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A method and device for improving the accuracy of laser ranging

A technology of laser ranging and accuracy, which is applied in the field of improving the accuracy of laser ranging, and can solve the problems that multi-echo technology cannot effectively identify and filter out

Active Publication Date: 2021-11-30
SHENZHEN KYLE OPTICS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In view of the above defects or improvement needs of the prior art, the present invention provides a method and device for improving the accuracy of laser ranging. The specific echo signal is identified and calculated to obtain the echo intensity of the target echo, thereby solving the problem that in some special application scenarios, multi-echo technology cannot effectively identify and filter out the influence of interference sources such as fog, haze, and dust on the lidar technical issues

Method used

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  • A method and device for improving the accuracy of laser ranging
  • A method and device for improving the accuracy of laser ranging
  • A method and device for improving the accuracy of laser ranging

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Embodiment 1

[0062] In application scenarios where there are interference sources such as fog, haze, and dust, when the laser signal reaches the target and the interference source, it will be reflected to generate an echo signal. If the echo signals of the target and the interference source are superimposed, it will affect the laser ranging. At this time, the multi-echo technology cannot effectively identify and filter the influence of the interference source on the laser radar. In order to solve the above problems, an embodiment of the present invention provides a method for improving the accuracy of laser ranging:

[0063] After receiving the echo signal, firstly detect the slope change of the rising edge of the echo signal above the signal threshold. If it is detected that the slope of the rising edge of the echo signal above the signal threshold lasts for a preset time within the minimum preset range, it proves that the received echo signal is caused by interference sources with a cert...

Embodiment 2

[0097] In the above-mentioned embodiment 1, it corresponds to the application scenario where there are interference sources such as fog, haze, and dust. Such interference sources have a certain thickness, so the waveform of the generated interference echo is different from the target echo, and there is no sharp peak, but there is a relatively broad peak, such as figure 1 As shown, after overlapping figure 2 and Figure 4 shown. For the interference source of rain and snow, the thickness is very small, so the waveform of the generated interference echo is similar to the target echo, and has a sharp peak, such as Figure 6 As shown, after overlapping Figure 7 , Figure 8 and Figure 9 shown. In view of the impact caused by such small-thickness interference sources, the embodiment of the present invention further provides another method for improving the accuracy of laser ranging:

[0098] When the echo signal is received, it is first detected whether there is a notch ab...

Embodiment 3

[0125] On the basis of the method for improving the accuracy of laser ranging provided by the above-mentioned embodiment 1 and embodiment 2, the present invention also provides a device for improving the accuracy of laser ranging that can be used to implement the above method, such as Figure 11 Shown is a schematic diagram of the device architecture of the embodiment of the present invention. The device for improving laser ranging accuracy in this embodiment includes one or more processors 21 and memory 22 . in, Figure 11 A processor 21 is taken as an example.

[0126] The processor 21 and the memory 22 may be connected via a bus or in other ways, Figure 11 Take connection via bus as an example.

[0127] The memory 22 is a non-volatile computer-readable storage medium as a method for improving laser ranging accuracy, and can be used to store non-volatile software programs, non-volatile computer-executable programs and modules, as in Embodiment 1 A method to improve the ...

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Abstract

The invention discloses a method and a device for improving the accuracy of laser ranging. When it is detected that the slope of the echo signal is within the minimum preset range for a preset time, the specific echo calculation process is entered: the first echo is used as the The center creates a virtual echo of the second echo and determines the initial time-of-flight of the virtual echo based on the first function; based on the initial time-of-flight of the virtual echo, the peak corresponding time of the virtual echo, and the peak value of the second echo Corresponding to the time, the initial flight time of the second echo is obtained; according to the initial flight time of the second echo, the time and height when the slope of the first echo leaves the minimum preset range, the superimposed second echo is calculated The echo intensity of the concealed part; the first function is the functional relationship between the rising edge time width and the peak height of the normal echo. The above scheme can ensure that the ranging process is not affected by interference sources in the scene where there are interference sources such as fog and haze, and the target distance can be calculated accurately and stably.

Description

technical field [0001] The invention belongs to the technical field of laser ranging, and more specifically relates to a method and a device for improving the accuracy of laser ranging. Background technique [0002] LiDAR can be used to detect the 3D spatial information of the surrounding environment and complete the reconstruction of the 3D point cloud system. It has a wide range of applications in many fields, and there are many specific application scenarios. At the same time, lidar will also be used in a variety of environments, especially in industrial applications, most of which are used in outdoor environments. The outdoor environment is relatively harsh, and it is easy to be interfered by interference sources such as fog, haze, and dust, which will affect the normal detection of LiDAR. [0003] At present, the technical method for lidar to remove the influence of fog, haze, dust, etc. is to use multi-echo technology, that is, the echoes caused by interference source...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S17/08G01S7/48
CPCG01S17/08G01S7/4802
Inventor 曾炼李亚锋石城徐泽峰凌创伟陈彬李明肖大敏庾敏强
Owner SHENZHEN KYLE OPTICS TECH CO LTD
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