CN110703224A - Unmanned-driving-oriented scanning type TOF laser radar - Google Patents
Unmanned-driving-oriented scanning type TOF laser radar Download PDFInfo
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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
- 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
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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
- 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
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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
- 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
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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Abstract
The invention provides an unmanned scanning type TOF laser radar which comprises a TOF camera and an optical tracking system, wherein the TOF camera is used for collecting data of a full field of view; the optical tracking system controls the TOF camera to collect data of all the sub-fields of view in the driving period, and the TOF camera is further used for fusing the collected data of all the sub-fields of view in the driving period into full-field data corresponding to the current driving period. The invention can realize the functions of time-sharing sampling and data fusion, forms rapid high-resolution azimuth and distance measurement on long-distance and large-range scenes, and can be applied to the field of unmanned laser radars.
Description
Technical Field
The invention relates to the field of laser radars, in particular to a scanning type TOF laser radar facing unmanned driving.
Background
TOF is an abbreviation of Time of flight, interpreted as the meaning of Time of flight. Time-of-flight 3D imaging is the acquisition of object distance by continuously sending light pulses to the object, receiving the light returning from the object with a sensor, and detecting the time of flight (round trip) of the light pulses. The sensor emits modulated near infrared light, the near infrared light is reflected after encountering an object, the distance of a shot scene is converted by calculating the time difference or phase difference between light emission and reflection so as to generate depth information, and in addition, the three-dimensional outline of the object can be presented in a mode that different colors represent different distances by combining with the traditional camera shooting.
The existing area array TOF technology is mainly realized in two ways: one is a method based on an optical shutter, the principle of which is shown in fig. 1, in order to emit a beam of pulsed light waves, the time difference t of the light waves reflected back after being irradiated to a three-dimensional object is rapidly and accurately obtained through the optical shutter, and since the speed of light c is known, as long as the time difference between the irradiated light and the received light is known, the distance to and from can be represented by d = t/2. c; the other method is based on continuous wave intensity modulation, and the principle is as shown in fig. 2, a beam of illumination light is emitted, and the distance measurement is performed by using the phase change of the emitted light wave signal and the reflected light wave signal. The latter is currently more commonly used commercially.
With the development of semiconductor technology and the advance of the field of unmanned laser radars, the area array TOF technology also becomes one of the competitive technical solutions in the demand of unmanned scene perception. It mainly has the following advantages: first, small volume, error are little. From the point of equipment miniaturization, the TOF technology requires that the receiving and transmitting are as close as possible, has the advantage of being not surpassable in principle, and is very suitable for compressing the volume of the laser radar compared with other three-dimensional measurement technologies; and secondly, directly outputting the depth data. The TOF technology does not need to obtain three-dimensional object depth data after algorithm processing like binocular vision or structured light, so that the overhead of a back-end processing platform can be fully reduced; thirdly, the anti-interference capability is strong. TOF depth calculation is not influenced by object surface gray scale characteristics, has better anti-interference stability to external interference light such as sunlight and the like which is not modulated, and is very suitable for some large-range movement occasions.
However, it should be seen that the laser radar facing unmanned driving is a very difficult technical application field, and whether the TOF camera of optical shutter type or continuous wave modulation type is applied to the field, the application field still faces many difficulties, and the limitations are as follows: firstly, the resolution of a TOF chip is low at present, and the relatively mature maximum resolution only reaches the level (320 × 240) of QVGA (quad flat graphics array video graphics array), so that when the TOF chip is applied in a large field of view, the spatial resolution cannot meet the technical requirement of unmanned scene perception; secondly, because of the limitation of the detection sensitivity of the TOF device, the field of view is necessarily compressed to a smaller range to realize the detection at a longer distance, and if the illumination power level is simply increased, the risk that the system does not meet the safety specification is higher.
Therefore, the scheme of the unmanned TOF laser radar with low cost, large view field, high distance resolution and sufficient detection distance is realized, and the key for solving the application bottleneck of the unmanned TOF laser radar in the field of the unmanned TOF is provided.
Disclosure of Invention
Objects of the invention
The invention provides a scanning type TOF laser radar facing to unmanned driving, which utilizes a method of combining a precisely controllable scanning mirror with an area array TOF device to realize time-sharing sampling and data fusion functions and form rapid high-resolution azimuth and distance measurement for long-distance and large-range scenes, thereby facing to the technical scheme applied in the field of unmanned laser radars.
(II) technical scheme
To solve the problems in the prior art, the invention provides an unmanned-oriented scanning type TOF laser radar, which comprises,
the system comprises a TOF camera used for acquiring full-field data, and an optical tracking system used for controlling the TOF camera to acquire data of at least one sub-field in the full-field data;
the optical tracking system controls the TOF camera to collect data of all the sub-fields of view in a driving period, and the TOF camera is further used for fusing the collected data of all the sub-fields of view in the driving period into full-field data corresponding to the current driving period;
the optical tracking system comprises a position sensor, a scanning mirror and a driving system;
after the TOF camera finishes data acquisition of a current sub-field of view, the driving system drives the scanning mirror to rotate/move according to an external control signal and the position information of the scanning mirror detected by the position sensor, so that the TOF camera acquires data of a next sub-field of view.
The division of the view field data is based on the field angle of the TOF camera, the division field angle is not larger than the TOF field angle, and the full view field is divided based on the division field angle.
The TOF uses the data of the sub-field of view to fuse the data of the full field of view, and uses the rotation angle/the moving distance of the scanning mirror to perform linear transformation/nonlinear transformation to perform field of view switching and sub-field of view fusion.
Alternatively,
the driving system comprises a signal control and processor, a driver and a control motor;
the signal control and processor fuses the position information of the scanning mirror acquired by the position sensor with an external control signal to form a control signal and provides the control signal for the driver;
the driver controls the motor to operate according to the control signal, and drives the scanning mirror to reach a preset position, wherein the preset position is the position of the scanning mirror when the preset TOF camera collects data of the next sub-view field.
The mode of the optical tracking system controlling the TOF camera to acquire data of all the sub-fields within the driving period is as follows: the optical tracking system controls the TOF camera to collect data of all the sub-fields at fixed points; alternatively, the first and second electrodes may be,
the optical tracking system controls the TOF camera to linearly scan and acquire data of all the sub-fields of view, or,
the optical tracking system controls the TOF camera to perform nonlinear scanning to acquire data of all the sub-fields.
The optical tracking system controls the TOF camera to scan and acquire data of all the sub-fields of view in a fixed point mode, and the method comprises the following steps:
the drive cycle is divided into a number of sub-field data acquisition time segments,
in the data acquisition time period of one of the sub-fields of view in the driving period, the position of the scanning mirror is fixed at a preset position, so that the center of the field of view of the TOF camera is fixed at a preset field angle,
the position sensor acquires the position information of the scanning mirror and sends the position information of the scanning mirror to the TOF camera and the driving system, after the TOF camera finishes the acquisition of the data of the sub-view field according to the position information of the scanning mirror, the driving system acquires an external control signal and combines the position information of the scanning mirror to drive the scanning mirror to rotate/move, and the data acquisition time period of the next sub-view field in the driving period is entered.
The optical tracking system controls the TOF camera to linearly scan and acquire data of all the sub-fields of view, and comprises:
in a driving period, the driving system controls the scanning mirror to rotate/move at a constant speed, so that the central field angle of the field of view of the TOF camera is linearly transformed, and the obtained field of view data is linearly transformed/non-linearly transformed in the field of view according to the rotating angle/moving distance of the scanning mirror to switch the field of view.
The sub-field switching is based on the angle/moving distance of the rotation of the scanning mirror, or the position matrix of the previous sub-field and the current sub-field formed by the two. According to the change condition of the rotation/moving speed of the scanning mirror, the conversion calculation of the sub-field of view switching can be linear conversion or nonlinear conversion, so that the conversion relation between the current sub-field of view data and the sub-field of view at the previous position is obtained by performing linear conversion/nonlinear conversion calculation through the position matrix.
The position sensor feeds back the position information of the scanning mirror to the TOF camera and the drive system in real time,
and the TOF camera and the scanning mirror synchronously move at a constant speed and acquire all preset sub-field data in a driving period.
The optical tracking system controls the TOF camera to perform nonlinear scanning to acquire data of all the sub-fields of view, and comprises:
the drive system controls the scanning mirror to rotate/move non-linearly during a drive period, so that the central field angle of the TOF camera field of view is transformed non-linearly,
the position sensor feeds back the position information of the scanning mirror to the TOF camera and the drive system in real time,
and the TOF camera and the scanning mirror synchronously perform nonlinear displacement and acquire all preset sub-field data in a driving period.
Optionally, the TOF camera field of view central field of view angular line is transformed non-linearly to sinusoidally.
Alternatively,
the TTL level of a pulse signal generated by a driving system in the optical tracking system is consistent with a corresponding pulse signal when the TOF camera acquires data;
and after data of one sub-field of view of the TOF camera is acquired, the TTL level is a rising edge, and the driving system controls the scanning mirror to rotate/move.
(III) advantageous effects
The invention has the beneficial effects that:
the invention realizes the functions of time-sharing sampling and data fusion, forms rapid high-resolution azimuth and distance measurement on long-distance and large-range scenes, and can be applied to the field of unmanned laser radars.
The invention overcomes the imaging view field restriction of the TOF camera, thereby greatly improving the remote detection view field range of the TOF camera.
The invention can improve the range of the remote detection field of view of the TOF camera and ensure higher imaging azimuth resolution.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of the operation of an optical shutter type TOF;
FIG. 2 is a schematic diagram of continuous wave modulation TOF operation;
FIG. 3 is a schematic diagram of the scanning TOF lidar of the present disclosure;
FIG. 4 is a schematic control flow diagram of the optical tracking system of the present invention;
FIG. 5 is a timing control diagram of a fixed point scanning mode according to the present invention;
FIG. 6 is a timing control diagram of the linear scanning mode according to the present invention;
FIG. 7 is a schematic diagram of the timing control of the non-linear scanning mode according to the present invention.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Example one
The invention aims to solve the problem of realizing the field expansion of the unmanned laser radar. The invention is based on that under the condition that the visual field of the optical system is difficult to improve due to the structural design of the optical system, the observation visual field of the optical system is changed by changing the angle of a reflector in front of the optical system, and the visual field of the optical system is expanded at the expense of time sharing. The specific implementation method comprises the following steps:
a TOF camera for acquiring data of a full field of view,
an optical tracking system for controlling the TOF camera to acquire data for at least one of the partial fields of view in the full field of view data;
the optical tracking system controls the TOF camera to collect data of all the sub-fields of view in the driving period, and the TOF camera is further used for fusing the collected data of all the sub-fields of view in the driving period into full-field data corresponding to the current driving period.
The fusion of the sub-field data into the full field data is carried out according to the scanning mirror,
The optical tracking system comprises a position sensor with high sensitivity and high response speed, a fast scanning mirror and a nanoscale driving system.
After the TOF camera finishes data acquisition of a current sub-field of view, the driving system drives the scanning mirror to rotate/move according to an external control signal and the position information of the scanning mirror detected by the position sensor, so that the TOF camera acquires data of a next sub-field of view.
Specifically, the operation schematic diagram of the scanning type TOF lidar according to the invention is shown in fig. 3.
At an initial time within the drive cycle, the scan mirror is at an initial preset position, as shown in FIG. 3a, when the center of the TOF camera field of view is at the first field of view angle.
The position sensor acquires position information of the scanning mirror and transmits the position information to the TOF camera and drive system.
Laser emitted by the TOF camera is incident on the scanning mirror, is reflected and deflected by the scanning mirror and is incident in an observation scene, part of incident light is reflected back to the TOF camera through an object in the observation scene, the TOF camera receives the reflected light, and photoelectric conversion is carried out on detected light signals by combining position information of the scanning mirror to obtain first sub-view field data.
The scan mirror, controlled by a drive system, can be deflected/moved through an angle in accordance with a drive signal. After the TOF camera performs scanning and photoelectric conversion according to the position information of the scanning mirror, the driving system drives the scanning mirror to rotate/move according to an external control signal and the position information of the scanning mirror detected by the position sensor, so that the TOF camera acquires data of a next sub-field of view and records a rotation angle/movement distance of the current scanning mirror, as shown in fig. 3b, at this time, the center of the TOF camera field of view is located at a second field angle. And establishing a position matrix according to the rotation angle/moving distance of the current scanning mirror.
At this time, the position sensor acquires a new position of the scanning mirror again, and transmits and records new position information to the TOF camera and the driving system; and after receiving the new position information, the TOF camera acquires second sub-view field data.
As shown in fig. 3c, 3d, and 3e, the TOF camera sequentially acquires the remaining subfield data and establishes a corresponding position matrix.
And finally, after the acquisition of all the sub-field data in the driving period is finished, the TOF camera performs linear transformation/nonlinear transformation on all the sub-field data in the acquired driving period according to the sequentially recorded scanning mirror rotation angle/moving distance matrix to fuse the data into the full-field data corresponding to the current driving period, and outputs the data.
At this point, the TOF camera finishes the acquisition of one full field of view, enters the acquisition of the next full field of view data, and repeats the process so as to realize the rapid scanning of the full field of view target and the scene.
The drive period is the working period of the TOF camera acquiring a full field of view and full field of view data.
In order to avoid the occurrence of data blurring within the integration time, the TOF camera may scan according to the time sequence position information of the scanning mirror in coordination with the displacement, as shown in fig. 3f, where the integration time is the time for the TOF camera to acquire the view-dividing data.
Therefore, the laser radar changes the angle of the view field through the scanning mirror, expands the view field of the optical system at the cost of time sharing, and completely measures and acquires the information of objects in the observation scene to further form a space point cloud.
The TOF camera includes a TOF sensor and an optical lens.
Similar to the common laser radar, the laser radar of the invention also comprises a supporting mechanism, a flexible bearing, a base and other parts.
Preferably, the driving system comprises a signal control and processor, a driver and a control motor.
The signal control and processor fuses the position information of the scanning mirror acquired by the position sensor with an external control signal to form a control signal and provides the control signal for the driver; the driver rapidly and accurately controls the motor to operate according to the control signal; the motor runs to drive the scanning mirror to reach a preset position.
The scanning mirror is driven by a motor or a driver with resolution reaching the nanometer level, the inertia is much smaller than that of the traditional frame, the resonant frequency can be greatly improved, and the scanning mirror can be combined with a position sensor with high sensitivity and high response speed to form a high-precision optical tracking system, so that the tracking bandwidth and the response speed of the system are greatly improved, and meanwhile, the scanning mirror has extremely high angle resolution capability.
The scanning mirror control flow principle is shown in figure 4,
at the starting moment of a driving period, position information of a scanning mirror is obtained by a position sensor, a control signal is formed after the position information is fused with an external control signal and is provided for a driver, the driver quickly and accurately controls the stroke of a motor, the motor drives the scanning mirror to reach a preset position after executing actions and simultaneously feeds new position information back to the position sensor, so that the action of one period is completed, the next working period is started, so that the continuous and accurate control on the position of the scanning mirror is realized by continuous operation of a plurality of periods, the view field of a TOF camera at a certain moment is controlled, and sub-view field data at a plurality of moments are fused into full-view field data.
And the optical tracking system controls the TOF camera to acquire data of all the sub-fields of view in a driving period by using a fixed-point scanning mode, a linear scanning mode or a nonlinear scanning mode.
The fixed point scanning method is shown in fig. 5, and includes:
in thatAt the moment, the sampling starting point of a full-field-of-view working period of the laser radar is set, and the center of the field of view of the TOF camera is positioned at the first field of view
At least one of (1) and (b);
in that
And the working time period is a first sub-field working time period of the laser radar, and in the working time period: the position sensor acquires position information of the scanning mirror and sends the position information to the TOF camera and the driver, the TOF camera finishes photoelectric conversion and integral work, the position information of the scanning mirror received by the driver is fused with an external control signal to form a control signal for the driver, after the TOF camera finishes photoelectric conversion and integral work, the driver finishes fast and accurate control on the stroke of the motor within charge transfer and calculation time, the motor drives the scanning mirror to reach a preset position after performing action, and simultaneously feeds back an information signal that the scanning mirror reaches a new position to the position sensor;
in thatAt the moment, the center of the TOF camera field of view is at the second field angle
And starting the laser radar to enter the second subfield working time period.
In thatDuring the working period, the TOF camera completes
Data sampling and computation work for the centered second subfield. And according to
Obtaining score field data based onAnd (5) carrying out field fusion by the rotation angle/moving distance of the scanning mirror at the moment.
This continues until
The time of day. Where n is any integer greater than 1 according to actual needs, for example, n =9 in fig. 5.
In that
At the moment, the TOF camera finishes the sub-field data acquisition and processing and outputs the full-field data in a fusion mode, so that a full-field working period is finished, the laser radar enters the next period, and the full-field target and the scene are scanned rapidly in a circulating mode.
As shown in fig. 6, the linear scanning method includes:
in a full-field working period, the driving system acquires an external control signal and drives the scanning mirror to linearly displace in combination with the position of the scanning mirror, so that the central field angle of the TOF camera field is linearly transformed; the scanning mirror starts to carry out uniform-speed scanning,
the position sensor feeds back the position information of the scanning mirror in real time;
at the same time, the TOF camera performs linear displacement uniform scanning in time sequence matching within the photoelectric conversion and integration time as shown in fig. 3f to avoid the occurrence of data blurring within the integration time
And at the moment, the sub-field data and the position information are fused and output to form full-field data information, wherein n is any integer larger than 1 according to actual needs, for example, n =9 in fig. 6.
Compared with a fixed-point scanning mode, the linear scanning mode has smaller impact on an optical tracking system, the control difficulty of a scanning mirror module is lower, but the requirement on the synchronism of linear displacement and angular displacement of the TOF camera is higher.
As shown in fig. 7, the non-linear scanning method includes:
in a full-field working period, the driving system acquires an external control signal and drives the scanning mirror to perform nonlinear displacement by combining with the position of the scanning mirror, so that the field angle of the center of the field of view of the TOF camera is subjected to nonlinear transformation; the scanning mirror starts to carry out uniform-speed scanning,
the position sensor feeds back the position information of the scanning mirror in real time;
at the same time, the TOF camera performs nonlinear scanning in the photoelectric conversion and integration time according to the time sequence position information of the scanning mirror in a matching way as shown in figure 3f, so as to avoid the occurrence of data blurring in the integration time
And the time sub-field data and the position information are fused and output to form full-field data information. Where n is any integer greater than 1 according to actual needs, and n =9 in fig. 7.
Compared with a linear scanning mode, the control difficulty of the scanning mirror module is further reduced, but the control requirement of a synchronous algorithm of linear displacement and angular displacement of the scanning mirror of the TOF camera is increased.
Example two
This example shows a specific device embodiment of the present invention.
An unmanned-oriented scanning TOF lidar includes a TOF camera and an optical tracking system.
The TOF camera includes a TOF sensor and an optical lens. In this embodiment, an epc660 TOF sensor is used in combination with an MVL25M23 lens to perform autonomous deconstruction development, and then a long-distance TOF measurement camera is formed.
The optical tracking system comprises a position sensor, a scanning mirror and a driving system.
In this embodiment, the scanning mirror is a mirror coated with a high reflective film set and having a size of 50 × 75 mm.
An IT3402C type encoder is used as a position sensor for acquiring scanning mirror position information, which is used as a feedback amount for the system to scan mirror control.
The driving system comprises a signal control and processor, a driver and a control motor
In the embodiment, four LAC03-005-00A type motors are used to form a driving motor group, so that the mechanical control of the reflecting mirror surface with the size of the high-reflection coating group of 50 multiplied by 75mm is realized.
The signal control and processor adopts a power control board, and the driver adopts a DSP control board.
The power control board and the DSP control board provide a LAC03-005-00A type motor driving signal, which can realize the loading of the power driving signal in a linear or non-linear form on the motor.
The TTL level of a pulse signal generated by a driving system in the optical tracking system is consistent with a corresponding pulse signal when the TOF camera acquires data;
the TOF camera and the DSP are synchronized through the rising edge of a TTL level, and angle reading and writing interaction is carried out through an 8-bit parallel port; after the TOF finishes one-frame exposure, the TTL level gives a rising edge, and the driver is informed to control the scanning mirror to move to the next angle. TOF reads data using the scan mirror on-time.
After data acquisition of one driving period is completed, the TOF camera outputs the fused data of the sub-fields, for example, to an upper computer.
Finally, it should be noted that: the above-mentioned embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A scanning TOF laser radar facing unmanned vehicles is characterized by comprising,
a TOF camera for acquiring data of a full field of view,
an optical tracking system for controlling the TOF camera to acquire data for at least one of the partial fields of view in the full field of view data;
the optical tracking system controls the TOF camera to collect data of all the sub-fields of view in a driving period, and the TOF camera is further used for fusing the collected data of all the sub-fields of view in the driving period into full-field data corresponding to the current driving period;
the optical tracking system comprises a position sensor, a scanning mirror and a driving system;
after the TOF camera finishes data acquisition of a current sub-field of view, the driving system drives the scanning mirror to rotate/move according to an external control signal and the position information of the scanning mirror detected by the position sensor, so that the TOF camera acquires data of a next sub-field of view.
2. Lidar according to claim 1,
the driving system comprises a signal control and processor, a driver and a control motor;
the signal control and processor fuses the position information of the scanning mirror acquired by the position sensor with an external control signal to form a control signal and provides the control signal for the driver;
the driver controls the motor to operate according to the control signal, and drives the scanning mirror to reach a preset position, wherein the preset position is the position of the scanning mirror when the preset TOF camera collects data of the next sub-view field.
3. Lidar according to claim 1,
the mode of the optical tracking system controlling the TOF camera to acquire data of all the sub-fields within the driving period is as follows: the optical tracking system controls the TOF camera to collect data of all the sub-fields at fixed points; alternatively, the first and second electrodes may be,
the optical tracking system controls the TOF camera to linearly scan and acquire data of all the sub-fields of view, or,
the optical tracking system controls the TOF camera to perform nonlinear scanning to acquire data of all the sub-fields.
4. Lidar according to claim 3,
the optical tracking system controls the TOF camera to scan and acquire data of all the sub-fields of view in a fixed point mode, and the method comprises the following steps:
the drive cycle is divided into a number of sub-field data acquisition time segments,
in the data acquisition time period of one of the sub-fields of view in the driving period, the position of the scanning mirror is fixed at a preset position, so that the center of the field of view of the TOF camera is fixed at a preset field angle,
the position sensor acquires the position information of the scanning mirror and sends the position information of the scanning mirror to the TOF camera and the driving system, after the TOF camera finishes the acquisition of the data of the sub-view field according to the position information of the scanning mirror, the driving system acquires an external control signal and combines the position information of the scanning mirror to drive the scanning mirror to rotate/move, and the data acquisition time period of the next sub-view field in the driving period is entered.
5. Lidar according to claim 3,
the optical tracking system controls the TOF camera to linearly scan and acquire data of all the sub-fields of view, and comprises:
in a driving period, the driving system controls the scanning mirror to rotate/move at a constant speed, so that the central field angle of the TOF camera field of view is linearly changed,
the position sensor feeds back the position information of the scanning mirror to the TOF camera and the drive system in real time,
and the TOF camera and the scanning mirror synchronously move at a constant speed and acquire all preset sub-field data in a driving period.
6. Lidar according to claim 3,
the optical tracking system controls the TOF camera to perform nonlinear scanning to acquire data of all the sub-fields of view, and comprises:
the drive system controls the scanning mirror to rotate/move non-linearly during a drive period, so that the central field angle of the TOF camera field of view is transformed non-linearly,
the position sensor feeds back the position information of the scanning mirror to the TOF camera and the drive system in real time,
and the TOF camera and the scanning mirror synchronously perform nonlinear displacement and acquire all preset sub-field data in a driving period.
7. Lidar according to claim 6,
the central view field angle of the TOF camera view field is transformed in a sine curve manner in a non-linear mode.
8. Lidar according to claim 1,
the TTL level of a pulse signal generated by a driving system in the optical tracking system is consistent with a corresponding pulse signal when the TOF camera acquires data;
and after data of one sub-field of view of the TOF camera is acquired, the TTL level is a rising edge, and the driving system controls the scanning mirror to rotate/move.
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