Data processing device

Abstract

To adjust an amount of data to be output.SOLUTION: A signal processing unit 33 can acquire a plurality of data sets for one emitted light. An extraction condition for the plurality of data sets acquired by the signal processing unit 33 is set in a setting unit 32. The signal processing unit 33 generates and outputs a communication frame by extracting from the plurality of data sets based on the setting of the setting unit 32.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a data processing apparatus that performs predetermined processing on a plurality of received light data obtained for one emitted light.

Background Art

[0002] Sensors that measure the distance to an object using light such as LiDAR (Light Detection and Ranging) are known. In this type of sensor, when the laser light irradiated at one time is reflected by a plurality of objects, a plurality of signals (a plurality of echoes) indicating each object may be detected (also referred to as multi-echo).

[0003] As a technique for removing signals that become noise due to such multi-echo, for example, there is the invention described in Patent Document 1. Patent Document 1 describes that for each of a plurality of target ranging points to be determined among a plurality of ranging points, the lower the continuity between the distance indicated by the target ranging point and the distances indicated by each of a plurality of adjacent ranging points that are a plurality of ranging points in the irradiation region adjacent to the target ranging point, the higher the possibility that the target ranging point is a noise point, and removing noise points whose possibility of being a noise point is evaluated higher than an evaluation threshold value from the plurality of ranging points.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] A plurality of signals acquired by multi-echo have a problem that the data amount is large as it is, resulting in high processing load and communication load on the subsequent system. The invention described in Patent Document 1 removes a plurality of signals acquired by multi-echo from the perspective of whether they are noise, but it is preferable that the data amount can be arbitrarily adjusted depending on the configuration of the subsequent system even for signals determined not to be noise.

[0006] An example of the problem to be solved by the present invention is to adjust the amount of data to be output.

Means for Solving the Problem

[0007] In order to solve the above problems, the invention according to claim 1 includes an acquisition unit capable of acquiring a plurality of received data for one emitted light, a setting unit that sets at least one extraction condition from a plurality of extraction conditions for the plurality of received data indicating multi-echo acquired by the acquisition unit, and an output unit that extracts and outputs the received data based on the extraction condition from the plurality of received data based on the setting of the setting unit. The extraction condition is based on at least any one of the received light intensity included in the received data, the distance to the object included in the received data, the S / N ratio of the received data calculated by the S / N ratio calculation unit, and the reliability of the received data calculated by the reliability calculation unit.

[0008] The invention according to claim 2 is a data processing method executed by a data processing device that performs predetermined processing on a plurality of received light data acquired for one emitted light, the method including: an acquisition step of acquiring the plurality of received light data; a setting step of setting at least one extraction condition from a plurality of extraction conditions for the plurality of received light data indicating multi-echo acquired in the acquisition step; and an output step of extracting and outputting received light data based on the extraction condition from the plurality of received light data based on the extraction condition set in the setting step, wherein the extraction condition is based on at least any one of the received light intensity included in the received light data, the distance to the object included in the received light data, the S / N ratio of the received light data calculated by an S / N ratio calculation unit, and the reliability of the received light data calculated by a reliability calculation unit.

[0009] The invention according to claim 3 is characterized in that the data processing method according to claim 2 is executed by a computer.

[0010] The invention according to claim 4 is characterized in that the data processing program according to claim 3 is stored.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

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Modes for Carrying Out the Invention

[0012] Hereinafter, a data processing apparatus according to an embodiment of the present invention will be described. In the data processing apparatus according to an embodiment of the present invention, the acquisition unit can acquire a plurality of received light data for one emitted light, and extraction conditions for the plurality of received light data acquired by the acquisition unit are set in the setting unit. Then, the output unit extracts and outputs from the plurality of received light data based on the setting of the setting unit. By doing so, the amount of data output by setting the extraction conditions can be adjusted according to the extraction conditions. Therefore, unnecessary data can be deleted according to the processing capacity of the subsequent stage system or the like, and communication costs and processing costs can be efficiently reduced.

[0013] Further, the extraction conditions may be based on the received light intensity included in the received light data. By doing so, the received light data can be extracted under conditions such as those with strong or weak received light intensity, and it becomes possible to reduce the amount of data.

[0014] Further, the extraction conditions may be based on the distance to the object included in the received light data. By doing so, the received light data can be extracted under conditions such as those with a long or short distance to the object, and it becomes possible to reduce the amount of data.

[0015] Further, the extraction conditions may be based on the S / N ratio included in the received light data. By doing so, the received light data can be extracted under conditions such as those with a good S / N ratio, and it becomes possible to reduce the amount of data.

[0016] Further, the extraction conditions may be based on the reliability included in the received light data. By doing so, the received light data can be extracted under conditions such as those with high reliability, and it becomes possible to reduce the amount of data.

[0017] Further, the extraction conditions may be based on the number of data to be extracted from a plurality of received light data. By doing so, it is possible to extract the received light data by limiting the number of data to be extracted, and it is possible to reduce the data amount.

[0018] Further, in the data processing method according to an embodiment of the present invention, in the acquisition step, a plurality of received light data can be acquired for one emitted light, and in the setting step, extraction conditions for the plurality of received light data acquired in the acquisition step are set. Then, in the output step, extraction is performed from the plurality of received light data based on the extraction conditions set in the setting step and output. By doing so, the data amount to be output can be adjusted according to the extraction conditions by setting the extraction conditions. Therefore, unnecessary data can be deleted according to the processing ability of the subsequent stage system or the like, and communication costs and processing costs can be efficiently reduced.

[0019] Further, the above-described data processing method is executed by a computer. By doing so, the data amount to be output can be adjusted according to the extraction conditions by setting the extraction conditions using a computer.

[0020] Further, the above-described data processing program may be stored in a computer-readable storage medium. By doing so, the program can be distributed not only when incorporated into a device but also alone, and version updates and the like can be easily performed.

Example

[0021] The data device according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 3. FIG. 1 is a schematic functional configuration diagram of LiDAR 1 including the data processing device according to this embodiment.

[0022] As shown in FIG. 1, LiDAR 1 includes an optical unit 2 and a control unit 3.

[0023] The optical unit 2 includes a light emitting section 21, a scanning section 22, and a light receiving section 23. The light emitting section 21 includes a light emitting element such as a laser diode, and optical components such as a collimator lens, a beam splitter, and a light projecting and receiving lens.

[0024] The scanning unit 22 is composed of, for example, a MEMS (Micro Electro Mechanical Systems) mirror, etc. The scanning unit 22 scans the light emitted from the light emitting unit 21 in the horizontal and vertical directions toward an area where an object exists.

[0025] The light receiving unit 23 includes a light receiving element such as an avalanche photodiode (APD) that receives light scanned by the scanning unit 22 and reflected by an object, etc., and optical components. Note that some of the optical components included in the light emitting unit 21 may be shared.

[0026] 1, the control unit 3 includes a light emission control unit 31, a setting unit 32, and a signal processing unit 33. The control unit 3 includes a microphone having a CPU (Central Processing Unit) and the like. The control unit 3 may be configured with a microprocessor, a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), or the like. The control unit 3 may also be configured with multiple chips. The control unit 3 functions as a data processing device according to this embodiment, as described later.

[0027] The light emission control unit 31 performs light emission control such as causing the light emitting element of the light emitting unit 21 to emit pulsed light. The setting unit 32 sets extraction conditions for a plurality of light reception data acquired by the signal processing unit 33. The extraction conditions will be described later.

[0028] The signal processing unit 33 receives a signal corresponding to the intensity of the light received by the light receiving unit 23 (received light intensity), and calculates the distance to the object based on the signal. Then, data including the received light intensity and distance for one pulsed light and the corresponding scanning direction (angle) is extracted based on the extraction conditions described later and output to an external device as communication data. That is, the signal processing unit 33 functions as an output unit that extracts and outputs from a plurality of received light data based on the settings of the setting unit 32. In this embodiment, for example, Ethernet (registered trademark) can be used as the communication standard with the external device, but other communication standards may also be used.

[0029] FIG. 2 shows the frame configuration of the communication data according to this embodiment. As shown in FIG. 2, the communication data 10 according to this embodiment includes a header part 11 and a data part 12. In addition to these data, a preamble for synchronization, an FCS (Frame Check Sequence), etc. may be provided.

[0030] The header part 11 includes the addresses of the destination and the source, etc. The data part 12 includes a data set (received light data) consisting of distance data 12a, intensity data 12b, and angle data 12c corresponding to the signal received by the light receiving unit 23. When multi-echo occurs, a plurality of data sets will be generated and the data volume will increase. That is, the signal processing unit 33 functions as an acquisition unit that can acquire a plurality of received light data for one emitted light.

[0031] Therefore, in this embodiment, the extraction conditions for the extracted data are set in the setting unit 32 so that one or more data sets are extracted from a plurality of data sets and only the extracted data is transmitted. Examples of the extraction conditions include received light intensity, distance, S / N ratio, data reliability, number of data, etc.

[0032] In the case of received light intensity, conditions can be set to extract data sets with strong received light intensity or to extract data sets with weak received light intensity.

[0033] In the case of distance, conditions can be set to extract data sets with a calculated long distance or to extract data sets with a calculated short distance.

[0034] In the case of the S / N ratio, the signal processing unit 33 calculates the S / N ratio for each data set, and it can be set when including the S / N ratio in the data set. In this case, conditions can be set to extract data sets with a good S / N ratio. This S / N ratio is information indicating, for example, the ratio to the intensity of the signal determined as noise.

[0035] In the case of the reliability of data, the signal processing unit 33 calculates the reliability for each data set, and it can be set when including the reliability in the data set. In this case, conditions can be set to extract data sets with a good reliability. This reliability is information indicating that the data set is not noise.

[0036] In the case of the number of data, the number of data sets to be extracted can be set. For example, when five data sets are acquired by multi-echo, if the data sets to be extracted are set to "2", only two data sets will be extracted. In the case of the number of data, it is advisable to set it in combination with the above-described conditions such as the received light intensity. For example, it is possible to set to extract two in the order of the strongest received light intensity.

[0037] Also, a plurality of the above-described extraction conditions may be combined. For example, it is possible to extract the data set with the strongest received light intensity and the data set with the longest distance.

[0038] Next, the operation (data processing method) of the data processing apparatus having the above-described configuration will be described with reference to the flowchart of FIG. 3. Further, this flowchart can be configured as a program executed by a computer functioning as a data processing apparatus to obtain a data processing program. Also, this data processing program may be stored not only in a memory or the like of the data processing apparatus but also in a storage medium such as a memory card or an optical disk.

[0039] First, set the above-described extraction conditions in the setting unit 32 (step S11). Note that this step S11 only needs to be performed once before operating the LiDAR 1.

[0040] Next, the signal processing unit 33 extracts a data set based on the signal received from the light receiving unit 23 in accordance with the extraction conditions set in the setting unit 32 in step S11 (step S12).

[0041] Then, the signal processing unit 33 generates a communication frame including the data set extracted in step S12 (step S13) and outputs it to an external device (step S14).

[0042] As is clear from the above description, step S11 functions as a setting process, and steps S12 to S14 function as an acquisition process and an output process.

[0043] According to this embodiment, the signal processing unit 33 can acquire a plurality of data sets for one emitted light, and the extraction conditions for the plurality of data sets acquired by the signal processing unit 33 are set in the setting unit 32. Then, the signal processing unit 33 extracts from the plurality of data sets based on the setting of the setting unit 32, generates a communication frame, and outputs it. By doing so, the amount of data output by setting the extraction conditions can be adjusted according to the extraction conditions. Therefore, unnecessary data can be deleted according to the processing capacity of the subsequent-stage system or the like, and communication costs and processing costs can be efficiently reduced.

[0044] Also, the extraction condition may be the received light intensity included in the data set. By doing so, the data set can be extracted under conditions such as a strong or weak received light intensity, and the amount of data can be reduced.

[0045] Alternatively, the extraction condition may be the distance to the object included in the dataset. By doing so, the dataset can be extracted under conditions such as those with a long or short distance to the object, and it becomes possible to reduce the data volume.

[0046] Alternatively, the extraction condition may be the signal-to-noise ratio included in the dataset. By doing so, the dataset can be extracted under conditions such as those with a good signal-to-noise ratio, and it becomes possible to reduce the data volume.

[0047] Alternatively, the extraction condition may be the reliability included in the received light data. By doing so, the received light data can be extracted under conditions such as those with good reliability, and it becomes possible to reduce the data volume.

[0048] Alternatively, the extraction condition may be the number of data to be extracted from a plurality of datasets. By doing so, the dataset can be extracted by restricting the number of data to be extracted, and it becomes possible to reduce the data volume.

Example

[0049] Next, a data processing apparatus according to a second embodiment of the present invention will be described with reference to FIGS. 4 to 5. Note that the same parts as those in the above-described first embodiment are denoted by the same reference numerals, and the description thereof will be omitted.

[0050] The functional configuration in this embodiment is the same as that in FIG. 1. In the first embodiment, the reduction of the data volume was mainly performed, but in this embodiment, the frame configuration (data configuration) of the communication frame (communication data) when outputting to an external device can be arbitrarily set.

[0051] For example, as shown in Fig. 4(a), the communication data 10A may have a frame configuration in which the position of the header part 11 is after the data part 12 in the order. Alternatively, as shown in Fig. 4(b), as the configuration within the data part 12, the order of the distance data 12a, intensity data 12b, and angle data 12c may be swapped. Or, the order of the data within the header part 11 or the order of the data other than the above data set within the data part 12 may be swapped.

[0052] In this embodiment, the distance data 12a, intensity data 12b, and angle data 12c are described as typical examples of a plurality of items regarding the reflected light with respect to the emitted light, but the S / N ratio, reliability, etc. described in the first embodiment are also included. In short, it may be a signal (data) generated based on the reflected light and data (header, etc.) related to the data.

[0053] The setting for the above-described setting unit 32 may be such that an adjustment device (which may be a device different from an external device) or the like is connected to the LiDAR 1 (control unit 3), and the order or the like is set on the GUI (Graphical User Interface) displayed on the adjustment device.

[0054] Or, a file with a defined data configuration may be downloaded and acquired. That is, the setting unit 32 may acquire a file (information regarding the data configuration) with a defined data configuration from the outside, and the signal processing unit 33 may output the communication data with the data configuration described in the acquired file.

[0055] Also, in this embodiment as well, only the data required according to the output destination (external device) may be transmitted. That is, among the items included in the acquired measurement data, the items to be included in the communication data may be set. In this embodiment, not limited to the data part 12, the data included in the header part 11 may be arbitrarily selected. By doing so, similar to the first embodiment, the data amount can be reduced.

[0056] That is, the signal processing unit 33 functions as an acquisition unit that acquires measurement data including a plurality of items related to reflected light with respect to the emitted light, and an output unit that outputs communication data in a data configuration based on the setting of the setting unit. The setting unit 32 sets the data configuration of the communication data when outputting the acquired measurement data.

[0057] Next, the operation (data processing method) of the data processing apparatus according to this embodiment will be described with reference to the flowchart of FIG. 5. Further, this flowchart can be configured as a program executed by a computer functioning as a data processing apparatus to obtain a data processing program. Also, this data processing program is not limited to being stored in a memory or the like of the data processing apparatus, and may be stored in a storage medium such as a memory card or an optical disk.

[0058] First, the data configuration described above is set in the setting unit 32 (step S21). Note that this step S21 may be performed once before operating the LiDAR1.

[0059] Next, the signal processing unit 33 acquires necessary data among data and the like based on the signal received by the light receiving unit 23 in accordance with the data configuration set in the setting unit 32 in step S21 (step S22).

[0060] Then, the signal processing unit 33 configures the data acquired in step S22 as a communication frame in the data configuration set in the setting unit 32 in step S21 (step S23), and outputs it to an external device (step S24).

[0061] According to this embodiment, the signal processing unit 33 acquires measurement data including a plurality of items regarding the reflected light with respect to the emitted light, and the setting unit 32 is set with the data configuration of the communication frame when outputting the acquired measurement data. Then, the signal processing unit 33 outputs a communication frame with a data configuration based on the setting of the setting unit 32. By doing so, the configuration of the communication frame to be output can be easily changed, and the data configuration can be flexibly changed according to the requirements of the output destination. Therefore, it is possible to cope with a small quantity and multiple varieties at low cost.

[0062] In addition, the setting unit 32 may be set with the order of items constituting the communication frame. By doing so, the communication frame can be configured with the order of items that meets the requirements of the output destination. This can be done.

[0063] In addition, the setting unit 32 may be set with the items to be included in the communication frame among the items included in the acquired measurement data. By doing so, the communication frame can be configured only with the items required by the output destination, and it is possible to reduce the communication data volume.

[0064] In addition, the setting unit 32 may acquire a file regarding the data configuration from the outside, and the signal processing unit 33 may output a communication frame with a data configuration based on the acquired file. By doing so, the data configuration can be acquired from the outside by a file. Therefore, the degree of freedom in the configuration of communication data can be further increased.

[0065] As is clear from the above description, step S21 functions as a setting step, and steps S22 to S24 function as an acquisition step and an output step.

[0066] In addition, the present invention is not limited to the above embodiment. That is, those skilled in the art can make various modifications and implement them without departing from the gist of the present invention in accordance with conventionally known knowledge. As long as the data processing device of the present invention is still included by such modifications, of course, it is included in the scope of the present invention.

Explanation of Signs

[0067] 1 LiDAR 2 Optical unit 3 Control unit (data processing device) 31 Light emission control unit 32 Setting unit 33 Signal processing unit (acquisition unit, output unit)

Claims

1. An acquisition unit capable of acquiring a plurality of received light data for one emitted light; A setting unit that sets at least one extraction condition from a plurality of extraction conditions for the plurality of received light data indicating a multi-echo acquired by the acquisition unit; An output unit that extracts and outputs received light data based on the extraction condition from the plurality of received light data based on the setting of the setting unit; Comprising: The extraction condition is based on at least any one of the received light intensity included in the received light data, the distance to the object included in the received light data, the S / N ratio of the received light data calculated by the S / N ratio calculation unit, and the reliability of the received light data calculated by the reliability calculation unit. A data processing apparatus characterized by that.

2. A data processing method executed by a data processing apparatus that performs a predetermined process on a plurality of received light data acquired for one emitted light, An acquisition step capable of acquiring the plurality of received light data; A setting step of setting at least one extraction condition from a plurality of extraction conditions for the plurality of received light data indicating a multi-echo acquired in the acquisition step; An output step of extracting and outputting received light data based on the extraction condition from the plurality of received light data based on the extraction condition set in the setting step; Including: The extraction condition is based on at least any one of the received light intensity included in the received light data, the distance to the object included in the received light data, the S / N ratio of the received light data calculated by the S / N ratio calculation unit, and the reliability of the received light data calculated by the reliability calculation unit. A data processing method characterized by that.

3. A data processing program characterized by causing a computer to execute the data processing method according to Claim 2.

4. A computer-readable storage medium characterized by storing the data processing program according to Claim 3.

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