WO2021128239A1 - 一种测距系统以及移动平台 - Google Patents

一种测距系统以及移动平台 Download PDF

Info

Publication number
WO2021128239A1
WO2021128239A1 PCT/CN2019/129045 CN2019129045W WO2021128239A1 WO 2021128239 A1 WO2021128239 A1 WO 2021128239A1 CN 2019129045 W CN2019129045 W CN 2019129045W WO 2021128239 A1 WO2021128239 A1 WO 2021128239A1
Authority
WO
WIPO (PCT)
Prior art keywords
laser
distance
distance measuring
ranging system
mobile platform
Prior art date
Application number
PCT/CN2019/129045
Other languages
English (en)
French (fr)
Inventor
胡驰昊
晏蕾
熊伟
黄科
Original Assignee
华为技术有限公司
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 华为技术有限公司 filed Critical 华为技术有限公司
Priority to EP19957776.8A priority Critical patent/EP4067941A4/en
Priority to CN201980102895.0A priority patent/CN114787658A/zh
Priority to PCT/CN2019/129045 priority patent/WO2021128239A1/zh
Priority to JP2022539321A priority patent/JP2023508459A/ja
Publication of WO2021128239A1 publication Critical patent/WO2021128239A1/zh
Priority to US17/848,832 priority patent/US20220334263A1/en

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
    • 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
    • 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
    • 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
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
    • 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
    • G01S7/51—Display arrangements

Definitions

  • the embodiments of the present application relate to the field of ranging technology, and in particular to a ranging system and a mobile platform.
  • Figure 1a is an example front view of the existing laser ranging system
  • Figure 1b is an example left side view of the existing laser ranging system
  • Figure 1c is a three-dimensional example diagram of the existing laser ranging system
  • Figure 1d is a current example Schematic diagram of some laser ranging systems.
  • the laser ranging system generates laser light through a laser 104, and emits laser light to an object through a lens 102. When the object is illuminated by the laser, the object can reflect the laser. Then the laser distance measuring system can receive the laser light through the lens 101, and analyze the laser light through the receiver 103, so as to calculate the distance between the laser distance measuring system and the object.
  • the laser ranging system can specifically perform ranging through the pulse method or the phase method.
  • the main disadvantage of the laser ranging system shown in Fig. 1a, Fig. 1b, Fig. 1c and Fig. 1d is that the lens 101, lens 102, receiver 103, and laser 104 are all set on the turntable 105, and the weight carried by the turntable 105 is relatively large. Therefore, the turntable 105 rotates relatively slowly, and cannot achieve rapid rotation. If the laser ranging system is installed on a vehicle, the laser ranging system cannot achieve rapid ranging of passing vehicles, and cannot meet the ranging requirements of automatic driving technology.
  • the first aspect of the embodiments of the present application provides a distance measurement system, including: a distance measurement device and a scanning component.
  • the function of the scanning component means that it can scan the received light into an area. Or vice versa, the light received by an area can be returned to a fixed direction.
  • the distance measuring device is used to emit laser light to the scanning part; the laser light is irradiated to the measured object at different angles through the scanning part; the distance measuring device is also used to receive the reflected light from the measured object Calculating the distance between the distance measuring system and the measured object according to the laser light and the reflected light.
  • the scanning component includes a moving component and a mirror group (a combination of optical lenses, such as multiple reflective sheets and lenses), and the moving component is used to drive the mirror group to scan.
  • the moving part rotates, the laser light emitted by the distance measuring device is irradiated to the measured object through the reflector group.
  • the reflected light from the object to be measured returns to the distance measuring device through the reflector group.
  • the distance measuring device includes a laser, a receiver, and a plurality of coaxial optical lens groups.
  • the feature of the distance measuring device is that a key lens group is shared, and on the shared lens group, the optical axis (the center line of the optical system) of the transmitting and receiving parts of the optical path coincide, that is, a coaxial design is realized.
  • the coaxial optical lens group can realize the coaxial design by sharing the same optical element between the transmitting and receiving optical paths.
  • the coaxial optical lens group can utilize apertured mirrors to realize a coaxial design.
  • the laser is emitted from the laser, and the propagation path to reach the measured object is the outgoing optical path, and the reflected light reflects from the measured object, and the propagation path to the receiver is the receiving optical path.
  • the propagation path of the outgoing light path and the receiving light path partially overlap and have the same central axis. Therefore, the technical solution of the present application realizes a coaxial design, and the optical lens group used to realize the coaxial design can be called a coaxial optical lens group. Adopting the coaxial design can reduce the optical components of the ranging system, and can also reduce the area of the reflector group, which is conducive to the miniaturization of the ranging system.
  • the reflector group includes more than one reflector, and the laser light is reflected by the multiple reflectors. Reach the measured object.
  • the fourth implementation manner of the first aspect of the embodiments of the present application In combination with the first aspect of the embodiments of the present application and any one of the first to third implementation manners of the first aspect of the embodiments of the present application, in the fourth implementation manner of the first aspect of the embodiments of the present application , Multiple lasers are mounted on the same carrier board (such as PCB or ceramic) for powering the lasers.
  • carrier board such as PCB or ceramic
  • the number of the laser is more than two, and the laser light emitted by the laser is directed toward the aperture area of the aperture mirror.
  • a plurality of the lasers are mounted on a circuit board; the plurality of the lasers are deflected by a predetermined angle, so that the laser light emitted by the plurality of the lasers faces the opening area.
  • a plurality of the lasers are installed on the circuit board in an arc shape, so that the laser light emitted by the plurality of the lasers faces the opening area.
  • the processing circuit is specifically configured to calculate the distance between the ranging system and the measured object according to the emission time of the laser, the receiving time of the reflected light, and the speed of light.
  • the coaxial optical mirror group includes a beam splitter; the beam splitter is used to receive the laser light emitted by the laser and shape the laser light to the mirror group; the beam splitter is also used to reflect the The light is shaped to the receiver.
  • the second aspect of the embodiments of the present application provides a mobile platform, including: the distance measurement system and the mobile platform body as in the above-mentioned first aspect, the mobile platform body includes a controller; the controller is connected to the mobile platform through a wired interface or a wireless interface.
  • the distance measurement system communication is used to receive the distance measured by the distance measurement system, and implement related functions according to the distance, such as controlling the movement of the mobile platform or controlling the display screen on the mobile platform to display the information of the distance.
  • the mobile platform may be a mobile device such as a vehicle, a drone, a robot, or the like.
  • the distance measuring system is arranged on the head, tail, side, or top of the mobile platform body.
  • the controller is configured to The distance controls the mobile platform to drive automatically.
  • the controller is used to generate a navigation route according to the distance. After the controller generates the navigation route, it can also display the navigation route on the display screen connected to the controller.
  • the controller is connected to the display screen for displaying the distance.
  • the distance is the distance between the mobile platform body and the obstacle; when the distance is less than a preset threshold, the controller is used to control the mobile platform body to move in a direction away from the obstacle. For example, if the distance between the mobile platform and another mobile platform in front is too close, the controller can control the mobile platform to reduce the moving speed.
  • the moving part drives the mirror group to rotate, so that the laser is irradiated to the measured object at different angles, and the measurement of the measured object is realized. distance.
  • the mirror group is installed on the moving part, which is light in weight and fast in rotation. Therefore, if the distance measurement system is installed on a vehicle, it can realize rapid distance measurement of passing vehicles and meet the distance measurement requirements of automatic driving technology.
  • the optical path of the laser and the optical path of the reflected light both pass through the coaxial optical lens group, which adopts a coaxial design. This design can reduce the area required by the reflector in the mirror group, further reduce the volume of the ranging system, and facilitate the miniaturization of the ranging system.
  • Figure 1b is a left-side example diagram of an existing laser ranging system
  • Figure 1c is a three-dimensional example diagram of an existing laser ranging system
  • Figure 1d is a schematic diagram of an existing laser ranging system
  • FIG. 2 is an example diagram of a ranging system provided by an embodiment of this application.
  • FIG. 3a is an example diagram 1 of an optical path of a ranging system provided by an embodiment of this application;
  • FIG. 4 is a top view of one of the ranging systems provided by the embodiments of this application.
  • FIG. 5 is a perspective view of one of the distance measurement systems provided by an embodiment of this application.
  • FIG. 6 is an example diagram of another embodiment of a ranging system provided by an embodiment of this application.
  • FIG. 7 is a front view example diagram of a perforated reflector in another embodiment of the distance measuring system provided by the embodiment of the application.
  • FIG. 8 is a schematic top view of a distance measurement system provided by an embodiment of this application.
  • FIG. 9 is an example diagram of the ranging system provided by an embodiment of the application installed on a vehicle.
  • FIG. 10 is an example diagram of another embodiment of a ranging system provided by an embodiment of this application.
  • Fig. 11 is an example diagram of an embodiment of a vehicle provided by an embodiment of the application.
  • words such as “exemplary” or “for example” are used as examples, illustrations, or illustrations. Any embodiment or design solution described as “exemplary” or “for example” in the embodiments of the present application should not be construed as being more preferable or advantageous than other embodiments or design solutions. To be precise, words such as “exemplary” or “for example” are used to present related concepts in a specific manner.
  • Autonomous vehicles are usually equipped with a variety of measurement systems and computing systems.
  • the self-driving vehicle measures the conditions of the self-driving vehicle itself and its surroundings through the measurement system, and then, based on these conditions, the computing system automatically calculates the driving operations of the self-driving vehicle, such as acceleration, deceleration, and turning.
  • These measurement systems can include laser ranging systems, radar ranging systems, global positioning systems, etc.
  • computing systems can include artificial intelligence systems, visual computing systems, and the like.
  • the laser ranging system can be used to measure the distance between the autonomous vehicle and other vehicles, it can also be used to measure the distance between the autonomous vehicle and the road fence, and it can also be used to measure the distance between the autonomous vehicle and the bottom surface of the pothole.
  • the embodiments of the present application do not specifically limit the use of the ranging system.
  • the autonomous driving vehicle 106 obtains the distance between the autonomous driving vehicle 106 and the preceding vehicle 107 through a laser ranging system. Then, the computing system determines whether the distance is less than the safe distance. If it is, it means that the distance between the autonomous vehicle 106 and the preceding vehicle 107 is too close, which is likely to cause a rear-end collision. Therefore, the self-driving vehicle 106 can automatically perform a deceleration operation to prevent a rear-end collision.
  • the preceding vehicle 107 may not be directly facing the autonomous vehicle 106, and the preceding vehicle 107 may be in front of the autonomous vehicle 106, as shown in FIG. 1e. Therefore, the distance measurement system of the autonomous vehicle 106 is generally designed to scan the vehicle in the front fan-shaped area, that is, it can continuously perform the distance measurement on the vehicle in the front fan-shaped area.
  • Fig. 1a, Fig. 1b, Fig. 1c, and Fig. 1d show the existing laser ranging system.
  • the laser ranging system continuously measures the distance of the vehicle in the front fan-shaped area through the rotation of the turntable 105.
  • the lens 101, the lens 102, the receiver 103, and the laser 104 in the laser distance measuring system are all arranged on the turntable 105, and the weight of the turntable 105 is relatively large, so the turntable 105 rotates slowly and cannot achieve rapid rotation.
  • the direction facing the lens 102 at a certain moment is just on the left side of the fan-shaped area, that is, the ranging system is currently performing distance measurement on the vehicle on the left side of the fan-shaped area.
  • the vehicle in front 107 merges into the lane of the self-driving vehicle 106 from the right lane.
  • the autonomous vehicle 106 equipped with the laser ranging system cannot quickly rotate the chassis 105. Therefore, when there is a vehicle ahead, the distance between the autonomous vehicle 106 and the preceding vehicle 107 cannot be measured in time, which may easily cause a rear-end collision.
  • an embodiment of the present application provides a ranging system, which enables rapid rotation of the measurement direction through a reasonable structure, and meets the requirements of an autonomous vehicle.
  • Fig. 2 is an example diagram of a ranging system provided by an embodiment of the application.
  • the distance measuring system includes a base, a distance measuring device 203, a mirror group 202, and a scanning component.
  • the base is not shown in FIG. 2.
  • the base can be installed on the equipment that needs distance measurement.
  • the base can be installed on the head of the robot. When the robot moves, the distance between the robot and the obstacle can be measured by the distance measuring device 203, the mirror group 202 and the scanning component on the base, so as to avoid the obstacle. walk.
  • the base can be installed on the front, rear, top or side of the vehicle.
  • the vehicle When the vehicle is driving automatically, it can be based on the distance between the vehicle or the distance between the vehicle and the fence measured by the ranging system. Carry out autonomous driving. In practical applications, the ranging system can also be installed in other positions through the base, which is not specifically limited in the embodiment of the present application.
  • the distance measuring device 203, the mirror group 202, and the scanning component can be directly mounted on the device, and the device can be regarded as a base.
  • the vehicle can be regarded as a base.
  • the distance measuring device 203 can be fixedly installed on one side of the base, and the scanning component can be fixedly installed on the other side of the base. Therefore, the distance measuring device 203 and the scanning component are respectively installed on both sides of the base, and the distance measuring device 203 is not installed on the scanning component, and there is no need to carry a large weight, so the rotation is faster.
  • the scanning part may include a moving part and a mirror group 202.
  • the moving part is composed of a motor and a turntable 201 connected to the motor.
  • the moving part may also be a single motor, which is not limited in the embodiment of the present application.
  • the mirror group 202 can be installed on the turntable 201 or directly on the motor.
  • the embodiment of the present application exemplarily describes the moving part by the motor and the turntable 201 connected to the motor, and other embodiments of the moving part can be implemented with reference to the embodiment of the present application.
  • a mirror group 202 is installed on the turntable 201.
  • the function of the mirror group 202 can be: transfer the laser light (indicated by the black shaded arrow in Figure 2) emitted by the distance measuring device 203 to the measured object 204, or reflect the reflection of the measured object 204
  • the light (indicated by the white shaded arrow in FIG. 2) is transferred to the distance measuring device 203.
  • the mirror group 202 may be a plane mirror.
  • the laser light is transferred to the measured object 204 through the plane mirror, and the reflected light is transferred to the distance measuring device 203 via the plane mirror.
  • the mirror group 202 may be a curved mirror. As shown in FIG.
  • the laser light is transmitted to the object 204 to be measured through the curved mirror, and the reflected light is transmitted to the distance measuring device 203 through the curved mirror.
  • the mirror group 202 may be two plane mirrors. As shown in Figure 3c, the laser light is transferred to the second plane mirror 202b through the first plane mirror 202a, and then to the object 204 to be measured. The reflected light is transferred to the first plane mirror 202a via the second plane mirror 202b, and then Transfer to the distance measuring device 203.
  • the mirror group 202 can also implement its functions in other forms, which are not specifically limited in the embodiment of the present application.
  • the mirror group 202 is mainly composed of mirrors, so it can also be called a mirror group.
  • the turntable 201 is used to drive the mirror group 202 to rotate around the central axis of the mirror group 202.
  • the mirror group 202 is a flat mirror
  • the turntable 201 is connected to the flat mirror so that the flat mirror rotates around the central axis.
  • the exit angle of the laser or reflected light passing through the mirror group 202 changes correspondingly. For example, if the mirror group 202 rotates by 1 degree, the emission angle of the laser or reflected light of the mirror group 202 is correspondingly shifted by 2 degrees.
  • the turntable 201 may be connected to a motor, and the rotation of the motor drives the turntable to rotate, so that the turntable can drive the mirror group 202 to rotate.
  • the turntable 201 can also be rotated in other ways, such as a way in which a crawler drives a gear to rotate, which is not limited in the embodiment of the present application.
  • the scanning component may be a component other than a motor with a mirror to realize optical scanning, such as a microelectromechanical system (MEMS) or a galvanometer, or a waveguide or a galvanometer that adjusts the optical direction. liquid crystal.
  • MEMS microelectromechanical system
  • galvanometer a galvanometer that adjusts the optical direction.
  • liquid crystal liquid crystal
  • the turntable 105 needs to drive the lens 101, the lens 102, the receiver 103, the laser 104, etc. to realize the scanning of the ranging system. Heavy weight and slow rotation.
  • the turntable 201 only needs to drive the mirror group 202 to rotate to change the direction of the laser light and the reflected light, so as to realize the scanning mode of the ranging system. Therefore, in the embodiment of the present application, the turntable 201 does not need to drive the distance measuring device 203, and the load on the turntable 201 is lighter, rotates faster, and can realize rapid scanning and distance measurement.
  • the laser 104 and the receiver 103 rotating on the turntable 105 need power to work. Powering the object rotating on the turntable will bring about Many disadvantages, such as increased circuit cost, increased power consumption, and increased weight.
  • the distance measuring system provided by the embodiment of the present application does not need to supply power to the rotating object on the turntable 201 (the mirror group 202 does not need to supply power), and can avoid the defects of using slip rings or wireless power supply.
  • the distance measuring device 203 is not installed on the turntable 201. Therefore, the power supply corresponding to the distance measuring device 203 can be set in a relatively fixed position.
  • the distance measuring system provided in the embodiments of the present application may further include a housing, the housing is installed on the base, and the distance measuring device 203, the mirror group 202, and the turntable 201 are all arranged in the housing.
  • the shell can be provided with notches for laser emission and for reflected light to enter.
  • a groove may be provided on the self-driving vehicle, and a distance measuring system with a housing may be installed on the groove.
  • the ranging system 701 may be embedded in the groove 702. It is understandable that various components in the autonomous vehicle can pass through the groove 702 and connect to the ranging system 701 by using various interfaces or lines.
  • the ranging system can also be installed on the self-driving vehicle through a screw hole provided on the base, and the ranging system can be installed on the self-driving vehicle through the fixing action of the screws.
  • the various components of the ranging system such as the ranging device 203, the mirror group 202, and the turntable 201, can be installed on the autonomous vehicle in a reasonable manner according to the actual situation.
  • the specific installation method is not limited.
  • the optical path for emitting laser light and the optical path for receiving reflected light are not shared, which will cause the length of the reflector or mirror group in both the horizontal and vertical directions to be longer, making the reflector or The area of the lens group needs to be larger, which ultimately leads to a larger volume of the ranging system.
  • this design becomes more obvious when the divergence angle of the laser beam increases. Therefore, this design will cause the entire ranging system to increase in a larger volume in the horizontal or vertical direction.
  • the distance measuring device may include a laser 6031, a receiver 6032, and a coaxial optical lens group.
  • the laser 6031 may be a continuous laser or a pulsed laser, and the type of the laser 6031 is not specifically limited in the embodiment of the present application.
  • the receiver 6032 can be used to receive the reflected light from the object 604 to be measured.
  • the receiver 6032 may be mounted on the PCB.
  • the receiver 6032 may use a receiver die chip without packaging. Specifically, the unpackaged receiver die chip can be mounted on the PCB, and wire bonding is performed through a gold wire to connect the receiver die chip with the processing circuit.
  • the distance measuring device can be more miniaturized.
  • the receiver 6032 may be made of an avalanche photodiode (APD), which has the characteristics of high-speed response, high gain, low junction capacitance, and low noise, and is very suitable for laser ranging.
  • APD avalanche photodiode
  • the PCB board on which the laser 6031 is mounted and the PCB board on which the receiver 6032 is mounted may not be the same PCB board, or may be the same PCB board, which is not limited in the embodiment of the present application.
  • Multiple lasers 6031 can be provided on one PCB board, and the number of lasers 6031 is not limited in the embodiment of the present application.
  • Multiple receivers 6032 can be provided on one PCB board, and the number of receivers 6032 is not limited in the embodiment of the present application.
  • the distance measuring device may further include a processing circuit.
  • the processing circuit is connected to the laser 6031 and the receiver 6032, and is used to calculate the distance between the distance measuring system and the measured object 604 according to the situation of the laser 6031 emitting laser light and the receiver 6032 receiving reflected light.
  • the processing circuit can be designed to calculate the distance between the distance measuring system and the object 604 by means of laser distance measuring.
  • the method of laser distance measuring can include pulse method and phase method.
  • the processing circuit may be specifically designed to calculate the distance between the ranging system and the measured object 604 through a calculation method of the pulse method.
  • the calculation formula of the pulse method can be:
  • D is the distance between the ranging system and the measured object 604
  • c is the speed of light
  • t is the time difference between the laser light emitted by the laser 6031 and the corresponding reflected light received by the receiver 6032.
  • the speed of light can be 300,000 km/s or other values, which is not specifically limited in the embodiment of the present application.
  • the processing circuit may first record the time when the laser 6031 emits the laser light as 1: 0: 00 seconds, and then, the processing circuit detects that the receiver 6032 receives the reflected light corresponding to the laser and the return time is 1. At 0 minutes and 0.0000001 seconds, the time difference t is equal to 0.0000001 seconds. According to the calculation formula of the pulse method, the processing circuit can calculate that the distance D between the ranging system and the measured object 604 is 15 meters.
  • the processing circuit in order to improve the accuracy of measuring the distance, after the processing circuit calculates the distance D, the distance between the reflected light from the mirror group 602 and the receiver 6032 can also be subtracted.
  • the laser ranging method executed by the processing circuit can be fine-tuned according to actual conditions, which is not specifically limited in the embodiment of the present application.
  • the laser ranging method performed by the above processing circuit is an implementation or an example for the processing circuit to calculate the distance between the ranging system and the measured object 604.
  • the processing circuit can also be designed to pass phase Other calculation methods, such as method, calculate the distance between the ranging system and the measured object 604.
  • the embodiment of the present application does not specifically limit the design of the processing circuit.
  • the above-mentioned processing circuit may be a microprocessor, a central processing unit, a main processor, a single-chip microcomputer, a controller, or an application specific integrated circuit (ASIC), etc., which are connected by various interfaces and lines.
  • the laser 6031 and the receiver 6032 execute various types of digital storage instructions to calculate the distance between the ranging system and the measured object 604 according to the algorithm.
  • the above-mentioned processing circuit may be installed on the circuit board where the receiver is located.
  • the processing circuit can implement the above-mentioned distance calculation method in the form of a simple circuit, which is not repeated in the embodiment of the present application.
  • the coaxial optical lens group may be an apertured reflector or a reflector with a lens in the middle.
  • the coaxial optical lens group may also be other coaxial optical lens groups capable of realizing a coaxial design, which is not limited in the embodiment of the present application.
  • a detailed description will be given below by taking an open-hole reflector as an example.
  • Fig. 7 is a front view of an example of a perforated reflector 6033.
  • the perforated reflector 6033 includes an open area 6033-1 and an unopened area 6033-2.
  • the opening area 6033-1 may be circular. In other embodiments, the opening area 6033-1 may be elliptical or triangular.
  • the lens is not perforated, and the reflective film is plated in the 6033-2 area, and the anti-reflection film is plated in the 6033-1 area.
  • the transparent film area is optically transmitted, and the reflective film area reflects light.
  • the non-opening area 6033-2 may be a mirror surface, so when the reflected light is irradiated to the non-opening area 6033-2, the reflected light is reflected to the receiver 6032.
  • the perforated reflector 6033 can be used to make the laser light emitted by the laser 6031 pass through the perforated area 6033-1, and can also be used to make the reflected light reflected by the measured object 604 in the non-perforated area 6033. 2Reflected to the receiver 6032.
  • FIG. 8 is a schematic top view of the distance measuring system provided by an embodiment of the application.
  • the laser light emitted by the laser 6031 passes through the opening area 6033-1, and is reflected by the mirror group 602 to be ⁇ OBJECT 604.
  • the reflected light from the measured object 604 is reflected by the mirror group 602 to the non-opening area 6033-2, and is reflected to the receiver 6032 through the non-opening area 6033-2.
  • the distance measurement system provided by the embodiment of the present application enables the laser 6031 and the receiver 6032 to use the coaxial optical path through the apertured reflector 6033, and the area of the mirror group 602 that forwards the coaxial optical path can be designed to be small. Therefore, the distance measurement system provided by the embodiment of the present application can reduce the area of the lens group 602, can reduce the manufacturing cost of the distance measurement system, and reduce the volume of the distance measurement system.
  • the coaxial optical lens group may also be a mirror with a lens in the middle.
  • the reflector with a lens in the middle may be formed by a through-hole inlaid lens in the middle of the above-mentioned open-hole reflector 6033.
  • the lens may be a convex lens, a concave lens or other forms of lenses, which is not limited in the embodiment of the present application.
  • the coaxial optical lens group may also adopt the design of a beam splitter.
  • the laser enters the beam splitter, it passes through the beam splitter, and when the reflected light returns along the exit optical path of the laser, it is reflected by the beam splitter to the receiver.
  • the laser enters the beam splitter, it is reflected by the beam splitter to the mirror group, and when the reflected light returns along the exit optical path of the laser, it passes through the beam splitter to reach the receiver.
  • the embodiment of the present application does not limit the specific design of the beam splitter.
  • the coaxial optical lens group can also be set to other lens groups that realize the coaxial design, which is not limited in the embodiment of the present application.
  • the distance measuring system provided by the embodiments of the present application may further include a housing, the housing is installed on the base, and the distance measuring device, the mirror group 602 and the turntable 601 are all arranged in the housing.
  • the shell can be provided with notches for laser emission and for reflected light to enter.
  • a groove may be provided on the self-driving vehicle, and a distance measuring system with a housing may be installed on the groove.
  • the ranging system 701 may be embedded in the groove 702. It is understandable that a plurality of openings can be provided on the groove 702, so that various components in the autonomous vehicle can pass through the groove 702, and connect to the ranging system 701 through various interfaces or lines.
  • the ranging system can also be installed on the self-driving vehicle through a screw hole provided on the base, and the ranging system can be installed on the self-driving vehicle through the fixing action of the screws.
  • the various components of the distance measuring system such as the distance measuring device, the mirror group 602, and the turntable 601 can be installed on the autonomous vehicle in a reasonable manner according to the actual situation. The installation method is not limited.
  • FIG. 10 is an example diagram of another embodiment of the ranging system provided by the embodiment of the application.
  • the distance measurement system includes the distance measurement system including a base, a distance measurement device, a lens group 802 and a turntable 801.
  • the base, the mirror group 802, and the turntable 801 are similar to the base, the mirror group 202, and the turntable 201 in the embodiment corresponding to FIG. 2, and will not be repeated here.
  • the coaxial optical lens group further includes a lens group 806.
  • the lens group 806 is arranged between the lens group 802 and the perforated mirror 803, and can be used to shape the laser light passing through the perforated mirror 803.
  • the parallel laser light may be used to focus the reflected light transmitted by the mirror group 802 onto the receiver 805.
  • the lens group 806 may specifically be a convex lens or a cylindrical lens.
  • the lens group 806 may be one lens or a combination of multiple lenses, for example, a combination of a convex lens and a flat lens.
  • the embodiment of the present application does not limit the specific combination manner of the lens group 806.
  • the number of lasers 804 may be multiple. Exemplarily, there are 10 lasers 804 in FIG. 10. These lasers 804 can be deflected by a preset angle to face the aperture area of the aperture mirror 803 when set. Therefore, there may be a certain angular difference in the orientation of the laser 804, and the laser light emitted by the laser 804 may not be parallel, but will move closer to the aperture area of the aperture mirror 803. After the laser passes through the aperture area of the aperture mirror 903, it reaches the lens group 806. The laser light is processed by a series of lenses in the lens group 806 and can be shaped into parallel laser light. Finally, the reflection from the mirror group 802 reaches the object to be measured.
  • the reflected light reflected by the measured object reaches the lens group 806 after being reflected by the lens group 802.
  • the lens group 806 may have a function of focusing light. Therefore, the reflected light can be focused when passing through the lens group 806. After the reflected light is focused, it can be reflected by the unopened area of the perforated reflector 803, and finally converge to the focal position. Therefore, the receiver 805 can be set at the focal position to receive more reflected light and improve the sensitivity of the ranging system.
  • the number of receivers 805 may be multiple. Exemplarily, the number of receivers 805 in FIG. 10 is two.
  • the position of the receiver 805 may correspond to the laser 804, so that the laser light emitted by each laser 804 will be received by a corresponding receiver.
  • the position of the receiver 805 can be determined by testing the laser 804 emitting laser light. Exemplarily, during the installation and commissioning or factory commissioning of the ranging system, the commissioning personnel can emit laser light through the laser 804, pass through the apertured mirror 803, lens group 806, and mirror group 802 to reach the measured object, and then the measured object The reflected light that is reflected reaches the circuit board where the receiver 805 is located.
  • the debugger can detect the position of the reflected light on the circuit board through the photosensitive detection device.
  • At least one distance measuring system in the above-mentioned embodiments may be provided on an autonomous driving vehicle.
  • an embodiment of the present application provides an autonomous driving vehicle, as shown in FIG. 9, including five distance measuring systems and a body body.
  • the five ranging systems are the ranging system 901, the ranging system 902, the ranging system 903, the ranging system 904, and the ranging system 905, respectively.
  • the self-driving vehicle may be an engine-driven vehicle, or a new energy vehicle driven by an electric motor. In practical applications, it may also be a hybrid vehicle driven by an engine and an electric motor. There are no specific restrictions on driving a vehicle.
  • the way of installing the distance measuring system on the body of the car body can be similar to the embodiment corresponding to FIG. 9 above.
  • the distance measuring system can also be installed on the body of the car body by screw fixing or other methods.
  • the embodiment of the application does not limit the installation method of the ranging system.
  • the ranging system 901 is installed on the front of the body, the ranging system 902 is installed on the rear of the body, the ranging system 903 is installed on the left side of the body, and the ranging system 904 is installed on the left side of the body.
  • the ranging system 905 is installed on the roof of the vehicle body. Therefore, the five distance measurement systems installed on the body body can cover the surroundings of the autonomous vehicle, and can detect objects close to the autonomous vehicle in time, such as other vehicles or obstacles.
  • the autonomous driving vehicle is also provided with an automatic driving system
  • the automatic driving system can be connected to the ranging system 901, the ranging system 902, the ranging system 903, the ranging system 904, and the ranging system 905 at the same time.
  • the automatic driving system can receive the distances measured by the five distance measuring systems, and then determine the driving plan of the automatic driving vehicle according to the distance, and then realize automatic driving.
  • the ranging system 901 can measure the distance between the autonomous vehicle and the pedestrian, and transmit the distance to the autonomous driving system.
  • the automatic driving system After the automatic driving system receives the distance, it determines that the driving scheme of the automatic driving vehicle is emergency braking based on the distance, and then through the control of the automatic driving system, the vehicle can brake in time to avoid hitting the pedestrian.
  • other vehicles, pedestrians, fences, etc. on the road can all be regarded as obstacles.
  • the automatic driving system can control the vehicle to avoid the obstacle and move in a direction away from the obstacle. For example, when the vehicle is too close to the middle fence, the automatic driving system can control the vehicle to move away from the fence.
  • the autonomous driving system can specifically connect to the ranging system 901, the ranging system 902, the ranging system 903, the ranging system 904, and the ranging system 905 through wires, signal transmission lines, Bluetooth, wifi, etc.
  • the present application The embodiment does not limit the connection mode of the automatic driving system and the ranging system.
  • the automatic driving system realizes its functions through the controller.
  • the controller can be a microprocessor, a central processing unit, a main processor, or an application specific integrated circuit.
  • the controller can connect to various ranging systems (ranging system 901, ranging system 902, ranging system 903, ranging system 904, and ranging system 905) through wired interface or wireless interface, and measure according to each ranging system The distance to achieve various functions, such as the above-mentioned automatic driving function.
  • the controller may also generate a navigation route according to the distance measured by each ranging system. For example, when the driver of a vehicle is preparing to park the vehicle in a parking lot, there may be many other vehicles or other obstacles in the parking lot, and each ranging system can measure the distance between the vehicle and nearby obstacles and transmit it to the controller. The controller can generate a navigation route based on these distances and some other information. In practical applications, the navigation route generated by the controller can be displayed on the display screen connected to the controller, so that the driver can see the navigation route and park according to the navigation route. In practical applications, the controller can also display the distances measured by each ranging system through the display screen, which is not limited in the embodiment of the present application.
  • the embodiment of the present application also provides a vehicle, including a distance measuring system, a driving assistance system, and a vehicle body. Both the distance measuring system and the driving assistance system can be installed on the vehicle body.
  • the internal structure of the ranging system may be similar to the ranging system in the embodiment corresponding to FIG. 2, FIG. 4, or FIG. 10, and the embodiment of the present application does not specifically limit the number of ranging systems.
  • the driving assistance system may include, but is not limited to, adaptive cruise control, lane keeping assist system, automatic parking assist system, brake assist system, reverse assist system, and driving assist system.
  • the driving assistance system may be connected to the ranging system, and the embodiment of the present application does not limit the connection mode of the driving assistance system and the ranging system.
  • the driving assistance system can receive the measured distance from the distance measuring system, and then determine an assisted vehicle driving scheme based on the distance, thereby realizing driving assistance.
  • the distance is sent to the driving assistance system.
  • the driving assistance system After the driving assistance system receives the distance, it compares it with the distance set by the adaptive cruise control. If the distance is less than the set distance, the driving assistance system controls the vehicle to brake, and if the distance is greater than the set distance, the driving assistance system controls the acceleration of the vehicle, so that the vehicle can implement adaptive cruise control.
  • the distance measurement system provided by the embodiments of the present application can also be installed on a robot to realize automatic walking of the robot.
  • robots may include, but are not limited to, inspection robots, material transport robots, and sweeping robots.
  • the distance measurement system provided in the embodiments of the present application can also be installed on a battery car.
  • the ranging system can control the sound device connected to the controller to sound an alarm through the controller.
  • the ranging system provided by the embodiments of the present application can also be installed on other mobile platforms, such as tanks, airplanes, unmanned aerial vehicles, etc.
  • the installation method and function realization can refer to the aforementioned vehicle embodiments. I won't repeat them here.

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)
  • Optical Radar Systems And Details Thereof (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

一种测距系统以及移动平台，测距系统包括激光器（6031）、同轴光学镜组、反射镜组（602）、运动部件以及处理电路。激光器（6031）通过同轴光学镜组向反射镜组（602）发射激光时，运动部件驱动反射镜组（602）转动，使得激光照射至不同角度的被测物体，实现被测物体的测距。运动部件上承载的物体重量轻，运动部件转动快。因此若将该测距系统安装在车辆上，则能够实现对来往车辆的快速测距，达到自动驾驶技术的测距要求。此外，激光的光路和反射光的光路采用同轴设计，这种设计能够减小镜组中反射镜所需的面积，进一步减小测距系统的体积，有利于测距系统的小型化。

Description

一种测距系统以及移动平台 技术领域
本申请实施例涉及测距技术领域，尤其涉及一种测距系统以及移动平台。
背景技术
随着现代科技的发展，车辆自动驾驶业务发展迅速。车辆自动驾驶时，需要测量车辆与障碍物、道路护栏、其他车辆之间的距离，以避开障碍物、修正车道偏离以及保持车距。因此，车辆上通常安装有激光测距系统来测量车辆与其他物体间的距离，从而为实现车辆自动驾驶提供数据参考。
图1a为现有的激光测距系统的正视示例图，图1b为现有的激光测距系统的左视示例图，图1c为现有的激光测距系统的立体示例图，图1d为现有的激光测距系统的示意图。该激光测距系统通过激光器104产生激光，通过透镜102向物体发射激光。当物体被激光照射后，物体可以反射激光。然后激光测距系统可以通过透镜101接收到该激光，通过接收器103对该激光进行分析，从而计算出该激光测距系统与物体之间的距离。激光测距系统具体可以通过脉冲法或相位法进行测距，其中脉冲法为：激光测距系统记录激光发射出的时间和激光接收到的时间，得到往返时间差。然后，激光测距系统可以计算得到激光测距系统与物体之间的距离为往返时间差和光速乘积的一半。
图1a、图1b、图1c和图1d所示的激光测距系统的主要缺点为透镜101、透镜102、接收器103、激光器104均设置在转台105上，转台105所承载的重量较大，因此转台105旋转比较缓慢，无法实现快速转动。若将该激光测距系统安装在车辆上，则该激光测距系统无法实现对来往车辆的快速测距，无法达到自动驾驶技术的测距要求。
发明内容
本申请实施例提供了一种测距系统以及移动平台，该测距系统在测距时能够实现快速转动，满足自动驾驶车辆的要求。
本申请实施例的第一方面提供一种测距系统，包括：测距装置以及扫描部件。扫描部件的功能是指其能够将接受到的光线，能够扫描到一片区域。或者反之，能够将一片区域接受的光线，返回到一个固定的方向。所述测距装置用于向所述扫描部件发射激光；所述激光经所述扫描部件照射至不同角度的被测物体；所述测距装置还用于接收来自所述被测物体的反射光，根据所述激光和所述反射光计算所述测距系统与所述被测物体之间的距离。
在一种可能的实现方式中，所述扫描部件包括运动部件以及反射镜组(光学镜片的组合，如多个反射片和透镜)，所述运动部件用于驱动所述反射镜组扫描。当运动部件转动时，测距装置发射的激光经所述反射镜组照射至被测物体。来自被测物体的反射光经所述反射镜组返回到测距装置。
在一种可能的实现方式中，所述测距装置包括激光器、接收器以及多个同轴光学镜组。 该测距装置的特点是共用了关键的镜组，并且在该共用的镜组上，发送和接收的部分光路的光轴(光学系统的中心线)重合，即实现同轴设计。同轴光学镜组可以通过发送和接收的光路共用相同的光学元件实现同轴设计。例如，同轴光学镜组可以利用开孔反射镜以实现同轴设计。所述开孔反射镜包括开孔区域和未开孔区域；所述激光器，用于向所述反射镜组发射所述激光；所述接收器，用于通过所述未开孔区域接收所述反射光；所述测距装置还包括透镜组；所述透镜组安装在所述反射镜组与所述开孔反射镜之间，用于将所述激光转化为平行光线，或将所述反射光聚焦；所述激光器发射的所述激光穿过所述开孔区域，经所述透镜组和所述反射镜组后到达被测物体；所述被测物体反射出的反射光被所述反射镜组反射，经所述透镜组后，被所述未开孔区域反射至所述接收器；所述测距装置还包括处理电路；所述处理电路连接所述激光器以及所述接收器；所述处理电路用于根据所述激光和所述反射光计算所述测距系统与所述被测物体之间的距离。
在本申请的技术方案中，激光从激光器射出，到达被测物体经过的传播路径为出射光路，反射光从被测物体反射出来，到达接收器经过的传播路径为接收光路。出射光路与接收光路的传播路径部分重合，有相同的中心轴，因此本申请的技术方案实现了同轴设计，用于实现同轴设计的光学镜组可以称为同轴光学镜组。采用同轴设计能够减小测距系统的光学元件，还可以减小反射镜组的面积，有利于测距系统的小型化。
在本申请实施例第一方面提供的测距系统中，扫描部件上仅安装用于调节激光方向或反射光方向的镜组，没有安装重量较大的测距装置(如激光器，接收器以及相关电路)，因此转台能够实现快速转动，测距系统测距时能够快速扫描测量前方区域的物体距离，满足自动驾驶车辆的要求。此外，激光的光路和反射光的光路采用同轴设计。这种设计能够减小镜组中反射镜所需的面积，进一步减小测距系统的体积，有利于测距系统的小型化。
结合本申请实施例的第一方面，在本申请实施例的第一方面的第一种实现方式中，所述反射镜组包括一个以上反射镜，所述激光经过所述多个反射镜的反射到达所述被测物体。
结合本申请实施例的第一方面、本申请实施例的第一方面的第一种实现方式，本申请实施例的第一方面的第二种实现方式中，所述测距装置包括激光器、接收器以及开孔反射镜；所述激光器，用于向所述反射镜组发送所述激光，所述激光穿过所述开孔反射镜的开孔区域；所述开孔反射镜包括所述开孔区域和未开孔区域，所述未开孔区域用于将来自所述反射镜组的所述反射光反射至所述接收器；所述接收器，用于接收所述被测物体的所述反射光。开孔只是一种同轴的实现方式，开孔只能用于示例，需要保护的同轴设计，即发送和接收的部分光路光学中心相同且共用关键的光学组件。
结合本申请实施例的第一方面、本申请实施例的第一方面的第一种至第二种实现方式中的任意一种，在本申请实施例的第一方面的第三种实现方式中，所述同轴光学镜组还包括透镜组；所述透镜组安装在所述反射镜组与所述开孔反射镜之间，用于将所述激光转化为平行光线，或将所述反射光聚焦。
结合本申请实施例的第一方面、本申请实施例的第一方面的第一种至第三种实现方式中的任意一种，在本申请实施例的第一方面的第四种实现方式中，多个激光器贴装在同一 个用于给激光器供电的载板上(如PCB或者陶瓷)。
结合本申请实施例的第一方面、本申请实施例的第一方面的第一种至第四种实现方式中的任意一种，在本申请实施例的第一方面的第五种实现方式中，所述激光器的数量为两个以上，所述激光器发射的激光朝向所述开孔反射镜的开孔区域。例如，多个所述激光器安装在电路板上；多个所述激光器偏转预设角度，使得多个所述激光器发射的激光朝向所述开孔区域。又例如，多个所述激光器呈弧形安装在电路板上，使得多个所述激光器发射的激光朝向所述开孔区域。
结合本申请实施例的第一方面、本申请实施例的第一方面的第一种至第五种实现方式中的任意一种，在本申请实施例的第一方面的第六种实现方式中，所述测距装置还包括处理电路；所述处理电路连接所述激光器以及所述接收器；所述处理电路用于根据所述激光和所述反射光计算所述测距系统与所述被测物体之间的距离。
结合本申请实施例的第一方面、本申请实施例的第一方面的第一种至第六种实现方式中的任意一种，在本申请实施例的第一方面的第七种实现方式中，所述处理电路具体用于根据所述激光的发射时间、所述反射光的接收时间以及光速计算所述测距系统与所述被测物体之间的距离。
结合本申请实施例的第一方面、本申请实施例的第一方面的第一种至第七种实现方式中的任意一种，在本申请实施例的第一方面的第八种实现方式中，同轴光学镜组包括分束镜；所述分束镜用于接收所述激光器发出的激光，将所述激光整形至所述反射镜组；所述分束镜还用于将所述反射光整形至所述接收器。
本申请实施例第二方面提供了一种移动平台，包括：如上述第一方面的测距系统以及移动平台本体，所述移动平台本体包括控制器；所述控制器通过有线接口或无线接口与所述测距系统通信，用于接收所述测距系统测量得到的距离，根据所述距离实现相关功能，例如控制移动平台移动或控制移动平台上的显示屏显示该距离的信息等。在一种可能的实现方式中，移动平台可以是车辆、无人机、机器人等等能够移动的装置。
结合本申请实施例的第二方面，在本申请实施例的第二方面的第一种实现方式中，所述测距系统设置在所述移动平台本体的头部、尾部、侧面或顶部。
结合本申请实施例的第二方面、本申请实施例的第二方面的第一种实现方式，在本申请实施例的第二方面的第二种实现方式中，所述控制器用于根据所述距离控制所述移动平台自动驾驶。
结合本申请实施例的第二方面、本申请实施例的第二方面的第一种至第二种实现方式中的任意一种，在本申请实施例的第二方面的第三种实现方式中，所述控制器用于根据所述距离生成导航路线。控制器生成导航路线后，还可以将导航路线展示在与该控制器连接的显示屏上。
结合本申请实施例的第二方面、本申请实施例的第二方面的第一种至第三种实现方式中的任意一种，在本申请实施例的第二方面的第四种实现方式中，所述控制器连接显示屏，用于展示所述距离。
结合本申请实施例的第二方面、本申请实施例的第二方面的第一种至第四种实现方式 中的任意一种，在本申请实施例的第二方面的第五种实现方式中，所述距离为所述移动平台本体与障碍物之间的距离；当所述距离小于预设阈值时，所述控制器用于控制所述移动平台本体朝向远离所述障碍物的方向移动。例如，移动平台与前面的另一移动平台的距离过近，则控制器可以控制该移动平台减少移动速度。
本申请实施例提供的技术方案中，激光器通过同轴光学镜组向反射镜组发射激光时，运动部件驱动反射镜组转动，使得激光照射至不同角度的被测物体，实现被测物体的测距。在本申请实施例中，运动部件上仅安装有反射镜组，重量轻，转动快。因此若将该测距系统安装在车辆上，则能够实现对来往车辆的快速测距，达到自动驾驶技术的测距要求。此外，激光的光路和反射光的光路都经过同轴光学镜组，采用了同轴设计。这种设计能够减小镜组中反射镜所需的面积，进一步减小测距系统的体积，有利于测距系统的小型化。
附图说明
图1a为现有的激光测距系统的正视示例图；
图1b为现有的激光测距系统的左视示例图；
图1c为现有的激光测距系统的立体示例图；
图1d为现有的激光测距系统的示意图；
图1e为现有的激光测距系统安装在车辆上的示例图；
图2为本申请实施例提供的一种测距系统的示例图；
图3a为本申请实施例提供的一种测距系统的光路示例图一；
图3b为本申请实施例提供的一种测距系统的光路示例图二；
图3c为本申请实施例提供的一种测距系统的光路示例图三；
图4为本申请实施例提供的其中一种测距系统的俯视图；
图5为本申请实施例提供的其中一种测距系统的立体图；
图6为本申请实施例提供的测距系统的另一种实施例示例图；
图7为本申请实施例提供的测距系统的另一种实施例中开孔反射镜的正视示例图；
图8为本申请实施例提供的测距系统的一种俯视示意图；
图9为本申请实施例提供的测距系统安装在车辆上的示例图；
图10为本申请实施例提供的测距系统的另一种实施例示例图；
图11为本申请实施例提供的车辆的一种实施例示例图。
具体实施方式
本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”、“第四”等(如果存在)是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“对应于”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或 对于这些过程、方法、产品或设备固有的其它步骤或单元。
在本申请实施例中，“示例性的”或者“例如”等词用于表示作例子、例证或说明。本申请实施例中被描述为“示例性的”或者“例如”的任何实施例或设计方案不应被解释为比其它实施例或设计方案更优选或更具优势。确切而言，使用“示例性的”或者“例如”等词旨在以具体方式呈现相关概念。
随着车辆工业的蓬勃发展，车辆的自动驾驶技术越趋成熟。应用自动驾驶技术的车辆可以称为自动驾驶车辆。自动驾驶车辆上通常配备有多种测量系统以及计算系统。自动驾驶车辆通过测量系统测量自动驾驶车辆自身以及周围的情况，然后根据这些情况，通过计算系统自动计算出自动驾驶车辆的驾驶操作，例如加速、减速、转弯等。这些测量系统可以包括激光测距系统、雷达测距系统、全球定位系统等，计算系统可以包括人工智能系统、视觉计算系统等。
其中，激光测距系统可以用于测量自动驾驶车辆与其他车辆之间的距离，也可以用于测量自动驾驶车辆与道路围栏之间的距离，还可以用于测量自动驾驶车辆与坑洼底面的距离，本申请实施例对测距系统的用途不做具体限定。
示例性的，如图1e所示，自动驾驶车辆106通过激光测距系统测量得到自动驾驶车辆106与前车107之间的距离。然后通过计算系统判断该距离是否小于安全距离，若是，则说明该自动驾驶车辆106与前车107的距离过近，容易造成追尾。因此自动驾驶车辆106可以自动进行减速操作，防止追尾。
可以理解的是，前车107不一定正对着自动驾驶车辆106，前车107可能在自动驾驶车辆106的侧前方，如图1e所示。因此，自动驾驶车辆106的测距系统一般设计为可以扫描前方扇形范围的车辆，即可以不断对前方扇形区域的车辆进行测距。
图1a、图1b、图1c和图1d示出了现有的激光测距系统，该激光测距系统通过转台105的转动，不断对前方扇形区域的车辆进行测距。然而，该激光测距系统中透镜101、透镜102、接收器103、激光器104均设置在转台105上，转台105所承载的重量较大，因此转台105旋转比较缓慢，无法实现快速转动。
示例性的，如图1e所示，某时刻透镜102所对的方向刚好在扇形区域的左侧，即该测距系统当前正在对扇形区域的左侧车辆进行测距。而此时，前车107从右侧车道并入自动驾驶车辆106的车道，由于自动驾驶车辆106上激光测距系统的转台105无法快速转动，因此无法及时使得透镜102所对的方向快速旋转到扇形区域的右侧，则该激光测距系统无法及时测量到前车107的距离，自动驾驶车辆无法及时识别前车107的位置，无法及时作出减速动作防止追尾。
综上所述，搭载该激光测距系统的自动驾驶车辆106因为无法快速转动底盘105，因此当侧前方有车辆时，无法及时测量出自动驾驶车辆106与前车107的距离，容易造成追尾。
为解决上述激光测距系统的技术问题，本申请实施例提供了一种测距系统，通过合理的结构使得测量的方向能够快速转动，满足自动驾驶车辆的要求。
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行详细描述。
图2为本申请实施例提供的一种测距系统的示例图。该测距系统包括：底座、测距装置203、镜组202以及扫描部件，其中，底座在图2中没有画出。底座可以安装在需要测距的设备上。在一些实施例中，底座可以安装在机器人头部，当机器人移动时，可以通过底座上的测距装置203、镜组202以及扫描部件测量机器人与障碍物之间的距离，从而绕开障碍物行走。在另一些实施例中，底座可以安装在车辆的车头、车尾、顶部或侧面，当车辆进行自动驾驶时，可以根据测距系统测量到的车辆之间的距离或者车辆与围栏之间的距离进行自动驾驶。在实际应用中，测距系统还可以通过底座安装在其他位置，本申请实施例对此不做具体限定。在一些实施例中，测距装置203、镜组202以及扫描部件可以直接安装在设备上，则该设备可以视作底座。例如，测距装置203、镜组202以及扫描部件直接安装在车辆上，则车辆可以视作底座。
在本申请实施例中，底座的一侧可以固定安装测距装置203，底座的另一侧可以固定安装扫描部件。因此，测距装置203和扫描部件分别安装在底座的两侧，扫描部件上没有安装测距装置203，不需要承载较大的重量，因此转动较快。
在一些实施例中，扫描部件可以包括运动部件以及镜组202。示例性的，运动部件由电机以及连接电机的转台201组成。在实际应用中，运动部件也可以是单独一个电机，本申请实施例对此不做限定。镜组202可以安装在转台201上或直接安装在电机上。本申请实施例以运动部件由电机以及连接电机的转台201进行示例性的描述，运动部件的其他实施方案可参照本申请实施例以实施。转台201上安装有镜组202，镜组202的功能可以为：将测距装置203发出的激光(图2中黑色阴影箭头表示)转送至被测物体204，或者将被测物体204反射的反射光(图2中白色阴影箭头表示)转送至测距装置203。在一些实施例中，如图2所示，镜组202可以是一个平面反射镜。如图3a所示，激光经过该平面反射镜转送至被测物体204，反射光经该平面反射镜转送至测距装置203。在另一些实施例中，镜组202可以是一个弧面反射镜。如图3b所示，激光经过该弧面反射镜转送至被测物体204，反射光经该弧面反射镜转送至测距装置203。在另一些实施例中，镜组202可以是两个平面反射镜。如图3c所示，激光经过第一平面反射镜202a转送至第二平面反射镜202b，再转送至被测物体204，反射光经第二平面反射镜202b转送至第一平面反射镜202a，再转送至测距装置203。在实际应用中，镜组202还可以通过其他形式实现其功能，本申请实施例对此不做具体限定。镜组202主要是由反射镜组成，因此也可以称为反射镜组。
在本申请实施例中，转台201用于驱动镜组202围绕镜组202的中心轴转动。在一些实施例中，如图2所示，镜组202为一个平面反射镜，则转台201连接该平面反射镜，使得该平面反射镜围绕中心轴转动。随着镜组202的转动，经过镜组202的激光或反射光的射出角度产生对应的变化。例如，镜组202转动1度，则镜组202的激光或反射光的射出角度对应地偏移2度。
在本申请实施例中，转台201可以连接电机，通过电机的转动带动转台转动，从而使得转台可以驱动镜组202转动。在实际应用中，转台201还可以以其他方式实现转动，例如履带带动齿轮转动的方式，本申请实施例对此不做限定。
在一些实施例中，扫描部件可以是除带有反射镜的电机以外的组件来实现光学扫描， 如微机电系统(micro electro mechanical system，MEMS)或者振镜，也可以是调节光学方向的波导或者液晶。
现有的激光测距系统(如图1a、图1b、图1c和图1d)中，转台105需要驱动透镜101、透镜102、接收器103、激光器104等才能实现测距系统的扫描，其承载重量大，旋转慢。而在本申请实施例中，转台201仅需驱动镜组202转动即可改变激光和反射光的方向，即可实现测距系统的扫描模式。因此，在本申请实施例中，转台201不需要驱动测距装置203，转台201上承载重量较轻，转动较快，能够实现快速扫描测距。
现有的激光测距系统(如图1a、图1b、图1c和图1d)中，转台105上旋转的激光器104和接收器103都需要供电才能工作，对转台上旋转的物体供电会带来诸多的弊端，如增加电路成本，增加功耗，增加重量。相对于该方案，本申请实施例提供的测距系统不需要对于转台201上的旋转物体进行供电(镜组202不需要供电)，可以避免使用滑环或无线供电的各项缺陷。
并且，在本申请实施例中，测距装置203没有安装在转台201上。因此测距装置203对应的电源可以设置在相对固定的位置。
在一些实施例中，本申请实施例提供的测距系统还可以包括外壳，该外壳安装在底座上，测距装置203、镜组202以及转台201均设置在外壳内。并且，外壳上可以开设有供激光射出以及供反射光进入的缺口。在一些实施例中，自动驾驶车辆上可以设置有凹槽，具有外壳的测距系统可以安装在该凹槽上。示例性的，如图9所示，测距系统701可以嵌入凹槽702中。可以理解的是，自动驾驶车辆中的各个部件可以穿过凹槽702，利用各种接口或线路与测距系统701连接。
在另一些实施例中，测距系统也可以通过底座上设置螺丝孔，通过螺丝的固定作用将测距系统安装在自动驾驶车辆上。在实际应用中，测距系统中的各个部件，例如测距装置203、镜组202以及转台201等，可以根据实际情况通过合理方式安装在自动驾驶车辆上，本申请实施例对测距系统的具体安装方法不做限定。
在一些实施例中，本申请实施例提供的其中一种测距系统的俯视图如图4所示。可见，在水平方向上，激光器404射出的激光经透镜4041进行光学整形后，经转台401上的反射镜402的反射，到达被测物体403。被测物体403反射出的反射光经过反射镜402后到达透镜4051，经透镜4051的光学整形后，反射光到达接收器405。其中，反射镜402可以是平面反射镜。由此可知，该实施例中，在水平方向上，透镜4041用于对激光进行光学整形，而透镜4051用于对反射光进行光学整形，激光发出的光路与反射光接收的光路没有共用。这两个光路占据了较多的水平空间，此时需要水平宽度较长的反射镜402才能满足设计要求。并且由于发送光路不在靠近中心的位置，旋转一定程度后发送光线会超出反射镜402的边缘，导致扫描的范围下降。
又例如，在一些实施例中，本申请实施例提供的其中一种测距系统的立体图如图5所示。可见，在垂直方向上，激光器504射出的激光经透镜5041进行光学整形后，经转台501上的反射镜502的反射，到达被测物体503。被测物体503反射出的反射光经过反射镜502后到达透镜5051，经透镜5051的光学整形后，反射光到达接收器505。其中，反射镜 502可以是平面反射镜。由此可知，该实施例中，在垂直方向上，透镜5041用于对激光进行光学整形，而透镜5051用于对反射光进行光学整形，激光发出的光路与反射光接收的光路没有共用。这两个光路占据了较多的垂直空间，此时需要垂直高度较高的反射镜502才能满足设计要求。特别是自动驾驶的探测希望能够尽可能探测较大的垂直方向，因此激光器垂直方向发散角也会比较大，此时激光器占据的转镜高度会接近接收的高度。
综合图4和图5所示的测距系统，发射激光的光路和接收反射光的光路没有共用，会导致反射镜或镜组在水平方向和垂直方向的长度都要求较长，使得反射镜或镜组的面积需要做的比较大，最终导致测距系统的体积较大。此外，该设计在激光光束发散角增大时会更加明显。因此该设计会导致整个测距系统在水平方向或者垂直方向增加较大的体积。
为解决如图4或图5所示测距系统体积较大的技术问题，本申请实施例进一步提供另一种测距系统的实施例如图6所示。图6为本申请实施例提供的测距系统的另一种实施例示例图。该测距系统包括底座、测距装置、镜组602以及扫描部件。其中，底座、镜组602以及转台601与前述图2对应的实施例中底座、镜组202以及扫描部件类似，此处不再赘述。
在一些实施例中，测距装置可以包括激光器6031、接收器6032以及同轴光学镜组。
激光器6031可以用于向镜组602发射激光，激光经过镜组602的转送照射至被测物体604。在一些实施例中，激光器6031可以具体安装在印刷电路板(printed circuit board，PCB)上。在另一些实施例中，激光器6031可以采用没有封装的激光器裸片芯片(bare die)。具体地，没有封装的激光器裸片芯片可以安装在PCB上，通过金线进行引线键合(wire bonding)，将激光器裸片芯片与处理电路连接。该处理电路可以用于计算测距系统与被测物体604之间的距离。激光器6031采用没有封装的激光器裸片芯片时，测距装置能够更加小型化。在实际应用中，激光器6031可以为连续激光器或脉冲激光器，本申请实施例对激光器6031的类型不做具体限定。接收器6032可以用于接收来自被测物体604的反射光。在一些实施例中，接收器6032可以安装在PCB上。在另一些实施例中，接收器6032可以采用没有封装的接收器裸片芯片。具体地，没有封装的接收器裸片芯片可以安装在PCB上，通过金线进行引线键合，将接收器裸片芯片与处理电路连接。接收器6032采用没有封装的接收器裸片芯片时，使得测距装置能够更加小型化。在一些实施例中，接收器6032可以采用雪崩光电二极管(avalanche photon diode，APD)做成，具有高速响应、高增益、低结电容、低噪声的特点，非常适合于激光测距。
可以理解的是，安装激光器6031的PCB板和安装接收器6032的PCB板可以不是同一块PCB板，也可以是同一块PCB板，本申请实施例对此不做限定。一个PCB板上可以设置多个激光器6031，本申请实施例对激光器6031的数量不做限定。一个PCB板上可以设置多个接收器6032，本申请实施例对接收器6032的数量不做限定。
在一些实施例中，测距装置还可以包括处理电路。处理电路连接激光器6031和接收器6032，用于根据激光器6031发射激光和接收器6032接收反射光的情况，计算得到测距系统与被测物体604之间的距离。处理电路可以被设计为通过激光测距(laser distance measuring)的方法计算测距系统与被测物体604之间的距离，激光测距的方法可以包括脉 冲法和相位法等。在一些实施例中，处理电路具体可以被设计为通过脉冲法的计算方法计算测距系统与被测物体604之间的距离。脉冲法的计算公式可以为：
Figure PCTCN2019129045-appb-000001
其中，D为测距系统与被测物体604之间的距离，c为光速，t为激光器6031发出激光与接收器6032接收到对应反射光的时间差。在实际应用中，光速可以取300000km/s或者其他数值，本申请实施例对此不做具体限定。
示例性的，在一次计算过程中，处理电路可以首先记录激光器6031发出激光的时间为1点0分0秒，然后，处理电路检测到接收器6032接收到该激光对应的反射光返回时间为1点0分0.0000001秒，则时间差t等于0.0000001秒。处理电路根据脉冲法的计算公式，可以计算得到测距系统与被测物体604之间的距离D为15米。
在一些实施例中，为提高测量距离的精度，处理电路计算得到距离D后，还可以减去反射光从镜组602到接收器6032之间的距离。在实际应用中，处理电路执行的激光测距的方法可以根据实际情况进行微调，本申请实施例对此不做具体限定。上述处理电路执行的激光测距的方法为处理电路计算测距系统与被测物体604之间的距离的一种实现方式或一种示例，在实际应用中，处理电路还可以被设计为通过相位法等其他计算方法计算测距系统与被测物体604之间的距离，本申请实施例对处理电路的设计不做具体限定。
在一些实施例中，上述的处理电路可以为微处理器、中央处理器、主处理器、单片机、控制器或者专用集成电路(application specific integrated circuit，ASIC)等等元件，利用各接口和线路连接激光器6031以及接收器6032，执行各种类型的数字存储指令，从而根据算法计算得到测距系统与被测物体604之间的距离。
在一些实施例中，上述的处理电路可以安装在接收器所在电路板上。处理电路可以以简单电路的形式实现上述计算距离的方法，本申请实施例对此不再赘述。
在一些实施例中，同轴光学镜组可以是一种开孔反射镜，也可以是一种中间设置有透镜的反射镜。在实际应用中，同轴光学镜组还可以是其他能够实现同轴设计的同轴光学镜组，本申请实施例对此不作限定。为清楚描述本申请方案，以下将以开孔反射镜为例进行详细的描述。
图7为开孔反射镜6033的正视示例图，开孔反射镜6033包括开孔区域6033-1和未开孔区域6033-2。在一些实施例中，开孔区域6033-1可以为圆形。在另一些实施例中，开孔区域6033-1可以为椭圆形状或者三角形。同时也有一些实施示例中，透镜不开孔，在6033-2区域镀反射膜，6033-1的区域镀增透膜。透膜区域光学透过，反射膜区域光线反射，本申请实施例对开孔区域6033-1的形状不做具体限定。在一些实施例中，未开孔区域6033-2可以是反射镜面，因此当反射光照射至未开孔区域6033-2时，反射光被反射至接收器6032。
在本申请实施例中，开孔反射镜6033可以用于使得激光器6031发出的激光穿过开孔区域6033-1，还可以用于使得被测物体604反射的反射光在未开孔区域6033-2反射至接收器6032。示例性的，如图8所示，图8为本申请实施例提供的测距系统的一种俯视示意图，激光器6031射出的激光穿过开孔区域6033-1，并经镜组602反射至被测物体604。被 测物体604反射出来的反射光经镜组602反射至未开孔区域6033-2，并通过未开孔区域6033-2反射至接收器6032。
本申请实施例提供的测距系统通过开孔反射镜6033使得激光器6031和接收器6032能够使用同轴光路，转发该同轴光路的镜组602的面积可以设计较小。因此本申请实施例提供的测距系统可以降低镜组602的面积，可以降低测距系统的制造成本，并且减小测距系统的体积。
在一些实施例中，同轴光学镜组还可以是中间设置有透镜的反射镜。该中间设置有透镜的反射镜可以由上述开孔反射镜6033中间的通孔镶嵌透镜形成。该透镜可以是凸透镜、凹透镜或者其他形式的透镜，本申请实施例对此不做限定。
在一些实施例中，同轴光学镜组还可以采用分束镜的设计。激光射入分束镜时透过该分束镜，反射光沿激光的出射光路返回时，被该分束镜反射至接收器。或者是，激光器射入分束镜时被该分束镜反射至反射镜组，反射光沿激光的出射光路返回时，透过该分束镜到达接收器。本申请实施例对分束镜的具体设计不做限制。
在实际应用中，同轴光学镜组还可以设置为其他实现同轴设计的镜组，本申请实施例对此不做限制。
在一些实施例中，本申请实施例提供的测距系统还可以包括外壳，该外壳安装在底座上，测距装置、镜组602以及转台601均设置在外壳内。并且，外壳上可以开设有供激光射出以及供反射光进入的缺口。在一些实施例中，自动驾驶车辆上可以设置有凹槽，具有外壳的测距系统可以安装在该凹槽上。示例性的，如图9所示，测距系统701可以嵌入凹槽702中。可以理解的是，凹槽702上可以设置多个开孔，使得自动驾驶车辆中的各个部件可以穿过凹槽702，利用各种接口或线路与测距系统701连接。
在另一些实施例中，测距系统也可以通过底座上设置螺丝孔，通过螺丝的固定作用将测距系统安装在自动驾驶车辆上。在实际应用中，测距系统中的各个部件，例如测距装置、镜组602以及转台601等，可以根据实际情况通过合理方式安装在自动驾驶车辆上，本申请实施例对测距系统的具体安装方法不做限定。进一步地，图10为本申请实施例提供的测距系统的另一种实施例示例图。该测距系统包括该测距系统包括底座、测距装置、镜组802以及转台801。其中，底座、镜组802以及转台801与前述图2对应的实施例中底座、镜组202以及转台201类似，此处不再赘述。
在一些实施例中，测距装置可以包括透镜组806、激光器804、接收器805以及开孔反射镜803。其中，激光器804、接收器805以及开孔反射镜803与前述图8对应的实施例中激光器6031、接收6032以及开孔反射镜6033类似，此处不再赘述。
在本申请实施例中，同轴光学镜组还包括透镜组806，透镜组806设置于镜组802与开孔反射镜803之间，可以用于将穿过开孔反射镜803的激光整形成平行的激光，或者可以用于将镜组802传输的反射光聚焦至接收器805上。在一些实施例中，透镜组806具体可以为凸面透镜、柱面透镜。在另一些实施例中，透镜组806可以是一个透镜，也可以是多个透镜的组合，例如，一个凸面透镜加一个平面透镜的组合。本申请实施例对透镜组806的具体组合方式不做限定。
在一些实施例中，激光器804的数量可以为多个。示例性的，图10中激光器804共有10个。这些激光器804在设置时可以偏转预设角度以朝向开孔反射镜803的开孔区域。因此，激光器804的朝向可能会存在一定的角度差异，激光器804射出的激光可能不会平行，而是向开孔反射镜803的开孔区域靠拢。激光穿过开孔反射镜903的开孔区域后，到达透镜组806。激光经过透镜组806中一系列透镜的处理，可以被整形成平行的激光。最后经镜组802的反射到达被测物体。
在另一些实施例中，当激光器804的数量可以为多个时，多个激光器804可以呈弧形安装在电路板上，使得多个激光器804发射的激光朝向开孔区域。在实际应用中，可在激光穿过开孔区域后，可以通过聚焦透镜等方式整形成平行的激光，本申请实施例对此不做限定。
在一些实施例中，被测物体反射出的反射光经过镜组802的反射后到达透镜组806。透镜组806可以具有聚焦光线的功能。因此，反射光经过透镜组806时可以聚焦。反射光聚焦后可以经过开孔反射镜803的未开孔区域反射，最终汇聚到焦点位置。因此，接收器805可以设置在该焦点位置，以接收到更多的反射光，提高测距系统的灵敏度。在一些实施例中，接收器805的数量可以为多个。示例性的，图10中接收器805的数量为2个。
在一些实施例中，透镜组806与激光器804之间可以设置若干个反射镜，形成“Z”形光路，可以进一步减小测距装置的体积。同理，透镜组806与接收器805之间也可以设置若干个反射镜。在另一些实施例中，透镜组806与镜组802之间也可以设置若干个反射镜，本申请实施例对在测距系统内部各个器件之间设置反射镜调整光路的实施方式不做限定。上述设置反射镜的实施例不仅可以根据实际需要改变光路，适应实际应用，并且，在改变光路后，能够合理利用测距系统的空间，进一步减小测距装置的体积。
在一些实施例中，接收器805的位置可以与激光器804对应，使得每个激光器804发射的激光都会有对应的接收器接收。该接收器805的位置可以通过激光器804发射激光的测试确定。示例性的，在测距系统的安装调试或出厂调试过程中，调试人员可以通过激光器804发射激光，经开孔反射镜803、透镜组806、镜组802后到达被测物体，然后被测物体反射出的反射光到达接收器805所在的电路板。调试人员可以通过光敏检测设备检测反射光在该电路板上的位置。最后，调试人员可以改变被测物体的种类、镜组802的角度等条件并重复上述检测反射光位置的过程，综合考虑检测到的反射光位置，从而根据检测到的反射光位置确定接收器805的位置。自动驾驶车辆上可以设置至少一个上述实施例中的测距系统，示例性的，本申请实施例提供了一种自动驾驶车辆，如图9所示，包括5个测距系统和车身本体。其中5个测距系统分别是测距系统901、测距系统902、测距系统903、测距系统904以及测距系统905。在一些实施例中，测距系统901、测距系统902、测距系统903、测距系统904以及测距系统905的结构均与前述图2、图4或图10对应的实施例中的测距系统类似，本申请实施例对测距系统的内部结构不再赘述。
在一些实施例中，自动驾驶车辆可以是发动机驱动的汽车，也可以是电动机驱动的新能源车，在实际应用中，还可以是发动机和电动机混合驱动的混合动力汽车，本申请实施例对自动驾驶车辆不做具体限定。
在本申请实施例中，测距系统安装在车身本体上的方式可以与前述图9对应的实施例类似，在实际应用中，测距系统还可以通过螺丝固定等其他方式安装在车身本体上，本申请实施例对测距系统的安装方式不做限定。
请参阅图11，测距系统901安装在车身本体的车头，测距系统902安装在车身本体的车尾，测距系统903安装在车身本体的车身左侧，测距系统904安装在车身本体的车身右侧，测距系统905安装在车身本体的车顶。因此，车身本体上安装的这五个测距系统能够覆盖自动驾驶车辆的周围，能够及时发现靠近自动驾驶车辆的物体，例如其他车辆或障碍物。
在一些实施例中，自动驾驶车辆上还设置有自动驾驶系统，该自动驾驶系统可以同时连接测距系统901、测距系统902、测距系统903、测距系统904以及测距系统905。该自动驾驶系统可以接收来自这五个测距系统测量到的距离，然后根据该距离确定自动驾驶的车辆行驶方案，进而实现自动驾驶。示例性的，自动驾驶车辆前方有一个行人，则在自动驾驶车辆未撞上该行人时，测距系统901能够测量到自动驾驶车辆与该行人之间的距离，并将该距离传输至自动驾驶系统。自动驾驶系统接收到该距离后，根据该距离确定自动驾驶的车辆行驶方案为紧急刹车，进而通过该自动驾驶系统的控制，车辆能够及时刹车，避免撞上该行人。在本申请实施例中，路上的其他车辆、行人、围栏等均可以视作障碍物，为避免车辆撞上障碍物，当测距系统测量到的车辆与障碍物的距离小于预设阈值时，自动驾驶系统可以控制车辆避开该障碍物，朝向远离该障碍物的方向移动。例如，车辆离中间围栏太近时，自动驾驶系统可以控制车辆朝向远离该围栏的方向移动。
在一些实施例中，自动驾驶系统具体可以通过导线、信号传输线、蓝牙、wifi等方式连接测距系统901、测距系统902、测距系统903、测距系统904以及测距系统905，本申请实施例对自动驾驶系统与测距系统的连接方式不做限定。
在实际应用中，该自动驾驶系统通过控制器实现其功能。控制器可以是微处理器、中央处理器、主处理器或者专用集成电路等等元件。该控制器可以通过有线接口或无线接口连接各个测距系统(测距系统901、测距系统902、测距系统903、测距系统904以及测距系统905)，并根据各个测距系统测量到的距离实现各种功能，例如上述的自动驾驶功能。
在一些实施例中，控制器还可以根据各个测距系统测量到的距离生成导航路线。例如，车辆驾驶员准备将车辆停入停车场时，停车场上可能有很多其他车辆或者其他障碍物，则各个测距系统可以测量到车辆与附近障碍物的距离，并传输给控制器。控制器可以根据这些距离以及其他一些信息生成导航路线。在实际应用中，控制器生成的导航路线可以显示在与控制器连接的显示屏上，让驾驶员看到该导航路线从而按照导航路线停车。在实际应用中，控制器还可以通过显示屏展示各个测距系统测量到的距离，本申请实施例对此不做限制。
本申请实施例还提供一种车辆，包括测距系统、驾驶辅助系统和车辆本体，测距系统和驾驶辅助系统均可以安装在车辆本体上。其中，测距系统的内部结构可以与前述图2、图4或图10对应的实施例中的测距系统类似，且本申请实施例对测距系统的数量不做具体限定。
在本申请实施例中，驾驶辅助系统可以包括但不限于自适应巡航控制、车道保持辅助系统、自动泊车辅助系统、刹车辅助系统、倒车辅助系统和行车辅助系统。驾驶辅助系统可以与测距系统连接，本申请实施例对驾驶辅助系统与测距系统的连接方式不做限定。驾驶辅助系统可以根据接收来自该测距系统测量到的距离，然后根据该距离确定辅助的车辆行驶方案，进而实现驾驶辅助。示例性的，以自适应巡航控制为例，测距系统测量到前方车辆的距离后，将该距离发送至驾驶辅助系统。驾驶辅助系统接收到该距离后，与自适应巡航控制设定的车距比较。如果该距离小于设定的车距，则驾驶辅助系统控制车辆刹车，如果该距离大于设定的车距，则驾驶辅助系统控制车辆加速，从而该车辆能够实现自适应巡航控制。
在实际应用中，本申请实施例提供的测距系统还可以安装在机器人上，用于实现机器人的自动行走。这类机器人可以包括但不限于巡检机器人、运送物料机器人以及扫地机器人。
在实际应用中，本申请实施例提供的测距系统还可以安装电瓶车上。当测距系统检测到电瓶车前方有行人时，测距系统可以通过控制器控制与该控制器连接的声音设备发出报警声。
在实际应用中，本申请实施例提供的测距系统还可以安装在其他移动平台上，例如坦克、飞机、无人机等，安装方式以及功能实现等的情况可以参照前述关于车辆的实施例，此处不再赘述。

Claims (15)

  1. 一种测距系统，其特征在于，包括：激光器、同轴光学镜组、反射镜组、运动部件以及处理电路；
    所述激光器，用于向所述同轴光学镜组发射激光；
    所述同轴光学镜组，用于将所述激光透传至所述反射镜组；
    所述反射镜组，用于将所述激光反射至被测物体；
    所述运动部件用于驱动所述反射镜组调节所述激光出射的角度；
    所述反射镜组，还用于将所述被测物体返回的反射光反射至所述同轴光学镜组；
    所述同轴光学镜组，还用于将所述反射光反射至所述接收器；
    所述接收器，用于接收所述反射光；
    所述处理电路，分别耦合至所述激光器以及所述接收器，用于根据所述激光和所述反射光计算所述测距系统与所述被测物体之间的距离。
  2. 根据权利要求1所述的测距系统，其特征在于，所述同轴光学镜组包括开孔反射镜；
    所述开孔反射镜包括开孔区域和未开孔区域；
    所述接收器，用于通过所述未开孔区域接收所述反射光；
    所述激光器，用于向所述开孔区域发射所述激光。
  3. 根据权利要求1或2所述的测距系统，其特征在于，所述同轴光学镜组还包括透镜，用于对所述激光或反射光进行光束整形。
  4. 根据权利要求2所述的测距系统，其特征在于，多个所述激光器安装在电路板上；
    多个所述激光器偏转预设角度，使得多个所述激光器发射的激光朝向所述开孔区域。
  5. 根据权利要求2所述的测距系统，其特征在于，多个所述激光器呈弧形安装在电路板上，使得多个所述激光器发射的激光朝向所述开孔区域。
  6. 根据权利要求1至5任意一项所述的测距系统，其特征在于，所述运动部件包括电机和转台；
    所述电机的转动轴上安装所述转台，所述转台上安装所述反射镜组，用于驱动所述反射镜组转动。
  7. 根据权利要求1至6任意一项所述的测距系统，其特征在于，所述反射镜组包括多个反射镜，所述激光经过所述多个反射镜的反射到达所述被测物体。
  8. 根据权利要求1至3任意一项所述的测距系统，其特征在于，所述激光器或所述接收器以带封装元件或者裸片芯片的形式贴装在电路板上。
  9. 根据权利要求1至8任意一项所述的测距系统，其特征在于，所述处理电路用于根据所述激光的发射时间、所述反射光的接收时间以及光速计算所述测距系统与所述被测物体之间的距离。
  10. 一种移动平台，其特征在于，包括如权利要求1至9任意一项所述的测距系统以及移动平台本体；
    所述移动平台本体包括控制器；
    所述控制器通过有线接口或无线接口与所述测距系统通信，用于接收所述测距系统测 量得到的距离，根据所述距离控制所述移动平台本体。
  11. 根据权利要求10所述的移动平台，其特征在于，所述测距系统设置在所述移动平台本体的头部、尾部、侧面或顶部。
  12. 根据权利要求10或11所述的移动平台，其特征在于，所述控制器用于根据所述距离控制所述移动平台本体移动。
  13. 根据权利要求10至12任意一项所述的移动平台，其特征在于，所述控制器用于根据所述距离生成导航路线。
  14. 根据权利要求13所述的移动平台，其特征在于，所述控制器连接显示屏，用于展示所述距离或所述导航路线。
  15. 根据权利要求10至14任意一项所述的移动平台，其特征在于，所述距离为所述移动平台本体与障碍物之间的距离；
    当所述距离小于预设阈值时，所述控制器用于控制所述移动平台本体朝向远离所述障碍物的方向移动。
PCT/CN2019/129045 2019-12-27 2019-12-27 一种测距系统以及移动平台 WO2021128239A1 (zh)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP19957776.8A EP4067941A4 (en) 2019-12-27 2019-12-27 TELEMETRY SYSTEM AND MOBILE PLATFORM
CN201980102895.0A CN114787658A (zh) 2019-12-27 2019-12-27 一种测距系统以及移动平台
PCT/CN2019/129045 WO2021128239A1 (zh) 2019-12-27 2019-12-27 一种测距系统以及移动平台
JP2022539321A JP2023508459A (ja) 2019-12-27 2019-12-27 測距システム及び移動プラットフォーム
US17/848,832 US20220334263A1 (en) 2019-12-27 2022-06-24 Ranging System and Mobile Platform

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/129045 WO2021128239A1 (zh) 2019-12-27 2019-12-27 一种测距系统以及移动平台

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US17/848,832 Continuation US20220334263A1 (en) 2019-12-27 2022-06-24 Ranging System and Mobile Platform

Publications (1)

Publication Number Publication Date
WO2021128239A1 true WO2021128239A1 (zh) 2021-07-01

Family

ID=76575430

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/129045 WO2021128239A1 (zh) 2019-12-27 2019-12-27 一种测距系统以及移动平台

Country Status (5)

Country Link
US (1) US20220334263A1 (zh)
EP (1) EP4067941A4 (zh)
JP (1) JP2023508459A (zh)
CN (1) CN114787658A (zh)
WO (1) WO2021128239A1 (zh)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101241182A (zh) * 2007-02-06 2008-08-13 电装波动株式会社 测量物体方向和距离的激光雷达设备
CN102338875A (zh) * 2010-07-16 2012-02-01 李少勤 一种多线扫描前视防撞激光雷达装置及应用
CN105911561A (zh) * 2016-06-30 2016-08-31 西安交通大学 一种基于激光雷达的无人机避障装置及避障方法
US20180284225A1 (en) * 2017-03-29 2018-10-04 Luminar Technologies, Inc. Controlling pulse timing to compensate for motor dynamics
CN208216603U (zh) * 2018-05-10 2018-12-11 河南卓安伟业汽车防撞技术研究有限公司 车辆干预系统
CN109387822A (zh) * 2018-12-10 2019-02-26 四川经曼光电科技有限公司 一种共轴多倍频激光雷达

Family Cites Families (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5183554A (ja) * 1975-01-18 1976-07-22 Ritsuo Hasumi Kogakusotsukyosochino sojukoki
DE4200057A1 (de) * 1992-01-03 1993-07-08 Josef Dipl Ing Zink Lasermesssystem zur messung physikalischer messgroessen
JP4476599B2 (ja) * 2002-11-07 2010-06-09 フジノン株式会社 集光光学系
JP3908226B2 (ja) * 2004-02-04 2007-04-25 日本電産株式会社 スキャニング型レンジセンサ
JP4927182B2 (ja) * 2009-06-22 2012-05-09 株式会社 ニコンビジョン レーザー距離計
US8836922B1 (en) * 2013-08-20 2014-09-16 Google Inc. Devices and methods for a rotating LIDAR platform with a shared transmit/receive path
CN104330843A (zh) * 2014-07-22 2015-02-04 凯迈（洛阳）环测有限公司 一种激光测云仪光学系统及其分光反射镜
JP6250080B2 (ja) * 2016-02-25 2017-12-20 三菱重工業株式会社 レーザレーダ装置及び走行体
EP3430428A4 (en) * 2016-03-19 2019-11-20 Velodyne Lidar, Inc. INTEGRATED LIGHTING AND DETECTION FOR 3D IMAGING BASED ON LIDAR
CN105824029B (zh) * 2016-05-10 2018-09-04 深圳市速腾聚创科技有限公司 多线激光雷达
DE102016117851A1 (de) * 2016-09-22 2018-03-22 Valeo Schalter Und Sensoren Gmbh Sendeeinrichtung für eine optische Erfassungsvorrichtung, optische Erfassungsvorrichtung, Kraftfahrzeug sowie Verfahren
KR101866068B1 (ko) * 2016-10-14 2018-07-04 현대자동차주식회사 자율주행차량의 주행 제어 장치 및 방법
CN106597461A (zh) * 2016-12-16 2017-04-26 西安五湖智联半导体有限公司 一种二维扫描测距装置
CN206515469U (zh) * 2017-01-17 2017-09-22 北京飞思迈尔光电科技有限公司 一种多层光学扫描传感器
CN206584043U (zh) * 2017-03-23 2017-10-24 上海思岚科技有限公司 一种激光扫描测距装置
CN206960659U (zh) * 2017-06-12 2018-02-02 深圳市镭神智能系统有限公司 一种回波探测光学系统
CN207290078U (zh) * 2017-09-06 2018-05-01 黄京华 行走机器人
CN207717973U (zh) * 2017-09-19 2018-08-10 深圳市镭神智能系统有限公司 一种基于多线激光雷达的光路系统
WO2019163210A1 (ja) * 2018-02-22 2019-08-29 コニカミノルタ株式会社 走査型光学系、およびライダー
CN108445467B (zh) * 2018-03-26 2021-08-03 宁波傲视智绘光电科技有限公司 一种扫描激光雷达系统
CN110663147A (zh) * 2018-04-28 2020-01-07 深圳市大疆创新科技有限公司 激光二极管封装模块及发射装置、测距装置、电子设备
CN208506242U (zh) * 2018-06-11 2019-02-15 探维科技(北京)有限公司 激光雷达系统
CN208672797U (zh) * 2018-08-16 2019-03-29 北醒（北京）光子科技有限公司 一种激光雷达同轴光学系统及激光雷达
JP2020030121A (ja) * 2018-08-23 2020-02-27 日本電産モビリティ株式会社 対象物検出装置、対象物検出システム
CN110161514A (zh) * 2018-11-20 2019-08-23 腾讯科技（深圳）有限公司 一种激光雷达、激光雷达测量方法及车辆驾驶系统
US11105902B2 (en) * 2018-12-07 2021-08-31 Beijing Voyager Technology Co., Ltd. Mirror assembly for light steering
CN209215576U (zh) * 2018-12-10 2019-08-06 四川经曼光电科技有限公司 一种共轴多倍频激光雷达

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101241182A (zh) * 2007-02-06 2008-08-13 电装波动株式会社 测量物体方向和距离的激光雷达设备
CN102338875A (zh) * 2010-07-16 2012-02-01 李少勤 一种多线扫描前视防撞激光雷达装置及应用
CN105911561A (zh) * 2016-06-30 2016-08-31 西安交通大学 一种基于激光雷达的无人机避障装置及避障方法
US20180284225A1 (en) * 2017-03-29 2018-10-04 Luminar Technologies, Inc. Controlling pulse timing to compensate for motor dynamics
CN208216603U (zh) * 2018-05-10 2018-12-11 河南卓安伟业汽车防撞技术研究有限公司 车辆干预系统
CN109387822A (zh) * 2018-12-10 2019-02-26 四川经曼光电科技有限公司 一种共轴多倍频激光雷达

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4067941A4 *

Also Published As

Publication number Publication date
US20220334263A1 (en) 2022-10-20
JP2023508459A (ja) 2023-03-02
EP4067941A4 (en) 2022-12-14
CN114787658A (zh) 2022-07-22
EP4067941A1 (en) 2022-10-05

Similar Documents

Publication Publication Date Title
JP6815500B2 (ja) 複数の受信機を有する光検出測距（ｌｉｄａｒ）装置
CN110799853B (zh) 一种环境感知系统及移动平台
JP7059354B2 (ja) 光検出および測距（ｌｉｄａｒ）システムにおける範囲のエイリアシング検出および軽減のための延長された検出期間の使用
IL300302A (en) Flexibility instrument error range exposure and light spread using multiple hypotheses
US20220413102A1 (en) Lidar systems and methods for vehicle corner mount
JP2023534594A (ja) ガラスミラーの回転金属モータフレームへの取り付け
US12032101B1 (en) Calibration system for light detection and ranging (lidar) devices
WO2022110210A1 (zh) 一种激光雷达及移动平台
WO2024063880A1 (en) Low-profile lidar system with single polygon and multiple oscillating mirror scanners
WO2023220316A1 (en) Dual emitting co-axial lidar system with zero blind zone
WO2021128239A1 (zh) 一种测距系统以及移动平台
US20220163675A1 (en) Methods of Using Background Images from a Light Detection and Ranging (LIDAR) Device
WO2021184381A1 (zh) 测距系统和车辆
US20230366984A1 (en) Dual emitting co-axial lidar system with zero blind zone
US11768294B2 (en) Compact lidar systems for vehicle contour fitting
US20240069169A1 (en) Film electromagnetic mirror
US20240094351A1 (en) Low-profile lidar system with single polygon and multiple oscillating mirror scanners
US11624806B2 (en) Systems and apparatuses for mitigating LiDAR noise, vibration, and harshness
US11871130B2 (en) Compact perception device
US20230366988A1 (en) Low profile lidar systems with multiple polygon scanners
US20240036212A1 (en) Lane boundary detection using sub-short range active light sensor
US20230408651A1 (en) Spinning Lidar With One or More Secondary Mirrors
US20230358893A1 (en) Optical illumination for road obstacle detection
WO2024049692A1 (en) Film electromagnetic mirror
WO2024086223A1 (en) Two dimensional transmitter array-based lidar

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: 19957776

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2022539321

Country of ref document: JP

Kind code of ref document: A

ENP Entry into the national phase

Ref document number: 2019957776

Country of ref document: EP

Effective date: 20220701

NENP Non-entry into the national phase

Ref country code: DE