WO2020142983A1 - 信息交互方法、系统和计算机可读介质 - Google Patents

信息交互方法、系统和计算机可读介质 Download PDF

Info

Publication number
WO2020142983A1
WO2020142983A1 PCT/CN2019/071152 CN2019071152W WO2020142983A1 WO 2020142983 A1 WO2020142983 A1 WO 2020142983A1 CN 2019071152 W CN2019071152 W CN 2019071152W WO 2020142983 A1 WO2020142983 A1 WO 2020142983A1
Authority
WO
WIPO (PCT)
Prior art keywords
information
sensor
command
host computer
data
Prior art date
Application number
PCT/CN2019/071152
Other languages
English (en)
French (fr)
Inventor
冯小峰
马千里
郭曦
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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 CN201980005484.XA priority Critical patent/CN111670561A/zh
Publication of WO2020142983A1 publication Critical patent/WO2020142983A1/zh

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak

Definitions

  • the present invention relates to the field of communications, and in particular to an information interaction method, system, and computer-readable medium.
  • mobile carriers such as robots, unmanned aerial vehicles, cars, and ships can sense the surrounding environment through sensors, and then realize path planning, obstacle detection, and obstacle avoidance.
  • lidar As a complex three-dimensional sensor, lidar needs to accept control commands input from outside, and at the same time it needs to output three-dimensional point cloud data.
  • the host computer In actual application scenarios, in order to obtain panoramic information of the surrounding environment, the host computer often needs to connect multiple lidars, and simultaneously perform command and data interaction with multiple lidars.
  • the existing host computer cannot distinguish the point cloud data packets of different lidars, and it is necessary to manually set different IP addresses before multiple lidars can be connected to one host computer at the same time, which is inefficient.
  • the first aspect of the embodiments of the present invention provides an information interaction method.
  • the method includes:
  • a second aspect of an embodiment of the present invention provides an information interaction method.
  • the method includes:
  • the returned information is sent to the command port of the host computer.
  • a third aspect of the present invention provides an information interaction system.
  • the information interaction system includes a host computer and a plurality of sensors, wherein the host computer performs any one of the first aspect of the embodiments of the present invention for the plurality of sensors.
  • the multiple sensors execute the information interaction method described in any one of the second aspect of the embodiments of the present invention for the host computer.
  • a fourth aspect of the present invention provides an information interaction method.
  • the method includes:
  • a fifth aspect of the present invention provides an information interaction system.
  • the information interaction system includes an upper computer, an intermediate board, and a plurality of sensors, wherein the intermediate board performs the implementation of the present invention for the upper computer and the plurality of sensors.
  • a sixth aspect of the present invention provides a computer-readable medium that stores a computer program on the computer-readable medium, and the computer program runs to execute the information interaction according to any one of the first aspects of the embodiments of the present invention when running.
  • the information interaction method, system and computer readable medium of the present invention can enable the host computer to automatically establish a heartbeat connection with a plurality of designated sensors, and respectively control the plurality of designated sensors, improving the relationship between the host computer and the plurality of sensors The efficiency of information exchange.
  • FIG. 1 shows a flowchart of an information interaction method according to an embodiment of the invention
  • FIG. 2 shows a flowchart of establishing a heartbeat connection with multiple sensors in an information interaction method according to an embodiment of the invention
  • FIG. 3 shows a flowchart of sending device commands to a designated sensor in an information interaction method according to an embodiment of the invention
  • FIG. 4 shows a flowchart of outputting returned information in an information interaction method according to an embodiment of the present invention
  • FIG. 5 shows a flowchart of data interaction with a sensor in an information interaction method according to an embodiment of the invention
  • FIG. 6 shows a flowchart of an information interaction method according to another embodiment of the present invention.
  • FIG. 7 shows a structural block diagram of an information interaction system according to an embodiment of the present invention.
  • FIG. 8 shows a flowchart of an information interaction method according to yet another embodiment of the present invention.
  • FIG. 9 shows a structural block diagram of an information interaction system according to another embodiment of the present invention.
  • FIG. 10 shows a schematic frame diagram of a laser distance measuring device according to an embodiment of the present invention
  • FIG. 11 shows a schematic diagram of an embodiment of a laser distance measuring device provided by an embodiment of the present invention using a coaxial optical path.
  • an aspect of the present invention provides an information interaction method, including: establishing a heartbeat connection with multiple sensors; creating a command port, and through the command port, based on the The heartbeat connection sends a device command to the designated sensor; based on the heartbeat connection, the information returned by the designated sensor is received through the command port; and the returned information is output.
  • another aspect of the present invention provides an information interaction method, including: establishing a heartbeat connection with a host computer; receiving a device command sent by the host computer based on the heartbeat connection; and based on the heartbeat connection , Send the returned information to the command port of the host computer.
  • Another aspect of the present invention provides an information interaction method, including: establishing a heartbeat connection with a host computer and a plurality of sensors; receiving a device command sent by the host computer, and sending the device command to a designated sensor; and receiving The information returned by the designated sensor, and sends the returned information to the command port of the host computer.
  • the information interaction method, system, and computer-readable medium provided in the embodiments of the present invention can be applied to a distributed radar system, where the distributed radar system includes a host computer and multiple radars, and the multiple radars are distributed on the mobile Different positions of the platform are used to detect object information in different positions/directions.
  • the host computer performs comprehensive processing based on the object information detected by multiple radars to understand the object information of the surrounding environment. For example, after distributing such a distributed lidar system on a car, each lidar has a certain angle of view (FOV), and each lidar has a certain emission direction angle. Overlap or just not overlap, through the stitching of the field of view of multiple lidars, you can detect the surrounding of the car, so as to understand the environmental information around the car.
  • FOV angle of view
  • the distributed radar system may further include a midplane that receives commands sent by the host computer and distributes them to multiple radars; or, the midplane may also receive data packets sent by the radar and send them to the host computer Further, the midplane parses the data packets from each lidar, aligns the data obtained by parsing the data packets in time series, and then sends the aligned data. The midplane aligns the timing of each data packet, including obtaining the synchronization timing signal input from the midplane timing port. The synchronization timing signal also provides timing for each lidar. The midplane parses the received data packets from each lidar to obtain the timestamp data of the laser emission and echo, and aligns the timestamp data in the timing based on the synchronization timing signal.
  • the midplane can also stitch data from various lidars. In this way, the data from each lidar will be turned into a data packet, thereby reducing the amount of computing on the host computer.
  • the splicing of the upper computer by the middle board can be performed according to the preset port rule, which corresponds to the overlap of the lidar field of view angle and the lidar position information.
  • the host computer may include one or more processors for receiving data sent by multiple radars, processing the data, and issuing commands to control the work of the radar and other modules.
  • the host computer has multiple radar interfaces.
  • the radar can be connected to the radar interface through a transmission cable, so that the radar can be connected to the host computer, so that the host computer can receive radar data and control the radar.
  • the information interaction method, system and computer-readable medium of the present invention can enable the host computer to automatically establish a heartbeat connection with a plurality of designated sensors, and control the plurality of designated sensors respectively, thereby improving the connection between the host computer and the multiple sensors The efficiency of information exchange.
  • the information interaction method provided by the embodiment of the present invention mainly involves a host computer and multiple sensors.
  • an information interaction method 100 according to an embodiment of the present invention will be described with reference to FIG. 1.
  • the information interaction method 100 is used for a host computer.
  • an information interaction method 600 according to another embodiment of the present invention will be described below with reference to FIG. 6.
  • the information interaction method 600 is used for sensors.
  • FIG. 1 shows a flowchart of an information interaction method 100 according to an embodiment of the present invention.
  • the information interaction method 100 may be executed by a host computer for information interaction with multiple sensors. As shown in FIG. 1, the method 100 includes the following steps:
  • step S110 a heartbeat connection with multiple sensors is established.
  • the senor is used to sense external environment information, for example, distance information, azimuth information, reflection intensity information, speed information, etc. of the environmental target.
  • the sensor may be a lidar, or may be other radars or ranging devices.
  • the plurality of sensors may be distributed at different positions of the movable platform and used to detect object information at different positions/directions around the movable platform.
  • the plurality of sensors are registered sensors.
  • the host computer can register the sensors to be connected in advance. After registration, it can automatically connect all the registered sensors, and the non-registered sensors will not be connected.
  • the upper computer pre-registers the sensor serial number of the sensor to be connected to establish a device list.
  • the sensor corresponding to the serial number in the device list is the registered sensor.
  • FIG. 2 shows an exemplary flowchart of establishing a heartbeat connection between a host computer and multiple sensors. As shown in Figure 2, the host computer and multiple sensors establish a connection through a handshake mechanism.
  • step S210 listen to the broadcast handshake information broadcast by the sensor.
  • the broadcast handshake information carries information such as the IP address and sensor serial number of each sensor.
  • Multiple sensors can simultaneously send broadcast handshake information, the host computer can use the same port to monitor the broadcast handshake information broadcast by the multiple sensors, and the host computer can simultaneously receive the broadcast handshake information broadcast by multiple sensors.
  • step S220 broadcast handshake information from the sensor is received.
  • the broadcast handshake information carries the sensor serial number of the sensor that sent the information.
  • step S230 it is determined whether the sensor sending the broadcast handshake information exists in the device list.
  • the host computer analyzes the sensor serial number in the broadcast handshake information, and determines whether the sensor serial number in the broadcast handshake information exists in the device list, and then determines to send Whether the device broadcasting the handshake information is a registered sensor. If the serial number in the broadcast handshake information exists in the device list, it means that the device sending the broadcast handshake information is a registered sensor. At this time, the host computer performs step S240 and returns the handshake confirmation information to the sensor.
  • the handshake confirmation message carries information such as the IP address of the host computer. If the sensor serial number does not exist in the device list, it means that the device sending the broadcast handshake information is not a registered sensor. At this time, the host computer does not respond to the broadcast handshake information and continues to listen to the broadcast handshake information from the sensor.
  • step S250 the connection state information from the sensor is received.
  • the sensor After the sensor receives the handshake confirmation information, it returns the connection status information to the upper computer.
  • the connection status information includes the connection success or the connection failure.
  • the upper computer receives the connection status information of the successful connection returned by the sensor, and determines that a connection is established between the two. If the host computer fails to receive the connection status information returned by the sensor within a predetermined time, it is considered that the connection has failed, and the host computer continues to listen to the broadcast handshake information from the sensor.
  • the two can maintain a long connection through a heartbeat mechanism. Then, based on the long connection, commands and data can be exchanged between the host computer and the sensor without repeatedly completing the handshake process, which improves the efficiency of information interaction.
  • a heartbeat packet is sent to the designated sensor at predetermined time intervals.
  • the sensor After receiving the heartbeat packet sent by the upper computer, the sensor sends the heartbeat packet carrying the sensor information to the upper computer in response to the received heartbeat packet.
  • a heartbeat packet from a designated sensor is received, and the heartbeat packet carries sensor information of the designated sensor.
  • the host computer can determine the sensor that sent the heartbeat packet, thereby maintaining the heartbeat connection with each of the multiple sensors. If the host computer does not receive the heartbeat packet sent by the specified sensor within a certain time, it is considered that the connection with the sensor is broken.
  • the sensor information includes at least one of working status information, working mode information, and error code information of the sensor.
  • the information included in the heartbeat packet includes: version number (Version), port ID (Port ID), radar ID (Lidar ID), error code (Error Code), time stamp type (Timestamp Type), and time stamp (Time) Stamp.
  • version number Version
  • Port ID Port ID
  • radar ID Lidar ID
  • Error Code error code
  • time stamp type time stamp type
  • Time stamp Time stamp
  • the port ID is the port number where the sensor is installed: if the sensor is directly connected to the host computer without going through the center board, the port ID defaults to 0, and the user can configure the port number through instructions; if the sensor is connected to the midplane, the midplane and the host computer For connection, the port ID is the port number of the midplane, and the user cannot modify it through instructions.
  • the radar ID is the serial number of the sensor.
  • the sensor is exemplified as a radar, wherein the serial number of the single radar is 0, and the serial numbers of the three-in-one radar are 0, 1, 2, respectively.
  • RSVD Reserved
  • the error code consists of 32 bits and is the unique number assigned to indicate the exception.
  • the radar system supports three synchronization methods: network protocol synchronization, pulse synchronization (only supported by radar), and GPS time synchronization (PPS+GPRMC, only supported by the center board).
  • the network protocol synchronization priority is higher than other synchronization methods.
  • Each heartbeat packet contains a time stamp indicating the time of the first point in the heartbeat packet.
  • the timestamp format in the heartbeat packet is uint64, and the unit is ns (nanosecond), which means the boot time.
  • the timestamp unit in the heartbeat packet is ns.
  • the timestamp format in the heartbeat packet is 8Bytes UTC time
  • the specific format is:
  • the unit of time in the heartbeat packet is ns, which represents the time interval from the rising edge of the previous synchronization pulse.
  • the format of the time stamp is:
  • the data format of the above data protocol adopts little endian (Little Endian), that is, the least significant byte (LSB) of a byte or nibble is stored at the lowest byte address of the memory.
  • Little Endian the least significant byte (LSB) of a byte or nibble is stored at the lowest byte address of the memory.
  • the host computer can continue to receive the broadcast handshake information from the sensors to achieve the simultaneous establishment of connections with multiple sensors.
  • step S120 a command port is created, and a device command is sent to a designated sensor based on the heartbeat connection through the command port.
  • FIG. 3 shows an exemplary flowchart of the host computer sending a device command to a designated sensor.
  • step S310 a command port is created.
  • the host computer creates the command port for each sensor of the multiple sensors connected to it, and subsequently sends device commands to different sensors corresponding to it through different command ports.
  • the separately creating the command ports includes: separately creating multiple command ports in the same thread. In another embodiment, the separately creating command ports includes: separately creating command ports in each thread of different threads.
  • the command port is established during the connection between the host computer and the sensor.
  • the host computer receives the handshake message sent by the sensor and determines that the sensor serial number carried in the handshake message exists in the device list
  • the command port can be created for the sensor; and, the host computer
  • the handshake confirmation message returned to the sensor may carry the port number of the command port created for the sensor.
  • the host computer After the host computer generates the device command to be sent, it is first determined whether the heartbeat connection is established with the sensor targeted by the device command, and if the sensor targeted by the device command is established When the heartbeat is connected, the device command is sent.
  • determining whether the heartbeat connection is established with the sensor targeted by the device command includes: first, in step S320, a command processing unit is created.
  • a command processing unit is created.
  • the host computer creates a command processing unit for each sensor connected to it, adds each command processing unit to the command processing list, and waits for the host computer to send a device command.
  • step S330 a sensor serial number for identifying the sensor targeted by the device command is generated. Specifically, when a device command needs to be sent for a specific sensor, a sensor serial number identifying this command is generated, and in step S350, the command processing list is queried for the existence of a command processing unit corresponding to this command according to the sensor serial number To determine whether a heartbeat connection is established with the specific sensor. If a command processing unit corresponding to this command exists, step S360 is executed to create a task for sending the command and add the task to the command sending queue.
  • step S370 each task in the command transmission queue is sent in sequence.
  • the host computer monitors the reply information of each command.
  • the method further includes: in step S340, setting a command timeout time for each device command. After receiving each device command, the sensor needs to return ACK (command return) information. If the host computer does not receive the ACK message within the command timeout time, it is deemed that the sensor has not received the device command.
  • ACK command return
  • the following shows a control protocol according to an embodiment of the present invention.
  • the control protocol is mainly used to establish and maintain a connection with a sensor, switch a working state, and acquire a sensor state.
  • the protocol frame is the smallest unit of control instruction information transmission.
  • the frame format is as follows:
  • Version represents the protocol version of the control protocol
  • Length represents the length of the entire protocol frame, including the data segment (Data) and the CRC at the end, the maximum value is 1400;
  • CMD_Type represents the instruction type, including:
  • 0x01 ACK (response);
  • 0x02 MSG (message);
  • CMD stands for the device command described above
  • ACK stands for the response of the sensor to the device command
  • MSG is the message that the sensor actively broadcasts or pushes to the host computer in the event of an error or state change
  • Seqnum is sequence number (sequence number), its range is 0 ⁇ 65535;
  • CRC16 is the check value from the frame header to Seqnum
  • CRC32 is the check value from the frame header to Data
  • the Data contains the command set and command code, and the sensor performs the specified function according to the command code.
  • the sending device commands to the designated sensor through the command port and based on the heartbeat connection includes: sending the device command to the midplane through the command port The device command; the middle board is used to forward the device command to a designated sensor.
  • the forwarding the device command to the designated sensor includes: parsing the sensor information carried in the device command; querying the port corresponding to the sensor information; and sending the device command to the designated sensor through the port.
  • step S130 through the command port, the information returned by the designated sensor is received based on the heartbeat connection.
  • the sensor After receiving the device command, the sensor parses the command code carried in the device command and executes the corresponding action. Since each sensor that has established a connection has a command port corresponding to it, the sensor can send the returned information to the host computer according to the port number of the command port corresponding to it previously learned.
  • step S140 the returned information is output. Among them, corresponding different information is output according to different reply types.
  • FIG. 4 shows an exemplary flowchart of outputting the returned information.
  • step S410 the returned information is parsed, and the reply type of the returned information is judged.
  • the reply type includes a message type (MSG) or a command return type (ACK).
  • the information returned by the sensor includes a code indicating the reply type, and the host computer determines the reply type according to the code.
  • the command return type information is the response of the sensor to the received instruction;
  • the message type information is the active broadcast of the sensor or the message pushed to the host computer, for example, the message type information may be the sensor Information generated when an error or status change occurs.
  • step S420 is first executed to determine whether the returned information is a heartbeat packet. If the returned information is not a heartbeat packet, the returned information is considered to be the reply information of the sent device command. At this time, step S430 is continued to determine the sensor that sent the returned information.
  • the sensor that sends the returned information may be determined according to the sensor serial number that identifies the device command corresponding to the command reply packet. That is, check the command sending queue to determine the device command corresponding to the returned information, and then determine the sensor corresponding to sending the returned information.
  • step S440 is executed to output a command to return the packet.
  • step S450 is first executed to query whether the message type is a registered message type. If the message type is a registered message type, step S460 is executed to output the corresponding message.
  • the method 100 further includes: receiving data sent by multiple sensors.
  • FIG. 5 shows an exemplary flowchart of receiving data sent by multiple sensors.
  • step S510 a data port is created.
  • the host computer creates a data port for each sensor of the multiple sensors that are connected to it, and subsequently receives data sent by different sensors corresponding to it through different data ports.
  • the creation of the data port and the creation of the command port are performed in different threads. That is, the process of creating a data port and sending data through the data port may not have a strict timing sequence relationship with the execution process in the command port.
  • the data port is established together with the command port during the connection between the host computer and the sensor.
  • the host computer when the host computer receives the handshake message sent by the sensor and determines that the sensor serial number carried in the handshake message exists in the device list, the host computer can create the data port for the sensor; and, The handshake confirmation message returned by the upper computer to the sensor may carry the port number of the data port created for the sensor.
  • step S520 a data processing unit is created.
  • the host computer creates a data processing unit for each sensor connected to it, adds each data processing unit to the data processing list, and executes step S530 to wait for the data packet sent by the sensor .
  • step S540 is executed to parse the sensor serial number in the data packet to verify whether the sensor serial number exists in the device list. If the sensor serial number exists in the device list, it indicates that the device sending the data packet is a registered sensor. At this time, step S550 is executed to output the data packet information. If the sensor serial number does not exist in the device list, it indicates that the device sending the data packet is not a registered sensor, and the data packet will be discarded at this time. This allows the host computer to receive only the data sent by the registered device.
  • the data packet includes a point cloud data packet.
  • the data packet information includes point cloud data information of the lidar.
  • the sensor emits a laser pulse signal to the detection object, and obtains the reflected pulse signal, and calculates the distance information of the measured object from the detector according to the time difference between the transmitted signal and the received signal; based on the known emission of the laser ranging system Direction to obtain the angle information of the measured object relative to the laser ranging system; combining the aforementioned distance and angle information to obtain a large number of detection points (that is, point clouds), based on the point cloud, the spatial three-dimensional information of the measured object relative to the sensor can be reconstructed.
  • lidar needs to measure multiple signal echo signals, when multiple echoes are sampled, if a simple coordinate format is used, the amount of data will be multiplied. Therefore, in this embodiment, the point cloud data is expressed by spherical coordinates. In the case of echo, angle data can be shared and only multiple distance information is used, saving space and transmission bandwidth.
  • the point cloud data packet contains the information contained in the above heartbeat packet, namely: version number (Version), port ID (Port ID), radar ID (Lidar ID), error code (Error Code), time stamp Type (Timestamp Type) and time stamp (Time Stamp), in addition, the point cloud data packet also contains a data type (Data_Type), the offset is 9, the size is 1 byte, and point cloud data ( Data), the offset is 18.
  • each point cloud data packet includes 100 point cloud data.
  • the format of the point cloud data is as follows:
  • the format of the point cloud data is as follows:
  • the lidar samples When the lidar samples, the emitted beam hits the edge of the object, and there are second or more objects behind it, multiple echo signals will be generated.
  • the direction of the first echo is the same as that of subsequent echoes, but it is only inconsistent in distance. Therefore, the following format is used in the embodiment of the present invention to represent multiple echoes:
  • the multiple echoes share angle data, and only use multiple distance information, saving space and transmission bandwidth.
  • the host computer receives the point cloud data packet sent by the sensor, it outputs the data packet information.
  • the host computer can transfer the point cloud data in the data package in a specific file format for subsequent development or data playback through specific software.
  • the host computer can also exchange information with the sensor through the midplane.
  • the receiving data packet information from the sensor based on the heartbeat connection through the data port includes: through the data port , Receiving data packet information from the midplane; the midplane is used to forward the data packet information.
  • the step of forwarding the data packet information by the middleboard includes: parsing the type of information carried by the data packet information; when the information type is a data type, forwarding the data packet information.
  • the midplane is also used to integrate data packet information from the sensor.
  • the integration of the data packet information from the sensor includes: integrating the data packet information according to a data format; or, integrating the data packet information according to a time stamp.
  • integrating the data packet information according to a data format includes: parsing the data packet information to obtain the type of the data field in the data packet information; and matching the data packet according to the type of the data field Information processing.
  • the processing of the data packet information according to the type of the data field includes: data discarding; or, data merging.
  • the integration of the data packet information according to the time stamp includes: parsing the data packet information to obtain time stamp information carried by the data packet information; obtaining synchronization timing information; and according to the synchronization timing information and the Time stamp to process the data packet information.
  • processing the data packet information according to the synchronization timing information and the time stamp includes: aligning the sensor data in the data packet according to the synchronization timing information according to the time stamp; and The aligned data is combined into one data packet.
  • the merging the aligned data into one data packet includes: removing overlapping data in the information of each data packet. In this way, the amount of calculation of the host computer can be reduced.
  • the integration of the data packet information according to the data format includes: parsing the data packet information, comparing data in each data packet information; and removing overlapping data in each data packet information, thereby, Can reduce the amount of computing on the host computer.
  • the information interaction method can simultaneously perform command and data interaction on multiple sensors; can separately send commands to multiple sensors and distinguish the data packets sent by each sensor; and can register sensors that need to be connected , Unregistered devices cannot be connected; after registering devices, all registered devices can be automatically connected, and data ports and command ports are automatically assigned to each sensor.
  • the computer-readable medium may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disk only Read-memory (CD-ROM), USB memory, or any combination of the aforementioned computer-readable media.
  • the computer-readable medium may be any combination of one or more computer-readable media.
  • the following describes an information interaction method 600 according to another embodiment of the present invention with reference to FIG. 6.
  • the information interaction method 600 can be applied to each sensor of a plurality of sensors.
  • the plurality of sensors may respectively execute the information interaction method 600 for the upper computer.
  • the plurality of sensors may be disposed at different positions of the movable platform, and used to detect object information at different positions/directions.
  • the information interaction method 600 may include the following steps:
  • step S610 a heartbeat connection with the host computer is established.
  • the host computer includes a control device of a movable platform, such as a PC (personal computer).
  • the host computer is used to control multiple sensors and perform comprehensive processing based on the object information detected by the multiple sensors to understand the object information of the surrounding environment of the movable platform.
  • connection between the sensor and the host computer is established through a handshake mechanism.
  • the broadcast of the sensor broadcasts handshake information.
  • the broadcast handshake information carries the sensor information of the sensor, for example, the sensor serial number of the sensor.
  • the host computer After the host computer receives the broadcast handshake information from the sensor, it will analyze the sensor serial number in the broadcast handshake information to determine that the sensor is a registered sensor. For the specific steps, refer to the method 100 above. If the host computer confirms that the sensor is a registered sensor, it returns a handshake confirmation message to the sensor, where the handshake confirmation information carries the IP address of the host computer and the port numbers of the command port and data port created by it. The sensor receives the handshake confirmation information, and returns the connection status information to the upper computer. The connection status information includes a successful connection or a failed connection. After the host computer receives the connection status information of the successful connection returned by the sensor, it can determine that a connection is established between the two.
  • the two After the sensor and the host computer complete three handshakes to establish a connection, the two maintain a long connection through a heartbeat mechanism.
  • the sensor receiving host computer sends a heartbeat packet to a designated sensor at a predetermined time interval, and sends a heartbeat packet carrying sensor information to the upper computer in response to the received heartbeat packet. Based on the sensor information carried in the heartbeat packet, the host computer can determine the sensor that sent the heartbeat packet, thereby maintaining the heartbeat connection with each of the multiple sensors. If the heartbeat packet sent by the host computer is not received within a predetermined time, it is confirmed that the two are disconnected.
  • the specific structure of the heartbeat packet can be referred to above.
  • step S620 a device command sent by the host computer is received.
  • the sensor After the sensor receives the device command, it parses the command code carried in the device command and performs the corresponding action.
  • step S630 the returned information is sent to the command port of the host computer.
  • the sensor can send the returned information to the host computer according to the port number of the command port corresponding to the previously learned sensor.
  • the reply type includes a message type (MSG) or a command return type (ACK).
  • the information returned by the sensor includes a code indicating the reply type, and the host computer can determine the reply type according to the code.
  • the command return type information is the response of the sensor to the received instruction;
  • the message type information is the active broadcast of the sensor or the message pushed to the host computer, for example, the message type information may be the sensor Information generated by an error or state change.
  • the method further includes: sending data packet information to the data port of the host computer.
  • the data packet information carries the sensor serial number of the sensor.
  • the host computer can verify whether the device sending the data packet information is a registered sensor according to the sensor serial number.
  • the data packet includes a point cloud data packet.
  • the data packet includes a point cloud data packet of the laser radar.
  • the sensor emits a laser pulse signal to the detection object, and obtains the pulse signal reflected by it, and calculates the distance information of the measured object from the detector according to the time difference between the transmitted signal and the received signal; based on the known emission direction of the laser ranging system To obtain the angle information of the measured object relative to the laser ranging system; combining the aforementioned distance and angle information to obtain a large number of detection points (ie point clouds), based on the point cloud, the spatial three-dimensional information of the measured object relative to the laser ranging system can be reconstructed.
  • the host computer can save the point cloud data in the data package in a specific file format for subsequent research and development or data playback through specific software.
  • the specific structure of the point cloud data package can be referred to above.
  • the information interaction method according to the embodiment of the present invention may allow multiple sensors to simultaneously perform command and data interaction with the host computer.
  • a computer-readable medium on which program instructions are stored, which are used to execute the embodiments of the present invention when the program instructions are executed by a computer or a processor Corresponding steps of the information interaction method 600.
  • the computer-readable medium may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disk only Read-memory (CD-ROM), USB memory, or any combination of the aforementioned computer-readable media.
  • the computer-readable medium may be any combination of one or more computer-readable media.
  • an information interaction system is also provided.
  • the information interaction system 700 may include a host computer 710 and a plurality of sensors 720 connected to the host computer 710, wherein: the host computer 710 executes the above-mentioned information interaction method 100 for the sensors 720, and each sensor 720 targets the host computer 710 The above-mentioned information interaction method 600 is executed.
  • the host computer 710 includes a storage device and a processor.
  • the storage device stores program codes for implementing the corresponding steps in the information interaction method 100 according to an embodiment of the present invention.
  • the processor is used to run the program code stored in the storage device to execute the corresponding steps of the information interaction method 100 according to the embodiment of the present invention.
  • the sensor 720 includes a storage device and a processor, where the storage device stores program code for implementing corresponding steps in the information interaction method 600 according to an embodiment of the present invention.
  • the processor is used to run the program code stored in the storage device to execute the corresponding steps of the information interaction method 600 according to the embodiment of the present invention.
  • the host computer 710 executes the above-mentioned information interaction method 100 for the sensor 720, that is: establishing a heartbeat connection with multiple sensors; creating a command port, and sending a device command to a designated sensor based on the heartbeat connection through the command port; Based on the heartbeat connection, receiving information returned by the designated sensor through the command port; and outputting the returned information.
  • the host computer 710 can also perform other steps not shown in FIG. 1 in the information interaction method 100 described above for the sensor 720. For the sake of brevity, details are not described here.
  • the sensor 720 performs the above-mentioned information interaction method 600 for the host computer 710, that is, to establish a heartbeat connection with the host computer; based on the heartbeat connection, receiving a device command sent by the host computer; and based on the heartbeat connection, to The command port of the host computer sends the returned information.
  • the senor 720 may also perform other steps not shown in FIG. 6 in the information interaction method 600 described above for the host computer 710, and for the sake of brevity, no further description is provided here.
  • the above-mentioned information interaction method, system and computer-readable medium are described in the embodiments of the present invention from the perspective of the host computer and the sensor, respectively.
  • the host computer can directly exchange information with the sensor, and can also exchange information with the sensor through the middle board.
  • the middle board includes data collection of the central control circuit, which plays the role of data summary and forwarding. It can forward the information from the upper computer to each sensor, and can also send the information from the sensor to the upper computer.
  • the middle board has time The alignment function can align the data of multiple sensors in time.
  • FIG. 8 shows a flowchart of an information interaction method 800 according to one embodiment of the present invention.
  • the method 800 may be executed by a midplane for information interaction with a host computer and multiple sensors. As shown in FIG. 8, the method 800 includes the following steps:
  • step S810 heartbeat connections are established with the host computer and multiple sensors, respectively.
  • the midplane listens to the handshake information broadcast by the sensor.
  • the broadcast handshake information carries information such as the IP address and sensor serial number of each sensor.
  • Multiple sensors can simultaneously send broadcast handshake information
  • the midplane can use the same port to monitor the broadcast handshake information broadcast by the multiple sensors
  • the midplane can simultaneously receive the broadcast handshake information broadcast by multiple sensors.
  • the broadcast handshake information carries the sensor serial number of the sensor that sent the information.
  • the host computer will determine whether the sensor sending the broadcast handshake information exists in the device list established in advance by the host computer according to the sensor serial number.
  • the host computer After the host computer confirms that the sensor that sends the broadcast handshake information exists in the device list pre-established by the host computer, it returns the handshake confirmation information to the intermediate board, and the handshake confirmation information carries information such as the IP address of the host computer.
  • the midplane receives the handshake confirmation message and forwards it to the designated sensor.
  • the midplane receives the connection status information from the sensor and sends it to the host computer.
  • the upper computer receives the connection status information of the successful connection returned by the sensor, and determines that a connection is established between the two.
  • the two can maintain a long connection through a heartbeat mechanism.
  • the midplane receives the heartbeat packet sent by the upper computer, and sends the heartbeat packet to the designated sensor.
  • the sensor After receiving the heartbeat packet, the sensor sends the heartbeat packet carrying the sensor information to the midplane in response to the received heartbeat packet.
  • the midplane forwards the heartbeat packet sent by the sensor to the host computer. Based on the sensor information carried in the heartbeat packet, the host computer can determine the sensor that sent the heartbeat packet, thereby maintaining the heartbeat connection with each of the multiple sensors.
  • the specific structure of the heartbeat package can be seen above.
  • step S820 based on the heartbeat connection, receive a device command sent by the host computer, and send the device command to a designated sensor.
  • the host computer generates a sensor serial number for identifying the sensor to which the device command is directed, and sends the device command through a command port corresponding to the sensor serial number. After receiving the device command, the midplane forwards the device command to the corresponding designated sensor.
  • step S830 based on the heartbeat connection, receive the information returned by the designated sensor, and send the returned information to the command port of the host computer.
  • the midplane can send the returned information to the upper computer according to the port number of the command port corresponding to the sensor.
  • the reply type includes a message type (MSG) or a command return type (ACK).
  • the information returned by the sensor includes a code indicating the reply type, and the host computer can determine the reply type according to the code.
  • the command return type information is the response of the sensor to the received instruction;
  • the message type information is the active broadcast of the sensor or the message pushed to the host computer, for example, the message type information may be the sensor Information generated by an error or state change.
  • the method 800 further includes: receiving data packet information from the sensor; and sending the data packet information to the The data port of the host computer.
  • the data packet information carries the sensor serial number of the sensor.
  • the host computer can verify whether the device sending the data packet information is a registered sensor according to the sensor serial number.
  • the data packet includes a point cloud data packet.
  • the data packet includes a point cloud data packet of the laser radar. For the specific structure of the point cloud data package, see above.
  • the information interaction method can distribute data through the midplane so that multiple sensors can simultaneously perform command and data interaction with the host computer.
  • the computer-readable medium may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disk only Read-memory (CD-ROM), USB memory, or any combination of the aforementioned computer-readable media.
  • the computer-readable medium may be any combination of one or more computer-readable media.
  • an information interaction system is also provided.
  • a schematic block diagram of an information interaction system 900 according to an embodiment of the present invention is described below with reference to FIG. 9. As shown in FIG.
  • the information interaction system 900 may include a host computer 910, multiple sensors 920, and an intermediate board 930 connected to the host computer 910 and the multiple sensors 920 respectively, where the intermediate board 930 is directed to the host computer 910 Perform the corresponding steps of the above information interaction method 800 with the sensor 920, that is: establish a heartbeat connection with the host computer and a plurality of sensors respectively; based on the heartbeat connection, receive a device command sent by the host computer, and transfer the device The command is sent to the designated sensor; and based on the heartbeat connection, the information returned by the designated sensor is received, and the returned information is sent to the command port of the host computer.
  • the intermediate board 930 may also perform other steps not shown in FIG. 9 in the information interaction method 900 described above for the host computer 910 and the sensor 920, and for the sake of brevity, no further description is provided here.
  • the information interaction method, system and computer-readable medium of the present invention can enable the host computer to automatically establish a heartbeat connection with a plurality of designated sensors, and control the plurality of designated sensors respectively, thereby improving the connection between the host computer and the multiple sensors The efficiency of information exchange.
  • 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, for example, distance information, azimuth information, reflection intensity information, speed information, etc. of the environmental target.
  • the distance measuring device can detect the distance between the detecting object and the distance measuring device by measuring the time of light propagation between the distance measuring device and the detection object, that is, Time-of-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 1000 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 100 and the detected object based on the sampling result of the sampling circuit 130.
  • the distance measuring device 1000 may further include a control circuit 150, which can control other circuits, for example, can control the working time of each circuit and/or set parameters for each circuit.
  • a control circuit 150 can control other circuits, for example, can control the working time of each circuit and/or set parameters for each circuit.
  • the distance measuring device shown in FIG. 10 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 1000 may further include a scanning module for changing at least one laser pulse sequence emitted from the transmitting circuit to change the propagation direction.
  • 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 150 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.
  • FIG. 11 shows a schematic diagram of an embodiment of the distance measuring device of the present invention using a coaxial optical path.
  • the laser distance measuring device 200 includes a distance measuring module 201, and 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) ⁇ 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 laser 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 object to be measured.
  • the collimating element 204 may be a collimating lens or other element capable of collimating the light beam.
  • the optical path changing element 206 is used to combine the transmitting optical path and the receiving optical path in the distance measuring device before the collimating element 204, so that the transmitting optical path and the receiving optical path can share the same collimating element, so that the optical path More compact.
  • the transmitter 203 and the detector 205 may respectively use respective collimating elements, and the optical path changing element 206 is disposed on the optical path behind the collimating element.
  • the light path changing element can use a small-area mirror to convert The transmitting optical path and the receiving optical path are combined.
  • the light path changing element may also use a 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 laser distance measuring device 200 further includes a scanning module 202.
  • the scanning module 202 is placed on the exit optical path of the distance measuring module 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 rotation axis 209, and each rotating or vibrating optical element is used to continuously change the propagation direction 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 214 includes a wedge-angle prism, aligning the straight beam 219 for refraction.
  • the scanning module 202 further includes a second optical element 215 that rotates about a rotation axis 209.
  • the rotation speed of the second optical element 215 is different from the rotation speed of the first optical element 214.
  • the second optical element 215 is used to change the direction of the light beam projected by the first optical element 214.
  • the second optical element 215 is connected to another driver 217, and the driver 217 drives the second optical element 215 to rotate.
  • the first optical element 214 and the second optical element 215 may be driven by the same or different drivers, so that the first optical element 214 and the second optical element 215 have different rotation speeds and/or rotations, thereby projecting the collimated light beam 219 to the outside space Different directions can scan a larger spatial range.
  • the controller 218 controls the drivers 216 and 217 to drive the first optical element 214 and the second optical element 215, respectively.
  • the rotation speeds of the first optical element 214 and the second optical element 215 can be determined according to the area and pattern expected to be scanned in practical applications.
  • Drives 216 and 217 may include motors or other drives.
  • the second optical element 215 includes a pair of opposed non-parallel surfaces through which the light beam passes. In one embodiment, the second optical element 215 includes a prism whose thickness varies along at least one radial direction. In one embodiment, the second optical element 215 includes a wedge angle prism.
  • the scanning module 202 further includes a third optical element (not shown) and a driver for driving the third optical element to move.
  • the third optical element includes a pair of opposed non-parallel surfaces through which the light beam passes.
  • the third optical element includes a prism whose thickness varies along at least one radial direction.
  • the third optical element includes a wedge angle prism. At least two of the first, second and third optical elements rotate at different rotational speeds and/or turns.
  • each optical element in the scanning module 202 can project light into different directions, such as light 211 and 213, thus scanning the space around the laser distance measuring device.
  • light 211 projected by the scanning module 202 hits the object to be measured 210
  • a part of the light is reflected by the object to be measured 210 to the laser distance measuring device 200 in a direction opposite to the projected light 211.
  • the reflected light 212 reflected by the object to be measured 210 is incident on the collimating element 204 after passing through the scanning module 202.
  • 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 receiving time may be determined, for example, by detecting the rising edge time and/or the falling edge time of the electrical signal pulse. In this way, the laser distance measuring device 200 can use the pulse receiving time information and the pulse sending time information to calculate the TOF, thereby determining the distance between the object to be measured 210 and the laser distance measuring device 200.
  • the distance and orientation detected by the laser ranging device 200 can be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like.
  • the distance measuring device of the embodiment of the present invention can be applied to a mobile platform, and the distance measuring device can be installed on the platform body of the mobile platform.
  • a mobile platform with a distance measuring device can measure the external environment, for example, measuring the distance between the mobile platform and obstacles for obstacle avoidance and other purposes, and performing two-dimensional or three-dimensional mapping on the external environment.
  • the mobile platform includes at least one of an unmanned car, a remote control car, a robot, and a camera.
  • 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 is the body of the remote control car.
  • the platform body is a robot.
  • the distance measuring device is applied to a camera, the platform body is the camera itself.
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are only schematic.
  • the division of the units is only a division of logical functions.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another device, or some features can be ignored, or not implemented.
  • the various component embodiments of the present invention may be implemented in hardware, or implemented in software modules running on one or more processors, or implemented in a combination thereof.
  • a microprocessor or a digital signal processor (DSP) may be used to implement some or all functions of some modules according to embodiments of the present invention.
  • DSP digital signal processor
  • the present invention can also be implemented as a device program (for example, a computer program and a computer program product) for performing a part or all of the method described herein.
  • a program implementing the present invention may be stored on a computer-readable medium, or may have the form of one or more signals.
  • Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Measuring Pulse, Heart Rate, Blood Pressure Or Blood Flow (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)

Abstract

本发明公开了一种信息交互方法、系统和计算机可读介质，所述方法包括：建立与多个传感器之间的心跳连接；创建命令端口，并通过所述命令端口、基于所述心跳连接向指定传感器发送设备命令；基于所述心跳连接，通过所述命令端口接收指定传感器返回的信息；以及输出所述返回的信息。本发明的信息交互方法、系统和计算机可读介质，能够使上位机自动地与多个指定的传感器建立心跳连接，并分别对多个指定传感器进行控制，提高了上位机与多个传感器之间信息交互的效率。

Description

信息交互方法、系统和计算机可读介质 技术领域
本发明涉及通信领域，具体而言涉及一种信息交互方法、系统和计算机可读介质。
背景技术
例如机器人、无人飞机、车和船等的移动载体，可以通过传感器对周围的环境进行感知，进而实现路径规划、障碍物探测和避障等。
激光雷达作为一种复杂的三维传感器，其需要接受外界输入的控制指令，同时需要向外输出三维点云数据。在实际的应用场景中，为了获得周围环境的全景信息，上位机往往需要连接多个激光雷达，同时与多个激光雷达进行命令和数据交互。然而，现有的上位机无法区分不同激光雷达的点云数据包，并且需要手动设置不同的IP地址后，多个激光雷达才能同时连接到一个上位机上，效率较低。
因此，鉴于上述技术问题的存在，有必要提出一种新的信息交互方法、系统和计算机可读介质。
发明内容
在发明内容部分中引入了一系列简化形式的概念，这将在具体实施方式部分中进一步详细说明。本发明的发明内容部分并不意味着要试图限定出所要求保护的技术方案的关键特征和必要技术特征，更不意味着试图确定所要求保护的技术方案的保护范围。
针对现有技术的不足，本发明实施例第一方面提供了一种信息交互方法，所述方法包括：
建立与多个传感器之间的心跳连接；
创建命令端口，并通过所述命令端口、基于所述心跳连接向指定传感器发送设备命令；
基于所述心跳连接，通过所述命令端口接收指定传感器返回的信 息；
输出所述返回的信息。
本发明实施例第二方面提供了一种信息交互方法，所述方法包括：
建立与上位机之间的心跳连接；
基于所述心跳连接接收所述上位机发送的设备命令；
基于所述心跳连接，向所述上位机的命令端口发送返回的信息。
本发明第三方面提供了一种信息交互系统，所述信息交互系统包括上位机和多个传感器，其中，所述上位机针对所述多个传感器执行本发明实施例第一方面中任一项所述的信息交互方法，所述多个传感器针对所述上位机执行本发明实施例第二方面中任一项所述的信息交互方法。
本发明第四方面提供了一种信息交互方法，所述方法包括：
分别与上位机和多个传感器建立心跳连接；
基于所述心跳连接，接收所述上位机发送的设备命令，并将所述设备命令发送给指定的传感器；以及
基于所述心跳连接，接收所述指定的传感器返回的信息，并将所述返回的信息发送至所述上位机的命令端口。
本发明第五方面提供了一种信息交互系统，所述信息交互系统包括上位机、中间板和多个传感器，其中，所述中间板针对所述上位机和所述多个传感器执行本发明实施例第四方面中任一项所述的信息交互方法。
本发明第六方面提供了一种计算机可读介质，所述计算机可读介质上存储有计算机程序，所述计算机程序在运行时执行本发明实施例第一方面中任一项所述的信息交互方法、或本发明实施例第二方面中任一项所述的信息交互方法、或本发明实施例第五方面中任一项所述的信息交互方法。
本发明的信息交互方法、系统和计算机可读介质，能够使上位机自动地与多个指定的传感器建立心跳连接，并分别对多个指定传感器进行控制，提高了上位机与多个传感器之间信息交互的效率。
附图说明
本发明的下列附图在此作为本发明的一部分用于理解本发明。附图中示出了本发明的实施例及其描述，用来解释本发明的原理。
附图中：
图1示出了根据本发明一实施例的信息交互方法的流程图；
图2示出了根据本发明一实施例的信息交互方法中与多个传感器建立心跳连接的流程图；
图3示出了根据本发明一实施例的信息交互方法中向指定传感器发送设备命令的流程图；
图4示出了根据本发明一实施例的信息交互方法中输出返回的信息的流程图；
图5示出了根据本发明一实施例的信息交互方法中与传感器进行数据交互的流程图；
图6示出了根据本发明另一实施例的信息交互方法的流程图；
图7示出了根据本发明一实施例的信息交互系统的结构框图；
图8示出了根据本发明又一实施例的信息交互方法的流程图；
图9示出了根据本发明另一实施例的信息交互系统的结构框图；
图10示出了本发明实施例提供的一种激光测距装置的示意性框架图；
图11示出了本发明实施例提供的激光测距装置采用同轴光路的一种实施例的示意图。
具体实施方式
为了使得本发明的目的、技术方案和优点更为明显，下面将参照附图详细描述根据本发明的示例实施例。显然，所描述的实施例仅仅是本发明的一部分实施例，而不是本发明的全部实施例，应理解，本发明不受这里描述的示例实施例的限制。基于本发明中描述的本发明实施例，本领域技术人员在没有付出创造性劳动的情况下所得到的所有其它实施例都应落入本发明的保护范围之内。
在下文的描述中，给出了大量具体的细节以便提供对本发明更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本发明 可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本发明发生混淆，对于本领域公知的一些技术特征未进行描述。
应当理解的是，本发明能够以不同形式实施，而不应当解释为局限于这里提出的实施例。相反地，提供这些实施例将使公开彻底和完全，并且将本发明的范围完全地传递给本领域技术人员。
在此使用的术语的目的仅在于描述具体实施例并且不作为本发明的限制。在此使用时，单数形式的“一”、“一个”和“所述/该”也意图包括复数形式，除非上下文清楚指出另外的方式。还应明白术语“组成”和/或“包括”，当在该说明书中使用时，确定所述特征、整数、步骤、操作、元件和/或部件的存在，但不排除一个或更多其它的特征、整数、步骤、操作、元件、部件和/或组的存在或添加。在此使用时，术语“和/或”包括相关所列项目的任何及所有组合。
为了彻底理解本发明，将在下列的描述中提出详细的步骤以及详细的结构，以便阐释本发明提出的技术方案。本发明的较佳实施例详细描述如下，然而除了这些详细描述外，本发明还可以具有其他实施方式。
为了解决现有技术中存在的上述技术问题，本发明一方面提供一种信息交互方法，包括：建立与多个传感器之间的心跳连接；创建命令端口，并通过所述命令端口、基于所述心跳连接向指定传感器发送设备命令；基于所述心跳连接，通过所述命令端口接收指定传感器返回的信息；输出所述返回的信息。
与此相对的，本发明另一方面提供一种信息交互方法，包括：建立与上位机之间的心跳连接；基于所述心跳连接接收所述上位机发送的设备命令；以及基于所述心跳连接，向所述上位机的命令端口发送返回的信息。
本发明又一方面提供一种信息交互方法，包括：分别与上位机和多个传感器建立心跳连接；接收所述上位机发送的设备命令，并将所述设备命令发送给指定的传感器；以及接收所述指定的传感器返回的信息，并将所述返回的信息发送至所述上位机的命令端口。
示例性地，本发明实施例所提供的信息交互方法、系统及计算机可读介质可应用于分布式雷达系统，所述分布式雷达系统包括上位机 和多个雷达，多个雷达分布在可移动平台的不同的位置，用于检测不同位置/方向的物体信息，上位机根据多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激光雷达系统后，每个激光雷达都具有一定的视场角(FOV)，并且每个激光雷达具有一定的发射方向角，相邻雷达的视场角部分重叠或者恰好不重叠，通过多个激光雷达的视场拼接，可以探测汽车周围，从而了解汽车周围的环境信息。
所述分布式雷达系统还可以包括中间板，所述中间板接收上位机发送的指令，并分发给多个雷达；或者，所述中间板还可以接收雷达发送的数据包，并发送给上位机；进一步地，中间板对来自各个激光雷达的数据包进行解析，对各个数据包解析获得的数据进行时序对齐，然后将对齐后的数据发送。中间板对各个数据包的时序对齐，包括，获得来自中间板时序端口输入的同步时序信号，该同步时序信号也为各个激光雷达提供时序。中间板对接收到的，来自各激光雷达的数据包进行解析，获得激光发射和回波的时间戳数据，并基于同步时序信号将各时间戳数据在时序上对齐。在进行时间戳对齐的同时，中间板还可以对来自各个激光雷达的数据进行拼接。这样，来自各个激光雷达的数据会被整个成为一个数据包，以此减少上位机的运算量。中间板对上位机的拼接可以根据预设端口规则进行，预设端口规则与激光雷达的视场角交叠以及激光雷达的位置信息相对应。
上位机可以包括一个或多个处理器，用于接收多个雷达发送的数据，并对数据进行处理，以及下发指令以控制雷达以及其他模块的工作。上位机具有多个雷达接口，雷达可通过传输线缆连接至雷达接口，从而将雷达接入上位机中，以便使上位机可以接收雷达的数据，并对雷达进行控制。
本发明的信息交互方法、系统和计算机可读介质，能够使上位机自动地与多个指定的传感器建立心跳连接，并分别对多个指定传感器进行控制，提高了上位机与多个传感器之间信息交互的效率。
本发明实施例所提供的信息交互方法主要涉及上位机和多个传感器。下面，首先参考图1描述根据本发明实施例的信息交互方法100，信息交互方法100用于上位机。与此相对的，后文将结合图6 描述根据本发明另一实施例的信息交互方法600，信息交互方法600用于传感器。
图1示出了根据本发明的一个实施例的、信息交互方法100的流程图，信息交互方法100可以由上位机执行，以用于与多个传感器进行信息交互。如图1所示，方法100包括如下步骤：
首先，在步骤S110，建立与多个传感器之间的心跳连接。
其中，所述传感器用于感测外部环境信息，例如，环境目标的距离信息、方位信息、反射强度信息、速度信息等。所述传感器可以为激光雷达，也可以为其它雷达或者测距装置。所述多个传感器可分布在可移动平台的不同的位置，用于检测可移动平台周围不同位置/方向的物体信息。
在一个实施例中，所述多个传感器为已注册的传感器。上位机可预先注册需要连接的传感器，注册后可自动连接所有已注册的传感器，而非注册传感器则不进行连接。
示例性地，上位机预先注册待连接的传感器的传感器序列号，以建立设备列表。设备列表中的序列号所对应的传感器即为所述已注册的传感器。
图2示出了上位机与多个传感器之间建立心跳连接的一个示例性的流程图。如图2所示，上位机与多个传感器之间通过握手机制建立连接。
如图2所示，首先，在步骤S210，监听传感器广播的广播握手信息。其中，所述广播握手信息携带有各个传感器的IP地址和传感器序列号等信息。多个传感器可同时发送广播握手信息，上位机可以使用同一个端口监听所述多个传感器广播的广播握手信息，并且，上位机可以同时接收到多个传感器广播的广播握手信息。
在步骤S220，接收来自传感器的广播握手信息。其中，所述广播握手信息携带有发送该信息的传感器的传感器序列号。
在步骤S230，判断发送所述广播握手信息的传感器是否存在于所述设备列表。
具体地，上位机接收来自传感器的广播握手信息后，解析所述广播握手信息中的传感器序列号，并判断所述广播握手信息中的传感器 序列号是否存在于所述设备列表中，进而判断发送所述广播握手信息的设备是否为已注册的传感器。若所述广播握手信息中的序列号存在于所述设备列表中，则表示发送所述广播握手信息的设备为注册传感器，此时上位机执行步骤S240，向所述传感器返回握手确认信息，所述握手确认信息携带有上位机的IP地址等信息。若所述传感器序列号不存在于设备列表中，则表示发送所述广播握手信息的设备并非注册传感器，此时上位机不回应该广播握手信息，并继续监听来自传感器的广播握手信息。
在步骤S250，接收来自传感器的连接状态信息。当传感器接收到所述握手确认信息之后，向上位机返回连接状态信息，所述连接状态信息包括连接成功或连接失败。上位机接收所述传感器返回的连接成功的连接状态信息，则确定二者之间建立了连接。若上位机在预定时间内未能接收到传感器返回的连接状态信息，则认为连接失败，上位机继续监听来自所述传感器的广播握手信息。
继续参照图2，当上位机与传感器完成上述三次握手，从而建立连接之后，二者之间可通过心跳机制保持长连接。之后可基于该长连接在上位机和传感器之间进行指令和数据的交互，而无需反复完成握手流程，提高了信息交互效率。
示例性地，首先，在步骤S260，以预定的时间间隔向指定传感器发送心跳包。传感器接收到上位机发送的心跳包后，向上位机发送所述携带有传感器信息的心跳包，以应答接收到的心跳包。
接着，在步骤S270，接收来自指定传感器的心跳包，所述心跳包携带有指定传感器的传感器信息。根据所述心跳包中携带的传感器信息，上位机能够判断发送所述心跳包的传感器，从而分别与多个传感器中的每一个保持心跳连接。如果上位机在一定的时间内未收到指定传感器发送的心跳包，则认为与该传感器之间的连接断开。示例性地，所述传感器信息包括传感器的工作状态信息、工作模式信息、错误码信息中的至少一种。
为了便于理解，下文示出了根据本发明一实施例的心跳包的具体结构。
示例性地，所述心跳包包含的信息包括：版本号(Version)、端 口ID(Port ID)、雷达ID(Lidar ID)、错误码(Error Code)、时间戳类型(Timestamp Type)以及时间戳(Time Stamp)。该心跳包的示例性的帧格式如下表所示：
Figure PCTCN2019071152-appb-000001
其中，所述版本号代表数据包的协议版本，例如，当前版本V0＝1。所述端口ID为安装传感器的端口号：若传感器不经过中心板，直接与上位机连接，则端口ID默认为0，用户可以通过指令配置端口号；若传感器连接中间板，中间板与上位机连接，则端口ID为中间板端口号，用户不可通过指令修改。所述雷达ID为传感器的序号，此处将所述传感器例示为雷达，其中单体雷达的序号为0，三合一雷达的编号分别为0,1,2。RSVD(Reserved)为调试预留位。错误码由32bits组成，是所分配的、表示异常的唯一编号。
雷达系统支持三种同步方式：网络协议同步，脉冲同步(仅雷达支持)，GPS时间同步(PPS+GPRMC，仅中心板支持)。网络协议同步优先级高于其他同步方式。每个心跳包中包含一个时间戳，表示心跳包中第一个点的时间。
当系统中没有同步信号时，心跳包中时间戳格式为uint64，单位为ns(纳秒)，表示开机时间。
使用网络协议同步时，心跳包中时间戳单位为ns。
使用GPS时间同步时，心跳包中时间戳格式为8Bytes UTC时间，具体格式为：
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4～7(uint32)
年 月 日 时 小时内的偏移量，单位us
使用脉冲同步时，心跳包中时间单位为ns，表示与上一个同步脉冲上升沿的时间间隔。
示例性地，所述时间戳的格式为：
Figure PCTCN2019071152-appb-000002
在一个实施例中，上述数据协议的数据格式采用小端存储(Little Endian)，即字节或半字节的最低位字节(Lowest Significant Bit，LSB)存放于内存最低位字节地址上。
在建立与任意一个传感器之间的心跳连接之后，上位机可继续接收来自传感器的广播握手信息，以实现与多个传感器同时建立连接。
继续参考图1，在步骤S120，创建命令端口，并通过所述命令端口、基于所述心跳连接向指定传感器发送设备命令。
图3示出了上位机向指定传感器发送设备命令的一个示例性的流程图。
如图3所示，首先，在步骤S310，创建命令端口。其中，上位机针对与之建立连接的多个传感器中的每个传感器，分别创建所述命令端口，后续将分别经由不同的命令端口向与之对应的不同传感器发送设备命令。
在一个实施例中，所述分别创建所述命令端口包括：同一线程中分别创建多个命令端口。在另一实施例中，所述分别创建命令端口包括：不同线程中的每个线程中分别创建命令端口。
在一个实施例中，所述命令端口是在上位机与传感器建立连接的过程中建立的。示例性地，当上位机接收到传感器发送的握手消息，并确定所述握手消息中携带的传感器序列号存在于所述设备列表以后，即可针对该传感器创建所述命令端口；并且，上位机返回给传感器的握手确认消息中可以携带针对该传感器创建的所述命令端口的端口号。
在一个实施例中，当上位机生成待发送的设备命令之后，首先判 断是否与所述设备命令所针对的传感器建立了所述心跳连接，若与所述设备命令所针对的传感器建立了所述心跳连接，则发送所述设备命令。
示例性地，判断是否与所述设备命令所针对的传感器建立了所述心跳连接包括：首先，在步骤S320，创建命令处理单元。示例性地，在完成上述的三次握手之后，上位机针对每个与之建立连接的传感器分别创建命令处理单元，将各个命令处理单元添加到命令处理列表，并等待上位机发送设备命令。
在步骤S330，生成用于标识设备命令所针对的传感器的传感器序列号。具体地，当需要针对特定传感器发送设备命令时，生成标识本条命令的传感器序列号，以及在步骤S350，根据所述传感器序列号在所述命令处理列表中查询本条命令对应的命令处理单元是否存在，以此判断是否与该特定传感器建立了心跳连接。如果本条命令对应的命令处理单元存在，则执行步骤S360，创建该条命令的发送任务，并将该任务加入命令发送队列。
接着，在步骤S370，依次发送所述命令发送队列中的各条任务。同时，上位机监听各命令的回复信息。
示例性地，生成用于标识设备命令所针对的传感器的传感器序列号之后，还包括：在步骤S340，为每条设备命令设置命令超时时间。传感器收到每条设备命令之后，均需要返回ACK(命令返回)信息。若上位机在所述命令超时时间之内没有收到所述ACK信息，则视为传感器未收到该条设备命令。
下文示出了根据本发明一实施例的控制协议，该控制协议主要用于与传感器建立和保持连接、切换工作状态和获取传感器状态等。协议帧是控制指令信息传输的最小单位，帧格式如下：
SOF Version Length CMD_Type Seqnum CRC_16 Data CRC_32
1Byte(0xAA) 1Byte 2Bytes 1Byte 2Bytes 2Bytes --- 4Bytes
其中：
SOF即Start of Frame，代表帧头；
Version代表控制协议的协议版本；
Length代表整个协议帧的长度，包含数据段(Data)和末尾的CRC，其最大值为1400；
CMD_Type代表指令类型，具体包括：
0x00:CMD(请求)；
0x01:ACK(响应)；
0x02:MSG(消息)；
其中，CMD代表如上所述的设备命令，ACK代表传感器对设备命令做出的响应；MSG为传感器在发生错误或状态变化等情况下主动广播或者向上位机推送的消息；
Seqnum即sequence number(序列号)，其范围为0～65535；
CRC16为从帧头到Seqnum的校验值；
CRC32为从帧头到Data的校验值；
Data中包含了命令集和命令码，传感器根据所述命令码执行指定的功能。
如上所述，当上位机通过中间板与传感器进行信息交互时，所述通过所述命令端口、基于所述心跳连接向指定传感器发送设备命令，包括：通过所述命令端口，向中间板发送所述设备命令；所述中间板用于将所述设备命令转发至指定传感器。
其中，所述将所述设备命令转发至指定传感器，包括：解析所述设备命令中携带的传感器信息；查询所述传感器信息所对应的端口；通过所述端口向指定传感器发送所述设备命令。
继续参照图1，在步骤S130，通过所述命令端口，基于所述心跳连接接收指定传感器返回的信息。
当传感器接收到设备命令之后，解析所述设备命令中携带的命令码，并执行相应的动作。由于每个建立了连接的传感器均有一个命令端口与之对应，传感器可根据此前获知的与之对应的命令端口的端口号，向上位机发送返回的信息。
在步骤S140，输出所述返回的信息。其中，根据不同的回复类型输出相应的不同的信息。
图4示出了所述输出所述返回的信息的一个示例性的流程图。
如图4所示，首先，在步骤S410，解析所述返回的信息，并判 断所述返回的信息的回复类型。
示例性地，所述回复类型包括消息类型(MSG)或命令返回类型(ACK)，传感器返回的信息中包含有用于指示回复类型的代码，上位机针对该代码判断所述回复类型。其中，所述命令返回类型的信息为传感器对接收到的指令的响应；所述消息类型的信息为传感器的主动广播或者向上位机推送的消息，例如，所述消息类型的信息可以是当传感器发生错误或状态变化时生成的信息。
当所述回复类型为命令返回类型时，首先执行步骤S420，判断所述返回的信息是否为心跳包。若所述返回的信息不是心跳包，则认为该返回的信息为已发送设备命令的回复信息，此时继续执行步骤S430，确定发送所述返回的信息的传感器。
示例性地，可根据标识对应于所述命令回包的设备命令的传感器序列号，判断发送所述返回的信息的传感器。即，检查所述命令发送队列，以判断与所述返回的信息相对应的设备命令，进而判断发送该返回的信息对应的传感器。接着执行步骤S440，输出命令回包。
当所述回复类型为消息类型时，则首先执行步骤S450，查询该消息类型是否为已注册的消息类型。若所述消息类型为已注册的消息类型，则执行步骤S460，输出相应的消息。
进一步地，在输出所述返回的信息之后，方法100还包括：接收多个传感器发送的数据。
图5示出了接收多个传感器发送的数据的一个示例性的流程图。
如图5所示，首先，在步骤S510，创建数据端口。
其中，上位机针对与之建立连接的多个传感器中的每个传感器，分别创建数据端口，后续分别经由不同的数据端口接收与之对应的不同传感器发送的数据。
在一个可选的实施例中，创建数据端口与创建命令端口分别在不同的线程中进行。即，创建数据端口，并且通过数据端口进行数据发送的过程可以与命令端口中的执行过程没有严格的时序先后关系。
在一个实施例中，所述数据端口是在上位机与传感器建立连接的过程中、与所述命令端口一同建立的。示例性地，当上位机接收到传感器发送的握手消息，并确定所述握手消息中携带的传感器序列号存 在于所述设备列表以后，上位机即可针对该传感器创建所述数据端口；并且，上位机返回给传感器的握手确认消息中可以携带针对该传感器创建的所述数据端口的端口号。
接着，在步骤S520，创建数据处理单元。示例性地，在完成上述三次握手之后，上位机针对每个与之建立连接的传感器分别创建数据处理单元，将各个数据处理单元添加到数据处理列表，并执行步骤S530，等待传感器发送的数据包。
当接收到传感器发送的数据包时，则执行步骤S540，解析所述数据包中的传感器序列号，以验证所述传感器序列号是否存在于设备列表中。若所述传感器序列号存在于所述设备列表中，则表明发送所述数据包的设备为已注册的传感器，此时执行步骤S550，输出所述数据包信息。若所述传感器序列号不存在于所述设备列表中，则表明发送所述数据包的设备并非已注册的传感器，此时数据包将被丢弃。由此，上位机能够仅接收注册设备发送的数据。
在一个实施例中，所述数据包包括点云数据包。进一步地，当所述传感器为激光雷达时，所述数据包信息包括激光雷达的点云数据信息。传感器向探测对象发射激光脉冲信号，并获得其反射回来的脉冲信号，根据发射信号和接收信号之间的时间差计算被测对象的距离探测器的距离距离信息；基于激光测距系统的已知发射方向，获得被测对象相对激光测距系统的角度信息；结合前述距离和角度信息得到海量的探测点(即点云)，基于点云即可以重建被测对象相对传感器的空间三维信息。
由于激光雷达需要测量多次信号回波信号，当采样多次回波时，如果采用简单的坐标格式，会成倍增加数据量，因此本实施例中通过球坐标的方式表示点云数据，在多回波的情况下，可以共用角度数据，仅使用多个距离信息，节省空间和传输带宽。
为了便于理解，下面对根据本发明实施例的所述点云数据包的结构进行描述。
示例性地，所述点云数据包包含上述心跳包所包含的信息，即：版本号(Version)、端口ID(Port ID)、雷达ID(Lidar ID)、错误码(Error Code)、时间戳类型(Timestamp Type)以及时间戳(Time  Stamp)，除此之外，所述点云数据包还包含数据类型(Data_Type)，其偏移量为9，大小为1字节，以及点云数据(Data)，其偏移量为18。
示例性地，每个点云数据包中包括100个点云数据，当采用直角坐标时点云数据的格式如下：
Figure PCTCN2019071152-appb-000003
当采用球坐标时点云数据的格式如下：
Figure PCTCN2019071152-appb-000004
当激光雷达进行采样，发出的光束打在物体边沿，并且后面还存在第二个或者更多物体时，会产生多次回波信号。第一个回波与后续回波的方向相同，而仅只是距离上不一致。因此本发明实施例中采用下列格式来表示多个回波：
Figure PCTCN2019071152-appb-000005
Figure PCTCN2019071152-appb-000006
其中，所述多个回波共用角度数据，仅使用多个距离信息，节省了空间和传输带宽。当上位机接收到传感器发送的点云数据包之后，则输出数据包信息。示例性地，上位机可将数据包中的点云数据以特定的文件格式进行转存，以供后续研发或通过特定软件进行数据回放。
如上所述，所述上位机还可以通过中间板与传感器进行信息交互，此时，所述通过所述数据端口，基于所述心跳连接接收来自传感器的数据包信息，包括：通过所述数据端口，接收来自中间板的数据包信息；所述中间板用于转发所述数据包信息。
示例性地，所述中间板转发所述数据包信息的步骤，包括：解析所述数据包信息携带的信息类型；当所述信息类型为数据类型时，转发所述数据包信息。
示例性地，所述中间板还用于整合来自传感器的数据包信息。具体地，所述整合来自传感器的数据包信息，包括：按照数据格式对所述数据包信息进行整合；或者，按照时间戳对所述数据包信息进行整合。
其中，所述按照数据格式对所述数据包信息进行整合，包括：解析所述数据包信息，获取所述数据包信息中数据字段的类型；以及按照所述数据字段的类型对所述数据包信息进行处理。所述按照所述数据字段的类型对所述数据包信息进行处理，包括：数据丢弃；或者，数据合并。
所述按照时间戳对所述数据包信息进行整合，包括：解析所述数据包信息，获得所述数据包信息携带的时间戳信息；获取同步时序信息；以及根据所述同步时序信息和所述时间戳，对所述数据包信息进行处理。
其中，所述根据所述同步时序信息和所述时间戳，对所述数据包信息进行处理，包括：根据所述时间戳，将所述数据包中的传感器数据按照同步时序信息对齐；以及将对齐后的数据合并为一个数据包。
其中，所述将对齐后的数据合并为一个数据包，包括：去除各数据包信息中重叠的数据。以此，可以减少上位机的运算量。
示例性地，所述按照数据格式对所述数据包信息进行整合，包括：解析所述数据包信息，比较各个数据包信息中的数据；以及去除各个数据包信息中的重叠数据，以此，可以减少上位机的运算量。
基于上面的描述，根据本发明实施例的信息交互方法可针对多个传感器同时进行命令和数据交互；可分别针对多个传感器发送命令，并区分各个传感器发送的数据包；可注册需要连接的传感器，非注册设备无法连接；注册设备后可自动连接所有注册设备，并自动为各传感器分配数据端口和命令端口。
此外，根据本发明实施例，还提供了一种计算机可读介质，在所述计算机可读介质上存储了程序指令，在所述程序指令被计算机或处理器运行时用于执行本发明实施例的信息交互方法100的相应步骤。所述计算机可读介质例如可以包括智能电话的存储卡、平板电脑的存储部件、个人计算机的硬盘、只读存储器(ROM)、可擦除可编程只读存储器(EPROM)、便携式紧致盘只读存储器(CD-ROM)、USB存储器、或者上述计算机可读介质的任意组合。所述计算机可读介质可以是一个或多个计算机可读介质的任意组合。
下面参考图6描述根据本发明另一实施例的信息交互方法600，信息交互方法600可应用于多个传感器中的每个传感器。所述多个传感器可分别针对上位机执行信息交互方法600。所述多个传感器可设置于所述可移动平台的不同位置，用于检测不同位置/方向的物体信息。
如图6所示，信息交互方法600可以包括如下步骤：
在步骤S610，建立与上位机之间的心跳连接。
其中，所述上位机包括可移动平台的控制装置，例如为PC(个人计算机)。上位机用于控制多个传感器，并根据多个传感器所检测到的物体信息进行综合处理，从而了解可移动平台周围环境的物体信息。
在一个实施例中，传感器与上位机之间通过握手机制建立连接。
示例性地，传感器的广播广播握手信息。所述广播握手信息携带有所述传感器的传感器信息，例如，所述传感器的传感器序列号。
上位机接收来自传感器的广播握手信息后，将解析所述广播握手 信息中的传感器序列号，以判断所述传感器为已注册的传感器，其具体步骤参照上述方法100。若上位机确认所述传感器为已注册的传感器，则向所述传感器返回握手确认信息，所述握手确认信息携带有上位机的IP地址以及其创建的命令端口和数据端口的端口号等信息。传感器接收该握手确认信息，并向上位机返回连接状态信息，所述连接状态信息包括连接成功或连接失败。上位机接收所述传感器返回的连接成功的连接状态信息后，则可确定二者之间建立了连接。
当传感器与上位机完成三次握手，从而建立连接之后，二者之间通过心跳机制保持长连接。
示例性地，传感器接收上位机以预定的时间间隔向指定传感器发送心跳包，并向上位机发送携带有传感器信息的心跳包，以应答接收到的心跳包。根据所述心跳包中携带的传感器信息，上位机能够判断发送所述心跳包的传感器，从而分别与多个传感器中的每一个保持心跳连接。若在预定时间内未接收到所述上位机发送的心跳包，则确认二者之间已断开连接。所述心跳包的具体结构可参见上文。
在步骤S620，接收所述上位机发送的设备命令。
示例性地，当传感器接收到设备命令之后，解析所述设备命令中携带的命令码，并执行相应的动作。
在步骤S630，向所述上位机的命令端口发送返回的信息。
由于上位机为每个建立了连接的传感器创建了一个命令端口与之对应，传感器可根据此前获知的与之对应的命令端口的端口号，向上位机发送返回的信息。
示例性地，所述回复类型包括消息类型(MSG)或命令返回类型(ACK)，传感器返回的信息中包含有用于指示回复类型的代码，上位机可针对该代码判断所述回复类型。其中，所述命令返回类型的信息为传感器对接收到的指令的响应；所述消息类型的信息为传感器的主动广播或者向上位机推送的消息，例如，所述消息类型的信息可以是当传感器发生错误或状态变化生成的信息。
在一个实施例中，所述方法还包括：向所述上位机的数据端口发送数据包信息。
示例性地，所述数据包信息中携带有所述传感器的传感器序列 号。上位机可根据所述传感器序列号验证发送所述数据包信息的设备是否为已注册的传感器。
在一个实施例中，所述数据包包括点云数据包。进一步地，当所述传感器为激光雷达时，所述数据包包括激光雷达的点云数据包。传感器向探测对象发射激光脉冲信号，并获得其反射回来的脉冲信号，根据发射信号和接收信号之间的时间差计算被测对象的距离探测器的距离信息；基于激光测距系统的已知发射方向，获得被测对象相对激光测距系统的角度信息；结合前述距离和角度信息得到海量的探测点(即点云)，基于点云即可以重建被测对象相对激光测距系统的空间三维信息。上位机接收到所述点云数据包之后，可将数据包中的点云数据以特定的文件格式进行转存，以供后续研发或通过特定软件进行数据回放。所述点云数据包的具体结构可参见上文。
基于上面的描述，根据本发明实施例的信息交互方法可允许多个传感器同时与上位机进行命令和数据交互。
此外，根据本发明实施例，还提供了一种计算机可读介质，在所述计算机可读介质上存储了程序指令，在所述程序指令被计算机或处理器运行时用于执行本发明实施例的信息交互方法600的相应步骤。所述计算机可读介质例如可以包括智能电话的存储卡、平板电脑的存储部件、个人计算机的硬盘、只读存储器(ROM)、可擦除可编程只读存储器(EPROM)、便携式紧致盘只读存储器(CD-ROM)、USB存储器、或者上述计算机可读介质的任意组合。所述计算机可读介质可以是一个或多个计算机可读介质的任意组合。
此外，根据本发明实施例，还提供了一种信息交互系统。为了更清楚地提供本发明的内容，下面参考图7描述根据本发明实施例的信息交互系统700的示意性框图。如图7所示，信息交互系统700可以包括上位机710和与上位机710连接的多个传感器720，其中：上位机710针对传感器720执行上述信息交互方法100，每个传感器720针对上位机710执行上述信息交互方法600。
具体地，上位机710包括存储装置以及处理器。其中，存储装置存储用于实现根据本发明实施例的信息交互方法100中的相应步骤的程序代码。处理器用于运行存储装置中存储的程序代码，以执行根 据本发明实施例的信息交互方法100的相应步骤。
传感器720包括存储装置和处理器，其中，存储装置存储用于实现根据本发明实施例的信息交互方法600中的相应步骤的程序代码。处理器用于运行存储装置中存储的程序代码，以执行根据本发明实施例的信息交互方法600的相应步骤。
上位机710针对传感器720执行上述信息交互方法100，即为：建立与多个传感器之间的心跳连接；创建命令端口，并通过所述命令端口、基于所述心跳连接向指定传感器发送设备命令；基于所述心跳连接，通过所述命令端口接收指定传感器返回的信息；以及输出所述返回的信息。
根据本发明的实施例，上位机710针对传感器720还可以执行上文描述的信息交互方法100中的其他未在图1中示出的步骤，为了简洁，此处不再赘述。
传感器720针对上位机710执行上述信息交互方法600，即为：建立与上位机之间的心跳连接；基于所述心跳连接，接收所述上位机发送的设备命令；以及基于所述心跳连接，向所述上位机的命令端口发送返回的信息。
根据本发明的实施例，传感器720针对上位机710还可以执行上文描述的信息交互方法600中的其他未在图6中示出的步骤，为了简洁，此处不再赘述。
上述信息交互方法、系统和计算机可读介质分别站在上位机和传感器的角度描述的本发明的实施例。然而，需要注意的是，所述上位机可以直接与所述传感器进行信息交互，也可以通过中间板与所述传感器进行信息交互。所述中间板包括中控电路数据汇总，其起到了数据汇总和转发的作用，可以将来自上位机的信息转发给每个传感器，也可以将来自传感器的信息发送到上位机，中间板具有时间对齐的功能，可以将多个传感器的数据在时间上对齐。
下面，首先参考图8描述根据本发明实施例的信息交互方法800，信息交互方法800用于中间板。
图8示出了根据本发明的一个实施例的、信息交互方法800的流程图，方法800可以由中间板执行，以用于与上位机和多个传感器进 行信息交互。如图8所示，方法800包括如下步骤：
在步骤S810，分别与上位机和多个传感器建立心跳连接。
示例性地，中间板监听传感器广播的握手信息。其中，所述广播握手信息携带有各个传感器的IP地址和传感器序列号等信息。多个传感器可同时发送广播握手信息，中间板可以使用同一个端口监听所述多个传感器广播的广播握手信息，并且，中间板可以同时接收到多个传感器广播的广播握手信息。
接着，接收来自传感器的广播握手信息，并将所述广播握手信息发送给上位机。其中，所述广播握手信息携带有发送该信息的传感器的传感器序列号。上位机将根据所述传感器序列号判断发送所述广播握手信息的传感器是否存在于上位机预先建立的设备列表。
上位机确认发送所述广播握手信息的传感器存在于上位机预先建立的设备列表之后，向所述中间板返回握手确认信息，所述握手确认信息携带有上位机的IP地址等信息。中间板接收该握手确认信息，并转发给指定的传感器。
接着，中间板接收来自传感器的连接状态信息，并发送给上位机。上位机接收所述传感器返回的连接成功的连接状态信息，则确定二者之间建立了连接。
当上位机与传感器通过所述中间板完成上述三次握手，从而建立连接之后，二者之间可通过心跳机制保持长连接。
示例性地，中间板接收上位机发送的心跳包，并将所述心跳包发送给指定的传感器。传感器接收到该心跳包后，向中间板发送携带有传感器信息的心跳包，以应答接收到的心跳包。中间板将传感器发送的心跳包转发给上位机。根据所述心跳包中携带的传感器信息，上位机能够判断发送所述心跳包的传感器，从而分别与多个传感器中的每一个保持心跳连接。心跳包的具体结构可参见上文。
在步骤S820，基于所述心跳连接，接收所述上位机发送的设备命令，并将所述设备命令发送给指定的传感器。
示例性地，上位机生成用于标识所述设备命令所针对的传感器的传感器序列号，并通过与该传感器序列号相对应的命令端口发送所述设备命令。中间板接收到该设备命令之后，将所述设备命令转发给与 之对应的指定的传感器。
在步骤S830，基于所述心跳连接，接收所述指定的传感器返回的信息，并将所述返回的信息发送至所述上位机的命令端口。
由于上位机为每个建立了连接的传感器创建了一个命令端口与之对应，中间板可根据与所述传感器对应的命令端口的端口号，向上位机发送返回的信息。
示例性地，所述回复类型包括消息类型(MSG)或命令返回类型(ACK)，传感器返回的信息中包含有用于指示回复类型的代码，上位机可针对该代码判断所述回复类型。其中，所述命令返回类型的信息为传感器对接收到的指令的响应；所述消息类型的信息为传感器的主动广播或者向上位机推送的消息，例如，所述消息类型的信息可以是当传感器发生错误或状态变化生成的信息。
在一个实施例中，在将所述返回的信息发送至所述上位机的命令端口之后，方法800还包括：接收来自所述传感器的数据包信息；以及将所述数据包信息发送给所述上位机的数据端口。
示例性地，所述数据包信息中携带有所述传感器的传感器序列号。上位机可根据所述传感器序列号验证发送所述数据包信息的设备是否为已注册的传感器。
在一个实施例中，所述数据包包括点云数据包。进一步地，当所述传感器为激光雷达时，所述数据包包括激光雷达的点云数据包。所述点云数据包的具体结构参见上文。
基于上面的描述，根据本发明实施例的信息交互方法可通过中间板进行数据分发，使多个传感器同时与上位机进行命令和数据交互。
此外，根据本发明实施例，还提供了一种计算机可读介质，在所述计算机可读介质上存储了程序指令，在所述程序指令被计算机或处理器运行时用于执行本发明实施例的信息交互方法800的相应步骤。所述计算机可读介质例如可以包括智能电话的存储卡、平板电脑的存储部件、个人计算机的硬盘、只读存储器(ROM)、可擦除可编程只读存储器(EPROM)、便携式紧致盘只读存储器(CD-ROM)、USB存储器、或者上述计算机可读介质的任意组合。所述计算机可读介质可以是一个或多个计算机可读介质的任意组合。
此外，根据本发明实施例，还提供了一种信息交互系统。为了更清楚地提供本发明的内容，下面参考图9描述根据本发明实施例的信息交互系统900的示意性框图。如图9所示，信息交互系统900可以包括上位机910、多个传感器920以及分别连接所述上位机910和所述多个传感器920的中间板930，其中中间板930针对所述上位机910和所述传感器920执行上述信息交互方法800的相应步骤，即：分别与上位机和多个传感器建立心跳连接；基于所述心跳连接，接收所述上位机发送的设备命令，并将所述设备命令发送给指定的传感器；以及基于所述心跳连接，接收所述指定的传感器返回的信息，并将所述返回的信息发送至所述上位机的命令端口。
根据本发明的实施例，中间板930针对上位机910和传感器920还可以执行上文描述的信息交互方法900中的其他未在图9中示出的步骤，为了简洁，此处不再赘述。
本发明的信息交互方法、系统和计算机可读介质，能够使上位机自动地与多个指定的传感器建立心跳连接，并分别对多个指定传感器进行控制，提高了上位机与多个传感器之间信息交互的效率。
本发明各个实施例提供的信息交互方法可以应用于测距装置，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、速度信息等。一种实现方式中，测距装置可以通过测量测距装置和探测物之间光传播的时间，即光飞行时间(Time-of-Flight，TOF)，来探测探测物到测距装置的距离。或者，测距装置也可以通过其他技术来探测探测物到测距装置的距离，例如基于相位移动(phase shift)测量的测距方法，或者基于频率移动(frequency shift)测量的测距方法，在此不做限制。
为了便于理解，以下将结合图10所示的测距装置1000对测距的工作流程进行举例描述。
如图10所示，测距装置1000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100与被探测物之间的距离。
可选地，该测距装置1000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10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10所示的电路，测距装置1000还可以包括扫描模块，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150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11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。
激光测距装置200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可以用于发射激光脉冲序列。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待测物体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11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11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11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。
激光测距装置200还包括扫描模块202。扫描模块202放置于测距模块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转动轴209旋转或振动，每个旋转或振动的光学元件用于不断改变入射光束的传播方向。在一个实施例中，扫描模块202的多个光学元件可以以不同的转速旋转，或以不同的速度振动。在另一个实施例中，扫描模块202的至少部分光学元件可以以基本相同的转速旋转。在一些实施例中，扫描模块的多个光学元件也可以是绕不同的轴旋转。在一些实施例中，扫描模块的多个光学元件也可以是以相同的方向旋转，或以不同的方向旋转；或者沿相同的方向振动，或者沿不同的方向振动，在此不作限制。
在一个实施例中，扫描模块202包括第一光学元件214和与第一光学元件214连接的驱动器216，驱动器216用于驱动第一光学元件214绕转动轴209转动，使第一光学元件214改变准直光束219的方向。第一光学元件214将准直光束219投射至不同的方向。在一个实施例中，准直光束219经第一光学元件改变后的方向与转动轴209的夹角随着第一光学元件214的转动而变化。在一个实施例中，第一光学元件214包括相对的非平行的一对表面，准直光束219穿过该对表面。在一个实施例中，第一光学元件214包括厚度沿至少一个径向变化的棱镜。在一个实施例中，第一光学元件214包括楔角棱镜，对准直光束219进行折射。
在一个实施例中，扫描模块202还包括第二光学元件215，第二光学元件215绕转动轴209转动，第二光学元件215的转动速度与第一光学元件214的转动速度不同。第二光学元件215用于改变第一光学元件214投射的光束的方向。在一个实施例中，第二光学元件215与另一驱动器217连接，驱动器217驱动第二光学元件215转动。第 一光学元件214和第二光学元件215可以由相同或不同的驱动器驱动，使第一光学元件214和第二光学元件215的转速和/或转向不同，从而将准直光束219投射至外界空间不同的方向，可以扫描较大的空间范围。在一个实施例中，控制器218控制驱动器216和217，分别驱动第一光学元件214和第二光学元件215。第一光学元件214和第二光学元件215的转速可以根据实际应用中预期扫描的区域和样式确定。驱动器216和217可以包括电机或其他驱动器。
在一个实施例中，第二光学元件215包括相对的非平行的一对表面，光束穿过该对表面。在一个实施例中，第二光学元件215包括厚度沿至少一个径向变化的棱镜。在一个实施例中，第二光学元件215包括楔角棱镜。
一个实施例中，扫描模块202还包括第三光学元件(图未示)和用于驱动第三光学元件运动的驱动器。可选地，该第三光学元件包括相对的非平行的一对表面，光束穿过该对表面。在一个实施例中，第三光学元件包括厚度沿至少一个径向变化的棱镜。在一个实施例中，第三光学元件包括楔角棱镜。第一、第二和第三光学元件中的至少两个光学元件以不同的转速和/或转向转动。
扫描模块202中的各光学元件旋转可以将光投射至不同的方向，例如投射为光211和213，如此对激光测距装置周围的空间进行扫描。当扫描模块202投射出的光211打到待测物体210时，一部分光被待测物体210沿与投射的光211相反的方向反射至激光测距装置200。待测物体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，激光测距装置200可以利用脉冲接收时间信息和脉冲发出时间信息计算TOF，从而确定待测物体210到激光测距装置200的距离。
激光测距装置200探测到的距离和方位可以用于遥感、避障、测绘、建模、导航等。在一种实施方式中，本发明实施方式的测距装置可应用于移动平台，测距装置可安装在移动平台的平台本体。具有测距装置的移动平台可对外部环境进行测量，例如，测量移动平台与障碍物的距离用于避障等用途，和对外部环境进行二维或三维的测绘。在某些实施方式中，移动平台包括无人汽车、遥控车、机器人、相机中的至少一种。当测距装置应用于汽车时，平台本体为汽车的车身。该汽车可以是自动驾驶汽车或者半自动驾驶汽车，在此不做限制。当测距装置应用于遥控车时，平台本体为遥控车的车身。当测距装置应用于机器人时，平台本体为机器人。当测距装置应用于相机时，平台本体为相机本身。尽管这里已经参考附图描述了示例实施例，应理解上述示例实施例仅仅是示例性的，并且不意图将本发明的范围限制于此。本领域普通技术人员可以在其中进行各种改变和修改，而不偏离本发明的范围和精神。所有这些改变和修改意在被包括在所附权利要求所要求的本发明的范围之内。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。
在本申请所提供的几个实施例中，应该理解到，所揭露的设备和方法，可以通过其它的方式实现。例如，以上所描述的设备实施例仅 仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个设备，或一些特征可以忽略，或不执行。
在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本发明的实施例可以在没有这些具体细节的情况下实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。
类似地，应当理解，为了精简本发明并帮助理解各个发明方面中的一个或多个，在对本发明的示例性实施例的描述中，本发明的各个特征有时被一起分组到单个实施例、图、或者对其的描述中。然而，并不应将该本发明的方法解释成反映如下意图：即所要求保护的本发明要求比在每个权利要求中所明确记载的特征更多的特征。更确切地说，如相应的权利要求书所反映的那样，其发明点在于可以用少于某个公开的单个实施例的所有特征的特征来解决相应的技术问题。因此，遵循具体实施方式的权利要求书由此明确地并入该具体实施方式，其中每个权利要求本身都作为本发明的单独实施例。
本领域的技术人员可以理解，除了特征之间相互排斥之外，可以采用任何组合对本说明书(包括伴随的权利要求、摘要和附图)中公开的所有特征以及如此公开的任何方法或者设备的所有过程或单元进行组合。除非另外明确陈述，本说明书(包括伴随的权利要求、摘要和附图)中公开的每个特征可以由提供相同、等同或相似目的替代特征来代替。
此外，本领域的技术人员能够理解，尽管在此所述的一些实施例包括其它实施例中所包括的某些特征而不是其它特征，但是不同实施例的特征的组合意味着处于本发明的范围之内并且形成不同的实施例。例如，在权利要求书中，所要求保护的实施例的任意之一都可以以任意的组合方式来使用。
本发明的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当理解，可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本发明实施例的一些模块的一些或者全部功能。 本发明还可以实现为用于执行这里所描述的方法的一部分或者全部的装置程序(例如，计算机程序和计算机程序产品)。这样的实现本发明的程序可以存储在计算机可读介质上，或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。
应该注意的是上述实施例对本发明进行说明而不是对本发明进行限制，并且本领域技术人员在不脱离所附权利要求的范围的情况下可设计出替换实施例。在权利要求中，不应将位于括号之间的任何参考符号构造成对权利要求的限制。本发明可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中，这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。
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 (56)

  1. 一种信息交互方法，其特征在于，所述方法包括：
    建立与多个传感器之间的心跳连接；
    创建命令端口，并通过所述命令端口、基于所述心跳连接向指定传感器发送设备命令；
    基于所述心跳连接，通过所述命令端口接收指定传感器返回的信息；
    输出所述返回的信息。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    创建数据端口；
    通过所述数据端口，基于所述心跳连接接收来自传感器的数据包信息；以及
    输出所述数据包信息。
  3. 根据权利要求1所述的方法，其特征在于，所述建立与多个传感器之间的心跳连接，包括：接收来自指定传感器的心跳包，所述心跳包携带所述指定传感器的传感器信息。
  4. 根据权利要求3所述的方法，其特征在于，所述传感器信息包括传感器的工作状态信息、工作模式信息、错误码信息中的至少一种。
  5. 根据权利要求1所述的方法，其特征在于，所述建立与多个传感器之间的心跳连接，还包括：以预定的时间间隔向指定传感器发送心跳包。
  6. 根据权利要求1所述的方法，其特征在于，所述方法还包括：预先建立设备列表，所述设备列表包括注册传感器的传感器序列号。
  7. 根据权利要求1所述的方法，其特征在于，所述建立与多个 传感器之间的心跳连接，包括：
    接收来自传感器的广播握手信息；
    解析所述广播握手信息，并向所述传感器返回握手确认信息；
    接收所述传感器返回的连接状态信息。
  8. 根据权利要求7所述的方法，其特征在于，所述解析所述广播握手信息，并向传感器返回握手确认信息，包括：
    解析所述广播握手信息中的传感器序列号；
    验证所述传感器序列号是否存在于设备列表中；
    当所述传感器序列号存在于所述设备列表中时，向所述传感器返回所述握手确认信息。
  9. 根据权利要求8所述的方法，其特征在于，所述解析所述广播握手信息，并向传感器返回握手确认信息，还包括：
    当所述传感器序列号不存在于所述设备列表中时，继续接收来自传感器的广播握手信息。
  10. 根据权利要求7所述的方法，其特征在于，所述建立与多个传感器之间的心跳连接，还包括：
    若在预定时间内未能接收到所述传感器返回的连接状态信息，则继续接收来自所述传感器的广播握手信息。
  11. 根据权利要求7所述的方法，其特征在于，所述建立与多个传感器之间的心跳连接，还包括：在建立与任意一个传感器之间的心跳连接之后，继续接收来自传感器的广播握手信息。
  12. 根据权利要求1所述的方法，其特征在于，所述创建命令端口包括：针对所述多个传感器中的每个传感器，分别创建所述命令端口。
  13. 根据权利要求12所述的方法，其特征在于，所述分别创建 所述命令端口，包括同一线程中分别创建多个命令端口。
  14. 根据权利要求12所述的方法，其特征在于，所述分别创建所述命令端口，包括不同线程中的每个线程中分别创建命令端口。
  15. 根据权利要求1所述的方法，其特征在于，所述通过所述命令端口、基于所述心跳连接向指定传感器发送设备命令，包括：
    通过所述命令端口，向中间板发送所述设备命令；
    所述中间板用于将所述设备命令转发至所述指定传感器。
  16. 根据权利要求15所述的方法，其特征在于，所述将所述设备命令转发至所述指定传感器，包括：
    解析所述设备命令中携带的传感器信息；
    查询所述传感器信息所对应的端口；
    通过所述端口向指定传感器发送所述设备命令。
  17. 根据权利要求2所述的方法，其特征在于，所述通过所述数据端口，基于所述心跳连接接收来自传感器的数据包信息，包括：
    通过所述数据端口，接收来自中间板的数据包信息；
    所述中间板用于转发所述数据包信息。
  18. 根据权利要求17所述的方法，其特征在于，所述转发所述数据包信息，包括：
    解析所述数据包信息携带的信息类型；
    当所述信息类型为数据类型时，转发所述数据包信息。
  19. 根据权利要求17所述的方法，其特征在于，所述中间板还用于整合来自传感器的数据包信息。
  20. 根据权利要求19所述的方法，其特征在于，所述整合来自传感器的数据包信息，包括：按照数据格式对所述数据包信息进行整 合；
    或者，
    按照时间戳对所述数据包信息进行整合。
  21. 根据权利要求20所述的方法，其特征在于，所述按照数据格式对所述数据包信息进行整合，包括：
    解析所述数据包信息，获取所述数据包信息中数据字段的类型；
    按照所述数据字段的类型对所述数据包信息进行处理。
  22. 根据权利要求21所述的方法，其特征在于，所述按照所述数据字段的类型对所述数据包信息进行处理，包括：
    数据丢弃；或者，数据合并。
  23. 根据权利要求20所述的方法，其特征在于，所述按照时间戳对所述数据包信息进行整合，包括：
    解析所述数据包信息，获得所述数据包信息携带的时间戳；
    获取同步时序信息；
    根据所述同步时序信息和所述时间戳，对所述数据包信息进行处理。
  24. 根据权利要求23所述的方法，其特征在于，所述根据所述同步时序信息和所述时间戳，对所述数据包信息进行处理，包括：
    根据所述时间戳，将所述数据包信息中的传感器数据按照同步时序信息对齐；
    将对齐后的数据合并为一个数据包。
  25. 根据权利要求24所述的方法，其特征在于，所述将对齐后的数据合并为一个数据包，包括：
    去除各数据包信息中重叠的数据。
  26. 根据权利要求20所述的方法，其特征在于，所述按照数据 格式对所述数据包信息进行整合，包括：
    解析所述数据包信息，比较各个数据包信息中的数据；
    去除各个数据包信息中的重叠数据。
  27. 根据权利要求1所述的方法，其特征在于，所述通过所述命令端口向指定传感器发送设备命令包括：
    判断是否与所述设备命令所针对的传感器建立了所述心跳连接；
    若与所述设备命令所针对的传感器建立了所述心跳连接，则发送所述设备命令。
  28. 根据权利要求27所述的方法，其特征在于，所述判断是否与所述设备命令所针对的传感器建立了所述心跳连接包括：
    针对所述多个传感器中的每个传感器创建命令处理单元；
    生成用于标识所述设备命令所针对的传感器的传感器序列号；
    根据所述传感器序列号判断是否已建立了相应的所述命令处理单元，若已建立了相应的命令处理单元，则确认与所述设备命令所针对的传感器建立了所述心跳连接。
  29. 如权利要求27所述的方法，其特征在于，所述发送所述设备命令包括：
    创建待发送设备命令的命令发送任务，并将所述命令发送任务添加到命令发送任务队列；以及
    依次执行所述命令发送任务队列中的各条命令发送任务。
  30. 根据权利要求1所述的方法，其特征在于，所述输出所述返回的信息包括：
    解析所述返回的信息，并判断所述返回的信息的回复类型；
    根据所述回复类型输出相应的信息。
  31. 根据权利要求30所述的方法，其特征在于，所述根据所述回复类型输出相应的信息包括：
    若所述回复类型为消息类型，则输出相应的消息；
    若所述回复类型为命令返回类型，则输出相应的命令回包。
  32. 根据权利要求31所述的方法，其特征在于，所述输出相应的消息还包括：
    若所述回复类型为消息类型，则判断所述消息类型是否为已注册的消息类型，若所述消息类型为已注册的消息类型，则输出相应的消息。
  33. 根据权利要求31所述的方法，其特征在于，所述输出相应的命令回包还包括：
    判断所述返回的信息是否为心跳包，若所述返回的信息不是心跳包，则输出相应的命令回包。
  34. 根据权利要求31所述的方法，其特征在于，所述输出相应的命令回包还包括：确定发送所述返回的信息的传感器。
  35. 根据权利要求34所述的方法，其特征在于，所述确定发送所述返回的信息的传感器包括：根据标识对应于所述命令回包的设备命令的传感器序列号，判断发送所述返回的信息的传感器。
  36. 根据权利要求2所述的方法，其特征在于，所述创建数据端口包括：针对所述多个传感器中的每个传感器，分别创建所述数据端口。
  37. 根据权利要求2所述的方法，其特征在于，所述方法还包括：针对所述多个传感器中的每个传感器分别建立数据处理单元。
  38. 根据权利要求2所述的方法，其特征在于，所述输出所述数据包信息包括：
    解析所述数据包信息中的传感器序列号；
    验证所述传感器序列号是否存在于设备列表中；
    当所述传感器序列号存在于设备列表中时，输出所述数据包信息。
  39. 如权利要求1所述的方法，其特征在于，所述传感器包括激光雷达。
  40. 如权利要求2所述的方法，其特征在于，所述数据包信息包括所述激光雷达的点云数据信息。
  41. 一种信息交互方法，其特征在于，所述方法包括：
    建立与上位机之间的心跳连接；
    基于所述心跳连接接收所述上位机发送的设备命令；
    基于所述心跳连接，向所述上位机的命令端口发送返回的信息。
  42. 根据权利要求41所述的方法，其特征在于，在向所述上位机的命令端口发送所述返回的信息之后，所述方法还包括：
    向所述上位机的数据端口发送数据包信息。
  43. 根据权利要求41所述的方法，其特征在于，所述建立与上位机之间的心跳连接，包括：
    基于所述心跳连接，向所述上位机发送心跳包，所述心跳包携带所述传感器的传感器信息。
  44. 根据权利要求41所述的方法，其特征在于，所述建立与上位机之间的心跳连接，还包括：接收所述上位机发送的心跳包。
  45. 根据权利要求41所述的方法，其特征在于，所述建立与上位机之间的心跳连接，包括：
    广播广播握手信息；
    接收所述上位机返回的握手确认信息；以及
    向所述上位机发送连接状态信息。
  46. 根据权利要求41所述的方法，其特征在于，所述广播握手信息中携带有传感器序列号。
  47. 根据权利要求41所述的方法，其特征在于，所述返回的信息的回复类型包括消息类型或命令返回类型。
  48. 一种信息交互系统，其特征在于，所述信息交互系统包括上位机和多个传感器，其中，所述上位机针对所述传感器执行如权利要求1-40中的任一项所述的信息交互方法，所述多个传感器针对所述上位机执行如权利要求41-47中任一项所述的信息交互方法。
  49. 一种计算机可读介质，所述计算机可读介质上存储有计算机程序，所述计算机程序在运行时执行如权利要求1-40中的任一项所述的信息交互方法或权利要求41-47中任一项所述的信息交互方法。
  50. 一种信息交互方法，其特征在于，所述方法包括：
    分别与上位机和多个传感器建立心跳连接；
    基于所述心跳连接，接收所述上位机发送的设备命令，并将所述设备命令发送给指定的传感器；以及
    基于所述心跳连接，接收所述指定的传感器返回的信息，并将所述返回的信息发送至所述上位机的命令端口。
  51. 根据权利要求50所述的方法，其特征在于，在将所述返回的信息发送至所述上位机的命令端口之后，所述方法还包括：
    接收来自所述传感器的数据包信息；以及
    将所述数据包信息发送给所述上位机的数据端口。
  52. 根据权利要求50所述的方法，其特征在于，所述分别与上 位机和多个传感器建立心跳连接，包括：接收来自指定传感器的心跳包，并将所述心跳包发送给所述上位机，所述心跳包携带所述指定传感器的传感器信息。
  53. 根据权利要求50所述的方法，其特征在于，所述分别与上位机和多个传感器建立心跳连接，包括：接收所述上位机发送的心跳包，并将所述心跳包发送给指定传感器。
  54. 根据权利要求50所述的方法，其特征在于，所述分别与上位机和多个传感器建立心跳连接，包括：
    接收来自传感器的广播握手信息，并将所述广播握手信息发送给所述上位机；
    接收所述上位机返回的握手确认信息，并将所述握手确认信息发送给所述传感器；以及
    接收所述传感器返回的连接状态信息，并将所述连接状态信息发送给所述上位机。
  55. 一种计算机可读介质，所述计算机可读介质上存储有计算机程序，所述计算机程序在运行时执行如权利要求50-54中的任一项所述的信息交互方法。
  56. 一种信息交互系统，其特征在于，所述信息交互系统包括上位机、中间板和多个传感器，其中，所述中间板针对所述上位机和所述多个传感器执行如权利要求50-54中的任一项所述的信息交互方法。
PCT/CN2019/071152 2019-01-09 2019-01-10 信息交互方法、系统和计算机可读介质 WO2020142983A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201980005484.XA CN111670561A (zh) 2019-01-09 2019-01-10 信息交互方法、系统和计算机可读介质

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN2019071045 2019-01-09
CNPCT/CN2019/071045 2019-01-09

Publications (1)

Publication Number Publication Date
WO2020142983A1 true WO2020142983A1 (zh) 2020-07-16

Family

ID=71520742

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/071152 WO2020142983A1 (zh) 2019-01-09 2019-01-10 信息交互方法、系统和计算机可读介质

Country Status (2)

Country Link
CN (1) CN111670561A (zh)
WO (1) WO2020142983A1 (zh)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114253211A (zh) * 2021-12-15 2022-03-29 意欧斯智能科技股份有限公司 一种plc与上位机wcs信号交互验证的方法
CN115022817A (zh) * 2022-05-30 2022-09-06 无锡富华物联科技有限公司 一种离线耳标数据传输方法、系统及终端

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103051642A (zh) * 2013-01-18 2013-04-17 上海云和信息系统有限公司 基于vpn实现防火墙内局域网设备访问的方法及网络系统
CN103747497A (zh) * 2013-12-31 2014-04-23 江苏宁克传感器科技有限公司 一种无线传感器网络数据下载的方法
US8710983B2 (en) * 2012-05-07 2014-04-29 Integrated Security Corporation Intelligent sensor network
CN104935473A (zh) * 2014-03-19 2015-09-23 国家电网公司 一种无线传感器网络的检测方法和装置

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013121076A1 (en) * 2012-02-15 2013-08-22 Nokia Corporation Method and apparatus for managing sensor information
CN109150670B (zh) * 2018-11-05 2020-11-27 中通天鸿（北京）通信科技股份有限公司 一种用于保持连接的心跳方法和系统

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8710983B2 (en) * 2012-05-07 2014-04-29 Integrated Security Corporation Intelligent sensor network
CN103051642A (zh) * 2013-01-18 2013-04-17 上海云和信息系统有限公司 基于vpn实现防火墙内局域网设备访问的方法及网络系统
CN103747497A (zh) * 2013-12-31 2014-04-23 江苏宁克传感器科技有限公司 一种无线传感器网络数据下载的方法
CN104935473A (zh) * 2014-03-19 2015-09-23 国家电网公司 一种无线传感器网络的检测方法和装置

Also Published As

Publication number Publication date
CN111670561A (zh) 2020-09-15

Similar Documents

Publication Publication Date Title
WO2018121009A1 (zh) 多线激光雷达和多线激光雷达控制方法
WO2020142983A1 (zh) 信息交互方法、系统和计算机可读介质
CN108445467A (zh) 一种扫描激光雷达系统
US20210341610A1 (en) Ranging device
WO2019056565A1 (zh) 固态激光雷达及固态激光雷达控制方法
WO2023202282A1 (zh) 激光雷达装置
US20220120899A1 (en) Ranging device and mobile platform
CN108072879A (zh) 一种光学测距的方法及装置
CN111566510A (zh) 测距装置及其扫描视场的均衡方法、移动平台
CN108303702A (zh) 一种相位式激光测距系统及方法
WO2020154980A1 (zh) 一种探测装置外参数标定方法、数据处理装置和探测系统
WO2020113559A1 (zh) 一种测距系统及移动平台
WO2020062256A1 (zh) 一种光束扫描系统、距离探测装置及电子设备
WO2020169118A2 (zh) 多点扫描激光雷达及其探测方法
WO2020142950A1 (zh) 测距装置的异常记录方法、测距装置及可移动平台
US20210341588A1 (en) Ranging device and mobile platform
WO2020177076A1 (zh) 一种探测装置初始状态标定方法及装置
WO2020142928A1 (zh) 测距装置及点云数据的应用方法、感知系统、移动平台
WO2020142924A1 (zh) 激光雷达的通信方法、激光雷达及上位设备
WO2023050398A1 (zh) 激光雷达发射装置、激光雷达装置及电子设备
CN111712734A (zh) 一种激光测距装置及移动平台
WO2023019441A1 (zh) 一种收发光学系统、激光雷达、终端设备、方法及装置
WO2020133038A1 (zh) 探测系统和具有该探测系统的可移动平台
WO2020147090A1 (zh) 一种测距装置及移动平台
WO2021253429A1 (zh) 数据处理方法、装置、激光雷达和存储介质

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19909104

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19909104

Country of ref document: EP

Kind code of ref document: A1