Scanning data correction method and system of two-dimensional scanning type laser radar

A technology of laser radar and scanning data, which is applied in the field of sensor detection to achieve the effect of overcoming errors

Active Publication Date: 2016-05-11
重庆大学溧阳智慧城市研究院
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

Suitable for two-dimensional scan...

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  • Scanning data correction method and system of two-dimensional scanning type laser radar
  • Scanning data correction method and system of two-dimensional scanning type laser radar
  • Scanning data correction method and system of two-dimensional scanning type laser radar

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Embodiment 1

[0086] like Image 6 As shown, the scanning data correction method of the two-dimensional scanning laser radar provided in this embodiment includes the following steps:

[0087] S1: Obtain the scanning parameters of the lidar, the scanning parameters shown include scanning period, angular resolution, scanning range, and line number;

[0088] S2: Obtain the distance information of the i-th laser beam within the scanning period;

[0089] S3: Obtain the current angle of the i-th line laser beam relative to the scanning environment according to the distance information of the i-th line laser beam and the distance of the line laser beam in the previous cycle;

[0090] S4: Obtain the current speed of the lidar through the sensor;

[0091] S5: Obtain the current distance from the i-th laser beam to the scanning environment according to the current speed;

[0092] S6: Obtain the correction value of the i-th line laser beam according to the current distance of the i-th line laser be...

Embodiment 2

[0153] The error of the two-dimensional scanning laser radar is mainly determined by its scanning principle: the motor drives the rotating mirror to emit the laser beam. Within a detection cycle, there is a time difference between the detection start time and the detection end time. If the laser radar is in motion, then in this Spatial displacement will be accumulated in the time difference, thereby causing errors; in view of this problem, the scanning data correction method of the two-dimensional scanning laser radar provided in this embodiment obtains the attitude of the moving laser radar in real time, and in one laser radar scanning cycle The error calculation and compensation of the environmental data are carried out internally, so as to achieve the error correction of the scanning data of the two-dimensional scanning laser radar, so that when the robot moves relative to the environment, the accuracy of the environmental detection and the reliability of the robot are improv...

Embodiment 3

[0179] This embodiment will introduce the specific steps in detail:

[0180] Step 1: Rigidly connect the gyroscope or inertial navigation system to the lidar, and monitor the current speed of the lidar in real time through the sensor Get information from lidar and store the data of different lines.

[0181] Step 2: Calculate the angle information of the environment (such as a wall) within the scanning range of the i-th laser beam.

[0182] (1) Read and store the scanning distance of the i-th line laser beam in the previous cycle as S (t-T) , read the scanning distance of the i-th line laser beam in the current period, set it as S t .

[0183] (2) pass figure 2 The geometric information of , the formula is derived as follows:

[0184]

[0185] therefore:

[0186]

[0187] and get:

[0188]

[0189] From this, the angle θ of the environment where the i-th laser beam scans is calculated i .

[0190] Step 3: Correct the i-th line lidar scanning data in the cu...

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Abstract

The invention discloses a scanning data correction method and system of a two-dimensional scanning type laser radar. According to the method, the current angle of an i-th laser beam relative to a scanning environment is obtained based on scanning parameters of the laser radar and the distance information of the i-th laser beam in a scanning period; the current speed and current distance of the laser radar are obtained based on a sensor, so that the correction value and real scanning value of the i-th laser beam of the laser radar can be calculated. The attitude of the laser radar in movement is obtained in real time, error calculation and compensation are performed on environmental data in a laser radar scanning period, and therefore, the error correction of scanning data of the two-dimensional scanning type laser radar can be realized, and the accuracy of environment detection and the reliability of the navigation of a robot can be improved when the robot moves relative to the environment. With the method and system adopted, errors caused by spatial displacement which is accumulated in time difference in a detection period can be eliminated. The method and system are of great significance for solving the problem of data scanning errors on the laser radar in a motion state.

Description

technical field [0001] The invention relates to the field of sensor detection, in particular to a method and system for correcting scanning data of a two-dimensional scanning laser radar. Background technique [0002] Two-dimensional scanning laser radar can provide accurate and real-time distance information within a certain range (generally 0°~180°) within a single scanning plane. It is widely used in the field of robotics due to its advanced advantages, and cooperates with other sensors to detect the environment and complete tasks. [0003] Through the rotatable mirror integrated on the lidar laser transmitter, the lidar can establish a two-dimensional fan-shaped measurement surface (generally 0°~180°) in the front measurement area, and the laser beam emitted by the lidar touches the fan-shaped By measuring the in-plane target surface and reflecting it back, a 2D profile of the scanned target surface can be created. [0004] It can be seen from the principle of the abov...

Claims

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Application Information

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IPC IPC(8): G01S17/06
CPCG01S17/06
Inventor 赵敏孙棣华刘卫宁郑林江杜道轶
Owner 重庆大学溧阳智慧城市研究院
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