WO2020124318A1 - Procédé d'ajustement de la vitesse de déplacement d'élément de balayage, de dispositif de télémétrie et de plateforme mobile - Google Patents

Procédé d'ajustement de la vitesse de déplacement d'élément de balayage, de dispositif de télémétrie et de plateforme mobile 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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PCT/CN2018/121533
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English (en)
Chinese (zh)
Inventor
董帅
张富
洪小平
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2018/121533 priority Critical patent/WO2020124318A1/fr
Priority to CN201880068601.2A priority patent/CN111587381A/zh
Publication of WO2020124318A1 publication Critical patent/WO2020124318A1/fr

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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.

Abstract

La présente invention concerne un procédé d'ajustement de la vitesse de déplacement d'un élément de balayage, d'un dispositif de télémétrie, et d'une plateforme mobile. Le dispositif de télémétrie comprend un module de transmission, un module de balayage, un module de sélection, un module de commande et un module de détection. Le module de balayage est utilisé pour modifier séquentiellement un trajet de propagation d'une séquence d'impulsions lumineuses émise par le module d'émission vers différentes directions pour émettre et former un champ de vision de balayage. Au moins deux temps d'intégration de l'élément de balayage correspondent chacun à au moins un groupe de vitesses de déplacement de l'élément de balayage. Dans le même temps d'intégration, l'uniformité de balayage lorsque l'élément de balayage se déplace à une vitesse de déplacement correspondant au temps d'intégration est supérieure à l'uniformité de balayage lors du déplacement au niveau d'autres groupes de vitesses de déplacement. Le module de sélection est utilisé pour sélectionner un temps d'intégration parmi les deux ou plus temps d'intégration. Le module de commande est utilisé pour commander la vitesse de déplacement de l'élément de balayage en fonction du temps d'intégration sélectionné et l'ajuster à une vitesse de déplacement correspondant au temps d'intégration sélectionné. La solution de la présente invention peut rendre l'uniformité de nuage de points et le champ de couverture de visualisation meilleurs dans différents temps d'intégration.
PCT/CN2018/121533 2018-12-17 2018-12-17 Procédé d'ajustement de la vitesse de déplacement d'élément de balayage, de dispositif de télémétrie et de plateforme mobile WO2020124318A1 (fr)

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PCT/CN2018/121533 WO2020124318A1 (fr) 2018-12-17 2018-12-17 Procédé d'ajustement de la vitesse de déplacement d'élément de balayage, de dispositif de télémétrie et de plateforme mobile
CN201880068601.2A CN111587381A (zh) 2018-12-17 2018-12-17 调整扫描元件运动速度的方法及测距装置、移动平台

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WO2022040937A1 (fr) * 2020-08-25 2022-03-03 深圳市大疆创新科技有限公司 Dispositif de balayage laser et système de balayage laser
WO2022226984A1 (fr) * 2021-04-30 2022-11-03 深圳市大疆创新科技有限公司 Procédé de commande de champ de vision de balayage, appareil de télémétrie et plateforme mobile
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