WO2022141049A1 - 激光测距装置、激光测距方法和可移动平台 - Google Patents

激光测距装置、激光测距方法和可移动平台 Download PDF

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Publication number
WO2022141049A1
WO2022141049A1 PCT/CN2020/140823 CN2020140823W WO2022141049A1 WO 2022141049 A1 WO2022141049 A1 WO 2022141049A1 CN 2020140823 W CN2020140823 W CN 2020140823W WO 2022141049 A1 WO2022141049 A1 WO 2022141049A1
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WIPO (PCT)
Prior art keywords
point cloud
laser ranging
coordinate system
data
ranging device
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Application number
PCT/CN2020/140823
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English (en)
French (fr)
Inventor
罗一俊
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2020/140823 priority Critical patent/WO2022141049A1/zh
Priority to CN202080070617.4A priority patent/CN114585946A/zh
Publication of WO2022141049A1 publication Critical patent/WO2022141049A1/zh

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    • 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
    • G01S17/46—Indirect determination of position data
    • G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of 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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—3D [Three Dimensional] image rendering
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects

Definitions

  • Embodiments of the present invention relate to the technical field of ranging, and more particularly, to a laser ranging device, a laser ranging method, and a movable platform.
  • the laser ranging device obtains the distance information of the detected object by actively transmitting and receiving laser pulses and calculating the time-of-flight difference or phase difference of the laser echo signal.
  • laser ranging devices As an advanced sensor device that can perceive three-dimensional information of the environment, laser ranging devices have been widely used in various intelligent robots and autonomous driving fields in recent years.
  • the current laser ranging device usually sends the collected point cloud data to the host computer for point cloud display.
  • the host computer for point cloud display the normal operation of the host computer depends on various hardware and software-related factors such as the computer's hardware configuration, operating system type/version, firewall configuration, etc.; It can be used on operating system platforms and hardware architecture platforms, and it cannot be run on some embedded platforms.
  • a first aspect of the embodiments of the present invention provides a laser ranging device, including:
  • a receiving circuit configured to receive at least part of the laser pulses reflected back by the measured object, and convert them into electrical signals
  • a sampling circuit for sampling the electrical signal to obtain a sampling result
  • a web server configured to perform visual processing on the point cloud data to obtain point cloud image data, and output the point cloud image data to an external device through a web page protocol.
  • a second aspect of the embodiments of the present invention provides a laser ranging method for a laser ranging device, where the laser ranging device includes a web server, and the laser ranging method includes:
  • the web server performs visual processing on the point cloud data to obtain point cloud image data, and outputs the point cloud image data to an external device through a web page protocol.
  • a third aspect of the embodiments of the present invention provides a movable platform, the movable platform includes the above-mentioned laser ranging device and a movable platform body, and the laser ranging device is arranged on the movable platform body .
  • the laser ranging device, the laser ranging method, and the movable platform according to the embodiments of the present invention perform visual processing on point cloud data based on a web server, and output point cloud image data to an external device through a web protocol, so that the point cloud image can be browsed through the external device .
  • FIG. 1 is a schematic frame diagram of a laser ranging device according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of an embodiment in which the laser ranging device according to the embodiment of the present invention adopts a coaxial optical path;
  • FIG. 3 is a schematic diagram of a scanning pattern of a laser ranging device according to an embodiment of the present invention.
  • FIG. 4 shows a data interaction framework between a laser ranging apparatus and an external device according to an embodiment of the present invention
  • FIG. 5 shows a schematic diagram of point cloud data coordinate system conversion based on attitude data measured by an inertial measurement unit according to an embodiment of the present invention
  • FIG. 6 is a schematic flowchart of a laser ranging method according to an embodiment of the present invention.
  • the laser ranging device is used to sense external environmental information, for example, distance information, orientation information, reflection intensity information, speed information, etc. of environmental objects.
  • the laser ranging device can detect the distance from the detected object to the laser ranging device through the time of light propagation between the laser ranging device and the detected object, that is, time-of-flight (TOF).
  • TOF time-of-flight
  • the laser ranging apparatus 100 may include a transmitting circuit 110 , a receiving circuit 120 , a sampling circuit 130 , an arithmetic circuit 140 and a web server 150 .
  • the transmitting circuit 110 is used for transmitting laser pulses.
  • the receiving circuit 120 is used for receiving at least a part of the returned light pulses reflected by the laser pulses emitted by the transmitting circuit 110 through the measured object, and converting them into electrical signals.
  • the sampling circuit 130 is used for sampling the electrical signal to obtain the sampling result.
  • the operation circuit 140 is used to obtain point cloud data based on the sampling result.
  • the web server 150 is configured to perform visual processing on the point cloud data to obtain point cloud image data, and output the point cloud image data to an external device through a web protocol.
  • the laser ranging device 100 may further include a control circuit, 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 which can control other circuits, for example, can control the working time of each circuit and/or set parameters for each circuit.
  • the laser ranging device shown in FIG. 1 includes a transmitting circuit, a receiving circuit, a sampling circuit, and an arithmetic circuit for emitting a beam of light for detection
  • the number of any one of the circuits, receiving circuits, sampling circuits, and arithmetic circuits may also be at least two, for emitting at least two light beams in the same direction or in different directions respectively; wherein, the at least two light beam paths may be Shooting at the same time, or shooting at different times respectively.
  • the light-emitting chips in the at least two emission circuits are packaged in the same module.
  • each emitting circuit includes one laser emitting chip, and the dies in the laser emitting chips in the at least two emitting circuits are packaged together and accommodated in the same packaging space.
  • the laser ranging device 100 may further include a scanning module for changing the propagation direction of at least one laser pulse sequence emitted from the transmitting circuit 110 to emit.
  • the module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130 and the arithmetic circuit 140 may be called a measurement module, and the measurement module may be independent of other modules, such as the web server 150 and the scanning module.
  • the main function of the web server 150 is to provide online information browsing services.
  • an external device via a browser
  • the web server 150 will process the request, feed the file back to the requesting browser, and notify the browser of the file type.
  • the web server 150 uses a web protocol (eg, Hypertext Transfer Protocol, HTTP) to communicate information with a browser of an external device.
  • HTTP Hypertext Transfer Protocol
  • the web server 150 is used to visualize the point cloud data and generate the point cloud image data supported by the web page, so that the laser ranging device 100 can obtain the point cloud image data by itself, without the need to convert the point cloud image data.
  • the cloud data is sent to the host computer for visual processing.
  • the web server 150 can feed back the point cloud image data to the browser of the external device through a web protocol, so that the user can browse the point cloud image on the browser of the external device without relying on the host computer.
  • the external device Since the point cloud visualization processing in this embodiment of the present invention is implemented by the web server 150, the external device itself does not need to perform visualization processing on the point cloud data. Hardware-related conditions are less demanding.
  • the data transmission between the laser ranging device 100 and the external device is performed through the web protocol, it is not necessary to close the firewall to open additional ports.
  • the point cloud image can be browsed only based on an external device with a network communication function and a browser function, and can be easily adapted to external devices of various types of devices. Such as computers, mobile phones, embedded devices, etc.
  • each point in the point cloud data contains three-dimensional coordinate information, and may also contain reflection intensity information, color information, echo frequency information, etc.
  • the data volume of the point cloud data is usually large.
  • the point cloud image data includes pixel information, so the data amount of the point cloud image data is relatively small.
  • the web server 150 in the embodiment of the present invention only needs to transmit point cloud image data, so that the data transmission speed is greatly improved, and it is not limited by the memory of the external device.
  • the external device and the web server 150 may be connected through a local area network.
  • the external device and the web server 150 may be connected through a wide area network.
  • the web server 150 is further configured to receive an operation instruction on the point cloud image data from an external device through a web protocol, and process the point cloud image data according to the operation instruction.
  • the operation instructions on the point cloud image data include, but are not limited to, dragging, zooming, cropping, and the like.
  • the web server 150 in this embodiment of the present invention is further configured to implement a point cloud storage function.
  • the user can input point cloud data storage instructions on the browser side of the external device, including time parameters for starting and ending the recording of point cloud data for a specific time period; the web server 150 is also configured to receive data from the external device through a web protocol.
  • point cloud data storage instruction and according to the storage instruction, the point cloud data within a specified time is stored locally in the laser ranging device 100 .
  • the web server 150 may store the point cloud data in the internal memory of the web server 150, and may also store the point cloud data in other memory locally configured in the laser ranging device. Therefore, by implementing the point cloud storage function based on the web server 150 , the user can control the sampling of the laser ranging apparatus 100 on the external device side, which greatly improves the operational convenience of the laser ranging apparatus 100 .
  • FIG. 4 it shows a data interaction framework between a laser ranging apparatus and an external device according to an embodiment of the present invention.
  • the laser ranging device 100 and the external device perform data interaction through the web protocol: the external device sends control instructions to the web server 150 through the web protocol, and the web server 150 sends point cloud image data to the external device through the web protocol.
  • the control instructions sent by the external device include, but are not limited to, storage instructions for point cloud data, browsing instructions for point cloud images, and operation instructions for point cloud image data.
  • the user can input various commands through the input device of the external device.
  • the browser of the external device may display the point cloud image based on WebGL.
  • WebGL Web Graphics Library
  • WebGL is a 3D drawing protocol that can provide hardware 3D accelerated rendering for rendering engines, so that browsers can display 3D point cloud images more smoothly.
  • point cloud images can be browsed directly on the browser without rendering plug-ins.
  • the host computer could only obtain point cloud data and generate point cloud images based on the point cloud data.
  • the point cloud data in the coordinate system of the distance device itself when observing the point cloud image, presents the perspective of the laser ranging device.
  • the laser ranging device is not bottom-side down and installed horizontally, and when the surrounding environment features are not obvious, the user cannot intuitively directly correspond the point cloud image to the surrounding real-world environment.
  • the user needs to manually drag the point cloud image in the host computer, so that the point cloud image is consistent with the direction in the real environment, it cannot be automatically adapted, and the operation is cumbersome.
  • the laser ranging device 100 further includes an inertial measurement unit for measuring the attitude 100 of the laser ranging device in real time, so as to obtain attitude data time-aligned with the point cloud data.
  • an inertial measurement unit for measuring the attitude 100 of the laser ranging device in real time, so as to obtain attitude data time-aligned with the point cloud data.
  • the inertial measurement unit includes an accelerometer and a gyroscope.
  • the gyroscope can be a three-axis gyroscope, which measures the angle between the vertical axis of the gyro rotor and the laser ranging device in the three-dimensional coordinate system, and calculates the angular velocity.
  • the accelerometer can sense the acceleration in any direction, and it obtains the magnitude and direction of the axial acceleration by measuring the force of the component in a certain axial direction. Based on the linear acceleration and angular velocity measured by the accelerometer and the gyroscope, the attitude information of the laser ranging device 100 at each moment can be obtained through integration.
  • the attitude data of the laser ranging device 100 itself can be measured without an external inertial measurement unit, so as to convert the coordinate system of the point cloud data according to the attitude data.
  • the attitude calibration between the inertial measurement unit and the carrier and then to the laser ranging device will result in a deviation in the attitude calibration between the inertial measurement unit and the laser ranging device, resulting in a tilted point cloud image.
  • the laser ranging device 100 according to the embodiment of the present invention can well avoid this problem by measuring attitude data based on its own inertial measurement unit.
  • the coordinate system conversion of the point cloud data can be implemented inside the laser ranging device 100 , that is, the arithmetic circuit 140 It is also used to convert the point cloud data under the coordinate system of the laser ranging device to the world coordinate system according to the attitude data, so as to obtain the point cloud data under the world coordinate system.
  • the web server 150 is further configured to perform visualization processing on the point cloud data in the world coordinate system, so as to obtain point cloud image data in the world coordinate system.
  • the web server 150 is further configured to output point cloud image data in the world coordinate system to an external device through a web protocol.
  • the point cloud image obtained according to the point cloud data in the world coordinate system is equivalent to the point cloud image collected by the laser ranging device under the standard attitude, so that the user can Intuitively map point cloud images directly to the surrounding real-world environment.
  • the pose of the laser ranging device 100 is not fixed, after obtaining the pose information collected by the inertial measurement unit, time alignment of the pose information with the point cloud data is also included.
  • the coordinate transformation matrix for transforming the point cloud data from the coordinate system of the laser ranging device to the world coordinates can be obtained.
  • the point cloud data in the coordinate system of the laser ranging device can be converted into the world coordinate system.
  • the web server 150 can generate point cloud image data in the laser ranging device coordinate system based on the point cloud data in the laser ranging device coordinate system, and can also generate point cloud image data in the world coordinate system based on the point cloud data in the laser ranging device coordinate system.
  • Cloud data generates point cloud image data in the world coordinate system.
  • the user can input the selection instruction for the point cloud coordinate system in the browser of the external device, the web server 150 receives the selection instruction for the point cloud coordinate system through the web protocol, and selects to output the point in the world coordinate system to the external device according to the selection instruction.
  • Cloud image data or point cloud image data in the coordinate system of the laser ranging device can generate point cloud image data in the laser ranging device coordinate system based on the point cloud data in the laser ranging device coordinate system, and can also generate point cloud image data in the world coordinate system based on the point cloud data in the laser ranging device coordinate system.
  • Cloud data generates point cloud image data in the world coordinate system.
  • the user can input the selection instruction for the point cloud coordinate system
  • the web server 150 sends the point cloud image data in the coordinate system of the laser ranging device; when the external device requests the point cloud in the world coordinate system In the case of image data, the web server 150 sends point cloud image data in the world coordinate system. In this way, the online switching of the point cloud coordinate system can be realized.
  • the web server 150 may generate point cloud image data in the corresponding coordinate system after receiving the instruction for selecting the point cloud coordinate system.
  • the web server 150 may generate point cloud image data in two coordinate systems, and send the point cloud image data in the corresponding coordinate system after receiving the instruction for selecting the point cloud coordinate system.
  • the web server 150 may also send the point cloud image data in the world coordinate system by default.
  • the laser ranging device 100 further includes a host computer port, that is, the laser ranging device 100 can not only output point cloud image data to external devices through a web protocol, but also output to the host computer through a conventional host computer port. point cloud data, and visualize the point cloud data by the host computer to obtain point cloud images.
  • the host computer can be connected to multiple laser ranging devices 100, and at the same time interact with the multiple laser ranging devices 100 for commands and point cloud data to obtain panoramic information of the surrounding environment.
  • a long connection can be maintained between the laser ranging device 100 and the host computer through a heartbeat mechanism, and commands and point cloud data can be exchanged between the host computer and the laser ranging device 100 based on the long connection.
  • the laser ranging device 100 can output point cloud data and attitude data in the coordinate system of the laser ranging device to the host computer through the host computer port, so that the host computer can use the attitude data to calculate the coordinates of the laser ranging device.
  • the point cloud data under the system is converted to the world coordinate system to obtain the point cloud data under the world coordinate system.
  • the host computer fuses point cloud data and attitude data before displaying it, so that no matter what attitude the laser ranging device is in, the point cloud image can always correspond to the real environment.
  • the coordinate system conversion of the point cloud data can be implemented by the laser ranging device 100, that is, the laser ranging device 100 converts the point cloud data in the coordinate system of the laser ranging device to the world coordinate system according to the attitude data , to obtain the point cloud data in the world coordinate system; after that, the laser ranging device 100 can output the point cloud data in the world coordinate system to the host computer through the host computer port, so that the host computer can compare the point cloud data in the world coordinate system to the host computer. Perform visualization processing to obtain point cloud image data in the world coordinate system. Therefore, the laser ranging device 100 does not need to transmit attitude data to the host computer, which reduces the amount of data transmission.
  • options of the world coordinate system and the coordinate system of the laser ranging device can be set in the host computer, and the user can manually switch the coordinate system of the point cloud image.
  • the laser ranging device 100 is also used to receive a selection instruction for the point cloud coordinate system through the host computer port, and according to the selection instruction, select to output the point cloud data under the world coordinate system to the host computer or output the point under the coordinate system of the laser ranging device. cloud data.
  • the laser ranging device 100 when the command for selecting the coordinate system of the laser ranging device is received through the host computer port, the laser ranging device 100 outputs point cloud data in the coordinate system of the laser ranging device; When it is a selection command for the world coordinate system, the laser ranging device 100 outputs the point cloud data in the world coordinate system, or outputs the attitude data and the point cloud data in the coordinate system of the ranging device for the host computer to perform the point cloud data. Coordinate system transformation. In this way, the online switching of the point cloud coordinate system can be realized through the host computer.
  • the laser ranging device 100 can also send the point cloud data and attitude data in the coordinate system of the laser ranging device to the host computer by default, and the host computer can select the point cloud coordinate system according to the instruction input by the user. Select to generate point cloud image data in the coordinate system of the laser ranging device or point cloud image data in the world coordinate system to switch the coordinate system of the point cloud image.
  • the laser ranging device 100 may further include a scanning module for changing the propagation direction of at least one laser pulse sequence emitted from the emission circuit 110 to emit.
  • the laser ranging device 100 may adopt a coaxial optical path, that is, the light beam emitted by the laser ranging device 100 and the reflected light beam share at least part of the optical path in the laser ranging device 100 .
  • the laser pulse sequence reflected by the detected object passes through the scanning module and then enters the receiving circuit 120 .
  • the laser ranging device 100 may also use an off-axis optical path, that is, the light beam emitted by the laser ranging device 100 and the reflected light beam are respectively transmitted along different optical paths in the laser ranging device.
  • FIG. 2 shows a schematic diagram of a laser ranging device using a coaxial optical path according to an embodiment of the present invention.
  • the laser ranging device 200 includes a ranging module 210, and the ranging module 210 includes a transmitter 203 (which may include the above-mentioned transmitting circuit), a collimating element 204, and a detector 205 (which may include the above-mentioned receiving circuit, sampling circuit and arithmetic circuit) and an optical path changing element 206.
  • the ranging module 210 is used for emitting a light beam, receiving the returning light, and converting the returning light into an electrical signal.
  • the transmitter 203 can be used to transmit a sequence of optical pulses. In one embodiment, 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 outgoing light path of the transmitter, and is used for collimating the light beam emitted from the transmitter 203, and collimating the light beam emitted by the transmitter 203 into parallel light and outputting to the scanning module.
  • the collimating element also serves to converge at least a portion of the return light reflected by the probe.
  • the collimating element 204 may be a collimating lens or other elements capable of collimating light beams.
  • the transmitting optical path and the receiving optical path in the laser ranging device are combined by the optical path changing element 206 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 The optical path is more compact.
  • the emitter 203 and the detector 205 may use respective collimating elements, and the optical path changing element 206 may be arranged on the optical path behind the collimating element.
  • the optical path changing element can use a small-area reflective mirror to Combine the transmit light path and the receive light path.
  • the optical path changing element may also use a reflector with a through hole, wherein 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, in the case of using a small reflector, the occlusion of the return light by the support of the small reflector can be reduced.
  • the optical path altering element is offset from the optical axis of the collimating element 204 .
  • the optical path altering element may also be located on the optical axis of the collimating element 204 .
  • the laser ranging device 200 further includes a scanning module 202 .
  • the scanning module 202 is placed on the outgoing optical path of the ranging module 210 .
  • the scanning module 202 is used to change the transmission direction of the collimated beam 219 emitted by 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 focused on the detector 205 via the collimating element 104 .
  • the scanning module 202 can include at least one optical element for changing the propagation path of the light beam, wherein the optical element can change the propagation path of the light beam by reflecting, refracting, diffracting the light beam, or the like.
  • the scanning module 202 includes lenses, mirrors, prisms, gratings, liquid crystals, optical phased arrays (Optical Phased Array) or any combination of the above optical elements.
  • at least part of the optical elements are moving, for example, the at least part of the optical elements are driven to move by a driving module, and the moving optical elements can reflect, refract or diffract the light beam to different directions at different times.
  • the multiple optical elements of the scanning module 202 may rotate or oscillate about a common axis 209, each rotating or oscillating optical element being used to continuously change the propagation direction of the incident beam.
  • the plurality of optical elements of the scanning module 202 may rotate at different rotational speeds, or vibrate at different speeds.
  • at least some of the optical elements of scan module 202 may rotate at substantially the same rotational speed.
  • the plurality of optical elements of the scanning module may also be rotated about different axes.
  • the plurality of 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 are not limited herein.
  • the scanning module 202 includes a first optical element 214 and a driver 216 connected to the first optical element 214, and the driver 216 is used to drive the first optical element 214 to rotate around the rotation axis 209, so that the first optical element 214 changes The direction of the collimated beam 219.
  • the first optical element 214 projects the collimated beam 219 in different directions.
  • the angle between the direction of the collimated light beam 219 changed by the first optical element and the rotation axis 209 changes with the rotation of the first optical element 214 .
  • the first optical element 214 includes a pair of opposing non-parallel surfaces through which the collimated 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 prism that refracts the collimated light beam 219 .
  • the scanning module 202 further includes a second optical element 215 , the second optical element 215 rotates around the rotation axis 209 , and 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 can be driven by the same or different drivers, so that the rotational speed and/or steering of the first optical element 214 and the second optical element 215 are different, thereby projecting the collimated beam 219 into the external 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 rotational speeds of the first optical element 214 and the second optical element 215 may 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 opposing non-parallel surfaces through which the light beam passes.
  • the second optical element 215 comprises a prism whose thickness varies along at least one radial direction.
  • the second optical element 215 comprises a wedge prism.
  • the scanning module 202 further includes a third optical element (not shown) and a driver for driving the movement of the third optical element.
  • the third optical element includes a pair of opposing non-parallel surfaces through which the light beam passes.
  • the third optical element comprises a prism of varying thickness along at least one radial direction.
  • the third optical element comprises a wedge prism. At least two of the first, second and third optical elements rotate at different rotational speeds and/or rotations.
  • each optical element in the scanning module 202 can project light into different directions, such as light 211 and light 213 , so as to scan the space around the laser ranging device 200 .
  • FIG. 3 is a schematic diagram of a scanning pattern of the laser ranging device 200 . It can be understood that when the speed of the optical element in the scanning module changes, the scanning pattern also changes accordingly.
  • the scanning module 202 When the light 211 projected by the scanning module 202 hits the detected object 201 , a part of the light is reflected by the detected object 201 to the laser ranging device 200 in a direction opposite to the projected light 211 .
  • the returning light 212 reflected by the probe 201 passes through the scanning module 202 and then enters the collimating element 204 .
  • a detector 205 is placed on the same side of the collimating element 204 as the emitter 203, and the detector 205 is used to convert at least part of the return light passing through the collimating element 204 into an electrical signal.
  • each optical element is coated with an anti-reflection coating.
  • the thickness of the anti-reflection 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 coated on the surface of an element located on the beam propagation path in the laser ranging device, or a filter is provided on the beam propagation path, for transmitting at least the wavelength band of the beam emitted by the transmitter. , reflecting other bands to reduce the noise that ambient light brings to the receiver.
  • the transmitter 203 may comprise a laser diode through which laser pulses are emitted on the nanosecond scale.
  • the laser pulse receiving time can be determined, for example, by detecting the rising edge time and/or the falling edge time of the electrical signal pulse to determine the laser pulse receiving time.
  • the laser ranging device 200 can use the pulse receiving time information and the pulse sending time information to calculate the TOF, so as to determine the distance from the probe 201 to the laser ranging 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 laser ranging device of the embodiment of the present invention can be applied to a movable platform, and the laser ranging device can be installed on the movable platform body of the movable platform.
  • the movable platform with laser ranging device can measure the external environment, for example, measure the distance between the movable platform and obstacles for obstacle avoidance and other purposes, and perform two-dimensional or three-dimensional mapping of the external environment.
  • the laser ranging device of the embodiment of the present invention performs visual processing on point cloud data based on a web server, and outputs point cloud image data to an external device through a web page protocol, and the point cloud image can be browsed through the external device.
  • FIG. 6 is a schematic flowchart of a laser ranging method 600 according to an embodiment of the present invention.
  • the laser ranging method 600 may be implemented by the laser ranging device described in any of the above embodiments. Only the main steps of the laser ranging method 600 will be described below, and some of the above detailed details will be omitted.
  • the laser ranging method 600 includes the following steps:
  • step S610 a laser pulse is emitted
  • step S620 receiving at least part of the returned light pulses of the laser pulses reflected by the measured object, and converting them into electrical signals;
  • step S630 sampling the pair of electrical signals to obtain a sampling result
  • step S640 point cloud data is obtained based on the sampling result
  • step S650 the web server performs visualization processing on the point cloud data to obtain point cloud image data, and outputs the point cloud image data to an external device through a web page protocol.
  • the laser ranging method 600 further includes: the web server receives a storage instruction for point cloud data from an external device through a web protocol, and stores the point cloud data within a specified time to the local laser ranging device according to the storage instruction .
  • the laser ranging method 600 further includes: the web server receives an operation instruction on the point cloud image data from an external device through a web protocol, and processes the point cloud image data according to the operation instruction.
  • the laser ranging device further includes an inertial measurement unit
  • the laser ranging method 600 further includes: measuring the attitude of the laser ranging device in real time through the inertial measurement unit to obtain attitude data time-aligned with point cloud data.
  • the laser ranging method 600 further includes: converting the point cloud data in the coordinate system of the laser ranging device to the world coordinate system according to the attitude data, so as to obtain the point cloud data in the world coordinate system.
  • the laser ranging method 600 further includes: the web server performs visualization processing on the point cloud data in the world coordinate system, so as to obtain the point cloud image data in the world coordinate system. Further, the laser ranging method 600 further includes: the web server outputs the point cloud image data in the world coordinate system to the external device through the web protocol.
  • the laser ranging method 600 further includes: the web server receives a selection instruction for the point cloud coordinate system through a web protocol, and selects to output point cloud image data or laser measurement data in the world coordinate system to an external device according to the selection instruction.
  • the point cloud image data in the device coordinate system is not limited to: the web server receives a selection instruction for the point cloud coordinate system through a web protocol, and selects to output point cloud image data or laser measurement data in the world coordinate system to an external device according to the selection instruction.
  • the point cloud image data in the device coordinate system receives a selection instruction for the point cloud coordinate system through a web protocol
  • the laser ranging method 600 further includes: outputting point cloud data and attitude data in the coordinate system of the laser ranging device to the upper computer through the upper computer port, so that the upper computer can connect the laser ranging device according to the attitude data to the upper computer.
  • the point cloud data in the coordinate system is converted to the world coordinate system to obtain the point cloud data in the world coordinate system.
  • the laser ranging method 600 further includes: outputting point cloud data in the world coordinate system to the host computer through the host computer port, so that the host computer can visualize the point cloud data in the world coordinate system to obtain The point cloud image data in the world coordinate system.
  • the laser ranging method 600 further includes: receiving a selection instruction for the point cloud coordinate system through the host computer port, and selecting and outputting the point cloud data or the laser ranging device in the world coordinate system to the host computer according to the selection instruction The point cloud data in the coordinate system.
  • the laser ranging method of the embodiment of the present invention performs visual processing on point cloud data based on a web server, and outputs point cloud image data to an external device through a web page protocol, and the point cloud image can be browsed through the external device.
  • An embodiment of the present invention further provides a movable platform, the movable platform includes any one of the above-mentioned laser ranging devices and a movable platform body, and the laser ranging device is mounted on the movable platform body.
  • the movable platform includes at least one of an unmanned aerial vehicle, a car, a remote control car, a robot, a camera, and a gimbal.
  • the body of the movable platform is the fuselage of the unmanned aerial vehicle.
  • the movable platform body is the body of the automobile.
  • the vehicle may be an autonomous vehicle or a semi-autonomous vehicle, which is not limited herein.
  • the movable platform body is the body of the remote control car.
  • the movable platform body is a robot.
  • the movable platform body is the camera itself.
  • the movable platform is a gimbal
  • the movable platform body is a gimbal body.
  • the gimbal can be a handheld gimbal, or a gimbal mounted on a car or an aircraft.
  • the movable platform of the embodiment of the present invention adopts the laser ranging device according to the embodiment of the present invention, it also has the advantages mentioned above.
  • the computer program product includes one or more computer instructions.
  • the computer may be a general purpose computer, special purpose computer, computer network, or other programmable device.
  • the computer instructions may be stored in or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be downloaded from a website site, computer, server or data center Transmission to another website site, computer, server, or data center by wire (eg, coaxial cable, optical fiber, digital subscriber line, DSL) or wireless (eg, infrared, wireless, microwave, etc.).
  • the computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that includes an integration of one or more available media.
  • the usable media may be magnetic media (eg, floppy disk, hard disk, magnetic tape), optical media (eg, digital video disc (DVD)), or semiconductor media (eg, solid state disk (SSD)), etc. .
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or May be integrated into another device, or some features may be omitted, or not implemented.
  • Various component embodiments of the present invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof.
  • a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some modules according to the embodiments of the present invention.
  • DSP digital signal processor
  • the present invention may also be implemented as apparatus programs (eg, computer programs and computer program products) for performing part or all of the methods described herein.
  • Such a program implementing the present invention may be stored on a computer-readable medium, or may be in the form of one or more signals. Such signals may be downloaded from Internet sites, or provided on carrier signals, or in any other form.

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Abstract

一种激光测距装置（100）、激光测距方法和可移动平台，该激光测距装置（100）包括：发射电路（110），用于发射激光脉冲；接收电路（120），用于接收激光脉冲经被测物反射回的至少部分回光脉冲，并将其转换为电信号；采样电路（130），用于对电信号进行采样，以获取采样结果；运算电路（140），用于基于采样结果得到点云数据；网页服务器（150），用于对点云数据进行可视化处理，以得到点云图像数据，并通过网页协议向外部设备输出点云图像数据。该激光测距装置基于网页服务器对点云数据进行可视化处理，并通过网页协议向外部设备输出点云图像数据，可通过外部设备浏览点云图像。

Description

激光测距装置、激光测距方法和可移动平台
说明书
技术领域
本发明实施例涉及测距技术领域，并且更具体地，涉及一种激光测距装置、激光测距方法和可移动平台。
背景技术
激光测距装置通过主动发射接收激光脉冲并通过激光回波信号的飞行时间差或相位差等信息计算得出探测物的距离信息。激光测距装置作为一种可以感知环境三维信息的先进传感器件，近年来在各类智能机器人、自动驾驶领域中获得了广泛的应用。
目前的激光测距装置通常将采集到的点云数据发送至上位机进行点云显示。当使用上位机进行点云显示时，上位机的正常运行依赖于计算机的硬件配置、操作系统类型/版本、防火墙配置等各种软硬件相关的因素；并且，同一款上位机软件无法做到跨操作系统平台、硬件架构平台进行使用，更无法在一些嵌入式平台上运行。
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激光测距装置，包括：
发射电路，用于发射激光脉冲；
接收电路，用于接收所述激光脉冲经被测物反射回的至少部分回光脉冲，并将其转换为电信号；
采样电路，用于对所述电信号进行采样，以获取采样结果；
运算电路，用于基于所述采样结果得到点云数据；
网页服务器，用于对所述点云数据进行可视化处理，以得到点云图像数据，并通过网页协议向外部设备输出所述点云图像数据。
本发明实施例第二方面提供了一种激光测距方法，用于激光测距装置，所述激光测距装置包括网页服务器，所述激光测距方法包括：
发射激光脉冲；
接收所述激光脉冲经被测物反射回的至少部分回光脉冲，并将其转换为电信号；
对所述对电信号进行采样，以获取采样结果；
基于所述采样结果得到点云数据；
所述网页服务器对所述点云数据进行可视化处理，以得到点云图像数据，并通过网页协议向外部设备输出所述点云图像数据。
本发明实施例第三方面提供了一种可移动平台，所述可移动平台包括如上所述的激光测距装置和可移动平台本体，所述激光测距装置设置于所述可移动平台本体上。
本发明实施例的激光测距装置、激光测距方法和可移动平台基于网页服务器对点云数据进行可视化处理，并通过网页协议向外部设备输出点云图像数据，可通过外部设备浏览点云图像。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例的一种激光测距装置的示意性框架图；
图2是本发明实施例所涉及的激光测距装置采用同轴光路的一种实施例的示意图；
图3是根据本发明实施例的激光测距装置的一种扫描图案的示意图；
图4示出了根据本发明一个实施例的激光测距装置与外部设备的数据交互框架；
图5示出了根据本发明一个实施例的基于惯性测量单元测得的姿态数据进行点云数据坐标系转换的原理图；
图6是根据本发明一个实施例的激光测距方法的示意性流程图。
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结构，以便阐释本发明提出的技术方案。本发明的可选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。
下面，首先参考图1描述根据本申请一个实施例的激光测距装置100。在 一种实施方式中，激光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。激光测距装置可以通过激光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)，来探测探测物到激光测距装置的距离。
如图1所示，激光测距装置100可以包括发射电路110、接收电路120、采样电路130、运算电路140以及网页服务器150。
其中，发射电路110用于发射激光脉冲。接收电路120用于接收发射电路110发射的激光脉冲经被测物反射回的至少部分回光脉冲，并将其转换为电信号。采样电路130用于对电信号进行采样，以获取采样结果。运算电路140用于基于采样结果得到点云数据。网页服务器150用于对点云数据进行可视化处理，以得到点云图像数据，并通过网页协议向外部设备输出点云图像数据。
可选地，该激光测距装置100还可以包括控制电路，该控制电路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1示出的激光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1所示的电路，激光测距装置100还可以包括扫描模块，用于将发射电路110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的模块称为测量模块，该测量模块可以独立于其他模块，例如，网页服务器150和扫描模块。
网页服务器150(Web Server)的主要功能是提供网上信息浏览服务。当外部设备(通过浏览器)连接到网页服务器150上并请求文件时，网页服务 器150将处理该请求，并将文件反馈到发出请求的浏览器上，并通知浏览器文件类型。网页服务器150使用网页协议(例如超文本传输协议，HTTP)与外部设备的浏览器进行信息交流。在本发明实施例中，网页服务器150用于对点云数据进行可视化处理，并生成网页支持的点云图像数据，从而使激光测距装置100自身即可得到点云图像数据，而无需将点云数据发送至上位机进行可视化处理。当外部设备请求点云图像数据时，网页服务器150可以通过网页协议将点云图像数据反馈给外部设备的浏览器，使用户可以在外部设备的浏览器上浏览点云图像，无需依赖上位机。
由于本发明实施例的点云可视化处理由网页服务器150实现，外部设备自身不需要对点云数据进行可视化处理，因而对外部设备的硬件配置、操作系统的类型和版本和防火墙配置等各种软硬件相关的条件要求较低。并且，由于激光测距装置100与外部设备之间通过网页协议进行数据传输，因而不需要关闭防火墙开启额外端口。基于本发明实施例的激光测距装置100，只需基于具有网络通信功能及支持浏览器功能的外部设备即可浏览点云图像，与各种类型设备的外部设备均能很容易地适配，例如电脑、手机、嵌入式设备等。
此外，由于点云数据中每一个点都包含了三维坐标信息，还可以包含反射强度信息、颜色信息、回波次数信息等，因而点云数据的数据量通常较大。而点云图像数据包括的是像素信息，因而点云图像数据的数据量相对较小。本发明实施例的网页服务器150只需传输点云图像数据，使得数据传输速度大幅度提高，并且也不会受到外部设备内存的限制。
示例性地，当激光测距装置100与外部设备距离较近时，外部设备与网页服务器150之间可以通过局域网连接。当激光测距装置100与外部设备距离较远时，外部设备与网页服务器150之间可以通过广域网连接。
在一些实施例中，网页服务器150还用于通过网页协议从外部设备接收对点云图像数据的操作指令，并根据操作指令对点云图像数据进行处理。其中，对点云图像数据的操作指令包括但不限于拖拽、缩放、裁剪等。
本发明实施例的网页服务器150还用于实现点云存储的功能。用户可以在外部设备的浏览器端输入点云数据的存储指令，其中包括开始和结束记录特定时间段的点云数据的时间参数；网页服务器150还用于通过网页协议从 所述外部设备接收对点云数据的存储指令，并根据所述存储指令将指定时间内的点云数据存储到激光测距装置100本地。其中，网页服务器150可以将点云数据存储到网页服务器150内部的存储器中，也可以将点云数据存储到配置在激光测距装置本地的其他存储器中。由此，通过基于网页服务器150实现点云存储功能，用户可以在外部设备端控制激光测距装置100采样，极大地提高了激光测距装置100的操作便捷性。
参见图4，其中示出了本发明一个实施例的激光测距装置与外部设备的数据交互框架。激光测距装置100与外部设备通过网页协议进行数据交互：外部设备通过网页协议向网页服务器150发送控制指令，网页服务器150通过网页协议向外部设备发送点云图像数据。其中，外部设备发送的控制指令包括但不限于对点云数据的存储指令、对点云图像的浏览指令、对点云图像数据的操作指令等。用户可以通过外部设备的输入设备输入各类指令。
示例性地，外部设备的浏览器可以基于WebGL显示点云图像。WebGL(Web Graphics Library，网页图形库)是一种3D绘图协议，其能够为渲染引擎提供硬件3D加速渲染，从而使浏览器更流畅地展示3D点云图像。基于WebGL，无需渲染插件，直接基于浏览器即可浏览点云图像。
除此之外，以往基于上位机显示点云图像时，受限于上位机只能获取点云数据，并根据点云数据生成点云图像，由于激光测距装置采集的点云数据为激光测距装置自身坐标系下的点云数据，在观察点云图像时，呈现的是激光测距装置的视角。在使用过程中，如果激光测距装置不是底面朝下并且水平安装，并且当周围环境特征不明显时，用户无法直观将点云图像与周围真实世界的环境直接对应起来。要想查看世界坐标系下的点云图像，需要用户手动拖拽上位机中的点云图像，使点云图像与真实环境中的方向保持一致，无法自动适配，操作比较繁琐。
为此，本发明一个实施例的激光测距装置100还包括惯性测量单元，用于实时测量激光测距装置的姿态100，以得到与点云数据时间对齐的姿态数据。当融合点云数据与姿态数据后再进行显示，则无论激光测距装置处于任何姿态，所生成的点云图像始终能与真实环境对应。
示例性地，惯性测量单元包括加速度计和陀螺仪。其中，陀螺仪可以是三轴陀螺仪，其通过测量三维坐标系内陀螺转子的垂直轴与激光测距装置之 间的夹角，并计算角速度，通过夹角和角速度来判别激光测距装置在三维空间的运动状态。加速度计可以感知任意方向上的加速度，其通过测量组件在某个轴向的受力情况来得到轴向的加速度大小和方向。基于加速度计和陀螺仪测得的线性加速度和角速度，可以通过积分得到激光测距装置100在各时刻下的姿态信息。
当激光测距装置100包括惯性测量单元时，无需外部惯性测量单元，即可测得激光测距装置100自身的姿态数据，以便于根据姿态数据转换点云数据的坐标系。反之，如果采用外部惯性测量单元，通过惯性测量单元到载体再到激光测距装置之间的姿态标定，则惯性测量单元与激光测距装置之间的姿态标定将存在偏差，导致点云图像倾斜，本发明实施例的激光测距装置100基于自身的惯性测量单元测量姿态数据可以很好地避免这一问题。
由于本发明实施例的激光测距装置100可以基于网页服务器150生成点云图像数据，因而在一个实施例中，可以在激光测距装置100内部实现点云数据的坐标系转换，即运算电路140还用于根据姿态数据将激光测距装置坐标系下的点云数据转换到世界坐标系下，以得到世界坐标系下的点云数据。网页服务器150还用于对世界坐标系下的点云数据进行可视化处理，以得到世界坐标系下的点云图像数据。网页服务器150还用于通过网页协议向外部设备输出世界坐标系下的点云图像数据。
由此，将点云数据转换到世界坐标系下以后，根据世界坐标系下的点云数据得到的点云图像相当于激光测距装置在标准姿态下采集得到的点云图像，从而使用户能够直观将点云图像和周围真实世界的环境直接对应起来。
由于激光测距装置100的位姿并非固定不变，因此在获得惯性测量单元采集的姿态信息后，还包括将姿态信息与点云数据进行时间对齐。示例性地，根据与点云数据时间对齐的姿态数据，可以求得将点云数据从激光测距装置坐标系变换到世界坐标的坐标变换矩阵，利用坐标变换矩阵与激光测距装置坐标系下的点云数据相乘，即可将激光测距装置坐标系下的点云数据转换到世界坐标系下。
参照图5，在一些实施例中，网页服务器150既可以基于激光测距装置坐标系下的点云数据生成激光测距装置坐标系下的点云图像数据，又可以基于世界坐标系下的点云数据生成世界坐标系下的点云图像数据。用户可以在外 部设备的浏览器中输入对点云坐标系的选择指令，网页服务器150通过网页协议接收对点云坐标系的选择指令，以及根据选择指令选择向外部设备输出世界坐标系下的点云图像数据或激光测距装置坐标系下的点云图像数据。当外部设备请求的是激光测距装置坐标系下的点云图像数据时，网页服务器150发送激光测距装置坐标系下的点云图像数据；当外部设备请求的是世界坐标系下的点云图像数据时，网页服务器150发送世界坐标系下的点云图像数据。由此，可以实现点云坐标系的在线切换。
其中，网页服务器150可以在接收到对点云坐标系的选择指令后，生成相应坐标系下的点云图像数据。或者，网页服务器150可以生成两种坐标系下的点云图像数据，并在接收到对点云坐标系的选择指令后，发送相应坐标系下的点云图像数据。当然，网页服务器150也可以默认发送世界坐标系下的点云图像数据。
在一些实施例中，激光测距装置100还包括上位机端口，即激光测距装置100除了可以通过网页协议向外部设备输出点云图像数据以外，也可以通过常规的上位机端口向上位机输出点云数据，并由上位机对点云数据进行可视化处理，以得到点云图像。上位机可以连接多个激光测距装置100，同时与多个激光测距装置100进行命令和点云数据的交互，以获得周围环境的全景信息。激光测距装置100与上位机之间可以通过心跳机制保持长连接，并且可以基于该长连接在上位机和激光测距装置100之间进行命令和点云数据的交互。
在一个实施例中，激光测距装置100可以通过上位机端口向上位机输出激光测距装置坐标系下的点云数据以及姿态数据，以供所述上位机根据姿态数据将激光测距装置坐标系下的点云数据转换到世界坐标系下，以得到世界坐标系下的点云数据。上位机融合点云数据和姿态数据后再进行显示，使得无论激光测距装置处于任何姿态，点云图像始终能与真实环境对应。
在另一个实施例中，点云数据的坐标系转换可以由激光测距装置100实现，即激光测距装置100根据姿态数据将激光测距装置坐标系下的点云数据转换到世界坐标系下，以得到世界坐标系下的点云数据；之后，激光测距装置100可以通过上位机端口向上位机输出世界坐标系下的点云数据，以供上位机对世界坐标系下的点云数据进行可视化处理，以得到世界坐标系下的点 云图像数据。由此，激光测距装置100无需传输姿态数据至上位机，减少了数据传输量。
示例性地，上位机中可以设置世界坐标系和激光测距装置坐标系选项，用户可以手动切换点云图像的坐标系。激光测距装置100还用于通过上位机端口接收对点云坐标系的选择指令，以及根据选择指令选择向上位机输出世界坐标系下的点云数据或输出激光测距装置坐标系下的点云数据。具体地，当通过上位机端口接收到的是对激光测距装置坐标系的选择指令时，激光测距装置100输出激光测距装置坐标系下的点云数据；当通过上位机端口接收到的是对世界坐标系的选择指令时，激光测距装置100输出世界坐标系下的点云数据，或者输出姿态数据和测距装置坐标系下的点云数据，以供上位机对点云数据进行坐标系转换。由此，可以通过上位机实现点云坐标系的在线切换。
当然，在其他实施例中，激光测距装置100也可以默认发送激光测距装置坐标系下的点云数据和姿态数据至上位机，由上位机根据用户输入的对点云坐标系的选择指令选择生成激光测距装置坐标系下的点云图像数据或世界坐标系下的点云图像数据，以实现点云图像坐标系的切换。
如上所述，激光测距装置100还可以包括扫描模块，用于将发射电路110出射的至少一路激光脉冲序列改变传播方向出射。可选地，激光测距装置100可以采用同轴光路，即激光测距装置100出射的光束和经反射回来的光束在激光测距装置100内共用至少部分光路。例如，发射电路110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120。或者，激光测距装置100也可以采用异轴光路，也即激光测距装置100出射的光束和经反射回来的光束在激光测距装置内分别沿不同的光路传输。图2示出了本发明实施例的激光测距装置采用同轴光路的一种示意图。
如图2所示，激光测距装置200包括测距模块210，测距模块210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210用于发射光束，且接收回光，将回光转换为电信号。其中，发射器203可以用于发射光脉冲序列。在一个实施例中，发射器203可以发射激光脉冲序列。 可选的，发射器203发射出的激光束为波长在可见光范围之外的窄带宽光束。准直元件204设置于发射器的出射光路上，用于准直从发射器203发出的光束，将发射器203发出的光束准直为平行光出射至扫描模块。准直元件还用于会聚经探测物反射的回光的至少一部分。该准直元件204可以是准直透镜或者是其他能够准直光束的元件。
在图2所示实施例中，通过光路改变元件206来将激光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2所示实施例中，由于发射器203出射的光束的光束孔径较小，激光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2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210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104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、光栅、液晶、光学相控阵(Optical Phased Array)或上述光学元件的任意组合。一个示例中，至少部分光学元件是运动的，例如通过驱动模块来驱动该至少部分光学元件进行运动，该运动的光学元件可以在不同时刻将光束反射、折射或衍射至不同的方向。在一些实施例中，扫描模块202的多个光学元件可以绕共同的轴209旋转或振动，每个旋转或振动的光学元件用于不断 改变入射光束的传播方向。在一个实施例中，扫描模块202的多个光学元件可以以不同的转速旋转，或以不同的速度振动。在另一个实施例中，扫描模块202的至少部分光学元件可以以基本相同的转速旋转。在一些实施例中，扫描模块的多个光学元件也可以是绕不同的轴旋转。在一些实施例中，扫描模块的多个光学元件也可以是以相同的方向旋转，或以不同的方向旋转；或者沿相同的方向振动，或者沿不同的方向振动，在此不作限制。
在一个实施例中，扫描模块202包括第一光学元件214和与第一光学元件214连接的驱动器216，驱动器216用于驱动第一光学元件214绕转动轴209转动，使第一光学元件214改变准直光束219的方向。第一光学元件214将准直光束219投射至不同的方向。在一个实施例中，准直光束219经第一光学元件改变后的方向与转动轴209的夹角随着第一光学元件214的转动而变化。在一个实施例中，第一光学元件214包括相对的非平行的一对表面，准直光束219穿过该对表面。在一个实施例中，第一光学元件214包括厚度沿至少一个径向变化的棱镜。在一个实施例中，第一光学元件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(未图示)和用于驱 动第三光学元件运动的驱动器。可选地，该第三光学元件包括相对的非平行的一对表面，光束穿过该对表面。在一个实施例中，第三光学元件包括厚度沿至少一个径向变化的棱镜。在一个实施例中，第三光学元件包括楔角棱镜。第一、第二和第三光学元件中的至少两个光学元件以不同的转速和/或转向转动。
扫描模块202中的各光学元件旋转可以将光投射至不同的方向，例如光211和光213，如此对激光测距装置200周围的空间进行扫描。如图3所示，图3为激光测距装置200的一种扫描图案的示意图。可以理解的是，扫描模块内的光学元件的速度变化时，扫描图案也会随之变化。
当扫描模块202投射出的光211打到探测物201时，一部分光被探测物201沿与投射的光211相反的方向反射至激光测距装置200。探测物201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，激光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，从而确定探测物201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，本发明实施方式的激光测距装置可应用于可移动平台，激光测距装置可安装在可移动平台的可移动平台本体。具有激光测距装置的可移动平台可对外部环境进行测量，例如，测量可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。
综上所述，本发明实施例的激光测距装置基于网页服务器对点云数据进 行可视化处理，并通过网页协议向外部设备输出点云图像数据，可通过外部设备浏览点云图像。
本发明实施例另一方面提供一种激光测距方法，用于激光测距装置，所述激光测距装置包括网页服务器。下面，将参考图6描述根据本发明实施例的激光测距方法。图6是本发明实施例的激光测距方法600的一个示意性流程图。该激光测距方法600可以由上文任一实施例所述的激光测距装置实现。以下仅对激光测距方法600的主要步骤进行描述，而省略上文中的部分详细细节。
如图6所示，本发明实施例的激光测距方法600包括如下步骤：
在步骤S610，发射激光脉冲；
在步骤S620，接收所述激光脉冲经被测物反射回的至少部分回光脉冲，并将其转换为电信号；
在步骤S630，对所述对电信号进行采样，以获取采样结果；
在步骤S640，基于所述采样结果得到点云数据；
在步骤S650，所述网页服务器对所述点云数据进行可视化处理，以得到点云图像数据，并通过网页协议向外部设备输出所述点云图像数据。
在一个实施例中，激光测距方法600还包括：网页服务器通过网页协议从外部设备接收对点云数据的存储指令，并根据存储指令将指定时间内的点云数据存储到激光测距装置本地。
在一个实施例中，激光测距方法600还包括：网页服务器通过网页协议从外部设备接收对点云图像数据的操作指令，并根据操作指令对点云图像数据进行处理。
在一个实施例中，激光测距装置还包括惯性测量单元，激光测距方法600还包括：通过惯性测量单元实时测量激光测距装置的姿态，以得到与点云数据时间对齐的姿态数据。
进一步地，激光测距方法600还包括：根据姿态数据将激光测距装置坐标系下的点云数据转换到世界坐标系下，以得到世界坐标系下的点云数据。
进一步地，激光测距方法600还包括：网页服务器对世界坐标系下的点云数据进行可视化处理，以得到世界坐标系下的点云图像数据。进一步地，激光测距方法600还包括：网页服务器通过网页协议向外部设备输出世界坐 标系下的点云图像数据。
在一个实施例中，激光测距方法600还包括：网页服务器通过网页协议接收对点云坐标系的选择指令，以及根据选择指令选择向外部设备输出世界坐标系下的点云图像数据或激光测距装置坐标系下的点云图像数据。
在另一个实施例中，激光测距方法600还包括：通过上位机端口向上位机输出激光测距装置坐标系下的点云数据以及姿态数据，以供上位机根据姿态数据将激光测距装置坐标系下的点云数据转换到世界坐标系下，以得到世界坐标系下的点云数据。
在一个实施例中，激光测距方法600还包括：通过上位机端口向上位机输出世界坐标系下的点云数据，以供上位机对世界坐标系下的点云数据进行可视化处理，以得到世界坐标系下的点云图像数据。
在一个实施例中，激光测距方法600还包括：通过上位机端口接收对点云坐标系的选择指令，以及根据选择指令选择向上位机输出世界坐标系下的点云数据或激光测距装置坐标系下的点云数据。
激光测距方法600的更多细节可以参照上文对激光测距装置进行的描述，在此不做赘述。本发明实施例的激光测距方法基于网页服务器对点云数据进行可视化处理，并通过网页协议向外部设备输出点云图像数据，可通过外部设备浏览点云图像。
本发明实施例还提供了一种可移动平台，所述可移动平台包括上述任一激光测距装置以及可移动平台本体，所述激光测距装置搭载在所述可移动平台本体上。在某些实施方式中，可移动平台包括无人飞行器、汽车、遥控车、机器人、相机、云台中的至少一种。当可移动平台为无人飞行器时，可移动平台本体为无人飞行器的机身。当可移动平台为汽车时，可移动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。当可移动平台为遥控车时，可移动平台本体为遥控车的车身。当可移动平台为机器人时，可移动平台本体为机器人。当可移动平台为相机时，可移动平台本体为相机本身。当可移动平台为云台时，可移动平台本体为云台本体。该云台可以是手持云台，也可以是搭载在汽车或飞行器上的云台。
由于本发明实施例的可移动平台采用了根据本发明实施例的激光测距装置，因而也具备了上文所述的优点。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其他任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时，全部或部分地产生按照本发明实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line，DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质(例如，软盘、硬盘、磁带)、光介质(例如数字视频光盘(digital video disc，DVD))、或者半导体介质(例如固态硬盘(solid state disk，SSD))等。
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。

Claims (23)

  1. 一种激光测距装置，其特征在于，所述激光测距装置包括：
    发射电路，用于发射激光脉冲；
    接收电路，用于接收所述激光脉冲经被测物反射回的至少部分回光脉冲，并将其转换为电信号；
    采样电路，用于对所述电信号进行采样，以获取采样结果；
    运算电路，用于基于所述采样结果得到点云数据；
    网页服务器，用于对所述点云数据进行可视化处理，以得到点云图像数据，并通过网页协议向外部设备输出所述点云图像数据。
  2. 如权利要求1所述的激光测距装置，其特征在于，所述网页服务器还用于通过所述网页协议从所述外部设备接收对所述点云数据的存储指令，并根据所述存储指令将指定时间内的点云数据存储到所述激光测距装置本地。
  3. 如权利要求1所述的激光测距装置，其特征在于，所述网页服务器还用于通过所述网页协议从所述外部设备接收对所述点云图像数据的操作指令，并根据所述操作指令对所述点云图像数据进行处理。
  4. 如权利要求1所述的激光测距装置，其特征在于，所述激光测距装置还包括惯性测量单元，用于实时测量所述激光测距装置的姿态，以得到与所述点云数据时间对齐的姿态数据。
  5. 如权利要求4所述的激光测距装置，其特征在于，所述运算电路还用于根据所述姿态数据将激光测距装置坐标系下的所述点云数据转换到世界坐标系下，以得到世界坐标系下的点云数据。
  6. 如权利要求5所述的激光测距装置，其特征在于，所述网页服务器还用于对所述世界坐标系下的点云数据进行可视化处理，以得到世界坐标系下的点云图像数据。
  7. 如权利要求6所述的激光测距装置，其特征在于，所述网页服务器还用于通过所述网页协议向所述外部设备输出所述世界坐标系下的点云图像数据。
  8. 如权利要求7所述的激光测距装置，其特征在于，所述网页服务器还用于通过所述网页协议接收对点云坐标系的选择指令，以及根据所述选择指令选择向所述外部设备输出所述世界坐标系下的点云图像数据或所述激光测 距装置坐标系下的点云图像数据。
  9. 如权利要4所述的激光测距装置，其特征在于，所述激光测距装置还用于通过上位机端口向上位机输出所述激光测距装置坐标系下的所述点云数据以及所述姿态数据，以供所述上位机根据所述姿态数据将所述激光测距装置坐标系下的点云数据转换到世界坐标系下，以得到世界坐标系下的点云数据。
  10. 如权利要求5所述的激光测距装置，其特征在于，所述激光测距装置还用于通过上位机端口向上位机输出所述世界坐标系下的点云数据，以供所述上位机对所述世界坐标系下的点云数据进行可视化处理，以得到世界坐标系下的点云图像数据。
  11. 如权利要求10所述的激光测距装置，其特征在于，所述激光测距装置还用于通过所述上位机端口接收对点云坐标系的选择指令，以及根据所述选择指令选择向所述上位机输出所述世界坐标系下的点云数据或所述激光测距装置坐标系下的点云数据。
  12. 一种激光测距方法，用于激光测距装置，其特征在于，所述激光测距装置包括网页服务器，所述激光测距方法包括：
    发射激光脉冲；
    接收所述激光脉冲经被测物反射回的至少部分回光脉冲，并将其转换为电信号；
    对所述对电信号进行采样，以获取采样结果；
    基于所述采样结果得到点云数据；
    所述网页服务器对所述点云数据进行可视化处理，以得到点云图像数据，并通过网页协议向外部设备输出所述点云图像数据。
  13. 如权利要求12所述的激光测距方法，其特征在于，还包括：
    所述网页服务器通过所述网页协议从所述外部设备接收对所述点云数据的存储指令，并根据所述存储指令将指定时间内的点云数据存储到所述激光测距装置本地。
  14. 如权利要求12所述的激光测距方法，其特征在于，所述方法还包括：
    所述网页服务器通过所述网页协议从所述外部设备接收对所述点云图像数据的操作指令，并根据所述操作指令对所述点云图像数据进行处理。
  15. 如权利要求12所述的激光测距方法，其特征在于，所述激光测距装置还包括惯性测量单元，所述方法还包括：
    通过所述惯性测量单元实时测量所述激光测距装置的姿态，以得到与所述点云数据时间对齐的姿态数据。
  16. 如权利要求15所述的激光测距方法，其特征在于，所述方法还包括：
    根据所述姿态数据将激光测距装置坐标系下的所述点云数据转换到世界坐标系下，以得到世界坐标系下的点云数据。
  17. 如权利要求16所述的激光测距方法，其特征在于，所述方法还包括：
    所述网页服务器对所述世界坐标系下的点云数据进行可视化处理，以得到世界坐标系下的点云图像数据。
  18. 如权利要求17所述的激光测距方法，其特征在于，所述方法还包括：
    所述网页服务器通过所述网页协议向所述外部设备输出所述世界坐标系下的点云图像数据。
  19. 如权利要求18所述的激光测距方法，其特征在于，所述方法还包括：
    所述网页服务器通过所述网页协议接收对点云坐标系的选择指令，以及根据所述选择指令选择向所述外部设备输出所述世界坐标系下的点云图像数据或所述激光测距装置坐标系下的点云图像数据。
  20. 如权利要15所述的激光测距方法，其特征在于，所述方法还包括：
    通过上位机端口向上位机输出所述激光测距装置坐标系下的所述点云数据以及所述姿态数据，以供所述上位机根据所述姿态数据将所述激光测距装置坐标系下的点云数据转换到世界坐标系下，以得到世界坐标系下的点云数据。
  21. 如权利要求16所述的激光测距方法，其特征在于，所述方法还包括：
    通过上位机端口向上位机输出所述世界坐标系下的点云数据，以供所述上位机对所述世界坐标系下的点云数据进行可视化处理，以得到世界坐标系下的点云图像数据。
  22. 如权利要求21所述的激光测距方法，其特征在于，所述方法还包括：
    通过所述上位机端口接收对点云坐标系的选择指令，以及根据所述选择指令选择向所述上位机输出所述世界坐标系下的点云数据或所述激光测距装置坐标系下的点云数据。
  23. 一种可移动平台，其特征在于，包括：
    如权利要求1-11中任一项所述的激光测距装置；
    可移动平台本体，所述激光测距装置设置于所述可移动平台本体上。
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