WO2020142909A1 - 数据同步方法、分布式雷达系统及可移动平台 - Google Patents

数据同步方法、分布式雷达系统及可移动平台 Download PDF

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Publication number
WO2020142909A1
WO2020142909A1 PCT/CN2019/070899 CN2019070899W WO2020142909A1 WO 2020142909 A1 WO2020142909 A1 WO 2020142909A1 CN 2019070899 W CN2019070899 W CN 2019070899W WO 2020142909 A1 WO2020142909 A1 WO 2020142909A1
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Prior art keywords
synchronization signal
measurement data
radars
radar system
data
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PCT/CN2019/070899
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English (en)
French (fr)
Inventor
陆龙
何欢
边亚斌
刘祥
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Priority to CN201980005511.3A priority Critical patent/CN111670568A/zh
Priority to PCT/CN2019/070899 priority patent/WO2020142909A1/zh
Publication of WO2020142909A1 publication Critical patent/WO2020142909A1/zh
Anticipated expiration legal-status Critical
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L7/00—Arrangements for synchronising receiver with transmitter

Definitions

  • the present invention generally relates to the technical field of radar, and more particularly relates to a data synchronization method, a distributed radar system and a movable platform.
  • radar is often used to detect target scenes.
  • lidar 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.
  • the distributed radar system detects the information of the target scene in different directions by arranging radars at different positions.
  • This multi-radar system how to ensure the synchronization of the measurement data of each radar becomes a problem that must be solved.
  • the present invention has been proposed to solve at least one of the above problems.
  • the invention provides a data synchronization method, which can synchronize the acquisition time of the measurement data of each radar in the distributed radar system, thereby ensuring that the measurement data of each radar is acquired at the same time when the measurement data of each radar is fused, Ensure the accuracy of fusion processing.
  • an embodiment of the present invention provides a data synchronization method.
  • the data synchronization method is applied to a distributed radar system.
  • the distributed radar system includes at least two radars.
  • the method includes:
  • the first synchronization signal is used to synchronize the acquisition time of the measurement data.
  • An embodiment of the present invention also provides a distributed radar system, which includes: at least two radars, and one or more processors;
  • the one or more processors are configured to generate a first synchronization signal
  • the first synchronization signal is used to synchronize the acquisition time of the measurement data.
  • An embodiment of the present invention also provides a movable platform, which includes:
  • a power system installed on the fuselage, is used to provide power to the movable platform
  • Embodiments of the present invention provide a data synchronization method, a distributed radar system, and a mobile platform.
  • a synchronization signal By sending a synchronization signal to a radar, the acquisition time of measurement data of each radar in the distributed radar system is synchronized to ensure that each radar The measurement data of each radar is acquired at the same time when the measurement data of the radar is fused to ensure the accuracy of the fusion processing.
  • FIG. 1 shows a schematic block diagram of a distributed radar system
  • FIG. 2 shows a schematic flowchart of a data synchronization method according to an embodiment of the present invention
  • FIG. 3 shows a schematic flowchart of a data synchronization method according to another embodiment of the present invention.
  • FIG. 4 shows a schematic block diagram of a distributed radar system according to an embodiment of the present invention
  • FIG. 5 shows a schematic block diagram of a distance measuring device according to an embodiment of the present invention
  • FIG. 6 shows a schematic structural diagram of a distance detection device according to an embodiment of the present invention.
  • FIG. 1 shows a schematic block diagram of a distributed radar system.
  • 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 data sent by the radar 1-N, processing the data, and controlling the work 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, millimeter wave radar, or other ranging devices or distance detection devices.
  • An embodiment of the present invention provides a data synchronization method, which is applied to a distributed radar system.
  • the distributed radar system is, for example, shown in FIG.
  • FIG. 2 shows a schematic flowchart of a data synchronization method according to an embodiment of the present invention.
  • the data synchronization method provided in this embodiment includes:
  • step S101 a first synchronization signal is generated.
  • the first synchronization signal is generated by, for example, one or more processors of the distributed radar system, and the first synchronization signal is, for example, a Pulse Per Second (PPS) signal, and the processor
  • PPS Pulse Per Second
  • the processor For example, a microprocessor (Micro Processor Unit, MCU) or a central processing unit (Central Processing Unit, CPU).
  • Step S102 Send the first synchronization signal to the at least two radars, and acquire the measurement data of the at least two radars.
  • the first synchronization signal is sent to the at least two radars, and the measurement data of the at least two radars is acquired, where the first synchronization signal is used to The measurement data acquisition time is synchronized.
  • the measurement data includes point cloud data, which is generated by a radar detection target scene.
  • Each point in the point cloud data includes the coordinates of the three-dimensional point and characteristic information of the corresponding three-dimensional point, for example, depth information, angle information, reflectance information, and the like.
  • the acquisition time of the measurement data corresponds to the time of the pulse rising/falling edge of the first synchronization signal, so that when the measurement data received from each radar is acquired, when the When the measurement data of the two radars is fused, it can ensure that the fused measurement data is acquired at the same time, rather than the measurement data acquired at different times, so as to ensure the accuracy of the fusion processing of the measurement data of multiple radars.
  • the data synchronization method is also used to synchronize the measurement data of the radar in the distributed radar system with the data of external devices outside the distributed radar system.
  • the external device is, for example, various sensors, and the sensors include an image sensor, a position sensor, a vision sensor, an attitude sensor, and the position sensor includes, but is not limited to, a global positioning system (Global Positioning System, GPS), Beidou, Glowna (Global Navigation System, GLONASS), Galileo (Galileo) and other positioning sensors.
  • the data synchronization method of this embodiment further includes sending the first synchronization signal to the sensor and receiving the measurement data of the sensor, the first synchronization signal is used to synchronize the acquisition time of the measurement data of the sensor Specifically, the acquisition time of the measurement data of the sensor corresponds to the time of the pulse rising/falling edge of the first synchronization signal.
  • the measurement data may be sent to the at least two radars through a transceiver, for example, the transceiver includes an RS-485 interface, a controller area network bus (Controller Area Network, CAN) interface, or an Ethernet 1588 interface.
  • the transceiver may be integrated in the processor of the distributed radar system, or may be separately provided between the processor of the distributed radar system and the radar and external devices.
  • an isolation circuit is provided between each transceiver and the one or more processors, and the isolation circuit is, for example, an optocoupler isolation circuit Or an isolation circuit formed by discrete components.
  • FIG. 3 shows a schematic flowchart of a data synchronization method according to another embodiment of the present invention.
  • the radar access detection method provided by this embodiment includes:
  • Step S201 Receive a second synchronization signal sent by an external device.
  • the external device is, for example, a sensor or a time stamp server. That is, the second synchronization signal includes a time stamp signal sent by a time stamp server or a synchronization signal sent by a sensor.
  • the sensors include image sensors, position sensors, vision sensors, and attitude sensors.
  • the position sensors include but are not limited to GPS, Beidou, GLONASS, Galileo, and other positioning sensors.
  • Step S102 Send the second synchronization signal to the at least two radars and obtain measurement data of the at least two radars, where the second synchronization signal is used to perform acquisition time of the measurement data Synchronize.
  • the distributed radar system receives the time stamp signal from the time stamp server and uses the time stamp signal as the second synchronization signal to send it to the at least two radars to measure the at least two radars
  • the data is synchronized so that when the measurement data from the at least two radars is fused, it can be ensured that the fused measurement data is acquired at the same time instead of the measurement data acquired at different times, thereby ensuring the measurement data of multiple radars Accuracy of fusion processing.
  • the distributed radar system receives the time stamp signal from the time stamp server and uses the time stamp signal as the second synchronization signal to send it to the at least two radars and one or more external external sensors, thereby Synchronizing the measurement data of the at least two radars and one or more external external sensors so that when the measurement data from the at least two radars and the measurement data of one or more external sensors are fused, It can ensure that the fusion measurement data is acquired at the same time, rather than the measurement data acquired at different times, so as to ensure the accuracy of the fusion processing of the measurement data of multiple radars and sensors.
  • a distributed radar system receives a synchronization signal from an external sensor and uses the synchronization signal as a second synchronization signal to send it to the at least two radars, so that the at least two radars or the at least two radars
  • the measurement data of two radars and one or more external external sensors are synchronized so that when the measurement data from the at least two radars or the measurement data of the at least two radars and one or more external sensors are measured
  • the data is fused, it can ensure that the fused measurement data is obtained at the same time, rather than the measurement data obtained at different times, so as to ensure the accuracy of the fusion processing of the measurement data of multiple radars and sensors.
  • the external device not only includes a sensor or a timestamp server, it may also be a separate synchronization signal generating device that generates the synchronization signal to the at least two radars and one or more external sensors to Synchronize the measurement data of the at least two radars and one or more external sensors.
  • the first synchronization signal and the second synchronization signal in the embodiments shown in FIGS. 2 and 3 may be used separately or simultaneously.
  • the first synchronization signal in the embodiment shown in FIG. 2 is used first, and when the second synchronization signal sent by the external device is received, the The second synchronization signal in the embodiment.
  • the distributed radar system can switch the first synchronization signal and the second synchronization signal to meet the synchronization requirements of different scenarios.
  • the transmission of the second synchronization signal is also implemented by the transceiver, and the setting manner of the transceiver is as described above, and is not repeated here.
  • FIG. 4 shows a schematic block diagram of a distributed radar system according to an embodiment of the present invention.
  • the distributed radar system 400 of this embodiment includes at least two radars 410 to 41n, where n is greater than or equal to 2, one or more transceivers 420, and one or more processors 430.
  • At least two radars 410 to 41n are used for target scene detection to obtain measurement data.
  • the measurement data includes point cloud data, which is generated by the radar detecting the target scene.
  • Each point in the point cloud data includes the coordinates of the three-dimensional point and characteristic information of the corresponding three-dimensional point, for example, depth information, angle information, reflectance information, and the like.
  • the transceiver 420 is used to transmit signals between the radars 410 to 41n and one or more processors 430.
  • the number of transceivers 420 is configured as needed.
  • the transceiver 420 may be integrated on one or more processors 43, or may be set separately.
  • one or more transceivers 420 are integrated in one or more processors 430 for receiving/transmitting signals, such as receiving/transmitting synchronization signals or measurement data.
  • the transceiver 420 includes, for example, an RS-485 interface, a CAN interface, or an Ethernet 1588 interface.
  • an isolation circuit (not shown) is provided between each of the transceiver 420 and the one or more processors 430.
  • the isolation circuit is, for example, an optocoupler isolation circuit or an isolation circuit formed by discrete components.
  • the one or more processors 430 are configured to generate a first synchronization signal and send the first synchronization signal to the at least two radars 410 to 41n, and acquire measurement data of the at least two radars 410 to 41n.
  • the first synchronization signal is used to synchronize the acquisition time of the measurement data.
  • the processor 430 is, for example, an MCU or a CPU.
  • the first synchronization signal is, for example, a PPS signal.
  • the one or more processors 430 are configured to perform fusion processing on the measurement data from the at least two radars 410 to 41n. Since the measurement data of the at least two radars 410 to 41n are synchronized by the first synchronization signal, for example, the acquisition time of the measurement data corresponds to the time of the pulse rising/falling edge of the first synchronization signal, In this way, when the measurement data from the at least two radars 410 to 41n is fused, it can be ensured that the fused measurement data is acquired at the same time instead of the measurement data acquired at different times, thereby ensuring the fusion of measurement data of multiple radars Processing accuracy.
  • the synchronization signal may be generated by one or more processors 430 itself, or may be received from an external device 440.
  • the external device 440 includes, for example, one or a sensor 441 and a time stamp server 442.
  • the sensor 441 includes an image sensor, a position sensor, a visual sensor, an attitude sensor, and the position sensor includes, but is not limited to, GPS, Beidou, GLONASS, Galileo and other positioning sensors.
  • the one or more processors 430 may also be configured to receive the second synchronization signal sent by the external device 440 and send the second synchronization signal to the at least two radars 410 to 41n,
  • the second synchronization signal is used to synchronize the acquisition time of the measurement data of the at least two radars 410 to 41n.
  • the acquisition time of the measurement data corresponds to the time of the pulse rising/falling edge of the second synchronization signal.
  • the second synchronization signal includes a synchronization signal sent by the sensor 441 or a time stamp signal sent by the time stamp server 442.
  • the one or more processors 430 may be further configured to measure the data from the at least two radars 410 to 41n and the one or more sensors 441 Perform fusion processing.
  • the one or more processors 430 may also be configured to send the sensor 441 The first synchronization signal, and receives the measurement data of the sensor 441.
  • the one or more processors 430 receive the time stamp signal from the time stamp server 442, and use the time stamp signal as the second synchronization signal to send it to the at least two radars 410-41n, so as to
  • the measurement data of the at least two radars 410-41n is synchronized so that when the measurement data from the at least two radars 410-41n is fused, it can be ensured that the fused measurement data is acquired at the same time, not different Measurement data acquired at all times to ensure the accuracy of fusion processing of measurement data of multiple radars.
  • the one or more processors 430 receive the time stamp signal from the time stamp server 442, and use the time stamp signal as a second synchronization signal to send it to the at least two radars 410-41n and one or A plurality of external external sensors 441 to synchronize the measurement data of the at least two radars 410-41n and one or more external external sensors 441 so that when the measurement data from the at least two radars 410-41n and When the measurement data of one or more external sensors 441 is fused, it can ensure that the fused measurement data is acquired at the same time rather than the measurement data acquired at different times, thereby ensuring the accuracy of the fusion processing of the measurement data of multiple radars and sensors.
  • the one or more processors 430 receive the synchronization signal from the external sensor 441 and use the synchronization signal as the second synchronization signal to send it to the at least two radars 410-41n, thereby
  • the measurement data of the two radars 410-41n or the at least two radars 410-41n and one or more external sensors 441 are synchronized so that when the measurement data from the at least two radars 410-41n or the When the measurement data of at least two radars 410-41n and the measurement data of one or more external sensors 441 are fused, it can be ensured that the fused measurement data is acquired at the same time rather than the measurement data acquired at different times, thereby ensuring more The measurement data of radar and sensor is fused accurately.
  • the external device 440 includes not only the sensor 441 or the timestamp server 442, but also a separate synchronization signal generating device, and the generated synchronization signal is sent to the at least two radars 410-41n, and one or more An external sensor 441 to synchronize the measurement data of the at least two radars 410-41n and one or more external sensors 441.
  • the first synchronization signal and the second synchronization signal in this embodiment may be used separately or simultaneously.
  • the first synchronization signal in the embodiment shown in FIG. 2 is used first, and when the second synchronization signal sent by the external device is received, the The second synchronization signal in the embodiment.
  • the distributed radar system can switch the first synchronization signal and the second synchronization signal to meet the synchronization requirements of different scenarios.
  • the radar involved in the present invention may be a laser radar, or other radars or ranging devices.
  • the distance measuring device may be an electronic device such as a laser radar or a laser distance measuring device.
  • the distance measuring device is used to sense external environment information, such as distance information, azimuth information, and reflection intensity information 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-Flight (TOF).
  • TOF Time-of-Flight
  • 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.
  • the distance measuring device 500 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 500 and the detected object based on the sampling result of the sampling circuit 130.
  • the distance measuring device 500 may further include a control circuit 150, which may control other circuits, for example, may control the working time of each circuit and/or set parameters for each circuit.
  • a control circuit 150 may control other circuits, for example, may control the working time of each circuit and/or set parameters for each circuit.
  • the distance measuring device shown in FIG. 5 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.
  • the light-emitting chips in the at least two emission circuits are packaged in the same module.
  • 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.
  • the distance measuring device 500 may further include a scanning module 160 for changing the propagation direction of at least one laser pulse sequence emitted from the transmitting circuit.
  • 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.
  • 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. 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 600 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.
  • 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 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.
  • 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 The transmitting optical path and the receiving optical path are combined.
  • 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.
  • 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 600 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.
  • 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.
  • 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.
  • 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 114 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 rotation speed and/or rotation of the first optical element 214 and the second optical element 215 are different, 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, for example, the directions of the light 211 and 213, thus scanning the space around the distance measuring device 600.
  • 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 600 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.
  • each optical element is coated with an antireflection coating.
  • 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.
  • 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 reception time can be determined, for example, by detecting the rising edge time and/or the falling edge time of the electrical signal pulse.
  • the distance measuring device 600 can use the pulse reception time information and the pulse emission time information to calculate the TOF, thereby determining the distance between the detection object 210 and the distance measuring device 600.
  • the distance and orientation detected by the distance measuring device 600 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 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.
  • the movable platform includes at least one of an unmanned aerial vehicle, a car, a remote control car, 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 distributed radar system of the embodiment of the present invention can be applied to a movable platform, so as to detect the external environment of the movable platform in multiple directions.
  • the movable platform includes a fuselage , A power system, installed on the fuselage, for powering the movable platform; and a distributed radar system as in this embodiment.
  • the movable platform includes at least one of an unmanned aerial vehicle, a car, or a robot.
  • Embodiments of the present invention provide a data synchronization method, a distributed radar system, and a mobile platform.
  • a synchronization signal By sending a synchronization signal to a radar, the acquisition time of measurement data of each radar in the distributed radar system is synchronized to ensure that each radar The measurement data of each radar is acquired at the same time when the measurement data of the radar is fused to ensure the accuracy of the fusion processing.
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are only schematic.
  • the division of the units is only a division of logical functions.
  • 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 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 in practice to implement some or all functions of some modules according to the 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.
  • 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.

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Abstract

一种数据同步方法、分布式雷达系统及可移动平台，该数据同步方法应用于分布式雷达系统，该分布式雷达系统包括至少两个雷达，该方法包括：生成第一同步信号（S101）；向至少两个雷达发送第一同步信号，并获取至少两个雷达的测量数据；其中，第一同步信号用于对测量数据的获取时间进行同步（S102）。该方法可以对分布式雷达系统中各雷达的测量数据的获取时间进行同步，从而确保在各雷达的测量数据进行融合处理时各雷达的测量数据同一时刻获取的，保证融合处理的准确性。

Description

数据同步方法、分布式雷达系统及可移动平台
说明书
技术领域
本发明总地涉及雷达技术领域，更具体地涉及一种数据同步方法、分布式雷达系统及可移动平台。
背景技术
实际应用中常常使用雷达对目标场景进行探测。以激光雷达为例，其原理为主动对外发射激光脉冲信号，探测到反射的回波信号，根据发射—接收之间的时间差，判断被测物体的距离；结合光脉冲的发射方向信息，便可获知目标场景的三维深度信息。
分布式雷达系统通过在不同位置分别布置雷达来探测目标场景各方向的信息，在这种多雷达系统中如何确保各雷达测量数据的同步成为必须解决的问题。
发明内容
为了解决上述问题中的至少一个而提出了本发明。本发明提供一种数据同步方法，可以对分布式雷达系统中各雷达的测量数据的获取时间进行同步，从而确保在各雷达的测量数据进行融合处理时各雷达的测量数据是同一时刻获取的，保证融合处理的准确性。
具体地，本发明实施例提供一种数据同步方法，所述数据同步方法应用于分布式雷达系统，所述分布式雷达系统包括至少两个雷达，所述方法包括：
生成第一同步信号；
向所述至少两个雷达发送所述第一同步信号，并获取所述至少两个雷达的测量数据；
其中，所述第一同步信号用于对所述测量数据的获取时间进行同步。
本发明实施例还提供一种分布式雷达系统，其包括：至少两个雷达，以及一个或多个处理器；
所述一个或多个处理器配置为用于生成第一同步信号；
以及，向所述至少两个雷达发送所述第一同步信号，并获取所述至少两个雷达的测量数据；
其中，所述第一同步信号用于对所述测量数据的获取时间进行同步。
本发明实施例还提供一种可移动平台，其包括：
机身；
动力系统，安装在所述机身，用于为所述可移动平台提供动力；
以及如上所述的分布式雷达系统。
本发明实施例提供了一种数据同步方法、分布式雷达系统及可移动平台，通过向雷达发送同步信号来对分布式雷达系统中各雷达的测量数据的获取时间进行同步，从而确保在各雷达的测量数据进行融合处理时各雷达的测量数据同一时刻获取的，保证融合处理的准确性。
附图说明
图1示出一种分布式雷达系统的示意性框图；
图2示出根据本发明一实施例的数据同步方法的示意性流程图；
图3示出根据本发明另一实施例的数据同步方法的示意性流程图；
图4示出根据本发明一实施例的分布式雷达系统的示意性框图；
图5示出根据本发明一实施例的测距装置的示意性框图；
图6示出根据本发明一实施例的距离探测装置的示意性结构图。
具体实施方式
为了使得本发明的目的、技术方案和优点更为明显，下面将参照附图详细描述根据本发明的示例实施例。显然，所描述的实施例仅仅是本发明的一部分实施例，而不是本发明的全部实施例，应理解，本发明不受这里描述的示例实施例的限制。基于本发明中描述的本发明实施例，本领域技术人员在没有付出创造性劳动的情况下所得到的所有其它实施例都应落入本发明的保护范围之内。
在下文的描述中，给出了大量具体的细节以便提供对本发明更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本发明可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本发明发生混淆，对于本领域公知的一些技术特征未进行描述。
应当理解的是，本发明能够以不同形式实施，而不应当解释为局限于这里提出的实施例。相反地，提供这些实施例将使公开彻底和完全，并且将本发明的范围完全地传递给本领域技术人员。
在此使用的术语的目的仅在于描述具体实施例并且不作为本发明的限制。在此使用时，单数形式的“一”、“一个”和“所述/该”也意图包括复数形式，除非上下文清楚指出另外的方式。还应明白术语“组成”和/或“包括”，当在该说明书中使用时，确定所述特征、整数、步骤、操作、元件和/或部件的存在，但不排除一个或更多其它的特征、整数、步骤、操作、元件、部件和/或组的存在或添加。在此使用时，术语“和/或”包括相关所列项目的任何及所有组合。
为了彻底理解本发明，将在下列的描述中提出详细的步骤以及详细的结构，以便阐释本发明提出的技术方案，然而除了这些详细描述外，本发明还可以具有其他实施方式。
图1示出一种的分布式雷达系统的示意性框图。如图1所示，分布式雷达系统100包括控制系统10和N个雷达，N个雷达分布在不同的位置，用于检测不同位置/方向的物体信息，控制系统10根据N个雷达所检测物体信息进行综合处理，从而了解周围环境的物体信息。例如在汽车上布置这种分布式雷达系统后，通过N个雷达来探测汽车周围不同方位的物体信息，从而了解汽车周围环境的物体信息。
控制系统10可以包括一个或多个处理器，用于接收雷达1-N发送的数据，并对数据进行处理，以及控制雷达1-N以及其他模块的工作。控制系统10连接至N个雷达接口，雷达可通过传输线缆20连接至雷达接口，从而将雷达接入控制系统10中，以便控制系统10接收雷达的数据，并对雷达进行控制。
雷达可以为激光雷达、超声波雷达、毫米波雷达或其它测距装置或距离探测装置。
在这种分布式雷达系统中，如何确保各雷达测量数据同步，确保各雷达测量数据融合的点云图像数据是同一时刻采集到的成为必须解决的问题。
下面结合图2至图4对本发明实施例提供的数据同步方法及分布式雷达系统进行描述。
本发明实施例提供一种数据同步方法，应用于分布式雷达系统，该分布式雷达系统例如图1所示，其包括至少两个雷达，以及一个或多个处理器。
图2示出根据本发明一实施例的数据同步方法的示意性流程图。如图2所示，本实施例提供的数据同步方法包括：
步骤S101，生成第一同步信号。
示例性地，所述第一同步信号例如通过所述分布式雷达系统的一个或多个处理器生成，所述第一同步信号例如为秒脉冲信号(Pulse Per Second，PPS)，所述处理器例如为微处理器(Micro Processor Unit，MCU)或中央处理器单元(Central Processing unit，CPU)。
步骤S102，向所述至少两个雷达发送所述第一同步信号，并获取所述至少两个雷达的测量数据。
即，当第一同步信号生成之后，便向所述至少两个雷达发送所述第一同步信号，并获取所述至少两个雷达的测量数据，其中，所述第一同步信号用于对所述测量数据的获取时间进行同步。
示例性地，所述测量数据包括点云数据，所述点云数据由雷达探测目标场景生成。所述点云数据中的每个点包含有三维点的坐标以及相应三维点的特性信息，例如，深度信息、角度信息、反射率信息等。所述测量数据的获取时间与所述第一同步信号的脉冲上升沿/下降沿的时间相对应，这样便可知道从每个雷达接收的测量数据是何时获取的，当对来自所述至少两个雷达的测量数据进行融合处理时，可以确保融合的测量数据是同一时刻获取的，而不是不同时刻获取的测量数据，从而保证多雷达的测量数据融合处理的准确性。
进一步地，根据本实施例的数据同步方法还用于实现分布式雷达系统内雷达的测量数据与分布式雷达系统外的外部设备的数据的同步。所述外 部设备例如为各种传感器，所述传感器包括图像传感器，位置传感器，视觉传感器，姿态传感器，所述位置传感器包括但不限于全球定位系统(Global Positioning System，GPS)、北斗、格洛纳斯(Global Navigation Satellite System，GLONASS)、伽利略(Galileo)等定位传感器。
因此，本实施例的数据同步方法还包括向传感器发送所述第一同步信号，并接收所述传感器的测量数据，所述第一同步信号用于对所述传感器的测量数据的获取时间进行同步，具体地，所述传感器的测量数据的获取时间与所述第一同步信号的脉冲上升沿/下降沿的时间相对应，这样，当对对来自所述至少两个雷达的测量数据和传感器的测量数据进行融合处理时，可以确保融合的测量数据是同一时刻获取的，而不是不同时刻获取的测量数据，从而保证多雷达和传感器的测量数据融合处理的准确性。
进一步地，所述测量数据可以通过收发器发送至所述至少两个雷达，所述收发器例如包括RS-485接口、控制器局域网总线(Controller Area Network，CAN)接口或以太网1588接口。所述收发器可以集成设置在所述分布式雷达系统的处理器中，也可以单独设置在所述分布式雷达系统的处理器和所述雷达以及外部设备之间。并且为了抑制共模电平对芯片(即处理器)的损坏，在每个所述收发器和所述一个或多个处理器之间设置有隔离电路，所述隔离电路例如为光耦隔离电路或通过分立的元件形成的隔离电路。
图3示出根据本发明另一实施例的数据同步方法的示意性流程图。如图2所示，本实施例提供的雷达接入检测方法包括：
步骤S201，接收外部设备发送的第二同步信号。所述外部设备例如为传感器或时间戳服务器。即，所述第二同步信号包括时间戳服务器发送的时间戳信号或传感器发送的同步信号。所述传感器包括图像传感器，位置传感器，视觉传感器，姿态传感器，所述位置传感器包括但不限于GPS、北斗、GLONASS、Galileo等定位传感器。
步骤S102，将所述第二同步信号发送至所述至少两个雷达，并获取所述至少两个雷达的测量数据，其中，所述第二同步信号用于对所述测量数据的获取时间进行同步。
作为一示例，分布式雷达系统从时间戳服务器接收时间戳信号，并以 该时间戳信号作为第二同步信号，将其发送至所述至少两个雷达，从而对所述至少两个雷达的测量数据进行同步，使得当对来自所述至少两个雷达的测量数据进行融合处理时，可以确保融合的测量数据是同一时刻获取的，而不是不同时刻获取的测量数据，从而保证多雷达的测量数据融合处理的准确性。
作为另一示例，分布式雷达系统从时间戳服务器接收时间戳信号，并以该时间戳信号作为第二同步信号，将其发送至所述至少两个雷达以及一个或多个外部外传感器，从而对所述至少两个雷达以及一个或多个外部外传感器的测量数据进行同步，使得当对对来自所述至少两个雷达的测量数据以及一个或多个外部传感器的测量数据进行融合处理时，可以确保融合的测量数据是同一时刻获取的，而不是不同时刻获取的测量数据，从而保证多雷达和传感器的测量数据融合处理的准确。
作为又一示例，分布式雷达系统从外部传感器接收同步信号，并以该同步信号作为第二同步信号，将其发送至所述至少两个雷达，从而对所述至少两个雷达或者所述至少两个雷达以及一个或多个外部外传感器的测量数据进行同步，使得当对对来自所述至少两个雷达的测量数据或者所述至少两个雷达的测量数据以及一个或多个外部传感器的测量数据进行融合处理时，可以确保融合的测量数据是同一时刻获取的，而不是不同时刻获取的测量数据，从而保证多雷达和传感器的测量数据融合处理的准确。
应当理解，所述外部设备不仅包括传感器或时间戳服务器，其还可以为一个单独的同步信号生成装置，其生成的同步信号发送至所述至少两个雷达，以及一个或多个外部传感器，以对所述至少两个雷达，以及一个或多个外部传感器的测量数据进行同步。
在一种实施方式中，图2和图3所示的实施例中的第一同步信号和第二同步信号，可以分别单独使用，也可以同时使用。
在一种实施方式中，分布式雷达系统上电后，首先使用图2所示的实施例中的第一同步信号，当接收到外部设备发送的第二同步信号时，使用图3所述的实施例中的第二同步信号。分布式雷达系统可对第一同步信号和第二同步信号进行切换，以满足不同场景的同步需求。
此外，在图3所示实施例中，第二同步信号的传输同样通过收发器实现，而收发器的设置方式如前所述，在此不再赘述。
图4示出根据本发明一实施例的分布式雷达系统的示意性框图。如图4所示，本实施例的分布式雷达系统400包括至少两个雷达410至41n，n大于等于2，一个或多个收发器420，以及一个或多个处理器430。
至少两个雷达410至41n用于目标场景进行探测，以获得测量数据。所述测量数据包括点云数据，所述点云数据由雷达探测目标场景生成。所述点云数据中的每个点包含有三维点的坐标以及相应三维点的特性信息，例如，深度信息、角度信息、反射率信息等。
收发器420用于实现雷达410至41n与一个或多个处理器430之间的信号传输。收发器420的数量根据需要配置。收发器420可以集成在一个或多个处理器43上，也可以单独设置。示例性地，在本实施例中，在一个或多个处理器430集成有一个或多个收发器420，用于接收/发送信号，例如接收/发送同步信号或测量数据。收发器420例如包括RS-485接口、CAN接口或以太网1588接口。此外，为了抑制共模电平对芯片(即处理器430)的损坏，在每个所述收发器420和所述一个或多个处理器430之间设置有隔离电路(未示出)，所述隔离电路例如为光耦隔离电路或通过分立的元件形成的隔离电路。
一个或多个处理器430配置为用于生成第一同步信号以及向所述至少两个雷达410至41n发送所述第一同步信号，并获取所述至少两个雷达410至41n的测量数据。所述第一同步信号用于对所述测量数据的获取时间进行同步。处理器430例如为MCU或CPU。所述第一同步信号例如为PPS信号。
一个或多个处理器430配置为用于对来自所述至少两个雷达410至41n的测量数据进行融合处理。由于所述至少两个雷达410至41n的测量数据通过所述第一同步信号进行同步，例如所述测量数据的获取时间与所述第一同步信号的脉冲上升沿/下降沿的时间相对应，这样当对来自所述至少两个雷达410至41n的测量数据进行融合处理时，可以确保融合的测量数据是同一时刻获取的，而不是不同时刻获取的测量数据，从而保证多雷达的测量数据融合处理的准确性。
进一步地，在本实施例中，同步信号可以通过一个或多个处理器430自身生成，也可以从外部设备440接收。外部设备440例如包括一个或传感器441以及时间戳服务器442。传感器441包括图像传感器，位置传感器，视觉传感器，姿态传感器，所述位置传感器包括但不限于GPS、北斗、GLONASS、Galileo等定位传感器。
因此，在本实施例中，一个或多个处理器430还可以配置为接收外部设备440发送的第二同步信号，并将所述第二同步信号发送至所述至少两个雷达410至41n，所述第二同步信号用于对所述至少两个雷达410至41n的测量数据的获取时间进行同步。示例性地，所述测量数据的获取时间与所述第二同步信号的脉冲上升沿/下降沿的时间相对应。示例性地，所述第二同步信号包括传感器441发送的同步信号或时间戳服务器442发送的时间戳信号。
进一步地，基于所述第二同步信号，所述一个或多个处理器430还可以配置为用于对来自所述至少两个雷达410至41n的测量数据以及一个或多个传感器441的测量数据进行融合处理。此外，为了对来自所述至少两个雷达410至41n的测量数据以及一个或多个传感器441的测量数据进行融合处理，所述一个或多个处理器430还可以配置为向传感器441发送所述第一同步信号，并接收所述传感器441的测量数据。
作为一示例，一个或多个处理器430从时间戳服务器442接收时间戳信号，并以该时间戳信号作为第二同步信号，将其发送至所述至少两个雷达410-41n，从而对所述至少两个雷达410-41n的测量数据进行同步，使得当对来自所述至少两个雷达410-41n的测量数据进行融合处理时，可以确保融合的测量数据是同一时刻获取的，而不是不同时刻获取的测量数据，从而保证多雷达的测量数据融合处理的准确性。
作为另一示例，一个或多个处理器430从时间戳服务器442接收时间戳信号，并以该时间戳信号作为第二同步信号，将其发送至所述至少两个雷达410-41n以及一个或多个外部外传感器441，从而对所述至少两个雷达410-41n以及一个或多个外部外传感器441的测量数据进行同步，使得当对来自所述至少两个雷达410-41n的测量数据以及一个或多个外部传感器441的测量数据进行融合处理时，可以确保融合的测量数据是同一时刻 获取的，而不是不同时刻获取的测量数据，从而保证多雷达和传感器的测量数据融合处理的准确。
作为又一示例，一个或多个处理器430从外部传感器441接收同步信号，并以该同步信号作为第二同步信号，将其发送至所述至少两个雷达410-41n，从而对所述至少两个雷达410-41n或者所述至少两个雷达410-41n以及一个或多个外部外传感器441的测量数据进行同步，使得当对来自所述至少两个雷达410-41n的测量数据或者所述至少两个雷达410-41n的测量数据以及一个或多个外部传感器441的测量数据进行融合处理时，可以确保融合的测量数据是同一时刻获取的，而不是不同时刻获取的测量数据，从而保证多雷达和传感器的测量数据融合处理的准确。
应当理解，外部设备440不仅包括传感器441或时间戳服务器442，其还可以为一个单独的同步信号生成装置，其生成的同步信号发送至所述至少两个雷达410-41n，以及一个或多个外部传感器441，以对所述至少两个雷达410-41n，以及一个或多个外部传感器441的测量数据进行同步。
在一种实施方式中，在本实施例中的第一同步信号和第二同步信号，可以分别单独使用，也可以同时使用。
在一种实施方式中，分布式雷达系统上电后，首先使用图2所示的实施例中的第一同步信号，当接收到外部设备发送的第二同步信号时，使用图3所述的实施例中的第二同步信号。分布式雷达系统可对第一同步信号和第二同步信号进行切换，以满足不同场景的同步需求。
本发明涉及的雷达可以为激光雷达，也可以为其它雷达或者测距装置。为了更好地理解本发明，下面对测距装置的原理和结构进行示例性描述。该测距装置可以是激光雷达、激光测距设备等电子设备。在一种实施方式中，测距装置用于感测外部环境信息，例如，环境目标的距离信息、方位信息、反射强度信息等。一种实现方式中，测距装置可以通过测量测距装置和探测物之间光传播的时间，即光飞行时间(Time-of-Flight，TOF)，来探测探测物到测距装置的距离。或者，测距装置也可以通过其他技术来探测探测物到测距装置的距离，例如基于相位移动(phase shift)测量的测距方法，或者基于频率移动(frequency shift)测量的测距方法，在此不做限制。
为了便于理解，以下将结合图5所示的测距装置500对测距的工作流程进行举例描述。
如图5示，测距装置500可以包括发射电路110、接收电路120、采样电路130和运算电路140。
发射电路110可以发射光脉冲序列(例如激光脉冲序列)。接收电路120可以接收经过被探测物反射的光脉冲序列，并对该光脉冲序列进行光电转换，以得到电信号，再对电信号进行处理之后可以输出给采样电路130。采样电路130可以对电信号进行采样，以获取采样结果。运算电路140可以基于采样电路130的采样结果，以确定测距装置500与被探测物之间的距离。
可选地，该测距装置500还可以包括控制电路150，该控制电路150可以实现对其他电路的控制，例如，可以控制各个电路的工作时间和/或对各个电路进行参数设置等。
应理解，虽然图5示出的测距装置中包括一个发射电路、一个接收电路、一个采样电路和一个运算电路，用于出射一路光束进行探测，但是本申请实施例并不限于此，发射电路、接收电路、采样电路、运算电路中的任一种电路的数量也可以是至少两个，用于沿相同方向或分别沿不同方向出射至少两路光束；其中，该至少两束光路可以是同时出射，也可以是分别在不同时刻出射。一个示例中，该至少两个发射电路中的发光芯片封装在同一个模块中。例如，每个发射电路包括一个激光发射芯片，该至少两个发射电路中的激光发射芯片中的die封装到一起，容置在同一个封装空间中。
一些实现方式中，除了图5所示的电路，测距装置500还可以包括扫描模块160，用于将发射电路出射的至少一路激光脉冲序列改变传播方向出射。
其中，可以将包括发射电路110、接收电路120、采样电路130和运算电路140的模块，或者，包括发射电路110、接收电路120、采样电路130、运算电路140和控制电路150的模块称为测距模块，该测距模块可以独立于其他模块，例如，扫描模块。
测距装置中可以采用同轴光路，也即测距装置出射的光束和经反射回来的光束在测距装置内共用至少部分光路。例如，发射电路出射的至少一路激光脉冲序列经扫描模块改变传播方向出射后，经探测物反射回来的激光脉冲 序列经过扫描模块后入射至接收电路。或者，测距装置也可以采用异轴光路，也即测距装置出射的光束和经反射回来的光束在测距装置内分别沿不同的光路传输。图6示出了本发明的测距装置采用同轴光路的一种实施例的示意图。
测距装置600包括测距模块201，测距模块201包括发射器203(可以包括上述的发射电路)、准直元件204、探测器205(可以包括上述的接收电路、采样电路和运算电路)和光路改变元件206。测距模块201用于发射光束，且接收回光，将回光转换为电信号。其中，发射器203可以用于发射光脉冲序列。在一个实施例中，发射器203可以发射激光脉冲序列。可选的，发射器203发射出的激光束为波长在可见光范围之外的窄带宽光束。准直元件204设置于发射器的出射光路上，用于准直从发射器203发出的光束，将发射器203发出的光束准直为平行光出射至扫描模块。准直元件还用于会聚经探测物反射的回光的至少一部分。该准直元件204可以是准直透镜或者是其他能够准直光束的元件。
在图6所示实施例中，通过光路改变元件206来将测距装置内的发射光路和接收光路在准直元件204之前合并，使得发射光路和接收光路可以共用同一个准直元件，使得光路更加紧凑。在其他的一些实现方式中，也可以是发射器203和探测器205分别使用各自的准直元件，将光路改变元件206设置在准直元件之后的光路上。
在图6所示实施例中，由于发射器203出射的光束的光束孔径较小，测距装置所接收到的回光的光束孔径较大，所以光路改变元件可以采用小面积的反射镜来将发射光路和接收光路合并。在其他的一些实现方式中，光路改变元件也可以采用带通孔的反射镜，其中该通孔用于透射发射器203的出射光，反射镜用于将回光反射至探测器205。这样可以减小采用小反射镜的情况中小反射镜的支架会对回光的遮挡。
在图6所示实施例中，光路改变元件偏离了准直元件204的光轴。在其他的一些实现方式中，光路改变元件也可以位于准直元件204的光轴上。
测距装置600还包括扫描模块202。扫描模块202放置于测距模块201的出射光路上，扫描模块202用于改变经准直元件204出射的准直光束219的传输方向并投射至外界环境，并将回光投射至准直元件204。回光经准直 元件204汇聚到探测器205上。
在一个实施例中，扫描模块202可以包括至少一个光学元件，用于改变光束的传播路径，其中，该光学元件可以通过对光束进行反射、折射、衍射等等方式来改变光束传播路径。例如，扫描模块202包括透镜、反射镜、棱镜、振镜、光栅、液晶、光学相控阵(Optical Phased Array)或上述光学元件的任意组合。一个示例中，至少部分光学元件是运动的，例如通过驱动模块来驱动该至少部分光学元件进行运动，该运动的光学元件可以在不同时刻将光束反射、折射或衍射至不同的方向。在一些实施例中，扫描模块202的多个光学元件可以绕共同的轴209旋转或振动，每个旋转或振动的光学元件用于不断改变入射光束的传播方向。在一个实施例中，扫描模块202的多个光学元件可以以不同的转速旋转，或以不同的速度振动。在另一个实施例中，扫描模块202的至少部分光学元件可以以基本相同的转速旋转。在一些实施例中，扫描模块的多个光学元件也可以是绕不同的轴旋转。在一些实施例中，扫描模块的多个光学元件也可以是以相同的方向旋转，或以不同的方向旋转；或者沿相同的方向振动，或者沿不同的方向振动，在此不作限制。
在一个实施例中，扫描模块202包括第一光学元件214和与第一光学元件214连接的驱动器216，驱动器216用于驱动第一光学元件214绕转动轴209转动，使第一光学元件214改变准直光束219的方向。第一光学元件214将准直光束219投射至不同的方向。在一个实施例中，准直光束219经第一光学元件改变后的方向与转动轴209的夹角随着第一光学元件214的转动而变化。在一个实施例中，第一光学元件214包括相对的非平行的一对表面，准直光束219穿过该对表面。在一个实施例中，第一光学元件214包括厚度沿至少一个径向变化的棱镜。在一个实施例中，第一光学元件114包括楔角棱镜，对准直光束219进行折射。
在一个实施例中，扫描模块202还包括第二光学元件215，第二光学元件215绕转动轴209转动，第二光学元件215的转动速度与第一光学元件214的转动速度不同。第二光学元件215用于改变第一光学元件214投射的光束的方向。在一个实施例中，第二光学元件215与另一驱动器217连接，驱动器217驱动第二光学元件215转动。第一光学元件214和第二光学元件215 可以由相同或不同的驱动器驱动，使第一光学元件214和第二光学元件215的转速和/或转向不同，从而将准直光束219投射至外界空间不同的方向，可以扫描较大的空间范围。在一个实施例中，控制器218控制驱动器216和217，分别驱动第一光学元件214和第二光学元件215。第一光学元件214和第二光学元件215的转速可以根据实际应用中预期扫描的区域和样式确定。驱动器216和217可以包括电机或其他驱动器。
在一个实施例中，第二光学元件215包括相对的非平行的一对表面，光束穿过该对表面。在一个实施例中，第二光学元件215包括厚度沿至少一个径向变化的棱镜。在一个实施例中，第二光学元件215包括楔角棱镜。
一个实施例中，扫描模块202还包括第三光学元件(图未示)和用于驱动第三光学元件运动的驱动器。可选地，该第三光学元件包括相对的非平行的一对表面，光束穿过该对表面。在一个实施例中，第三光学元件包括厚度沿至少一个径向变化的棱镜。在一个实施例中，第三光学元件包括楔角棱镜。第一、第二和第三光学元件中的至少两个光学元件以不同的转速和/或转向转动。
扫描模块202中的各光学元件旋转可以将光投射至不同的方向，例如光211和213的方向，如此对测距装置600周围的空间进行扫描。当扫描模块202投射出的光211打到探测物210时，一部分光被探测物210沿与投射的光211相反的方向反射至测距装置600。探测物210反射的回光212经过扫描模块202后入射至准直元件204。
探测器205与发射器203放置于准直元件204的同一侧，探测器205用于将穿过准直元件204的至少部分回光转换为电信号。
一个实施例中，各光学元件上镀有增透膜。可选的，增透膜的厚度与发射器203发射出的光束的波长相等或接近，能够增加透射光束的强度。
一个实施例中，测距装置中位于光束传播路径上的一个元件表面上镀有滤光层，或者在光束传播路径上设置有滤光器，用于至少透射发射器所出射的光束所在波段，反射其他波段，以减少环境光给接收器带来的噪音。
在一些实施例中，发射器203可以包括激光二极管，通过激光二极管发射纳秒级别的激光脉冲。进一步地，可以确定激光脉冲接收时间，例如，通 过探测电信号脉冲的上升沿时间和/或下降沿时间确定激光脉冲接收时间。如此，测距装置600可以利用脉冲接收时间信息和脉冲发出时间信息计算TOF，从而确定探测物210到测距装置600的距离。
测距装置600探测到的距离和方位可以用于遥感、避障、测绘、建模、导航等。在一种实施方式中，本发明实施方式的测距装置可应用于可移动平台，测距装置可安装在可移动平台的平台本体。具有测距装置的移动平台可对外部环境进行测量，例如，测量移动平台与障碍物的距离用于避障等用途，和对外部环境进行二维或三维的测绘。在某些实施方式中，可移动平台包括无人飞行器、汽车、遥控车、机器人、相机中的至少一种。当测距装置应用于无人飞行器时，平台本体为无人飞行器的机身。当测距装置应用于汽车时，平台本体为汽车的车身。该汽车可以是自动驾驶汽车或者半自动驾驶汽车，在此不做限制。当测距装置应用于遥控车时，平台本体为遥控车的车身。当测距装置应用于机器人时，平台本体为机器人。当测距装置应用于相机时，平台本体为相机本身。
在一种实施方式中，本发明实施方式的分布式雷达系统可以应用于可移动平台，从而对可移动平台多个方位的外部环境进行探测，在某些实施方式中，可移动平台包括机身，动力系统，安装在所述机身，用于为所述可移动平台提供动力；以及如根据本实施例的分布式雷达系统。可选的，可移动平台包括无人飞行器、汽车、或机器人中的至少一种。
本发明实施例提供了一种数据同步方法、分布式雷达系统及可移动平台，通过向雷达发送同步信号来对分布式雷达系统中各雷达的测量数据的获取时间进行同步，从而确保在各雷达的测量数据进行融合处理时各雷达的测量数据同一时刻获取的，保证融合处理的准确性。
尽管这里已经参考附图描述了示例实施例，应理解上述示例实施例仅仅是示例性的，并且不意图将本发明的范围限制于此。本领域普通技术人员可以在其中进行各种改变和修改，而不偏离本发明的范围和精神。所有这些改变和修改意在被包括在所附权利要求所要求的本发明的范围之内。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方 案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。
在本申请所提供的几个实施例中，应该理解到，所揭露的设备和方法，可以通过其它的方式实现。例如，以上所描述的设备实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个设备，或一些特征可以忽略，或不执行。
在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本发明的实施例可以在没有这些具体细节的情况下实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。
类似地，应当理解，为了精简本发明并帮助理解各个发明方面中的一个或多个，在对本发明的示例性实施例的描述中，本发明的各个特征有时被一起分组到单个实施例、图、或者对其的描述中。然而，并不应将该本发明的方法解释成反映如下意图：即所要求保护的本发明要求比在每个权利要求中所明确记载的特征更多的特征。更确切地说，如相应的权利要求书所反映的那样，其发明点在于可以用少于某个公开的单个实施例的所有特征的特征来解决相应的技术问题。因此，遵循具体实施方式的权利要求书由此明确地并入该具体实施方式，其中每个权利要求本身都作为本发明的单独实施例。
本领域的技术人员可以理解，除了特征之间相互排斥之外，可以采用任何组合对本说明书(包括伴随的权利要求、摘要和附图)中公开的所有特征以及如此公开的任何方法或者设备的所有过程或单元进行组合。除非另外明确陈述，本说明书(包括伴随的权利要求、摘要和附图)中公开的每个特征可以由提供相同、等同或相似目的替代特征来代替。
此外，本领域的技术人员能够理解，尽管在此所述的一些实施例包括其它实施例中所包括的某些特征而不是其它特征，但是不同实施例的特征的组合意味着处于本发明的范围之内并且形成不同的实施例。例如，在权利要求书中，所要求保护的实施例的任意之一都可以以任意的组合方式来使用。
本发明的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当理解，可以在实践中使用微处理器或者数字信号处理器(Digital Signal Processor，DSP)来实现根据本发明实施例的一些模块的一些或者全部功能。本发明还可以实现为用于执行这里所描述的方法的一部分或者全部的装置程序(例如，计算机程序和计算机程序产品)。这样的实现本发明的程序可以存储在计算机可读介质上，或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。
应该注意的是上述实施例对本发明进行说明而不是对本发明进行限制，并且本领域技术人员在不脱离所附权利要求的范围的情况下可设计出替换实施例。在权利要求中，不应将位于括号之间的任何参考符号构造成对权利要求的限制。本发明可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中，这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。
以上所述，仅为本发明的具体实施方式或对具体实施方式的说明，本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。本发明的保护范围应以权利要求的保护范围为准。

Claims (32)

  1. 一种数据同步方法，其特征在于，所述数据同步方法应用于分布式雷达系统，所述分布式雷达系统包括至少两个雷达，所述方法包括：
    生成第一同步信号；
    向所述至少两个雷达发送所述第一同步信号，并获取所述至少两个雷达的测量数据；
    其中，所述第一同步信号用于对所述测量数据的获取时间进行同步。
  2. 根据权利要求1所述的数据同步方法，其特征在于，所述测量数据的获取时间与所述第一同步信号的脉冲上升沿/下降沿的时间相对应。
  3. 根据权利要求1所述的数据同步方法，其特征在于，还包括：对来自所述至少两个雷达的测量数据进行融合处理。
  4. 根据权利要求1所述的数据同步方法，其特征在于，还包括：
    接收外部设备发送的第二同步信号，并将所述第二同步信号发送至所述至少两个雷达，所述第二同步信号用于对所述测量数据的获取时间进行同步。
  5. 根据权利要求4所述的数据同步方法，其特征在于，所述第二同步信号包括时间戳服务器发送的时间戳信号。
  6. 根据权利要求4所述的数据同步方法，其特征在于，所述第二同步信号包括传感器发送的同步信号。
  7. 根据权利要求1所述的数据同步方法，其特征在于，还包括：向传感器发送所述第一同步信号或时间戳信号，并接收所述传感器的测量数据。
  8. 根据权利要求1所述的数据同步方法，其特征在于，还包括：对来 自所述至少两个雷达的测量数据和传感器的测量数据进行融合处理。
  9. 根据权利要求6-8所述的数据同步方法，其特征在于，所述传感器包括图像传感器，位置传感器，视觉传感器，姿态传感器。
  10. 根据权利要求1所述的数据同步方法，其特征在于，所述雷达包括激光雷达、毫米波雷达、超声波雷达。
  11. 根据权利要求1所述的数据同步方法，其特征在于，所述测量数据包括点云数据，所述点云数据由雷达探测目标场景生成。
  12. 根据权利要求4所述的数据同步方法，其特征在于，所述分布式雷达系统包括一个或多个处理器，在所述一个或多个处理器与所述至少两个雷达之间以及所述一个或多个处理器与所述外部设备之间设置有收发器，用于接收/发送信号。
  13. 根据权利要求1所述的数据同步方法，其特征在于，所述分布式雷达系统包括一个或多个处理器，所述一个或多个处理器集成有收发器，用于接收/发送信号。
  14. 根据权利要求12或13所述的数据同步方法，其特征在于，所述收发器包括RS-485接口、CAN接口或以太网1588接口。
  15. 根据权利要求12或13所述的数据同步方法，其特征在于，在每个所述收发器和所述一个或多个处理器之间设置有隔离电路。
  16. 一种分布式雷达系统，其特征在于，包括：至少两个雷达，以及一个或多个处理器；
    所述一个或多个处理器配置为用于生成第一同步信号；
    以及，向所述至少两个雷达发送所述第一同步信号，并获取所述至少 两个雷达的测量数据；
    其中，所述第一同步信号用于对所述测量数据的获取时间进行同步。
  17. 根据权利要求16所述的分布式雷达系统，其特征在于，所述测量数据的获取时间与所述第一同步信号的脉冲上升沿/下降沿的时间相对应。
  18. 根据权利要求16所述的分布式雷达系统，其特征在于，所述一个或多个处理器还配置为用于对来自所述至少两个雷达的测量数据进行融合处理。
  19. 根据权利要求16所述的分布式雷达系统，其特征在于，所述一个或多个处理器还用于接收外部设备发送的第二同步信号，并将所述第二同步信号发送至所述至少两个雷达，所述第二同步信号用于对所述测量数据的获取时间进行同步。
  20. 根据权利要求19所述的分布式雷达系统，其特征在于，所述第二同步信号包括时间戳服务器发送的时间戳信号。
  21. 根据权利要求19所述的分布式雷达系统，其特征在于，所述第二同步信号包括传感器发送的同步信号。
  22. 根据权利要求16所述的分布式雷达系统，其特征在于，
    所述一个或多个处理器还配置用于向传感器发送所述第一同步信号或时间戳信号，并接收所述传感器的测量数据。
  23. 根据权利要求16所述的分布式雷达系统，其特征在于，
    所述一个或多个处理器还配置用于对来自所述至少两个雷达的测量数据和传感器的测量数据进行融合处理。
  24. 根据权利要求21-23中任一项所述的分布式雷达系统，其特征在 于，所述传感器包括图像传感器，位置传感器，视觉传感器，姿态传感器。
  25. 根据权利要求16所述的分布式雷达系统，其特征在于，所述雷达包括激光雷达、毫米波雷达、超声波雷达。
  26. 根据权利要求16所述的分布式雷达系统，其特征在于，所述测量数据包括点云数据，所述点云数据由雷达探测目标场景生成。
  27. 根据权利要求19所述的分布式雷达系统，其特征在于，在所述一个或多个处理器与所述至少两个雷达之间以及所述一个或多个处理器与所述外部设备之间设置有收发器，用于接收/发送信号。
  28. 根据权利要求16所述的分布式雷达系统，其特征在于，所述一个或多个处理器集成有收发器，用于接收/发送信号。
  29. 根据权利要求27或28所述的分布式雷达系统，其特征在于，所述收发器包括RS-485接口、CAN接口或以太网1588接口。
  30. 根据权利要求27或28所述的分布式雷达系统，其特征在于，在每个所述收发器和所述一个或多个处理器之间设置有隔离电路，所述隔离电路包括光耦合器。
  31. 一种可移动平台，其特征在于，包括：
    机身；
    动力系统，安装在所述机身，用于为所述可移动平台提供动力；
    以及如权利要求16-30中任一项所述的分布式雷达系统。
  32. 根据权利要求31所述的可移动平台，其特征在于，所述可移动平台包括无人机、汽车或机器人。
PCT/CN2019/070899 2019-01-08 2019-01-08 数据同步方法、分布式雷达系统及可移动平台 Ceased WO2020142909A1 (zh)

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