WO2020142939A1

WO2020142939A1 - Echo signal processing method and device and storage medium

Info

Publication number: WO2020142939A1
Application number: PCT/CN2019/071018
Authority: WO
Inventors: 许友; 陈涵
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-01-09
Filing date: 2019-01-09
Publication date: 2020-07-16
Also published as: CN111670379A

Abstract

Provided are an echo signal processing method and device and a storage medium. The method comprises: transmitting a light pulse and acquiring a plurality of echo signals corresponding to the light pulse; determining energy characteristic parameters and distance data of each echo signal in the plurality of echo signals; and determining, according to the energy characteristic parameters and distance data of each echo signal, whether each echo signal is a noise point echo signal generated by an interference noise point. In this way, noise point echo signals, generated by interference noise points, in the plurality of echo signals collected currently can be precisely determined, thereby effectively improving the accuracy of a laser detection device for detecting a target, and providing a foundation for the safe movement of a mobile platform.

Description

Echo signal processing method, equipment and storage medium

Technical field

Embodiments of the present invention relate to the field of radar, and in particular, to an echo signal processing method, device, and storage medium.

Background technique

In the prior art, mobile platforms, such as vehicles, drones, and mobile robots, are equipped with laser detection equipment (such as lidar), which can be used to detect targets (such as obstacles) around the mobile platform.

Normally, there are interference noises in the environment where the lidar is located, such as dust, rain, fog, haze, snow and other objects. The lidar emits an optical pulse signal, and the optical pulse signal will encounter the target and interference noise, causing the laser detection device to receive multiple echo signals, where the multiple echo signals include interference noise (i.e. Reflection), ie noise echo signal. Noise echo signals will affect Lidar's accurate detection of targets. However, in the prior art, when filtering the noise echo signal received by the laser detection device, it is easy to filter the echo signal generated by the target together, resulting in a decrease in the accuracy of the lidar detection target.

Summary of the invention

Embodiments of the present invention provide an echo signal processing method, device, system, and storage medium to improve the accuracy of noise echo signal recognition, and thereby improve the accuracy of target detection by laser detection equipment.

A first aspect of the embodiments of the present invention is to provide an echo signal processing method, which is applied to a laser detection device, and is characterized by including:

Emitting optical pulses, and acquiring multiple echo signals corresponding to the optical pulses;

Determining energy characteristic parameters and distance data of each echo signal in the plurality of echo signals;

According to the energy characteristic parameter and the distance data of each echo signal, it is determined whether each echo signal is a noise echo signal generated by interference noise.

A second aspect of the embodiments of the present invention is to provide a laser detection device, which includes: a laser transmitter, a receiver, and a processor;

The laser is used to emit light pulses;

The receiver is used to obtain multiple echo signals corresponding to the optical pulse;

The processor is used to:

A third aspect of the embodiments of the present invention is to provide a movable platform, including:

body;

The power system is installed on the body to provide power;

And the laser detection device according to the second aspect.

A fourth aspect of the embodiments of the present invention is to provide a computer-readable storage medium on which a computer program is stored, which is executed by a processor to implement the echo signal processing method described in the first aspect.

The echo signal processing method, device and storage medium provided in this embodiment determine the energy characteristic parameter and distance of each echo signal in the multiple echo signals by acquiring multiple echo signals corresponding to the optical pulses According to the energy characteristic parameters and distance data of each echo signal, it is determined whether each echo signal is a noise echo signal generated by interference noise. In this way, it is possible to accurately determine the noise echo signal generated by the interference noise among the multiple echo signals currently collected, which can effectively improve the accuracy of the detection target of the laser detection device, providing safe movement of the movable platform Foundation.

BRIEF DESCRIPTION

In order to more clearly explain the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For a person of ordinary skill in the art, without paying any creative labor, other drawings can also be obtained based on these drawings.

1 is a structural diagram of a laser detection device provided by an embodiment of the present invention;

2 is a flowchart of an echo signal processing method provided by an embodiment of the present invention;

3 is a schematic diagram of the relationship between the echo energy of an echo signal generated by an object with different reflectances and the distance data of the echo signal according to an embodiment of the present invention;

4 is a schematic diagram of the relationship between the pulse width of the rain fog and dust echo signals and the distance data of the echo signals provided by the embodiment of the present invention;

5 is a distance distribution diagram between an interference noise generating an echo signal and a laser detection device according to an embodiment of the present invention;

6 is a structural diagram of a laser detection device provided by an embodiment of the present invention;

7 is a structural diagram of a movable platform provided by an embodiment of the present invention;

detailed description

The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.

It should be noted that when a component is said to be "fixed" to another component, it can be directly on another component or there can be a centered component. When a component is considered to be "connected" to another component, it can be directly connected to another component or there may be a centered component at the same time.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terminology used in the description of the present invention herein is for the purpose of describing specific embodiments, and is not intended to limit the present invention. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

The following describes some embodiments of the present invention in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and the features in the embodiments can be combined with each other.

FIG. 1 is a schematic structural diagram of a laser detection device provided in an embodiment of the present invention. For the purpose of schematic description, taking lidar as a laser detection device as an example for schematic description. As shown in FIG. 1, the lidar may include a laser 101, a lens 102, a controller 103, a first motor 104, a second motor 105, a first prism 106, a second prism 107, a beam splitter 108, a receiver 109 and A Time of Flight (TOF) module 110, where the receiver 109 includes a photodiode, for example, may be an Avalanche Photodiode (APD). Taking the distance between the lidar detection and the target 20 as an example, the laser of the lidar turns the electrical pulse signal into a divergent light pulse signal, the lens converts the divergent light pulse signal into a parallel light pulse signal, and the controller (set at In the chip) the first motor is used to control the rotation of the first prism, the second motor is used to control the rotation of the second prism, and the differential rotation of the first prism and the second prism is used to change the light emitted through the first prism and the second prism The direction of the pulse signal. After the emitted optical pulse signal meets the target, it will be reflected back to the optical pulse signal. The reflected optical pulse signal is the echo signal. The echo signal is split by the beam splitter and enters the receiving In the receiver (including APD), the receiver converts the echo signal into an electrical pulse signal, and calculates the distance between the lidar and the target through TOF (set in the chip), and then generates points based on the distance between the lidar and the target Cloud data.

Generally, there are interference noises in the environment where the lidar is located, such as dust, rain, haze, snow and other objects. The lidar emits an optical pulse signal, and the optical pulse signal will encounter the target and interference noise, causing the laser detection device to receive multiple echo signals, where the multiple echo signals include interference noise (i.e. Reflection), ie noise echo signal. The noise echo signal will affect the accurate detection of the target by the lidar, and the noise echo signal needs to be filtered out.

In the prior art, the first echo signal among the multiple echo signals is determined as the effective echo signal or the one echo signal with the largest energy among the multiple echo signals is determined as the effective echo, and the other echo signals are determined. The wave signal is determined as a noise echo signal. However, this method is not accurate, and it is very likely that the echo signal generated by a distant target is determined as a noise echo signal, that is, a distant target is determined as interference noise. In order to solve the above technical problems, the present invention provides an echo signal processing method, device and storage medium.

FIG. 2 is a schematic flowchart of an echo signal processing method according to Embodiment 1 of the present invention. The noise echo signal processing method is applied to a laser detection device. As shown in FIG. 2, the method includes:

Step 201: Transmit an optical pulse signal and obtain multiple echo signals corresponding to the optical pulse;

Specifically, as described above, the laser detection device includes a laser and a receiver. The laser may emit an optical pulse signal, and the optical pulse signal encounters a target and/or interference noise will generate reflection to generate multiple echo signals, and the receiver may receive multiple echo signals corresponding to the optical pulse.

Step 202: Determine energy characteristic parameters and distance data of each echo signal in the plurality of echo signals;

Specifically, the laser detection device may include a processor, where the processor may include one or more. The processor may determine the energy characteristic parameter corresponding to each of the plurality of echo signals received by the receiver according to. The energy characteristic parameter may include any information that can indicate the energy characteristic parameter, and the energy characteristic parameter is determined according to at least one of echo energy, pulse width, height, and area of the echo signal. Further, the energy characteristic parameter may include at least one of echo energy, pulse width, height, and area of the echo signal. In addition, the processor may also calculate distance data corresponding to each echo signal according to the TOF as described above, where the distance data may be distance data between the laser detection device and the object that generates the echo signal.

Step 203: Determine whether each echo signal is a noise echo signal generated by interference noise according to energy characteristic parameters and distance data of each echo signal.

Specifically, after the energy characteristic parameters and distance data of each echo signal, and according to the energy characteristic parameters and distance data of each echo signal, determine whether the echo signal is a noise echo signal generated by interference noise, that is, according to each The energy characteristic parameters and distance data of an echo signal filter out the noise echo signals in multiple echo signals.

The echo signal processing method provided in this embodiment determines the energy characteristic parameters and distance data of each echo signal in the multiple echo signals by acquiring multiple echo signals corresponding to the optical pulses, and according to each The energy characteristic parameters and distance data of the echo signal determine whether each echo signal is a noise echo signal generated by interference noise. In this way, it is possible to accurately determine the noise echo signal generated by the interference noise among the multiple echo signals currently collected, which can effectively improve the accuracy of the detection target of the laser detection device, providing safe movement of the movable platform Foundation.

In some embodiments, the determining whether each of the echo signals is a noise echo signal according to the energy characteristic parameter and the distance data of each echo signal includes: determining according to the distance data of each echo signal A reference energy characteristic parameter of each echo signal; determining whether each echo signal is a noise echo signal according to the energy characteristic parameter and the reference energy characteristic parameter of each echo signal.

Specifically, after acquiring the distance data corresponding to each echo signal of the multiple echo signals, the laser detection device may determine the reference energy characteristic parameter corresponding to each echo signal according to the distance data of each echo signal , Wherein the reference energy characteristic parameter may be used to indicate the energy characteristic parameter of the echo signal generated by the interference noise when the interference noise is at the distance indicated by the distance data. After determining the energy characteristic parameter corresponding to each echo signal, the energy characteristic parameter of each echo signal and the reference energy characteristic parameter may be used to determine the relationship between the echo energy characteristic parameter and the corresponding reference energy reference information. Relationship, determining whether each of the echo signals is a noise echo signal according to the relationship.

Further, the determining whether each of the echo signals is a noise echo signal according to the energy characteristic parameter of each echo signal and the reference energy characteristic parameter includes: when the energy characteristic parameter of the echo signal is less than the When the reference energy characteristic parameter of the echo signal is determined, the echo signal is determined to be a noise echo signal.

Specifically, the energy characteristic parameter of the echo signal is the echo energy of the echo signal, and the characteristic information of the reference energy is the reference echo energy as an example for description. The echo energy of the echo signal received by the receiver of the lidar detection device is mainly determined by the distance data of the echo signal and the reflectance of the object that generates the echo signal, for example:

E _intensity = k*r/R ² (1)

Among them, E _intensity is the echo energy of the echo signal, r is the reflectivity of the object generating the echo signal, R is the distance data of the echo signal, and k is the scale factor.

Referring to FIG. 3, objects with different reflectances have the following relationship curve between echo energy and distance data. As can be seen from Figure 3, the echo energy is positively correlated with the reflectivity of the object and negatively correlated with the square of the distance indicated by the distance data. At the same distance, the greater the reflectivity of the object, the echo of the echo signal generated by the object The greater the energy. Under normal circumstances, the reflectivity of the interference noise is very low compared to the reflectivity of the target. For example, the reflectivity of the interference noise is generally lower than a preset reflectivity threshold, such as 3.2 in the figure. Objects smaller than the preset reflectivity threshold can be regarded as interference noise. Here, a preset reflectivity threshold of 3.2 is taken as an example for description. Therefore, it can be considered that when the position data formed by the distance data of the echo signal and the echo energy of the echo signal is below the curve corresponding to r=3.2 in FIG. 3 (shaded part in the figure), the echo signal can be considered as extremely There may be echo signals generated by interference noise. Further, the echo energy corresponding to each distance data on the curve corresponding to r=3.2 (which may be called a noise filtering curve) is the reference echo energy corresponding to the distance data, where the reference echo energy can be used The echo energy of the echo signal generated by the interference noise when indicating that the interference noise is at the distance indicated by the distance data. After acquiring the distance data and the echo energy of each echo signal, the detection device may determine the reference echo energy corresponding to the distance data according to the distance data of each echo signal, when the echo signal When the echo energy is less than the reference echo energy, it can be determined that the echo signal is an echo signal generated by interference noise.

The energy characteristic parameter of the echo signal is the pulse width of the echo signal, and the reference energy characteristic parameter is the reference pulse width as an example for description. Considering the calculation aspect in engineering practice, the formula (1) can be converted to obtain the following formula (2):

Among them, Pw is the pulse width of the echo signal, k is the scale factor, r is the reflectivity, R is the detection distance of the radar, and g ^-1 is the conversion function.

It can be seen from formula (2) that the pulse width of the echo signal is positively correlated with the reflectivity of the object and negatively correlated with the square of the distance indicated by the distance data. At the same distance, the greater the reflectance of the object, the object produces The greater the pulse width of the echo signal. As mentioned above, the reflectivity of the interference noise is very low compared to the reflectivity of the target. For example, the reflectivity of the interference noise is generally lower than a preset reflectivity threshold. For example, the preset reflectivity threshold can be It is the reflectivity of rain fog or dust. Objects with reflectivity less than the preset reflectivity threshold can be regarded as interference noise. Referring to FIG. 4, FIG. 4 shows a relationship curve (which may be called a filtering curve) of the pulse width of the echo signal generated by rain fog and dust determined by formula (2) and the distance data of the corresponding echo signal. When the position data formed by the distance data of the echo signal and the echo energy of the echo signal is below the filtering curve of rain and mist or the filtering curve of dust in FIG. 4, it can be considered that the echo signal is most likely to be the echo generated by the interference noise Wave signal. Further, the pulse width corresponding to each distance data on the filtering curve of rain and mist or the filtering curve of dust is the reference pulse width corresponding to the distance data, wherein the reference pulse width may be used to indicate that interference noise is at the distance The pulse width of the echo signal generated by the interference noise at the distance indicated by the data. After acquiring the distance data and the pulse width of each echo signal, the detection device may determine the reference pulse width corresponding to the distance data according to the distance data of each echo signal, when the pulse width of the echo signal When it is smaller than the reference pulse width, it can be determined that the echo signal is an echo signal generated by interference noise.

In summary, after acquiring the energy characteristic parameter of the echo signal and the reference energy characteristic parameter, the laser detection device can compare the magnitude relationship between the energy characteristic parameter and the reference energy characteristic parameter, when the energy characteristic of the echo signal When the parameter is less than the reference energy characteristic parameter of the echo signal, it is determined that the echo signal is a noise echo signal.

Further, the determining whether each of the echo signals is a noise echo signal according to the energy characteristic parameter of each echo signal and the reference energy characteristic parameter includes: when the energy characteristic parameter of the echo signal is greater than the When the reference energy characteristic parameter of the echo signal is determined, the echo signal is determined to be an effective echo signal, that is, the echo signal is determined to be the echo signal generated by the target.

In some embodiments, the determining the reference energy characteristic parameter of each echo signal according to the distance data of each echo signal includes: substituting the distance data of the echo signal into a noise echo filtering curve To determine the reference energy characteristic parameter of the echo signal.

Specifically, after acquiring the distance data of the echo signal, the lidar detection device may substitute the distance data into a noise echo filtering curve, where the noise echo filtering curve is used to indicate the reflectivity of the interference noise, The relationship between the energy information of the multiple echo signals generated by the interference noise and the distance data corresponding to the energy information. For example, the distance data of the echo signal can be substituted into the filter curve corresponding to r=3.2 shown in FIG. 3, the rain mist filter curve shown in FIG. 4, or the dust filter curve shown in FIG. 4 to determine The reference energy characteristic parameter of the echo signal is obtained. Further, the method described above can be used to determine whether the echo signal is a noise echo generated by interference noise according to the energy characteristic parameter of the echo signal and the reference energy characteristic parameter signal.

In some embodiments, the noise-echo filtering curve is based on the reflectivity of the interference noise, the energy characteristic parameters of the multiple echo signals generated by the interference noise, and the energy characteristic parameters corresponding to the multiple echo signals Calibration of multiple distance data.

Specifically, in order to obtain a noise filtering curve, multiple echo signals generated by interference noise may be acquired in an experimental manner, and energy information of the multiple echo signals and distance data corresponding to the energy information may be acquired. For example, with continued reference to FIG. 4, the noise filtering curve may be the curve corresponding to formula (2) when r=r0, where r0 is the reflectivity of the interference noise, and further, r0 is the reflectivity of rain fog or dust. In the process of calibrating the noise filter curve, the pulse width and distance data corresponding to the pulse width of the multiple echo signals generated by the interference noise can be obtained, wherein the pulse width and the The distance data corresponding to the pulse width constitutes multiple position points as shown in FIG. 4, according to the reflectivity of the interference noise, the energy characteristic parameters of multiple echo signals generated by the interference noise, and the energy characteristic parameters of the multiple echo signals Corresponding multiple distance data can be polynomial fitted to formula (2) to determine g ^-1 and k in formula (2), that is, the calibration of the noise filter curve when r = r0 is completed.

In some embodiments, the noise echo filtering curve is selected according to the type of interference noise specified by the user.

Specifically, the noise echo filtering curve may be stored in the storage device of the lidar detection device, and in some cases, the noise echo filtering curve may include multiple types. For example, the dust filtering curve or the rain mist filtering curve shown in FIG. 4. The user can select the corresponding noise filter curve according to the environment of the laser detection device. For example, when the laser detection device is used in a rain and fog environment, the user can select the rain and fog filtering curve as shown in FIG. 4; when the laser detection device is used in an environment with more gray layers, the user can select the one shown in FIG. 4 Dust filter curve.

In some embodiments, the noise echo filtering curve may be selected by the laser detection device according to the identified environment type.

Specifically, the laser detection device can identify the type of environment in which the laser detection device is located, for example, whether the laser detection device is in a rain or fog environment or a dust environment, and select different types of noise echo filtering according to the identified environment type Curve, for example, when it is recognized that the laser detection device is in a rain and mist environment, the rain and mist filtering curve shown in FIG. 4 is selected, and when it is recognized that the laser detection device is in a dust environment, the dust filtering curve as shown in FIG. 4 is selected.

In some embodiments, when the energy characteristic parameter of the echo signal is less than the reference energy characteristic parameter of the echo signal, determining that the echo signal is a noisy echo signal includes: when the echo signal When the energy characteristic parameter of is less than the reference energy characteristic parameter of the echo signal, determine whether the distance data of the echo signal is less than the reference distance data; if so, determine that the echo signal is a noise echo signal .

Specifically, when the laser detection device determines that the energy characteristic parameter of the echo signal is less than the reference energy characteristic parameter of the echo signal, it may perform further judgment. For example, considering that the interference noise is generally a tiny particulate object in the environment, the probability that the laser detection device receives the echo signal generated by the interference noise located far away is relatively small. Therefore, the distance data of the echo signal can be further compared with a reference distance threshold to determine whether the distance data of the echo signal is less than the reference distance data, and if so, the echo signal is determined to be a noise echo signal, If not, it is determined that the echo signal is a valid echo signal.

Further, the reference distance data is determined according to the distance distribution between the interference noise generating the noise echo signal and the laser detection device.

Specifically, through theoretical analysis, the distance between the interference noise generating the noise echo signal and the laser detection device may obey a specific distance distribution, for example, the distance distribution is a Poisson distribution or a Gaussian distribution. Here, taking the distance distribution between the interference noise generating the noise echo signal and the laser detection device as a Poisson distribution for example, that is, the distance between the interference noise generating the noise echo signal and the laser detection device Obey the following distribution:

According to different types of interference noise, the λ takes different values. For example, if the interference noise is rain and fog, the λ can be selected as 3.5, so that the interference noise generated by the interference noise as shown in FIG. 5 can be obtained The distance distribution diagram of the interference noise of the signal and the laser detection device. Observing the distance distribution diagram, it can be seen that the interference noise is mainly distributed within a range of 10 meters from the laser detection device. Further, a reference distance threshold may be determined according to the distance distribution, for example, the reference distance threshold may be 10 meters, and it is determined whether the distance data of the echo signal is less than 10 meters; if it is, the echo signal is determined to be Noise echo signal. If not, it can be determined that the echo signal is a valid echo signal.

In some cases, the type of the distance distribution may be determined according to the type of interference noise specified by the user.

Specifically, the distance of the noise echo signal generated by different types of interference noise may obey different types of distance distribution, and the different types of distance distribution may make the reference distance data different. For example, the distance data of the echo signal generated by rain and fog may follow Poisson distribution, and the distance data of the echo signal generated by dust may follow Gaussian distribution. The laser detection device may determine the distance distribution of the type corresponding to the type of interference noise according to the type of interference noise specified by the user.

In some cases, one or more parameters in the distance distribution are determined according to the type of interference noise specified by the user.

Specifically, the parameters in the distance distribution between different types of interference noise and the laser detection device may be different. Different parameters may make the reference distance data different. One or more parameters in the distance distribution are Determined according to the type of interference noise specified by the user. For example, the distance distribution between the rain fog generating the noise echo signal and the laser detection device and the distance distribution between the dust generating the noise echo signal and the laser detection device are both Poisson distribution, and the rain and fog correspond to The parameter λ in the Poisson distribution may be different from the parameter λ in the Poisson distribution corresponding to dust. The laser detection device may determine one or more parameters in the distance distribution of the type corresponding to the type of interference noise according to the type of interference noise specified by the user. For example, the laser detection device may determine the parameter λ in the Poisson distribution according to the type of interference noise selected by the user.

In some embodiments, when the energy characteristic parameter of the echo signal is less than the reference energy characteristic parameter of the echo signal, determining that the echo signal is a noisy echo signal includes: when the echo signal When the energy characteristic parameter of is less than the reference energy characteristic parameter of the echo signal, the distance data is determined according to the distance data and the distance distribution between the interference noise generating the noise echo and the laser detection device Probability; when it is determined whether the probability is greater than a preset probability threshold, when yes, the echo signal is determined to be a noise echo signal, and when not, the echo signal is determined to be an effective echo signal.

Specifically, when the laser detection device determines that the energy characteristic parameter of the echo signal is less than the reference energy characteristic parameter of the echo signal, it may perform further judgment. Considering that the interference noise is generally a tiny particle object in the environment, the probability that the laser detection device receives the echo signal generated by the interference noise located at a distance is relatively small. Therefore, the probability corresponding to the distance data can be further determined according to the distance data and the distance distribution between the interference noise generating the noise echo and the laser detection device. As mentioned above, the theoretical analysis shows that the distance between the interference noise generating the noise echo signal and the laser detection device may follow a specific distance distribution, for example, the distance distribution follows the Poisson distribution or Gaussian distribution .

Here, taking the distance distribution between the interference noise generating the noise echo signal and the laser detection device as an example, that is, the distance between the interference noise generating the noise echo signal and the laser detection device Obey the following distribution:

According to different types of interference noise, the λ takes different values. For example, if the interference noise is rain and fog, the λ can be selected as 3.5, so that the interference noise generated by the interference noise as shown in FIG. 5 can be obtained The distance distribution diagram of the interference noise of the signal and the laser detection device. As can be seen from Figure 5, when the distance data of the echo signal generated by the interference noise is in the range of 0-10 meters, the probability of the distance data in the Poisson distribution is large, indicating that the interference noise is mainly distributed in the range of 1-10 meters When the distance of the echo signal generated by the interference noise is within 10 meters of the distance data, the probability of the distance data in the Poisson distribution is very small, indicating that the interference noise is unlikely to be distributed within the range of 10 meters. Therefore, the laser detection device can determine the probability corresponding to the distance data according to the distance data and the distance distribution (eg Poisson distribution) between the interference noise generating the noise echo and the laser detection device, wherein the distance data The corresponding probability may include a probability corresponding to a distance area of the distance data, and the size of the distance area may be selected by a person skilled in the art according to requirements. When it is determined whether the probability is greater than a preset probability threshold (for example, 0.2 or 0.25, etc.), when it is, the echo signal is determined to be a noise echo signal, and when it is not, the echo signal is determined to be an effective echo signal.

In some embodiments, the type of the distance distribution may be determined according to the type of interference noise specified by the user.

Specifically, the distances of the noise echo signals generated by different types of interference noise may obey different types of distance distributions, and the different types of distance distributions may make the preset probability thresholds different. For example, the distance data of the echo signal generated by rain and fog may follow Poisson distribution, and the distance data of the echo signal generated by dust may follow Gaussian distribution. The laser detection device may determine the distance distribution of the type corresponding to the type of interference noise according to the type of interference noise specified by the user.

In some embodiments, one or more parameters in the distance distribution are determined according to the type of interference noise specified by the user.

Specifically, the parameters in the distance distribution between different types of interference noise and the laser detection device may be different. Different parameters may make the preset probability thresholds different, and one or more in the distance distribution The parameters are determined according to the type of interference noise specified by the user. For example, the distance distribution between the rain and fog generating the noise echo signal and the laser detection device and the distance distribution between the dust generating the noise echo signal and the laser detection device are subject to the Poisson distribution, and the rain and fog correspond to The parameter λ in the Poisson distribution may be different from the parameter λ in the Poisson distribution corresponding to dust. The laser detection device may determine the distance distribution of the type corresponding to the type of interference noise according to the type of interference noise specified by the user. The laser detection device can determine the parameter λ in the Poisson distribution according to the type of interference noise selected by the user.

In some embodiments, the method further includes: filtering the noise echo signal when it is determined that the echo signal is a noise echo signal.

6 is a schematic structural diagram of a laser detection device according to an embodiment of the present invention. As shown in FIG. 6, the movable platform 600 includes: a laser 601, a receiver 602, and a processor 603, where,

The laser 601 is used to emit light pulses;

The receiver 602 is configured to acquire multiple echo signals corresponding to the optical pulse;

The processor 603 is used to:

In some embodiments, the energy characteristic parameter is determined according to at least one of echo energy, pulse width, height, and area of the echo signal.

In some embodiments, when the processor 603 determines whether each echo signal is a noise echo signal according to the energy characteristic parameter and distance data of each echo signal, it is specifically used to:

The reference energy characteristic parameter of each echo signal is determined according to the distance data of each echo signal, where the reference energy characteristic parameter can be used to indicate that the interference noise is caused by the distance indicated by the distance data Energy characteristic parameters of echo signals generated by interference noise;

According to the energy characteristic parameter of each echo signal and the reference energy characteristic parameter, it is determined whether each echo signal is a noise echo signal.

In some embodiments, when the processor 603 determines whether each echo signal is a noise echo signal according to the energy characteristic parameter of each echo signal and the reference energy characteristic parameter, it is specifically used to:

When the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, it is determined that the echo signal is a noise echo signal.

In some embodiments, when the processor 603 determines that the echo signal is a noise echo signal when the energy characteristic parameter of the echo signal is less than the reference energy characteristic parameter of the echo signal, Specifically used for:

When the energy characteristic parameter of the echo signal is less than the reference energy characteristic parameter of the echo signal, determine whether the distance data of the echo signal is less than the reference distance data;

If yes, it is determined that the echo signal is a noise echo signal.

In some embodiments, the reference distance data is determined according to the distance distribution between the interference noise generating the noise echo signal and the laser detection device.

In some embodiments, the distance distribution follows a Poisson distribution or a Gaussian distribution.

When the energy characteristic parameter of the echo signal is less than the reference energy characteristic parameter of the echo signal, it is determined according to the distance data and the distance distribution between the interference noise generating the noise echo and the laser detection device The probability corresponding to the distance data;

When the probability is greater than a preset probability threshold, it is determined that the echo signal is a noise echo signal.

When the energy characteristic parameter of the echo signal is greater than the reference energy characteristic parameter of the echo signal, it is determined that the echo signal is a valid echo signal.

In some embodiments, when the processor 603 determines the reference energy characteristic parameter of each echo signal according to the distance data of each echo signal, it is specifically used to:

Substituting the distance data of the echo signal into a noise echo filtering curve to determine the reference energy characteristic parameter of the echo signal, wherein the noise echo filtering curve is used to indicate the reflectivity of interference noise and the generation of interference noise The relationship between the energy information of the multiple echo signals and the distance data corresponding to the energy information.

In some embodiments, the noise echo filtering curve is based on the reflectivity of the interference noise, multiple energy characteristic parameters of the interference noise, and multiple distance data corresponding to the multiple energy characteristic parameters of the interference noise Calibration.

In some embodiments, the noise echo filtering curve is determined according to the type of interference noise specified by the user.

FIG. 7 is a schematic structural diagram of a movable platform provided by Embodiment 9 of the present invention. As shown in FIG. 7, the movable platform 700 includes:

Fuselage 701;

A power system 702, installed on the fuselage 701, is used to provide power, wherein the power system includes one or more of a motor, an engine, a propeller, and an electric tune;

And the laser detection device 703 as described in any of the above embodiments.

In addition, this embodiment also provides a computer-readable storage medium on which a computer program is stored, which is executed by a processor to implement the echo signal processing method described in the above embodiment.

In the several embodiments provided by the present invention, it should be understood that the disclosed device and method may be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the unit is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical, or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware, or in the form of hardware plus software functional units.

The above integrated unit implemented in the form of a software functional unit may be stored in a computer-readable storage medium. The above software functional units are stored in a storage medium, and include several instructions to enable a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute the method described in each embodiment of the present invention Partial steps. The foregoing storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

Those skilled in the art can clearly understand that, for the convenience and conciseness of description, only the above-mentioned division of each functional module is used as an example for illustration. In practical applications, the above-mentioned functions can be allocated by different functional modules according to needs, that is, the device The internal structure of is divided into different functional modules to complete all or part of the functions described above. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiments, and details are not described herein again.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, rather than limiting it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or replacements do not deviate from the essence of the corresponding technical solutions of the technical solutions of the embodiments of the present invention. range.

Claims

A method for processing noise echo signals, which is applied to laser detection equipment, and is characterized by comprising:

Emitting optical pulses, and acquiring multiple echo signals corresponding to the optical pulses;

Determining energy characteristic parameters and distance data of each echo signal in the plurality of echo signals;

According to the energy characteristic parameter and the distance data of each echo signal, it is determined whether each echo signal is a noise echo signal generated by interference noise.
The method according to claim 1, wherein the energy characteristic parameter is determined according to at least one of echo energy, pulse width, height, and area of the echo signal.
The method according to claim 1 or 2, wherein

The determining whether each of the echo signals is a noise echo signal according to the energy characteristic parameters and distance data of each echo signal includes:

The reference energy characteristic parameter of each echo signal is determined according to the distance data of each echo signal, where the reference energy characteristic parameter can be used to indicate that the interference noise is caused by the distance indicated by the distance data Energy characteristic parameters of echo signals generated by interference noise;

According to the energy characteristic parameter of each echo signal and the reference energy characteristic parameter, it is determined whether each echo signal is a noise echo signal.
The method according to claim 3, wherein the determining whether each of the echo signals is a noise echo signal according to the energy characteristic parameter and the reference energy characteristic parameter of each echo signal comprises:

When the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, it is determined that the echo signal is a noise echo signal.
The method according to claim 4, wherein when the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, the echo signal is determined to be a noise echo signal include:

When the energy characteristic parameter of the echo signal is less than the reference energy characteristic parameter of the echo signal, determine whether the distance data of the echo signal is less than the reference distance data;

If yes, it is determined that the echo signal is a noise echo signal.
The method according to claim 5, wherein the reference distance data is determined according to a distance distribution between an interference noise generating a noise echo signal and the laser detection device.
The method according to claim 6, wherein the distance distribution comprises a Poisson distribution or a Gaussian distribution.
The method according to claim 6 or 7, wherein one or more parameters in the distance distribution are determined according to a type of interference noise specified by a user.
The method according to claim 4, wherein when the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, the echo signal is determined to be a noise echo signal include:

When the energy characteristic parameter of the echo signal is less than the reference energy characteristic parameter of the echo signal, it is determined according to the distance data and the distance distribution between the interference noise generating the noise echo and the laser detection device The probability corresponding to the distance data;

When the probability is greater than a preset probability threshold, it is determined that the echo signal is a noise echo signal.
The method according to claim 9, wherein the distance distribution comprises a Poisson distribution or a Gaussian distribution.
The method of claim 10, wherein one or more parameters in the distance distribution are determined according to a type of interference noise specified by a user.
The method according to any one of claims 3-11, characterized in that

Said determining, according to the energy characteristic parameter of each echo signal and the reference energy characteristic parameter, whether each echo signal is a noise echo signal includes:

When the energy characteristic parameter of the echo signal is greater than the reference energy characteristic parameter of the echo signal, it is determined that the echo signal is a valid echo signal.
The method according to any one of claims 3-12, wherein the determining the reference energy characteristic parameter of each echo signal according to the distance data of each echo signal includes:

Substituting the distance data of the echo signal into a noise echo filtering curve to determine the reference energy characteristic parameter of the echo signal, wherein the noise echo filtering curve is used to indicate the reflectivity of interference noise and the generation of interference noise The relationship between the energy information of the multiple echo signals and the distance data corresponding to the energy information.
The method according to claim 13, wherein the noise echo filtering curve is based on the reflectivity of the interference noise, multiple energy characteristic parameters of the interference noise, the interference noise and the multiple energy Obtained by calibration of multiple distance data corresponding to feature parameters.
The method according to claim 13 or 14, wherein the noise echo filtering curve is determined according to a type of interference noise specified by a user.
A laser detection device is characterized by comprising: a laser, a receiver and a processor, wherein,

The laser is used to emit light pulses;

The receiver is used to obtain multiple echo signals corresponding to the optical pulse;

The processor is used to:

Determining energy characteristic parameters and distance data of each echo signal in the plurality of echo signals;

According to the energy characteristic parameter and the distance data of each echo signal, it is determined whether each echo signal is a noise echo signal generated by interference noise.
The apparatus according to claim 16, wherein the energy characteristic parameter is determined according to at least one of echo energy, pulse width, height, and area of the echo signal.
The device according to claim 16 or 17, characterized in that

When the processor determines whether each echo signal is a noise echo signal according to the energy characteristic parameter and distance data of each echo signal, it is specifically used to:

The reference energy characteristic parameter of each echo signal is determined according to the distance data of each echo signal, where the reference energy characteristic parameter can be used to indicate that the interference noise is caused by the distance indicated by the distance data Energy characteristic parameters of echo signals generated by interference noise;

According to the energy characteristic parameter of each echo signal and the reference energy characteristic parameter, it is determined whether each echo signal is a noise echo signal.
The apparatus according to claim 18, wherein the processor determines whether each of the echo signals is a noise echo signal according to the energy characteristic parameters of each echo signal and the reference energy characteristic parameters, Specifically used for:

When the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, it is determined that the echo signal is a noise echo signal.
The apparatus according to claim 19, wherein the processor determines that the echo signal is a noise when the energy characteristic parameter of the echo signal is less than the reference energy characteristic parameter of the echo signal When echo signals are used, they are specifically used for:

When the energy characteristic parameter of the echo signal is less than the reference energy characteristic parameter of the echo signal, determine whether the distance data of the echo signal is less than the reference distance data;

If yes, it is determined that the echo signal is a noise echo signal.
The device according to claim 20, wherein the reference distance data is determined according to a distance distribution between an interference noise generating a noise echo signal and the laser detection device.
The apparatus according to claim 21, wherein the distance distribution comprises a Poisson distribution or a Gaussian distribution.
The device according to claim 21 or 22, wherein one or more parameters in the distance distribution are determined according to a type of interference noise specified by a user.
The apparatus according to claim 19, wherein the processor determines that the echo signal is a noise when the energy characteristic parameter of the echo signal is less than the reference energy characteristic parameter of the echo signal When echo signals are used, they are specifically used for:

When the energy characteristic parameter of the echo signal is less than the reference energy characteristic parameter of the echo signal, it is determined according to the distance data and the distance distribution between the interference noise generating the noise echo and the laser detection device The probability corresponding to the distance data;

When the probability is greater than a preset probability threshold, it is determined that the echo signal is a noise echo signal.
The apparatus of claim 24, wherein the distance distribution includes a Poisson distribution or a Gaussian distribution.
The device according to claim 25, wherein one or more parameters in the distance distribution are determined according to a type of interference noise specified by a user.
The device according to any one of claims 18 to 26, characterized in that

When the processor determines whether each echo signal is a noise echo signal according to the energy characteristic parameter of each echo signal and the reference energy characteristic parameter, it is specifically used to:

When the energy characteristic parameter of the echo signal is greater than the reference energy characteristic parameter of the echo signal, it is determined that the echo signal is a valid echo signal.
The device according to any one of claims 18 to 27, wherein the processor specifically determines the reference energy characteristic parameter of each echo signal according to the distance data of each echo signal in:

Substituting the distance data of the echo signal into a noise echo filtering curve to determine the reference energy characteristic parameter of the echo signal, wherein the noise echo filtering curve is used to indicate the reflectivity of interference noise and the generation of interference noise The relationship between the energy information of the multiple echo signals and the distance data corresponding to the energy information.
The device according to claim 28, wherein the noise echo filtering curve is based on the reflectivity of the interference noise, multiple energy characteristic parameters of the interference noise, the interference noise and the multiple energy Obtained by calibration of multiple distance data corresponding to feature parameters.
The device according to claim 28 or 29, wherein the noise echo filtering curve is determined according to a type of interference noise specified by a user.
A movable platform, including:

body;

The power system is installed on the body to provide power;

And the laser detection device according to any one of claims 16-30.
A computer-readable storage medium, characterized in that a computer program is stored thereon, the computer program is executed by a processor to implement the method according to any one of claims 1-15.