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WO2022217520A1 - Procédé et appareil de détection, plate-forme mobile et support de stockage - Google Patents

Procédé et appareil de détection, plate-forme mobile et support de stockage Download PDF

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Publication number
WO2022217520A1
WO2022217520A1 PCT/CN2021/087322 CN2021087322W WO2022217520A1 WO 2022217520 A1 WO2022217520 A1 WO 2022217520A1 CN 2021087322 W CN2021087322 W CN 2021087322W WO 2022217520 A1 WO2022217520 A1 WO 2022217520A1
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WO
WIPO (PCT)
Prior art keywords
detection device
interest
region
movable platform
detection
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/CN2021/087322
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English (en)
Chinese (zh)
Inventor
卢栋
陈亚林
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SZ DJI Technology Co Ltd
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SZ DJI Technology 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.)
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Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN202180079531.2A priority Critical patent/CN116529630A/zh
Priority to PCT/CN2021/087322 priority patent/WO2022217520A1/fr
Publication of WO2022217520A1 publication Critical patent/WO2022217520A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • 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
    • G01S7/481—Constructional features, e.g. arrangements of optical elements

Definitions

  • the present application relates to the field of detection technology, and in particular, to a detection method, device, movable platform and storage medium.
  • Detection devices play an important role in many fields, for example, they can be used on mobile platforms or non-mobile platforms for remote sensing, obstacle avoidance, mapping, modeling, and environmental perception.
  • mobile platforms such as robots, human-controlled aircraft, unmanned aerial vehicles, unmanned vehicles and unmanned ships, can navigate in complex environments through detection devices to achieve path planning, obstacle detection and avoidance. Open obstacles, etc.
  • the detection device reflects light pulses to the detection environment and generates sensing data (eg, point clouds) for the detection environment based on the reflected light pulses.
  • sensing data eg, point clouds
  • the density of the point clouds obtained by the detection device is not high, which leads to the detection result of the point cloud.
  • the accuracy is not high. For example, in the field of navigation, the low density of point clouds may lead to errors in obstacle detection results, resulting in serious accidents.
  • one of the objectives of the present application is to provide a detection method, device, movable platform and storage medium.
  • an embodiment of the present application provides a detection method, for a detection device to scan a detection environment, the detection device includes an emitter for emitting light pulses and an emitter for continuously changing the transmission direction of the light pulses and then outputting the light pulses. scanning module;
  • the method includes:
  • the emission frequency of the transmitter is adjusted and/or the rotational speed of the optical element in the scanning module is adjusted; wherein the region of interest corresponds to after adjustment
  • the point cloud density of is higher than the corresponding point cloud density when unadjusted.
  • an embodiment of the present application provides a detection device, including a transmitter, a scanning module, and a processor;
  • the transmitter is used to emit light pulses
  • the scanning module includes at least one optical element, and the optical element is used to continuously change the transmission direction of the light pulse and then exit;
  • the processor is configured to determine a region of interest within the scanning range of the detection device; during the process of scanning the region of interest by the detection device, adjust the transmission frequency of the transmitter and/or adjust the scanning mode The rotational speed of the optical elements in the group; wherein, the point cloud density corresponding to the region of interest after adjustment is higher than the corresponding point cloud density when it is not adjusted.
  • an embodiment of the present application provides a movable platform, including:
  • a power system mounted on the body, for driving the movable platform to move;
  • the detection device according to the second aspect is mounted on the movable platform.
  • an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores executable instructions, and when the executable instructions are executed by a processor, the method according to the first aspect is implemented .
  • a detection method provided by an embodiment of the present application is used for a detection device to scan a detection environment.
  • This embodiment takes into account that in practical applications, all the sensing information (for example, point clouds) within the scanning range of the detection device is not necessarily valid information, and usually only the sensing information of a part of the area is valid.
  • this application implements For example, the region of interest is determined, and when scanning the region of interest, the emission frequency of the transmitter of the detection device is adjusted and/or the rotational speed of the optical element in the scanning module of the detection device is adjusted, so that the sensor
  • the point cloud density corresponding to the region of interest after adjustment is higher than the corresponding point cloud density when it is not adjusted, so as to increase the point cloud density of the region of interest, which is conducive to improving the accuracy of the point cloud detection results, and the determination of the region of interest. It is also beneficial to reduce the power consumption of the detection device and prolong the use time of the detection device.
  • FIG. 1 is a schematic diagram of an automatic driving scenario provided by an embodiment of the present application
  • FIG. 2 is a schematic flowchart of a detection method provided by an embodiment of the present application.
  • FIG. 3 is a schematic diagram of a circuit structure of a detection device provided by an embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of a detection device provided by an embodiment of the present application.
  • FIG. 5A and FIG. 5B are different schematic diagrams of determining a target range with a moving direction provided by an embodiment of the present application
  • FIG. 6 and FIG. 7 are different schematic diagrams of a region of interest provided by an embodiment of the present application.
  • 8A is a schematic diagram of overlapping scanning ranges of two detection devices provided by an embodiment of the present application.
  • FIG. 8B is a schematic diagram of a region of interest provided by an embodiment of the present application.
  • FIG. 9 is a schematic diagram of increasing the density of point clouds by increasing the frequency provided by an embodiment of the present application.
  • FIGS. 10A and 10B are schematic diagrams of comparison of regions of interest before and after adjustment provided by an embodiment of the present application.
  • FIG. 11 is another structural diagram of a detection device provided by an embodiment of the present application.
  • FIG. 12 is a structural diagram of a movable platform provided by an embodiment of the present application.
  • the embodiment of the present application provides a detection method, which is used for a detection device to scan the detection environment, and the detection device includes a detection device for outgoing light.
  • a pulse transmitter and a scanning module for continuously changing the transmission direction of the light pulse and then exiting; during the process of scanning the detection environment by the detection device, determine the region of interest within the scanning range of the detection device, and then During the process of scanning the region of interest by the detection device, the emission frequency of the transmitter is adjusted and/or the rotational speed of the optical element in the scanning module is adjusted, so that the region of interest corresponding to the region of interest after adjustment is adjusted.
  • the point cloud density is higher than the corresponding point cloud density when unadjusted.
  • This embodiment takes into account that in practical applications, all the sensing information (for example, point clouds) within the scanning range of the detection device is not necessarily valid information, and usually only the sensing information of a part of the area is valid. Therefore, this application implements For example, the region of interest is determined, and the transmission frequency and/or rotational speed are adjusted when scanning the region of interest, so as to increase the point cloud density of the region of interest, which is beneficial to improve the accuracy of the point cloud detection results, and is also beneficial to The power consumption of the detection device is reduced, and the usage time of the detection device is prolonged.
  • the detection method can be applied to a detection device, and the detection device includes but is not limited to lidar, laser detection equipment, and the like.
  • the detection device is used to sense external environmental information, such as distance information, orientation information, reflection intensity information, speed information, etc. of environmental objects.
  • the detection device can detect the distance from the detection object to the detection device by measuring the time of light propagation between the detection device and the detection object, that is, Time-of-Flight (TOF).
  • TOF Time-of-Flight
  • the detection device can also detect the distance from the detected object to the detection device through other technologies, such as a detection method based on phase shift measurement, or a detection method based on frequency shift measurement, which is not limited here. .
  • the detection device may be carried in a movable platform, which may be a movable vehicle.
  • the vehicle may traverse the environment by means of one or more propulsion units.
  • the vehicle may be an air vehicle, a land vehicle, a water vehicle, or a space vehicle.
  • the vehicle may be an unmanned vehicle.
  • the vehicle may be able to traverse the environment without a human occupant on it.
  • the vehicle may carry a human occupant.
  • the movable platform includes, but is not limited to, an unmanned aerial vehicle (UVA), an autonomous vehicle, an unmanned ship, or a mobile robot, and the like.
  • UVA unmanned aerial vehicle
  • the number of the detection device 20 may be one or more, which can be determined according to the actual application scenario.
  • four detection devices 20 and their scanning ranges are shown in FIG. 1 .
  • the mounting position of the detection device 20 may be specifically set according to the actual application scenario.
  • the detection device 20 may be mounted in front of, behind, or on the side of the autonomous vehicle 10 .
  • the detection device 20 can be used to scan the detection environment to obtain perception data (eg, point cloud), and then perform path planning, obstacle detection or obstacle avoidance based on the obtained perception data.
  • perception data eg, point cloud
  • the region of interest may be determined within the scanning range of the detection device 20 installed in front of the vehicle.
  • the point cloud inside assists the autonomous vehicle 10 to drive safely and reliably.
  • the region of interest can be determined within the scanning range of the detection device 20 installed at the rear of the vehicle, and the emission frequency of the transmitter and/or the rotational speed of the optical element can be adjusted to The density of the point cloud corresponding to the region of interest is increased, so as to assist the autonomous driving vehicle 10 to drive safely and reliably based on the point cloud in the region of interest.
  • the region of interest can be determined within the scanning range of the detection device according to the position information of the target to be detected, and the region of interest can be determined by adjusting the transmission frequency of the transmitter and/or Or the rotational speed of the optical element to increase the density of the point cloud corresponding to the region of interest, so as to achieve accurate target detection and tracking based on the point cloud in the region of interest.
  • target detection such as obstacle detection
  • the embodiment of the present application provides a detection method, which is used for a detection device to scan a detection environment, and the detection device includes an emitter for emitting light pulses and a scanning module for continuously changing the transmission direction of the light pulses and then exiting.
  • the method includes:
  • step S101 a region of interest within the scanning range of the detection device is determined.
  • step S102 during the process of scanning the region of interest by the detection device, adjust the emission frequency of the transmitter and/or adjust the rotational speed of the optical element in the scanning module;
  • the corresponding point cloud density of the region after adjustment is higher than the corresponding point cloud density when it is not adjusted.
  • the circuit structure of the detection device is described here: please refer to FIG. 3 , which is a circuit diagram of a detection device proposed by the present application according to an exemplary embodiment.
  • the detection device 20 at least includes a transmitting circuit 110 , a receiving circuit 120 , a Sampling circuit 130 and arithmetic circuit 140 .
  • the transmit circuit 110 may transmit light pulses (eg, the transmit circuit may be provided in a transmitter for transmitting light pulses).
  • the receiving circuit 120 can receive the light pulse reflected by the probe in the detection environment, and perform photoelectric conversion on the light pulse to obtain an electrical signal, which can be output to the sampling circuit 130 after processing the electrical signal.
  • the sampling circuit 130 may sample the electrical signal to obtain a sampling result.
  • the arithmetic circuit 140 may determine the distance between the detection device 20 and the detected object based on the sampling result of the sampling circuit 130 .
  • the detection device 20 may further include a control circuit 150, which can control other circuits, for example, can control the working time of each circuit and/or set parameters for each circuit.
  • a control circuit 150 can control other circuits, for example, can control the working time of each circuit and/or set parameters for each circuit.
  • the detection device shown in FIG. 3 includes a transmitting circuit 110 , a receiving circuit 120 , a sampling circuit 130 and an arithmetic circuit 140 for emitting a light pulse for detection
  • the embodiment of the present application is not limited to Therefore, the number of any one of the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, and the arithmetic circuit 140 may also be at least two, for emitting at least two optical pulses in the same direction or in different directions respectively; wherein , the at least two light pulses may be emitted at the same time, or may be emitted at different times respectively.
  • the ranging module 200 includes a ranging module Module 200 and scanning module 300
  • the ranging module 200 includes a transmitter 201 (which may include the above-mentioned transmitting circuit 110), a collimating element 203, a detector 202 (which may include the above-mentioned receiving circuit 120, sampling circuit 130 and Operation circuit 140 ) and optical path changing element 204
  • the scanning module 300 includes at least two moving optical elements 301 and at least two drivers 302 corresponding to the optical elements 301 .
  • the transmitter 201 is used to emit light pulses.
  • the collimating element 203 is disposed on the outgoing light path of the transmitter 201 for collimating the light pulses emitted from the transmitter 201 , and collimating the light pulses emitted by the transmitter 201 into parallel light output to the scanning module 300 .
  • the optical element 301 in the scanning module 300 is placed on the outgoing light path of the transmitter 201 .
  • the moving optical element 301 in the scanning module 300 is used to continuously change the transmission direction of the light pulse and then emit, so that the light pulse emitted by the transmitter 201 scans the detection environment in two dimensions.
  • three optical elements 301 are rotated around a common axis for illustration: the driver 302 corresponding to the optical element 301 drives the optical element 301 to rotate, so that the optical element 301 changes the alignment
  • the direction of the light pulse after the collimation element 203 is collimated.
  • the optical element 301 can project the collimated light pulses to different directions at different times, so that a large spatial range can be scanned.
  • the optical element 301 includes a pair of relatively non-parallel surfaces through which the collimated light pulse passes.
  • the optical element 301 comprises a prism with a thickness varying in at least one radial direction.
  • the optical element 301 includes a wedge prism to refract the collimated light pulse.
  • the optical element 301 includes a mirror that reflects the collimated light pulses.
  • the rotational speed of each optical element 301 is different. It can be understood that the rotational speed is a vector, including direction and magnitude, and different rotational speeds may be in different directions, different values, or both.
  • the detector 202 is configured to receive at least partially reflected light pulses passing through the collimating element 203, generate three-dimensional points according to the reflected light pulses, and output a point cloud frame including several three-dimensional points at a specified frame rate.
  • the optical path changing element 204 can be used to combine the transmitting optical path and the receiving optical path in the detecting device 20 before the collimating element 203, so that the transmitting optical path and the receiving optical path can share the same collimating element 203, making the optical path more compact .
  • the emitter 201 and the detector 202 may use their own collimating elements 203 respectively, and the optical path changing element 204 is arranged on the optical path behind the collimating element 203 .
  • the optical path changing element 204 can use a small-area reflective mirror to The transmit light path and the receive light path are combined.
  • the optical path changing element 204 can also use a reflector with a through hole, wherein the through hole is used to transmit the light pulses emitted by the transmitter 201, and the reflector is used to reflect the reflected light pulses to the detector. device 202. In this way, in the case of using a small reflector, the occlusion of the return light by the support of the small reflector can be reduced.
  • the optical path changing element 204 is offset from the optical axis of the collimating element 203 . In some other implementations, the optical path changing element 204 may also be located on the optical axis of the collimating element 203 .
  • each optical element 301 is coated with an anti-reflection film.
  • the thickness of the anti-reflection film is equal to or close to the wavelength of the light pulse emitted by the transmitter 201, which can increase the intensity of the transmitted light beam.
  • a filter layer is coated on the surface of an element (such as the collimating element 203, the optical path changing element 204, etc.) located on the beam propagation path in the detection device 20, or a filter is provided on the beam propagation path, It is used to transmit at least the wavelength band of the light beam emitted by the transmitter 201 and reflect other wavelength bands, so as to reduce the noise brought by ambient light to the detector 202 .
  • an element such as the collimating element 203, the optical path changing element 204, etc.
  • the transmitter 201 emits nanosecond laser pulses.
  • the laser pulse receiving time can be determined, for example, by detecting the rising edge time and/or the falling edge time of the electrical signal pulse to determine the laser pulse receiving time.
  • the detection device 20 can calculate TOF (Time of flight, time of flight) by using the pulse receiving time information and the pulse sending time information, so as to determine the distance from the detection object to the detection device 20 .
  • the detection apparatus further includes a processor configured to execute the steps in the detection method provided by the embodiments of the present application. It can be understood that, the structure description of the detection device above is only an example, and this embodiment of the present application does not impose any limitation on this.
  • the detection method provided by the embodiments of the present application may be applied to such a detection device: the detection device may scan the detection environment in two dimensions; wherein, the detection device is in one of the dimensions The field of view is larger than the field of view in the other dimension.
  • the detection method provided in the embodiment of the present application can also be applied to a scene with the same large field of view in two dimensions, and no limitation is imposed on this.
  • the detection device may first determine a region of interest (ROI, region of interest) within the scanning range of the detection device.
  • ROI region of interest
  • the perceptual data (such as point cloud) related to the region of interest is data with relatively high degree of attention
  • the perceptual data related to non-interested region is relatively low degree of attention. data.
  • the detection devices mounted on the movable platform
  • the mounting position of the detection devices on the movable platform can also be specifically set according to the actual application scenario, for example, it can be mounted on the front and rear of the movable platform. and/or sides.
  • the detection device may be installed in front, rear and side of the automatic driving vehicle.
  • the detection device when the detection device is mounted in front of the autonomous driving vehicle, during the process of the autonomous driving vehicle moving straight forward, it can be determined that the forward direction of the autonomous driving vehicle is an area of high interest, and the autonomous driving vehicle The degree of attention behind or on the side of the vehicle is relatively low, so an area in the scanning range of the detection device related to the forward direction of the autonomous driving vehicle may be determined as the area of interest.
  • the movable platform when the detection device is mounted on a movable platform, the movable platform usually pays more attention to some sensing information on the moving path of the movable platform, and the moving direction of the movable platform is determined by Therefore, the region of interest can be determined according to the moving direction of the movable platform; in this embodiment, the region of interest is determined based on the moving direction of the movable platform, and is subsequently detected by adjusting The (transmitter) transmission frequency and/or the (scanning module) rotational speed of the device can increase the density of the point cloud corresponding to the region of interest, thereby effectively assisting the movable platform to move safely and reliably.
  • the region of interest may be within the target range of the movable platform toward the moving direction; the target range is within the scanning range of the detection device, or the target range is different from the target range.
  • the scanning ranges of the detection devices intersect.
  • the movable platform pays relatively high attention to the target range toward the moving direction, and relatively low attention to other directions.
  • FIG. 5A in FIG.
  • the target range may be a specified angle range with the movable platform as the vertex and the moving direction as the bisector of the angle, the The specified angle can be specifically set according to the actual application scenario, for example, the specified angle is 10°, 12° or 14°; as an example, please refer to FIG. 5B (in FIG. 5B , the autonomous vehicle is taken as an example), the target range can be It is a rectangular range with a specified size toward the moving direction, and the specified size can be specifically set according to the actual application scenario, for example, the specified size is not smaller than the size of the movable platform, etc.; of course, for the target range
  • the settings are not limited to this, and specific settings can be made according to actual application scenarios.
  • the detection device is installed in front of the automatic driving vehicle for illustration.
  • the automatic driving vehicle 10 may be used as the vertex. and the area within the specified angle range with the forward straight direction as the angle bisector is determined as the area of interest, for example, the gray area in FIG. 6 is the area of interest.
  • the detection device is mounted in front of the movable platform, and when the movable platform moves straight forward, the detection device can determine the region of interest within the scanning range of the detection device For example, within the scanning range of the detection device, determine the target range toward the straight forward direction, and the target range can be specified with the movable platform as the vertex and the straight forward direction as the angle bisector Angle range, the area within the target range is the area of interest. Exemplarily, for example, please refer to FIG.
  • the detection device in the case that the detection device is mounted directly in front of the movable platform, in the process of the movable platform moving straight forward, within the scanning range of the detection device Determine the target range towards the straight forward direction, the area within the target range is the area of interest, wherein the target range towards the straight forward direction is located within the scanning range of the detection device, and the area of interest is located at The detection device scans the middle of the range.
  • the detection device is mounted behind the movable platform, and when the movable platform moves backwards, the detection device can determine the sensory sensor within the scanning range of the detection device.
  • the region of interest for example, a target range in the backward and backward direction is determined within the scanning range of the detection device, and the region corresponding to the target range is the region of interest.
  • the detection device in the case where the detection device is mounted directly behind the movable platform, during the backward movement of the movable platform, the detection device can be scanned within the detection device to determine the sensor.
  • a region of interest the region of interest is located in the middle of the scanning range of the detection device.
  • the mounting positions of the detection device in the movable platform are not the same, and may not necessarily be installed directly in front of and/or behind the movable platform, that is, the The regions of interest are not necessarily all located in the middle of the scanning range of the detection device, and there may be deviations based on the installation positions of the detection positions. Therefore, the regions of interest are based on the moving direction of the movable platform and the detection device.
  • the loading position in the movable platform is jointly determined.
  • the mounting positions of the detection devices are considered when determining the region of interest, so as to further ensure that the determined region of interest is accuracy.
  • the target range toward the moving direction may be determined according to the moving direction of the movable platform, and the scanning range may be determined based on the mounting position of the detection device, and the target range and the scanning range may be intersected. Part of it is determined to be the region of interest.
  • the detection device is installed in front of the autonomous driving vehicle.
  • the detection device is installed in the right position in front of the autonomous driving vehicle.
  • the area corresponding to the part where the target range facing the moving direction intersects with the scanning range is the region of interest, and the region of interest is located to the left of the scanning range.
  • the region of interest in Figure 7 Regions are examples, but not limiting.
  • the region of interest is also related to the moving environment of the movable platform.
  • the autonomous driving vehicle when the autonomous driving vehicle is driving on a one-way street, it needs to pay attention to the road from the moving direction.
  • road information when an autonomous vehicle is driving at an intersection, in addition to the road information from the moving direction, it also needs to pay attention to road information from other directions to ensure safe and reliable driving; therefore, the sense of The area of interest may be jointly determined according to the moving direction of the movable platform and the moving environment.
  • the sensor when the movable platform moves in an intersection scene, the sensor can be determined within the scanning range of the detection device according to the moving direction of the movable platform and other directions determined based on the intersection. area of interest.
  • the region of interest may be determined within the scanning range of the detection device according to the moving direction of the movable platform.
  • the region of interest is jointly determined according to the moving direction of the movable platform, the moving environment and the mounting position of the detection device, so as to facilitate The accuracy of the region of interest is guaranteed.
  • FIG. 8A shows a scene in which two detection devices 20 are installed in front of the autonomous driving vehicle 10.
  • the autonomous driving vehicle 10 is going straight forward, there are autonomous driving vehicles within the scanning range of the two detection devices 20 that are driving straight ahead.
  • the effective information with higher attention in the direction is usually at the junction of the scanning ranges of the two detection devices 20 .
  • the detection device 20 can determine the region of interest within the scanning range of the at least two detection devices 20 according to the moving direction of the movable platform, and usually the region of interest is within the at least two detection devices 20 the junction of the scanning range.
  • the sensing data such as point clouds
  • the sensing data is the superposition of point clouds obtained by scanning them by at least two of the detection devices, that is, at least The point cloud density of the overlapping area within the scanning range of the two detection devices is sufficiently dense.
  • the detection devices In order to further reduce the power consumption of the detection devices, it may be considered not to increase the point cloud density of the overlapping area;
  • the region of interest In the case of the region of interest, the overlapping region within the scanning range of the at least two detection devices may not be considered, the region of interest may be determined from the non-overlapping regions within the scanning range of the at least two detection devices, and it may be determined from the non-overlapping region.
  • the point cloud density of the region of interest is thus beneficial to reduce the power consumption of the detection device.
  • the region of interest is at the junction of the scanning ranges of the at least two detection devices , it can be said that the region of interest determined in the embodiment of the present application is adjacent to the overlapping region within the scanning range of at least two detection devices.
  • the detection device may determine the region of interest from non-overlapping regions within the scanning range of at least two detection devices according to the moving direction of the movable platform;
  • the moving direction determines a target range toward the moving direction, and a region related to the target range in the non-overlapping regions is determined as the region of interest.
  • the target range may be determined in the direction of the automatic driving vehicle going straight forward, and two of the detection A region related to the target range in the non-overlapping regions within the scanning range of the device is determined as the region of interest, and it can be seen that the region of interest is adjacent to the overlapping regions within the scanning range of the two detection devices.
  • the overlapping region within the scanning range of the at least two detection devices may not be considered, that is, the region of interest that needs to increase the density of the point cloud is reduced, which is conducive to further reducing the detection power consumption of the device.
  • this embodiment does not impose any restrictions on the mounting positions of the at least two detection devices on the movable platform, for example, the at least two detection devices are mounted in front of, behind and/or on the movable platform. side.
  • at least two detection devices may be installed in front of the movable platform or both may be installed at the side of the movable platform; for example, at least two detection devices One of the devices is installed on the front or rear of the movable platform, and the other is installed on the side of the movable platform.
  • the moving direction of the target detection device is determined from a plurality of detection devices, or a target detection device is determined from a plurality of detection devices according to the moving direction and the moving environment of the movable platform, and the target detection device is a detection device that needs to determine the area of interest device.
  • the scanning range of the detection device may be determined based on the mounting position of the detection device, and the target range toward the moving direction may be determined according to the moving direction of the movable platform.
  • the target detection device that needs to determine the area of interest, other detection devices except the target detection device can work according to the normal working mode, and there is no need to adjust the transmission frequency of the transmitter and/or the optical element in the scanning module. Therefore, it is beneficial to reduce the power consumption of the detection device and prolong the use time of the detection device.
  • the detection device can re-select from a plurality of detection devices according to the changed moving direction and/or the changed moving environment of the movable platform.
  • the target detection device is determined in the middle, and the region of interest is determined within the scanning range of the target detection device, thereby effectively assisting the movable platform to operate safely and reliably.
  • At least two of the detection devices are mounted on a movable platform, and the at least two detection devices include a first detection device and a second detection device; the first detection device is mounted on the movable platform.
  • the number of the first detection devices may be one or more; the second detection devices are mounted on the side of the movable platform, and the number of the second detection devices may be is one or more.
  • the specified movement state refers to the movement direction of the movable platform or a state in which the movement environment changes, for example, the specified movement state includes a turning state and/or the movable platform A state in which the mobile platform is moving at an intersection, in which the region of interest needs to be re-determined, and the detection device can adjust the sense of movement within the scanning range of the first detection device according to the moving direction and/or the moving environment.
  • the region of interest is determined, and the region of interest within the scanning range of the second detection device is determined, so as to obtain the re-determined region of interest.
  • the re-determined interest is located at the junction within the scanning range of the first detection device and the scanning range of the second detection device; further, there is overlap in the scanning range of the first detection device and the scanning range of the second detection device
  • the re-determined region of interest is located in a non-overlapping region of the scanning range of the first detection device and the scanning range of the second detection device, and the re-determined region of interest is adjacent to the scanning range of the first detection device and the overlapping area of the second detection device.
  • the region of interest may be determined within the scanning range of the detection device according to the position information of the target to be detected, and the interest includes the target to be detected.
  • the emission frequency of the transmitter of the detection device and/or the rotational speed of the optical element in the scanning module of the detection device can be adjusted to improve the point cloud density of the region of interest, thereby It is beneficial to improve the accuracy of subsequent target detection using the point cloud corresponding to the region of interest.
  • the detection device can adjust the area of interest according to the position information of the target to be detected, and adjust the The target region of interest includes the target to be detected, thereby helping to improve the accuracy of subsequent target detection using the point cloud corresponding to the region of interest.
  • the detection device mentioned above at least includes an emitter, a scanning module and a detector; the emitter is used to emit light pulses; the optical element in the scanning module is used to continuously change the light The transmission direction of the pulse is backward, and the detection environment is scanned in two dimensions; the detector is used to receive the reflected light pulse, generate a three-dimensional point according to the reflected light pulse, and output a number of points at a specified frame rate.
  • a point cloud frame of 3D points the larger the frame rate of the output point cloud frame, the increase in the number of point cloud frames output per unit time, the decrease in the acquisition time corresponding to each point cloud frame, and the corresponding point cloud density of each point cloud frame.
  • the detection method of the embodiment of the present application may be implemented, that is, when the specified frame rate is higher than the preset
  • a threshold is set or the specified frame rate is increased
  • a region of interest within the scanning range of the detection device is determined, and the detection device can subsequently adjust the emission of the transmitter of the detection device when scanning the region of interest
  • the frequency and/or the rotational speed of the optical element in the scanning module of the detection device is adjusted to increase the point cloud density of the region of interest, thereby making up for the problem of insufficient point cloud density due to high frame rate.
  • step S102 after the region of interest is determined, in the process of scanning the detection environment by the detection device, when the detection device scans the region of interest, adjust the transmission frequency and /or adjust the rotational speed of the optical element in the scanning module, so that the corresponding point cloud density of the region of interest after adjustment is higher than the corresponding point cloud density when it is not adjusted.
  • the purpose of adjusting the emission frequency of the transmitter and/or adjusting the rotational speed of the optical element in the scanning module is to achieve a smaller difference between the exit angles of two adjacent light pulses exiting the region of interest.
  • each time the transmitter in the detection device emits a light pulse it will determine whether the region of interest is currently being scanned, and if so, adjust the transmitter's emission frequency and/or adjust The rotation speed of the optical element in the scanning module, if the region of interest has not been scanned, the transmitter is controlled to emit light pulses at a normal frequency or a normal rotation speed.
  • the detection device may determine the current scanning position of the detection device according to the pre-stored correspondence between the rotational speed and the position of the scanning module , and then determine whether the detection device is scanning the region of interest according to the current scanning position, for example, when it is determined that the current scanning position belongs to the region of interest, determine that the detection device is scanning the region of interest , the detection device can adjust the emission frequency of the transmitter and/or adjust the rotational speed of the optical element in the scanning module, so as to increase the density of the point cloud corresponding to the region of interest.
  • the detection device can obtain the position information of the last three-dimensional point generated by the detector in the detection device.
  • the detection device can adjust the emission frequency of the transmitter and/or adjust the optical element in the scanning module. speed to increase the density of the point cloud corresponding to the region of interest.
  • the detection device can increase the point cloud density in the region of interest by increasing the emission frequency of the transmitter; for example, as shown in FIG. 9 , the frequency curve 11 represents the normal uniform laser emission frequency, The frequency curve 12 shows the case of increasing the transmitting frequency of the transmitter when the area of interest is scanned.
  • the frequency between 111 and 112 is doubled or increased, and the corresponding point cloud distribution is shown at the bottom of the figure, relative to other positions, The area between the 111 and 112 positions has increased point cloud density, and each circle of the point cloud will increase the density of the area of interest.
  • the detection device can increase the density of the point cloud in the region of interest by reducing the rotational speed of the optical element in the scanning module. If the rotational speed of the optical element is reduced, the unit time The number of light pulses emitted by the transmitter to the region of interest increases, and the density of point clouds in the region of interest increases.
  • the detection device can increase the point cloud density in the region of interest by increasing the emission frequency of the transmitter and the rotational speed of the optical element in the scanning module; wherein the scanning When the rotational speed of the optical element in the module is increased, the number of times of scanning the region of interest is increased, and by increasing the emission frequency of the transmitter, the number of light pulses emitted to the region of interest is increased, and the sensor is further improved.
  • the point cloud density within the region of interest has increased.
  • the region of interest is located in the middle of the scanning range of the detection device, and in the automatic driving
  • the detection device scans the detection environment, and when the detection device scans the region of interest, by adjusting the transmission frequency and/or the emission frequency of the transmitter of the detection device Adjust the rotational speed of the optical element in the scanning module of the detection device, so that the corresponding point cloud density of the region of interest after adjustment is higher than the corresponding point cloud density when it is not adjusted, for example, please refer to FIG. 10A and FIG. 10B, FIG.
  • FIG. 10A is a point cloud frame obtained by the detection device when the transmission frequency of the transmitter and/or the rotational speed of the optical element in the scanning module is not adjusted
  • FIG. 10B is the transmission frequency and/or scanning mode of the transmitter being adjusted.
  • the point cloud frame obtained by the detection device after the rotation speed of the optical elements in the group is compared with FIG. 10A and FIG. 10B , it can be seen that the density of the point cloud in the middle part in FIG. 10B is denser.
  • the emission in the detection device may be reduced during the process of the detection device scanning the non-interested region
  • the transmission frequency of the detector is reduced, thereby reducing the power consumption of the detection device and prolonging the use time of the detection device.
  • an embodiment of the present application further provides a detection device 20 , including a transmitter 201 , a scanning module 300 and a processor 100 ;
  • the transmitter 201 is used to emit light pulses
  • the scanning module 300 includes at least one optical element 301, and the optical element 301 is used to continuously change the transmission direction of the light pulse and then exit;
  • the processor 100 is configured to determine a region of interest within the scanning range of the detection device 20; during the process of scanning the region of interest by the detection device 20, adjust the transmission frequency and/or the transmission frequency of the transmitter 201
  • the rotational speed of the optical element 301 in the scanning module 300 is adjusted; wherein, the point cloud density corresponding to the region of interest after adjustment is higher than the corresponding point cloud density when it is not adjusted.
  • the processor 100 is connected with the transmitter 201 for adjusting the transmission frequency of the transmitter 201; and the processor 100 is connected with the driver 302 in the scanning module 300 for adjusting The rotational speed of the optical element 301 in the scanning module 300; the driver 302 is used to drive the optical element 301 to rotate.
  • the number of the processors 100 may be one or more, and the processors 100 may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processor, DSP) ), Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array
  • a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the region of interest is determined according to the moving direction of the movable platform.
  • the region of interest is jointly determined according to the moving direction of the movable platform and the mounting position of the detection device 20 in the movable platform.
  • the region of interest is determined from non-overlapping regions within the scanning range of at least two of the detection devices 20 .
  • the region of interest is adjacent to at least two overlapping regions within the scanning range of the detection devices 20 .
  • At least two of the detection devices 20 are mounted on the front of the movable platform, or at least two of the detection devices 20 are mounted on the side of the movable platform.
  • the detection device 20 is mounted in front of and/or behind the movable platform;
  • the processor 100 is further configured to: determine a region of interest within the scanning range of the detection device 20 when the movable platform moves straight forward or backward.
  • the region of interest is located in the middle of the scanning range of the detection device 20 .
  • At least two of the detection devices 20 are mounted on a movable platform; the at least two detection devices 20 include a first detection device 20 and a second detection device 20 ; the first detection device 20 is mounted on a movable platform; Front and/or rear of the movable platform, the second detection device 20 is mounted on the side of the movable platform.
  • the processor 100 is further configured to: adjust the region of interest within the scanning range of the first detection device 20 when the movable platform is in a specified moving state, and determine the region of interest within the scanning range of the first detection device 20.
  • the second detection device 20 scans the region of interest within the range.
  • the designated movement state includes a turn state and/or a state in which the movable platform is moving at an intersection.
  • the region of interest is determined according to the location information of the target to be detected.
  • the processor 100 is further configured to: if the target to be detected is located in a non-interested area within the scanning range of the detection device 20, adjust the target according to the position information of the target to be detected. area.
  • the target to be detected is included in the adjusted region of interest.
  • the detection device 20 further includes a detector 202, the detector 202 is configured to generate three-dimensional points according to the reflected light pulses, and output a point cloud frame including several three-dimensional points at a specified frame rate .
  • the processor 100 is further configured to: determine a region of interest within the scanning range of the detection device 20 when the specified frame rate is higher than a preset threshold or the specified frame rate is increased.
  • the processor 100 is further configured to: determine the current scanning position of the detection device 20 according to the pre-stored correspondence between the rotational speed and the position of the scanning module 300; determine the current scanning position according to the current scanning position. whether the detection device 20 is scanning the region of interest.
  • the detection device 20 further includes a detector 202 for generating three-dimensional points according to the reflected light pulses;
  • the processor 100 is further configured to: if the last three-dimensional point generated by the detector 202 is located in the region of interest, determine that the detection device 20 is scanning the region of interest.
  • the detection device 20 is used to scan the detection environment in two dimensions;
  • the field of view of the detection device 20 in one of the dimensions is larger than the field of view in the other dimension.
  • the detection device 20 has a larger field of view in the horizontal dimension than in the vertical dimension.
  • the processor 100 is further configured to: increase the transmission frequency of the transmitter 201 .
  • the processor 100 is further configured to: reduce the rotational speed of the optical element 301 in the scanning module 300 .
  • the processor 100 is further configured to: increase the transmission frequency of the transmitter 201 and the rotational speed of the optical element 301 in the scanning module 300 .
  • the processor 100 is further configured to: reduce the transmission frequency of the transmitter 201 during the process of scanning the non-interested area by the detection device 20 .
  • the difference between the exit angles of two adjacent light pulses exiting the region of interest is smaller than the difference between the exit angles of two adjacent light pulses exiting the non-interest region.
  • the various embodiments described herein can be implemented using computer readable media such as computer software, hardware, or any combination thereof.
  • the embodiments described herein can be implemented using application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays ( FPGA), processors, controllers, microcontrollers, microprocessors, electronic units designed to perform the functions described herein are implemented.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGA field programmable gate arrays
  • processors controllers, microcontrollers, microprocessors, electronic units designed to perform the functions described herein are implemented.
  • embodiments such as procedures or functions may be implemented with separate software modules that allow the performance of at least one function or operation.
  • the software codes may be implemented by a software application (or program) written in any suitable programming language, which may be stored in
  • an embodiment of the present application further provides a movable platform 01, including:
  • a power system 002, installed on the body 001, is used to drive the movable platform 01 to move;
  • the above-mentioned detection device 20 mounted on the movable platform 01 .
  • the region of interest of the detection devices is determined from non-overlapping regions within the scanning range of at least two of the detection devices.
  • the region of interest is adjacent to at least two overlapping regions within the scanning range of the detection device.
  • At least two of the detection devices are mounted in front of the movable platform, and/or at least two of the detection devices are mounted on the side of the movable platform.
  • the region of interest of the detection device is located in the middle of the scanning range of the detection device.
  • At least two of the detection devices are mounted on the movable platform; the at least two detection devices include a first detection device and a second detection device; the first detection device is mounted on the movable platform. The front and/or rear of the movable platform, the second detection device is mounted on the side of the movable platform.
  • the detection device can also be mounted on the top and/or bottom of the movable platform, for example, the detection device is mounted on the top and/or bottom of the UAV. .
  • non-transitory computer-readable storage medium such as a memory including instructions, executable by a processor of an apparatus to perform the above-described method.
  • the non-transitory computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.
  • a non-transitory computer-readable storage medium when the instructions in the storage medium are executed by the processor of the terminal, enable the terminal to execute the above method.

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

Abstract

L'invention concerne un procédé et un appareil de détection, une plate-forme mobile et un support de stockage. Le procédé de détection est utilisé dans un appareil de détection pour balayer un environnement de détection, et l'appareil de détection comprend un émetteur pour émettre une impulsion de lumière et un module de balayage pour changer de manière continue la direction de transmission de l'impulsion de lumière et pour ensuite l'émettre. Le procédé consiste : à déterminer une région digne d'intérêt dans une plage de balayage d'un appareil de détection ; et lorsque l'appareil de détection balaye la région digne d'intérêt, à régler la fréquence de transmission d'un émetteur et/ou à ajuster la vitesse de rotation d'un élément optique à l'intérieur du module de balayage, la densité d'un nuage de points correspondant de la région digne d'intérêt après un réglage étant supérieure à la densité d'un nuage de points correspondant avant un réglage. Le mode de réalisation de la présente invention permet d'obtenir une augmentation de la densité de nuage de points d'une région digne d'intérêt.
PCT/CN2021/087322 2021-04-14 2021-04-14 Procédé et appareil de détection, plate-forme mobile et support de stockage Ceased WO2022217520A1 (fr)

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