CN101688774A - 高精确度激光雷达系统 - Google Patents

高精确度激光雷达系统 Download PDF

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CN101688774A
CN101688774A CN200780030113A CN200780030113A CN101688774A CN 101688774 A CN101688774 A CN 101688774A CN 200780030113 A CN200780030113 A CN 200780030113A CN 200780030113 A CN200780030113 A CN 200780030113A CN 101688774 A CN101688774 A CN 101688774A
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大卫·S·霍尔
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Velodyne Acoustics Inc
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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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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    • G—PHYSICS
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    • 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
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    • 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
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • 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
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements
    • 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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    • H01—ELECTRIC ELEMENTS
    • H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
    • H01S5/00—Semiconductor lasers
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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
    • H01S5/00—Semiconductor lasers
    • H01S5/06—Arrangements for controlling the laser output parameters, e.g. by operating on the active medium
    • H01S5/062—Arrangements for controlling the laser output parameters, e.g. by operating on the active medium by varying the potential of the electrodes
    • H01S5/06209—Arrangements for controlling the laser output parameters, e.g. by operating on the active medium by varying the potential of the electrodes in single-section lasers
    • H01S5/06216—Pulse modulation or generation

Abstract

本发明提供一种基于激光雷达的三维点云测量系统和方法。示例的系统包括基部(158)、壳体(152)、包括在壳体内的多个光子发射器和光子探测器、环绕基部旋转壳体的旋转马达和将由光子探测器产生的信号发射到外部部件的通信部件。旋转部件包括旋转功率联结器，构造成将来自外部源的功率提供给旋转马达、光子发射器和光子探测器。在另一实施例中，每对光子发射器和探测器以彼此固定的关系保持。在还一实施例中，通过将几个探测区域聚焦到单个探测器上或通过利用单个大的探测器来在几个激光器之间共享单个探测器。

Description

高精确度激光雷达系统
背景技术
应用光的脉冲测量距离是熟知的。正因为普遍被用在例如警察速度探测器的设备上，基本的原理是使激光发射器脉冲，其引起将要发射的光的脉冲，通常通过透镜或透镜部件聚焦。然后，测量用于光的脉冲返回到安装在辐射器附近的探测器所花费的时间，然后从测量值高精确度地得到距离。
当快速接连地发射多个脉冲，这些发射的方向以某种方式连续变化，将每个距离测量值看成一个像素，快速接连发射和记录的像素的收集(称为“点云”)能够形成图像或分析其他原因，例如探测障碍物。绘制这些点云的观测仪(现在一般是基于PC)可以对图像进行处理以给出三维图像的形貌。当返回的数据缺少颜色或其他特征，可以利用不同的方案描述距离测量值以让绘图装置显示三维图像，仿佛它是通过实时工作的摄像机拍摄的一样。
现在有很多商业产品能够快速接连记录一定距离外的点和绘制二维(也就是单个平面)点云。这些装置通常用在测量、绘制地图、自主导航、工业应用和其他用途。大多数这些装置依赖于利用单激光发射器、探测器结合一些移动的镜子的结合体以实现跨过至少一个面的扫描，如图1所示。
这样的装置通常用在工业应用，如图2所示。注意到，扫描线从单元-旋转镜子发射让单个激光发射器/探测器部件通过利用转动的镜子沿着平面瞄准。
通常，这些镜子以非常快的速度-每分钟成千转(RPM)的转动。正如上面描述的，这种设计固有地仅仅绘制二维点云。然而，人们常常需要三维点云。另外的一维可以以多个方式提供。最常见的，当闪烁或摆动传感器时整个装置通常在万向支架上被向上和向下驱动和/或向前向后驱动——本领域所熟知的方法。因而，虽然一次一个点，单束激光雷达单元可以用来记录一定距离之外的点的整个三维排列。这种方法的示例如图3所示。图3示出二维扫描器，其采用单个激光发射器/探测器对和安装在万向支架上下点头摆动并前后转动以便增大视场的转动镜子。
在其他单独的激光发射器/探测器对基于镜子的现有技术装置中，设置有棱镜，它将激光脉冲“分成”多个“层线”，每个层线具有细微不同的垂直角。这模拟了上面所述的点头摆动效果，但不需要驱动传感器本身。
在所有上面的示例中，主要的前提是单个激光发射器/探测器的结合体，其中光的路径以某种方式改变以获得比单个传感器能够获得的更宽视场。由于从单个激光器可能每秒多少脉冲的限制，这种装置固有地受限于它能产生的像素的数量。无论是否通过镜子、棱镜或装置的驱动，激光器的路径的任何改变，引起点云密度减低，但覆盖更宽的区域。对于这种特性的传感器的目标是使像素的数量最大化，以提供覆盖宽的视场，而且尽可能稠密的点云。
当然，增加附加的激光器和探测器到转动的镜子单元是可能的。虽然这很容易办到，但是最终的性能与用到的激光器的数量不成必然的比例。当多个激光发射器/探测器的结合体被用到旋转镜扫描器，或当单个激光通过应用棱镜被分离，图像也会转动。因而，当束在一个方向上垂直地输出，它们将会扭曲以便在90度旋转方向上水平对齐。虽然这种布置结构能够用于仅向前看(forward-looking-only)的单元，但是如果也希望得到侧部视野，这就不是所要的，而对于许多应用通常是需要侧部视野的。
还存在“闪光激光雷达”(“flash lidar”)单元。这些单元通过同时照射大的区域，并且记录在具体化的二维焦平面阵列(FPA)的综合像素-距离信息。这样的传感器很复杂并且很难制造，因而商业上开发的并不广泛。然而，可以设想，它们某种程度上代替了商业的扫描传感器，因为它们是固态的，并且不需要移动的部分。图4示出用于闪光激光雷达单元的探测器阵列的框架。
人们总是希望更快地收集更多的点。直到应用闪光激光雷达技术，一直处于传感器的折衷，也就是为了获得宽的视场，改变发射器/探测器束的路径。
如上面提到，三维点云以几种结构存在，对于车辆自主导航的需要对于目前的系统提出不现实要求。例如，现在有许多能够获得很好的照片的系统，但是要花费几分钟去收集单个图像。这样的系统不适于公路使用。还有闪光系统，其具有很好的更新速率，但是视场不足并且缺少良好的距离性能。还有单束系统，其能够提供有用的信号，但是不能用来处理太小的物体和落在单元的视场外边的物体。事实上，为了安全地导航如今的公路，看见车辆周围的任何地方(几乎整个360度)是必要的。此外，在现实世界的动作发生和给动作形成图像/对动作产生反应之间具有最小的延迟是必要的。通常，人类反应时间是几十分之一秒，是可以接受的。因此，提供具有完全新接近十次每秒的更新的导航计算机是现实的。当然，更快是更好的，但是对于具有更新速率5次每秒的也可能成功地导航。垂直视场需要延伸到地平线上面，以防汽车进入道路中的斜坡，并且应该延伸到地平线下尽可能的近，以看见车辆前面的地面。当然，直接看见前面的车辆是不可能的，因为汽车的车篷或其他部分阻挡了视线。
虽然优选的实施例用64个离散的垂直束来记录点云数据，也可以采用16束或更少，具有大体上相同的结果。此外，优选地使这些束散开，使得在车辆前面覆盖更详细直接水平，这样的集中度(concentration)对于在公路以一定速度开车是有用的。
发明内容
本发明提供一种基于激光雷达的三维点云测量系统。示例系统包括基部、壳体、包括在壳体内的多个光子发射器和光子探测器、环绕基部转动壳体的旋转马达和将由光子探测器产生的信号发送到外部部件的通信部件。
本发明的一方面，旋转部件包括旋转功率联结器，构造成从外部源提供功率给旋转马达、光子发射器和光子探测器，以及进入和离开单元的信号。
本发明的另一方面，每对光子发射器和探测器以相互固定关系保持。
本发明的还一方面，单个探测器通过将几个探测区域聚焦到单个探测器，或利用单个的、大的探测器，在几个激光器之间共享。
在本发明的还一方面，单个激光束被分离成几个更小的束，每个更小的束聚焦到其本身的探测器上。
在本发明的还一方面，通信部件包括至少一个旋转联结器装置或无线通信装置。
本发明提供更加紧凑和坚固耐用的单元用于收集三维点云信息。此外，本发明提供识别多个返回信息的能力。
附图说明
下面结合附图对本发明的优选的和可选的实施例进行详细的描述：
图1-4示出根据现有技术形成的发明；
图5是静止示出的激光雷达地形绘图和障碍物探测系统；
图6是以300转每分钟运行示出的激光雷达地形绘图和障碍物探测系统；
图7是安装到车辆上的本发明的透视图；
图8A和B示出自动刹车部件和自动方向盘部件；
图9和10示出用于执行数据采集和自动车辆控制的电路；
图11和12示出自动车辆运行系统的部件；
图13-22示出根据本发明的实施例形成的扫描装置的多个视图；
图23A和B示出用于驱动激光二极管的电路；
图24示出为激光二极管形成的示例脉冲；
图25-26示出图23A中的电路的运行的结果。
具体实施方式
图5-12示出了作为自主传感器被用于车辆的激光成像探测和测距(激光雷达)地形绘图和障碍物探测系统。激光雷达系统包括8个激光器的8个部件，每个如图5所示，或者32个激光器的2个部件，每个形成64个元件激光雷达系统，如图13-26所示。该系统具有360度水平视场(FOV)和26.8度垂直视场。该系统典型地安装在车辆的顶部中央，在所有方向上给予清楚的视野，并且以达到20赫兹的速率旋转，借此提供高的点云更新速率，这种高速率对于以更高速度的自主导航是必要的。在这种结构中，该系统能够每秒收集大约1百万飞行时间(TOF)距离点。该系统提供独特的360度水平视场(FOV)、高点云密度和高更新速率。飞行时间(TOF)测量的标准偏差(deviation)等于或小于5cm。激光雷达系统具有安装其上的惯性导航系统(INS)传感器系统，以通过导航计算机修正这些偏差来报告单元的精确的截距(pitch)和转动(roll)。该单元产生其自身的光并用其独有的过滤器抵挡太阳光，这样它就能在所有的照明和大多数天气条件下良好地工作。通过利用数字信号处理器(DSP)控制，如果通过光子探测器不能获得清晰的地形映像(是否因为反射表面、天气或其他原因)，动态功率特性让系统能够增大激光发射器的强度，如果通过光子探测器探测到强的反射信号，处于安全原因就减小提供给激光发射器的功率。这种特性的直接好处在于，激光雷达系统能够通过动态地提高激光功率并忽视早期反射(early reflection)看穿烟雾和大雨。该单元还能够，当由发射器产生的信号返回时，接收和通过数字化和分析由探测器产生的波形解读来自单个激光发射的多个返回信号。
激光雷达系统通过以太网输出(或类似输出)发送测距和强度信息形式的数据给主导航系统。利用标准三角法，将测距数据转变成x和y坐标和高度值。校正高度值用于车辆的间距和转动，这样最终的地图参考车辆的水平面。然后，与车辆向前或转动动作相呼应移动地图。因而，传感器的输入进行累计并且形成周围环境的极高密度的轮廓地图。
然后，如果需要这种高的详细地形地图被用来计算障碍物躲避向量，并且，同样重要地，确定给予前方地形最大的可允许速度。激光雷达系统识别在视野中的物体尺寸和距离，包括垂直位置和路面的轮廓。车辆与位于不同距离的或垂直或水平的直的、水平路径的预期偏差被转化成当以目前的速度沿着计划路径时车辆将要遭受的g-力。这个信号可以用来确定车辆应该行驶的最大的速度，并因此发送加速或刹车命令。在所有情况下，尽管还在全球定位系统(GPS)的边界线以内穿过沿途停车点，软件寻求最佳的可用的路面(和因此最佳可能速度)。
如图5-8所示的系统，包括被分成八组八个的64个发射器/探测器(也就是激光二极管/光电二极管)对。图13-24示出的系统也包括64个发射器/探测器对，但是2对32个部件组的结构。通过将几个探测区域聚焦到单个探测器上，或通过利用单个、大的探测器，也有可能在几个激光器之间共享单个探测器。通过一次发射单个激光，将不会存在关于哪个激光负责返回信号的不清楚。相反，也可以将单个激光再细分成几个更小的束。每个束将聚焦到其自身的探测器。在任何情况下，这种系统仍然考虑发射器-探测器对。
激光二极管优选OSRAM905发射器，光电二极管优选雪崩品种，但是其他类型的二极管也可以应用。透镜优选地是被处理成防太阳光的透镜。每对发射器/探测器以1/3度增量物理排列成一行，覆盖从水平线上面(与车辆前面500英尺对准)到接近-24度(与车辆前面20英尺对准)。每个发射器/探测器对由一个或多个数字信号处理器(DSP)控制，它确定什么时候应该发射、在前面返回信号的基础上确定发射的强度、记录飞行时间和在飞行时间和每对的角度对准的基础上计算高度数据。包括多个返回信号(如果有的话)的结果通过以太网通过旋转联结器发送到主导航计算机。
一次只发射几个激光，或优选只发射一个激光，是有利的。这是因为必然地发生色度亮度干扰，或当激光束遭遇返回的激光束发生眩目(blinding)。这种回射器普遍地沿着马路安装。因而，一次单束的系统对回射器眩目具有抵抗效果，而相反结果闪光系统可能遭受严重的图像恶化的麻烦。
一次仅发射小数目的激光的另一优点在于能够在几个探测器之间共享或复用探测电路。因为探测电路包括高速A-D(模拟-数字)，例如由国家半导体制造的电路，通过最少地利用这些昂贵部件能够节省相当大的成本。
在优选的实施例中，探测器是周期地被提供功率，使得在任何一次只有所需的探测器功率升高。然后信号可以简单地以“二极管-或(diode-ored)”连在一起以获得所需的多路复用(multiplexing)。周期的功率的探测器其他的优点在于总的系统功率消耗减小，因此探测器趋向更低温，并且因此更敏感。
单个直流(DC)马达控制器驱动高可靠的换向器电动机控制发射器/探测器的旋转。旋转编码器提供转动位置给数字信号处理器(DSP)，数字信号处理器(DSP)利用位置数据确定发射次序。软件和物理保险(failsafes)确保直到系统以最小的转动/分钟旋转时才发射。
在一个实施例中，导航系统利用双全球定位系统(GPSs)接收器。第一个是应用星球发射服务(Starfire subscription service)的Navcom 2050G，第二是应用全向星球服务(Omnistar subscription service)的NovatelProPak-LB接收器。典型地，当以双微分模式运行时，这些服务(subscriptionservice)在全天空监视(sky-in-view)条件下产生2英寸的精确度。任何高精度的全球定位系统(GPSs)都可以应用。全球定位系统(GPSs)接收器被用来校正在惯性导航系统(INS)中的错误。惯性导航系统(INS)包括回转仪(gyros)，例如光纤陀螺(FOG，fiber optic gyros)。此外，还有安装在激光雷达头的六轴惯性系统，其用于校正激光雷达信号并提供用于校正光纤陀螺(FOG)回转仪信号的间距和转动信息。
车辆控制通过分别由Texas Instruments C2400数字信号处理器芯片控制的刹车和方向操纵(见图8A、B)的2个20HP无刷马达来实现。加速是通过将双电压加速系统安装到车辆来电子实现。本发明可以改进装备到实际上任何交通工具上-陆地、天上、海洋或太空交通工具。
图9示出在旋转头单元内的电路部件的示例。旋转头单元包括多个探测器和发射器电路，每个具有其自身的处理器。由每个电路得出的数据通过旋转联结器输出给外部部件。也可以应用其他数据传输技术，例如通过任何数量的不同的无线协议的无线传输。
图10示出系统50的关键的导航(key navigational aspect)以及它们如何互联的。通过与串联到并联(serial-to-parallel)转换器52的单个频道高速连接提供由激光地形-绘图系统产生的地形地图(未示出)，然后占据FIFO存储阵列54(后面的实施例通过以太网连接转移信息)。接着数字信号处理器(DSP)60接收来自FIFO存储阵列54激光雷达信息，伴随着来自两个全球定位系统(GPSs)、两个惯性导航系统(INS)、光纤陀螺(FOG)回转仪(gyro)、里程表和远程紧急开关(remote kill switch)。评估这个数据以通过发送的系列命令决定接下来的路径以控制车辆(注释，方向操纵、刹车、减速和鸣笛)。操纵方向和刹车马达由数字信号处理器(DSP)62，64控制，而加速通过由顾客界面平台(custom interface board)的电子界面控制。数字信号处理器(DSP)60还控制视频显示器68，视频显示器呈现用于观察和调试用途的激光雷达图像。
通过应用嵌入式数字信号处理器(DSP)技术获得小的覆盖区。用于决定形成、传感、马达控制和导航的数据所有PC板都是所有权(proprietary)，用于这种用途的排他性设计，并且适于单个母板/姊妹板(daughterboard)的情形。所有主要的导航部件安装在设置在卡车驾驶室的顶上的盒子内(如图7和11所示)。对于车辆的唯一的其他调整是，与方向操纵机构集成在引擎箱内的方向操纵马达，安置在驾驶室地板上的刹车马达，以及加速界面(在这里是电子的)。
优选的实施例设计的结果是，即使处于自主模式，卡车也是能合法上街并让所有乘客感到舒服。当乘坐在车子的内部，并开动驾驶员头上的用于气体、方向操作和刹车的三个开关，就可以执行整个系统测试，如图12所示。
本发明执行允许高速导航的帧频，提供主动和被动障碍物同时识别，提供优越的点云密度，提供全360度HFOV，提供宽的视场VFOV，以及提供高精度的比率。
图13示出了64个发射器/探测器对激光雷达部件150的透视图。部件150包括壳体152，壳体一边开口以容纳位于第二激光雷达系统156上的第一激光雷达系统。第二激光雷达系统156定位成比第一激光雷达系统154相对于水平线具有更大夹角的视线。壳体152安装在基部壳体部分158上。
如图14和15所示，部分158包括磁性转子159和定子160。旋转联结器161，例如三导体Mercotac模式(three-conductor Mercotac model)305，通过部分158和转子159的中心。由旋转联结器驱动的三个导体是功率导体、信号导体和接地导体。轴承162安装在旋转联结器161上。旋转编码器163具有安装在旋转联结器161上的一部分和安装在壳体152的基部部分158上的另一部分。旋转编码器163，例如美国数字模式数字E6S-1000-750-I-PKG 1提供关于壳体152的旋转位置的信息。磁性转子159和定子160引起基部部分158的转动动作，并因此使壳体152关于旋转联结器161转动。
图16示出第一激光雷达系统14的透视图。激光雷达系统154包括面部部分，其包括两个用于安置发射器透镜的腔174和一个更大的用于安置单个探测器透镜的腔170。如图22所示，在每个腔174内的透镜后面，是16个相对水平地布置的激光发射器，因而结合总的32个发射器。在腔170的透镜后面是32个探测器，探测器定位在单元154的管176内。如图17所示，第二激光雷达单元156与第一激光雷达系统154优点类似，但是包括更短的管178并具有向下的俯视角。图18示出第二激光雷达系统156的后视图。
在每个腔174的透镜后面是发射器组180。每个发射器组180包括16个独立的发射器188(每边)。发射器单元180的每个发射器188设置在单元196内部，并设置成激光器托架195(如图19和20)。每个发射器与位于连接有每个发射器的配件的激光探测器板166上相应的接收器对齐，并与托架激光器单元196和托架垫块带子195对齐。
图23A和B示出用于控制激光二极管的发射的电路。关于图23A和24，数字信号处理器(DSP)发送带电荷(charge/on)的信号到场效应晶体管(FET)200，因而给电感器204充电，电感器依次给电容器206充电，接着电容器引起激光器210发射。如前面通过来自最后脉冲的返回强度测量确定的那样，在预定时间周期后，数字信号处理器(DSP)关闭场效应晶体管200。充电脉冲5微秒一次，而发射脉冲20微秒一次。可变功率激光二极管发射电路。可以看到，储存在电感器中的能量是1/2*L*I^2。当场效应晶体管关闭，这个能量通过二极管被转移到放电电容器。电容器中的能量是1/2*C*I^2。很明显，电容器中的电压与场效应晶体管的持续时间成比例。因而，数字信号处理器(DSP)可以应用单个算法预测电容器中的电压的合适量。例如，从噪音和测量精确度的观点看，如果返回脉冲是所需的1/2大，那么为下一次脉冲数字信号处理器(DSP)只要单次充电电感器两次。当然，这种系统不能看到未来，因此不可能一直每次都得到最佳的返回强度。不过，这个技术运行得足够好，在大多数时间，该系统受益于这种技术。
图23B包括两个场效应晶体管。当在充电脉冲过程中场效应晶体管1开启(图24)，电感器240给电容器242充电。当在发射脉冲过程中场效应晶体管2开启，场效应晶体管2引起电容器242放电，因而使激光二极管244发射。
图25示出图23A和B中的电路的电流和照射输出。图26示出接收侧的光电二极管的数字化的传感值。
虽然已经示出和描述了本发明的优选的实施例，正如上面提到的，在不脱离本发明的精神和保护范围的条件下能够进行许多改变。因而，本发明的范围不受到优选的实施例的限制。相反，本发明应该完全参照权利要求来决定。

Claims (22)

1.一种基于激光雷达的三维点云系统，其包括：
多个光子发射器和光子探测器；和
旋转联结器装置，所述旋转联结器装置构造成转动多个光子发射器和光子探测器。
2.如权利要求1所述的系统，其中所述旋转联结器装置包括旋转功率联结器，所述旋转功率联结器构造成从外部源提供功率给多个光子发射器和光子探测器。
3.如权利要求1所述的系统，其中所述多个光子发射器和所述光子探测器包括多对光子发射器和探测器，每对以相互固定的关系保持。
4.如权利要求1所述的系统，其中所述旋转联结器装置包括旋转联结器，所述旋转联结器构造成传输信号到多个光子发射器和光子探测器和接收来自多个光子发射器和光子探测器信号。
5.如权利要求1所述的系统，还包括通信部件，所述通信部件构造成允许将由光子探测器产生的信号发送到外部部件。
6.如权利要求5所述的系统，其中所述通信部件包括无线通信装置。
7.如权利要求1所述的系统，还包括旋转编码器，所述旋转编码器构造成确定所述壳体相对于所述基部的旋转位置。
8.如权利要求1所述的系统，其中多个光子发射器和光子探测器包括16个或更多个发射器和探测器。
9.如权利要求1所述的系统，其中多个光子发射器和光子探测器包括一个构造成接收来自一个以上发射器的反射的探测器。
10.如权利要求1所述的系统，其中多个光子发射器和光子探测器包括一个构造成提供反射给一个以上探测器的发射器。
11.一种基于激光雷达的三维点云系统，所述系统包括：
基部；
壳体；
容纳在所述壳体内的多个光子发射器和光子探测器；
旋转部件，所述旋转部件构造成环绕所述基部旋转所述壳体；和
通信部件，所述通信部件构造成将由所述光子探测器产生的信号传输到外部部件。
12.如权利要求11所述的系统，其中所述旋转部件还包括旋转马达和旋转功率联结器，所述旋转功率联结器构造成将外部源的功率提供给光子发射器和光子探测器。
13.如权利要求11所述的系统，其中所述多个光子发射器和光子探测器包括多对光子发射器和探测器，每对光子发射器和探测器以相互固定的关系保持。
14.如权利要求11所述的系统，其中所述通信部件包括至少一个旋转联结器装置或无线通信装置。
15.如权利要求11所述的系统，还包括：
旋转编码器，所述旋转编码器构造成确定所述壳体相对于所述基部的旋转位置。
16.如权利要求11所述的系统，其中所述壳体以大于200转/分钟旋转。
17.如权利要求11所述的系统，其中所述多个光子发射器和光子探测器包括一个构造成接收来自一个以上发射器的反射的探测器。
18.如权利要求11所述的系统，其中所述多个光子发射器和光子探测器包括一个构造成提供反射给一个以上探测器的发射器。
19.如权利要求11所述的系统，其中所述探测器以大于300千点/秒记录。
20.如权利要求11所述的系统，其中所述光子发射器包括至少一个激光二极管，所述激光二极管构造成发射光信号，并且所述光子探测器包括至少一个光电二极管，所述光电二极管构造成响应于所述发射的光信号产生信号，所述系统还包括：
控制器，所述控制器构造成基于响应于所述发射的光信号产生的信号改变所述至少一个激光二极管的输出。
21.如权利要求20所述的系统，其中所述控制器包括场效应晶体管(FET)，放电电容器和电感装置。
22.一种产生三维点云的方法，所述方法包括：
提供多个光子发射器和光子探测器；和
利用旋转联结器装置旋转多个光子发射器和光子探测器；
从所述发射器发射光信号；
基于所述发射的光信号在所述探测器接收光反射；
基于所述接收的光反射产生三维点云。
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