WO2020124318A1 - 调整扫描元件运动速度的方法及测距装置、移动平台 - Google Patents

调整扫描元件运动速度的方法及测距装置、移动平台 Download PDF

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Publication number
WO2020124318A1
WO2020124318A1 PCT/CN2018/121533 CN2018121533W WO2020124318A1 WO 2020124318 A1 WO2020124318 A1 WO 2020124318A1 CN 2018121533 W CN2018121533 W CN 2018121533W WO 2020124318 A1 WO2020124318 A1 WO 2020124318A1
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WIPO (PCT)
Prior art keywords
integration time
scanning
interval
measuring device
distance measuring
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Ceased
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PCT/CN2018/121533
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English (en)
French (fr)
Inventor
董帅
张富
洪小平
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Priority to CN201880068601.2A priority Critical patent/CN111587381A/zh
Priority to PCT/CN2018/121533 priority patent/WO2020124318A1/zh
Publication of WO2020124318A1 publication Critical patent/WO2020124318A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • 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

Definitions

  • the invention generally relates to the technical field of distance measurement, and more particularly to a method for adjusting the moving speed of a scanning element, a distance measurement device, and a mobile platform.
  • the distance measuring device plays an important role in many fields, for example, it can be used on a mobile carrier or a non-mobile carrier for remote sensing, obstacle avoidance, mapping, modeling, environment perception, etc.
  • mobile carriers such as robots, manually-controlled airplanes, unmanned aerial vehicles, vehicles, and ships, can navigate in complex environments through distance measuring devices to achieve path planning, obstacle detection, and avoid obstacles.
  • the distance measuring device includes a laser radar, and the laser radar usually includes a scanning module to change the light beam to different directions and emit the object to scan the object.
  • a lidar scanning module formed by multiple sets of rotating prisms, gratings or other equivalent light transmission direction deflecting elements (also called scanning elements)
  • the rotation speed of the deflecting elements directly determines the uniformity of the scanning point cloud of the scanning module .
  • the point cloud is often required to be more uniform, and the larger the field of view coverage, the better.
  • the combination of rotation speeds of the scanning elements is different, and the output point cloud pattern is different; at the same rotation speed combination, the point cloud pattern will also change with the integration time.
  • the prism adopts a certain fixed rotation speed combination, it can only guarantee that the point cloud is relatively uniform under a certain integration time and covers a relatively large field of view, but it is difficult to ensure that the point cloud effect is better at different integration times. This will limit Lidar's environmental perception performance.
  • the present invention has been proposed to solve at least one of the above problems. Specifically, in one aspect, the present invention provides a distance measuring device.
  • the distance measuring device includes:
  • Transmitting module used to transmit light pulse sequence
  • a scanning module is used to sequentially change the propagation path of the light pulse sequence emitted by the transmitting module to different directions to form a scanning field of view, wherein the scanning module includes at least one moving scanning element, and the scanning element At least two integration times correspond to at least one set of movement speeds of the scanning elements respectively, and the scan uniformity of the scanning element when moving at the movement speed corresponding to the integration time under the same integration time is higher than that of other groups Scan uniformity during movement;
  • a selection module configured to select one of the at least two integration times
  • a control module for controlling the movement speed of the scanning element to the movement speed corresponding to the selected integration time according to the selected integration time;
  • the detection module is configured to receive the light pulse sequence reflected back by the object, and determine the distance and/or orientation of the object relative to the distance measuring device according to the reflected light pulse sequence.
  • the selection module is used to obtain the state information of the scene to be scanned, and select the integration time according to the state information of the scene to be scanned.
  • the selection module is used to select an integration time from the at least two integration times according to the user's selection.
  • the state information includes visibility information of the scene to be scanned, information on the number of objects included in the scene to be scanned, light intensity information of the scene to be scanned, movement speed information of the mobile platform on which the scanning module is installed, and scanning scenes At least one of the types.
  • the first integration time is selected
  • a second integration time is selected; wherein, the second integration time is less than the first integration time.
  • the vehicle driving scenario includes at least one of a manned vehicle automatic driving scenario and a logistics vehicle automatic driving scenario.
  • the state information includes light intensity information of the scene to be scanned, wherein the selection module is used to:
  • each light intensity interval corresponds to an integration time
  • the integration time corresponding to the light intensity interval is selected.
  • the first light intensity interval is greater than the second light intensity interval, and the integration time corresponding to the first light intensity interval is less than the integration time corresponding to the second light intensity interval.
  • the state information includes movement speed information of the mobile platform on which the scanning module is installed, wherein the selection module is used to:
  • each moving speed interval corresponds to an integration time
  • the integration time corresponding to the movement speed section is selected.
  • the first movement speed interval is greater than the second movement speed interval, and the integration time corresponding to the first movement speed interval is less than the integration time corresponding to the second movement speed interval.
  • the state information includes visibility information of the scene to be scanned, wherein the selection module is used to:
  • the integration time corresponding to the visibility interval is selected.
  • the first visibility interval is greater than the second visibility interval, and the integration time corresponding to the first visibility interval is less than the integration time corresponding to the second visibility interval.
  • the weather corresponding to the second visibility interval includes: at least one of fog, haze, smoke, wind, sand, rain, and snow; and/or, the weather corresponding to the first visibility interval includes: sunny day.
  • the at least two integration times include a first integration time and a second integration time
  • the first integration time corresponds to a movement speed of a first group
  • the second integration time corresponds to a movement speed of a second group
  • the first integration time is shorter than the second integration time
  • the scanning uniformity of the scanning element when moving at the movement speed of the first group is higher than the scanning uniformity when moving at the movement speed of the second group
  • the scanning uniformity of the scanning element when moving at the moving speed of the second group is higher than the scanning uniformity when moving at the moving speed of the first group.
  • the scanning element includes at least one of a prism and a grating.
  • the scanning element includes at least two optical elements arranged oppositely, wherein each group of the moving speed includes a rotation speed of each of the optical elements.
  • the scanning element includes:
  • a first optical element and a driver connected to the first optical element the driver is used to drive the first optical element to rotate about a rotation axis, so that the first optical element changes the sequence of light pulses emitted from the transmitting module Direction;
  • a second optical element, the second optical element and the first optical element are arranged oppositely, the second optical element rotates around the rotation axis, wherein the movement speed of the scanning element includes the first optical element And the second optical element.
  • the rotation speed of the second optical element is different from the rotation speed of the first optical element.
  • the first optical element and the second optical element have opposite rotation directions.
  • the first optical element includes a pair of opposing non-parallel surfaces; and/or the second optical element includes a pair of opposing non-parallel surfaces.
  • the first optical element includes a wedge angle prism; and/or, the second optical element includes a wedge angle prism.
  • the detection module includes:
  • the receiving module is used to convert the received light pulse sequence reflected by the object into an electrical signal output
  • a sampling module configured to sample the electrical signal output by the receiving module to measure the time difference between transmission and reception of the optical pulse sequence
  • the operation module is configured to receive the time difference output by the sampling module, and calculate and obtain a distance measurement result.
  • the transmitting module includes:
  • Laser tube used to emit laser pulse sequence
  • the driver is used to drive the switching device.
  • the detection module is further configured to integrate point cloud data according to the selected integration time, wherein the point cloud data includes the determined distance of the object relative to the distance measuring device and/or Or orientation.
  • Another aspect of the present invention provides a method for dynamically adjusting the moving speed of a scanning element.
  • the method includes:
  • Emitting light pulse sequence
  • the propagation path of the emitted light pulse sequence is sequentially changed to different directions through at least one moving scanning element to form a scanning field of view, wherein at least two integration times of the scanning element respectively correspond to the scanning At least one group of movement speeds of the elements, the scanning uniformity when the scanning element moves at the movement speed corresponding to the integration time under the same integration time is higher than that when moving at other group movement speeds;
  • the selecting one of the at least two integration times includes:
  • the selecting one of the at least two integration times includes: selecting an integration time from the at least two integration times according to a user's selection.
  • the state information includes visibility information of the scene to be scanned, information on the number of objects included in the scene to be scanned, light intensity information of the scene to be scanned, movement speed information of the mobile platform on which the scanning module is installed, and scanning scenes At least one of the types.
  • the first integration time is selected
  • a second integration time is selected; wherein, the second integration time is less than the first integration time.
  • the vehicle driving scenario includes at least one of a manned vehicle automatic driving scenario and a logistics vehicle automatic driving scenario.
  • the state information includes light intensity information of the scene to be scanned, wherein the acquiring state information of the scene to be scanned, and selecting an integration time according to the state information of the scene to be scanned include:
  • each light intensity interval corresponds to an integration time
  • the integration time corresponding to the light intensity interval is selected.
  • the first light intensity interval is greater than the second light intensity interval, and the integration time corresponding to the first light intensity interval is less than the integration time corresponding to the second light intensity interval.
  • the state information includes movement speed information of the mobile platform on which the scanning module is installed, wherein the acquiring the state information of the scene to be scanned, selecting the integration time according to the state information of the scene to be scanned, and further including:
  • each moving speed interval corresponds to an integration time
  • the integration time corresponding to the movement speed section is selected.
  • the first movement speed interval is greater than the second movement speed interval, and the integration time corresponding to the first movement speed interval is less than the integration time corresponding to the second movement speed interval.
  • the state information includes visibility information of the scene to be scanned, wherein the acquiring state information of the scene to be scanned, and selecting an integration time according to the state information of the scene to be scanned include:
  • the integration time corresponding to the visibility interval is selected.
  • the first visibility interval is greater than the second visibility interval, and the integration time corresponding to the first visibility interval is less than the integration time corresponding to the second visibility interval.
  • the weather corresponding to the second visibility interval includes: at least one of fog, haze, smoke, wind, sand, rain, and snow; and/or, the weather in the first visibility interval includes: sunny day.
  • the at least two integration times include a first integration time and a second integration time
  • the first integration time corresponds to a movement speed of a first group
  • the second integration time corresponds to a movement speed of a second group
  • the first integration time is shorter than the second integration time
  • the scanning uniformity of the scanning element when moving at the movement speed of the first group is higher than the scanning uniformity when moving at the movement speed of the second group
  • the scanning uniformity of the scanning element when moving at the moving speed of the second group is higher than the scanning uniformity when moving at the moving speed of the first group.
  • the scanning element includes at least one of a prism and a grating.
  • the scanning element includes at least two optical elements arranged oppositely, wherein each group of the moving speed includes a rotation speed of each of the optical elements.
  • the receiving the light pulse sequence reflected back by the object, and determining the distance and/or orientation of the object relative to the ranging device according to the reflected light pulse sequence include:
  • the method further includes:
  • Integrate point cloud data according to the selected integration time wherein the point cloud data includes the determined distance and/or orientation of the object relative to the distance measuring device.
  • the mobile platform includes:
  • a platform body, the distance measuring device is installed on the platform body.
  • the mobile platform includes a drone, robot, car or boat.
  • At least two integration times of the scanning element are respectively corresponding to at least one set of movement speeds of the scanning element.
  • the uniformity of the scan at the movement speed corresponding to the integration time is higher than the uniformity of the scan at the movement speed of other groups, and one of the at least two integration times is selected by the selection module according to the control module.
  • the selected integration time controls the movement speed of the scanning element to be adjusted to the movement speed corresponding to the selected integration time, so that the scanning uniformity and the field of view coverage are better under different integration times, and the distance measurement device is improved to the environment The effect of perception.
  • FIG. 1 shows a schematic block diagram of a distance measuring device in an embodiment of the present invention
  • FIG. 2 shows a schematic structural diagram of a scanning module in an embodiment of the present invention
  • FIG. 3A shows a comparison schematic diagram of scanning uniformity under different integration times when the scanning element moves at the movement speed of the first group in one embodiment of the present invention
  • FIG. 3B shows a comparison schematic diagram of scanning uniformity under different integration times when the scanning element moves at the second group of moving speeds in one embodiment of the present invention
  • FIG. 4 shows a flowchart of a method for dynamically adjusting the movement speed of a scanning element in an embodiment of the invention
  • FIG. 5 shows a schematic block diagram of a distance measuring device in an embodiment of the present invention
  • FIG. 6 shows a schematic diagram of a distance measuring device in another embodiment of the present invention.
  • the distance measuring device includes:
  • Transmitting module used to transmit light pulse sequence
  • a scanning module is used to sequentially change the propagation path of the light pulse sequence emitted by the transmitting module to different directions to form a scanning field of view, wherein the scanning module includes at least one moving scanning element, and the scanning element At least two integration times correspond to at least one set of movement speeds of the scanning elements respectively, and the scan uniformity of the scanning element when moving at the movement speed corresponding to the integration time under the same integration time is higher than that of other groups Scan uniformity during movement;
  • a selection module configured to select one of the at least two integration times
  • a control module for controlling the movement speed of the scanning element to the movement speed corresponding to the selected integration time according to the selected integration time;
  • the detection module is configured to receive the light pulse sequence reflected back by the object, and determine the distance and/or orientation of the object relative to the distance measuring device according to the reflected light pulse sequence.
  • At least two integration times of the scanning element correspond to at least one set of movement speeds of the scanning element, respectively, when the scanning element moves at the movement speed corresponding to the integration time under the same integration time
  • the scanning uniformity of is higher than the scanning uniformity when moving at the movement speed of other groups, and one of the at least two integration times is selected by the selection module, and the scanning element is controlled by the control module according to the selected integration time
  • the movement speed of is adjusted to the movement speed corresponding to the selected integration time, so that the scanning uniformity and the field of view coverage are better under different integration times, and the effect of the distance measuring device on the environment perception is improved.
  • the distance measuring device of the present application and the method for dynamically adjusting the moving speed of the scanning element will be described in detail below with reference to the drawings.
  • the features in the following examples and implementations can be combined with each other without conflict.
  • the distance measuring device 100 of the present invention includes a transmitting module 110 for transmitting a sequence of light pulses (laser pulse sequence).
  • the distance measuring device 100 includes a laser radar or other suitable optical scanning device.
  • the transmitting module 110 may include a laser tube, a switching device, and a driver.
  • the laser tube may be a diode, for example, a positive-intrinsic-negative (PIN) photodiode, the laser tube may emit a laser pulse sequence of a specific wavelength, and the laser tube may be referred to as a light source or an emission light source.
  • PIN positive-intrinsic-negative
  • the switching device is a switching device of the laser tube, which can be connected to the laser tube and used to control the switching of the laser tube, wherein, when the laser tube is in the on state, the laser pulse sequence can be emitted, and when the laser tube is in the off state, Fire a laser pulse sequence.
  • the driver can be connected to the switching device and used to drive the switching device.
  • the switching device may be a metal-oxide-semiconductor (MOS) tube, and the driver may include a MOS driver.
  • MOS driver may be used for Drive the MOS tube as a switching element.
  • the MOS tube can control the switching of the laser tube.
  • the switching device may also be a gallium nitride (GaN) tube, and the driver may be a GaN driver.
  • GaN gallium nitride
  • the distance measuring device 100 further includes a scanning module 102 for sequentially changing the propagation path of the light pulse sequence emitted by the transmitting module to different directions to form a scanning field of view; wherein, the scanning module includes at least one motion Of the scanning element, at least two integration times of the scanning element respectively correspond to at least one set of movement speeds of the scanning element, and the scanning is uniform when the scanning element moves at the movement speed corresponding to the integration time under the same integration time The degree is higher than the scanning uniformity when moving at the motion speed corresponding to other integration time.
  • An application scenario is to use the point cloud acquired by lidar to detect the surrounding environment in real time, and then the detection results will be used to control or assist in controlling the movement of the mobile platform, or just give the analysis results in real time.
  • the detection results will be used to control or assist in controlling the movement of the mobile platform, or just give the analysis results in real time.
  • only one point can be collected per transmission, and in the case of multi-line detection, only a few points can be detected per transmission. If the points are too sparse, it cannot be used to analyze the surrounding environment. It needs to be analyzed after accumulating a certain amount of point cloud.
  • the integration time in this article refers to the accumulated time of how long the accumulated point cloud is analyzed.
  • the scanning module 102 may be any structure capable of realizing the output of the scanning field of view.
  • the scanning module includes a mechanical-based prism scanning module, a galvanometer scanning module, or a MEMS (Microelectromechanical Systems) scanning module, or, the The scanning module includes a phased array based acoustic/electro-optical scanning module or a liquid crystal phased array scanning module.
  • the scanning module 102 may include at least one moving scanning element for changing the propagation path of the light beam, wherein the scanning element may change the propagation path of the light beam by reflecting, refracting, diffracting, etc. the light beam.
  • the scanning module 102 includes a lens, a mirror, a prism, a galvanometer, a grating, a liquid crystal, an optical phased array (Optical Phased Array), or any combination of the above scanning elements.
  • at least part of the scanning element is moving, for example, the at least part of the scanning element is driven to move by a driving module, and the moving optical element can reflect, refract, or diffract the light beam to different directions at different times.
  • multiple scanning elements of the scanning module 102 may rotate or vibrate about a common axis, and each rotating or vibrating scanning element is used to continuously change the direction of propagation of the incident light beam.
  • the multiple scanning elements of the scanning module 102 may rotate at different rotation speeds, or vibrate at different speeds.
  • at least part of the optical elements of the scanning module 102 can rotate at substantially the same rotational speed.
  • the multiple scanning elements of the scanning module may also rotate around different axes.
  • multiple optical elements of the scanning module may also rotate in the same direction, or rotate in different directions; or vibrate in the same direction, or vibrate in different directions, which is not limited herein.
  • the scanning element includes at least two optical elements arranged oppositely, wherein each set of the speed of motion includes a rotational speed of each of the optical elements.
  • the scanning module 102 includes a scanning element, and the scanning element includes a rotating first optical element 1021 and a second optical element 1022 that are oppositely arranged, and the first optical element 1021 and the second optical element Each 1022 includes a pair of opposing non-parallel surfaces.
  • the first optical element 1021 and the second optical element 1022 rotate about the same rotation axis.
  • the first optical element 1021 and the second optical element 1022 may also have opposite rotation directions.
  • the rotational speeds of the first optical element 1021 and the second optical element 1022 are different.
  • the first optical element 1021 includes a wedge angle prism
  • the second optical element 1022 includes a wedge angle prism.
  • the first optical element 1021 and the second optical element 1022 rotate around the same rotation axis 109
  • the scanning element further includes a driver (not shown) connected to the first optical element 1021
  • a driver (not shown) connected to the second optical element 1022 the driver of the first optical element 1021 is used to drive the first optical element 1021 to rotate around the rotation axis 109
  • the driver of the second optical element 1022 is used to drive the second optical element 1022 rotates about the rotation axis 109.
  • the sequence of light pulses emitted from the transmitting module passes through the first optical element 1021 and the second optical element 1022 and then changes to different directions in order to form a substantially circular scan on a plane Field of view 1023.
  • the distance measuring device in this article is only an example, and the solution of the present invention is not limited to be used only in such a system. As long as the scanning density of the scanning module is not evenly distributed on the time axis, but varies with the scanning time, and the distribution of the scanning density changes when the movement speed of the scanning element in the scanning module changes, this solution is applicable. .
  • At least two integration times of the scanning element respectively correspond to at least one set of movement speeds of the scanning element, and under the same integration time, the scanning uniformity of the scanning element when moving at the movement speed corresponding to the integration time is higher than The scanning uniformity of the movement speed of other groups during movement.
  • the at least two integration times include a first integration time and a second integration time.
  • the first integration time corresponds to the movement speed of the first group.
  • the second integration time corresponds to the movement speed of the second group, wherein the first integration time is less than the second integration time.
  • the scanning element rotates at the motion speed of the first group (for example, the rotation speed of the first group)
  • the At an integration time T1 the point cloud pattern of the scanning field of view is shown in the left figure in FIG. 3A
  • the second integration time T2 the point cloud pattern of the scanning field of view is shown in the right figure of FIG. 3A, and similarly, FIG. 3B
  • the scanning element rotates at the motion speed of the second group (for example, the rotation speed of the second group)
  • the first integration time T1 the point cloud pattern of the scanning field of view is shown in the left figure in FIG. 3B.
  • the point cloud pattern of the scanning field of view is shown in the right figure of FIG. 3B.
  • the distribution uniformity of the point cloud pattern reflects both the scanning uniformity.
  • the scanning element moves The scanning uniformity during movement is higher than the scanning uniformity when moving at the movement speed of the second group.
  • the scanning uniformity when the scanning element moves at the movement speed of the second group is higher than that at the first group
  • the moving uniformity of the scanning speed when moving therefore, the first group of motion speeds are taken as the motion speed corresponding to the first integration time, and the second group of motion speeds are taken as the motion speed corresponding to the second integration time.
  • the integration time of the distance measuring device may also include more than two integration times
  • the movement speed of the scanning element can also be reasonably selected and set according to the needs of time.
  • the movement speed of the scanning element can include more than two sets of movement speeds (for example, more than two sets of movement speeds).
  • each integration time corresponds to at least one set of movement speed
  • the movement speed of the scanning element includes at least two sets of movement speeds
  • the scan density uniformity can be the highest when moving at these sets of movement speeds
  • the movement speed of a group is used as the movement speed corresponding to the integration time, or an integration time can also correspond to the movement speed of two or more groups.
  • the scanning uniformity of is higher than the scanning uniformity when moving at the movement speed of the other group, wherein the scanning uniformity of the scanning element when moving at the movement speed of the two or more groups is substantially the same.
  • the scanning uniformity can refer to the distribution uniformity of the scanning point cloud of the entire scanning field of view under the corresponding integration time, and the level of scanning uniformity can be characterized and measured in any suitable way.
  • the distance measuring device 100 further includes a selection module 104, and the selection module 104 is used to select one integration time among at least two integration times.
  • the selection module 104 is used to select the integration time from at least two integration times according to the user's selection. The user can select the integration time according to his own needs. For example, the user can select the integration time according to the status information of the scene to be scanned Integration time.
  • the selection module 104 is used to obtain the status information of the scene to be scanned, and select the integration time according to the status information of the scene to be scanned.
  • acquiring the status information of the scene to be scanned includes actively acquiring the status information of the scene to be scanned and receiving the status information of the scene to be scanned.
  • the active acquisition may include the selection module actively detecting the status information of the scene to be scanned, or other suitable active acquisition methods ;
  • Receiving may include the user to input the status information of the scene to be scanned, and the selection module receives the status information, or other components or modules included in the distance measuring device to actively detect the status information of the scene to be scanned, the selection module from these The component or module receives the status information of the scene to be scanned.
  • the status information of the scene to be scanned includes the visibility information of the scene to be scanned, the number of objects included in the scene to be scanned, the light intensity information of the scene to be scanned, the movement speed information of the mobile platform on which the scanning module is installed, and the type of the scan scene Or at least one of the state information that can influence the judgment on the choice of integration time.
  • the first integration time is selected; if the scan scene type is a vehicle driving scene, a second integration time is selected; wherein, the second integration time is less than the first integration time.
  • the mapping scene is usually at a standstill, its surrounding environment is relatively simple. Therefore, a relatively long integration time can be selected in this scene, and as the vehicle driving environment moves with the vehicle, the surrounding environment also changes at any time, so The integration time requirement of this scene is shorter than that of the surveying and mapping scene.
  • vehicle driving scenes can also be divided into multiple types, such as manned vehicle automatic driving scenes and logistics vehicle automatic driving scenes (driving at a low speed on a fixed route, such as driving at a low speed on a fixed route in an enclosed environment (such as in a factory)).
  • the second integration time is selected in the driving scene of the vehicle, and the second integration time may also be selected from multiple integration times, for example, when the vehicle is driving at a fast speed, a short integration time is selected from the multiple integration times, and when the speed is slow choose a long integration time from multiple integration times.
  • the driving speed of the vehicle is divided into multiple speed intervals, and the multiple integration times are divided into different integration times from long to short, wherein each speed interval corresponds to an integration time from fast to slow, the faster the speed interval The corresponding integration time is shorter.
  • the state information of the scene to be scanned includes the light intensity information of the scene to be scanned, wherein the selection module 104 is used to: obtain the light intensity information, where each light intensity interval corresponds to An integration time; according to the light intensity interval that the light intensity information falls into, select the integration time corresponding to the light intensity interval.
  • the light intensity can be divided into multiple light intensity intervals according to the level of the light intensity, where each light intensity interval corresponds to an integration time, for example, the stronger the light intensity of the light intensity interval, the integral corresponding to the light intensity interval The shorter the time, the weaker the light intensity in the light intensity interval, and the longer the integration time corresponding to the light intensity interval.
  • the light intensity of the first light intensity interval is greater than the light intensity of the second light intensity interval
  • the integration time corresponding to the first light intensity interval is less than the integration time corresponding to the second light intensity interval.
  • the light intensity of the scene to be scanned is affected by many factors, for example, the scene to be scanned is in the daytime, the light intensity at this time is better, and a shorter integration time can be selected to achieve better scanning, and can meet the real-time treatment of the scanned scene Scanning, and if the scene to be scanned is at night, the light intensity at this time is very low, it is better to choose a longer integration time, because the longer the integration time, the greater the scanning density, the higher the accuracy of the scene detection, For example, when the distance measuring device is used for driving a vehicle, in a scene with a low light intensity such as night, other visual sensors configured on the vehicle have a strong dependence on the light, and it will be lost in a scene with a low light intensity At this time, it has a stronger dependence on the distance measuring device such as lidar. Therefore, in order to ensure the accuracy of the detection of the distance measuring device, a longer integration time should also be selected.
  • the state information of the scene to be scanned includes movement speed information of the mobile platform on which the scanning module is installed, wherein the selection module 104 is used to: obtain movement speed information, where , Each moving speed interval corresponds to an integration time; according to the moving speed interval to which the moving speed information falls, the integration time corresponding to the moving speed interval is selected.
  • the moving speed of the mobile platform is divided into multiple moving speed intervals according to the speed of the speed, wherein the greater the speed of the moving speed interval, the shorter the integration time corresponding to the moving speed interval, and the smaller the speed of the moving speed interval, the The longer the integration time corresponding to the moving speed interval.
  • the moving speed interval includes at least a first moving speed interval and a second moving speed interval
  • the first moving speed interval is greater than the second moving speed interval (that is, the moving speed of the first moving speed interval is greater than that of the second moving speed interval Moving speed)
  • the integration time corresponding to the first moving speed interval is less than the integration time corresponding to the second moving speed interval.
  • the state information of the scene to be scanned includes visibility information of the scene to be scanned, wherein the selection module 104 is used to: obtain visibility information of the scene to be scanned, wherein each visibility The interval corresponds to an integration time; according to the visibility interval to which the visibility information falls, the integration time corresponding to the visibility interval is selected.
  • the visibility is divided into multiple visibility intervals, where the smaller the visibility interval, the shorter the integration time corresponding to the visibility interval, the greater the visibility interval, the longer the integration time corresponding to the visibility interval.
  • the visibility interval includes at least a first visibility interval and a second visibility interval, the visibility of the first visibility interval is greater than the visibility of the second visibility interval, and the integration time corresponding to the first visibility interval is less than the second visibility interval The integration time corresponding to the interval.
  • Visibility refers to the maximum horizontal distance that people with normal vision can see and recognize the outline of the target object (black, moderate size) from the sky background under the weather conditions at that time; at night, they can see and determine a certain intensity of light
  • the maximum horizontal distance of the luminous point expressed in meters or kilometers.
  • Weather phenomena such as fog, smoke, sand, heavy snow, and drizzle can make the atmosphere turbid, and the transparency becomes smaller, affecting visibility.
  • the weather corresponding to the second visibility interval includes: at least one of fog, haze, smoke, sand, rain, and snow; and/or, the weather corresponding to the first visibility interval includes sunny days. Long integration time is selected for low visibility, and short integration time is selected for high visibility, so as to better detect and scan the surrounding environment.
  • the selection module 104 is used to: obtain the number information of objects in the scene to be scanned, wherein the number of objects is divided into a number interval of multiple objects, each The quantity interval of each object corresponds to an integration time; according to the quantity interval of the object to which the quantity information of the object falls, the integration time corresponding to the quantity interval of the object is selected. The smaller the number interval of the object, the shorter the integration time corresponding to the number interval of the object, the larger the number interval of the object, the longer the integration time corresponding to the number interval of the object.
  • the quantity interval of objects includes at least a first quantity interval and a second quantity interval
  • the number of objects in the first quantity interval is greater than the number of objects in the second quantity interval
  • the integration time corresponding to the first quantity interval is less than the The integration time corresponding to the two quantity intervals.
  • the number of objects around the scene to be scanned can be detected in advance by other visual sensors (including but not limited to cameras) of the mobile platform where the distance measuring device is located, and the information on the number of objects is output, and the selection module is used to receive the object’s Quantity information, and then select the appropriate integration time.
  • the distance measuring device 100 further includes a control module 150 for controlling the movement speed of the scanning element to adjust to the movement speed corresponding to the selected integration time according to the selected integration time.
  • each scanning element is electrically connected to a driver (not shown), the control module receives the integration time output by the selection module, and the control module controls the driver to drive the scanning element according to the selected integration time to match the selected integration time Corresponding movement speed movement.
  • the distance measuring device 100 further includes a detection module 103, which is configured to receive a light pulse sequence reflected back by the object, and determine the distance of the object relative to the distance measuring device according to the reflected light pulse sequence And/or orientation.
  • the detection module 103 is further configured to integrate point cloud data according to the selected integration time, wherein the point cloud data includes the determined distance and/or orientation of the object relative to the ranging device .
  • the above-mentioned distance measuring device can realize the dynamic adjustment of the moving speed of the scanning element, which can select a suitable integration time length according to the status information of the application scene of the distance measuring device or according to the user's choice, so as to adjust the scanning element according to the selected integration time length
  • the speed of movement to the speed corresponding to the integration time makes the scanning uniformity of the scanning element significantly improved, as well as the scanning effect and field of view coverage, thereby improving the effect of the distance measuring device on the environment perception.
  • the method for dynamically adjusting the movement speed of a scanning element of the present invention includes the following steps:
  • a sequence of light pulses is emitted, for example, a sequence of laser pulses.
  • the scanning element is at least one moving scanning element included in the scanning module of the distance measuring device, and the light pulse sequence is emitted by the transmitting module included in the distance measuring device.
  • the distance measuring device 100 includes a laser radar or other suitable optical scanning device.
  • step S302 the propagation path of the emitted light pulse sequence is sequentially changed to different directions through at least one moving scanning element to form a scanning field of view, wherein at least two integration times of the scanning element Corresponding to at least one group of movement speeds of the scanning elements respectively, under the same integration time, the scanning uniformity when the scanning element moves at the movement speed corresponding to the integration time is higher than that when moving at other group movement speeds degree.
  • At least two integration times of the scanning element respectively correspond to at least one set of movement speeds of the scanning element, and under the same integration time, the scanning uniformity of the scanning element when moving at the movement speed corresponding to the integration time is higher than The scanning uniformity of the movement speed of other groups during movement.
  • the at least two integration times include a first integration time and a second integration time.
  • the first integration time corresponds to the movement speed of the first group.
  • the second integration time corresponds to the movement speed of the second group, wherein the first integration time is less than the second integration time.
  • the scanning uniformity of the scanning element when moving at the first group of moving speeds is higher than the scanning uniformity of the second group of moving speeds.
  • the scanning uniformity of the movement speed of the group is higher than the scanning uniformity of the movement speed of the first group. Therefore, the movement speed of the first group is taken as the movement speed corresponding to the first integration time, and the second The movement speed of the group is regarded as the movement speed corresponding to the second integration time.
  • step S303 one of the at least two integration times is selected.
  • the selecting one of the at least two integration times includes: receiving state information of the scene to be scanned, and selecting the integration time according to the state information of the scene to be scanned.
  • the selecting one of the at least two integration times includes: selecting an integration time from the at least two integration times according to a user's selection.
  • the status information of the scene to be scanned includes visibility information of the scene to be scanned, information about the number of objects included in the scene to be scanned, light intensity information of the scene to be scanned, movement speed information of the mobile platform on which the scanning module is installed, Scan at least one of the scene types.
  • the first integration time is selected; if the scan scene type is a vehicle driving scene, a second integration time is selected; wherein, the second integration time is less than the first integration time.
  • the mapping scene is usually stationary and its surrounding environment is relatively simple, a relatively short integration time can be selected in this scene, and as the vehicle driving environment moves with the vehicle, the surrounding environment also changes at any time, so The integration time requirement of this scene is shorter than that of the surveying and mapping scene.
  • vehicle driving scenes can also be divided into multiple types, such as manned vehicle automatic driving scenes and logistics vehicle automatic driving scenes (driving at a low speed on a fixed route, such as driving at a low speed on a fixed route in an enclosed environment (such as in a factory)).
  • the second integration time is selected in the driving scene of the vehicle, and the second integration time may also be selected from multiple integration times, for example, when the vehicle is driving at a fast speed, a short integration time is selected from the multiple integration times, and when the speed is slow choose a long integration time from multiple integration times.
  • the driving speed of the vehicle is divided into multiple speed intervals, and the multiple integration times are divided into different integration times from long to short, wherein each speed interval corresponds to an integration time from fast to slow, the faster the speed interval The corresponding integration time is shorter.
  • the state information of the scene to be scanned includes the light intensity information of the scene to be scanned, wherein step S303 includes: obtaining the light intensity information, wherein each light intensity interval corresponds to an integration time; according to the light intensity Select the integration time corresponding to the illumination intensity interval in which the information falls.
  • the light intensity can be divided into multiple light intensity intervals according to the level of the light intensity, where each light intensity interval corresponds to an integration time, for example, the stronger the light intensity of the light intensity interval, the integral corresponding to the light intensity interval The shorter the time, the weaker the light intensity in the light intensity interval, and the longer the integration time corresponding to the light intensity interval.
  • the light intensity of the first light intensity interval is greater than the light intensity of the second light intensity interval
  • the integration time corresponding to the first light intensity interval is less than the integration time corresponding to the second light intensity interval.
  • the state information of the scene to be scanned includes movement speed information of the mobile platform on which the scanning module is installed, wherein step S303 includes: acquiring movement speed information, wherein each movement speed interval corresponds to an integral Time; according to the moving speed interval that the moving speed information falls into, select the integral time corresponding to the moving speed interval.
  • the moving speed of the mobile platform is divided into multiple moving speed intervals according to the speed of the speed, wherein the greater the speed of the moving speed interval, the shorter the integration time corresponding to the moving speed interval, and the smaller the speed of the moving speed interval, the The longer the integration time corresponding to the moving speed interval.
  • the moving speed interval includes at least a first moving speed interval and a second moving speed interval
  • the first moving speed interval is greater than the second moving speed interval (that is, the moving speed of the first moving speed interval is greater than that of the second moving speed interval Moving speed)
  • the integration time corresponding to the first moving speed interval is less than the integration time corresponding to the second moving speed interval.
  • the state information of the scene to be scanned includes visibility information of the scene to be scanned
  • step S303 includes: obtaining visibility information of the scene to be scanned, wherein each visibility interval corresponds to an integration time; For the visibility interval that the visibility information falls into, select the integration time corresponding to the visibility interval.
  • the visibility is divided into multiple visibility intervals, where the smaller the visibility interval, the shorter the integration time corresponding to the visibility interval, the greater the visibility interval, the longer the integration time corresponding to the visibility interval.
  • the visibility interval includes at least a first visibility interval and a second visibility interval, the visibility of the first visibility interval is greater than the visibility of the second visibility interval, and the integration time corresponding to the first visibility interval is less than the second visibility interval The integration time corresponding to the interval.
  • Visibility refers to the maximum horizontal distance that people with normal vision can see and recognize the outline of the target object (black, moderate size) from the sky background under the weather conditions at that time; at night, they can see and determine a certain intensity of light
  • the maximum horizontal distance of the luminous point expressed in meters or kilometers.
  • Weather phenomena such as fog, smoke, sand, heavy snow, and drizzle can make the atmosphere turbid, and the transparency becomes smaller, affecting visibility.
  • the weather corresponding to the second visibility interval includes: at least one of fog, haze, smoke, sand, rain, and snow; and/or, the weather corresponding to the first visibility interval includes sunny days. Long integration time is selected for low visibility, and short integration time is selected for high visibility, so as to better detect and scan the surrounding environment.
  • step S303 includes: obtaining the information of the number of objects in the scene to be scanned, wherein the number of objects is divided into a number of object intervals, each object The quantity interval of corresponds to an integration time; according to the quantity interval of the object into which the quantity information of the object falls, the integration time corresponding to the quantity interval of the object is selected. The smaller the number interval of the object, the shorter the integration time corresponding to the number interval of the object, the larger the number interval of the object, the longer the integration time corresponding to the number interval of the object.
  • the quantity interval of objects includes at least a first quantity interval and a second quantity interval
  • the number of objects in the first quantity interval is greater than the number of objects in the second quantity interval
  • the integration time corresponding to the first quantity interval is less than the The integration time corresponding to the two quantity intervals.
  • the number of objects around the scene to be scanned can be detected in advance by other visual sensors (including but not limited to cameras) of the mobile platform where the distance measuring device is located, and the information on the number of objects is output, and the selection module is used to receive the object’s Quantity information, and then select the appropriate integration time.
  • step S304 the movement speed of the scanning element is adjusted to the movement speed corresponding to the selected integration time according to the selected integration time.
  • each scanning element is electrically connected to a driver (not shown), the control module receives the integration time output by the selection module, and the control module controls the driver to drive the scanning element according to the selected integration time to match the selected integration time Corresponding movement speed movement.
  • step S305 a light pulse sequence reflected back by the object is received, and the distance and/or orientation of the object relative to the ranging device is determined according to the reflected light pulse sequence. Specifically, step S305 further includes integrating point cloud data according to the selected integration time, where the point cloud data includes the determined distance and/or orientation of the object relative to the distance measuring device.
  • step S305 further includes the following steps A1 to A3: in step A1, the received light pulse sequence reflected back by the object is converted into an electrical signal output; in step A2, the electrical signal is performed Sampling to measure the time difference between transmission and reception of the optical pulse sequence; in step A3, the time difference is received and the distance measurement result is calculated.
  • the above method for dynamically adjusting the moving speed of the scanning element can select a suitable integration time length according to the state information of the application scene of the distance measuring device or according to the user's selection, so as to adjust the movement speed of the scanning element according to the selected integration time length
  • the scanning uniformity of the scanning element is significantly improved, and the scanning effect and field coverage are improved, thereby improving the effect of the distance measuring device on the environment perception.
  • the methods for dynamically adjusting the moving speed of the scanning element can be applied to a distance measuring device.
  • the ranging devices mentioned in the various embodiments of the present invention may be electronic devices such as laser radars and laser ranging devices.
  • the distance measuring device is used to sense external environment information, for example, distance information, azimuth information, reflection intensity information, speed information, etc. of the environmental target.
  • the distance measuring device can detect the distance between the detecting object and the distance measuring device by measuring the time of light propagation between the distance measuring device and the detection object, that is, time-of-light (TOF).
  • TOF time-of-light
  • the distance measuring device can also detect the distance between the detected object and the distance measuring device through other techniques, such as a distance measuring method based on phase shift measurement or a distance measuring method based on frequency shift measurement. There are no restrictions.
  • the distance measuring device 100 may include a transmitting module 110, a receiving module 120, a sampling module 130, and an arithmetic module 140, wherein the transmitting module may further include a transmitting circuit, the receiving module includes a receiving circuit, and the sampling module includes a sampling circuit
  • the arithmetic module includes an arithmetic circuit.
  • the transmitting module 110 may transmit a sequence of light pulses (eg, a sequence of laser pulses).
  • the receiving module 120 can receive the optical pulse sequence reflected by the detected object, and photoelectrically convert the optical pulse sequence to obtain an electrical signal, which can be output to the sampling module 130 after processing the electrical signal.
  • the sampling module 130 may sample the electrical signal to obtain the sampling result.
  • the arithmetic module 140 may determine the distance between the distance measuring device 100 and the detected object based on the sampling result of the sampling module 130.
  • the distance measuring device 100 may further include a control module 150, which can control other modules and circuits, for example, can control the working time of each module and circuit and/or perform control on each module and circuit. Parameter setting, etc.
  • the distance measuring device shown in FIG. 5 includes a transmitting module, a receiving module, a sampling module, and an arithmetic module for emitting a beam of light for detection
  • the embodiments of the present application are not limited thereto, and the transmitting module
  • the number of any one of the receiving module, the sampling module, and the arithmetic module may also be at least two, for emitting at least two light beams in the same direction or respectively in different directions; wherein, the at least two light paths may be simultaneously
  • the shot may be shot at different times.
  • the light-emitting chips in the at least two emission modules are packaged in the same module.
  • each emitting module includes one laser emitting chip, and the dies in the laser emitting chips in the at least two emitting modules are packaged together and housed in the same packaging space.
  • the distance measuring apparatus 100 may further include a scanning module for changing at least one laser pulse sequence emitted by the transmitting module to change the propagation direction.
  • the module including the receiving module 120, the sampling module 130, and the arithmetic module 140 may be referred to as a detection module, and the module including the transmitting module 110, the receiving module 120, the sampling module 130, and the arithmetic module 140, or including the transmitting module 110 ,
  • the receiving module 120, the sampling module 130, the arithmetic module 140 and the control module 150 are called distance measuring modules.
  • the distance measuring module can be independent of other modules, for example, a scanning module.
  • a coaxial optical path may be used in the distance measuring device, that is, the light beam exiting the distance measuring device and the reflected light beam share at least part of the optical path in the distance measuring device.
  • the distance measuring device may also adopt an off-axis optical path, that is, the light beam emitted by the distance measuring device and the reflected light beam are transmitted along different optical paths in the distance measuring device.
  • FIG. 6 shows a schematic diagram of an embodiment of the distance measuring device of the present invention using a coaxial optical path.
  • the distance measuring device 200 includes a distance measuring module 210.
  • the distance measuring module 210 includes a transmitter 203 (which may include the above-mentioned transmitting module), a collimating element 204, and a detector 205 (which may include the above-mentioned receiving module, sampling module, and arithmetic module) and Optical path changing element 206.
  • the ranging module 210 is used to emit a light beam, and receive back light, and convert the back light into an electrical signal.
  • the transmitter 203 may be used to transmit a light pulse sequence.
  • the transmitter 203 may emit a sequence of laser pulses.
  • the laser beam emitted by the transmitter 203 is a narrow-bandwidth beam with a wavelength outside the visible light range.
  • the collimating element 204 is disposed on the exit optical path of the emitter, and is used to collimate the light beam emitted from the emitter 203, and collimate the light beam emitted from the emitter 203 into parallel light to the scanning module.
  • the collimating element is also used to converge at least a part of the return light reflected by the detection object.
  • the collimating element 204 may be a collimating lens or other element capable of collimating the light beam.
  • the optical path changing element 206 is used to combine the transmitting optical path and the receiving optical path in the distance measuring device before the collimating element 204, so that the transmitting optical path and the receiving optical path can share the same collimating element, so that the optical path More compact.
  • the transmitter 203 and the detector 205 may respectively use respective collimating elements, and the optical path changing element 206 is disposed on the optical path behind the collimating element.
  • the light path changing element can use a small-area mirror to convert The transmitting optical path and the receiving optical path are combined.
  • the light path changing element may also use a mirror with a through hole, where the through hole is used to transmit the outgoing light of the emitter 203, and the mirror is used to reflect the return light to the detector 205. This can reduce the blocking of the return light by the support of the small mirror in the case of using the small mirror.
  • the optical path changing element is offset from the optical axis of the collimating element 204. In some other implementations, the optical path changing element may also be located on the optical axis of the collimating element 204.
  • the distance measuring device 200 further includes a scanning module 202.
  • the scanning module 202 is placed on the exit optical path of the distance measuring module 210.
  • the scanning module 202 is used to change the transmission direction of the collimated light beam 219 emitted through the collimating element 204 and project it to the outside environment, and project the return light to the collimating element 204 .
  • the returned light is converged on the detector 205 via the collimating element 204.
  • the scanning module 202 may include at least one optical element for changing the propagation path of the light beam, wherein the optical element may change the propagation path of the light beam by reflecting, refracting, diffracting, etc. the light beam.
  • the scanning module 202 includes a lens, a mirror, a prism, a galvanometer, a grating, a liquid crystal, an optical phased array (Optical Phased Array), or any combination of the above optical elements.
  • at least part of the optical element is moving, for example, the at least part of the optical element is driven to move by a driving module, and the moving optical element can reflect, refract or diffract the light beam to different directions at different times.
  • multiple optical elements of the scanning module 202 may rotate or vibrate about a common axis 209, and each rotating or vibrating optical element is used to continuously change the direction of propagation of the incident light beam.
  • the multiple optical elements of the scanning module 202 may rotate at different rotation speeds, or vibrate at different speeds.
  • at least part of the optical elements of the scanning module 202 can rotate at substantially the same rotational speed.
  • the multiple optical elements of the scanning module may also rotate around different axes.
  • multiple optical elements of the scanning module may also rotate in the same direction, or rotate in different directions; or vibrate in the same direction, or vibrate in different directions, which is not limited herein.
  • the scanning module 202 includes a first optical element 214 and a driver 216 connected to the first optical element 214.
  • the driver 216 is used to drive the first optical element 214 to rotate about a rotation axis 209 to change the first optical element 214 The direction of the collimated light beam 219.
  • the first optical element 214 projects the collimated light beam 219 to different directions.
  • the angle between the direction of the collimated light beam 219 after the first optical element changes and the rotation axis 209 changes as the first optical element 214 rotates.
  • the first optical element 214 includes a pair of opposed non-parallel surfaces through which the collimated light beam 219 passes.
  • the first optical element 214 includes a prism whose thickness varies along at least one radial direction.
  • the first optical element 214 includes a wedge-angle prism that aligns the straight beam 219 for refraction.
  • the scanning module 202 further includes a second optical element 215 that rotates about a rotation axis 209.
  • the rotation speed of the second optical element 215 is different from the rotation speed of the first optical element 214.
  • the second optical element 215 is used to change the direction of the light beam projected by the first optical element 214.
  • the second optical element 215 is connected to another driver 217, and the driver 217 drives the second optical element 215 to rotate.
  • the first optical element 214 and the second optical element 215 may be driven by the same or different drivers, so that the first optical element 214 and the second optical element 215 have different rotation speeds and/or rotations, thereby projecting the collimated light beam 219 to the outside space Different directions can scan a larger spatial range.
  • the controller 218 controls the drivers 216 and 217 to drive the first optical element 214 and the second optical element 215, respectively.
  • the rotation speeds of the first optical element 214 and the second optical element 215 can be determined according to the area and pattern expected to be scanned in practical applications.
  • Drives 216 and 217 may include motors or other drives.
  • the second optical element 215 includes a pair of opposed non-parallel surfaces through which the light beam passes. In one embodiment, the second optical element 215 includes a prism whose thickness varies along at least one radial direction. In one embodiment, the second optical element 215 includes a wedge angle prism.
  • the scanning module 202 further includes a third optical element (not shown) and a driver for driving the third optical element to move.
  • the third optical element includes a pair of opposed non-parallel surfaces through which the light beam passes.
  • the third optical element includes a prism whose thickness varies along at least one radial direction.
  • the third optical element includes a wedge angle prism. At least two of the first, second, and third optical elements rotate at different rotational speeds and/or turns.
  • each optical element in the scanning module 202 can project light into different directions, such as the direction and direction 213 of the projected light 211, thus scanning the space around the distance measuring device 200.
  • the light 211 projected by the scanning module 202 hits the detection object 201, a part of the light is reflected by the detection object 201 to the distance measuring device 200 in a direction opposite to the projected light 211.
  • the returned light 212 reflected by the detection object 201 passes through the scanning module 202 and enters the collimating element 204.
  • the detector 205 and the emitter 203 are placed on the same side of the collimating element 204.
  • the detector 205 is used to convert at least part of the returned light passing through the collimating element 204 into an electrical signal.
  • each optical element is coated with an antireflection coating.
  • the thickness of the AR coating is equal to or close to the wavelength of the light beam emitted by the emitter 203, which can increase the intensity of the transmitted light beam.
  • a filter layer is plated on the surface of an element on the beam propagation path in the distance measuring device, or a filter is provided on the beam propagation path to transmit at least the wavelength band of the beam emitted by the transmitter, Reflect other bands to reduce the noise caused by ambient light to the receiver.
  • the transmitter 203 may include a laser diode through which laser pulses in the order of nanoseconds are emitted.
  • the laser pulse receiving time may be determined, for example, by detecting the rising edge time and/or the falling edge time of the electrical signal pulse. In this way, the distance measuring device 200 can calculate the TOF using the pulse reception time information and the pulse emission time information, thereby determining the distance between the detection object 201 and the distance measuring device 200.
  • the distance and orientation detected by the distance measuring device 200 can be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like.
  • the distance measuring device of the embodiment of the present invention can be applied to a mobile platform, and the distance measuring device can be installed on the platform body of the mobile platform.
  • a mobile platform with a distance-measuring device can measure the external environment, for example, measuring the distance between the mobile platform and obstacles for obstacle avoidance and other purposes, and performing two-dimensional or three-dimensional mapping on the external environment.
  • the mobile platform includes at least one of an unmanned aerial vehicle, a vehicle (including a car), a remote control car, a boat, a robot, and a camera.
  • the platform body When the distance measuring device is applied to an unmanned aerial vehicle, the platform body is the fuselage of the unmanned aerial vehicle.
  • the platform body When the distance measuring device is applied to an automobile, the platform body is the body of the automobile.
  • the car may be a self-driving car or a semi-automatic car, and no restriction is made here.
  • the platform body When the distance measuring device is applied to a remote control car, the platform body is the body of the remote control car.
  • the platform body When the distance measuring device is applied to a robot, the platform body is a robot.
  • the platform body When the distance measuring device is applied to a camera, the platform body is the camera itself.
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are only schematic.
  • the division of the unit is only a logical function division, and in actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another device, or some features can be ignored, or not implemented.
  • the various component embodiments of the present invention may be implemented in hardware, or implemented in software modules running on one or more processors, or implemented in a combination thereof.
  • a microprocessor or a digital signal processor (DSP) may be used to implement some or all functions of some modules according to embodiments of the present invention.
  • DSP digital signal processor
  • the present invention can also be implemented as a device program (for example, a computer program and a computer program product) for performing a part or all of the method described herein.
  • a program implementing the present invention may be stored on a computer-readable medium, or may have the form of one or more signals.
  • Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

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Abstract

本发明提供一种调整扫描元件运动速度的方法及测距装置、移动平台，测距装置包括：发射模块、扫描模块、选择模块、控制模块和探测模块，扫描模块用于将发射模块发射的光脉冲序列的传播路径依次改变至不同方向出射形成一个扫描视场，扫描元件的至少两个积分时间分别对应扫描元件的至少一组运动速度，在同一积分时间下扫描元件以与该积分时间对应的运动速度运动时的扫描均匀度高于以其他组的运动速度运动时的扫描均匀度；选择模块用于选择至少两个积分时间中的一个积分时间；控制模块用于根据选择的积分时间控制扫描元件的运动速度调整至与所选择的积分时间对应的运动速度。本发明的方案能够使得不同的积分时间下点云均匀性和视场覆盖率均较好。

Description

调整扫描元件运动速度的方法及测距装置、移动平台
说明书
技术领域
本发明总地涉及测距技术领域，更具体地涉及一种调整扫描元件运动速度的方法及测距装置、移动平台。
背景技术
测距装置在很多领域发挥很重要的作用，例如可以用于移动载体或非移动载体上，用来遥感、避障、测绘、建模、环境感知等。尤其是移动载体，例如机器人、人工操控飞机、无人飞机、车和船等，可以通过测距装置在复杂的环境下进行导航，来实现路径规划、障碍物探测和避开障碍物等。测距装置包括激光雷达，而激光雷达通常包括扫描模块，以将光束改变至不同的方向出射，实现对物体的扫描。
在用多组旋转棱镜、光栅或其他等效光线传输方向偏折元件(也称扫描元件)形成的激光雷达扫描模块中，偏折元件的旋转速度直接决定了扫描模块的扫描点云的均匀性。在激光雷达的应用中，往往需要点云比较均匀，并且覆盖的视场区域越大越好。在同一积分时间下，扫描元件的转速组合不同，输出的点云图案不相同；在同一转速组合下，点云的图案也会随积分时间的不同而发生变化。如果棱镜采用某一固定的转速组合，往往只能保证在某一特定积分时间下点云比较均匀，覆盖的视场区域比较大，而难以保证在不同的积分时间下点云效果均比较好。这会限制激光雷达的环境感知性能。
发明内容
为了解决上述问题中的至少一个而提出了本发明。具体地，本发明一方面提供一种测距装置，所述测距装置包括：
发射模块，用于发射光脉冲序列；
扫描模块，用于将所述发射模块发射的光脉冲序列的传播路径依次改变至不同方向出射，形成一个扫描视场，其中，所述扫描模块包括至少一个运动的扫描元件，所述扫描元件的至少两个积分时间分别对应所述扫描元件的至少一组运动速度，在同一积分时间下所述扫描元件以与该积分时间对应的运动速度运动时的扫描均匀度高于以其他组的运动速度运动时的扫描均匀度；
选择模块，用于选择所述至少两个积分时间中的一个积分时间；
控制模块，用于根据选择的积分时间控制所述扫描元件的运动速度调整至与所选择的积分时间对应的运动速度；
探测模块，用于接收经物体反射回的光脉冲序列，以及根据所述反射回的光脉冲序列确定所述物体相对所述测距装置的距离和/或方位。
示例性地，所述选择模块用于获取待扫描场景的状态信息，根据待扫描场景的状态信息选择积分时间。
示例性地，所述选择模块用于根据用户的选择从所述至少两个积分时间中选择积分时间。
示例性地，所述状态信息包括待扫描场景的能见度信息、待扫描场景所包括物体的数量信息、待扫描场景的光照强度信息、安装有所述扫描模块的移动平台的移动速度信息、扫描场景类型中的至少一种。
示例性地，如果扫描场景类型是测绘场景，选择第一积分时间；
如果扫描场景类型是车辆驾驶场景，选择第二积分时间；其中，所述第二积分时间小于所述第一积分时间。
示例性地，车辆驾驶场景包括载人车自动驾驶场景和物流车自动行驶场景中的至少一种。
示例性地，所述状态信息包括待扫描场景的光照强度信息，其中，所述选择模块用于：
获取所述光照强度信息，其中，每个光照强度区间对应一个积分时间；
依据所述光照强度信息所落入的光照强度区间，选择与该光照强度区间对应的积分时间。
示例性地，第一光照强度区间大于第二光照强度区间，与所述第一光照强度区间对应的积分时间小于与所述第二光照强度区间对应的积分时间。
示例性地，所述状态信息包括安装有所述扫描模块的移动平台的移动速度信息，其中，所述选择模块用于：
获取所述移动速度信息，其中，每个移动速度区间对应一个积分时间；
依据所述移动速度信息所落入的移动速度区间，选择与该移动速度区间对应的积分时间。
示例性地，第一移动速度区间大于第二移动速度区间，与所述第一移动速度区间对应的积分时间小于与所述第二移动速度区间对应的积分时间。
示例性地，所述状态信息包括所述待扫描场景的能见度信息，其中，所 述选择模块用于：
获取所述待扫描场景的能见度信息，其中，每个能见度区间对应一个积分时间；
依据所述能见度信息所落入的能见度区间，选择与该能见度区间对应的积分时间。
示例性地，第一能见度区间大于第二能见度区间，与所述第一能见度区间对应的积分时间小于与所述第二能见度区间对应的积分时间。
示例性地，所述第二能见度区间对应天气包括：雾、霾、烟、风沙、雨和雪中的至少一种；和/或，所述第一能见度区间对应天气包括：晴天。
示例性地，所述至少两个积分时间包括第一积分时间和第二积分时间，所述第一积分时间对应第一组的运动速度，所述第二积分时间对应第二组的运动转速，其中，所述第一积分时间小于所述第二积分时间。
示例性地，在所述第一积分时间下，所述扫描元件以所述第一组的运动速度运动时的扫描均匀度高于以所述第二组的运动速度运动时的扫描均匀度，在所述第二积分时间下，所述扫描元件以所述第二组的运动速度运动时的扫描均匀度高于以所述第一组的运动速度运动时的扫描均匀度。
示例性地，所述扫描元件包括棱镜和光栅中的至少一种。
示例性地，所述扫描元件包括相对设置的至少两个光学元件，其中，每组所述运动速度包括每个所述光学元件的旋转速度。
示例性地，所述扫描元件包括：
第一光学元件和与所述第一光学元件连接的驱动器，所述驱动器用于驱动所述第一光学元件绕转动轴转动，使所述第一光学元件改变自发射模块发射的光脉冲序列的方向；和/或
第二光学元件，所述第二光学元件和所述第一光学元件相对设置，所述第二光学元件绕所述转动轴转动，其中，所述扫描元件的运动速度包括所述第一光学元件的旋转速度和所述第二光学元件的旋转速度。
示例性地，所述第二光学元件的旋转速度与所述第一光学元件的旋转速度不同。
示例性地，所述第一光学元件和所述第二光学元件具有相反的转动方向。
示例性地，所述第一光学元件包括相对的非平行的一对表面；和/或所述第二光学元件包括相对的非平行的一对表面。
示例性地，所述第一光学元件包括楔角棱镜；和/或，所述第二光学元 件包括楔角棱镜。
示例性地，所述探测模块包括：
接收模块，用于将接收到的经物体反射回的光脉冲序列转换为电信号输出；
采样模块，用于对所述接收模块输出的所述电信号进行采样，以测量所述光脉冲序列从发射到接收之间的时间差；
运算模块，用于接收所述采样模块输出的所述时间差，计算获得距离测量结果。
示例性地，所述发射模块包括：
激光管，用于发射激光脉冲序列；
开关器件，用于控制所述激光管的开关；
驱动器，用于对所述开关器件进行驱动。
示例性地，所述探测模块还用于根据所述选择的积分时间对点云数据进行积分，其中，所述点云数据包括所述确定的所述物体相对所述测距装置的距离和/或方位。
本发明再一方面提供一种动态调整扫描元件运动速度的方法，所述方法包括：
发射光脉冲序列；
通过至少一个运动的所述扫描元件将发射的所述光脉冲序列的传播路径依次改变至不同方向出射，形成一个扫描视场，其中，所述扫描元件的至少两个积分时间分别对应所述扫描元件的至少一组运动速度，在同一积分时间下所述扫描元件以与该积分时间对应的运动速度运动时的扫描均匀度高于以其他组的运动速度运动时的扫描均匀度；
选择所述至少两个积分时间中的一个积分时间；
根据选择的积分时间控制所述扫描元件的运动速度调整至与所选择的积分时间对应的运动速度；
接收经物体反射回的光脉冲序列，以及根据所述反射回的光脉冲序列确定所述物体相对测距装置的距离和/或方位。
示例性地，所述选择所述至少两个积分时间中的一个积分时间，包括：
接收待扫描场景的状态信息，根据待扫描场景的状态信息选择积分时间。
示例性地，所述选择所述至少两个积分时间中的一个积分时间，包括：根据用户的选择从所述至少两个积分时间中选择积分时间。
示例性地，所述状态信息包括待扫描场景的能见度信息、待扫描场景所包括物体的数量信息、待扫描场景的光照强度信息、安装有所述扫描模块的移动平台的移动速度信息、扫描场景类型中的至少一种。
示例性地，如果扫描场景类型是测绘场景，选择第一积分时间；
如果扫描场景类型是车辆驾驶场景，选择第二积分时间；其中，所述第二积分时间小于所述第一积分时间。
示例性地，车辆驾驶场景包括载人车自动驾驶场景和物流车自动行驶场景中的至少一种。
示例性地，所述状态信息包括待扫描场景的光照强度信息，其中，所述获取待扫描场景的状态信息，根据待扫描场景的状态信息选择积分时间，包括：
获取所述光照强度信息，其中，每个光照强度区间对应一个积分时间；
依据所述光照强度信息所落入的光照强度区间，选择与该光照强度区间对应的积分时间。
示例性地，第一光照强度区间大于第二光照强度区间，与所述第一光照强度区间对应的积分时间小于与所述第二光照强度区间对应的积分时间。
示例性地，所述状态信息包括安装有扫描模块的移动平台的移动速度信息，其中，所述获取待扫描场景的状态信息，根据待扫描场景的状态信息选择积分时间，还包括：
获取所述移动速度信息，其中，每个移动速度区间对应一个积分时间；
依据所述移动速度信息所落入的移动速度区间，选择与该移动速度区间对应的积分时间。
示例性地，第一移动速度区间大于第二移动速度区间，与所述第一移动速度区间对应的积分时间小于与所述第二移动速度区间对应的积分时间。
示例性地，所述状态信息包括所述待扫描场景的能见度信息，其中，所述获取待扫描场景的状态信息，根据待扫描场景的状态信息选择积分时间，包括：
获取所述待扫描场景的能见度信息，其中，每个能见度区间对应一个积分时间；
依据所述能见度信息所落入的能见度区间，选择与该能见度区间对应的积分时间。
示例性地，第一能见度区间大于第二能见度区间，与所述第一能见度区 间对应的积分时间小于与所述第二能见度区间对应的积分时间。
示例性地，所述第二能见度区间对应天气包括：雾、霾、烟、风沙、雨和雪中的至少一种；和/或，所述第一能见度区间的天气包括：晴天。
示例性地，所述至少两个积分时间包括第一积分时间和第二积分时间，所述第一积分时间对应第一组的运动速度，所述第二积分时间对应第二组的运动速度，其中，所述第一积分时间小于所述第二积分时间。
示例性地，在所述第一积分时间下，所述扫描元件以所述第一组的运动速度运动时的扫描均匀度高于以所述第二组的运动速度运动时的扫描均匀度，在所述第二积分时间下，所述扫描元件以所述第二组的运动速度运动时的扫描均匀度高于以所述第一组的运动速度运动时的扫描均匀度。
示例性地，所述扫描元件包括棱镜和光栅中的至少一种。
示例性地，所述扫描元件包括相对设置的至少两个光学元件，其中，每组所述运动速度包括每个所述光学元件的旋转速度。
示例性地，所述接收经物体反射回的光脉冲序列，以及根据所述反射回的光脉冲序列确定所述物体相对测距装置的距离和/或方位，包括：
将接收到的经物体反射回的光脉冲序列转换为电信号输出；
对所述电信号进行采样，以测量所述光脉冲序列从发射到接收之间的时间差；
接收所述时间差，计算获得距离测量结果。
示例性地，所述方法还包括：
根据所述选择的积分时间对点云数据进行积分，其中，所述点云数据包括所述确定的所述物体相对所述测距装置的距离和/或方位。
本发明另一方面提供一种移动平台，所述移动平台包括：
前述的测距装置；和
平台本体，所述测距装置安装在所述平台本体上。
示例性地，所述移动平台包括无人机、机器人、车或船。
本发明的测距装置和动态调整扫描元件运动速度的方法中，将扫描元件的至少两个积分时间分别对应所述扫描元件的至少一组运动速度，在同一积分时间下所述扫描元件以与该积分时间对应的运动速度运动时的扫描均匀度高于以其他组的运动速度运动时的扫描均匀度，并通过选择模块选择所述至少两个积分时间中的一个积分时间，由控制模块根据选择的积分时间控制所述扫描元件的运动速度调整至与所选择的积分时间对应的运动速度，从而使 得不同的积分时间下扫描均匀度和视场覆盖率均比较好，提高测距装置对环境感知的效果。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1示出了本发明一个实施例中的测距装置的示意性框图；
图2示出了本发明一个实施例中的扫描模块的结构示意图；
图3A示出了本发明一个实施例中扫描元件以第一组的运动速度运动时在不同积分时间下扫描均匀度的对比示意图；
图3B示出了本发明一个实施例中扫描元件以第二组的运动速度运动时在不同积分时间下扫描均匀度的对比示意图；
图4示出了本发明一个实施例中的动态调整扫描元件运动速度的方法的流程图；
图5示出了本发明一实施例中的测距装置的示意性框图；
图6示出了本发明另一个实施例中的测距装置的示意图。
具体实施方式
为了使得本发明的目的、技术方案和优点更为明显，下面将参照附图详细描述根据本发明的示例实施例。显然，所描述的实施例仅仅是本发明的一部分实施例，而不是本发明的全部实施例，应理解，本发明不受这里描述的示例实施例的限制。基于本发明中描述的本发明实施例，本领域技术人员在没有付出创造性劳动的情况下所得到的所有其它实施例都应落入本发明的保护范围之内。
在下文的描述中，给出了大量具体的细节以便提供对本发明更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本发明可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本发明发生混淆，对于本领域公知的一些技术特征未进行描述。
应当理解的是，本发明能够以不同形式实施，而不应当解释为局限于这里提出的实施例。相反地，提供这些实施例将使公开彻底和完全，并且将本 发明的范围完全地传递给本领域技术人员。
在此使用的术语的目的仅在于描述具体实施例并且不作为本发明的限制。在此使用时，单数形式的“一”、“一个”和“所述/该”也意图包括复数形式，除非上下文清楚指出另外的方式。还应明白术语“组成”和/或“包括”，当在该说明书中使用时，确定所述特征、整数、步骤、操作、元件和/或部件的存在，但不排除一个或更多其它的特征、整数、步骤、操作、元件、部件和/或组的存在或添加。在此使用时，术语“和/或”包括相关所列项目的任何及所有组合。
为了彻底理解本发明，将在下列的描述中提出详细的结构，以便阐释本发明提出的技术方案。本发明的可选实施例详细描述如下，然而除了这些详细描述外，本发明还可以具有其他实施方式。
为了解决上述问题，本发明提供了一种测距装置，所述测距装置包括：
发射模块，用于发射光脉冲序列；
扫描模块，用于将所述发射模块发射的光脉冲序列的传播路径依次改变至不同方向出射，形成一个扫描视场，其中，所述扫描模块包括至少一个运动的扫描元件，所述扫描元件的至少两个积分时间分别对应所述扫描元件的至少一组运动速度，在同一积分时间下所述扫描元件以与该积分时间对应的运动速度运动时的扫描均匀度高于以其他组的运动速度运动时的扫描均匀度；
选择模块，用于选择所述至少两个积分时间中的一个积分时间；
控制模块，用于根据选择的积分时间控制所述扫描元件的运动速度调整至与所选择的积分时间对应的运动速度；
探测模块，用于接收经物体反射回的光脉冲序列，以及根据所述反射回的光脉冲序列确定所述物体相对所述测距装置的距离和/或方位。
本发明的测距装置中，将扫描元件的至少两个积分时间分别对应所述扫描元件的至少一组运动速度，在同一积分时间下所述扫描元件以与该积分时间对应的运动速度运动时的扫描均匀度高于以其他组的运动速度运动时的扫描均匀度，并通过选择模块选择所述至少两个积分时间中的一个积分时间，由控制模块根据选择的积分时间控制所述扫描元件的运动速度调整至与所选择的积分时间对应的运动速度，从而使得不同的积分时间下扫描均匀度和视场覆盖率均比较好，提高测距装置对环境感知的效果。
下面结合附图，对本申请的测距装置以及动态调整扫描元件运动速度的方法进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
作为示例，如图1所示，本发明的测距装置100包括发射模块110，用于发射光脉冲序列(激光脉冲序列)。所述测距装置100包括激光雷达，或者其他的适合的光扫描装置。
在一个示例中，发射模块110可以包括激光管、开关器件和驱动器。其中，激光管可以是二极管，例如可以是正极本征负极(positive-intrinsic-negative，PIN)光电二极管，该激光管可以发射特定波长的激光脉冲序列，该激光管可以称为光源或发射光源。
开关器件为激光管的开关器件，可以与激光管连接，用于控制激光管的开关，其中，在激光管处于开的状态时，可以发射激光脉冲序列，在激光管处于关的状态时，不发射激光脉冲序列。驱动器可以与开关器件连接，用于对开关器件进行驱动。
可选地，在本申请实施例中，该开关器件可以是金属氧化物半导体场效应管((metal-oxide-semiconductor，MOS)管，该驱动器可以包括MOS驱动器。其中，该MOS驱动器可以用于驱动作为开关元件的MOS管，MOS管可以控制激光管的开关。
应理解，该开关器件还可以为氮化镓(Gallium nitride，GaN)管，该驱动器可以为GaN驱动器。
所述测距装置100还包括扫描模块102，用于将所述发射模块发射的光脉冲序列的传播路径依次改变至不同方向出射，形成一个扫描视场；其中，所述扫描模块包括至少一个运动的扫描元件，所述扫描元件的至少两个积分时间分别对应所述扫描元件的至少一组运动速度，在同一积分时间下所述扫描元件以与该积分时间对应的运动速度运动时的扫描均匀度高于以其他积分时间对应的运动速度运动时的扫描均匀度。
一个应用场景是利用激光雷达获取到的点云实时检测周围环境，然后检测结果会用来控制或辅助控制移动平台的移动，或者只是实时给出分析结果。但在单线探测的情况下，每次发射只能收集到一个点，多线探测的情况下，每次发射只能探测几个点。点太稀疏的话是无法用来分析的周围环境的，需要每累计一定的点云量之后再做分析。本文中的积分时间是指累计多久将累计的点云进行分析的累计时间。
扫描模块102可以是任意能够实现扫描视场输出的结构，例如所述扫描模块包括基于机械式的棱镜扫描模块、振镜扫描模块或MEMS(Microelectromechanical Systems，微机电系统)扫描模块，或者，所述扫描 模块包括基于相控阵式的声/电光扫描模块或液晶相控阵扫描模块。
在一个实施例中，扫描模块102可以包括至少一个运动的扫描元件，用于改变光束的传播路径，其中，该扫描元件可以通过对光束进行反射、折射、衍射等等方式来改变光束传播路径。例如，扫描模块102包括透镜、反射镜、棱镜、振镜、光栅、液晶、光学相控阵(Optical Phased Array)或上述扫描元件的任意组合。一个示例中，至少部分扫描元件是运动的，例如通过驱动模块来驱动该至少部分扫描元件进行运动，该运动的光学元件可以在不同时刻将光束反射、折射或衍射至不同的方向。在一些实施例中，扫描模块102的多个扫描元件可以绕共同的轴旋转或振动，每个旋转或振动的扫描元件用于不断改变入射光束的传播方向。在一个实施例中，扫描模块102的多个扫描元件可以以不同的转速旋转，或以不同的速度振动。在另一个实施例中，扫描模块102的至少部分光学元件可以以基本相同的转速旋转。在一些实施例中，扫描模块的多个扫描元件也可以是绕不同的轴旋转。在一些实施例中，扫描模块的多个光学元件也可以是以相同的方向旋转，或以不同的方向旋转；或者沿相同的方向振动，或者沿不同的方向振动，在此不作限制。
可选地，扫描元件包括相对设置的至少两个光学元件，其中，每组所述运动速度包括每个所述光学元件的旋转速度。
在一个示例中，如图2所示，扫描模块102包括扫描元件，扫描元件包括旋转的、且相对设置的第一光学元件1021和第二光学元件1022，第一光学元件1021和第二光学元件1022均包括相对的非平行的一对表面。在另一个示例中，第一光学元件1021和第二光学元件1022绕同一转动轴旋转。在再一个示例中，第一光学元件1021和第二光学元件1022还可以具有相反的转动方向。可选地，第一光学元件1021和第二光学元件1022的转动速度不同。可选地，第一光学元件1021包括楔角棱镜，和/或，第二光学元件1022包括楔角棱镜。
在一个具体示例中，如图2所示，第一光学元件1021和第二光学元件1022绕同一转动轴109旋转，扫描元件还包括与第一光学元件1021连接的驱动器(未示出)，以及与第二光学元件1022连接的驱动器(未示出)，第一光学元件1021的驱动器用于驱动第一光学元件1021绕转动轴109转动，第二光学元件1022的驱动器用于驱动第二光学元件1022绕所述转动轴109转动。
在一个示例中，如图2所示，自发射模块发射的光脉冲序列在经过第一 光学元件1021和第二光学元件1022依次改变至不同方向出射，在一个平面上形成大体为圆形的扫描视场1023。
本文中的测距装置只是一个示例，本发明的方案不限于只能用在这样的系统中。只要扫描模块的扫描密度在时间轴上不是一直均匀分布的，而是随着扫描时间变化，而且扫描模块中的扫描元件的运动速度变化时扫描密度的分布也变化的方案中，都适用本方案。
由于在同一积分时间下，扫描元件的运动速度组合不同，扫描视场的点云图案不相同其扫描均匀度也不同，在同一转速组合下，点云图案也会随积分时间的不同而发生变化。所述扫描元件的至少两个积分时间分别对应所述扫描元件的至少一组运动速度，在同一积分时间下所述扫描元件以与该积分时间对应的运动速度运动时的扫描均匀度高于以其他组的运动速度运动时的扫描均匀度，在一个示例中，所述至少两个积分时间包括第一积分时间和第二积分时间，所述第一积分时间对应第一组的运动速度，所述第二积分时间对应第二组的运动转速，其中，所述第一积分时间小于所述第二积分时间。
具体地，以如图2所示的两个旋转棱镜组成的扫描模块为例，如图3A所示，扫描元件以第一组的运动速度(例如第一组的旋转速度)旋转时，在第一积分时间T1下，扫描视场的点云图案如图3A中左图所示，在第二积分时间T2下，扫描视场的点云图案如图3A右图所示，而同样，图3B所示，扫描元件以第二组的运动速度(例如第二组的旋转速度)旋转时，在第一积分时间T1下，扫描视场的点云图案如图3B中左图所示，在第二积分时间T2下，扫描视场的点云图案如图3B右图所示，点云图案的分布均匀度既反映扫描均匀度，在第一积分时间下，扫描元件以第一组的运动速度运动时的扫描均匀度高于以第二组的运动速度运动时的扫描均匀度，在第二积分时间下，扫描元件以第二组的运动速度运动时的扫描均匀度高于以第一组的运动速度运动时的扫描均匀度，因此，以第一组的运动速度作为与第一积分时间对应的运动速度，而以第二组的运动速度作为与第二积分时间对应的运动速度。
值得一提的是，在此为了便于解释和说明仅以两个积分时间和两组旋转速度的情况为例，但是可以想到的是，测距装置的积分时间还可以包括多于两个积分时间，而扫描元件的运动速度也可以根据时间的需要进行合理选择与设定，扫描元件的运动速度可以包括多于两组的运动速度(例如多于两组的运动速度)，同样可以按照上述方式，使得每个积分时间对应至少一组的运动速度，其中，在一个积分时间下，扫描元件的运动速度包括至少两组的运 动速度，则可以以该些组运动速度运动时扫描密度均匀度最高的一组的运动速度作为与该积分时间对应的运动速度，或者，一个积分时间还可以对应两组或更多组的运动速度，扫描元件在以该两组或更多组的运动速度运动时的扫描均匀度高于以他组的运动速度运动时的扫描均匀度，其中，扫描元件在以该两组或更多组的运动速度运动时的扫描均匀度大体相同。
值得一提的是，扫描均匀度可以是指在对应积分时间下整个扫描视场的扫描点云的分布均匀度，可以通过任意适合的方式表征和衡量扫描均匀度的高低。
进一步地，继续如图1所示，测距装置100还包括选择模块104，选择模块104用于选择至少两个积分时间中的一个积分时间。在一个实施例中，选择模块104用于根据用户的选择从至少两个积分时间中选择积分时间，用户可以根据自身需要合理的选择积分时间，例如，利用用户可以根据待扫描场景的状态信息选择积分时间。
在另一个实施例中，选择模块104用于获取待扫描场景的状态信息，根据待扫描场景的状态信息选择积分时间。其中，获取待扫描场景的状态信息包括主动获取待扫描场景的状态信息和接收待扫描场景的状态信息，主动获取可以包括选择模块主动探测待扫描场景的状态信息，或者其他的适合的主动获取方式；接收则可以包括由用户将待扫描场景的状态信息输入，而选择模块接收该状态信息，或者，由测距装置包括的其他部件或者模块主动探测待扫描场景的状态信息，选择模块从该些部件或模块中接收待扫描场景的状态信息。
待扫描场景的状态信息包括待扫描场景的能见度信息、待扫描场景所包括物体的数量信息、待扫描场景的光照强度信息、安装有所述扫描模块的移动平台的移动速度信息、扫描场景类型中的至少一种，或者其他可以影响对积分时间的选择做出判断的状态信息。
在一个示例中，如果扫描场景类型是测绘场景，选择第一积分时间；如果扫描场景类型是车辆驾驶场景，选择第二积分时间；其中，所述第二积分时间小于所述第一积分时间。由于测绘场景通常处于静止状态，其周围环境相对简单，因此，在该场景可以选择相对长一些的积分时间，而由于车辆驾驶环境中随着车辆的移动，其周围的环境也在随时变化，因此该场景对于积分时间的要求相对测绘场景要短。其中，车辆驾驶场景也可以分多种类型，比如载人车自动驾驶场景和物流车自动行驶场景(在固定路线上低速行驶， 例如在封闭环境中(例如工厂内)沿固定路线低速行驶)。在一个示例中，在车辆驾驶场景选择第二积分时间，第二积分时间也可以是从多个积分时间选择，例如车辆驾驶速度快时从多个积分时间中选择短的积分时间，速度慢时从多个积分时间选择长的积分时间。或者，车辆驾驶速度分为多个速度区间，该多个积分时间从长到短分为不同的积分时间，其中，每个速度区间从快到慢分别对应了一个积分时间，速度区间越快其对应的积分时间越短。
在一个示例中，继续如图1所示，待扫描场景的状态信息包括待扫描场景的光照强度信息，其中，选择模块104用于：获取所述光照强度信息，其中，每个光照强度区间对应一个积分时间；依据所述光照强度信息所落入的光照强度区间，选择与该光照强度区间对应的积分时间。具体地，可以根据光照强度的高低将光照强度分为多个光照强度区间，其中，每个光照强度区间对应一个积分时间，例如，光照强度区间的光照强度越强，该光照强度区间对应的积分时间越短，光照强度区间的光照强度越弱，该光照强度区间对应的积分时间越长。示例性地，第一光照强度区间的光照强度大于第二光照强度区间的光照强度，与所述第一光照强度区间对应的积分时间小于与所述第二光照强度区间对应的积分时间。
由于待扫描场景的光照强度受到多方面因素的影响，例如待扫描场景处于白天，此时的光照强度较好，选择较短的积分时间即可实现较佳地扫描，并且能够满足实时对待扫描场景的扫描，而若待扫描场景处于夜晚，此时的光照强度很低，较佳地选择较长的积分时间，因为积分时间越长扫描密度约大，则对场景的探测的精确度越高，例如在测距装置应用于车辆驾驶时，在例如夜晚的光照强度较低的场景中，车辆上配置的其他例如视觉传感器对光照具有强烈的依赖性，在光照强度较低的场景中其将失去作用，此时对例如激光雷达的测距装置具有更强的依赖性，因此，为了保证测距装置探测的准确性，也应选择较长的积分时间。
在另一个示例中，继续如图1所示，所述待扫描场景的状态信息包括安装有所述扫描模块的移动平台的移动速度信息，其中，选择模块104用于：获取移动速度信息，其中，每个移动速度区间对应一个积分时间；依据移动速度信息所落入的移动速度区间，选择与该移动速度区间对应的积分时间。具体地，移动平台的移动速度依据速度的快慢划分为多个移动速度区间，其中，移动速度区间的速度越大，该移动速度区间对应的积分时间越短，移动速度区间的速度越小，该移动速度区间对应的积分时间越长。
示例性地，移动速度区间至少包括第一移动速度区间和第二移动速度区间，第一移动速度区间大于第二移动速度区间(也即第一移动速度区间的移动速度大于第二移动速度区间的移动速度)，与所述第一移动速度区间对应的积分时间小于与所述第二移动速度区间对应的积分时间。在移动平台高速移动时，扫描模块待扫描的周围环境的变化也会快，所以需要分析结果相应快，积分时间较短才能跟得上，积分时间过长很可能会导致分析结果失真；并且由移动平台高速移动时有时也间接表明其周围环境相对简单，运行环境中障碍物较少，因此选择较短的积分时间，而在移动平台慢速移动时有时表明其周围环境复杂，障碍物较多，因此选择较长的积分时间。
在再一个示例中，继续如图1所示，待扫描场景的状态信息包括待扫描场景的能见度信息，其中，选择模块104用于：获取所述待扫描场景的能见度信息，其中，每个能见度区间对应一个积分时间；依据所述能见度信息所落入的能见度区间，选择与该能见度区间对应的积分时间。将能见度划分为多个能见度区间，其中，能见度区间的能见度越小，该能见度区间对应的积分时间越短，能见度区间的能见度越大，该能见度区间对应的积分时间越长。
示例性地，能见度区间至少包括第一能见度区间和第二能见度区间，第一能见度区间的能见度大于第二能见度区间的能见度，与所述第一能见度区间对应的积分时间小于与所述第二能见度区间对应的积分时间。
能见度是指视力正常的人在当时天气条件下，能从天空背景中看到和辨认出目标物(黑色、大小适度)轮廓的最大水平距离；夜间则是能看到和确定出一定强度灯光的发光点的最大水平距离，单位以米或公里表示。而雾、烟、沙尘、大雪、毛毛雨等天气现象可使大气浑浊，透明度变小，影响能见度。可选地，所述第二能见度区间对应天气包括：雾、霾、烟、风沙、雨和雪中的至少一种；和/或，所述第一能见度区间对应天气包括晴天。在能见度低选择长的积分时间，而能见度高选择短的积分时间，以便更好对周围环境进行探测和扫描。
在其他示例中，所述待扫描场景所包括物体的数量信息，选择模块104用于：获取所述待扫描场景的物体的数量信息，其中，物体的数量分为多个物体的数量区间，每个物体的数量区间对应一个积分时间；依据所述物体的数量信息所落入的物体的数量区间，选择与该物体的数量区间对应的积分时间。其中，物体的数量区间越小，该物体的数量区间对应的积分时间越短， 物体的数量区间越大，该物体的数量区间对应的积分时间越长。
示例性地，物体的数量区间至少包括第一数量区间和第二数量区间，第一数量区间的物体数量大于第二数量区间的物体数量，与第一数量区间对应的积分时间小于与所述第二数量区间对应的积分时间。可以通过测距装置所在的移动平台的其他例如视觉传感器(包括但不限于相机)来预先对待扫描场景周围的物体的数量进行探测，并输出该物体的数量信息，选择模块用于接收该物体的数量信息，进而选择适合的积分时间。
进一步，继续如图1所示，测距装置100还包括控制模块150，控制模块150用于根据选择的积分时间控制扫描元件的运动速度调整至与所选择的积分时间对应的运动速度。
在一个具体示例中，每个扫描元件与一驱动器电连接(未示出)，控制模块接收选择模块输出的积分时间，控制模块根据选择的积分时间控制驱动器驱动扫描元件以与所选择的积分时间对应的运动速度运动。
作为示例，测距装置100还包括探测模块103，探测模块103用于接收经物体反射回的光脉冲序列，以及根据所述反射回的光脉冲序列确定所述物体相对所述测距装置的距离和/或方位。具体地，探测模块103还用于根据所述选择的积分时间对点云数据进行积分，其中，所述点云数据包括所述确定的所述物体相对所述测距装置的距离和/或方位。
通过上述测距装置能够实现动态调整扫描元件运动速度，其可以根据测距装置的应用场景的状态信息或者根据用户的选择选择适合的积分时间长度，从而依据所选择的积分时间长度对调整扫描元件的运动速度至与该积分时间对应的运动速度，使得扫描元件的扫描均匀度明显提高，以及提高扫描效果和视场覆盖率，从而提高测距装置对环境感知的效果。
下面，参考图4，基于前述的测距装置对本发明的动态调整扫描元件运动速度的方法做解释和说明。
作为示例，如图4所示，本发明的动态调整扫描元件运动速度的方法，包括以下步骤：
在步骤301中，发射光脉冲序列，例如，发射激光脉冲序列。所述扫描元件为测距装置的扫描模块包括的至少一个运动的扫描元件，由测距装置包括的发射模块发射光脉冲序列。所述测距装置100包括激光雷达，或者其他的适合的光扫描装置。
在步骤S302中，通过至少一个运动的所述扫描元件将发射的所述光脉冲 序列的传播路径依次改变至不同方向出射，形成一个扫描视场，其中，所述扫描元件的至少两个积分时间分别对应所述扫描元件的至少一组运动速度，在同一积分时间下所述扫描元件以与该积分时间对应的运动速度运动时的扫描均匀度高于以其他组的运动速度运动时的扫描均匀度。
由于在同一积分时间下，扫描元件的运动速度组合不同，扫描视场的点云图案不相同其扫描均匀度也不同，在同一转速组合下，点云图案也会随积分时间的不同而发生变化。所述扫描元件的至少两个积分时间分别对应所述扫描元件的至少一组运动速度，在同一积分时间下所述扫描元件以与该积分时间对应的运动速度运动时的扫描均匀度高于以其他组的运动速度运动时的扫描均匀度，在一个示例中，所述至少两个积分时间包括第一积分时间和第二积分时间，所述第一积分时间对应第一组的运动速度，所述第二积分时间对应第二组的运动转速，其中，所述第一积分时间小于所述第二积分时间。
在第一积分时间下，扫描元件以第一组的运动速度运动时的扫描均匀度高于以第二组的运动速度运动时的扫描均匀度，在第二积分时间下，扫描元件以第二组的运动速度运动时的扫描均匀度高于以第一组的运动速度运动时的扫描均匀度，因此，以第一组的运动速度作为与第一积分时间对应的运动速度，而以第二组的运动速度作为与第二积分时间对应的运动速度。
在步骤S303中，选择所述至少两个积分时间中的一个积分时间。
具体地，所述选择所述至少两个积分时间中的一个积分时间，包括：接收待扫描场景的状态信息，根据待扫描场景的状态信息选择积分时间。或者，所述选择所述至少两个积分时间中的一个积分时间，包括：根据用户的选择从所述至少两个积分时间中选择积分时间。
可选地，待扫描场景的状态信息包括待扫描场景的能见度信息、待扫描场景所包括物体的数量信息、待扫描场景的光照强度信息、安装有所述扫描模块的移动平台的移动速度信息、扫描场景类型中的至少一种。
在一个示例中，如果扫描场景类型是测绘场景，选择第一积分时间；如果扫描场景类型是车辆驾驶场景，选择第二积分时间；其中，所述第二积分时间小于所述第一积分时间。由于测绘场景通常处于静止状态，其周围环境相对简单，因此，在该场景可以选择相对短一些的积分时间，而由于车辆驾驶环境中随着车辆的移动，其周围的环境也在随时变化，因此该场景对于积分时间的要求相对测绘场景要短。其中，车辆驾驶场景也可以分多种类型，比如载人车自动驾驶场景和物流车自动行驶场景(在固定路线上低速行驶， 例如在封闭环境中(例如工厂内)沿固定路线低速行驶)。在一个示例中，在车辆驾驶场景选择第二积分时间，第二积分时间也可以是从多个积分时间选择，例如车辆驾驶速度快时从多个积分时间中选择短的积分时间，速度慢时从多个积分时间选择长的积分时间。或者，车辆驾驶速度分为多个速度区间，该多个积分时间从长到短分为不同的积分时间，其中，每个速度区间从快到慢分别对应了一个积分时间，速度区间越快其对应的积分时间越短。
在一个示例中，待扫描场景的状态信息包括待扫描场景的光照强度信息，其中，步骤S303包括：获取所述光照强度信息，其中，每个光照强度区间对应一个积分时间；依据所述光照强度信息所落入的光照强度区间，选择与该光照强度区间对应的积分时间。具体地，可以根据光照强度的高低将光照强度分为多个光照强度区间，其中，每个光照强度区间对应一个积分时间，例如，光照强度区间的光照强度越强，该光照强度区间对应的积分时间越短，光照强度区间的光照强度越弱，该光照强度区间对应的积分时间越长。示例性地，第一光照强度区间的光照强度大于第二光照强度区间的光照强度，与所述第一光照强度区间对应的积分时间小于与所述第二光照强度区间对应的积分时间。
在另一个示例中，所述待扫描场景的状态信息包括安装有所述扫描模块的移动平台的移动速度信息，其中，步骤S303包括：获取移动速度信息，其中，每个移动速度区间对应一个积分时间；依据移动速度信息所落入的移动速度区间，选择与该移动速度区间对应的积分时间。具体地，移动平台的移动速度依据速度的快慢划分为多个移动速度区间，其中，移动速度区间的速度越大，该移动速度区间对应的积分时间越短，移动速度区间的速度越小，该移动速度区间对应的积分时间越长。
示例性地，移动速度区间至少包括第一移动速度区间和第二移动速度区间，第一移动速度区间大于第二移动速度区间(也即第一移动速度区间的移动速度大于第二移动速度区间的移动速度)，与所述第一移动速度区间对应的积分时间小于与所述第二移动速度区间对应的积分时间。在移动平台高速移动时，扫描模块待扫描的周围环境的变化也会快，并且由移动平台高速移动时有时也间接表明其周围环境相对简单，运行环境中障碍物较少，因此选择较短的积分时间，而在移动平台慢速移动时有时表明其周围环境复杂，障碍物较多，因此选择较长的积分时间。
在再一个示例中，待扫描场景的状态信息包括待扫描场景的能见度信息， 其中，步骤S303包括：获取所述待扫描场景的能见度信息，其中，每个能见度区间对应一个积分时间；依据所述能见度信息所落入的能见度区间，选择与该能见度区间对应的积分时间。将能见度划分为多个能见度区间，其中，能见度区间的能见度越小，该能见度区间对应的积分时间越短，能见度区间的能见度越大，该能见度区间对应的积分时间越长。
示例性地，能见度区间至少包括第一能见度区间和第二能见度区间，第一能见度区间的能见度大于第二能见度区间的能见度，与所述第一能见度区间对应的积分时间小于与所述第二能见度区间对应的积分时间。
能见度是指视力正常的人在当时天气条件下，能从天空背景中看到和辨认出目标物(黑色、大小适度)轮廓的最大水平距离；夜间则是能看到和确定出一定强度灯光的发光点的最大水平距离，单位以米或公里表示。而雾、烟、沙尘、大雪、毛毛雨等天气现象可使大气浑浊，透明度变小，影响能见度。可选地，所述第二能见度区间对应天气包括：雾、霾、烟、风沙、雨和雪中的至少一种；和/或，所述第一能见度区间对应天气包括晴天。在能见度低选择长的积分时间，而能见度高选择短的积分时间，以便更好对周围环境进行探测和扫描。
在其他示例中，所述待扫描场景所包括物体的数量信息，步骤S303包括：获取所述待扫描场景的物体的数量信息，其中，物体的数量分为多个物体的数量区间，每个物体的数量区间对应一个积分时间；依据所述物体的数量信息所落入的物体的数量区间，选择与该物体的数量区间对应的积分时间。其中，物体的数量区间越小，该物体的数量区间对应的积分时间越短，物体的数量区间越大，该物体的数量区间对应的积分时间越长。
示例性地，物体的数量区间至少包括第一数量区间和第二数量区间，第一数量区间的物体数量大于第二数量区间的物体数量，与第一数量区间对应的积分时间小于与所述第二数量区间对应的积分时间。可以通过测距装置所在的移动平台的其他例如视觉传感器(包括但不限于相机)来预先对待扫描场景周围的物体的数量进行探测，并输出该物体的数量信息，选择模块用于接收该物体的数量信息，进而选择适合的积分时间。
在步骤S304中，根据选择的积分时间控制所述扫描元件的运动速度调整至与所选择的积分时间对应的运动速度。在一个具体示例中，每个扫描元件与一驱动器电连接(未示出)，控制模块接收选择模块输出的积分时间，控制模块根据选择的积分时间控制驱动器驱动扫描元件以与所选择的积分时间 对应的运动速度运动。
在步骤S305中，接收经物体反射回的光脉冲序列，以及根据所述反射回的光脉冲序列确定所述物体相对测距装置的距离和/或方位。具体地，步骤S305还包括根据所述选择的积分时间对点云数据进行积分，其中，所述点云数据包括所述确定的所述物体相对所述测距装置的距离和/或方位。
在一个示例中，步骤S305还包括以下步骤A1至步骤A3：在步骤A1中，将接收到的经物体反射回的光脉冲序列转换为电信号输出；在步骤A2中，对所述电信号进行采样，以测量所述光脉冲序列从发射到接收之间的时间差；在步骤A3中，接收所述时间差，计算获得距离测量结果。
通过上述动态调整扫描元件运动速度的方法，其可以根据测距装置的应用场景的状态信息或者根据用户的选择选择适合的积分时间长度，从而依据所选择的积分时间长度对调整扫描元件的运动速度至与该积分时间对应的运动速度，使得扫描元件的扫描均匀度明显提高，以及提高扫描效果和视场覆盖率，从而提高测距装置对环境感知的效果。
本发明各个实施例提供的动态调整扫描元件运动速度的方法，均可以应用于测距装置。本发明各个实施例中提到的测距装置可以是激光雷达、激光测距设备等电子设备。在一种实施方式中，测距装置用于感测外部环境信息，例如，环境目标的距离信息、方位信息、反射强度信息、速度信息等。一种实现方式中，测距装置可以通过测量测距装置和探测物之间光传播的时间，即光飞行时间(Time-of-Flight，TOF)，来探测探测物到测距装置的距离。或者，测距装置也可以通过其他技术来探测探测物到测距装置的距离，例如基于相位移动(phase shift)测量的测距方法，或者基于频率移动(frequency shift)测量的测距方法，在此不做限制。
为了便于理解，以下将结合图5所示的测距装置100对测距的工作流程进行举例描述。
如图5所示，测距装置100可以包括发射模块110、接收模块120、采样模块130和运算模块140，其中，该发射模块还可以包括发射电路，接收模块包括接收电路，采样模块包括采样电路，运算模块包括运算电路。
发射模块110可以发射光脉冲序列(例如激光脉冲序列)。接收模块120可以接收经过被探测物反射的光脉冲序列，并对该光脉冲序列进行光电转换，以得到电信号，再对电信号进行处理之后可以输出给采样模块130。采样模 块130可以对电信号进行采样，以获取采样结果。运算模块140可以基于采样模块130的采样结果，以确定测距装置100与被探测物之间的距离。
可选地，该测距装置100还可以包括控制模块150，该控制模块150可以实现对其他模块和电路的控制，例如，可以控制各个模块和电路的工作时间和/或对各个模块和电路进行参数设置等。
应理解，虽然图5示出的测距装置中包括一个发射模块、一个接收模块、一个采样模块和一个运算模块，用于出射一路光束进行探测，但是本申请实施例并不限于此，发射模块、接收模块、采样模块、运算模块中的任一种电路的数量也可以是至少两个，用于沿相同方向或分别沿不同方向出射至少两路光束；其中，该至少两束光路可以是同时出射，也可以是分别在不同时刻出射。一个示例中，该至少两个发射模块中的发光芯片封装在同一个模块中。例如，每个发射模块包括一个激光发射芯片，该至少两个发射模块中的激光发射芯片中的芯片(die)封装到一起，容置在同一个封装空间中。
一些实现方式中，除了图5所示的结构，测距装置100还可以包括扫描模块，用于将发射模块出射的至少一路激光脉冲序列改变传播方向出射。
其中，可以将包括接收模块120、采样模块130、运算模块140的模块称为探测模块，可以将包括发射模块110、接收模块120、采样模块130和运算模块140的模块，或者，包括发射模块110、接收模块120、采样模块130、运算模块140和控制模块150的模块称为测距模块，该测距模块可以独立于其他模块，例如，扫描模块。
测距装置中可以采用同轴光路，也即测距装置出射的光束和经反射回来的光束在测距装置内共用至少部分光路。例如，发射模块出射的至少一路激光脉冲序列经扫描模块改变传播方向出射后，经探测物反射回来的激光脉冲序列经过扫描模块后入射至接收模块。或者，测距装置也可以采用异轴光路，也即测距装置出射的光束和经反射回来的光束在测距装置内分别沿不同的光路传输。图6示出了本发明的测距装置采用同轴光路的一种实施例的示意图。
测距装置200包括测距模块210，测距模块210包括发射器203(可以包括上述的发射模块)、准直元件204、探测器205(可以包括上述的接收模块、采样模块和运算模块)和光路改变元件206。测距模块210用于发射光束，且接收回光，将回光转换为电信号。其中，发射器203可以用于发射光脉冲序列。在一个实施例中，发射器203可以发射激光脉冲序列。可选的，发射器203发射出的激光束为波长在可见光范围之外的窄带宽光束。准直元件204 设置于发射器的出射光路上，用于准直从发射器203发出的光束，将发射器203发出的光束准直为平行光出射至扫描模块。准直元件还用于会聚经探测物反射的回光的至少一部分。该准直元件204可以是准直透镜或者是其他能够准直光束的元件。
在图6所示实施例中，通过光路改变元件206来将测距装置内的发射光路和接收光路在准直元件204之前合并，使得发射光路和接收光路可以共用同一个准直元件，使得光路更加紧凑。在其他的一些实现方式中，也可以是发射器203和探测器205分别使用各自的准直元件，将光路改变元件206设置在准直元件之后的光路上。
在图6所示实施例中，由于发射器203出射的光束的光束孔径较小，测距装置所接收到的回光的光束孔径较大，所以光路改变元件可以采用小面积的反射镜来将发射光路和接收光路合并。在其他的一些实现方式中，光路改变元件也可以采用带通孔的反射镜，其中该通孔用于透射发射器203的出射光，反射镜用于将回光反射至探测器205。这样可以减小采用小反射镜的情况中小反射镜的支架会对回光的遮挡。
在图6所示实施例中，光路改变元件偏离了准直元件204的光轴。在其他的一些实现方式中，光路改变元件也可以位于准直元件204的光轴上。
测距装置200还包括扫描模块202。扫描模块202放置于测距模块210的出射光路上，扫描模块202用于改变经准直元件204出射的准直光束219的传输方向并投射至外界环境，并将回光投射至准直元件204。回光经准直元件204汇聚到探测器205上。
在一个实施例中，扫描模块202可以包括至少一个光学元件，用于改变光束的传播路径，其中，该光学元件可以通过对光束进行反射、折射、衍射等等方式来改变光束传播路径。例如，扫描模块202包括透镜、反射镜、棱镜、振镜、光栅、液晶、光学相控阵(Optical Phased Array)或上述光学元件的任意组合。一个示例中，至少部分光学元件是运动的，例如通过驱动模块来驱动该至少部分光学元件进行运动，该运动的光学元件可以在不同时刻将光束反射、折射或衍射至不同的方向。在一些实施例中，扫描模块202的多个光学元件可以绕共同的轴209旋转或振动，每个旋转或振动的光学元件用于不断改变入射光束的传播方向。在一个实施例中，扫描模块202的多个光学元件可以以不同的转速旋转，或以不同的速度振动。在另一个实施例中，扫描模块202的至少部分光学元件可以以基本相同的转速旋转。在一些实施 例中，扫描模块的多个光学元件也可以是绕不同的轴旋转。在一些实施例中，扫描模块的多个光学元件也可以是以相同的方向旋转，或以不同的方向旋转；或者沿相同的方向振动，或者沿不同的方向振动，在此不作限制。
在一个实施例中，扫描模块202包括第一光学元件214和与第一光学元件214连接的驱动器216，驱动器216用于驱动第一光学元件214绕转动轴209转动，使第一光学元件214改变准直光束219的方向。第一光学元件214将准直光束219投射至不同的方向。在一个实施例中，准直光束219经第一光学元件改变后的方向与转动轴209的夹角随着第一光学元件214的转动而变化。在一个实施例中，第一光学元件214包括相对的非平行的一对表面，准直光束219穿过该对表面。在一个实施例中，第一光学元件214包括厚度沿至少一个径向变化的棱镜。在一个实施例中，第一光学元件214包括楔角棱镜，对准直光束219进行折射。
在一个实施例中，扫描模块202还包括第二光学元件215，第二光学元件215绕转动轴209转动，第二光学元件215的转动速度与第一光学元件214的转动速度不同。第二光学元件215用于改变第一光学元件214投射的光束的方向。在一个实施例中，第二光学元件215与另一驱动器217连接，驱动器217驱动第二光学元件215转动。第一光学元件214和第二光学元件215可以由相同或不同的驱动器驱动，使第一光学元件214和第二光学元件215的转速和/或转向不同，从而将准直光束219投射至外界空间不同的方向，可以扫描较大的空间范围。在一个实施例中，控制器218控制驱动器216和217，分别驱动第一光学元件214和第二光学元件215。第一光学元件214和第二光学元件215的转速可以根据实际应用中预期扫描的区域和样式确定。驱动器216和217可以包括电机或其他驱动器。
在一个实施例中，第二光学元件215包括相对的非平行的一对表面，光束穿过该对表面。在一个实施例中，第二光学元件215包括厚度沿至少一个径向变化的棱镜。在一个实施例中，第二光学元件215包括楔角棱镜。
一个实施例中，扫描模块202还包括第三光学元件(图未示)和用于驱动第三光学元件运动的驱动器。可选地，该第三光学元件包括相对的非平行的一对表面，光束穿过该对表面。在一个实施例中，第三光学元件包括厚度沿至少一个径向变化的棱镜。在一个实施例中，第三光学元件包括楔角棱镜。第一、第二和第三光学元件中的至少两个光学元件以不同的转速和/或转向转动。
扫描模块202中的各光学元件旋转可以将光投射至不同的方向，例如投射的光211的方向和方向213，如此对测距装置200周围的空间进行扫描。当扫描模块202投射出的光211打到探测物201时，一部分光被探测物201沿与投射的光211相反的方向反射至测距装置200。探测物201反射的回光212经过扫描模块202后入射至准直元件204。
探测器205与发射器203放置于准直元件204的同一侧，探测器205用于将穿过准直元件204的至少部分回光转换为电信号。
一个实施例中，各光学元件上镀有增透膜。可选的，增透膜的厚度与发射器203发射出的光束的波长相等或接近，能够增加透射光束的强度。
一个实施例中，测距装置中位于光束传播路径上的一个元件表面上镀有滤光层，或者在光束传播路径上设置有滤光器，用于至少透射发射器所出射的光束所在波段，反射其他波段，以减少环境光给接收器带来的噪音。
在一些实施例中，发射器203可以包括激光二极管，通过激光二极管发射纳秒级别的激光脉冲。进一步地，可以确定激光脉冲接收时间，例如，通过探测电信号脉冲的上升沿时间和/或下降沿时间确定激光脉冲接收时间。如此，测距装置200可以利用脉冲接收时间信息和脉冲发出时间信息计算TOF，从而确定探测物201到测距装置200的距离。
测距装置200探测到的距离和方位可以用于遥感、避障、测绘、建模、导航等。在一种实施方式中，本发明实施方式的测距装置可应用于移动平台，测距装置可安装在移动平台的平台本体。具有测距装置的移动平台可对外部环境进行测量，例如，测量移动平台与障碍物的距离用于避障等用途，和对外部环境进行二维或三维的测绘。在某些实施方式中，移动平台包括无人飞行器、车(包括汽车)、遥控车、船、机器人、相机中的至少一种。当测距装置应用于无人飞行器时，平台本体为无人飞行器的机身。当测距装置应用于汽车时，平台本体为汽车的车身。该汽车可以是自动驾驶汽车或者半自动驾驶汽车，在此不做限制。当测距装置应用于遥控车时，平台本体为遥控车的车身。当测距装置应用于机器人时，平台本体为机器人。当测距装置应用于相机时，平台本体为相机本身。
尽管这里已经参考附图描述了示例实施例，应理解上述示例实施例仅仅是示例性的，并且不意图将本发明的范围限制于此。本领域普通技术人员可以在其中进行各种改变和修改，而不偏离本发明的范围和精神。所有这些改变和修改意在被包括在所附权利要求所要求的本发明的范围之内。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。
在本申请所提供的几个实施例中，应该理解到，所揭露的设备和方法，可以通过其它的方式实现。例如，以上所描述的设备实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个设备，或一些特征可以忽略，或不执行。
在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本发明的实施例可以在没有这些具体细节的情况下实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。
类似地，应当理解，为了精简本发明并帮助理解各个发明方面中的一个或多个，在对本发明的示例性实施例的描述中，本发明的各个特征有时被一起分组到单个实施例、图、或者对其的描述中。然而，并不应将该本发明的方法解释成反映如下意图：即所要求保护的本发明要求比在每个权利要求中所明确记载的特征更多的特征。更确切地说，如相应的权利要求书所反映的那样，其发明点在于可以用少于某个公开的单个实施例的所有特征的特征来解决相应的技术问题。因此，遵循具体实施方式的权利要求书由此明确地并入该具体实施方式，其中每个权利要求本身都作为本发明的单独实施例。
本领域的技术人员可以理解，除了特征之间相互排斥之外，可以采用任何组合对本说明书(包括伴随的权利要求、摘要和附图)中公开的所有特征以及如此公开的任何方法或者设备的所有过程或单元进行组合。除非另外明确陈述，本说明书(包括伴随的权利要求、摘要和附图)中公开的每个特征可以由提供相同、等同或相似目的替代特征来代替。
此外，本领域的技术人员能够理解，尽管在此所述的一些实施例包括其它实施例中所包括的某些特征而不是其它特征，但是不同实施例的特征的组合意味着处于本发明的范围之内并且形成不同的实施例。例如，在权利要求书中，所要求保护的实施例的任意之一都可以以任意的组合方式来使用。
本发明的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当 理解，可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本发明实施例的一些模块的一些或者全部功能。本发明还可以实现为用于执行这里所描述的方法的一部分或者全部的装置程序(例如，计算机程序和计算机程序产品)。这样的实现本发明的程序可以存储在计算机可读介质上，或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。
应该注意的是上述实施例对本发明进行说明而不是对本发明进行限制，并且本领域技术人员在不脱离所附权利要求的范围的情况下可设计出替换实施例。在权利要求中，不应将位于括号之间的任何参考符号构造成对权利要求的限制。本发明可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中，这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。

Claims (46)

  1. 一种测距装置，其特征在于，所述测距装置包括：
    发射模块，用于发射光脉冲序列；
    扫描模块，用于将所述发射模块发射的光脉冲序列的传播路径依次改变至不同方向出射，形成一个扫描视场，其中，所述扫描模块包括至少一个运动的扫描元件，所述扫描元件的至少两个积分时间分别对应所述扫描元件的至少一组运动速度，在同一积分时间下所述扫描元件以与该积分时间对应的运动速度运动时的扫描均匀度高于以其他组的运动速度运动时的扫描均匀度；
    选择模块，用于选择所述至少两个积分时间中的一个积分时间；
    控制模块，用于根据选择的积分时间控制所述扫描元件的运动速度调整至与所选择的积分时间对应的运动速度；
    探测模块，用于接收经物体反射回的光脉冲序列，以及根据所述反射回的光脉冲序列确定所述物体相对所述测距装置的距离和/或方位。
  2. 如权利要求1所述的测距装置，其特征在于，所述选择模块用于获取待扫描场景的状态信息，根据待扫描场景的状态信息选择积分时间。
  3. 如权利要求1所述的测距装置，其特征在于，所述选择模块用于根据用户的选择从所述至少两个积分时间中选择积分时间。
  4. 如权利要求2所述的测距装置，其特征在于，所述状态信息包括待扫描场景的能见度信息、待扫描场景所包括物体的数量信息、待扫描场景的光照强度信息、安装有所述扫描模块的移动平台的移动速度信息、扫描场景类型中的至少一种。
  5. 如权利要求1所述的测距装置，其特征在于，如果扫描场景类型是测绘场景，选择第一积分时间；
    如果扫描场景类型是车辆驾驶场景，选择第二积分时间；其中，所述第二积分时间小于所述第一积分时间。
  6. 如权利要求5所述的测距装置，其特征在于，车辆驾驶场景包括载人车自动驾驶场景和物流车自动行驶场景中的至少一种。
  7. 如权利要求2所述的测距装置，其特征在于，所述状态信息包括待扫描场景的光照强度信息，其中，所述选择模块用于：
    获取所述光照强度信息，其中，每个光照强度区间对应一个积分时间；
    依据所述光照强度信息所落入的光照强度区间，选择与该光照强度区间对应的积分时间。
  8. 如权利要求7所述的测距装置，其特征在于，第一光照强度区间大于第二光照强度区间，与所述第一光照强度区间对应的积分时间小于与所述第二光照强度区间对应的积分时间。
  9. 如权利要求2所述的测距装置，其特征在于，所述状态信息包括安装有所述扫描模块的移动平台的移动速度信息，其中，所述选择模块用于：
    获取所述移动速度信息，其中，每个移动速度区间对应一个积分时间；
    依据所述移动速度信息所落入的移动速度区间，选择与该移动速度区间对应的积分时间。
  10. 如权利要求9所述的测距装置，其特征在于，第一移动速度区间大于第二移动速度区间，与所述第一移动速度区间对应的积分时间小于与所述第二移动速度区间对应的积分时间。
  11. 如权利要求2所述的测距装置，其特征在于，所述状态信息包括所述待扫描场景的能见度信息，其中，所述选择模块用于：
    获取所述待扫描场景的能见度信息，其中，每个能见度区间对应一个积分时间；
    依据所述能见度信息所落入的能见度区间，选择与该能见度区间对应的积分时间。
  12. 如权利要求11所述的测距装置，其特征在于，第一能见度区间大于第二能见度区间，与所述第一能见度区间对应的积分时间小于与所述第二能见度区间对应的积分时间。
  13. 如权利要求12所述的测距装置，其特征在于，所述第二能见度区间对应天气包括：雾、霾、烟、风沙、雨和雪中的至少一种；和/或，所述第一能见度区间对应天气包括：晴天。
  14. 如权利要求1至6任一项所述的测距装置，其特征在于，所述至少两个积分时间包括第一积分时间和第二积分时间，所述第一积分时间对应第一组的运动速度，所述第二积分时间对应第二组的运动转速，其中，所述第一积分时间小于所述第二积分时间。
  15. 如权利要求14所述的测距装置，其特征在于，在所述第一积分时间下，所述扫描元件以所述第一组的运动速度运动时的扫描均匀度高于以所述第二组的运动速度运动时的扫描均匀度，在所述第二积分时间下，所述扫描元件以所述第二组的运动速度运动时的扫描均匀度高于以所述第一组的运动速度运动时的扫描均匀度。
  16. 如权利要求1所述的测距装置，其特征在于，所述扫描元件包括棱镜和光栅中的至少一种。
  17. 如权利要求1所述的测距装置，其特征在于，所述扫描元件包括相对设置的至少两个光学元件，其中，每组所述运动速度包括每个所述光学元件的旋转速度。
  18. 如权利要求1所述的测距装置，其特征在于，所述扫描元件包括：
    第一光学元件和与所述第一光学元件连接的驱动器，所述驱动器用于驱动所述第一光学元件绕转动轴转动，使所述第一光学元件改变自发射模块发射的光脉冲序列的方向；和/或
    第二光学元件，所述第二光学元件和所述第一光学元件相对设置，所述第二光学元件绕所述转动轴转动，其中，所述扫描元件的运动速度包括所述第一光学元件的旋转速度和所述第二光学元件的旋转速度。
  19. 如权利要求18所述的测距装置，其特征在于，所述第二光学元件的旋转速度与所述第一光学元件的旋转速度不同。
  20. 如权利要求18所述的测距装置，其特征在于，所述第一光学元件和所述第二光学元件具有相反的转动方向。
  21. 如权利要求18所述的测距装置，其特征在于，所述第一光学元件包括相对的非平行的一对表面；和/或所述第二光学元件包括相对的非平行的一对表面。
  22. 如权利要求18所述的测距装置，其特征在于，所述第一光学元件包括楔角棱镜；和/或，所述第二光学元件包括楔角棱镜。
  23. 如权利要求1所述的测距装置，其特征在于，所述探测模块包括：
    接收模块，用于将接收到的经物体反射回的光脉冲序列转换为电信号输出；
    采样模块，用于对所述接收模块输出的所述电信号进行采样，以测量所述光脉冲序列从发射到接收之间的时间差；
    运算模块，用于接收所述采样模块输出的所述时间差，计算获得距离测量结果。
  24. 如权利要求1所述的测距装置，其特征在于，所述发射模块包括：
    激光管，用于发射激光脉冲序列；
    开关器件，用于控制所述激光管的开关；
    驱动器，用于对所述开关器件进行驱动。
  25. 如权利要求1所述的测距装置，其特征在于，所述探测模块还用于根据所述选择的积分时间对点云数据进行积分，其中，所述点云数据包括所述确定的所述物体相对所述测距装置的距离和/或方位。
  26. 一种动态调整扫描元件运动速度的方法，其特征在于，所述方法包括：
    发射光脉冲序列；
    通过至少一个运动的所述扫描元件将发射的所述光脉冲序列的传播路径依次改变至不同方向出射，形成一个扫描视场，其中，所述扫描元件的至少两个积分时间分别对应所述扫描元件的至少一组运动速度，在同一积分时间下所述扫描元件以与该积分时间对应的运动速度运动时的扫描均匀度高于以其他组的运动速度运动时的扫描均匀度；
    选择所述至少两个积分时间中的一个积分时间；
    根据选择的积分时间控制所述扫描元件的运动速度调整至与所选择的积分时间对应的运动速度；
    接收经物体反射回的光脉冲序列，以及根据所述反射回的光脉冲序列确定所述物体相对测距装置的距离和/或方位。
  27. 如权利要求26所述的方法，其特征在于，所述选择所述至少两个积分时间中的一个积分时间，包括：
    接收待扫描场景的状态信息，根据待扫描场景的状态信息选择积分时间。
  28. 如权利要求26所述的方法，其特征在于，所述选择所述至少两个积分时间中的一个积分时间，包括：根据用户的选择从所述至少两个积分时间中选择积分时间。
  29. 如权利要求27所述的方法，其特征在于，所述状态信息包括待扫描场景的能见度信息、待扫描场景所包括物体的数量信息、待扫描场景的光照强度信息、安装有所述扫描模块的移动平台的移动速度信息、扫描场景类型中的至少一种。
  30. 如权利要求26所述的方法，其特征在于，如果扫描场景类型是测绘场景，选择第一积分时间；
    如果扫描场景类型是车辆驾驶场景，选择第二积分时间；其中，所述第二积分时间小于所述第一积分时间。
  31. 如权利要求26所述的方法，其特征在于，车辆驾驶场景包括载人车自动驾驶场景和物流车自动行驶场景中的至少一种。
  32. 如权利要求29所述的方法，其特征在于，所述状态信息包括待扫描场景的光照强度信息，其中，所述获取待扫描场景的状态信息，根据待扫描场景的状态信息选择积分时间，包括：
    获取所述光照强度信息，其中，每个光照强度区间对应一个积分时间；
    依据所述光照强度信息所落入的光照强度区间，选择与该光照强度区间对应的积分时间。
  33. 如权利要求32所述的方法，其特征在于，第一光照强度区间大于第二光照强度区间，与所述第一光照强度区间对应的积分时间小于与所述第二光照强度区间对应的积分时间。
  34. 如权利要求29所述的方法，其特征在于，所述状态信息包括安装有扫描模块的移动平台的移动速度信息，其中，所述获取待扫描场景的状态信息，根据待扫描场景的状态信息选择积分时间，还包括：
    获取所述移动速度信息，其中，每个移动速度区间对应一个积分时间；
    依据所述移动速度信息所落入的移动速度区间，选择与该移动速度区间对应的积分时间。
  35. 如权利要求34所述的方法，其特征在于，第一移动速度区间大于第二移动速度区间，与所述第一移动速度区间对应的积分时间小于与所述第二移动速度区间对应的积分时间。
  36. 如权利要求29所述的方法，其特征在于，所述状态信息包括所述待扫描场景的能见度信息，其中，所述获取待扫描场景的状态信息，根据待扫描场景的状态信息选择积分时间，包括：
    获取所述待扫描场景的能见度信息，其中，每个能见度区间对应一个积分时间；
    依据所述能见度信息所落入的能见度区间，选择与该能见度区间对应的积分时间。
  37. 如权利要求36所述的方法，其特征在于，第一能见度区间大于第二能见度区间，与所述第一能见度区间对应的积分时间小于与所述第二能见度区间对应的积分时间。
  38. 如权利要求37所述的方法，其特征在于，所述第二能见度区间对应天气包括：雾、霾、烟、风沙、雨和雪中的至少一种；和/或，所述第一能见度区间的天气包括：晴天。
  39. 如权利要求26至31任一项所述的方法，其特征在于，所述至少两 个积分时间包括第一积分时间和第二积分时间，所述第一积分时间对应第一组的运动速度，所述第二积分时间对应第二组的运动速度，其中，所述第一积分时间小于所述第二积分时间。
  40. 如权利要求39所述的方法，其特征在于，在所述第一积分时间下，所述扫描元件以所述第一组的运动速度运动时的扫描均匀度高于以所述第二组的运动速度运动时的扫描均匀度，在所述第二积分时间下，所述扫描元件以所述第二组的运动速度运动时的扫描均匀度高于以所述第一组的运动速度运动时的扫描均匀度。
  41. 如权利要求26所述的方法，其特征在于，所述扫描元件包括棱镜和光栅中的至少一种。
  42. 如权利要求26所述的方法，其特征在于，所述扫描元件包括相对设置的至少两个光学元件，其中，每组所述运动速度包括每个所述光学元件的旋转速度。
  43. 如权利要求26所述的方法，其特征在于，所述接收经物体反射回的光脉冲序列，以及根据所述反射回的光脉冲序列确定所述物体相对测距装置的距离和/或方位，包括：
    将接收到的经物体反射回的光脉冲序列转换为电信号输出；
    对所述电信号进行采样，以测量所述光脉冲序列从发射到接收之间的时间差；
    接收所述时间差，计算获得距离测量结果。
  44. 如权利要求26所述的方法，其特征在于，所述方法还包括：
    根据所述选择的积分时间对点云数据进行积分，其中，所述点云数据包括所述确定的所述物体相对所述测距装置的距离和/或方位。
  45. 一种移动平台，其特征在于，包括：
    权利要求1至25任一项所述的测距装置；和
    平台本体，所述测距装置安装在所述平台本体上。
  46. 如权利要求45所述的移动平台，其特征在于，所述移动平台包括无人机、机器人、车或船。
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