WO2020142909A1 - Procédé de synchronisation de données, système de radar distribué, et plateforme mobile - Google Patents

Procédé de synchronisation de données, système de radar distribué, et plateforme mobile 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)
Chinese (zh)
Inventor
陆龙
何欢
边亚斌
刘祥
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201980005511.3A priority Critical patent/CN111670568A/zh
Priority to PCT/CN2019/070899 priority patent/WO2020142909A1/fr
Publication of WO2020142909A1 publication Critical patent/WO2020142909A1/fr

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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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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

La présente invention concerne un procédé de synchronisation de données, un système de radar distribué et une plateforme mobile. Le procédé de synchronisation de données est appliqué dans le système de radar distribué, et le système de radar distribué comprend au moins deux radars. Le procédé comprend les étapes suivantes consistant : à générer un premier signal de synchronisation (S101) ; à envoyer le premier signal de synchronisation à au moins deux radars et à acquérir les données mesurées desdits deux radars, le premier signal de synchronisation étant utilisé pour synchroniser le temps d'acquisition des données mesurées (S102). Le système de radar distribué peut être synchronisé, ce qui permet de garantir la synchronisation des données mesurées de chaque radar lors d'un traitement de fusion, et d'assurer la précision du traitement de fusion.
PCT/CN2019/070899 2019-01-08 2019-01-08 Procédé de synchronisation de données, système de radar distribué, et plateforme mobile WO2020142909A1 (fr)

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CN201980005511.3A CN111670568A (zh) 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
PCT/CN2019/070899 WO2020142909A1 (fr) 2019-01-08 2019-01-08 Procédé de synchronisation de données, système de radar distribué, et plateforme mobile

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