WO2020142893A1 - Radar access detection method, circuit and movable platform - Google Patents

Abstract

A radar access detection method, a radar access detection circuit and a movable platform. The radar access detection method is used to detect whether a radar interface (1-N) of a control system (10) is connected to a radar (1-N) and comprises: detecting a detection signal of the radar interface (1-N) (S101); and determining whether the radar interface (1-N) is connected to a radar (1-N) according to the detection signal, wherein when the detection signal is a setting signal, it is determined that the radar interface (1-N) is connected to the radar (1-N), otherwise, it is determined that the radar interface (1-N) is not connected to the radar (1-N) (S102). The present radar access detection method may enable the control system (10) to detect whether the radar (1-N) is connected to the system in real time, thereby having a high detection efficiency and occupying a small amount of memory.

Description

Radar access detection method, circuit and movable platform

Instructions

Technical field

The present invention generally relates to the technical field of radar, and more particularly relates to a radar access detection method, circuit and movable platform.

Background technique

In practical applications, radar is often used to detect target scenes. Taking lidar as an example, the principle is to actively emit laser pulse signals to the outside, detect the reflected echo signal, and judge the distance of the measured object according to the time difference between transmission and reception; combined with the information of the direction of the optical pulse emission, you can Get the 3D depth information of the target scene.

In the application of radar systems, the control system needs to determine whether the radar interface has radar access. The current method mainly uses data communication with the radar to query whether the control system has radar access, but this method is less efficient and occupies. Has too much memory.

Summary of the invention

The present invention has been proposed to solve at least one of the above problems. The invention provides a radar access detection method, which can detect whether the radar is connected to the control system in real time, and has high detection efficiency and small memory occupation.

Specifically, an embodiment of the present invention provides a radar access detection method for detecting whether a radar interface of a control system has radar access. The detection method includes:

Detect the detection signal of the radar interface;

Judging whether the radar interface has radar access according to the detection signal;

Wherein, when the detection signal is a setting signal, it is determined that the radar interface has radar access, otherwise, it is determined that the radar interface has no radar access.

An embodiment of the present invention also provides a radar access detection circuit for detecting whether the radar interface of the control system has radar access. The detection circuit includes:

The detection end is used to connect with the radar;

A detection device for generating a detection signal based on the signal at the detection end;

The signal terminal is used to output the detection signal;

Wherein, the control system determines whether the radar interface has radar access according to the detection signal, when the detection signal is a setting signal, determines that the radar interface has radar access, otherwise, determines that the radar interface does not have Radar access.

An embodiment of the present invention also provides a movable platform, including:

One or more radar interfaces;

One or more controllers;

The radar interface is connected to the above-mentioned radar access detection circuit, and one or more of the controllers are connected to the signal terminal of the radar access detection circuit of each radar interface, and output according to the signal terminal The detection signal determines whether the radar interface has radar access.

Embodiments of the present invention provide a radar access detection method, circuit, and movable platform, and determine whether the radar interface has radar access by detecting whether the detection signal of the radar interface is a set signal. The radar access detection method can detect whether the radar is connected to the system in real time, and the detection efficiency is high, and it will not occupy too much memory.

BRIEF DESCRIPTION

FIG. 1 shows a schematic block diagram of a distributed radar system according to an embodiment of the present invention;

2 shows a schematic flowchart of a radar access detection method according to an embodiment of the present invention;

FIG. 3 shows a schematic block diagram of a radar access detection circuit according to an embodiment of the invention;

4 shows an example circuit diagram of a radar access detection circuit according to an embodiment of the invention;

5 shows another example circuit diagram of a radar access detection circuit according to an embodiment of the invention;

6 shows a schematic block diagram of a distance measuring device according to an embodiment of the present invention;

7 shows a schematic structural diagram of a distance detection device according to an embodiment of the present invention;

FIG. 8 shows a schematic block diagram of a movable platform according to an embodiment of the present invention.

detailed description

In order to make the purpose, technical solutions and advantages of the present invention more obvious, an exemplary embodiment according to the present invention will be described in detail below with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments of the present invention, and it should be understood that the present invention is not limited by the exemplary embodiments described herein. Based on the embodiments of the present invention described in the present invention, all other embodiments obtained by those skilled in the art without paying any creative work should fall within the protection scope of the present invention.

In the following description, a large number of specific details are given in order to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features known in the art are not described.

It should be understood that the present invention can be implemented in different forms and should not be interpreted as being limited to the embodiments presented herein. Rather, providing these embodiments will make the disclosure thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

The terminology used herein is for describing specific embodiments only and is not intended as a limitation of the present invention. As used herein, the singular forms "a", "an", and "said/the" are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms "composition" and/or "comprising", when used in this specification, determine the existence of the described features, integers, steps, operations, elements and/or components, but do not exclude one or more other The presence or addition of features, integers, steps, operations, elements, components, and/or groups. As used herein, the term "and/or" includes any and all combinations of the listed items.

In order to thoroughly understand the present invention, detailed steps and detailed structures will be proposed in the following description in order to explain the technical solutions proposed by the present invention. However, in addition to these detailed descriptions, the present invention may have other embodiments.

FIG. 1 shows a schematic block diagram of a distributed radar system according to an embodiment of the present invention. As shown in FIG. 1, the distributed radar system 100 includes a control system 10 and N radars. N radars are distributed at different positions to detect object information at different positions/directions. The control system 10 detects objects according to N radars The information is comprehensively processed to understand the object information of the surrounding environment. For example, after distributing such a distributed radar system on a car, N radars are used to detect object information in different directions around the car, so as to understand the object information of the environment around the car.

The control system 10 may include one or more processors for receiving the data transmitted by the radar 1-N, processing the data, and controlling the operation of the radar 1-N and other modules. The control system 10 is connected to N radar interfaces. The radar can be connected to the radar interface through the transmission cable 20, so that the radar is connected to the control system 10, so that the control system 10 receives the radar data and controls the radar.

The radar may be lidar, ultrasonic radar, or other distance measuring devices or distance detecting devices.

In such a distributed radar system, it is necessary to know whether each radar interface has radar access, so as to determine which radar interface radar data comes from, and then know which direction is the measured data.

The following describes the radar access detection method and circuit provided by the embodiments of the present invention with reference to FIGS. 2 to 5.

Embodiments of the present invention provide a radar access detection method for detecting whether a radar interface of a control system has radar access. The control system is, for example, the control system 10 in FIG. 1, or another control system that can install radar.

FIG. 2 shows a schematic flowchart of a radar access detection method according to an embodiment of the present invention. As shown in FIG. 2, the radar access detection method provided by this embodiment includes:

Step S101: Detect the detection signal of the radar interface.

Specifically, the control system performs signal detection on its radar interface to obtain the detection signal. The detection signal is, for example, a level signal or a digital signal.

More specifically, when the radar is connected to the radar interface, the detection signal of the radar interface will change. In the detection method of this embodiment, the detection signal may be generated by a detection circuit. The structure of the detection circuit will be described below and will not be repeated here.

Step S102, judging whether the radar interface has radar access according to the detection signal, wherein when the detection signal is a setting signal, it is determined that the radar interface has radar access, otherwise, it is determined that the radar interface has no radar Access.

Exemplarily, the setting signal includes a high level signal, a low level signal, a rising edge signal, a falling edge signal, a setting voltage, or a setting digital sequence. That is, when the detection signal is a high-level signal, a low-level signal, a rising-edge signal, a falling-edge signal, a set voltage, or a set digital sequence, it is determined that the radar interface has radar access, otherwise, it is determined that the The radar interface has no radar access. As an example, the setting signal is a high level signal or a rising edge signal.

Further, the radar interface is connected with a power supply circuit and/or a communication circuit, and the detection method further includes: when it is determined that the radar interface is not connected to the radar, the power supply circuit and/or the communication circuit is turned off to effectively reduce the circuit Power consumption.

Further, the control system has a plurality of radar interfaces, and each radar interface is set at a different location. The detection method further includes: when it is determined that the radar interface has a radar access, determine the position according to the position of the radar interface The installation position of the radar can further determine the position of the point cloud data received by the control system.

FIG. 3 shows a schematic block diagram of a radar access detection circuit according to an embodiment of the present invention.

This embodiment provides a radar access detection circuit for detecting whether a radar interface of a control system has radar access. The control system is, for example, the control system 10 in FIG. 1 or other control systems that can install radar.

As shown in FIG. 3, the radar access detection circuit 300 provided by this embodiment includes a detection terminal 30, a detection device 31 and a signal terminal 32.

The detection terminal 30 is used to connect with the radar. Exemplarily, the radar is configured to change the signal of the detection end or input a signal to the detection end when accessing the control system. The input signal includes a high-level signal, a low-level signal, a rising edge signal, a falling edge signal, a set voltage, or a set digital sequence.

The detection device 31 is used to generate a detection signal based on the signal at the detection end. Exemplarily, the detection device includes a MOS tube, a transistor, a flip-flop, or a level conversion chip. The signal of the detection terminal 30 is converted into a detection signal after passing through the detection device 31 and its peripheral circuits.

The signal terminal 32 is used to output the detection signal, and the control system determines whether the radar interface has radar access according to the detection signal, and determines that the radar interface has radar access when the detection signal is a set signal , Otherwise, it is determined that the radar interface is not connected to the radar.

Exemplarily, the setting signal includes a high level signal, a low level signal, a rising edge signal, a falling edge signal, a setting voltage, or a setting digital sequence. That is, when the control system detects that the detection signal is a high level signal, a low level signal, a rising edge signal, a falling edge signal, a set voltage, or a set digital sequence, it is determined that the radar interface has radar access, and vice versa It is determined that the radar interface has no radar access. As an example, the setting signal is a high level signal or a rising edge signal.

More specifically, in this embodiment, the radar access detection circuit 300 is configured such that when the detection terminal 30 is not connected to the radar, the signal terminal 32 outputs a first detection signal, and when the detection terminal 30 is connected to the In the case of radar, the signal terminal 32 outputs a second detection signal. In this way, when the control system receives the first detection signal, it is determined that the radar interface has no radar access; when the control system receives the second detection signal, it is determined that the radar interface has radar access.

As an example, the first detection signal is a low-level signal, and the second detection signal is a high-level signal.

As another example, the first detection signal is a high-level signal, and the second detection signal is a low-level signal.

As an example, the detection device 31 includes a MOS tube. When the detection terminal 30 is not connected to the radar, the signal of the detection terminal 30 is a high-level signal, the MOS tube is turned on, and the signal terminal The detection signal output by 32 is a low-level signal; when the detection terminal 30 is connected to the radar, the signal of the detection terminal 30 is a low-level signal, the MOS tube is turned off, and the signal terminal 32 The output detection signal is a high-level signal.

As an example, the detection device 31 includes a falling edge D flip-flop. When the detection terminal 30 is not connected to the radar, the signal of the detection terminal 30 is a high-level signal, and the detection output by the signal terminal 32 The signal is a low-level signal; when the detection terminal 30 is connected to the radar, the signal of the detection terminal 30 changes from a high-level signal to a low-level signal, and the falling edge D flip-flop detects a falling edge signal The signal output by the signal terminal 32 is a high-level signal.

Further, the radar access detection circuit 300 provided in this embodiment may be provided in the control system, for example, provided in the control system 10 shown in FIG. 1 and connected to the radar interface. At this time, the radar access detection circuit 300 The detection terminal is used to connect with the radar, and the signal terminal of the radar access detection circuit 300 outputs a detection signal.

Further, the radar access detection circuit 300 of this embodiment may also be provided in the radar. At this time, the signal terminal of the radar access detection circuit 300 is used to connect with the radar interface to output a detection signal to the control system.

In order to better understand the radar access detection method and circuit provided by the embodiment of the present invention, a specific circuit example will be described below with reference to FIGS. 4 and 5.

FIG. 4 shows an example circuit diagram of the radar access detection circuit shown in FIG. 3.

As shown in FIG. 4, the radar access detection circuit provided in this embodiment includes a resistor R1, a resistor R2, a MOS transistor Q1, one end of the resistor R1 is connected to the working power supply VCC, and the other end is connected to the gate of the radar and the MOS transistor Q1. One end of R2 is connected to the working power supply, and the other end is connected to the drain of the MOS transistor Q1, and the source of the MOS transistor Q1 is grounded. The gate of the MOS transistor Q1 is used as the detection terminal of the detection circuit for connection with the radar (ie, the figure The interface terminal in 4); the drain of the MOS tube Q1 is used as a signal terminal for connecting with the control system (that is, the main control terminal in FIG. 4), and outputs the PORT1_INPUT signal (that is, the detection signal). Exemplarily, in this embodiment, the MOS tube is an NMOS tube.

When using the radar access detection circuit as shown in Figure 4, when the radar transmission cable is plugged into the radar interface of the control system, the control system judges by detecting the change in the level of the I/O pin (ie, PORT1_INPUT in Figure 4) Whether the radar is connected to the radar interface of the control system. The specific principle is: when the radar is not connected to the radar interface of the control system, the signal PORT1_DET signal of the detection terminal is high level, the MOS tube Q1 is turned on, and the PORT1_INPUT signal is low level. When the radar is connected to the control system, the radar transmission cable pulls PORT1_DET down, PORT1_DET becomes low, Q1 is disconnected, and the PORT1_INPUTDET signal becomes high. When the control system detects that PORT1_INPUT becomes a high level, it can determine that the radar has been connected to the radar interface of the control system.

The radar access detection circuit provided in this embodiment can detect whether the radar is connected by detecting whether PORT1_INPUT is at a high level, so it can detect whether the radar is connected to the system in real time, the detection efficiency is high, and the controller's RAM. In addition, when the radar is not connected to the system, the working circuit of the port can be closed, including circuit modules such as power supply and communication, which can effectively reduce circuit power consumption.

Further, using the radar access detection circuit provided in this embodiment, in the distributed radar system, it can be identified that the specific number of ports is connected to the radar, so that the radar installation position can be quickly located. For example, when multiple radars are installed on a car, the radar interface and the body position can be bound. In this way, when the radar access detection circuit provided in this embodiment detects that the radar interface has radar access, the control system can quickly determine the radar The transmitted point cloud is the point cloud detected at which position of the vehicle body, so as to facilitate the later processing of the point cloud data, for example, the fusion processing of multiple radar point cloud data.

In addition, the radar access detection circuit provided by this embodiment performs level conversion through the MOS tube, which can avoid the abnormal high level of the PORT1_INPUT signal when the interface is inserted, thereby damaging the I/O pin of the main control and protecting the control system The role.

FIG. 5 shows another example circuit diagram of the radar access detection circuit shown in FIG. 3.

As shown in FIG. 5, the radar access detection circuit provided in this embodiment includes resistors R1, R2, R3, capacitor C1 and chip U1, and resistors R1, R2, R3, capacitor C1 constitute a peripheral circuit of chip U1. Specifically, the pin 1 of the chip U1 is used to connect to the radar, and is connected to the working power supply VCC through the resistor R1, the pin 2 is grounded, the pin 3 is directly connected to the working power supply VCC, and the pin 4 is used to output the PORT1_INPUT signal (ie detection Signal), pin 5 is directly connected to the working power supply VCC, and pin 6 is connected to the working voltage source VCC through a resistor R2. In addition, one end of the capacitor C1 is grounded, and the other end is connected to the resistor R2 and the pin 6 of the chip U1. Resistor R3 is grounded at one end and connected to pin 4 of chip U1 at the other end.

The radar access detection circuit provided in this embodiment is an edge detection circuit, specifically a falling edge detection, chip U1 is a falling edge D flip-flop, which is triggered by a falling edge signal. When the radar is not connected to the control system, the PORT1_DET signal is a high-level signal, and the PORT1_INPUT signal always remains at a low level. When the radar is connected to the control system, the PORT1_DET signal changes from high level to low level, a falling edge occurs, and the PORT1_INPUT signal will output high level; therefore, when the control system detects that PORT1_INPUT becomes high level, it can be judged The radar has been connected to the radar interface of the control system. It can be seen that the edge detection circuit can also detect whether the radar interface has radar access, which has the same advantages as the circuit described in FIG. 4.

It should be understood that FIGS. 4 and 5 are just one example of the radar access detection circuit of the present invention. The radar access detection circuit of the present invention may adopt various suitable circuit structures according to the above detection principle.

The radar involved in the present invention may be a laser radar, or other radars or ranging devices. In order to better understand the present invention, the principle and structure of the distance measuring device will be exemplarily described below. The distance measuring device may be an electronic device such as a laser radar or a laser distance measuring device. In one embodiment, 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. In an implementation manner, 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-Flight (TOF). Alternatively, the distance measuring device may 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.

For ease of understanding, the following describes the working process of distance measurement in conjunction with the distance measurement device 600 shown in FIG. 6.

As shown in FIG. 6, the distance measuring device 600 may include a transmitting circuit 110, a receiving circuit 120, a sampling circuit 130 and an arithmetic circuit 140.

The transmission circuit 110 may transmit a sequence of light pulses (for example, a sequence of laser pulses). The receiving circuit 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 circuit 130 after processing the electrical signal. The sampling circuit 130 may sample the electrical signal to obtain the sampling result. The arithmetic circuit 140 may determine the distance between the distance measuring device 600 and the detected object based on the sampling result of the sampling circuit 130.

Optionally, the distance measuring device 600 may further include a control circuit 150, which can control other circuits, for example, can control the working time of each circuit and/or set parameters for each circuit.

It should be understood that although the distance measuring device shown in FIG. 6 includes a transmitting circuit, a receiving circuit, a sampling circuit, and an arithmetic circuit for emitting a beam of light for detection, the embodiments of the present application are not limited thereto, and the transmitting circuit , The number of any one of the receiving circuit, the sampling circuit, and the arithmetic circuit 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. In one example, the light-emitting chips in the at least two emission circuits are packaged in the same module. For example, each emitting circuit includes a laser emitting chip, and the die in the laser emitting chips in the at least two emitting circuits are packaged together and housed in the same packaging space.

In some implementations, in addition to the circuit shown in FIG. 6, the distance measuring device 600 may further include a scanning module 160 for changing the propagation direction of at least one laser pulse sequence emitted from the transmitting circuit.

Among them, the module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, and the arithmetic circuit 140, or the module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, the arithmetic circuit 140, and the control circuit 150 may be referred to as a measurement Distance module, the distance measuring module may 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 emitted by the distance measuring device and the reflected light beam share at least part of the optical path in the distance measuring device. For example, after at least one laser pulse sequence emitted by the transmitting circuit is emitted by the scanning module to change the propagation direction, the laser pulse sequence reflected by the detection object passes through the scanning module and enters the receiving circuit. Alternatively, the distance measuring device may also adopt an off-axis optical path, that is, the light beam emitted from the distance measuring device and the reflected light beam are respectively transmitted along different optical paths in the distance measuring device. 7 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 700 includes a distance measuring module 201. The distance measuring module 201 includes a transmitter 203 (which may include the above-mentioned transmitting circuit), a collimating element 204, and a detector 205 (which may include the above-mentioned receiving circuit, sampling circuit, and arithmetic circuit) and Optical path changing element 206. The distance measuring module 201 is used to emit a light beam and receive back light, and convert the back light into an electrical signal. Among them, the transmitter 203 may be used to transmit a light pulse sequence. In one embodiment, the transmitter 203 may emit a sequence of laser pulses. Optionally, 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 by 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.

In the embodiment shown in FIG. 7, the optical path changing element 206 is used to merge 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. In some other implementation manners, 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.

In the embodiment shown in FIG. 7, since the beam aperture of the light beam emitted by the transmitter 203 is small and the beam aperture of the returned light received by the distance measuring device is large, the light path changing element can use a small area mirror to The transmitting optical path and the receiving optical path are combined. In some other implementations, the light path changing element may also use a reflector with a through hole, where the through hole is used to transmit the outgoing light of the emitter 203, and the reflector is used to reflect the return light to the detector 205. In this way, it is possible to reduce the blocking of the return light by the support of the small mirror in the case of using the small mirror.

In the embodiment shown in FIG. 7, 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 700 further includes a scanning module 202. The scanning module 202 is placed on the exit optical path of the distance measuring module 201. 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 external 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.

In one embodiment, 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. For example, 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. In one example, 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. In some embodiments, 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. In one embodiment, the multiple optical elements of the scanning module 202 may rotate at different rotation speeds, or vibrate at different speeds. In another embodiment, at least part of the optical elements of the scanning module 202 can rotate at substantially the same rotational speed. In some embodiments, the multiple optical elements of the scanning module may also rotate around different axes. In some embodiments, the 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.

In one embodiment, 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. In one embodiment, 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. In one embodiment, the first optical element 214 includes a pair of opposed non-parallel surfaces through which the collimated light beam 219 passes. In one embodiment, the first optical element 214 includes a prism whose thickness varies along at least one radial direction. In one embodiment, the first optical element 114 includes a wedge-angle prism that aligns the straight beam 219 for refraction.

In one embodiment, 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. In one embodiment, 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. In one embodiment, 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.

In one embodiment, 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.

In one embodiment, the scanning module 202 further includes a third optical element (not shown) and a driver for driving the third optical element to move. Optionally, the third optical element includes a pair of opposed non-parallel surfaces through which the light beam passes. In one embodiment, the third optical element includes a prism whose thickness varies along at least one radial direction. In one embodiment, 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.

The rotation of each optical element in the scanning module 202 can project light into different directions, such as directions 211 and 213, so as to scan the space around the distance measuring device 200. When the light 211 projected by the scanning module 202 hits the detection object 210, a part of the light is reflected by the detection object 210 to the distance measuring device 200 in a direction opposite to the projected light 211. The returned light 212 reflected by the detection object 210 passes through the scanning module 202 and enters the collimating element 204.

The detector 205 is placed on the same side of the collimating element 204 as the emitter 203. The detector 205 is used to convert at least part of the returned light passing through the collimating element 204 into an electrical signal.

In one embodiment, each optical element is coated with an antireflection coating. Optionally, the thickness of the antireflection film 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.

In one embodiment, 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.

In some embodiments, the transmitter 203 may include a laser diode through which laser pulses in the order of nanoseconds are emitted. Further, 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 210 and the distance measuring device 200.

The distance and orientation detected by the distance measuring device 700 can be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like. In one embodiment, the distance measuring device of the embodiment of the present invention can be applied to a movable platform, and the distance measuring device can be installed on the platform body of the movable 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. In some embodiments, the mobile platform includes at least one of an unmanned aerial vehicle, a car, a remote control car, a robot, and a camera. When the distance measuring device is applied to an unmanned aerial vehicle, the platform body is the fuselage of the unmanned aerial vehicle. 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. When the distance measuring device is applied to a remote control car, the platform body is the body of the remote control car. When the distance measuring device is applied to a robot, the platform body is a robot. When the distance measuring device is applied to a camera, the platform body is the camera itself.

FIG. 8 shows a schematic block diagram of a movable platform according to an embodiment of the present invention.

As shown in FIG. 8, the movable platform 800 provided in this embodiment includes one or more controllers 810, which are connected to one or more radar interfaces 811 to 81 n, and through one or more interfaces 811 Up to 81n, the distance measuring device provided in the foregoing embodiment may be connected to one or more controllers 810, so that the one or more controllers 810 acquire distance measuring information of the one or more distance measuring devices.

In this embodiment, the radar interfaces 811 to 81n are connected to the above detection circuit, and one or more of the controllers 810 are connected to the signal terminal of the detection circuit of each interface 811 to 81n, and output according to the signal terminal The detection signal determines whether a distance measuring device is connected to the interface.

Further, the one or more controllers 810 are configured to determine the installation position of the distance measuring device according to the detection signal of the signal terminal. For example, taking a car and a radar as an example, when multiple radars are installed on a car, the radar interface and the body position can be bound. In this way, when the radar access detection circuit provided by this embodiment detects that the radar interface has radar access , The control system can quickly determine the point cloud transmitted by the radar is the point cloud detected at which position of the vehicle body, so as to facilitate the later processing of point cloud data, such as the fusion processing of multiple radar point cloud data.

Although example embodiments have been described herein with reference to the drawings, it should be understood that the above example embodiments are merely exemplary, and are not intended to limit the scope of the present invention thereto. Those of ordinary skill in the art can make various changes and modifications therein without departing from the scope and spirit of the present invention. All such changes and modifications are intended to be included within the scope of the invention as claimed in the appended claims.

Those of ordinary skill in the art may realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application of the technical solution and design constraints. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

In the several embodiments provided in this application, it should be understood that the disclosed device and method may be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a division of logical functions. In actual implementation, there may be other divisions, 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 specification provided here explains a lot of specific details. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this description.

Similarly, it should be understood that in order to streamline the invention and help understand one or more of the various inventive aspects, in describing the exemplary embodiments of the invention, the various features of the invention are sometimes grouped together into a single embodiment, figure , Or in its description. However, the method of the present invention should not be interpreted as reflecting the intention that the claimed invention requires more features than those explicitly recited in each claim. Rather, as reflected in the corresponding claims, its invention lies in that the corresponding technical problems can be solved with less than all the features of a single disclosed embodiment. Therefore, the claims following a specific embodiment are hereby expressly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present invention.

Those skilled in the art will understand that apart from mutually exclusive features, any combination of all the features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all of the methods or devices disclosed in this specification can be used in any combination. Processes or units are combined. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose.

In addition, those skilled in the art can understand that although some of the embodiments described herein include certain features included in other embodiments instead of other features, the combination of features of different embodiments is meant to be within the scope of the present invention And form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

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. Those skilled in the art should understand that, in practice, 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. 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. Such 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.

It should be noted that the above-mentioned embodiments illustrate the present invention rather than limit the present invention, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs between parentheses should not be constructed as limitations on the claims. The invention can be realized by means of hardware including several different elements and by means of a suitably programmed computer. In the unit claims enumerating several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third does not indicate any order. These words can be interpreted as names.

The above is only the specific embodiments of the present invention or the description of the specific embodiments, the scope of protection of the present invention is not limited to this, any person skilled in the art in the technical scope of the present invention, can easily Changes or replacements should be included in the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (29)

1. A radar access detection method is used to detect whether the radar interface of the control system has radar access. The characteristic is that the detection method includes:

   Detect the detection signal of the radar interface;

   Judging whether the radar interface has radar access according to the detection signal;

   Wherein, when the detection signal is a setting signal, it is determined that the radar interface has radar access, otherwise, it is determined that the radar interface has no radar access.
2. The detection method according to claim 1, wherein the setting signal comprises a high level signal, a low level signal, a rising edge signal, a falling edge signal, a setting voltage or a setting digital sequence.
3. The detection method according to claim 1, wherein the detection signal is generated by a detection circuit.
4. The detection method according to claim 3, wherein the detection circuit includes a detection terminal and a signal terminal,

   The detection terminal is used to connect with the radar, the signal terminal is used to output the detection signal to the control system, and the detection circuit is configured such that when the detection terminal is not connected to the radar, the signal The terminal outputs a first detection signal, and when the detection terminal is connected to the radar, the signal terminal outputs a second detection signal.
5. The detection method according to claim 4, wherein the radar is configured to change a signal of the detection end or input a signal to the detection end when accessing the control system.
6. The detection method according to claim 4, wherein the first detection signal is a low-level signal, and the second detection signal is a high-level signal.
7. The detection method according to claim 4, wherein the first detection signal is a high-level signal, and the second detection signal is a low-level signal.
8. The detection method according to claim 4, characterized in that a detection device is provided between the detection terminal and the signal terminal for generating the detection signal based on the signal of the detection terminal.
9. The detection method according to claim 8, wherein the detection device comprises a MOS transistor, a transistor, a flip-flop or a level conversion chip.
10. The detection method according to claim 8, wherein the detection device comprises a MOS tube, and when the detection terminal is not connected to the radar, the signal at the detection terminal is a high-level signal, and the MOS tube conducts On, the detection signal output by the signal terminal is a low-level signal; when the detection terminal is connected to the radar, the signal at the detection terminal is a low-level signal, the MOS tube is turned off, the signal The detection signal output by the terminal is a high-level signal.
11. The detection method according to claim 8, wherein the detection device includes a falling edge D flip-flop, and when the detection terminal is not connected to the radar, the signal at the detection terminal is a high-level signal, the The detection signal output from the signal terminal is a low-level signal; when the detection terminal is connected to the radar, the signal at the detection terminal changes from a high-level signal to a low-level signal, and the falling edge D flip-flop detects a drop Along the signal, the signal output from the signal terminal is a high-level signal.
12. The detection method according to claim 1, wherein the radar interface is connected with a power supply circuit and/or a communication circuit, and the detection method further comprises:

    When it is determined that the radar interface is not connected to the radar, the power supply circuit and/or the communication circuit is turned off.
13. The detection method according to claim 1, wherein the control system has a plurality of radar interfaces, and each radar interface is disposed at a different location, and the detection method further includes:

    When it is determined that the radar interface has radar access, the installation position of the radar is determined according to the position of the radar interface.
14. The detection method according to claim 3, wherein the detection circuit is provided in the radar or the control system.
15. A radar access detection circuit is used to detect whether the radar interface of the control system has radar access, and is characterized in that the detection circuit includes:

    The detection end is used to connect with the radar; the detection device generates a detection signal based on the signal of the detection end;

    The signal terminal is used to output the detection signal;

    Wherein, the control system determines whether the radar interface has radar access according to the detection signal, when the detection signal is a setting signal, determines that the radar interface has radar access, otherwise, determines that the radar interface does not Radar access.
16. The radar access detection circuit according to claim 15, wherein the setting signal comprises a high level signal, a low level signal, a rising edge signal, a falling edge signal, a setting voltage or a setting digital sequence.
17. The radar access detection circuit according to claim 15, wherein the radar is configured to change a signal of the detection end or input a signal to the detection end when accessing the control system.
18. The radar access detection circuit according to claim 15, wherein the detection circuit is configured to output a first detection signal when the detection terminal is not connected to the radar, when the detection terminal When the radar is connected, the signal terminal outputs a second detection signal.
19. The radar access detection circuit according to claim 18, wherein the first detection signal is a low-level signal, and the second detection signal is a high-level signal.
20. The radar access detection circuit according to claim 18, wherein the first detection signal is a high-level signal, and the second detection signal is a low-level signal.
21. The detection circuit according to claim 15, wherein the detection device comprises a MOS transistor, a transistor, a flip-flop or a level conversion chip.
22. The radar access detection circuit according to claim 15, wherein the detection device comprises a MOS tube, and when the detection terminal is not connected to the radar, the signal at the detection terminal is a high-level signal, the When the MOS tube is turned on, the detection signal output from the signal terminal is a low-level signal; when the detection terminal is connected to the radar, the signal at the detection terminal is a low-level signal, and the MOS tube is turned off, The detection signal output from the signal terminal is a high-level signal.
23. The radar access detection circuit according to claim 15, wherein the detection device includes a falling edge D flip-flop, and when the detection terminal is not connected to the radar, the signal at the detection terminal is a high-level signal The detection signal output by the signal terminal is a low-level signal; when the detection terminal is connected to the radar, the signal at the detection terminal changes from a high-level signal to a low-level signal, and the falling edge D flip-flop A falling edge signal is detected, and the signal output from the signal terminal is a high-level signal.
24. The radar access detection circuit according to claim 15, wherein the radar interface is connected to a power supply circuit and/or a communication circuit, and when the control system determines that the radar interface does not have radar access, the control The system turns off the power supply circuit and/or the communication circuit of the radar interface.
25. The radar access detection circuit according to claim 15, wherein the control system has a plurality of radar interfaces, each radar interface is set at a different position, and when the control system determines that the radar interface has a radar interface At the time of entry, the control system determines the installation position of the radar according to the position of the radar interface.
26. The radar access detection circuit according to claim 15, wherein the detection circuit is provided in the radar or the control system.
27. A movable platform is characterized by including:

    One or more radar interfaces;

    One or more controllers;

    The radar interface is connected to the radar access detection circuit according to any one of claims 15-26, and signals of one or more of the controllers and the radar access detection circuit of each radar interface Connected to the terminal and determine whether the radar interface is connected to the radar according to the detection signal output from the signal terminal.
28. The movable platform according to claim 27, wherein the controller is configured to determine the installation position of the radar according to the detection signal of the signal terminal.
29. The movable platform according to claim 27, wherein the movable platform includes a drone, a car, or a robot.

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