Still taking Figure 3 as an example, first, the rising edge time is determined to be the time T S . Next, a plurality of preset time intervals are set, which are δ1, δ2, …, and δ K . Then, the corresponding plurality of detection times are obtained according to the rising edge time plus the corresponding preset time interval, i.e., the detection time T1 is obtained from T S + δ1, the detection time T2 is obtained from T S + δ2, …, and the detection time T S is obtained from T K + δ K .Afterwards, the echo signal at the detection time T1, the detection time T2, …, the detection time T K corresponding amplitudes, respectively, A1, A2, …, AK. Finally, the waveform profile information is determined in combination with the time T S and A1, A2, …, AK. Through the above process, a relatively complete waveform profile information can be constructed, which is conducive to obtaining more abundant information related to the target object according to the waveform profile information, such as reflectivity and characteristics of the target object.

[0046] It can be understood that in the above embodiment, the difference between any two of the plurality of preset time intervals can be the same or different, which can be set according to the actual application scenario.

[0047] For example, in a specific embodiment, the difference between any two of the plurality of preset time intervals is set to be the same, i.e. δ2-δ1=δ3-δ2=…=δ K -δ K-1 In this way, the plurality of preset time intervals are distributed in an arithmetic sequence. Thus, the echo signal is sampled at equal time intervals on the time axis, on the one hand, since the sampling points are uniformly distributed in time, it is convenient for subsequent interpolation, filtering and other signal processing operations; on the other hand, it is also conducive to reconstructing a relatively complete waveform of the echo signal to improve the detection accuracy.

[0048] Step S220: determining the waveform profile information as the information carried by the corresponding data points.

[0049] By making the information carried by the data points include the waveform profile information, more abundant detection information can be provided, for example, the detection information not only includes information related to the reflectivity, but also includes characteristics of the target object and other information. Among them, the detection information is information related to the target object obtained after emitting a detection laser to the target object according to the echo signal.

[0050] For example, for some special environmental scenarios such as rain, fog, smoke or dust, the related art is prone to judge the above environmental scenarios as large-area obstacles and remind of the risk of advancing, causing misjudgment, by determining the waveform rising edge to determine the time of flight. For the present application, rain, fog, smoke or dust can be identified according to the characteristics of the target object, as follows. The movable device 20 obtains the waveform by fitting the waveform profile information carried by the data points based on the waveform profile information carried by the data points after obtaining the point cloud, and compares the fitted waveform with the waveform corresponding to the rain, fog, smoke or dust, and then judges whether the environmental scenario corresponding to the point cloud is rain, fog, smoke or dust, which is beneficial to reduce the risk of misjudgment. For example, the following information of the fitted waveform and the waveform of rain and other objects can be compared: the ratio of the horizontal coordinate of the to-be-compared point with a preset proportion of the peak value to the horizontal coordinate of the peak value, whether it is located in the preset proportion interval; by comparing a plurality of to-be-compared points, the similarity of the two waveforms can be obtained, and then the similarity degree can be determined whether the fitted waveform is the waveform of rain and other objects.

[0051] It should be noted that the above embodiments are described based on the discrimination of rain and fog and other environmental scenarios, but it should be understood that the above scheme can be used to target objects other than rain, fog, smoke or dust, as long as the movable device 20 can discriminate target objects corresponding to different waveform profile information. For example, the corresponding relationship between different waveform profile information and the category of the target object can be obtained in advance by AI training or manual annotation, and then the movable device 20 can determine the category of the target object according to different waveform profile information.

[0052] Among them, the information carried by the data point can only include the waveform profile information, or can include the waveform profile information and other information.

[0053] For example, in a specific embodiment, the information carried by the data point includes the waveform profile information and the ranging value corresponding to the echo signal. Specifically, the echo signal processing method further includes the following steps: determining the ranging value corresponding to the echo signal as the information carried by the data point.

[0054] Among them, the ranging value corresponding to the echo signal is calculated based on the Time of Flight (ToF) principle. Specifically, by measuring the time difference experienced by the detection laser from emission to reception, and combining the speed of light, the ranging value corresponding to the echo signal can be calculated, where the ranging value corresponding to the echo signal is equal to the measured distance value. Ranging value corresponding to echo signal = measured distance value , wherein T L is the time when the detection laser is emitted, T STo detect the time of receiving the laser (i.e., the time of the rising edge of the echo signal relative to the detection threshold), c is the speed of light.

[0055] For example, in a specific embodiment, the information carried by the data point includes waveform profile information, a first correction value, and a second correction value, wherein the first correction value corresponds to a time interval between the laser detection device generating a laser enable signal and the laser being emitted or a corresponding optical path; the second correction value is obtained according to a time interval or a corresponding optical path based on the slope of the echo signal at the time of the rising edge, and the second correction value is used to compensate for the time of the rising edge. Specifically, the echo signal processing method further includes the following steps: determining the first correction value as the information carried by the data point, and determining the second correction value as the information carried by the data point.

[0056] It can be understood that in the above formula , T L should be the time of emitting the detection laser, but in actual use, the time of the laser detection device generating the laser enable signal is used, and there is usually a certain time interval between the laser detection device generating the laser enable signal and the detection laser being emitted. Based on this, the above formula should be corrected based on the first correction value to obtain an accurate ranging value corresponding to the echo signal according to the measured distance value. Specifically, if the first correction value is the time interval between the laser detection device generating the laser enable signal and the detection laser being emitted, the first correction value is denoted as C 11 , and after the measured distance value is corrected using the first correction value, the measured distance value is obtained. It should be noted that since the laser radar is detected based on laser transmission, the above time interval can also be converted into a corresponding optical path; therefore, the first correction value can also be the optical path corresponding to the above time interval. If the first correction value is the optical path between the laser detection device generating the laser enable signal and the detection laser being emitted, and the first correction value is denoted as C 12 , after the measured distance value is corrected using the first correction value, the measured distance value is obtained. At this time, the ranging value corresponding to the echo signal is the measured distance value L1.

[0057] In actual applications, the first correction value can be determined by calibration, and the first correction value is affected by temperature. Based on this, the corresponding relationship between the first correction value and the temperature can be further calibrated, and the corresponding first correction value can be determined according to the temperature of the actual application scene to realize temperature compensation, thereby improving the accuracy and reliability of ranging.

[0058] It can be understood that in different detection processes, different target objects can obtain different waveforms of the echo signal. For example, Figure 3The echo signal S12 is also exemplarily shown, and the echo signal S11 and the echo signal S12 are two waveforms obviously different. The rising slope of the echo signal S11 is smaller than the rising slope of the echo signal S12, so that the rising edge time corresponding to the echo signal S12 is earlier than the rising edge time corresponding to the echo signal S11. It can be seen that, due to the difference in the rising slope of the echo signal, the rising edge time of the echo signal is also different. Based on this, the measured distance value L or L1 should be corrected based on the second correction value, so as to improve the accuracy of the rising edge time of the echo signal.

[0059] Taking the correction of the measured distance value L1 as an example, if the second correction value is the time interval obtained by the slope of the echo signal at the rising edge time, the second correction value is denoted as C 21 , after the measured distance value is corrected by the second correction value, the measured distance value is obtained. If the second correction value is the corresponding optical path obtained by the slope of the echo signal at the rising edge time, and the second correction value is denoted as C 22 , after the measured distance value is corrected by the second correction value, the measured distance value is obtained. At this time, the distance value corresponding to the echo signal is the measured distance value L2, and the measured distance value L2 is also the distance value corresponding to the data point.

[0060] Wherein, the signs of C 21 and C 22 may be determined according to the size relationship of the slope of the echo signal at the rising edge time relative to the reference slope, and the sizes of C 21 and C 22 may be determined according to the difference between the slope and the reference slope. Specifically, when the slope at the rising edge time is small, the rising edge time is late, at this time, the rising edge time can be corrected to be advanced, C 21 and C 22 are negative values; when the slope at the rising edge time is large, the rising edge time is early, at this time, the rising edge time can be corrected to be delayed, C 21 and C 22 are positive values.

[0061] In a specific embodiment, a reference value of the slope at the rising edge time is set in advance, if the rising edge time determined according to the waveform profile information and the detection threshold is smaller than the reference value, C 21 and C 22 are set to negative values; if the rising edge time determined according to the waveform profile information and the detection threshold is greater than the reference value, C 21 and C 22 are set to positive values.

[0062] In a specific embodiment, the corresponding relationship between the different waveform profile information and the second correction value is obtained in advance by AI training or manual annotation, and then the laser detection device 10 can determine that the corresponding second correction value carried by the data point is the information corresponding to the different waveform profile information.

[0063] When the information carried by the data point includes the waveform profile information, the application further provides a point cloud solving method to solve the waveform profile information after the mobile device 20 receives the point cloud, so as to obtain information related to the target object. The point cloud solving method is as shown in Figure 5 .

[0064] The point cloud solving method is applied to the mobile device 20, and the mobile device 20 is configured to receive the point cloud. The point cloud is obtained by the echo signal processing method in any of the above embodiments and is received by the mobile device 20. As shown in Figure 5 , the point cloud solving method includes the following step S510.

[0065] Step S510: determining the reflectivity corresponding to the data point according to the waveform profile information.

[0066] In this embodiment, the mobile device 20 does not directly obtain the point cloud carrying coordinate information and reflectivity information output by the laser radar, but obtains the point cloud carrying waveform profile information. For the mobile device, it can fit the waveform based on the waveform profile information and extract the required information from the waveform. For example, since the computing power of the mobile device is generally better than that of the laser radar, efficient ranging solving can be performed for continuous wave and other scenes. For example, it can be determined based on the waveform whether the target object is rain, fog, smoke, raindrops, etc. Of course, the reflectivity-related information can also be extracted from the waveform profile information as needed.

[0067] For example, in some embodiments, the specific implementation process of step S510 includes the following steps: determining the rising edge time and the falling edge time corresponding to the echo signal according to the waveform profile information; and determining the reflectivity according to the rising edge time and the falling edge time.

[0068] Taking the echo signal S11 in Figure 3 as an example, the rising edge time is time T S , and the falling edge time is time T E , and then the reflectivity can be directly determined according to the corresponding relationship between the time length between the rising edge time and the falling edge time and the reflectivity.

[0069] In some embodiments, the specific implementation process of step S510 includes the following steps: determining the waveform of the echo signal according to the waveform profile information; determining the energy of the echo signal according to the waveform of the echo signal and the detection threshold; and determining the reflectivity according to the energy of the echo signal.

[0070] For example, the echo signal S11 in FIG. 11 includes the waveform profile information A1, A2, … AK. The mobile device 20 receives the waveform profile information A1, A2, … AK, and fits the waveform of the echo signal according to the waveform profile information A1, A2, … AK. Assuming that the fitted waveform is the same as the echo signal S11, the area between the waveform of the echo signal S11 and the detection threshold S2 is the energy of the echo signal S11. According to the energy of the echo signal, the reflectivity can be determined more accurately and robustly. Figure 3

[0071] When the information carried by the data points includes the waveform profile information and does not include the ranging value corresponding to the echo signal, the embodiments of the present application further provide a point cloud solving method, so that the mobile device 20 receives the point cloud and solves the waveform profile information to obtain the ranging value corresponding to the echo signal. The point cloud solving method is as shown in FIG. 16. Figure 6

[0072] The point cloud solving method is applied to the mobile device 20, and the mobile device 20 is configured to receive the point cloud. The point cloud is obtained by the echo signal processing method in any of the embodiments except for the embodiment in which the ranging value corresponding to the echo signal is determined as the information carried by the data points, and is received by the mobile device 20. As shown in FIG. 17, the point cloud solving method includes the following step S610. Figure 6

[0073] Step S610: determining the measurement distance value according to the rising edge time.

[0074] As can be seen from the above embodiments, the measurement distance value is determined according to the rising edge time. .

[0075] When the information carried by the data points includes the waveform profile information, the first correction value and the second correction value, and does not include the ranging value corresponding to the echo signal, the embodiments of the present application further provide a point cloud solving method, so that the mobile device 20 receives the point cloud and solves the waveform profile information to obtain the distance value corresponding to the data points. The point cloud solving method is as shown in FIG. 26. Figure 7

[0076] The point cloud solving method is applied to the mobile device 20, and the mobile device 20 is configured to receive the point cloud. The point cloud is obtained by the echo signal processing method in the embodiment in which the information carried by the data points includes the first correction value and the second correction value, and is received by the mobile device 20. As shown in FIG. 27, the point cloud solving method includes the following step S610. Figure 7 ​​​​As shown, the point cloud solving method includes the following steps S710 and S720.

[0077] Step S710: determining the measured distance value according to the rising edge moment.

[0078] Step S720: correcting the measured distance value according to at least one of the first correction value and the second correction value to obtain the distance value corresponding to the data point.

[0079] From the above embodiment, the measured distance value L2 is obtained by correcting the measured distance value L1 according to the rising edge moment. In the case of simultaneously using the first correction value and the second correction value for correction, the distance value corresponding to the data point is the measured distance value L2, Or Of course, in other embodiments of the present application, only one of the first correction value or the second correction value can be used for correction, at which time the calculation method of the measured distance value L2 can be adaptively adjusted.

[0080] In the embodiments of the present application, the waveform profile information corresponding to the echo signal is determined as the information carried by the corresponding data point, in which case more abundant detection information can be provided by transmitting the point cloud. Especially for some special environmental scenes such as rain, fog, smoke or dust, the mobile device 20 can fit the waveform based on the waveform profile information carried by the data point after obtaining the point cloud, and compare the fitted waveform with the waveform corresponding to the above rain, fog, smoke or dust, and then judge whether the environmental scene corresponding to the point cloud is rain, fog, smoke or dust, thereby reducing the risk of misjudgment. Secondly, the waveform profile information includes the rising edge moment and the amplitude corresponding to each detection moment, which helps the mobile device to construct a more complete waveform profile information, so that the mobile device can obtain more abundant information related to the target object according to the waveform profile information. Furthermore, the echo signal is also sampled at equal time intervals on the time axis, which can make the sampling points uniformly distributed in time, facilitate subsequent signal processing operations such as interpolation and filtering, and also help to reconstruct a more complete waveform of the echo signal to improve the detection accuracy. In addition, the first correction value and the second correction value are set to correct the measured distance value, so as to improve the accuracy of the distance value corresponding to the echo signal.

[0081] The above only describes the embodiments of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent flow transformation using the contents of the specification and drawings of the present application, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

[0082] The above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; under the idea of the present application, the technical features in the above examples or different examples can also be combined, and the steps can be implemented in any order. Those skilled in the art should understand that the technical solutions recorded in the foregoing examples can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the examples of the present application.

Claims

1. An echo signal processing method, characterized by, The method is applied to a laser detection device for emitting a detection laser, so that the detection laser is reflected by a target object to obtain a return laser, and the laser detection device is used to obtain a point cloud according to a plurality of return lasers, the point cloud comprising a plurality of data points, the return signal processing method comprising: According to the return signal, the waveform profile information corresponding to the return signal is determined, wherein the return signal is a signal obtained by photoelectric conversion of the return laser, the waveform profile information comprises the amplitude of the return signal at a plurality of detection time instants, the detection time instants are later than the rising edge time instant of the return signal, and there is a time interval between any two detection time instants; and The waveform profile information is determined as the information carried by the corresponding data point.

2. The echo signal processing method according to claim 1, characterized in that, The determination of the waveform profile information corresponding to the return signal according to the return signal comprises: The rising edge time instant of the return signal relative to a detection threshold is determined; According to the rising edge time instant and a plurality of preset time intervals relative to the rising edge time instant, the plurality of detection time instants are obtained, wherein each detection time instant corresponds to a preset time interval, and the detection time instant is the rising edge time instant plus the corresponding preset time interval; According to the plurality of detection time instants, the amplitudes of the return signal at the plurality of detection time instants are determined; and According to the rising edge time instant and the amplitudes corresponding to each detection time instant, the waveform profile information is determined.

3. The echo signal processing method according to claim 2, characterized in that, The plurality of preset time intervals are distributed in an arithmetic progression.

4. The echo signal processing method according to claim 1, characterized by, The method further comprises: A first correction value is determined as the information carried by the data point, wherein the first correction value corresponds to a time interval or a corresponding optical path between the generation of a laser enable signal by the laser detection device and the emission of the detection laser; and A second correction value is determined as the information carried by the data point, wherein the second correction value is obtained according to a time interval or a corresponding optical path according to the slope of the return signal at the rising edge time instant, and the second correction value is used to compensate for the rising edge time instant.

5. The echo signal processing method according to claim 1, characterized by, The method further comprises: A ranging value corresponding to the return signal is determined as the information carried by the data point.

6. A point cloud solving method, characterized in that, The method is applied to a movable device for receiving a point cloud, the point cloud being obtained by the return signal processing method according to any one of claims 1 to 5, and the point cloud solving method comprising: According to the waveform profile information, the reflectivity corresponding to the data point is determined.

7. The point cloud solving method according to claim 6, wherein The determination of the reflectivity corresponding to the data point according to the waveform profile information comprises: According to the waveform profile information, the rising edge time instant and the falling edge time instant of the return signal are determined; and According to the rising edge time instant and the falling edge time instant, the reflectivity is determined. Alternatively, The determination of the reflectivity corresponding to the data point according to the waveform profile information comprises: According to the waveform profile information, the waveform of the return signal is determined; According to the waveform of the return signal and a detection threshold, the energy of the return signal is determined; According to the energy of the return signal, the reflectivity is determined.

8. A point cloud solving method, characterized in that, The application is applied to a mobile device for receiving a point cloud, the point cloud is obtained by the echo signal processing method in any one of claims 1 to 4, and the point cloud solving method comprises: According to the rising edge time, a measured distance value is determined.

9. A point cloud solving method, characterized in that, The application is applied to a mobile device for receiving a point cloud, the point cloud is obtained by the echo signal processing method in any one of claims 1 to 4, and the point cloud solving method comprises: According to the rising edge time, a measured distance value is determined. According to at least one of the first correction value and the second correction value, the measured distance value is corrected to obtain a distance value corresponding to the data point.

10. A laser detection apparatus, characterized by, Comprise: A first control processing unit comprises: At least one first processor and a first memory; The first memory is coupled with the first processor, and the first memory is used for storing instructions or programs, when the instructions or programs are executed by the at least one first processor, the at least one first processor executes the echo signal processing method in any one of claims 1 to 5.

11. A mobile device, comprising: Comprise: A second control processing unit comprises: At least one second processor and a second memory; The second memory is coupled with the second processor, and the second memory is used for storing instructions or programs, when the instructions or programs are executed by the at least one second processor, the at least one second processor executes the point cloud solving method in any one of claims 6 to 9.

12. A signal processing system, characterized by Comprise: The laser detection device in claim 10; And The mobile device in claim 11.

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