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Method and device for improving laser ranging precision

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

Active Publication Date: 2021-09-10
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, the multi-echo technology cannot effectively identify and filter out the influence of interference sources such as rain, snow and dust on the lidar. question

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  • Method and device for improving laser ranging precision
  • Method and device for improving laser ranging precision
  • Method and device for improving laser ranging precision

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Embodiment 1

[0058] In application scenarios where there are interference sources such as rain, snow 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:

[0059] When the echo signal is received, it is first detected whether there is a notch above the signal threshold in the waveform of the echo signal. If there is a concave point, it proves that the received echo signal is the specific echo caused by interference sources such as rain, snow and dust, and the echoes of the target and the interference source are superimposed, the...

Embodiment 2

[0088] In the above-mentioned embodiment 1, it corresponds to the application scenario where there are interference sources such as rain, snow and dust. The thickness of such interference sources 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 1 As shown, after overlapping figure 2 , Figure 4 with Figure 5 shown. For interference sources with a certain thickness such as smog and haze, the waveform of the interference echo produced by them is different, and there is no sharp peak, but as Figure 7 There is a broad peak as shown, after overlapping as Figure 8 with Figure 9 shown. In view of the impact caused by such interference sources with a certain thickness, the embodiment of the present invention further provides another method for improving the accuracy of laser ranging:

[0089] After receiving the echo signal, firstly detect the slope change of the rising edge of the echo s...

Embodiment 3

[0119] 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.

[0120] 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.

[0121] 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 ac...

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Abstract

The invention discloses a method and device for improving laser ranging precision, and the method comprises the steps: entering a specific echo calculation process when detecting that the waveform of an echo signal has a concave point above a signal threshold: building a virtual echo of a second echo by taking a first echo as a center, and determining the initial flight time of the virtual echo based on a first function; obtaining the initial flight time T of the second echo according to the initial flight time of the virtual echo, the peak value corresponding time of the virtual echo and the peak value corresponding time of the second echo; according to the initial flight time of the second echo, the corresponding time of the last concave point and the peak height of the last concave point, calculating the echo intensity of the superposed and hidden part in the second echo, wherein the first function is a function relation between the rising edge time width and the peak height of the normal echo. According to the scheme, the distance measurement process in a scene with interference sources such as rain, snow, dust and the like is not influenced by the interference sources, and the target distance is accurately and stably calculated.

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 rain, snow and dust, which will affect the normal detection of LiDAR. [0003] At present, the technical method for lidar to remove the influence of rain, snow and dust is to use multi-echo technology, that is, the echo caused by interference sources su...

Claims

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Application Information

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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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