CN107076853B - TOF measurement system and moveable platform - Google Patents
TOF measurement system and moveable platform Download PDFInfo
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- CN107076853B CN107076853B CN201780000256.4A CN201780000256A CN107076853B CN 107076853 B CN107076853 B CN 107076853B CN 201780000256 A CN201780000256 A CN 201780000256A CN 107076853 B CN107076853 B CN 107076853B
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- photophore
- optical signal
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
- G01S17/14—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein a voltage or current pulse is initiated and terminated in accordance with the pulse transmission and echo reception respectively, e.g. using counters
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
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- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The embodiment of the present invention provides a kind of TOF measurement system and moveable platform, which includes: photophore, receiver, controller and optical system, and optical system includes at least one of the first light signal processing device and the second light signal processing device；The optical signal of photophore transmitting improves the radiosity of the optical signal of photophore transmitting by the first light signal processing device；The light signal strength for the target object reflection that receiver receives is improved by the second light signal processing device by the optical signal of target object reflection.The radiosity that the embodiment of the present invention passes through the optical signal of raising photophore transmitting, and/or improve the light signal strength for the target object reflection that receiver receives, the signal-to-noise ratio of TOF measurement system can be improved, so that TOF measurement system can be detected apart from the farther away target object of TOF measurement system, to improve the ranging range of TOF measurement system.
Description
Technical field
The present embodiments relate to ranging field more particularly to a kind of TOF measurement system and moveable platforms.
Background technique
Moveable platform (such as unmanned vehicle, sniffing robot etc.) is provided with detecting devices at present, and detecting devices is used
Barrier around detection moveable platform, in case moveable platform hits peripherad barrier.
Flight time telemetry (Time Of Flight, abbreviation TOF) is a kind of common distance measuring method, TOF measurement side
Method includes phase modulation, and phase modulation refers to that the light source of the TOF measurement system on moveable platform emits an amplitude
The continuous optical signal of modulation, which is usually light emitting diode (Light Emitting Diode, abbreviation LED), when continuous
When optical signal is irradiated to the barrier around moveable platform, barrier returns to reflected light signal to TOF measurement system, and TOF is surveyed
Away from system according to the phase of reflected light signal, the distance between barrier and moveable platform are calculated.
But in TOF measurement system, on the one hand with the increase of measurement distance, the light signal strength reduction of return causes to connect
The light signal strength that receipts device receives is insufficient, another aspect, in order to obtain enough light signal strengths, when needing to increase integral
Between, the electrical power and optical power consumed at this time can all improve.Therefore, TOF measurement system can only detect closer barrier at present,
Longer-distance barrier can not be detected.
Summary of the invention
The embodiment of the present invention provides a kind of TOF measurement system and moveable platform, to improve the ranging model of TOF measurement system
It encloses.
The one aspect of the embodiment of the present invention is to provide a kind of TOF measurement system, comprising: photophore, receiver, controller
And optical system；Wherein,
Photophore, for emitting optical signal；
Receiver, for receiving the optical signal reflected by target object；
The controller, optical signal and the receiver for being emitted according to the photophore receive by target pair
As the optical signal of reflection, the distance between the target object and the range-measurement system are determined；
The optical system includes following at least one:
First light signal processing device, the optical signal of photophore transmitting by first light signal processing device with
Improve the radiosity of the optical signal of the photophore transmitting；
Second light signal processing device, by target object reflection optical signal by second light signal processing device with
Improve the light signal strength for the target object reflection that the receiver receives.
The other side of the embodiment of the present invention is to provide a kind of TOF measurement system, comprising: photophore, receiver, control
Device and external drive circuit；Wherein,
Photophore, for emitting optical signal；
Receiver, for receiving the optical signal reflected by target object；
The controller, optical signal and the receiver for being emitted according to the photophore receive by target pair
As the optical signal of reflection, the distance between the target object and the range-measurement system are determined；
The external drive circuit, for increasing the output power of the photophore.
The other side of the embodiment of the present invention is to provide a kind of moveable platform, comprising: TOF described in any of the above embodiments
Range-measurement system.
TOF measurement system provided in this embodiment and moveable platform, by the way that optical system is arranged in the TOF measurement system
System, optical system includes at least one of the first light signal processing device and the second light signal processing device, so that TOF measurement
The optical signal of photophore transmitting in system is logical by the receiver in the first light signal processing device and/or TOF measurement system
It crosses the second light signal processing device and receives the optical signal reflected by target object, the first light signal processing device can be improved luminous
The radiosity of the optical signal of device transmitting, the second light signal processing device can be improved the target object that receiver receives
The light signal strength of reflection, the radiosity of the optical signal by improving photophore transmitting, and/or improve receiver and receive
The light signal strength for the target object reflection arrived, can be improved the signal-to-noise ratio of TOF measurement system, so that TOF measurement system is detectable
To apart from the farther away target object of TOF measurement system, to improve the ranging range of TOF measurement system.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, embodiment will be described below
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is some realities of the invention
Example is applied, it for those of ordinary skill in the art, without any creative labor, can also be attached according to these
Figure obtains other attached drawings.
Fig. 1 is the structure chart of TOF measurement system provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram that photophore emits optical signal in the prior art；
Fig. 3 is the structure chart of TOF measurement system provided in an embodiment of the present invention；
Fig. 4 is the structure chart of TOF measurement system provided in an embodiment of the present invention；
Fig. 5 is the structure chart of TOF measurement system provided in an embodiment of the present invention；
Fig. 6 is the structure chart of TOF measurement system provided in an embodiment of the present invention；
Fig. 7 is the structure chart of TOF measurement system provided in an embodiment of the present invention；
Fig. 8 is the schematic diagram that receiver receives optical signal in the prior art；
Fig. 9 is the structure chart of TOF measurement system provided in an embodiment of the present invention；
Figure 10 is the structure chart of TOF measurement system provided in an embodiment of the present invention；
Figure 11 is the structure chart of TOF measurement system provided in an embodiment of the present invention；
Figure 12 is the structure chart of TOF measurement system provided in an embodiment of the present invention；
Figure 13 is the structure chart of TOF measurement system provided in an embodiment of the present invention；
Figure 14 is the structure chart of TOF measurement system in the prior art；
Figure 15 is the structure chart of TOF measurement system provided in an embodiment of the present invention；
Figure 16 is the driving current of photophore provided in an embodiment of the present invention and the relational graph of luminous intensity；
Figure 17 be another embodiment of the present invention provides TOF measurement system structure chart；
Figure 18 is the structure chart of unmanned vehicle provided in an embodiment of the present invention.
Appended drawing reference:
11- photophore 12- receiver 13- controller
14- optical system 15- target object the first light signal processing device of 141-
142- the second light signal processing device 21- light emitting diode
22- plane 31- the first plus lens 41- reflecting mirror
51- the first diaphragm 91- the second plus lens 92- optical filter
131- the second diaphragm 151- driving source 152- control circuit
150- external power supply 16- external drive circuit 161- external drive power supply
162- switch element 163- resistance
One end 100- unmanned vehicle that 17- resistance 163 is connect with switch element 162
107- motor 106- propeller 117- electron speed regulator
118- flight controller 108- sensor-based system 110- communication system
102- support equipment 104- capture apparatus 112- earth station
114- antenna 116- electromagnetic wave 119-TOF range-measurement system
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is clearly retouched
It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
It should be noted that it can be directly on another component when component is referred to as " being fixed on " another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it, which can be, is directly connected to
To another component or it may be simultaneously present component placed in the middle.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
The embodiment of the present invention provides a kind of TOF measurement system.Fig. 1 is TOF measurement system provided in an embodiment of the present invention
Structure chart.As shown in Figure 1, TOF measurement system includes: photophore 11, receiver 12, controller 13 and optical system 14, optics
System 14 includes at least one of the first light signal processing device 141 and the second light signal processing device 142, in the present embodiment
In, optical system 14 includes the first light signal processing device 141 and the second light signal processing device 142, in other embodiments,
Optical system 14 includes any one in the first light signal processing device 141 and the second light signal processing device 142.
TOF measurement system provided in this embodiment can be set on moveable platform, which includes as follows
It is at least one: unmanned vehicle, mobile robot, vehicle.TOF measurement system is used to detect the target around moveable platform
Object, the target object can be barrier or interested target, the TOF measurement system be specifically used for detected target object with
The distance between the TOF measurement system, and according to the distance between target object and the TOF measurement system, determine target object
The distance between moveable platform.
Photophore 11 is for emitting optical signal, specifically, photophore 11 can be light emitting diode (Light Emitting
Diode, abbreviation LED) or laser diode (Laser Diode, abbreviation LD).When be irradiated to can for the optical signal that photophore 11 emits
When target object around mobile platform, target object returns to reflected light signal to TOF measurement system, in TOF measurement system
Receiver 12 is used to receive the optical signal reflected by target object, and optionally, receiver 12 includes photosensitive element, the photosensitive member
Part includes following at least one: photodiode, avalanche photodide, charge coupled cell.
As shown in Figure 1, controller 13 is connect with photophore 11 and receiver 12 respectively, and controller 13 is according to photophore 11
The optical signal reflected by target object 15 that the optical signal and receiver 12 of transmitting receive determines that target object 15 and TOF are surveyed
Away from the distance between system.Specifically, controller 13 is used to determine that the optical signal that photophore 11 emits and receiver 12 to receive
The optical signal reflected by target object 15 between phase difference, and target object 15 and TOF measurement are determined according to the phase difference
The distance between system.
In the present embodiment, the optical signal that photophore 11 emits passes through 141 homed on its target pair of the first light signal processing device
As 15, first light signal processing device, 141 role be improve photophore 11 emit optical signal radiosity,
Optionally, the first light signal processing device 141 has the function of optical signal convergence, i.e., the first light signal processing device 141 can
The optical signal emitted photophore 11 converges, to reduce the angle of divergence of the optical signal of the transmitting of photophore 11, to improve hair
The radiosity for the optical signal that light device 11 emits.
Such as shown in Fig. 2, photophore 11 is light emitting diode 21, and Light-emitting diode LED is usually the light source of a diverging,
The optical signal of LED transmitting is the light beam of diverging.In the case where no first light signal processing device 141, it is assumed that the hair of LED
Optical power is P, the LED transmitting optical signal the angle of divergence be θ, apart from the LED be d, perpendicular to LED optical axis plane 22
On, the radius that the light beam of the LED projects the hot spot to be formed is r, and r is determined according to the following formula (1):
R=dtan (θ) (1)
In addition, the radiosity E of the optical signal of LED transmitting is determined according to the following formula (2):
In order to improve the radiosity E for the optical signal that LED emits, the first light letter is arranged in the present embodiment before LED
Number processing unit 141, so that the optical signal of LED transmitting passes through 141 directive plane 22 of the first light signal processing device, the first light letter
Number processing unit 141 can converge the LED optical signal emitted, in the case where the luminous power P of LED is constant, first
Light signal processing device 141 can reduce the angle of divergence θ of the optical signal of LED transmitting, to increase the spoke of the optical signal of LED transmitting
Penetrate power density E.
In addition, photophore 11 emit optical signal after 141 homed on its target object 15 of the first light signal processing device, mesh
It marks object 15 and returns to reflected light signal to TOF measurement system, the optical signal that target object 15 reflects is by the in optical system 14
Two light signal processing devices 142 receive, and the optical signal of the reflection of target object 15 quilt after the second light signal processing device 142
Receiver 12 receives, and the optical signal that target object 15 reflects is sent to controller 13 by receiver 12, and controller 13 is according to luminous
The optical signal and the optical signal reflected by target object 15 that receives of receiver 12 that device 11 emits, determine target object 15 with
The distance between TOF measurement system.Wherein, 142 role of the second light signal processing device is to improve receiver 12 to receive
The light signal strength that the target object 15 arrived reflects.Optionally, the second light signal processing device 142 can be anti-to target object 15
The optical signal penetrated is converged, and can have more optical signals to be connect by receiver 12 in the optical signal for reflecting target object 15
It receives, to improve the light signal strength that the target object 15 that receiver 12 receives reflects.
Optionally, target object 15 is barrier, and the optical signal of barrier reflection is the reflected beams, and barrier is to optical signal
Reflection be considered Lambertian reflection, the reflected beams of the barrier are distributed in the solid angle of π, if being not provided with second
Light signal processing device 142, the reflected beams of only sub-fraction can be received by receiver 12 in the reflected beams of barrier,
For the present embodiment by the way that the second light signal processing device 142 is arranged before receiver 12, the second light signal processing device 142 can
The reflected beams of barrier are converged, make there can be more the reflected beams by 12 institute of receiver in the reflected beams of barrier
It receives, to improve the light signal strength for the barrier reflection that receiver 12 receives.
TOF measurement system provided in this embodiment, by the way that optical system, optical system is arranged in the TOF measurement system
Including at least one of the first light signal processing device and the second light signal processing device, so that the hair in TOF measurement system
The optical signal of light device transmitting is believed by the receiver in the first light signal processing device and/or TOF measurement system by the second light
Number processing unit receives optical signal reflect by target object, and the first light signal processing device can be improved the light that photophore emits
The radiosity of signal, the second light signal processing device can be improved the light letter for the target object reflection that receiver receives
Number intensity passes through the radiosity for improving the optical signal of photophore transmitting, and/or improves the target pair that receiver receives
As the light signal strength of reflection, the signal-to-noise ratio of TOF measurement system can be improved, so that TOF measurement system can be detected distance TOF and survey
Away from the farther away target object of system, to improve the ranging range of TOF measurement system.
The embodiment of the present invention provides a kind of TOF measurement system.Fig. 3 is TOF measurement system provided in an embodiment of the present invention
Structure chart；Fig. 4 is the structure chart of TOF measurement system provided in an embodiment of the present invention；Fig. 5 is TOF provided in an embodiment of the present invention
The structure chart of range-measurement system；Fig. 6 is the structure chart of TOF measurement system provided in an embodiment of the present invention；Fig. 7 is the embodiment of the present invention
The structure chart of the TOF measurement system of offer.
In the present embodiment, the first light signal processing device 141 in embodiment illustrated in fig. 1 include the first plus lens,
At least one of reflecting mirror and the first diaphragm.As shown in fig. 3 to 7,11 indicate that photophore, photophore 11 can be light-emitting diodes
Pipe is also possible to laser diode, and 22 indicate that the plane of the optical axis perpendicular to photophore 11, the plane can be used as target object
Surface.
In addition, in other embodiments, the first light signal processing device 141 can include the first plus lens and anti-simultaneously
Mirror is penetrated, alternatively, the first light signal processing device 141 can include the first plus lens and the first diaphragm simultaneously.
Specifically, first light signal processing device 141 can there are several types of forms:
The first:
As shown in figure 3, the first light signal processing device 141 is specially the first plus lens 31, the first plus lens 31 with
The distance between plane 22 is d, and the first plus lens 31 includes following at least one: plano-convex lens, biconvex lens, lens group
It closes.First plus lens 31 has the function of optical signal convergence, the i.e. light that the first plus lens 31 can emit photophore 11
Signal is converged, to reduce the angle of divergence of the optical signal of the transmitting of photophore 11, as shown in figure 3, the light letter that photophore 11 emits
Number after the first plus lens 31, the angle of divergence for the optical signal that photophore 11 emits is reduced to shown in Fig. 3 from θ shown in Fig. 2
θ 1, correspondingly, photophore 11 emit optical signal be incident upon the hot spot formed in plane 22 after the first plus lens 31
Radius be r1, in the biggish situation of d, r1 can approximate (3) according to the following formula determine:
R1=dtan (θ 1) (3)
As shown in figure 3, the radiosity E1 for the optical signal that photophore 11 emits is determined according to the following formula (4):
After comparing Fig. 2 and Fig. 3 it is found that increasing by the first plus lens 31, the optical signal that photophore 11 emits is incident upon flat
The radius of the hot spot formed on face 22 is reduced to r1=dtan (θ 1) from r=dtan (θ), correspondingly, the light that photophore 11 emits
The radiosity of signal fromIt is increased toIf will
WithThe lifting capacity M of the radiosity of optical signal that emits as photophore 11 of ratio, then M can root
It is determined according to following formula (5):
For example, θ be 10 degree, photophore 11 emit optical signal after the first plus lens 31, photophore 11 transmitting
The angle of divergence θ 1 of optical signal is reduced to 3 degree, then the lifting capacity of the radiosity for the optical signal that photophore 11 emitsThat is E1 is 11.3 times of E.
In addition, in the present embodiment, the position of photophore 11 is determined according to the rear focus of the first plus lens 31.It is optional
, photophore 11 is located at the rear focus of the first plus lens 31.
Second:
As shown in figure 4, the first light signal processing device 141 is specially reflecting mirror 41, the mirror surface of reflecting mirror 41 is paraboloid,
The paraboloid is at least partially around photophore 11.The optical signal of usual light emitting diode transmitting has the biggish angle of divergence, such as
The angle of the light beam that solid arrow 1 and 2 shown in Fig. 4 indicates, transmitting is larger, when the light beam directive that solid arrow 1 and 2 indicates
After the paraboloid of reflecting mirror 41, the light beam that reflecting mirror 41 indicates the solid arrow 1 and 2 reflects, according to the reflection of mirror surface
Principle, the light beam that solid arrow 1 indicates are reflected as light beam 3, and the light beam that solid arrow 2 indicates is reflected as light beam 4, light beam 3
Launch angle it is smaller than the launch angle for the light beam that solid arrow 1 indicates, what the launch angle of light beam 4 was indicated than solid arrow 2
The launch angle of light beam is small, it is seen then that reflecting mirror 41 has the function of optical signal convergence, i.e., reflecting mirror 41 can send out photophore 11
The optical signal penetrated is converged, and to reduce the angle of divergence of the optical signal of the transmitting of photophore 11, similarly improves the transmitting of photophore 11
Optical signal radiosity.
In addition, in the present embodiment, the paraboloidal curvature of reflecting mirror 41 is determined according to following at least one parameter: being shone
The Energy distribution for the optical signal that the size of device 11, photophore 11 emit.
The third:
As shown in figure 5, the first light signal processing device 141 is specially the first diaphragm 51, the first diaphragm 51 is at least partly
It is set in around photophore 11, the axis of the light hole of the first diaphragm 51 is parallel with the optical axis of photophore 11.As shown in Figure 5
Stopped after the first diaphragm of light beam directive 51 that solid arrow indicates by the inner wall of the first diaphragm 51, the first diaphragm 51 can not be projected
Light hole, compared to Fig. 2, the optical signal for reducing the transmitting of photophore 11 is incident upon the radius of the hot spot formed in plane 22.It can
See, the first diaphragm 51 also has the function of optical signal convergence, the i.e. optical signal that the first diaphragm 51 can also emit photophore 11
It is converged, to reduce the angle of divergence of the optical signal of the transmitting of photophore 11, similarly improves the optical signal of the transmitting of photophore 11
Radiosity.Specifically, the first diaphragm 51 can be a sleeve, the cross section of the sleeve can be circle, rectangle, just
It is rectangular etc..
In addition, the angle of divergence of the optical signal of the transmitting of photophore 11 after the first diaphragm 51 is according to following at least one parameter
Determine: the length of the first diaphragm 51, the first diaphragm 51 light hole position relative to photophore 11 of aperture, the first diaphragm 51
It sets.In addition, the size of the first diaphragm 51 can also be determined according to the size of photophore 11.
4th kind:
As shown in fig. 6, the first light signal processing device 141 includes the first plus lens 31 and reflecting mirror 41.Such as Fig. 3 institute
Show, for example, photophore 11 is light emitting diode, the optical signal of usual light emitting diode transmitting has the biggish angle of divergence, such as Fig. 3
It is shown, have in the optical signal that photophore 11 emits part optical signals can not the first plus lens of directive 31, such as arrow a and arrow
Light beam shown in b, transmitting angle it is larger and can not the first plus lens of directive 31 so that photophore 11 emit optical signal
It can not be used effectively, the utilization efficiency of the luminous power of photophore 11 is caused to reduce, meanwhile, cause the first plus lens 31 to converge
The efficiency decline for the optical signal that poly- photophore 11 emits, in order to solve this problem, as shown in fig. 6, being added on the basis of Fig. 3
One reflecting mirror 41, the reflecting mirror 41 and reflecting mirror shown in Fig. 4 41 in Fig. 6 are consistent.For example, the arrow a and arrow b in Fig. 3
Shown in light beam can not the first plus lens of directive 31, the light beam directive reflecting mirror 41 shown in arrow a and arrow b in Fig. 6
After paraboloid, reflecting mirror 41 reflects light beam shown in arrow a and arrow b, and the light beam after the reflection of reflecting mirror 41 can
With the first plus lens of directive 31, i.e. the light beam for the wide-angle that photophore 11 emits can be reflected into the light of low-angle by reflecting mirror 41
Beam, so as to can have more the first plus lens of light beam directive 31 in the light beam that photophore 11 emits, so that photophore 11 emits
Optical signal can be used effectively, improve photophore 11 luminous power utilization efficiency, meanwhile, improve the first plus lens 31
Converge the efficiency for the optical signal that photophore 11 emits.
5th kind:
As shown in fig. 7, the first light signal processing device 141 includes the first plus lens 31 and the first diaphragm 51.Due to
One plus lens 31 have the function of optical signal convergence, i.e. the first plus lens 31 can to photophore 11 emit optical signal into
Row convergence, to reduce the angle of divergence of the optical signal of the transmitting of photophore 11, as shown in fig. 7, on the basis of Fig. 5, in photophore 11
Before add first plus lens 31, the optical signal that photophore 11 emits first passes around the first diaphragm 51 and is converged,
To reduce the angle of divergence of the optical signal of the transmitting of photophore 11, the optical signal that photophore 11 emits is after the first diaphragm 51, part
Optical signal is stopped by the inner wall of the first diaphragm 51, can not project the light hole of the first diaphragm 51, projects the light passing of the first diaphragm 51
The first plus lens of directive 31, the first 31 pairs of plus lens project the light letter of the light hole of the first diaphragm 51 to the optical signal in hole again
It number is converged again.Compared to the angle of divergence of the optical signal for the light hole for projecting the first diaphragm 51 in Fig. 5, through the in Fig. 7
The angle of divergence of the optical signal of one plus lens 31 is smaller, therefore, after adding the first plus lens 31, photophore 11 can be made to emit
The angle of divergence of optical signal further decreases.
TOF measurement system provided in this embodiment, the first light signal processing device can be the first plus lens, reflection
At least one of mirror and the first diaphragm, any one in the first plus lens, reflecting mirror and the first diaphragm can be to hair
The optical signal of light device transmitting is converged, and provides a variety of implementations to reduce the angle of divergence of optical signal of photophore transmitting；
In addition, the first light signal processing device is also possible to the first plus lens and reflecting mirror, reflecting mirror can emit photophore big
The light beam of angle is reflected into the light beam of low-angle, so as to can have more light beam directives first to converge in the light beam of photophore transmitting
Lens, the optical signal that photophore is emitted are used effectively, and improve the utilization efficiency of the luminous power of photophore, meanwhile,
Improve the efficiency of the optical signal of the first plus lens convergence photophore transmitting；In addition, the first light signal processing device can also be
First plus lens and the first diaphragm, the optical signal of photophore transmitting first pass around the first diaphragm and are converged, shone with reducing
The angle of divergence of the optical signal of device transmitting, projects optical signal the first plus lens of directive again of the light hole of the first diaphragm, and first
Plus lens converges the optical signal for the light hole for projecting the first diaphragm again, to further decrease the light of photophore transmitting
The angle of divergence of signal, to further improve the radiosity of the optical signal of photophore transmitting.
The embodiment of the present invention provides a kind of TOF measurement system.Fig. 9 is TOF measurement system provided in an embodiment of the present invention
Structure chart.The angle of divergence for the optical signal that Fig. 3-embodiment shown in Fig. 7 is emitted by reduction photophore 11 improves photophore 11 and sends out
The radiosity for the optical signal penetrated, to improve the signal-to-noise ratio of TOF measurement system, the present embodiment is by improving receiver 12
Receiving aperture, to improve the signal-to-noise ratio of TOF measurement system.The receiving aperture of receiver 12 determines the mesh that receiver 12 receives
The light signal strength that object 15 reflects is marked, as shown in figure 8,12 indicate receiver, receiver 12 includes photosensitive element, described photosensitive
Element includes following at least one: photodiode, avalanche photodide, charge coupled cell.15 indicate target object, should
Target object 15 can be barrier, and the optical signal of barrier reflection is the reflected beams, and barrier can be with to the reflection of optical signal
It is considered as Lambertian reflection, the reflected beams of the barrier are distributed in the solid angle of π, if being not provided with the second optical signal prosessing
Device 142, the reflected beams of only sub-fraction can be received by receiver 12 in the reflected beams of barrier, it is assumed that barrier
The reflected beams in only solid angle can be received by receiver 12 by the reflected beams in Ω, receiver 12 and target object 15
The distance between be d, the area of receiver 12 is A, then the relationship between Ω, d and A can pass through following formula (6) and determine:
Ω=A/d2 (6)
In order to improve the receiving aperture of receiver 12, the present embodiment is arranged at second optical signal before receiver 12
Device 142 is managed, as shown in figure 9, the second light signal processing device 142 includes the second plus lens 91, the second plus lens 91 packet
Include following at least one: plano-convex lens, biconvex lens, lens combination.Second plus lens 91 is specifically used for improving receiver 12
Receiving aperture, to improve the light signal strength that the target object 15 that receiver 12 receives reflects.Second plus lens 91
Area is A1, focal length f, and the area A1 of the second plus lens 91 is greater than the area A of receiver 12, as shown in figure 9, in target
In the optical signal that object 15 reflects, the optical signal of all the second plus lens of directive 91 can all be focused on by the second plus lens 91
On receiver 12, i.e. optical signal in the optical signal neutral body angle Ω 1 of the reflection of target object 15 can all be received device 12 and be received,
Assuming that the distance between the second plus lens 91 and target object 15 are d, then the relationship between Ω 1, d and A1 can be by following public
Formula (7) determines:
Ω 1=A1/d2 (7)
Since the area A1 of the second plus lens 91 is greater than the area A of receiver 12, then Ω 1 is greater than Ω, if receiver 12
Area A be 1 square millimeter, the area A1 of the second plus lens 91 is 100 square millimeters, then Ω 1 is 100 times of Ω, is received
The light signal strength of target object that device 12 receives reflection will have 100 times of promotion, i.e., by increasing before receiver 12
Second plus lens 91, can be improved the receiving aperture of receiver 12, to improve the target object reflection that receiver 12 receives
Light signal strength.
In addition, in other embodiments, the position of receiver 12 is determined according to the rear focus of the second plus lens 91.It can
Choosing, receiver 12 is located at the rear focus of the second plus lens 91.
In addition, in other embodiments, the first plus lens 31 and the second plus lens 91 can be identical lens,
It can be different lens.
TOF measurement system provided in this embodiment, by the way that a plus lens is arranged before receiver, target object is anti-
The optical signal penetrated is received after plus lens convergence by receiver, and the area of the plus lens is greater than the face of receiver
Product improves connecing for receiver so that can have more optical signals to be received by receiver in the optical signal of target object reflection
Batter diameter further improves TOF measurement system to improve the light signal strength for the target object reflection that receiver receives
The signal-to-noise ratio of system improves the accuracy of the measurement result of TOF measurement system.
The embodiment of the present invention provides a kind of TOF measurement system.Figure 11 is TOF measurement system provided in an embodiment of the present invention
Structure chart；Figure 12 is the structure chart of TOF measurement system provided in an embodiment of the present invention；Figure 13 is provided in an embodiment of the present invention
The structure chart of TOF measurement system.
As shown in Figure 10, in TOF measurement system, receiver 12 is receiving the optical signal of the second plus lens 91 convergence
Meanwhile bias light can be also received, bias light occurs at random, and receiver 12 may receive the back in all directions
Jing Guang, bias light not only will affect the light signal strength for the target object reflection that receiver 12 receives, while bias light can also
Biggish noise is brought, large effect is caused to the measurement result of TOF measurement system, to reduce the survey of TOF measurement system
Accuracy is measured, in order to solve this problem, the present embodiment limits the 12 received bias light of institute of receiver by the following two kinds mode
Intensity, in detail below introduce:
The first:
Second light signal processing device 142 includes optical filter, and as shown in figure 11, optical filter 92 is located at the second plus lens 91
Close to the side of receiver 12, alternatively, as shown in figure 12, optical filter 92 is located at one of the second plus lens 91 far from receiver 12
Side, as shown in Figure 11 or 12, optical filter 92 can filter out part bias light, and the optical signal for allowing target object 15 to reflect passes through, from
And excessive bias light is avoided to be received by receiver 12, improve the signal-to-noise ratio of the optical signal received.
In addition, the wavelength for the optical signal of optical filter 92 emitted through wavelength according to photophore 11 determines.For example, photophore
The wavelength of the optical signal of 11 transmittings is 850nm, then the wavelength that penetrates of optical filter 92 can be set within the scope of 830nm-870nm.
Second:
Optical system 14 further includes the second diaphragm, and as shown in figure 13, the second diaphragm 131 is located at receiver 12 and the second convergence
Between lens 91, for stopping the bias light of preset direction.Since bias light occurs at random, and receiver 12 may connect
The bias light in all directions is received, but the direction of the optical signal of the reflection of target object 15 is more concentrated, as shown in figure 13, mesh
The optical signal that mark object 15 reflects concentrates in solid angle Ω 1, and the present embodiment can stop preset direction by the second diaphragm 131
Bias light, which can be the direction of the optical signal of the reflection of target object 15, so that excessive bias light be avoided to be connect
Device 12 is received to be received.In addition, by adjusting the second diaphragm 131 size adjust the second diaphragm 131 stop bias light number,
Placed angle by adjusting the second diaphragm 131 can also adjust the preset direction.
TOF measurement system provided in this embodiment, by being converged in the second plus lens close to the side of receiver or second
Poly- lens place optical filter far from the side of receiver, which can filter out part bias light, and target object is allowed to reflect
Optical signal passes through, so that excessive bias light be avoided to be received by receiver, improves the letter for the optical signal that receiver receives
It makes an uproar ratio；In addition, the second diaphragm is for stopping preset direction by the way that the second diaphragm is arranged between receiver and the second plus lens
Bias light, equally can avoid excessive bias light and received by receiver, thus reduce bias light to receiver receive mesh
The influence of the light signal strength of object reflection is marked, meanwhile, the larger noise of bias light bring is avoided, bias light is reduced and TOF is surveyed
It is influenced caused by measurement result away from system, further improves the accuracy of the measurement result of TOF measurement system.
The embodiment of the present invention provides a kind of TOF measurement system.Figure 15 is TOF measurement system provided in an embodiment of the present invention
Structure chart.On the basis of the above embodiments, controller 13 shown in FIG. 1, the light that can not only be emitted according to photophore 11 are believed
Number and the optical signal reflected by target object 15 that receives of receiver 12, determine between target object 15 and TOF measurement system
Distance, additionally it is possible to the optical signal for driving photophore 11 to modulate according to preset periodic emission, meanwhile, controller 13 can also be controlled
The intensity for the optical signal that photophore 11 processed emits.As shown in figure 14, controller 13 is internally provided with driving circuit, in controller 13
The driving circuit set includes driving source 151 and control circuit 152, and driving source 151 is connected with external power supply 150, external power supply 150
Constant voltage is provided and drives the driving source 151, so that the driving source 151 can be used as a constant-current source, constant-current source herein is
Finger maximum current is fixed value such as 200mA, and the electric current that minimum current is 0, control circuit 152 may include inside controller 13
A register, the register can to the constant-current source carry out pulse width modulation (Pulse Width Modulation, referred to as
PWM), so that the electric current for flowing to photophore 11 is pulse current, specifically, when control circuit 152 can control the starting of PWM waveform
The parameters such as quarter, duration, duty ratio.Pulse current after the control of control circuit 152 flows to photophore 11, and in the arteries and veins
It rushes photophore 11 when electric current is high level and emits optical signal, photophore 11 does not emit light letter when the pulse current is low level
Number, i.e., controller 13 controls the progress switch modulation of photophore 11 and shines.Since the maximum current of constant-current source is fixed, can not continue to mention
It rises, the optical power for causing photophore 11 as shown in figure 14 to export is fixed, and higher optical power can not be exported.Photophore 11 can be with
It is light emitting diode (Light Emitting Diode, abbreviation LED) or laser diode (Laser Diode, abbreviation LD).
In view of the above-mentioned problems, the present embodiment improves circuit as shown in figure 14, as shown in figure 15, Figure 14's
On the basis of, TOF measurement system further include: external drive circuit 16, external drive circuit 16 divide with controller 13 and photophore 11
It does not connect, for increasing the output power of photophore 11.Specifically, external drive circuit 16 includes external drive power supply 161, outside
For portion's driving power 161 for driving photophore 11, the voltage that external drive power supply 161 provides is greater than what external power supply 150 provided
Voltage, the output control signal I of controller 13, control signal I is the pulse current that photophore 11 is flowed in Figure 14, with Figure 14
Unlike, control signal I does not directly control photophore 11, but controls external drive circuit 16.
As shown in figure 15, external drive circuit 16 includes switch element 162, and photophore 11 is connect with switch element 162；Control
The control signal I control switch element 162 that device 13 processed exports, when the control signal I that controller 13 exports is high level, switch
Element 162 is opened, and when the control signal I that controller 13 exports is low level, switch element 162 is disconnected, i.e., when controller 13
When the control signal I of output is high level, external drive circuit 16 is connected, when the control signal I that controller 13 exports is low electricity
Usually, external drive circuit 16 disconnects, to realize the control signal I exported using controller 13 to external drive circuit 16
Control.In the present embodiment, switch element 162 includes following at least one: metal oxide semiconductor field effect tube, three poles
It manages, for the luminous device for making amplitude modulation to the photophore.Optionally, switch element 162 is that metal oxide is partly led
Body field effect transistor (Metal Oxide Semi-Conductor Field Effect Transistor, abbreviation MOS
FET)。
In addition, external drive circuit 16 further includes resistance 163, resistance 163 is connect with switch element 162；Believed using control
Number I control switch element 162 with realize to the control of external drive circuit 16 include: control signal I load resistance 163 with open
One end 17 that element 162 connects is closed, is realized being opened or closed for control switch element 162 to outside using control signal I
The control of driving circuit 16.Specifically, after the pulse current I that control signal I, that is, controller 13 exports flows through resistance 163, in electricity
Partial pressure U is formed in resistance 163, is divided the relationship between the resistance value R of U, pulse current I, resistance 163 and is determined according to the following formula (8):
U=I*R (8)
When the pulse current I that controller 13 exports is high level, partial pressure U is greater than the conducting voltage of MOS FET, makes
MOS FET conducting, external drive circuit 16 is connected at this time, and photophore 11 shines under the driving of external driving power 161.
When the pulse current I that controller 13 exports is low level, the partial pressure U that pulse current I is formed on resistance 163 is small
In the conducting voltage of MOS FET, MOS FET is not turned on, and external drive circuit 16 is not turned at this time, and photophore 11 does not shine, i.e.,
The pulse current I that controller 13 exports is realized by being opened or closed for control switch element 162 to external drive circuit 16
Control, thus make photophore 11 carried out under the driving of external driving power 161 switch modulation shine.Due to external drive electricity
The voltage that source 161 provides is greater than the voltage that external power supply 150 provides, then photophore 11 is under the driving of external driving power 161
Exportable higher optical power improves receiver 12 and connects to improve the signal-to-noise ratio for the optical signal that receiver 12 receives
The power of the optical signal received, so that the ranging range of TOF measurement system is bigger, measurement result is more accurate.
In addition, in other embodiments, the voltage swing that external drive power supply 161 provides can be according to the volt-ampere of photophore 11
Characteristic adjusts, so that photophore 11 reaches maximum output power, and the driving circuit that is arranged inside uncontrolled device 13
The influence of driving capability.
As shown in figure 16, horizontal axis indicates to flow through the size of the driving current I of photophore 11, and the longitudinal axis indicates that photophore 11 is driving
The ratio of luminous intensity and Ie under streaming current I driving, herein, Ie indicate that photophore 11 is nominal luminous under 100mA driving
Power.For example, the maximum current for the pulse current I that controller 13 exports is fixed as 200mA, in Figure 14, photophore 11 is flowed through
It is 200mA in the maximum value of pulse current I, as can be seen from FIG. 16, when driving current I is 200mA, the strong light of photophore 11
The Ie that degree is 2 times.As shown in figure 15, the voltage that external drive power supply 161 provides is fixed as 2.4V, passes through the driving of photophore 11
Electric current is 1A, and as can be seen from FIG. 16, when driving current I is 1A, the Ie that the luminous intensity of photophore 11 is 7 times is equivalent to hair
The luminous power of light device 11 improves 3.5 times.
TOF measurement system provided in this embodiment, by increasing external drive circuit in TOF measurement system, outside is driven
Dynamic circuit can increase the output power of photophore by using external power supply driving power, specifically, external drive circuit includes
External drive power supply and switch element, by external drive power drives photophore, the control signal of controller output is not controlled directly
Photophore processed, but control switch element is opened or closed to realize the control to external drive circuit, to make photophore
It carries out switch modulation under the driving of external driving power to shine, since the voltage driving photophore that external drive power supply provides can
The optical signal of higher optical power is exported, to improve the signal-to-noise ratio for the optical signal that receiver receives, receiver is improved and receives
Optical signal optical power so that the ranging range of TOF measurement system is bigger, measurement result is more accurate.
The embodiment of the present invention provides a kind of TOF measurement system.Figure 17 be another embodiment of the present invention provides TOF measurement system
The structure chart of system.As shown in figure 17, TOF measurement system includes photophore 11, receiver 12, controller 13 and external drive circuit
16, photophore 11 is for emitting optical signal；Receiver 12 is used to receive the optical signal reflected by target object；Controller 13 is used for
The optical signal reflected by target object that the optical signal and receiver 12 emitted according to photophore 11 receives, determines target object
The distance between TOF measurement system；External drive circuit 16 is used to increase the output power of photophore 11.
As shown in figure 15, external drive circuit 16 includes external drive power supply 161, and external drive power supply 161 is for driving
Photophore 11.Controller 13 is connect with external drive circuit 16, and controller 13 is also used to export control signal, to external drive electricity
Road 16 is controlled.
External drive circuit 16 includes switch element 162, and photophore 11 is connect with switch element 162；Controller 13 is specific
Signal is controlled for exporting, using control Signal-controlled switch element 162 to realize the control to external drive circuit 16.
In addition, external drive circuit 16 further includes resistance 163, resistance 163 is connect with switch element 162；Believed using control
Number control switch element 162 is to realize that the control of external drive circuit 16 include: control signal loading in resistance 163 and switch
One end that element 162 connects, it is electric to external drive to realize being opened or closed for control switch element 162 using control signal
The control on road 16.
Optionally, switch element 162 includes following at least one: metal oxide semiconductor field effect tube, triode, use
In the luminous device for making amplitude modulation to the photophore.
Controller 13 is specifically used for determining that the optical signal that photophore 11 emits and the target object that receiver 12 receives are anti-
The phase difference between optical signal penetrated determines the distance between target object and the range-measurement system according to the phase difference.
The concrete principle and implementation of external drive circuit 16 provided in an embodiment of the present invention are implemented with shown in Figure 15
Example is similar, and details are not described herein again.
The embodiment of the present invention provides a kind of moveable platform, which includes that TOF described in above-described embodiment is surveyed
Away from system.The moveable platform includes unmanned vehicle.
The embodiment of the present invention provides a kind of unmanned vehicle.Figure 18 is the knot of unmanned vehicle provided in an embodiment of the present invention
Composition, as shown in figure 18, unmanned vehicle 100 include: that fuselage, dynamical system and control equipment 118, the dynamical system include
Following at least one: motor 107, propeller 106 and electron speed regulator 117, dynamical system is mounted on the fuselage, for providing
Flying power；Control equipment 118 specifically can be flight controller.
In addition, as shown in figure 18, unmanned vehicle 100 further include: sensor-based system 108, communication system 110, support equipment
102, capture apparatus 104, TOF measurement system 119, wherein sensor-based system is used to detect the speed of the unmanned vehicle, accelerates
The attitude parameter (pitch angle, roll angle, yaw angle etc.) of degree, attitude parameter (pitch angle, roll angle, yaw angle etc.) or holder
Deng support equipment 102 specifically can be holder, and communication system 110 can specifically include receiver and/or transmitter, receiver
The wireless signal that antenna 114 for satellite receiver 112 is sent, communication system 110 can also send wireless communication with ground station
Number (such as image information, status information of unmanned vehicle etc.), 116 indicate in communication systems 110 and 114 communication process of antenna
The electromagnetic wave of generation.
The concrete principle and implementation of TOF measurement system 119 provided in an embodiment of the present invention with above-described embodiment
TOF measurement system is similar, and details are not described herein again.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or logical of device or unit
Letter connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention
The part steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. it is various
It can store the medium of program code.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each functional module
Division progress for example, in practical application, can according to need and above-mentioned function distribution is complete by different functional modules
At the internal structure of device being divided into different functional modules, to complete all or part of the functions described above.On
The specific work process for stating the device of description, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (30)
1. a kind of TOF measurement system, comprising: photophore, receiver, controller and optical system, which is characterized in that
Photophore, for emitting optical signal；
Receiver, for receiving the optical signal reflected by target object；
The controller, optical signal and the receiver for being emitted according to the photophore receive anti-by target object
The optical signal penetrated determines the distance between the target object and the range-measurement system；
The optical system includes following at least one:
First light signal processing device, the optical signal of the photophore transmitting is by first light signal processing device to improve
The radiosity of the optical signal of the photophore transmitting；
Second light signal processing device, by the optical signal of target object reflection by second light signal processing device to improve
The light signal strength for the target object reflection that the receiver receives；
The system also includes: external drive circuit；
Wherein, external drive circuit is connect with the controller and the photophore, for increasing the output work of the photophore
Rate.
2. system according to claim 1, which is characterized in that first light signal processing device is specifically used for reducing
The angle of divergence of the optical signal of the photophore transmitting, to improve the radiosity of the optical signal of the photophore transmitting.
3. system according to claim 1 or 2, which is characterized in that first light signal processing device includes the first remittance
At least one of poly- lens, reflecting mirror and first diaphragm.
4. system according to claim 3, which is characterized in that the position of the photophore is according to first plus lens
Rear focus determine.
5. system according to claim 4, which is characterized in that the photophore is located at the rear coke of first plus lens
Point.
6. according to the described in any item systems of claim 4-5, which is characterized in that the mirror surface of the reflecting mirror is paraboloid, institute
Paraboloid is stated at least partially around photophore.
7. system according to claim 6, which is characterized in that the paraboloidal curvature is according to following at least one parameter
It determines:
The Energy distribution for the optical signal that the size of the photophore, the photophore emit.
8. according to the described in any item systems of claim 4,5,7, which is characterized in that first diaphragm is at least partly arranged
Around the photophore, the axis of the light hole of first diaphragm is parallel with the optical axis of the photophore.
9. according to claim 1,2,4,5,7 described in any item systems, which is characterized in that second light signal processing device
Including the second plus lens, second plus lens is specifically used for improving the receiving aperture of the receiver, described in improving
The light signal strength for the target object reflection that receiver receives.
10. system according to claim 9, which is characterized in that the position of the receiver is saturating according to second convergence
The rear focus of mirror determines.
11. system according to claim 10, which is characterized in that after the receiver is located at second plus lens
Focus.
12. the described in any item systems of 0-11 according to claim 1, which is characterized in that the area of second plus lens is big
In the area of the receiver.
13. the described in any item systems of 0-11 according to claim 1, which is characterized in that second light signal processing device is also
Including optical filter, the optical filter is located at second plus lens close to the side of the receiver or far from the receiver
Side, be used for wiping out background light.
14. system according to claim 13, which is characterized in that the optical filter penetrates wavelength according to the photophore
The wavelength of the optical signal of transmitting determines.
15. 0,11,14 described in any item systems according to claim 1, which is characterized in that second light signal processing device
It further include the second diaphragm, second diaphragm is preset between the receiver and second plus lens for stopping
The bias light in direction.
16. system according to claim 3, which is characterized in that the plus lens includes following at least one:
Plano-convex lens, biconvex lens, lens combination.
17. system according to claim 1, which is characterized in that the external drive circuit includes external drive power supply；
The external drive power supply, for driving the photophore.
18. system according to claim 17, which is characterized in that the controller is also used to export control signal, to institute
External drive circuit is stated to be controlled.
19. system according to claim 18, which is characterized in that the external drive circuit includes switch element, described
Photophore is connect with the switch element；
The controller is specifically used for output control signal, using the control signal control switch element to realize pair
The control of the external drive circuit.
20. system according to claim 19, which is characterized in that the external drive circuit further includes resistance, the electricity
Resistance is connect with the switch element；
It is described using the control signal to control the switch element to realize that the control to the external drive circuit includes:
The control signal loading is controlled described in one end that the resistance is connect with the switch element using control signal
Switch element is opened or closed to realize the control to the external drive circuit.
21. system described in 9 or 20 according to claim 1, which is characterized in that the switch element includes following at least one:
Metal oxide semiconductor field effect tube, triode.
22. -2,4-5,7,10-11,14, the described in any item systems of 16-20 according to claim 1, the controller is specific to use
Phase between the optical signal for the target object reflection that the optical signal and the receiver that determine the photophore transmitting receive
Potential difference determines the distance between target object and the range-measurement system according to the phase difference.
23. a kind of TOF measurement system, comprising: photophore, receiver, controller and external drive circuit, which is characterized in that
Photophore, for emitting optical signal；
Receiver, for receiving the optical signal reflected by target object；
The controller, optical signal and the receiver for being emitted according to the photophore receive anti-by target object
The optical signal penetrated determines the distance between the target object and the range-measurement system；
The external drive circuit, for increasing the output power of the photophore；
The external drive circuit includes switch element, and the photophore is connect with the switch element；
The controller is specifically used for output control signal, using the control signal control switch element to realize pair
The control of the external drive circuit.
24. system according to claim 23, which is characterized in that the external drive circuit includes external drive power supply；
The external drive power supply, for driving the photophore.
25. the system according to claim 23 or 24, which is characterized in that the controller is also used to export control signal,
The external drive circuit is controlled.
26. system according to claim 23, which is characterized in that the external drive circuit further includes resistance, the electricity
Resistance is connect with the switch element；
It is described using the control signal to control the switch element to realize that the control to the external drive circuit includes:
The control signal loading is controlled described in one end that the resistance is connect with the switch element using control signal
Switch element is opened or closed to realize the control to the external drive circuit.
27. the system according to claim 23 or 26, which is characterized in that the switch element includes following at least one:
Metal oxide semiconductor field effect tube, triode.
28. according to the described in any item systems of claim 23,24,26, the controller is specifically used for determining the photophore
Phase difference between the optical signal for the target object reflection that the optical signal of transmitting and the receiver receive, according to the phase
Difference determines the distance between target object and the range-measurement system.
29. a kind of moveable platform characterized by comprising the described in any item TOF measurement systems of claim 1-22, or
The described in any item TOF measurement systems of person's claim 23-28.
30. moveable platform according to claim 29, which is characterized in that the moveable platform includes unmanned flight
Device.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/072176 WO2018133089A1 (en) | 2017-01-23 | 2017-01-23 | Tof distance measurement system and movable platform |
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| CN107076853A CN107076853A (en) | 2017-08-18 |
| CN107076853B true CN107076853B (en) | 2019-02-19 |
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| WO (1) | WO2018133089A1 (en) |
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| CN111095018B (en) | 2017-08-31 | 2022-03-29 | 深圳市大疆创新科技有限公司 | Solid state light detection and ranging (LIDAR) systems, systems and methods for improving solid state light detection and ranging (LIDAR) resolution |
| WO2019041250A1 (en) * | 2017-08-31 | 2019-03-07 | 深圳市大疆创新科技有限公司 | Electronic device and distance measurement apparatus comprising same, and electronic equipment |
| JP7021885B2 (en) * | 2017-09-11 | 2022-02-17 | 株式会社日立エルジーデータストレージ | Distance measuring device |
| WO2019157632A1 (en) * | 2018-02-13 | 2019-08-22 | 深圳市大疆创新科技有限公司 | Ranging system, automation device and ranging method |
| CN208580498U (en) * | 2018-05-31 | 2019-03-05 | 深圳市大疆创新科技有限公司 | Infrared emission angle adjustment structure, infrared transmission module and remote control device |
| CN108965579A (en) * | 2018-06-05 | 2018-12-07 | Oppo广东移动通信有限公司 | Method and device thereof, terminal and the storage medium of ranging are realized based on TOF camera |
| WO2020142942A1 (en) * | 2019-01-09 | 2020-07-16 | 深圳市大疆创新科技有限公司 | Control method and controller for motor, distance measurement sensor, and mobile platform |
| CN109975783B (en) * | 2019-03-19 | 2020-04-28 | 深圳市速腾聚创科技有限公司 | Laser radar |
| CN110082722B (en) * | 2019-04-29 | 2022-06-10 | 天津大学 | Method for positioning flying light source under indoor fixed obstacle condition based on white light LED |
| CN112153184B (en) * | 2019-06-28 | 2022-03-22 | Oppo广东移动通信有限公司 | Mobile terminal |
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| Publication number | Publication date |
|---|---|
| CN107076853A (en) | 2017-08-18 |
| WO2018133089A1 (en) | 2018-07-26 |
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