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WO2019113723A1 - Procédé et système de détection par laser - Google Patents

Procédé et système de détection par laser Download PDF

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Publication number
WO2019113723A1
WO2019113723A1 PCT/CN2017/115388 CN2017115388W WO2019113723A1 WO 2019113723 A1 WO2019113723 A1 WO 2019113723A1 CN 2017115388 W CN2017115388 W CN 2017115388W WO 2019113723 A1 WO2019113723 A1 WO 2019113723A1
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WO
WIPO (PCT)
Prior art keywords
laser
signal
units
signals
laser emitting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/115388
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English (en)
Chinese (zh)
Inventor
牟涛涛
黄晓庆
骆磊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cloudminds Shenzhen Robotics Systems Co Ltd
Original Assignee
Cloudminds Shenzhen Robotics Systems Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Cloudminds Shenzhen Robotics Systems Co Ltd filed Critical Cloudminds Shenzhen Robotics Systems Co Ltd
Priority to PCT/CN2017/115388 priority Critical patent/WO2019113723A1/fr
Priority to CN201780002422.4A priority patent/CN108124466B/zh
Publication of WO2019113723A1 publication Critical patent/WO2019113723A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/487—Extracting wanted echo signals, e.g. pulse detection

Definitions

  • the present disclosure relates to the field of laser radar, and in particular to a laser detection method and system.
  • the current laser radar equipment basically works in the near-infrared band of 905 nm, and its working principle is to transmit a plurality of laser signals to the detector, and then obtain a plurality of echo signals and corresponding laser signals returned according to the received detected objects.
  • Target parameters of the probe such as distance, azimuth, altitude, speed, attitude, shape, and the like. If the same type of laser radar is installed on an adjacent platform (for example, a vehicle or a flying object) or other nearby platforms, the beam interferes with each other. The laser radar cannot distinguish between the self-beam and the interference beam, that is, different laser radars will Generate signal interference.
  • each line has a laser emitting unit and a laser receiving unit respectively, so that There is also mutual interference between different lines of the same multi-line lidar.
  • the target parameters of the obtained probe may be inaccurate, for example, the distance of the obtained probe is inaccurate, and thus there may be a safety hazard. Therefore, enhancing the anti-jamming capability of the laser radar and obtaining reliable target parameters of the probe are extremely important for the application of the laser radar.
  • the present disclosure provides a laser detection method and system to enhance the anti-jamming capability of the laser radar.
  • a laser detecting method applied to a laser detecting system including a plurality of laser emitting units, and the plurality of laser emitting units a plurality of corresponding laser receiving units and a plurality of processing units corresponding to the plurality of laser receiving units, the method comprising:
  • Each of the laser emitting units generates a laser signal and transmits the laser signal to the probe in the same detection period, wherein, in a case where the plurality of laser emitting units generate laser signals in the same manner, The time at which the plurality of laser emitting units emit the laser signals are different from each other, and in a case where the times at which the plurality of laser emitting units emit the laser signals are the same, the manner in which the plurality of laser emitting units generate the laser signals are different from each other;
  • Each of the laser receiving units receives an echo signal returned by the laser signal via the probe
  • Each of the laser receiving units respectively acquires an echo signal matching the laser signal emitted by the laser emitting unit corresponding to itself according to the echo signal received by the laser receiving unit;
  • the processing unit determines a target parameter of the probe according to a laser signal emitted by each of the laser emitting units and an echo signal matched by the laser signal.
  • a laser detecting system including a plurality of laser emitting units, a plurality of laser receiving units in one-to-one correspondence with the plurality of laser emitting units, and a plurality of processing units corresponding to the plurality of laser receiving units, each of the laser emitting units configured to respectively generate a laser signal in the same detection period and transmit the laser signal to the probe, wherein In a case where the laser emitting units generate the laser signals in the same manner, the times at which the plurality of laser emitting units emit the laser signals are different from each other, and in the case where the plurality of laser emitting units emit the laser signals at the same time, the The manner in which a plurality of laser emitting units generate laser signals is different from each other;
  • Each of the laser receiving units is configured to receive an echo signal returned by the laser signal through the probe, and respectively acquire a laser emitted by a laser emitting unit corresponding to the laser signal according to an echo signal received by itself.
  • the echo signal that the signal matches;
  • the processing unit is configured to determine a target parameter of the probe according to a laser signal emitted by each of the laser emitting units and an echo signal matched by the laser signal.
  • the time at which they emit laser signals is different from each other, and when a plurality of laser emitting units emit laser signals at the same time, they are The manner of generating the laser signals is different from each other, so that each laser receiving unit can accurately recognize the echoes matching the laser signals emitted by the laser emitting units corresponding thereto according to the echo signals received by the respective laser receiving units.
  • the signal enhances the anti-jamming capability of the laser radar, thereby ensuring the accuracy and reliability of the target parameters of the acquired probe.
  • FIG. 1A is a structural block diagram of a laser detecting system according to an exemplary embodiment.
  • FIG. 1B is a structural block diagram of a laser detecting system according to another exemplary embodiment.
  • FIG. 1C is a structural block diagram of a laser detection system according to another exemplary embodiment.
  • FIG. 2 is a schematic diagram showing a manner in which a plurality of laser emitting units generate laser signals are different from each other according to an exemplary embodiment.
  • FIG. 3A is a schematic diagram showing a manner in which a plurality of laser emitting units generate laser signals are different from each other according to another exemplary embodiment.
  • FIG. 3B is a schematic diagram of a laser detection method according to an exemplary embodiment.
  • FIG. 4 is a schematic diagram showing a time when a plurality of laser emitting units emit laser signals are different from each other according to an exemplary embodiment.
  • FIG. 5 is a flow chart of a laser detection method according to an exemplary embodiment.
  • the laser detecting system in the present disclosure may include a plurality of laser emitting units, a plurality of laser receiving units corresponding to the plurality of laser emitting units, and a one-to-one correspondence with the plurality of laser receiving units. Multiple processing units.
  • the laser detection system described above may include a plurality of single line laser radars.
  • the laser detecting system includes a first single-line laser radar 1, a second single-line laser radar 2, and a third single-line laser radar 3.
  • the first single-line laser radar 1 includes a first laser emitting unit 11, a laser receiving unit 12, a first processing unit 13; a second single-line laser radar 2 comprising a second laser emitting unit 21, a second laser receiving unit 22, a second processing unit 23; and a third single-line laser radar 3 comprising a third laser emitting The unit 31, the third laser receiving unit 32, and the third processing unit 33.
  • the laser detection system described above may include a multi-line laser radar.
  • the laser detection system comprises a multi-line laser radar 4 comprising a first line 41, a second line 42, and a third line 43, wherein the first line 41 comprises a fourth laser emitting unit 411, a fourth The laser receiving unit 412 and the fourth processing unit 413; the second line 42 includes a fifth laser emitting unit 421, a fifth laser receiving unit 422, and a fifth processing unit 423; the third line 43 includes a sixth laser emitting unit 431 and a sixth laser receiving unit Unit 432, sixth processing unit 433.
  • the laser detection system described above can include at least one multi-line lidar and at least one single-line lidar.
  • the laser detection system includes a multi-line laser radar 4 and a first single-line laser radar 1, a second single-line laser radar 2, wherein the multi-line laser radar 4 and the first single-line laser radar 1, the second single line
  • the structure of the laser radar 2 is as described in the above two embodiments.
  • Each of the laser detecting units in the laser detecting system may be configured to generate a laser signal in the same detecting period and transmit the laser signal to the probe 5; each laser receiving unit is configured to receive the laser signal through the detecting object. 5 returning echo signals, and respectively acquiring echo signals matching the laser signals emitted by the laser emitting units corresponding thereto according to the echo signals received by themselves; each processing unit is used according to each of the above The laser signal emitted by the laser emitting unit and the echo signal matched by the laser signal determine the target parameter of the probe 5.
  • the first laser emitting unit 11, the second laser emitting unit 21, and the third laser emitting unit 31 in the laser detecting system respectively generate a first laser signal and a second
  • the laser signal and the third laser signal are emitted to the detector 5, and the first laser signal, the second laser signal, and the third laser signal are reflected by the detector 5 to the first laser radar 1, the second laser radar 2, and the third laser
  • the radar 3 is received by the first laser receiving unit 12, the second laser receiving unit 22, and the third laser receiving unit 32.
  • the echo signal received by the first laser receiving unit 12 includes an echo signal matching the first laser signal emitted by the first laser emitting unit 11, and may also include an interference signal, such as a second laser emission.
  • the second laser receiving unit 22 and the third laser receiving unit 23 may receive the above-mentioned interference signal in addition to the echo signal matching the laser signal emitted by the laser emitting unit corresponding thereto.
  • the laser emitting unit in order for each laser receiving unit to accurately acquire an echo signal matching the laser signal emitted by the laser emitting unit corresponding thereto according to the echo signal received by itself, the laser emitting unit generates the plurality of laser emitting units. In the case where the laser signals are of the same mode, the time at which they emit the laser signals is different from each other, or, in the case where the plurality of laser emitting units emit the laser signals at the same time, the manner in which they generate the laser signals is different from each other.
  • each of the laser emitting units When a plurality of laser emitting units emit laser signals at the same time, they generate laser signals in different ways. In one embodiment, each of the laser emitting units generates laser signals at mutually different frequencies. For example, as shown in FIG. 2, the fourth laser emitting unit 411 of the multi-line laser radar 4 generates a laser signal at a frequency of 17 Khz, the fifth laser emitting unit 421 generates a laser signal at a frequency of 18 Khz, and the sixth laser emitting unit 431.
  • the laser signal is generated at a frequency of 19 Khz, and the first laser emitting unit 11 of the first single-line laser radar 1 generates a laser signal at any of 20 Khz-22Khz, and the second laser emitting unit 21 of the second single-line laser radar 2 A laser signal is generated at any of the frequencies of 23Khz-25Khz.
  • each of the laser receiving units can respectively process the echo signals received by the laser receiving unit to extract the same frequency signal from the laser signal emitted by the laser emitting unit corresponding to the laser echo unit.
  • each of the laser receiving units may include a filtering circuit, so that the laser signal received from the laser receiving unit can be filtered by the filtering circuit to have the same frequency as the laser signal emitted by the laser emitting unit corresponding thereto. signal of.
  • each of the laser receiving units may include a lock-in amplifier, such that a signal having a different frequency of the laser signal emitted by the laser emitting unit corresponding to the laser-emitting unit may be removed by the lock-in amplifier, so that the laser light corresponding to itself is emitted.
  • the signal of the same frequency of the laser signal emitted by the unit is retained, that is, the echo signal matching the laser signal emitted by the laser emitting unit corresponding to itself is obtained.
  • the fourth laser emitting unit 411 of the multi-line laser radar 4 generates a laser signal at a frequency of 17 Khz, and after receiving the echo signal, the fourth laser receiving unit 412 can pass the filtering circuit.
  • a signal having a frequency of 17 Khz is filtered out from the echo signal received by the four laser receiving unit 412, that is, an echo signal matching the laser signal emitted by the corresponding fourth laser emitting unit 411 is acquired.
  • the first laser emitting unit 11 in the first single-line laser radar 1 generates a laser signal at any frequency of 20Khz-22Khz, and after receiving the echo signals, the first laser receiving unit 12 may A signal having a frequency in the range of 20Khz-22Khz is extracted from the echo signal received by the first laser receiving unit 12 by the lock-in amplifier, that is, the laser signal emitted by the corresponding first laser emitting unit 11 is matched. Echo signal.
  • the filter circuit and lock-in amplifier have strong suppression of laser signals, natural light signals, light signals, etc., which are different from the laser signal emitted by the corresponding laser emitting unit, it is possible to avoid different laser radars or the same Mutual interference between different lines of the line radar can also filter out interference signals such as natural light and light, thereby enabling high signal-to-noise ratio detection and long-range detection of the laser detection system.
  • each of the above-mentioned laser emitting units can obtain the target frequency used by the laser generating signal in the following two ways:
  • Each laser transmitting unit determines a target frequency used by itself according to a frequency used by other laser transmitting units recorded in the frequency information library, and updates the frequency information library by using the target frequency, wherein the target frequency is different from The frequency used by other laser emitting units.
  • the frequency information library may be a table or a blockchain.
  • the frequency information base may be stored locally at each laser emitting unit or independently of the laser emitting unit, for example, a dedicated service unit.
  • it is also necessary to assist in updating the frequency information library of the surrounding laser radar for example, by broadcasting the target frequency to
  • the surrounding laser radar method is used to update the frequency information library of the surrounding laser radar, and the frequency information library can also be updated by the blockchain technology, thereby ensuring that each laser emitting unit generates laser signals at mutually different frequencies. .
  • the base station can be used to perform frequency allocation for the connected laser transmitting units, and the frequencies assigned to each of the connected laser emitting units are different from each other. Moreover, in order to ensure that each laser emitting unit generates laser signals at mutually different frequencies, when the base station performs frequency allocation, it is necessary to timely update and recover the frequency information used by the locally stored laser emitting units of the laser radar. Specifically, after the base station establishes a communication connection with a laser emitting unit around it, any frequency that is not allocated may be sent to the laser emitting unit, and the laser transmitting unit is locally recorded and sent to the laser emitting.
  • the correspondence between the frequencies of the units that is, the update operation of the frequency information used by the laser transmitting unit of the surrounding laser radar; when the base station disconnects the communication connection with any laser emitting unit around it, the laser can be emitted.
  • the frequency information used by the unit is reclaimed to be reassigned to other laser transmitting units in the future to achieve resource recycling.
  • each of the laser emitting units can generate laser signals at mutually different frequencies
  • each of the laser emitting units can also modulate the laser emitting current by using pseudo-random codes different from each other.
  • a current pulse sequence is generated, and the current pulse sequence is carrier modulated to generate a laser signal.
  • the fourth laser emitting unit 411 of the multi-line laser radar 4 modulates the laser emission current using the pseudo random code 1
  • the fifth laser emitting unit 421 performs the laser emission current using the pseudo random code 2.
  • the modulation, sixth laser emitting unit 431 modulates the laser emission current using the pseudo random code 3
  • the first laser emitting unit 11 in the first single-line laser radar 1 uses any pseudo random code pair of pseudo random codes 4-20
  • the emission current is modulated, and the second laser emitting unit 21 of the second single-line laser radar 2 modulates the laser emission current using any of the pseudo random codes 21-24.
  • each of the laser emitting units respectively utilizes pseudo-random codes different from each other Laser emission current Modulation to generate a current pulse sequence And the current pulse sequence Perform carrier modulation to generate laser signal (among them, For the carrier frequency, Is the cosine of the carrier frequency) and is emitted by the laser transmitter; the laser receiver in each laser receiving unit receives the echo signal, and then each laser receiving unit separately receives the echo signal received by itself (among them, For the sum of noise and interference signals, the above laser signal will be interfered by noise and other signals after being transmitted wirelessly. Therefore, the signal received by the laser receiving unit is divided by the laser signal emitted by the laser emitting unit corresponding to itself. In addition to the matched echo signals, there are also noise and interference signals. First, coherent wave demodulation is performed to obtain:
  • the coding filtering is performed. Specifically, the filtering is first performed, and after filtering, it is obtained: (among them, Is the filtered echo signal; a sum of the noise and the interference signal); finally, a pseudo-random code having the same pseudo-random code as that used by the laser transmitting unit corresponding to itself in generating the laser signal Despreading the filtered signal, that is, the filtered echo signal Pseudo random code Multiply, thereby obtaining an echo signal matching the laser signal emitted by the laser emitting unit corresponding thereto.
  • a plurality of laser emitting units When a plurality of laser emitting units generate laser signals in the same manner, they emit laser signals at different times. In one embodiment, when the times at which the plurality of laser emitting units emit laser signals are different from each other, the time interval between two adjacent transmitting times is greater than the signal round-trip at the farthest ranging distance of the laser emitting unit. The duration is such that, in each period, only one laser emitting unit emits a laser signal to the probe 5, and during this period, only one echo signal is returned by the probe 5, so that the corresponding laser receiving unit is The echo signal received during this period is an echo signal matching the laser signal emitted by the laser emitting unit corresponding to itself, thereby effectively avoiding different lines between different laser radars or the same multi-line laser radar. Signal interference between.
  • the time interval between two adjacent transmission times is greater than 2 us.
  • the time interval between two adjacent transmission times is 5 us, wherein the first line 41 of the multi-line lidar 4 performs the emission and echo signals of the laser signal during the 0 us-5 us period.
  • the receiving that is, the fourth laser emitting unit 411 emits a laser signal at time 0, at this time, the fourth laser receiving unit 412 starts monitoring the echo signal, the monitoring duration is 2 us; the second line 42 performs the laser signal in the 5us-10us period.
  • the reception of the emission and echo signals that is, the fifth laser emitting unit 421 emits a laser signal at time 5us, at this time, the fifth laser receiving unit 422 starts monitoring the echo signal, the monitoring duration is 2 us; the third line 43 is at 10 us.
  • the emission of the laser signal and the reception of the echo signal are performed during the -15us period, that is, the sixth laser emitting unit 431 emits the laser signal at the time of 10us, and at this time, the sixth laser receiving unit 432 starts monitoring the echo signal, and the monitoring duration is 2us.
  • the first laser emitting unit 11 in the first single-line laser radar 1 performs the transmission of the laser signal and the reception of the echo signal in the period of 15us-20us, that is, the first laser emitting unit 11 at the time of 15us At this time, the first laser receiving unit 12 starts monitoring the echo signal, and the monitoring duration is 2 us;
  • the second laser emitting unit 21 of the second single-line laser radar 2 performs the laser signal emission in the 20us-25us period.
  • the reception of the echo signal that is, the second laser emitting unit 21 emits a laser signal at time 20us, at which time, the second laser receiving unit 22 starts monitoring the echo signal for a duration of 2 us.
  • each processing unit can determine the target parameters of the probe 5 according to the laser signal emitted by each of the above-mentioned laser emitting units and the echo signal matched by the laser signal, for example, distance, azimuth, altitude, speed, attitude , shape, etc.
  • the distance of the probe 5 can be determined according to the time interval between the laser emitting unit transmitting laser signal and the corresponding laser receiving unit receiving the echo signal.
  • the above-described multi-line laser radar provided by the present disclosure is not limited to the three-line laser radar, and may be applied to other multi-line laser radars, for example, 6 lines, 32 lines, 64 lines, 128 lines, 256 lines, etc.
  • the time at which they emit laser signals is different from each other, and when a plurality of laser emitting units emit laser signals at the same time, they are The manner of generating the laser signals is different from each other, so that each laser receiving unit can accurately recognize the echoes matching the laser signals emitted by the laser emitting units corresponding thereto according to the echo signals received by the respective laser receiving units.
  • the signal enhances the anti-jamming capability of the laser radar, thereby ensuring the accuracy and reliability of the target parameters of the acquired probe.
  • FIG. 5 is a flow chart showing a laser detecting method according to an exemplary embodiment, wherein the method can be applied to the laser detecting system described above. As shown in FIG. 5, the method can include the following steps.
  • each laser emitting unit generates a laser signal and transmits the laser signal to the detector during the same detection period.
  • the manner in which the plurality of laser emitting units generate laser signals is different from each other.
  • each laser receiving unit receives an echo signal returned by the laser signal via the probe.
  • each of the laser receiving units respectively acquires an echo signal matching the laser signal emitted by the laser emitting unit corresponding to itself according to the echo signal received by itself.
  • step 504 the processing unit determines a target parameter of the probe according to the laser signal emitted by each laser emitting unit and the echo signal matched by the laser signal.
  • each of the laser emitting units generates a laser signal, including:
  • Each of the laser emitting units respectively generates the laser signals at mutually different frequencies
  • Each of the laser receiving units respectively acquires an echo signal matching the laser signal emitted by the laser emitting unit corresponding to itself according to the echo signal received by the laser receiving unit, including:
  • Each of the laser receiving units respectively processes the echo signal received by the laser receiving unit to extract a signal having the same frequency as the laser signal emitted by the laser emitting unit corresponding to the laser signal received by the laser echo unit.
  • the laser signal matches the echo signal.
  • the laser emitting unit acquires a target frequency that is used when generating the laser signal by one of the following methods:
  • the laser transmitting unit determines the target frequency used by itself according to a frequency used by other laser transmitting units recorded in the frequency information library, and updates the frequency information library by using the target frequency, wherein the target frequency Different from the frequency used by the other laser emitting units;
  • each of the laser emitting units generates a laser signal, including:
  • Each of the laser emitting units respectively modulates a laser emission current by using pseudo-random codes different from each other, generates a current pulse sequence, and performs carrier modulation on the current pulse sequence to generate the laser signal;
  • Each of the laser receiving units respectively acquires an echo signal matching the laser signal emitted by the laser emitting unit corresponding to itself according to the echo signal received by the laser receiving unit, including:
  • Each of the laser receiving units sequentially performs coherent wave demodulation and filtering on the echo signals received by itself, and uses the same pseudo random code used by the laser transmitting unit corresponding to itself to generate the laser signal.
  • the pseudo-random code performs despreading on the filtered signal to obtain an echo signal matching the laser signal emitted by the laser emitting unit corresponding thereto.
  • a time interval between two adjacent transmitting times is greater than a signal round-trip at a farthest ranging distance of the laser emitting unit duration.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

La présente invention concerne un procédé et un système de détection par laser. Le procédé de détection par laser comprend: dans la même période de détection, la génération et l'envoi d'un signal laser par des unités d'émission de laser (11, 21, 31, 411, 421, 431) vers un objet à détecter; si les unités d'émission de laser (11, 21, 31, 411, 421, 431) génèrent un signal laser de la même manière, alors elles émettent des signaux laser à des moments différents; si les unités d'émission de laser (11, 21, 31, 411, 421, 431) émettent des signaux laser au même moment, alors elles génèrent des signaux laser de manières différentes; la réception par des unités de réception de laser (12, 22, 32, 412, 422) d'un signal d'écho renvoyé par le signal laser par l'intermédiaire de l'objet à détecter, et l'obtention par les unités de réception de laser d'un signal d'écho correspondant au signal laser; en fonction des signaux laser émis par les unités d'émission de laser (11, 21, 31, 422, 421, 431) et des signaux d'écho correspondant aux signaux laser, la détermination par des unités de traitement (13, 23, 33, 413, 423) d'un paramètre cible de l'objet à détecter. Ainsi, les unités de réception de laser (12, 22, 32, 412, 422) identifient avec précision un signal d'écho correspondant à un signal laser, ce qui permet d'améliorer la capacité d'anti-brouillage lidar et de garantir la précision et la fiabilité des paramètres cibles obtenus d'un objet à détecter.
PCT/CN2017/115388 2017-12-11 2017-12-11 Procédé et système de détection par laser Ceased WO2019113723A1 (fr)

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PCT/CN2017/115388 WO2019113723A1 (fr) 2017-12-11 2017-12-11 Procédé et système de détection par laser
CN201780002422.4A CN108124466B (zh) 2017-12-11 2017-12-11 激光探测方法及系统

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