WO2022170535A1

WO2022170535A1 - Distance measurement method, distance measurement device, system, and computer readable storage medium

Info

Publication number: WO2022170535A1
Application number: PCT/CN2021/076397
Authority: WO
Inventors: 马亮亮
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-02-09
Filing date: 2021-02-09
Publication date: 2022-08-18
Also published as: CN116648634A

Abstract

A distance measurement method, a distance measurement device (40), a system, and a computer readable storage medium. The method comprises: sequentially performing measurement for different directions to be measured, comprising, when measurement is performed for a first direction, the first direction being one of the directions to be measured, continuously transmitting at least two light pulses to the first direction, pulse parameters of different light pulses being different, and the pulse parameter comprising transmit power or the maximum amplitude; receiving at least part of an echo signal of each of the at least two light pulses; and obtaining the distance of an object to be measured in the first direction according to the pulse parameter of at least one of the at least two light pulses and the at least part of an echo signal of at least one of the at least two light pulses. Light pulses having different transmit power or the maximum amplitudes can measure different distances, such that effective measurement for different distances can be achieved, measurement errors are reduced, and the distance measurement accuracy is improved.

Description

Distance measuring method, distance measuring device, system and computer readable storage medium

technical field

The embodiments of the present application relate to the field of ranging, and in particular, to a ranging method, a ranging device, a system, and a computer-readable storage medium.

Background technique

In the process of laser ranging, under different distances and different transmit powers, the power of the echo signals received by the ranging device is very different. The strength of the echo signal is very strong, and the strength of the echo signal returned by the object under the limit range is very weak. If the signal strength is too strong or too weak, a large error will be generated in the ranging process, which will lead to a decrease in detection accuracy. Therefore, for the receiving channel of lidar, it can obtain the best ranging performance under the appropriate signal strength. However, because the existing lidar uses the same transmit power to transmit light pulses, the echo signal is too strong or too weak when measuring near or far objects, which cannot effectively detect different distances, resulting in low measurement accuracy.

Application content

Embodiments of the present application provide a ranging method, a ranging device, a system, and a computer-readable storage medium, so as to improve ranging accuracy.

A first aspect of the embodiments of the present application is to provide a ranging method, including: detecting different directions to be measured in sequence, wherein, when detecting the first direction, the first direction is the direction to be measured One of the directions: at least two light pulses are continuously emitted in the first direction, different pulse parameters of the light pulses are different, and the pulse parameters include transmission power or maximum amplitude;

receiving at least a partial echo signal of each of the at least two light pulses; according to pulse parameters of at least one of the at least two light pulses and at least one of the at least two light pulses At least part of the echo signal of the pulse is used to obtain the distance of the object to be measured in the first direction.

Further, the method includes: respectively emitting light pulses to different directions to be measured, wherein the number of the light pulses emitted to different directions to be measured is the same or at least partially different.

Further, the number of light pulses emitted in different directions to be measured is the same, and at least two of the light pulses emitted in the same direction are a group of light pulse sequences, wherein the emission time intervals of different groups of light pulse sequences are the same or at least partially and/or, the transmit powers of different groups of optical pulse sequences are the same or at least partially different; and/or, the maximum pulse amplitudes of different groups of optical pulse sequences are the same or at least partially different; and/or, different groups of optical pulse sequences have the same maximum pulse amplitude The pulse widths are the same or at least partially different; and/or, a group of optical pulse sequences includes at least 3 optical pulses, and the emission time intervals of two adjacent optical pulses in the same group of optical pulse sequences are the same or at least partially different.

Further, the emission time intervals of at least some of the adjacently emitted light pulses are different.

Further, the emission time interval between adjacent light pulses emitted in the same direction to be measured is smaller than the emission time interval between adjacent optical pulses emitted in different directions to be measured.

Further, according to the pulse parameter of at least one of the at least two light pulses and at least a part of the echo signal of at least one light pulse of the at least two light pulses, acquiring the direction in the first direction The distance of the object to be measured includes: judging the distance range of the object to be measured according to the pulse parameter of one of the at least two optical pulses and at least part of the echo signal of the one optical pulse; if If it is judged that the object to be measured is far away, the distance of the object to be measured is calculated according to at least part of the echo signal of the optical pulse whose pulse parameter is larger in the at least two optical pulses; and/or, if it is judged that the If the object to be measured is relatively close, the distance of the object to be measured is calculated according to at least a part of the echo signal of the optical pulse whose pulse parameter is smaller among the at least two optical pulses.

Further, judging the distance range of the object to be measured according to the pulse parameter of one of the at least two light pulses and at least part of the echo signal of the one light pulse includes: according to the The pulse parameter of the one optical pulse and the intensity or signal-to-noise ratio of at least part of the echo signal of the one optical pulse are used to determine the distance range of the object to be tested.

Further, the number of the light pulses is two.

Further, the pulse parameter of the optical pulse emitted first is greater than the pulse parameter of the optical pulse emitted later.

Further, the method includes: if it is determined that there is an object nearby according to at least a part of the echo signal of the optical pulse transmitted first, then calculating the object to be measured according to at least part of the echo signal of the optical pulse transmitted later. the distance.

Further, the method includes: if the signal strength or signal-to-noise ratio of at least part of the echo signal of the optical pulse transmitted first is greater than a first preset value, then according to at least part of the echo signal of the optical pulse transmitted later and/or, if the signal strength or signal-to-noise ratio of at least part of the echo signal of the optical pulse transmitted first is smaller than a second preset value, then At least part of the echo signal of the pulse calculates the distance of the test object, wherein the first preset value is greater than or equal to the second preset value.

Further, the pulse parameter of the optical pulse emitted first is smaller than the pulse parameter of the optical pulse emitted later.

Further, the method includes: if it is determined that there is no object nearby according to at least part of the echo signal of the optical pulse transmitted first, then calculating the object to be measured according to at least part of the echo signal of the optical pulse transmitted later. the distance.

Further, the method includes: if the signal strength or signal-to-noise ratio of at least a part of the echo signal of the optical pulse transmitted first is smaller than a third preset value, then, according to at least part of the echo signal of the optical pulse transmitted later and/or, if the signal strength or signal-to-noise ratio of at least part of the echo signals of the optical pulses transmitted first is greater than a fourth preset value, the At least part of the echo signal of the pulse calculates the distance of the object under test, wherein the third preset value is less than or equal to the fourth preset value.

Further, at least one of the emission power, pulse amplitude, pulse width, or emission time interval of the optical pulse is adjustable.

Further, the method includes: acquiring at least one of transmit power, amplitude or pulse width of the next transmitted optical pulse signal according to at least part of the echo signal of the optical pulse transmitted last time.

Further, the method further includes: judging whether the echo signal is an echo of the optical pulse according to the matching relationship between the pulse width and amplitude of the received echo signal and the pulse width and amplitude of the optical pulse and/or, according to the matching relationship between the transmission time interval of the received echo signal and the transmission time interval of the optical pulse, determine whether the echo signal is the echo signal of the optical pulse.

Further, the method further includes: if the echo signal is not the echo signal of the optical pulse, filtering the echo signal.

Further, the number of the light pulses is two, including a first light pulse and a second light pulse, and the sequentially transmitting at least two light pulses in the same direction includes: transmitting the first light pulse; if the If at least part of the echo signals of the first optical pulse satisfy the preset condition, the second optical pulse is emitted.

Further, the pulse parameter of the first optical pulse is greater than the pulse parameter of the second optical pulse, and the preset condition includes: the signal intensity or signal-to-noise ratio of at least part of the echo signals of the first optical pulse is greater than or, the pulse parameter of the first optical pulse is smaller than the pulse parameter of the second optical pulse, and the preset condition includes: the signal strength or signal strength of at least part of the echo signal of the first optical pulse The noise ratio is smaller than the preset value.

Further, the method includes: transmitting only one light pulse in a second direction different from the first direction, the second direction being one of the directions to be measured.

Further, the number of the light pulses is two, including a first light pulse and a second light pulse, and the transmitting only one light pulse in the second direction different from the first direction includes: sending the second light pulse to the second direction A light pulse is emitted in the direction; if the emission power or maximum amplitude of the second light pulse is greater than the preset value, and no object is detected in the vicinity within the preset time, no longer emits light in the second direction or, if the transmission power or the maximum amplitude of the second light pulse is smaller than a preset value, and an object is detected in the vicinity within a preset time, the light pulse is no longer emitted in the second direction.

Further, different said light pulses are emitted by different light emitters.

Further, the wavelengths of the optical pulses emitted in the same direction are different, and the emission power of each of the optical pulses is less than or equal to the safety power; or, the wavelengths of the optical pulses are the same, and the emission of each of the optical pulses is The sum of the power is less than or equal to the safety power.

A second aspect of the embodiments of the present application is to provide a ranging device, which is used to detect different directions to be measured in sequence, including a transmitting module, a receiving module, and a processing module, in which the first direction is measured. During detection, the first direction is one of the directions to be measured: the transmitting module is used to continuously transmit at least two optical pulses to the first direction with different pulse parameters of the optical pulses. The parameters include transmission power or maximum amplitude; the receiving module is configured to receive at least part of the echo signal of each of the at least two optical pulses; the processing module is configured to The distance of the object to be measured in the first direction is obtained from the pulse parameter of at least one of the optical pulses and at least part of the echo signal of at least one of the at least two optical pulses.

Further, the transmitting module is further configured to transmit light pulses to different directions to be measured, wherein the number of the light pulses to be transmitted to different directions to be measured is the same or at least partially different.

Further, the processing module is further configured to judge the distance range of the object to be measured according to the pulse parameter of one of the at least two optical pulses and at least part of the echo signal of the one optical pulse. If it is judged that the object to be measured is far away, the processing module is further configured to calculate the echo signal of the object to be measured according to at least part of the echo signal of the optical pulse whose pulse parameter is larger in the at least two optical pulses and/or, if it is judged that the object to be tested is relatively close, the processing module is further configured to calculate the desired distance according to at least part of the echo signals of the optical pulse whose pulse parameter is smaller in the at least two optical pulses. the distance of the object to be measured.

Further, the processing module is further configured to determine the distance range of the object to be measured according to the pulse parameter of the one optical pulse and the intensity or signal-to-noise ratio of at least part of the echo signal of the one optical pulse.

Further, the number of the light pulses is two.

Further, the processing module is also used for judging whether there is an object nearby according to at least part of the echo signal of the optical pulse transmitted first, and if there is an object nearby, the processing module is also used for judging whether there is an object nearby according to the echo signal emitted later. The distance to the test object is calculated from at least part of the echo signals of the light pulses.

Further, the processing module is further configured to determine the relationship between the signal strength or signal-to-noise ratio of at least part of the echo signals of the optical pulses transmitted first and the preset value; if at least part of the echoes of the optical pulses transmitted first If the signal strength or signal-to-noise ratio of the wave signal is greater than a preset value, the processing module is further configured to calculate the distance of the object to be measured according to at least part of the echo signals of the optical pulses emitted later; and/or, if The signal strength or signal-to-noise ratio of at least part of the echo signals of the optical pulses transmitted first is smaller than the preset value, and the processing module is further configured to calculate according to at least part of the echo signals of the optical pulses transmitted first The distance of the test object.

Further, the processing module is further configured to judge whether there is an object nearby according to at least part of the echo signals of the optical pulses emitted first, and if there is no object nearby, the processing module is also configured to determine whether there is an object nearby according to all the echo signals emitted later. The distance of the object to be measured is calculated from at least part of the echo signal of the light pulse.

Further, the processing module is further configured to determine the relationship between the signal strength or signal-to-noise ratio of at least part of the echo signals of the optical pulses transmitted first and the preset value; if at least part of the echoes of the optical pulses transmitted first If the signal strength or signal-to-noise ratio of the wave signal is less than a preset value, the processing module is further configured to calculate the distance of the object to be measured according to at least part of the echo signal of the optical pulse transmitted later; and/or, if The signal strength or signal-to-noise ratio of at least part of the echo signals of the optical pulses transmitted first is greater than the preset value, and the processing module is further configured to calculate according to at least part of the echo signals of the optical pulses transmitted first The distance of the test object.

Further, the distance measuring device further includes a control module, the control module is configured to control the transmitting module to adjust at least one of the transmission power, pulse amplitude, pulse width, or transmission time interval of the optical pulse.

Further, the processing module is further configured to acquire at least one of the transmit power, amplitude or pulse width of the next transmitted optical pulse signal according to at least part of the echo signal of the optical pulse transmitted last time.

Further, the processing module is also used for: according to the matching relationship between the pulse width and amplitude of the received echo signal and the pulse width and amplitude of the optical pulse, to determine whether the echo signal is the pulse width and amplitude of the optical pulse. and/or, according to the matching relationship between the transmission time interval of the received echo signal and the transmission time interval of the optical pulse, determine whether the echo signal is the echo signal of the optical pulse.

Further, if the echo signal is not the echo signal of the optical pulse, the processing module is further configured to filter the echo signal.

Further, the number of the light pulses is two, including a first light pulse and a second light pulse, and the ranging device further includes a control module, and the control module is configured to control the transmitting module to transmit the first light pulse. optical pulses; the processing module is further configured to determine whether at least part of the echo signals of the first optical pulses satisfy a preset condition, and if so, the control module is further configured to control the transmitting module to transmit the second optical pulse light pulse.

Further, the transmitting module is further configured to transmit only one light pulse in a second direction different from the first direction, and the second direction is one of the directions to be measured.

Further, the number of the light pulses is two, including a first light pulse and a second light pulse, and the ranging device further includes a control module, the control module is used to control the emission module to the second light pulse. A light pulse is emitted in the direction; the processing module is also used to determine whether the transmission power or the maximum amplitude of the second light pulse is greater than a preset value, if it is greater than the preset value, and it is not detected within a preset time. If there is an object nearby, the control module is further configured to control the transmitting module to no longer emit light pulses in the second direction; or, the processing module is further configured to determine the transmit power of the second light pulse or Whether the maximum amplitude is less than the preset value, if it is less than the preset value, and an object is detected in the vicinity within the preset time, the control module is also used to control the emission module to no longer send the second signal to the second. Light pulses are emitted in the direction.

Further, different said light pulses are emitted by different light emitters.

Further, when the wavelengths of the optical pulses emitted in the same direction are different, the emission power of each of the optical pulses emitted in the same direction is less than or equal to the safety power; or, when the light emitted in the same direction is When the wavelengths of the pulses are the same, the sum of the transmission power of each of the optical pulses emitted in the same direction is less than or equal to the safety power.

A third aspect of the embodiments of the present application provides another ranging method, which includes: periodically transmitting a first-type optical pulse sequence; between at least partially adjacent two first-type optical pulses, transmitting at least one first-type optical pulse sequence. The second type of optical pulse, the second type of optical pulse is different from the first type of optical pulse before the second type of optical pulse, the pulse parameter includes the transmission power or the maximum amplitude, and the The emission time interval between the second-type optical pulse and the first-type optical pulse preceding the second-type optical pulse is smaller than the second-type optical pulse and the second-type optical pulse succeeding the second-type optical pulse. The emission time interval of a class of light pulses.

Further, the emission time interval between the second type of light pulse and the first type of light pulse before the second type of light pulse is smaller than the first type of light before the second type of light pulse. The range of the pulse corresponds to the flight time of the first type of light pulse.

Further, the emission direction of the second type of light pulse is the same as that of the first type of light pulse preceding the second type of light pulse; and/or, the first type of light pulse preceding the second type of light pulse. One type of light pulse has a different emission direction from the first type of light pulse following the second type of light pulse.

Further, the emission time intervals of the different second-type light pulses and the first-type light pulses preceding the second-type light pulses are the same or at least partially different; and/or, different second-type light pulses The transmit power of the pulses is the same or at least partially different; and/or, the maximum amplitudes of the different second types of optical pulses are the same or at least partially different; and/or, the pulse widths of the different second types of optical pulses are the same or at least different Partially different; and/or, the transmit power of the first type of optical pulses is the same or at least partially different; and/or, the maximum amplitudes of the first type of optical pulses are the same or at least partly different; and/or, The pulse widths of the different optical pulses of the first type are the same or at least partially different.

Further, the method includes: transmitting one optical pulse of the second type between every two adjacent optical pulses of the first type.

Further, the method includes: the pulse parameters of each of the first type of light pulses are the same; and/or the pulse parameters of each of the second type of light pulses are the same.

Further, the method further comprises: receiving at least part of the echo signal of the second type of optical pulse and at least part of the echo signal of the first type of optical pulse preceding the second type of optical pulse; according to the At least a part of the echo signal of the first type of optical pulse before the second type of optical pulse, and the target signal used to obtain the distance of the object to be measured is acquired, and the target signal is at least part of the echo of the second type of optical pulse one of the signal and at least part of the echo signal of the optical pulse of the first type preceding the optical pulse of the second type.

Further, if the pulse parameter of the first type of optical pulse is greater than the pulse parameter of the second type of optical pulse, the method includes: if the signal intensity or signal-to-noise of at least part of the echo signal of the first type of optical pulse is ratio is greater than the first preset value, then at least part of the echo signal of the second type of optical pulse is the target signal; and/or, if the signal strength of at least part of the echo signal of the first type of optical pulse is or If the signal-to-noise ratio is less than or equal to the second preset value, at least part of the echo signals of the first type of optical pulses are the target signals.

Further, if the pulse parameter of the first type of optical pulse is smaller than the pulse parameter of the second type of optical pulse, the method includes: if the signal intensity or signal-to-noise of at least part of the echo signal of the first type of optical pulse is ratio is less than a third preset value, then at least part of the echo signals of the second type of optical pulses is the target signal; and/or, if the signal strength of at least part of the echo signals of the first type of optical pulses is or If the signal-to-noise ratio is greater than or equal to the fourth preset value, at least part of the echo signals of the first type of optical pulses are the target signals.

Further, at least one of the following items of the first type of optical pulse and the second type of optical pulse is adjustable: transmission power, maximum amplitude, pulse width, transmission frequency, and the first type of optical pulse and the The emission time interval between light pulses of the second type.

Further, in two adjacently emitted light pulses, the light pulses include the first type of light pulses and/or the second type of light pulses, and according to at least part of the echo signal of the previous light pulse, obtain The transmit power or maximum amplitude of the currently transmitted light pulse.

Further, the method further includes: according to at least part of the echo signal of the second type of optical pulse and at least part of the echo signal of the first type of optical pulse preceding the second type of optical pulse, and the The matching relationship between the pulse width and amplitude of the second type of optical pulse and the first type of optical pulse before the second type of optical pulse, to determine whether the echo signal is the echo signal of the corresponding optical pulse; and/ Or, according to at least part of the echo signal of the second type of optical pulse and at least part of the echo signal of the first type of optical pulse before the second type of optical pulse, and the second type of optical pulse and all The matching relationship between the emission time intervals of the first type of optical pulse before the second type of optical pulse is used to determine whether the echo signal is the echo signal of the corresponding optical pulse.

Further, the method further includes: if the echo signal is not the echo signal of the corresponding optical pulse, filtering the echo signal.

Further, before transmitting the second type of optical pulse, the method further includes: judging whether at least part of the echo signal of the first type of optical pulse emitted before the second type of optical pulse meets a preset condition; If the preset condition is met, the second type of light pulse is emitted.

Further, the pulse parameter of the first type of optical pulse emitted before the second type of optical pulse is greater than the pulse parameter of the second type of optical pulse, and the preset condition includes: the second type of optical pulse The signal intensity or signal-to-noise ratio of at least part of the echo signal of the first type of optical pulse emitted previously is greater than a preset value; or, the first type of optical pulse emitted before the second type of optical pulse The pulse parameter is smaller than the pulse parameter of the second type of optical pulse, and the preset condition includes: the signal intensity or signal strength of at least part of the echo signal of the first type of optical pulse emitted before the second type of optical pulse. The noise ratio is smaller than the preset value.

Further, no light pulses are emitted between at least part of two adjacent light pulses of the first type.

Further, the method includes: judging whether at least part of the echo signals of the first type of optical pulses satisfy a preset condition; if the preset condition is met, no optical pulse is emitted.

Further, the pulse parameter of the optical pulse of the first type is greater than the pulse parameter of the optical pulse of the second type, and the preset condition includes: the signal intensity or signal intensity of at least part of the echo signals of the optical pulse of the first type. The noise ratio is less than a preset value; or, the pulse parameter of the first type of optical pulse is less than the pulse parameter of the second type of optical pulse, and the preset condition includes: at least part of the echoes of the first type of optical pulse The signal strength or signal-to-noise ratio of the signal is greater than the preset value.

Further, there are at least two optical pulses of the second type, and the pulse parameters of the optical pulses of the second type are different.

Further, the first type of light pulses and the second type of light pulses are emitted by different light emitters.

Further, the wavelengths of the first type of optical pulse and the second type of optical pulse are different, and the emission power of the first type of optical pulse and the second type of optical pulse are both less than or equal to the safety power; or, The wavelengths of the first type of optical pulse and the second type of optical pulse are the same, and the sum of the transmit power of the first type of optical pulse and the second type of optical pulse is less than or equal to the safety power.

A fourth aspect of the embodiments of the present application provides another distance measuring device, which includes a transmitting module configured to periodically transmit a first-type optical pulse sequence, and also configured to detect at least partially adjacent two first-type optical pulses and emit at least one second type optical pulse, the second type optical pulse is different from the pulse parameter of the first type optical pulse preceding the second type optical pulse, and the pulse parameter includes the transmission power or maximum amplitude, and the emission time interval between the second-type optical pulse and the first-type optical pulse preceding the second-type optical pulse is smaller than the second-type optical pulse and the second-type optical pulse The emission time interval of the first type of light pulse following the pulse.

Further, the emission direction of the second type of light pulse is the same as that of the first type of light pulse preceding the second type of light pulse, and/or the first type of light pulse preceding the second type of light pulse. One type of light pulse has a different emission direction from the first type of light pulse following the second type of light pulse.

Further: the emission time interval of the different second type of light pulse and the first type of light pulse preceding the second type of light pulse is the same or at least partially different; and/or, different from the second type of light pulse The transmit power of the pulses is the same or at least partially different; and/or, the maximum amplitudes of the different second types of optical pulses are the same or at least partially different; and/or, the pulse widths of the different second types of optical pulses are the same or at least different Partially different; and/or, the transmit power of the first type of optical pulses is the same or at least partially different; and/or, the maximum amplitudes of the first type of optical pulses are the same or at least partly different; and/or, The pulse widths of the different optical pulses of the first type are the same or at least partially different.

Further, the transmitting module is further configured to transmit at least one optical pulse of the second type between at least partially adjacent two optical pulses of the first type, including: Between the adjacent first-type light pulses, one second-type light pulse is emitted.

Further, the pulse parameters of each of the first type of light pulses are the same; and/or the pulse parameters of each of the second type of light pulses are the same.

Further, the distance measuring device further includes a receiving module and a processing module; the receiving module is configured to receive at least part of the echo signal of the second type of optical pulse and the first one before the second type of optical pulse. at least part of the echo signal of the light-like pulse; the processing module is configured to obtain the target used to obtain the distance of the object to be measured according to at least part of the echo signal of the first-type light pulse before the second-type light pulse The target signal is one of at least part of the echo signal of the second type of optical pulse and at least part of the echo signal of the first type of optical pulse preceding the second type of optical pulse.

Further, the pulse parameter of the first type of optical pulse is greater than the pulse parameter of the second type of optical pulse, and the processing module is further configured to determine the signal intensity or The relationship between the signal-to-noise ratio and the first preset value: if the signal strength or signal-to-noise ratio of at least part of the echo signals of the first type of optical pulse is greater than the first preset value, then at least the second type of optical pulse Part of the echo signal is the target signal; and/or, if the signal strength or signal-to-noise ratio of at least part of the echo signal of the first type of optical pulse is less than or equal to a second preset value, the first type of optical pulse At least part of the echo signal of the optical pulse is the target signal.

Further, the pulse parameter of the first type of optical pulse is smaller than the pulse parameter of the second type of optical pulse, and the processing module is further configured to determine the signal strength or The relationship between the signal-to-noise ratio and the third preset value; if the signal strength or signal-to-noise ratio of at least part of the echo signals of the first type of optical pulse is less than the third preset value, then at least the second type of optical pulse Part of the echo signal is the target signal; and/or, if the signal strength or signal-to-noise ratio of at least part of the echo signal of the first type of optical pulse is greater than or equal to a fourth preset value, the first type of optical pulse At least part of the echo signal of the optical pulse is the target signal.

Further, the distance measuring device further includes a control module, the control module is configured to control the emission module to adjust the emission power, maximum amplitude, and pulse width of the first type of optical pulse and the second type of optical pulse. , an emission frequency, and at least one of an emission time interval between the first type of light pulses and the second type of light pulses.

Further, the distance measuring device further includes a processing module, in two adjacently emitted light pulses, the light pulses include the first type of light pulses and/or the second type of light pulses, the processing The module is further configured to acquire the transmit power or the maximum amplitude of the currently transmitted optical pulse according to at least part of the echo signal of the previous optical pulse.

Further, the processing module is further configured to, according to at least part of the echo signal of the second type of optical pulse and at least part of the echo signal of the first type of optical pulse preceding the second type of optical pulse, match the the matching relationship between the pulse width and amplitude of the second type of optical pulse and the first type of optical pulse before the second type of optical pulse, and determine whether the echo signal is the echo signal of the corresponding optical pulse; and /or, the processing module is further configured to, according to at least part of the echo signal of the second type of optical pulse and at least part of the echo signal of the first type of optical pulse preceding the second type of optical pulse, match the According to the matching relationship between the second type of optical pulse and the emission time interval of the first type of optical pulse before the second type of optical pulse, it is judged whether the echo signal is the echo signal of the corresponding optical pulse.

Further, if the echo signal is not the echo signal of the corresponding optical pulse, the processing module is further configured to filter the echo signal.

Further, the distance measuring device further includes a processing module and a control module, the processing module is connected with the control module; before transmitting the second type of light pulse, the processing module is used to judge the first type of light pulse Whether at least part of the echo signal of the optical pulse satisfies a preset condition; if the preset condition is met, the control module is configured to control the emission module to emit the second type of optical pulse.

Further, the transmitting module is further configured to not transmit light pulses between at least part of two adjacent light pulses of the first type.

Further, the distance measuring device further includes a processing module, and the processing module is configured to judge whether at least part of the echo signals of the first type of optical pulses meet a preset condition; if the preset condition is met, the The transmitting module is used to not transmit light pulses.

Further, the transmitting module includes at least two light transmitters, and the first type of light pulses and the second type of light pulses are emitted by different light transmitters.

A fifth aspect of the embodiments of the present application provides a system, including a movable platform, and the distance measuring device of the second aspect or the fourth aspect; the distance measuring device is arranged on the movable platform.

Further, the distance measuring device is arranged in front of the movable platform.

Further, the movable platform includes any one of a car, a remote control car, an aircraft, or a mobile robot.

A sixth aspect of the embodiments of the present application is to provide a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the method described in the first aspect or the third aspect.

The ranging method, ranging device, system, and computer-readable storage medium provided by the embodiments of the present application can detect different distances because optical pulses with different transmit power or maximum amplitude can detect different distances effectively. The detection error is reduced and the ranging accuracy is improved.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the accompanying drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

FIG. 1 is a schematic diagram of a circuit structure of a distance measuring device according to an embodiment of the present application;

2 is a schematic diagram of a distance measuring device using a coaxial optical path provided by an embodiment of the present application;

3 is a schematic diagram of a scanning pattern of a ranging device provided by an embodiment of the present application;

Fig. 4 is the schematic diagram of the response of the detector under normal signal and strong signal;

FIG. 5 is a flow chart of the ranging method provided by the embodiment of the present application when detecting the first direction;

FIG. 6 is a schematic diagram of an emission light pulse waveform of an implementation in an embodiment of the present application;

FIG. 7 is a schematic diagram of an emission light pulse waveform of another implementation manner in the embodiment of the present application;

FIG. 8 is a schematic structural diagram of a ranging device provided by an embodiment of the present application;

FIG. 9 is a schematic structural diagram of a system provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or there may also be a centered component. When a component is considered to be "connected" to another component, it may be directly connected to the other component or there may be a co-existence of an intervening component.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein in the specification of the application are for the purpose of describing specific embodiments only, and are not intended to limit the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments may be combined with each other without conflict.

A ranging method provided by various embodiments of the present application may be applied to a ranging device, and the ranging device may be an electronic device such as a laser radar or a laser ranging device. In one embodiment, the ranging device is used to sense external environmental information, for example, distance information, orientation information, reflection intensity information, speed information and the like of environmental objects. In an implementation manner, the ranging device can detect the distance from the detected object to the ranging device by measuring the time of light propagation between the ranging device and the detected object, that is, Time-of-Flight (TOF). Alternatively, the ranging device can also detect the distance from the detected object to the ranging device through other technologies, such as a ranging method based on phase shift measurement, or a ranging method based on frequency shift measurement. This does not limit.

For ease of understanding, the working process of ranging will be described by way of example below with reference to the ranging apparatus 100 shown in FIG. 1 .

As shown in FIG. 1 , the ranging apparatus 100 may include a transmitting circuit 110 , a receiving circuit 120 , a sampling circuit 130 and an arithmetic circuit 140 .

The transmit circuit 110 may transmit a sequence of optical pulses (eg, a sequence of optical pulses). The receiving circuit 120 can receive the optical pulse sequence reflected by the detected object, and perform photoelectric conversion on the optical pulse sequence to obtain an electrical signal, which can be output to the sampling circuit 130 after processing the electrical signal. The sampling circuit 130 may sample the electrical signal to obtain a sampling result. The arithmetic circuit 140 may determine the distance between the distance measuring device 100 and the detected object based on the sampling result of the sampling circuit 130.

Optionally, the distance measuring device 100 may further include a control circuit 150, which can control other circuits, for example, can control the working time of each circuit and/or set parameters for each circuit.

It should be understood that although the distance measuring 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 embodiment of the present application is not limited to this, the transmitting circuit The number of any one of the 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 can be simultaneously The ejection can also be ejected at different times. In one example, the light-emitting chips in the at least two emission circuits are packaged in the same module. For example, 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.

In some implementations, in addition to the circuit shown in FIG. 1 , the distance measuring device 100 may further include a scanning module 160 for changing the propagation direction of at least one optical pulse sequence output from the transmitting circuit.

Wherein, the module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130 and the operation circuit 140, or the module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, the operation circuit 140 and the control circuit 150 may be referred to as the measuring circuit The ranging module 150 can be independent of other modules, for example, the scanning module 160 .

A coaxial optical path may be used in the ranging device, that is, the light beam emitted by the ranging device and the reflected light beam share at least part of the optical path in the ranging device. For example, after at least one optical pulse sequence emitted by the transmitting circuit changes its propagation direction through the scanning module and exits, the optical pulse sequence reflected by the detection object passes through the scanning module and then enters the receiving circuit. Alternatively, the distance-measuring device may also adopt an off-axis optical path, that is, the light beam emitted by the distance-measuring device and the reflected light beam are respectively transmitted along different optical paths in the distance-measuring device. FIG. 2 shows a schematic diagram of an embodiment in which the distance measuring device of the present application adopts a coaxial optical path.

The ranging device 200 includes a ranging module 201, and the ranging module 210 includes a transmitter 203 (which may include the above-mentioned transmitting circuit), a collimating element 204, a detector 205 (which may include the above-mentioned receiving circuit, sampling circuit and arithmetic circuit) and 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. Among them, the transmitter 203 can be used to transmit a sequence of optical pulses. In one embodiment, the transmitter 203 may transmit a sequence of optical pulses. Optionally, 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.

In the embodiment shown in FIG. 2, the transmitting optical path and the receiving optical path in the ranging device are combined by the optical path changing element 206 before the collimating element 104, so that the transmitting optical path and the receiving optical path can share the same collimating element, so that the optical path more compact. In some other implementations, the emitter 103 and the detector 105 may use respective collimating elements, and the optical path changing element 206 may be arranged on the optical path behind the collimating element.

In the embodiment shown in FIG. 2 , since the beam aperture of the light beam emitted by the transmitter 103 is relatively small, and the beam aperture of the return light received by the ranging device is relatively large, the optical path changing element can use a small-area reflective mirror to The transmit light path and the receive light path are combined. In some other implementations, 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.

In the embodiment shown in FIG. 2 , the optical path altering element is offset from the optical axis of the collimating element 204 . In some other implementations, the optical path altering element may also be located on the optical axis of the collimating element 204 .

The ranging device 200 further includes a scanning module 202 . The scanning module 202 is placed on the outgoing light path of the ranging module 201 , and the scanning module 102 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 105 via the collimating element 104 .

In one embodiment, 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. For example, the scanning module 202 includes lenses, mirrors, prisms, galvanometers, gratings, liquid crystals, optical phased arrays (Optical Phased Array) or any combination of the above optical elements. In one example, at least part of the optical element is moving, for example, the at least part of the optical element is driven to move by a driving module, and the moving optical element can reflect, refract or diffract the light beam to different directions at different times. In some embodiments, the multiple optical elements of the scanning module 202 may be rotated or oscillated about a common axis 209, each rotating or oscillating optical element being used to continuously change the propagation direction of the incident beam. In one embodiment, the plurality of optical elements of the scanning module 202 may rotate at different rotational speeds, or vibrate at different speeds. In another embodiment, at least some of the optical elements of scan module 202 may rotate at substantially the same rotational speed. In some embodiments, the plurality of optical elements of the scanning module may also be rotated about different axes. In some embodiments, 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.

In one embodiment, 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. In one embodiment, the angle between the direction of the collimated light beam 219 changed by the first optical element and the rotation axis 109 changes with the rotation of the first optical element 214 . In one embodiment, the first optical element 214 includes a pair of opposing non-parallel surfaces through which the collimated beam 219 passes. In one embodiment, the first optical element 214 includes a prism whose thickness varies along at least one radial direction. In one embodiment, the first optical element 114 includes a wedge prism that refracts the collimated light beam 119 .

In one embodiment, 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 . In one embodiment, the second optical element 115 is connected to another driver 217, and the driver 117 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. In one embodiment, 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.

In one embodiment, the second optical element 115 includes a pair of opposing non-parallel surfaces through which the light beam passes. In one embodiment, the second optical element 115 comprises a prism whose thickness varies along at least one radial direction. In one embodiment, the second optical element 115 comprises a wedge prism.

In one embodiment, the scanning module 102 further includes a third optical element (not shown) and a driver for driving the movement of the third optical element. Optionally, the third optical element includes a pair of opposing non-parallel surfaces through which the light beam passes. In one embodiment, the third optical element comprises a prism of varying thickness along at least one radial direction. In one embodiment, 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.

The rotation of each optical element in the scanning module 202 can project light in different directions, such as

directions

211 and 213 , so as to scan the space around the ranging device 200 . As shown in FIG. 3 , FIG. 3 is a schematic diagram of a scanning pattern of the distance measuring 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. Among them, Azimuth represents the azimuth angle, Zenith represents the zenith angle, and the unit is deg (number of degrees).

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 distance measuring 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.

In one embodiment, each optical element is coated with an anti-reflection coating. Optionally, the thickness of the anti-reflection film is equal to or close to the wavelength of the light beam emitted by the emitter 103, which can increase the intensity of the transmitted light beam.

In one embodiment, a filter layer is coated on the surface of an element located on the beam propagation path in the distance measuring device, or a filter is provided on the beam propagation path for transmitting at least the wavelength band of the light beam emitted by the transmitter, Reflects other bands to reduce noise from ambient light to the receiver.

In some embodiments, the transmitter 203 may comprise a laser diode through which light pulses on the nanosecond scale are emitted. Further, the light 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 light pulse receiving time. In this way, the ranging apparatus 200 can calculate the TOF by using the pulse receiving time information and the pulse sending time information, so as to determine the distance from the probe 201 to the ranging apparatus 200 .

The distance and orientation detected by the ranging device 200 can be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like. In one embodiment, the ranging device of the embodiments of the present application can be applied to a mobile platform, and the ranging device can be installed on the platform body of the mobile platform. A mobile platform with a ranging device can measure the external environment, for example, measure the distance between the mobile platform and obstacles for obstacle avoidance and other purposes, and perform two-dimensional or three-dimensional mapping of the external environment. In some embodiments, the mobile platform includes at least one of an unmanned aerial vehicle, a car, a remote control car, a robot, and a camera. When the ranging device is applied to the unmanned aerial vehicle, the platform body is the fuselage of the unmanned aerial vehicle. When the ranging device is applied to an automobile, the platform body is the body of the automobile. The vehicle may be an autonomous driving vehicle or a semi-autonomous driving vehicle, which is not limited herein. When the distance measuring device is applied to the remote control car, the platform body is the body of the remote control car. When the distance measuring device is applied to the robot, the platform body is the robot. When the ranging device is applied to the camera, the platform body is the camera itself.

In an embodiment provided in the present application, a detection method is provided, comprising: detecting different directions to be detected in sequence, wherein when detecting a first direction among them, the first direction is the direction to be detected One of the directions: continuously transmit at least two optical pulses in the first direction, and the pulse parameters of the optical pulses are different, and the pulse parameters include the transmission power or the maximum amplitude; the device that receives the at least two optical pulses at least part of the echo signal of each optical pulse; obtained according to the pulse parameter of at least one of the at least two optical pulses and the at least part of the echo signal of at least one of the at least two optical pulses The distance of the object to be measured in the first direction. For example, a pulse with a large transmission power or maximum amplitude can be sent first in the same direction, and then a pulse with a small transmission power or a maximum amplitude can be sent, because the signal intensity reflected by the strong reflectivity object in the vicinity is much stronger than the limit Therefore, if the transmitted power or the echo intensity of the pulse with a large maximum amplitude is too strong, it means that the object detected by the pulse is relatively close. If the echo of the pulse is used to calculate the distance of the object to be measured, Such an excessively strong echo signal will lead to saturation of many devices in the receiving channel. As shown in Figure 4, it is the response of the detector under normal signals and strong signals. It can be seen from the figure that the response of the detector to strong signals The waveform smears after the turning point. At this time, the calculation error will be caused when calculating the flight time. In the case of extremely strong signals such as total reflection, the distortion of the waveform will be more serious and additional errors will be introduced. Therefore, when it is judged that the distance of the object to be measured is relatively close by the transmission power or the pulse with the largest amplitude, the distance of the object to be measured is calculated according to the transmitted transmission power or the pulse with the small maximum amplitude, so as to avoid the intensity of the echo signal. At the same time, due to the two pulses with different transmission power or maximum amplitude transmitted in the same direction, it is guaranteed that the point can always be detected when the same point is detected, and the point to be measured will not be lost. In addition, it is also possible to first send a beam of pulses with a small transmission power or maximum amplitude in the same direction, and then send a beam of pulses with a large transmission power or maximum amplitude. The echo signal, or the signal is extremely small, indicates that there is no object nearby, and then calculate the distance of the object to be measured by the echo signal of the pulse with the large transmission power or the maximum amplitude, which can obtain higher detection accuracy. It should be noted that the first direction described in the embodiments of the present application can be understood as the emission direction is roughly the first direction, and the same direction in the embodiments of the present application can be understood as the emission directions are roughly the same, for example, when the scanning module 202 passes through When the rotation of each optical element projects light in different directions, due to the continuous rotation of each optical element, even if two light pulses are continuously emitted in a short period of time, the emission direction may be smaller due to the rotation of the optical element. Since this difference is small, it can be considered that the two light pulses are emitted in the same direction.

In another embodiment provided by the present application, most of the implementation methods are similar to those in the previous embodiment, the difference lies in that a ranging judgment can be made between transmitting two beams of pulses, and whether it is necessary to transmit a second pulse is determined according to the judgment result. Pulse, for example, send a pulse with a large transmission power or maximum amplitude first, if a nearby object is detected within the set time, then send a pulse with a small transmission power or a maximum amplitude, according to the transmission power or a pulse with a small maximum amplitude The distance of the object to be measured is obtained from the echo signal of the echo signal. If no nearby object is detected within the set time, the second pulse will not be sent. distance of the object; you can also send a pulse with a small transmission power or maximum amplitude first, then determine whether a nearby object is detected within the set time, and if no nearby object is detected, then send the transmission power or maximum amplitude. Large pulse, obtain the distance of the object to be measured according to the echo signal of the pulse with the largest transmission power or the largest amplitude. If there is an object nearby, no second pulse will be transmitted. The echo signal of the pulse obtains the distance of the object to be measured. Therefore, in this embodiment, the detection of different distances is realized by using two pulses with different transmission power or maximum amplitude, which improves the detection accuracy, and reduces the number of transmitted pulses by judging whether to transmit the second pulse, thereby reducing the need for The number of processed echo signals reduces the computational complexity and amount of computation, makes the ranging more intelligent, and improves the computation speed.

In yet another embodiment provided by the present application, a detection method is provided, comprising: periodically transmitting a first type of optical pulse sequence; between at least partially adjacent two first type optical pulses, transmitting at least one optical pulse sequence of the first type The second type of optical pulse, the second type of optical pulse is different from the first type of optical pulse before the second type of optical pulse, the pulse parameter includes the transmission power or the maximum amplitude, and the The emission time interval between the second-type optical pulse and the first-type optical pulse preceding the second-type optical pulse is smaller than the time interval between the second-type optical pulse and the second-type optical pulse following the second-type optical pulse. The emission time interval of the first type of light pulses. Since the pulse parameters of the second type of optical pulse and the first type of optical pulse preceding the second type of optical pulse are different, the second type of optical pulse and the previous one of the second type of optical pulse have different pulse parameters. The first type of optical pulse can detect different distances, which improves the detection accuracy, and the emission time interval between the second type of optical pulse and the first type of optical pulse preceding the second type of optical pulse is smaller than that of the second type of optical pulse. The emission time interval between the light pulse of the second kind and the light pulse of the first kind after the light pulse of the second kind When the light-like pulse detects different distances, the detection time interval is small, which improves the detection rate.

The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems will be described in detail below with reference to each specific embodiment. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below with reference to the accompanying drawings.

In an embodiment of the present application, a ranging method is provided. The ranging method includes: detecting different directions to be measured in sequence. For example, when the ranging method is applied to a ranging device, the ranging device can be set on a movable object. The distance device can be a LiDAR or other distance measuring equipment, for example, the movable object can be any one of a car, a remote control car, an aircraft, or a mobile robot, and the car can be an unmanned car or a mobile robot. In a manned vehicle, in an implementation manner, the ranging device can be arranged at at least one position in front of, behind, above, or below the movable object, which can be directly or indirectly arranged, and can be fixed or detachable. , or active settings, such as rotation settings. In an implementation manner, the ranging device detects different directions to be measured in sequence, and feeds back the detection results to the movable platform, so that the movable platform can judge the surrounding environment information according to the detection results. In an implementation manner, the method performs one detection on different to-be-measured directions as one detection cycle. Exemplarily, when a distance-measuring device is provided in front of the car, the distance-measuring device can detect N different to-be-measured directions. The light pulse is emitted in the direction to be measured, where N is a positive integer greater than 2. Exemplarily, the light pulse is first sent to the first direction to be measured, and then the light pulse is sent to the second direction to be measured, until the Nth direction to be measured is sent to the Nth direction to be measured. After the light pulse is emitted in the direction, a periodic detection is completed. When entering the next detection cycle, the light pulse is repeatedly emitted to the 1st to Nth directions to be measured. It should be noted that in different detection cycles, the The directions can be the same or different.

When the first direction is detected, the first direction is one of the to-be-measured directions. Please refer to FIG. 5 . FIG. 5 is a method for detecting the first direction in the ranging method provided by the embodiment of the present application. time flow chart. As shown in FIG. 5 , the method in this embodiment of the present application may include:

Step S301, continuously transmitting at least two optical pulses in the first direction, different optical pulses have different pulse parameters, and the pulse parameters include transmission power or maximum amplitude;

Exemplarily, the number of light pulses that can be emitted in the first direction can be: two, three, four, five, six, or any other number. There may be multiple directions to be measured, and the first direction may be any one of the directions to be measured, or may be a direction selected according to a certain condition, which is not limited in this application. The pulse parameters may include transmit power or maximum amplitude, and may also include other parameters capable of characterizing pulse detection performance, which are not limited in this application. The pulse parameters of different optical pulses are different. Exemplarily, when the pulse parameters include transmission power, the transmission powers of different optical pulses are different, and the transmission powers may vary greatly, because different transmission powers correspond to different detection distances. , therefore, the transmit power can be set according to actual needs, which is not limited in this application. When the pulse parameters include the maximum amplitude, the maximum amplitude of different optical pulses is different, and the maximum amplitude can be the peak value of the pulse. The larger the maximum amplitude of the pulse, the farther it can detect. The difference can be very large, and the maximum amplitude can be set according to actual needs, which is not limited in this application.

Step S302, receiving at least part of the echo signal of each of the at least two optical pulses;

Exemplarily, the receiving module of the ranging device may receive the optical signal at the arrival time of the echo signals of the at least two optical pulses sequentially transmitted in the first direction. The interior is lost due to reflection or other reasons, so that at the arrival time of the echo signal, all the echoes may not be reflected back, so the optical signal includes at least part of the echo signal of the optical pulse.

Step S303: Acquire the to-be-measured in the first direction according to the pulse parameter of at least one of the at least two optical pulses and at least part of the echo signal of at least one of the at least two optical pulses distance of things.

Exemplarily, the distance of the object to be measured in the first direction is acquired according to the pulse parameters of all the optical pulses and at least part of the echo signals of all the optical pulses, or, according to the pulse parameters of some of the optical pulses and at least part of the echo signal of part of the optical pulse, to obtain the distance of the object to be measured in the first direction.

In this embodiment, since the optical pulses with different transmission powers or maximum amplitudes can detect different distances, at least two optical pulses with different transmission powers or maximum amplitudes are continuously transmitted in the first direction, and by receiving the at least two optical pulses with different maximum amplitudes an echo signal of at least part of each of the light pulses and based on a pulse parameter of at least one of the at least two light pulses and at least part of the echo of at least one of the at least two light pulses The wave signal is used to obtain the distance of the object to be measured in the first direction, which can realize the detection of different distances in the first direction without losing the point to be measured, which reduces the detection error and improves the ranging accuracy.

Optionally, light pulses are respectively emitted to different directions to be measured, wherein the number of the light pulses emitted to different directions to be measured is the same or at least partially different. Illustratively, at least two light pulses are sequentially emitted to each direction to be measured. Illustratively, the same number of light pulses may be emitted to each direction to be measured, such as two pulses of light to each direction to be measured. Exemplarily, different numbers of light pulses may be sent to different directions to be measured, for example, two light pulses are sent to one direction to be measured, and three light pulses are sent to another direction to be measured. Exemplarily, the number of light pulses sent to different directions to be measured may be the same or different, for example, two light pulses may be sent to two directions to be measured, respectively, and three light pulses may be sent to another direction to be measured. . Exemplarily, at least two light pulses may be emitted in one direction to be measured, and one light pulse may be emitted in the other direction to be measured. In this embodiment of the present application, the number of transmitted pulses may be set according to actual requirements, which is not limited in the present application.

When the number of light pulses emitted in different directions to be measured is the same, if at least two of the light pulses emitted in the same direction are a group of light pulse sequences, optionally, the emission time intervals of different groups of light pulse sequences are the same Or at least partially different, when the transmission time interval is the same, the procedure can be simplified, and the calculation speed can be improved without making too much judgment. When the transmission time interval is at least partially different, it can be judged whether it is an echo signal according to the transmission time interval, so as to improve the anti-interference performance. At the same time, the receiving end judges the time interval of the pulses, and only the pulses that match the emission time interval can be identified, thereby improving the anti-interference performance.

Optionally, the transmit powers of different groups of optical pulse sequences are the same or at least partially different. When the transmit powers of different groups of optical pulse sequences are the same, the procedure can be simplified without excessive judgment, and the calculation speed can be improved. When the transmission powers of different groups of optical pulse sequences are at least partially different, different detection distances are provided for different directions to be measured, the detection range is improved, and the distance measurement accuracy is improved.

Optionally, the maximum pulse amplitudes of different groups of optical pulse sequences are the same or at least partially different. When the maximum amplitudes of different groups of optical pulse sequences are the same, the procedure can be simplified without excessive judgment, and the calculation speed can be improved. When the maximum amplitudes of different groups of optical pulse sequences are at least partially different, different detection distances are provided for different directions to be measured, the detection range is improved, and the distance measurement accuracy is improved.

Optionally, the pulse widths of different groups of optical pulse sequences are the same or at least partially different. When the pulse widths are the same, the procedure can be simplified without excessive judgment, and the calculation speed can be improved. When the pulse width is at least partially different, it can be judged whether it is an echo signal according to the pulse width to improve the anti-interference performance. Taking the example of sending two pulses to different directions to be measured, adjust the two beams before sending the pulse signal each time. At the same time, the receiving end judges the pulse width of the pulse, and only the pulse matching the pulse width of the transmitted pulse can be recognized, thus improving the anti-interference performance.

In another optional embodiment, when a group of optical pulse sequences includes at least 3 optical pulses, the emission time intervals of two adjacent optical pulses in the same group of optical pulse sequences are the same or at least partially different. When the interval is the same, the program can be simplified, no need to make too much judgment, and the calculation speed can be improved. When the transmission time intervals are at least partially different, whether it is an echo signal can be determined according to the transmission time intervals, so as to improve the anti-interference performance.

It should be noted that the above embodiments can be combined arbitrarily to achieve better effects. For example, taking the transmission of two pulses as an example, the maximum amplitude and pulse width of the two pulses can be adjusted. The maximum amplitude can be different, and the signal at the receiving end can judge whether it is a pulse sent by itself by identifying the maximum amplitude and pulse width, which improves the anti-interference performance.

Optionally, the emission time intervals of at least some of the adjacent emitted light pulses are different. Since the emission time intervals of at least some adjacently emitted optical pulses are different, it can be identified whether the received echo signal is the corresponding emitted light according to the matching relationship between the reception time interval of the echo signal and the emission time interval of the transmitted optical pulse. The echo signal of the pulse improves the interference performance.

In another optional embodiment, the emission time interval between adjacent optical pulses emitted in the same direction to be measured is smaller than the emission time interval between adjacent optical pulses emitted in different directions to be measured. When the scanning module 202 projects light to different directions through the rotation of each optical element, due to the continuous rotation of each optical element, even if two light pulses are continuously emitted in a short period of time, the emission direction may be caused by the rotation of the optical element. The rotation results in a small difference. The emission time interval between adjacent optical pulses emitted in the same direction to be measured is smaller than the emission time interval between adjacent optical pulses emitted in different directions to be measured, so that the emission time interval is smaller, The direction of pulse emission is approximately the same, and the detection accuracy and detection efficiency are improved.

Optionally, in step S303, the said at least one optical pulse is acquired according to a pulse parameter of at least one of the at least two optical pulses and at least part of the echo signal of at least one of the at least two optical pulses. The distance of the object to be measured in the first direction may include: judging the object to be measured according to the pulse parameter of one of the at least two light pulses and at least part of the echo signal of the one light pulse If it is judged that the object to be measured is far away, the distance of the object to be measured is calculated according to at least part of the echo signal of the optical pulse with the larger pulse parameter among the at least two optical pulses; and/ Or, if it is judged that the object to be measured is close, the distance of the object to be measured is calculated according to at least part of the echo signals of the optical pulse whose pulse parameter is smaller among the at least two optical pulses.

Optionally, judging the distance range of the object to be measured according to the pulse parameter of one of the at least two light pulses and at least part of the echo signal of the one light pulse may include: The pulse parameter of the one optical pulse and the intensity or signal-to-noise ratio of at least part of the echo signal of the one optical pulse are used to determine the distance range of the object to be tested.

For the echo signal, it has parameters such as strength and signal-to-noise ratio, and the signal-to-noise ratio refers to the ratio of signal to noise in the echo signal. Since objects at different distances have different strengths and/or signal-to-noise ratios of the echo signals returned by the same optical pulse, it can be determined that the object to be tested is based on the pulse parameters of the optical pulse and the amplitude and signal-to-noise ratio of the echo signals. A near object or a far object.

Optionally, referring to FIG. 6 , FIG. 6 is a schematic diagram of an emission light pulse waveform of an implementation in the embodiment of the present application. As shown in FIG. 6 , two light pulses are emitted in the first direction in sequence, and the light emitted first The pulse parameter of the pulse is greater than the pulse parameter of the optical pulse transmitted later. If it is determined that there is an object nearby according to at least part of the echo signal of the optical pulse transmitted first, then the optical pulse transmitted later The distance of the object to be measured is calculated from at least part of the echo signal.

Optionally, if the signal strength or signal-to-noise ratio of at least part of the echo signals of the optical pulses transmitted first is greater than a first preset value, the calculation of the the distance of the object to be tested, and/or, if the signal strength or signal-to-noise ratio of at least part of the echo signal of the optical pulse transmitted first is smaller than the second preset value, then according to at least part of the optical pulse transmitted first The echo signal calculates the distance of the object under test, wherein the first preset value is greater than or equal to the second preset value. The first preset value and the second preset value can be set according to actual needs, and the principle of setting is as follows: if the signal strength or signal-to-noise ratio is greater than the first preset value, the signal is considered to be a strong signal, and the detector will The response of a strong signal of this strength will emit a tail, and the collected amplitude and time point have errors, which will lead to measurement errors. If the signal strength or signal-to-noise ratio is less than the second preset value, the signal strength is considered to be extremely weak. , so that a large measurement error will be generated and the measurement accuracy will be affected. For example, the second preset value may be a value greater than or equal to 0.

In another optional implementation manner, referring to FIG. 7 , FIG. 7 is a schematic diagram of the emission light pulse waveform of another implementation in the embodiment of the present application. As shown in FIG. 7 , two lights are sequentially emitted in the first direction Pulse, the pulse parameter of the optical pulse transmitted first is smaller than the pulse parameter of the optical pulse transmitted later, if it is determined that there is no object nearby according to at least part of the echo signal of the optical pulse transmitted first, then The distance of the object to be measured is calculated according to at least part of the echo signals of the light pulses emitted afterward.

Optionally, if the signal strength or signal-to-noise ratio of at least a part of the echo signals of the optical pulses transmitted first is smaller than a third preset value, then calculate the the distance of the object to be tested; and/or, if the signal strength or signal-to-noise ratio of at least part of the echo signal of the optical pulse transmitted first is greater than the fourth preset value, then according to at least part of the optical pulse transmitted first The echo signal calculates the distance of the object to be measured, wherein the third preset value is less than or equal to the fourth preset value. Among them, the third preset value and the fourth preset value can be set according to actual needs, and the setting principle is similar to the setting principle of the first preset value and the second preset value, which will not be repeated here. Yes, the first preset value can be equal to the fourth preset value, the second preset value can be equal to the third preset value, the first preset value, the second preset value, the third preset value and the fourth preset value The values can also all be equal.

Optionally, at least one of the emission power, pulse amplitude, pulse width, or emission time interval of the optical pulse is adjustable, and by dynamically adjusting at least one of the pulse amplitude, pulse width, or emission time interval, you can Improve the anti-jamming performance, and the ranging accuracy can be improved by dynamically adjusting the transmit power.

Exemplarily, according to the matching relationship between the pulse width and amplitude of the received echo signal and the pulse width and amplitude of the optical pulse, it is determined whether the echo signal is the echo signal of the optical pulse; exemplarily , according to the matching relationship between the transmission time interval of the received echo signal and the transmission time interval of the optical pulse, determine whether the echo signal is the echo signal of the optical pulse. Further, if the echo signal is not the echo signal of the optical pulse, the echo signal is filtered out, thereby realizing the identification of the interference signal and improving the anti-interference performance.

With the development of the processor, its processing speed is getting faster and faster, so the present application also provides an embodiment, which makes full use of the advantages of the processing speed of the processor, and can perform ranging judgment between the transmitted multiple beam pulses, According to the judgment result, it is decided whether to continue to transmit pulses with different pulse parameters. From the perspective of the entire detection cycle, the number of pulses to be transmitted is reduced, the number of echoes to be received is correspondingly reduced, and the amount of data to be processed is further improved. Processing speed, and pulses with different pulse parameters have different detection distances, as described above, can improve detection accuracy.

This embodiment will be introduced below. It should be noted that the various optional implementation manners in this embodiment are similar to those in the foregoing embodiments, which will not be repeated here. The ranging judgment is carried out between, and according to the judgment result, it is determined whether it is necessary to continue to transmit pulses with different pulse parameters.

Exemplarily, taking the emission of two pulses with different parameters of optical pulses in the same direction as an example, ranging judgment can be performed between the emission of the two optical pulses, and whether the second optical pulse needs to be transmitted is determined according to the judgment result, exemplarily. , the emitted two optical pulses include a first optical pulse and a second optical pulse, and the process of sequentially emitting at least two optical pulses in the same direction includes: emitting the first optical pulse; if the first optical pulse At least a part of the echo signals of the device satisfy the preset condition, then the second optical pulse is emitted.

Exemplarily, when the pulse parameter of the first optical pulse is greater than the pulse parameter of the second optical pulse, the preset condition includes: signal strength or signal intensity of at least part of the echo signal of the first optical pulse. The noise ratio is greater than the preset value. That is, when a pulse with a larger pulse parameter is first transmitted, if the strength of the echo signal is large, the echo signal is considered to be a strong signal. Therefore, the signal is not easy to be used to calculate the distance of the object to be measured. At this time, a pulse with a smaller pulse parameter should be selected to measure the distance of a closer object. Therefore, it is necessary to transmit a pulse whose parameter is smaller than that of the first light pulse. The second light pulse to improve the ranging accuracy.

Exemplarily, when the pulse parameter of the first optical pulse is smaller than the pulse parameter of the second optical pulse, the preset condition includes: signal strength or signal intensity of at least part of the echo signal of the first optical pulse. The noise ratio is smaller than the preset value. That is, when a pulse with a small pulse parameter is first transmitted, if the strength of the echo signal is small, the echo signal is considered to be a weak signal. Therefore, the signal is not easy to be used to calculate the distance of the object to be measured. At this time, a pulse with a larger pulse parameter should be used to detect a distant object. Therefore, it is necessary to transmit a second pulse whose pulse parameter is greater than that of the first light pulse. light pulses to improve ranging accuracy.

The preset value is used to judge the strength of the signal or the size of the signal-to-noise ratio. In different judgment methods, the value of the preset value can be the same or different, and can be set according to actual needs.

Further, if the preset condition is not met, the second light pulse is not sent. Exemplarily, only one light pulse is sent to a second direction different from the first direction, and the second direction is the one of the directions. Exemplarily, a light pulse is emitted in the second direction; if the emission power or the maximum amplitude of the second light pulse is greater than a preset value, and no object is detected in the vicinity within a preset time, no object is detected. Light pulses are then emitted in the second direction. Exemplarily, a light pulse is emitted in the second direction; if the emission power or the maximum amplitude of the second light pulse is less than a preset value, and an object is detected in the vicinity within a preset time, no longer Light pulses are emitted in the second direction. The setting principle of the preset value in this implementation manner is similar to the setting principle in the foregoing embodiment, and details are not described herein again.

The principle of this embodiment is that, for an echo signal, if the signal-to-noise ratio is low, it means that the noise in the echo signal accounts for a large proportion, which means that the ranging this time is not ideal, and there may be no ranging On the contrary, if the signal-to-noise ratio is large, it means that the proportion of noise in the echo signal is small, which means that the distance measurement is ideal this time, and the target can be measured. The distance of the object to be measured is well judged, so as to determine whether it is necessary to transmit the second light pulse. It avoids the need to calculate the distance according to the echo signal of the first light pulse, and then determine whether the object to be measured is a near object or a distant object. The calculation amount is reduced, and the ranging speed and accuracy are improved. For the amplitude value, the same is true for the signal-to-noise ratio. For details, please refer to the introduction about the signal-to-noise ratio, which will not be repeated here.

In one embodiment, the different optical pulses are emitted by different optical transmitters. The optical pulses in this embodiment of the present application are not limited to being emitted by one laser, and multiple lasers can be used to emit light and then combined. Under the safety regulations, the laser generally uses the natural discharge of the capacitor to turn off the laser. During this process, the energy storage of the capacitor takes time, and the capacitor may not be recharged within the time interval between the two pulses. Therefore, multiple lasers can be used for By combining the beams, at least two light pulses can be continuously emitted in the same direction for a period of time, and the ranging accuracy is improved.

In one embodiment, when the wavelengths of the optical pulses emitted in the same direction are different, the emission power of each of the optical pulses is less than or equal to the safety power. Safety regulation refers to the requirements for product safety in product certification. Safety regulation power is the power requirement that the transmit power of the optical pulse emitted by the ranging device needs to meet. The safety regulation power of different countries or regions may be the same or different. The transmission power of the pulse is less than or equal to the safety power, which can improve the safety performance of the product.

In one embodiment, when the wavelengths of the optical pulses are the same, the sum of the transmit power of each of the optical pulses is less than or equal to the safety power.

The ranging method provided by this embodiment of the present application detects different directions to be measured in sequence. Since optical pulses with different transmit powers or maximum amplitudes can detect different distances, at least two transmit powers or a maximum of two transmit powers are continuously transmitted in the first direction. Optical pulses with different amplitudes, by receiving at least part of the echo signals of each of the at least two optical pulses, and according to the pulse parameters of at least one of the at least two optical pulses and the optical pulses of the at least two optical pulses At least part of the echo signal of at least one optical pulse in the at least two optical pulses can obtain the distance of the object to be measured in the first direction, which can realize the detection of different distances in the first direction without losing the point to be measured , reducing the detection error and improving the ranging accuracy.

In another embodiment of the present application, the implementation manner is substantially the same as that of the previous embodiment, the difference is that ranging can also be performed according to echo signals of at least part of the optical pulses, specifically including: according to at least part of the optical pulses, respectively The first distance between the object to be measured and the distance measuring device is calculated from the echo signal of the device; according to each first distance, the distance between the object to be measured and the distance measuring device is obtained. Exemplarily, when two light pulses are continuously emitted in the first direction, a first distance may be calculated according to the echo signal of one of the light pulses, or two first distances may be calculated according to the echo signals of the two light pulses respectively. distance. Exemplarily, more than two optical pulses are continuously emitted in the first direction, and several first distances are calculated from echo signals of at least part of the optical pulses. Optionally, the echo signal may be judged, and the first distance may be calculated according to the echo signal satisfying the condition.

Wherein, for an optical pulse, calculating the first distance between the object to be measured and the ranging device according to the echo signal of the optical pulse includes: determining the emission time of the optical pulse and the reception of the echo signal of the optical pulse The time difference value of time; the first distance is calculated according to the time difference value and the speed of light. Specifically, the first distance may be determined according to half of the product of the time difference and the speed of light.

In this embodiment, the first distance between the object to be measured and the ranging device is calculated by using echo signals of at least part of the optical pulse, and then the distance between the object to be measured and the ranging device is obtained according to each first distance. Compared with ranging based on one light pulse, the ranging accuracy is higher.

Optionally, acquiring the distance between the object to be measured and the ranging device according to each first distance includes: acquiring the distance between the object to be measured and the ranging device according to a weighted summation result of each first distance. Specifically, it can be expressed by the following formula:

In formula (1), L is the distance between the object to be measured and the ranging device; laser _i is the first distance corresponding to the ith light pulse; ω _i is the weight corresponding to the ith light pulse; i is the light pulse number; M is the total number of light pulses emitted in the current emission time window.

Wherein, taking two optical pulses as an example, the first optical pulse is denoted as laser ₁ , the second optical pulse is denoted as laser ₂ , the weight corresponding to the first optical pulse is ω ₁ , and the weight corresponding to the second optical pulse is ω ₂ , Then the distance between the object to be measured and the distance measuring device is L=laser ₁ ×ω ₁ +laser ₂ ×ω ₂ .

Optionally, before calculating the first distance, the method of this embodiment further includes: judging whether the echo signal satisfies a preset condition; correspondingly, calculating the object to be measured and the distance measuring device according to the echo signal of each optical pulse respectively. The first distance between them includes: calculating the first distance between the object to be measured and the distance measuring device according to each echo signal satisfying a preset condition.

Wherein, the preset condition includes: whether the amplitude and/or the signal-to-noise ratio of the echo signal of each optical pulse satisfies the preset amplitude and/or the preset signal-to-noise ratio. Correspondingly, judging whether the echo signal satisfies the preset condition includes: judging whether the amplitude and/or the signal-to-noise ratio of the echo signal satisfies the preset condition. Specifically, the following three implementations are included:

In a first optional implementation manner, the method includes: determining whether the amplitudes of the echo signals of at least part of the optical pulses satisfy a preset amplitude; if the amplitudes of the echo signals of at least part of the optical pulses satisfy the preset amplitudes value, the first distance between the object to be measured and the distance measuring device is calculated according to each echo signal that satisfies the preset condition.

In a second optional implementation manner, the method includes: determining whether the signal-to-noise ratio of the echo signals of at least some of the optical pulses satisfies a preset signal-to-noise ratio; if the signal-to-noise ratio of the echo signals of at least some of the optical pulses meets a predetermined If the set signal-to-noise ratio is used, the first distance between the object to be measured and the ranging device is calculated according to each echo signal that satisfies the preset condition.

In a third optional implementation manner, the method includes: determining whether the amplitudes of the echo signals of at least some of the optical pulses satisfy a preset amplitude, and whether the signal-to-noise ratio of the echo signals of at least some of the optical pulses satisfies the preset If the amplitude of the echo signals of at least some of the optical pulses satisfies the preset amplitude, and the signal-to-noise ratio of the echo signals of at least some of the optical pulses satisfies the preset SNR, then according to each The echo signal of the preset condition calculates the first distance between the object to be measured and the distance measuring device.

In this embodiment, the echo signals of a plurality of optical pulses are first screened by amplitude and/or signal-to-noise ratio, and then ranging is performed according to the screened echo signals, which can further improve the ranging accuracy.

In yet another optional implementation manner, the target type may also be acquired, and the current transmission time may be acquired according to the target type and the transmission power or maximum amplitude of the last optical pulse signal transmitted by the transmitting module in the previous transmission time window. The transmit power or maximum amplitude of the first optical pulse to be transmitted by the window.

In this embodiment, the target category includes continuous targets and non-continuous targets; wherein, the object to be measured can be considered as an object including multiple target points, then for an object, if among the multiple target points included in the object, adjacent ones If the proportion of the target points whose spatial distance between the two target points is less than the preset distance is greater than or equal to the preset proportion among the multiple target points, the target is considered to be a continuous target; if the object includes multiple target points Among them, if the proportion of the target points whose spatial distance between two adjacent target points is greater than or equal to the preset distance is smaller than the preset proportion, the target is considered to be a continuous target. For example, computer screens, mobile phones, umbrellas, books, tables, etc. can be considered as continuous targets; nets, woods, fences, etc. can be considered as non-continuous targets.

For the case where the target type includes continuous targets and the target is a continuous target, according to the target type and the transmission power or maximum amplitude of the last optical pulse signal transmitted by the transmitting module in the previous transmission time window, obtain the current transmission time window. The amplitude of the first optical pulse transmitted, including: taking the transmitting power or the maximum amplitude of the last optical pulse signal transmitted by the transmitting module in the previous transmitting time window as the first optical pulse to be transmitted in the current transmitting time window The transmit power or maximum amplitude of the pulse. For the specific implementation process of this step, reference may be made to the specific introduction of the foregoing embodiment, which will not be repeated here.

For the case where the target category includes non-continuous targets and the target is a non-continuous target, obtain the current emission time according to the target category and the emission power or maximum amplitude of the last optical pulse signal emitted by the emission module in the previous emission time window The transmission power or the maximum amplitude of the first optical pulse to be transmitted in the window, including: determining the first optical pulse to be transmitted in the current transmission time window according to the amplitude of the last optical pulse signal transmitted by the transmitting module in the previous transmission time window The amplitude of each optical pulse, wherein the amplitude of the first optical pulse to be transmitted in the current transmission time window is not equal to the transmission power or the maximum amplitude of the last optical pulse signal transmitted in the previous transmission time window. For the specific implementation process of this step, reference may be made to the specific introduction of the foregoing embodiment, which will not be repeated here.

It should be noted that the specific implementation process of determining the amplitude of the first optical pulse to be emitted in the current emission time window described in the above embodiments is also applicable to the ranging method shown in FIG. 5 .

On the basis of the above-mentioned embodiment, the applicant also found that: in the scenario where multiple ranging devices work simultaneously, the prior art does not identify the optical pulses emitted by each ranging device and the echo signals received, resulting in Mutual crosstalk easily occurs between multiple ranging devices. In order to solve this technical problem, this embodiment also proposes the following different implementations:

Optionally, the current emission time window can be determined according to the amplitude and/or width of the optical pulses emitted in the current emission time window, and the amplitude and/or width of the echo signals of the optical pulses emitted in the current emission time window. Whether the received echo signal is the echo signal of the optical pulse. Wherein, the width of the optical pulse refers to the pulse width of the optical pulse emitted by the transmitting module, and usually refers to the time that the emission power of the laser lasts at a certain value.

Specifically, it includes: acquiring the amplitude and/or width of the optical pulses emitted in the current emission time window; acquiring the amplitude and/or width of the echo signals of the optical pulses emitted in the current emission time window; If the amplitude and/or width match the amplitude and/or width of the optical pulse, the echo signal is determined to be the echo signal of the optical pulse.

Among them, the following three implementations can be included:

In a first optional implementation manner, the amplitude of the optical pulses emitted in the current emission time window is acquired; the amplitude of the echo signal of the optical pulse emitted in the current emission time window is acquired; if the amplitude of the echo signal is Matching with the amplitude of the optical pulse, the echo signal is determined to be the echo signal of the optical pulse.

In a second optional implementation manner, the width of the optical pulse emitted in the current emission time window is obtained; the width of the echo signal of the optical pulse emitted in the current emission time window is obtained; if the width of the echo signal is the same as that of the optical pulse If the widths of the optical pulses match, the echo signal is determined to be the echo signal of the optical pulse.

In a third optional implementation manner, the amplitude and width of the optical pulses emitted in the current emission time window are acquired; the amplitude and width of the echo signals of the optical pulses emitted in the current emission time window are acquired; If the amplitude of the signal matches the amplitude of the optical pulse, and the width of the echo signal matches the width of the optical pulse, it is determined that the echo signal is the echo signal of the optical pulse.

Wherein, matching the amplitude of the echo signal with the amplitude of the optical pulse may include: the amplitude of the echo signal is equal to the amplitude of the optical pulse, and the difference between the amplitude of the echo signal and the amplitude of the optical pulse is within a predetermined value. within the amplitude range. Matching the width of the echo signal and the width of the optical pulse may include: the width of the echo signal is equal to the width of the optical pulse, and the difference between the width of the echo signal and the width of the optical pulse is within a preset amplitude range.

In this embodiment, the amplitude and/or width of two adjacent optical pulses are adjusted, so that the amplitude and/or width of the optical pulses emitted each time are different, so that the receiving module can identify the amplitude and/or width by identifying the amplitude and/or width. Determine whether it is an optical pulse emitted by the transmitting module of the same ranging device, and then filter the echo signals of the optical pulses emitted by the transmitting module that does not belong to the same ranging device, so as to prevent the echo signals caused by the simultaneous operation of multiple ranging devices. crosstalk.

In another optional implementation, according to the transmission time interval between the optical pulses transmitted in the current transmission time window, and the reception time interval between the echo signals of each optical pulse, the current transmission time window Whether the received echo signal is the echo signal of the optical pulse. Specifically, it includes: acquiring the emission time interval between the optical pulses transmitted in the current emission time window; acquiring the receiving time interval between the echo signals of each optical pulse; according to the matching relationship between the receiving time interval and the transmitting time interval, Determine whether the echo signal is the echo signal of the corresponding optical pulse.

The matching relationship between the receiving time interval and the transmitting time interval includes: the receiving time interval is equal to the transmitting time interval, or the difference between the receiving time interval and the transmitting time interval is within a preset time interval range.

Optionally, in the implementation of determining whether the echo signal is an echo signal of an optical pulse according to the time interval, the echo times corresponding to different ranging ranges are different and correspond to different ranging time intervals, so the echo signal can be determined according to the time interval. One principle distinguishes the echo signals of different optical pulses, that is, the emission time intervals between the optical pulses emitted in different emission time windows are different.

In this embodiment, the transmission time interval between the optical pulses transmitted in the current transmission time window and the reception time interval between the echo signals of each optical pulse are obtained, and according to the matching relationship between the reception time interval and the transmission time interval, Determine whether the echo signal is the echo signal of the corresponding optical pulse. Therefore, it can be well differentiated whether the received echo signal is the echo signal of the optical pulse emitted by the transmitting module of the same ranging device, so as to prevent the echo signal crosstalk caused by the simultaneous operation of multiple ranging devices.

It should be noted that the specific implementation process of determining whether the echo signal is an echo signal of an optical pulse described in the above embodiments is also applicable to the ranging method shown in FIG. 1 .

Optionally, the method of this embodiment further includes: adjusting at least one of the receiving gain of the receiving module, the sampling time threshold of the echo signal of the optical pulse, and the amplification factor of the echo signal of the optical pulse.

In the ranging method provided by this embodiment of the present application, different directions to be measured are detected in sequence, and at least two optical pulses with different transmission powers or maximum amplitudes are continuously emitted in the first direction. The pulses are capable of detecting different distances by receiving at least part of the echo signal of each of the at least two light pulses and based on the pulse parameters of at least one of the at least two light pulses and the At least part of the echo signal of at least one optical pulse in the at least two optical pulses can obtain the distance of the object to be measured in the first direction, which can realize the detection of different distances in the first direction without losing the point to be measured , reducing the detection error and improving the ranging accuracy.

Embodiments of the present application provide a ranging device. Please refer to FIG. 8 . FIG. 8 is a schematic structural diagram of a ranging apparatus provided by an embodiment of the present application. As shown in FIG. 8 , the ranging apparatus 40 is used to detect different directions to be measured in sequence, including a transmitting module 41 , a receiving The module 42 and the processing module 43, when the distance measuring device 40 detects the first direction, the first direction is one of the directions to be measured: the transmitting module 41 is used for continuously moving to the first direction At least two light pulses are emitted, the first direction is one of the directions to be measured, and the pulse parameters of different light pulses are different, and the pulse parameters include the transmission power or the maximum amplitude; the receiving module 42 is used for receiving the at least two light pulses. at least part of the echo signal of each optical pulse; the processing module 43 is configured to use at least part of the at least one optical pulse according to the pulse parameter of at least one of the at least two optical pulses and the at least one optical pulse of the at least two optical pulses The echo signal is used to obtain the distance of the object to be measured in the first direction.

Optionally, the transmitting module 41 is further configured to transmit light pulses to different directions to be measured, wherein the number of light pulses to be transmitted to different directions to be measured is the same or at least partially different.

Optionally, when the number of light pulses emitted in different directions to be measured is the same, at least two light pulses emitted in the same direction are a group of light pulse sequences, wherein the emission time intervals of different groups of light pulse sequences are the same or at least partially and/or, the transmit powers of different groups of optical pulse sequences are the same or at least partially different; and/or, the maximum pulse amplitudes of different groups of optical pulse sequences are the same or at least partially different; and/or, different groups of optical pulse sequences have the same maximum pulse amplitude The pulse widths are the same or at least partially different; and/or when a group of optical pulse sequences includes at least 3 optical pulses, the emission time intervals of two adjacent optical pulses in the same group of optical pulse sequences are the same or at least partially different.

Optionally, the emission time intervals of at least some of the adjacent emitted light pulses are different.

Optionally, the emission time interval between adjacent light pulses emitted in the same direction to be measured is smaller than the emission time interval between adjacent optical pulses emitted in different directions to be measured.

Optionally, the processing module 43 is further configured to determine the distance range of the object to be measured according to the pulse parameter of one of the at least two optical pulses and at least part of the echo signal of one optical pulse; is farther, the processing module 43 is further configured to calculate the distance of the object to be measured according to at least part of the echo signal of the optical pulse with the larger pulse parameter among the at least two optical pulses; and/or, if it is judged that the object to be measured is close, then The processing module 43 is further configured to calculate the distance of the object to be measured according to at least part of the echo signals of the optical pulse with a smaller pulse parameter among the at least two optical pulses.

Optionally, the processing module 43 is further configured to determine the distance range of the object to be measured according to the pulse parameter of the one optical pulse and the intensity or signal-to-noise ratio of at least part of the echo signal of the one optical pulse.

Optionally, the number of light pulses is two.

Optionally, the pulse parameter of the optical pulse emitted first is greater than the pulse parameter of the optical pulse emitted later.

Optionally, the processing module 43 is further configured to judge whether there is an object nearby according to at least a part of the echo signal of the optical pulse emitted first, and if there is an object nearby, the processing module 43 is also configured to determine whether there is an object nearby according to the echo signal of the optical pulse emitted later. The distance to the object to be measured is calculated from at least part of the echo signals.

Optionally, the processing module 43 is further configured to determine the relationship between the signal strength or signal-to-noise ratio of at least part of the echo signal of the optical pulse transmitted first and the preset value; if the signal of at least part of the echo signal of the optical pulse transmitted first is The intensity or the signal-to-noise ratio is greater than the preset value, the processing module 43 is further configured to calculate the distance of the object to be measured according to at least part of the echo signals of the optical pulses transmitted later; and/or, if at least part of the echo signals of the optical pulses transmitted first If the signal strength or signal-to-noise ratio of the wave signal is smaller than the preset value, the processing module 43 is further configured to calculate the distance of the object to be measured according to at least part of the echo signal of the optical pulse transmitted first.

Optionally, the pulse parameter of the optical pulse emitted first is smaller than the pulse parameter of the optical pulse emitted later.

Optionally, the processing module 43 is further configured to determine whether there is an object nearby according to at least a part of the echo signal of the optical pulse emitted first, and if there is no object nearby, the processing module 43 is further configured to determine whether there is an object nearby according to at least part of the echo signal of the optical pulse emitted later. Part of the echo signal calculates the distance of the object to be measured.

Optionally, the processing module 43 is further configured to determine the relationship between the signal strength or signal-to-noise ratio of at least part of the echo signal of the optical pulse transmitted first and the preset value; if the signal of at least part of the echo signal of the optical pulse transmitted first is The intensity or signal-to-noise ratio is less than the preset value, the processing module 43 is further configured to calculate the distance of the object to be measured according to at least part of the echo signals of the optical pulses transmitted later; and/or, if at least part of the echo signals of the optical pulses transmitted first If the signal strength or signal-to-noise ratio of the wave signal is greater than the preset value, the processing module 43 is further configured to calculate the distance of the object to be measured according to at least part of the echo signals of the optical pulses transmitted first.

Optionally, the distance measuring device 40 further includes a control module, the control module is configured to control the emission module 41 to adjust at least one of the emission power, pulse amplitude, pulse width, or emission time interval of the optical pulse.

Optionally, the processing module 43 is further configured to acquire at least one of the transmit power, amplitude or pulse width of the next transmitted optical pulse signal according to at least part of the echo signal of the optical pulse transmitted last time.

Optionally, the processing module 43 is also used to: according to the matching relationship between the pulse width and amplitude of the received echo signal and the pulse width and amplitude of the optical pulse, determine whether the echo signal is the echo signal of the optical pulse; and/ Or, according to the matching relationship between the transmission time interval of the received echo signal and the transmission time interval of the optical pulse, it is determined whether the echo signal is the echo signal of the optical pulse.

Optionally, if the echo signal is not the echo signal of the optical pulse, the processing module 43 is further configured to filter out the echo signal.

Optionally, the number of light pulses is two, including a first light pulse and a second light pulse, and the ranging device 40 further includes a control module, the control module is used to control the emission module 41 to emit the first light pulse; the processing module 43 also It is used for judging whether at least a part of the echo signal of the first optical pulse satisfies the preset condition, and if so, the control module is further used for controlling the transmitting module 41 to transmit the second optical pulse.

Optionally, when the pulse parameter of the first optical pulse is greater than the pulse parameter of the second optical pulse, the preset condition includes: the signal strength or signal-to-noise ratio of at least part of the echo signals of the first optical pulse is greater than the preset value; or , when the pulse parameter of the first optical pulse is smaller than the pulse parameter of the second optical pulse, the preset condition includes: the signal intensity or signal-to-noise ratio of at least part of the echo signals of the first optical pulse is smaller than the preset value.

Optionally, the transmitting module 41 is further configured to transmit only one light pulse in a second direction different from the first direction, and the second direction is one of the directions to be measured.

Optionally, the distance measuring device 40 also includes a control module, the control module is used to control the transmitting module 41 to transmit an optical pulse in the second direction; the processing module 43 is also used to determine whether the transmission power or the maximum amplitude of the second optical pulse is greater than The preset value, if it is greater than the preset value, and no object is detected nearby within the preset time, the control module is also used to control the emission module 41 to no longer emit light pulses in the second direction; or, the processing module 43 also It is used to judge whether the transmission power or the maximum amplitude of the second light pulse is smaller than the preset value. If it is smaller than the preset value, and an object is detected nearby within the preset time, the control module is also used to control the emission module 41 not to. The light pulse is then emitted in the second direction.

Optionally, different light pulses are emitted by different light emitters.

Optionally, when the wavelengths of the optical pulses emitted in the same direction are different, the emission power of each optical pulse emitted in the same direction is less than or equal to the safety power; or, when the wavelengths of the optical pulses emitted in the same direction are the same , the sum of the transmission power of each light pulse emitted in the same direction is less than or equal to the safety power.

The ranging apparatus of the above-mentioned embodiments can be used to implement the technical solutions of the above-mentioned ranging method embodiments, and the implementation principles and technical effects thereof are similar, and will not be repeated here.

In yet another embodiment of the present application, a ranging method is provided, the implementation principle of which is basically similar to the ranging method in the foregoing embodiments, and the difference lies in that the method includes: periodically transmitting the first type of light pulses sequence; between at least partially adjacent two first-type optical pulses, at least one second-type optical pulse is emitted, the second-type optical pulse and the second-type optical pulse preceding the second-type optical pulse The pulse parameters of one type of optical pulse are different, the pulse parameters include transmission power or maximum amplitude, and the transmission time of the second type of optical pulse and the first type of optical pulse preceding the second type of optical pulse The interval is smaller than the emission time interval between the second type of optical pulse and the first type of optical pulse following the second type of optical pulse.

Exemplarily, periodically transmitting the optical pulse sequence of the first type may include transmitting the optical pulses of the first type with the same pulse parameter at the same transmission time interval. Exemplarily, periodically transmitting the first type of light pulse sequence may include, for the first type of light pulses transmitted according to the same transmission time interval, the pulse parameters of at least some of the first type of light pulses are different.

Optionally, the various characteristics of the two adjacent first-type optical pulses in this embodiment are similar to the characteristics of the optical pulses emitted to different methods to be tested in the foregoing embodiments, and the second type of optical pulses in this embodiment The various characteristics of the light-like pulses are similar to those of the optical pulses other than the first optical pulse among the at least two optical pulses continuously emitted in the first direction in the foregoing embodiments, and the implementation principles of the embodiments of the present application are It is basically similar to the ranging method in the foregoing embodiment, and will not be repeated here.

In the ranging method provided in this embodiment of the present application, since the pulse parameters of the second type of optical pulse and the first type of optical pulse preceding the second type of optical pulse are different, the second type of optical pulse is different from the first type of optical pulse. The first type of optical pulse before the second type of optical pulse can detect different distances, which improves the detection accuracy, and the second type of optical pulse and the first type of optical pulse before the second type of optical pulse can detect different distances. The emission time interval is smaller than the emission time interval of the second type of optical pulse and the first type of optical pulse following the second type of optical pulse. Therefore, the second type of optical pulse and the second type of optical pulse are used. When the first type of light pulse preceding the light-like pulse detects different distances, the detection time interval is small, which improves the detection rate.

Optionally, the emission time interval between the second type of optical pulse and the first type of optical pulse preceding the second type of optical pulse is smaller than the first type of optical pulse preceding the second type of optical pulse. The range of the light pulse corresponds to the flight time of the first type of light pulse.

Optionally, the emission direction of the second type of optical pulse and the first type of optical pulse preceding the second type of optical pulse is the same; and/or, the previous one of the second type of optical pulse The emission direction of the first type of light pulse is different from the emission direction of the first type of light pulse after the second type of light pulse.

Optionally, the emission time interval of the different second type of optical pulse and the first type of optical pulse preceding the second type of optical pulse is the same or at least partially different; and/or, different from the second type of optical pulse. The transmit powers of the optical pulses are the same or at least partially different; and/or, the maximum amplitudes of the different second types of optical pulses are the same or at least partially different; and/or, the pulse widths of the different second types of optical pulses are the same or at least partially different; and/or, the transmit power of the different first types of light pulses is the same or at least partially different; and/or, the maximum amplitudes of the different first types of light pulses are the same or at least partially different; and/or , different pulse widths of the first type of light pulses are the same or at least partially different.

Optionally, the method includes: transmitting one optical pulse of the second type between every two adjacent optical pulses of the first type.

Optionally, the method includes: the pulse parameters of each of the first type of light pulses are the same; and/or the pulse parameters of each of the second type of light pulses are the same.

Optionally, the method further includes: receiving at least part of the echo signal of the second type of optical pulse and at least part of the echo signal of the first type of optical pulse preceding the second type of optical pulse; At least part of the echo signal of the first type of optical pulse before the second type of optical pulse, and obtain the target signal used to obtain the distance of the object to be measured, and the target signal is at least part of the echo signal of the second type of optical pulse. one of the wave signal and at least part of the echo signal of the optical pulse of the first type preceding the optical pulse of the second type.

Optionally, the pulse parameter of the first type of optical pulse is greater than the pulse parameter of the second type of optical pulse, and the method includes: if the signal strength or signal strength of at least part of the echo signal of the first type of optical pulse is If the noise ratio is greater than the first preset value, at least part of the echo signals of the second type of optical pulses is the target signal; and/or, if the signal strength of at least part of the echo signals of the first type of optical pulses Or the signal-to-noise ratio is less than or equal to the second preset value, then at least part of the echo signals of the first type of optical pulses are the target signals.

Optionally, the pulse parameter of the first type of optical pulse is smaller than the pulse parameter of the second type of optical pulse, and the method includes: if the signal strength or signal strength of at least part of the echo signal of the first type of optical pulse is If the noise ratio is less than the third preset value, then at least part of the echo signals of the second type of optical pulses are the target signals; and/or, if the signal strength of at least part of the echo signals of the first type of optical pulses Or if the signal-to-noise ratio is greater than or equal to a fourth preset value, at least part of the echo signals of the first type of optical pulses are the target signals.

Optionally, at least one of the following items of the first type of optical pulse and the second type of optical pulse is adjustable: transmission power, maximum amplitude, pulse width, transmission frequency, and the first type of optical pulse and all The emission time interval between the second type of light pulses.

Optionally, in two adjacently emitted optical pulses, the optical pulses include the first type of optical pulse and/or the second type of optical pulse, and according to at least part of the echo signal of the previous optical pulse, Get the transmit power or maximum amplitude of the currently transmitted light pulse.

Optionally, the method further includes: according to at least part of the echo signal of the second type of optical pulse and at least part of the echo signal of the first type of optical pulse preceding the second type of optical pulse, and the the matching relationship between the pulse width and amplitude of the second type of optical pulse and the first type of optical pulse before the second type of optical pulse, and determine whether the echo signal is the echo signal of the corresponding optical pulse; and /or, according to at least part of the echo signal of the second type of optical pulse and at least part of the echo signal of the first type of optical pulse preceding the second type of optical pulse, and the second type of optical pulse and Whether the echo signal is the echo signal of the corresponding optical pulse is determined based on the matching relationship between the emission time intervals of the first type of optical pulse before the second type of optical pulse.

Optionally, the method further includes: if the echo signal is not the echo signal of the corresponding optical pulse, filtering the echo signal.

Optionally, before transmitting the second type of optical pulse, the method further includes: judging whether at least part of the echo signal of the first type of optical pulse emitted before the second type of optical pulse meets a preset condition; If the preset condition is satisfied, the second type of light pulse is emitted.

Optionally, the pulse parameter of the first type of optical pulse emitted before the second type of optical pulse is greater than the pulse parameter of the second type of optical pulse, and the preset condition includes: the second type of optical pulse The signal intensity or signal-to-noise ratio of at least part of the echo signal of the first type of optical pulse emitted before the pulse is greater than a preset value; or, the first type of optical pulse emitted before the second type of optical pulse The pulse parameter is smaller than the pulse parameter of the second type of optical pulse, and the preset condition includes: the signal strength of at least part of the echo signal of the first type of optical pulse emitted before the second type of optical pulse or The signal-to-noise ratio is less than the preset value.

Optionally, no light pulses are emitted between at least part of two adjacent light pulses of the first type.

Optionally, the method includes: judging whether at least part of the echo signals of the first type of optical pulses satisfy a preset condition; if the preset condition is met, no optical pulse is emitted.

Optionally, the pulse parameter of the optical pulse of the first type is greater than the pulse parameter of the optical pulse of the second type, and the preset condition includes: the signal intensity of at least part of the echo signal of the optical pulse of the first type or The signal-to-noise ratio is less than a preset value; or, the pulse parameter of the first type of optical pulse is less than the pulse parameter of the second type of optical pulse, and the preset condition includes: at least part of the return of the first type of optical pulse The signal strength or signal-to-noise ratio of the wave signal is greater than the preset value.

Optionally, there are at least two optical pulses of the second type, and the pulse parameters of the optical pulses of the second type are different, and the pulse parameters of the optical pulses of the second type are different.

Optionally, the optical pulses of the first type and the optical pulses of the second type are emitted by different optical transmitters.

Optionally, the wavelengths of the first type of optical pulse and the second type of optical pulse are different, and the transmission power of the first type of optical pulse and the second type of optical pulse are both less than or equal to the safety power; or , the wavelengths of the first type of optical pulse and the second type of optical pulse are the same, and the sum of the transmit power of the first type of optical pulse and the second type of optical pulse is less than or equal to the safety power.

The implementation principles and technical effects of the ranging method in the embodiment of the present application are similar to the ranging method in the foregoing embodiments, and details are not described herein again.

An embodiment of the present application provides another ranging apparatus, including a transmitting module, configured to periodically transmit a first-type optical pulse sequence, and also configured to transmit between at least partially adjacent two first-type optical pulses at least one optical pulse of the second type, the pulse parameter of the optical pulse of the second type is different from the pulse parameter of the optical pulse of the first type before the optical pulse of the second type, and the pulse parameter includes the transmission power or the maximum amplitude, And the emission time interval between the second type of optical pulse and the first type of optical pulse before the second type of optical pulse is smaller than the second type of optical pulse and the second type of optical pulse. The emission time interval of the first type of light pulses.

Optionally, the emission direction of the second type of optical pulse is the same as that of the first type of optical pulse preceding the second type of optical pulse, and/or, the previous one of the second type of optical pulse The emission direction of the first type of light pulse is different from the emission direction of the first type of light pulse after the second type of light pulse.

Optionally: the emission time interval of the different second type of light pulse and the first type of light pulse preceding the second type of light pulse is the same or at least partially different; and/or, different from the second type of light pulse The transmit powers of the optical pulses are the same or at least partially different; and/or, the maximum amplitudes of the different second types of optical pulses are the same or at least partially different; and/or, the pulse widths of the different second types of optical pulses are the same or at least partially different; and/or, the transmit power of the different first types of light pulses is the same or at least partially different; and/or, the maximum amplitudes of the different first types of light pulses are the same or at least partially different; and/or , different pulse widths of the first type of light pulses are the same or at least partially different.

Optionally, the transmitting module is further configured to transmit at least one optical pulse of the second type between at least partially adjacent two optical pulses of the first type, including: the transmitting module is also configured to Between two adjacent first-type optical pulses, one second-type optical pulse is emitted.

Optionally, the pulse parameters of each of the first type of light pulses are the same; and/or the pulse parameters of each of the second type of light pulses are the same.

Optionally, the distance measuring device further includes a receiving module and a processing module; the receiving module is configured to receive at least part of the echo signal of the second type of optical pulse and the first one before the second type of optical pulse. At least part of the echo signal of one type of optical pulse; the processing module is used to obtain the information used to obtain the distance of the object to be measured according to at least part of the echo signal of the first type of optical pulse before the second type of optical pulse. A target signal, the target signal is one of at least part of the echo signal of the second type of optical pulse and at least part of the echo signal of the first type of optical pulse preceding the second type of optical pulse.

Optionally, the pulse parameter of the optical pulse of the first type is greater than the pulse parameter of the optical pulse of the second type, and the processing module is further configured to determine the signal strength of at least part of the echo signals of the optical pulse of the first type Or the relationship between the signal-to-noise ratio and the first preset value: if the signal strength or signal-to-noise ratio of at least part of the echo signals of the first type of optical pulse is greater than the first preset value, then the second type of optical pulse At least part of the echo signal is the target signal; and/or, if the signal strength or signal-to-noise ratio of at least part of the echo signal of the first type of optical pulse is less than or equal to a second preset value, the first At least part of the echo signal of the light-like pulse is the target signal.

Optionally, the pulse parameter of the optical pulse of the first type is smaller than the pulse parameter of the optical pulse of the second type, and the processing module is further configured to determine the signal strength of at least part of the echo signals of the optical pulse of the first type or the relationship between the signal-to-noise ratio and the third preset value; if the signal strength or signal-to-noise ratio of at least part of the echo signals of the first type of optical pulse is less than the third preset value, then the second type of optical pulse At least part of the echo signal is the target signal; and/or, if the signal strength or signal-to-noise ratio of at least part of the echo signal of the first type of optical pulse is greater than or equal to a fourth preset value, the first At least part of the echo signal of the light-like pulse is the target signal.

Optionally, the distance measuring device further includes a control module, the control module is configured to control the emission module to adjust the transmission power, maximum amplitude, pulse of the first type of optical pulse and the second type of optical pulse. at least one of a width, an emission frequency, and an emission time interval between the first type of light pulses and the second type of light pulses.

Optionally, the distance measuring device further includes a processing module, in two adjacently emitted light pulses, the light pulses include the first type of light pulses and/or the second type of light pulses, the The processing module is further configured to acquire the transmit power or the maximum amplitude of the currently transmitted optical pulse according to at least part of the echo signal of the previous optical pulse.

Optionally, the processing module is further configured to, according to at least part of the echo signal of the second type of optical pulse and at least part of the echo signal of the first type of optical pulse preceding the second type of optical pulse, and The matching relationship between the pulse width and the amplitude of the second type of optical pulse and the first type of optical pulse before the second type of optical pulse, to determine whether the echo signal is the echo signal of the corresponding optical pulse; And/or, the processing module is further configured to, according to at least part of the echo signal of the second type of optical pulse and at least part of the echo signal of the first type of optical pulse preceding the second type of optical pulse, and The matching relationship between the second type of optical pulse and the emission time interval of the first type of optical pulse before the second type of optical pulse is used to determine whether the echo signal is the echo signal of the corresponding optical pulse.

Optionally, if the echo signal is not the echo signal of the corresponding optical pulse, the processing module is further configured to filter the echo signal.

Optionally, the distance measuring device further includes a processing module and a control module, the processing module is connected with the control module; before transmitting the second type of light pulse, the processing module is used to determine the first type of light pulse Whether at least part of the echo signal of the light-like pulse satisfies a preset condition; if the preset condition is met, the control module is configured to control the transmitting module to transmit the second-type light pulse.

Optionally, the emitting module is further configured to not emit light pulses between at least part of two adjacent light pulses of the first type.

Optionally, the distance measuring device further includes a processing module, and the processing module is configured to judge whether at least part of the echo signals of the first type of optical pulses meet a preset condition; if the preset condition is met, the The transmitting module is used for not transmitting light pulses.

Optionally, there are at least two light pulses of the second type, and different pulse parameters of the second type of light pulses are different.

Optionally, the transmitting module includes at least two light transmitters, and the first type of light pulses and the second type of light pulses are emitted by different light transmitters.

The embodiments of the present application provide a system. FIG. 9 is a schematic structural diagram of a system provided by an embodiment of the present application. As shown in FIG. 9 , the system 50 includes a movable platform 51 and a ranging device 52 , and the ranging device 52 is disposed on the movable platform 51 . Wherein, the ranging device 52 may be any one of the ranging devices in the foregoing embodiments of the present application.

Optionally, the distance measuring device 52 is arranged in front of the movable platform 51 .

Optionally, the movable platform 51 includes any one of a car, a remote control car, an aircraft, or a mobile robot.

When the ranging device 52 is arranged on different types of movable platforms 51 , ranging can be performed in different scenarios. For example, the movable platform includes a car or an aircraft, and the car or aircraft can measure the distance according to the ranging device 52 . As a result, obstacles are identified, so as to carry out driving decision control; if the movable platform includes a remote control car or a mobile robot, the remote control car or mobile robot can identify obstacles according to the ranging results of the ranging device 52, thereby planning a route.

The systems provided in the embodiments of the present application can be used to implement the technical solutions of the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.

In addition, this embodiment also provides a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to implement the ranging method described in the foregoing embodiment.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware, or may be implemented in the form of hardware plus software functional units.

The above-mentioned integrated units implemented in the form of software functional units can be stored in a computer-readable storage medium. The above-mentioned software function unit is stored in a storage medium, and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute the methods described in the various embodiments of the present application. some steps. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program codes .

Those skilled in the art can clearly understand that for the convenience and brevity of the description, only the division of the above functional modules is used for illustration. The internal structure is divided into different functional modules to complete all or part of the functions described above. For the specific working process of the apparatus described above, reference may be made to the corresponding process in the foregoing method embodiments, and details are not described herein again.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application. scope.

Claims

A ranging method, characterized in that the method comprises:

Detecting different directions to be measured in sequence, wherein, when detecting the first direction among them, the first direction is one of the directions to be measured:

Continuously transmitting at least two optical pulses in the first direction, different optical pulses have different pulse parameters, and the pulse parameters include transmission power or maximum amplitude;

receiving at least a partial echo signal of each of the at least two light pulses;

According to the pulse parameter of at least one of the at least two light pulses and at least part of the echo signal of at least one of the at least two light pulses, the distance of the object to be measured in the first direction is acquired .
The method of claim 1, wherein the method comprises:

Light pulses are respectively emitted to different directions to be measured, wherein the number of the light pulses to be emitted to different directions to be measured is the same or at least partially different.
The method according to claim 2, wherein the number of light pulses emitted in different directions to be measured is the same, and at least two of the light pulses emitted in the same direction are a group of light pulse sequences, wherein,

The emission time intervals of the different groups of light pulse sequences are the same or at least partially different; and/or,

The transmit powers of the different sets of optical pulse sequences are the same or at least partially different; and/or,

The maximum pulse amplitudes of the different groups of optical pulse sequences are the same or at least partially different; and/or,

The pulse widths of the different sets of optical pulse sequences are the same or at least partially different; and/or,

A group of light pulse sequences includes at least three light pulses, and the emission time intervals of two adjacent light pulses in the same group of light pulse sequences are the same or at least partially different.
The method of claim 1, wherein the emission time intervals of at least some of the adjacently emitted optical pulses are different.
The method according to claim 1, wherein the emission time interval between adjacent optical pulses emitted in the same direction to be measured is smaller than the emission time interval between adjacent optical pulses emitted in different directions to be measured.
The method of claim 1, wherein the at least partial return of at least one of the at least two light pulses according to a pulse parameter of at least one of the at least two light pulses and the at least one light pulse of the at least two light pulses wave signal to obtain the distance of the object to be measured in the first direction, including:

According to the pulse parameter of one of the at least two optical pulses, and at least part of the echo signal of the one optical pulse, determine the distance range of the object to be measured;

If it is determined that the object to be measured is far away, the distance of the object to be measured is calculated according to at least part of the echo signal of the optical pulse with a larger pulse parameter among the at least two optical pulses; and/or,

If it is determined that the object to be measured is relatively close, the distance of the object to be measured is calculated according to at least part of the echo signals of the optical pulse whose pulse parameter is smaller among the at least two optical pulses.
The method according to claim 6, characterized in that, according to a pulse parameter of one of the at least two optical pulses, and at least part of an echo signal of the one optical pulse, the determination of the to-be-received The distance range of the measured object, including:

The distance range of the object to be measured is determined according to the pulse parameter of the one optical pulse and the intensity or signal-to-noise ratio of at least part of the echo signal of the one optical pulse.
The method of claim 1, wherein the number of the light pulses is two.
The method according to claim 8, wherein the pulse parameter of the optical pulse transmitted first is greater than the pulse parameter of the optical pulse transmitted later.
The method of claim 9, wherein the method comprises:

If it is determined that there is an object nearby according to at least part of the echo signals of the optical pulses emitted first, the distance of the object to be measured is calculated according to at least part of the echo signals of the optical pulses emitted later.
The method of claim 9, wherein the method comprises:

If the signal strength or signal-to-noise ratio of at least part of the echo signals of the optical pulses transmitted first is greater than the first preset value, calculate the signal intensity of the object to be tested according to at least part of the echo signals of the optical pulses transmitted later distance; and/or,

If the signal strength or signal-to-noise ratio of at least part of the echo signals of the optical pulses transmitted first is smaller than the second preset value, calculate the signal intensity of the object to be tested according to at least part of the echo signals of the optical pulses transmitted first. distance, wherein the first preset value is greater than or equal to the second preset value.
8. The method of claim 8, wherein the pulse parameter of the optical pulse transmitted first is smaller than the pulse parameter of the optical pulse transmitted later.
The method of claim 12, wherein the method comprises:

If it is determined that there is no object nearby according to at least part of the echo signal of the optical pulse transmitted first, the distance of the object to be measured is calculated according to at least part of the echo signal of the optical pulse transmitted later.
The method of claim 12, wherein the method comprises:

If the signal strength or signal-to-noise ratio of at least part of the echo signals of the optical pulses transmitted first is smaller than the third preset value, calculate the signal intensity of the object to be tested according to at least part of the echo signals of the optical pulses transmitted later distance; and/or,

If the signal strength or signal-to-noise ratio of at least part of the echo signals of the optical pulses transmitted first is greater than the fourth preset value, calculate the signal intensity of the object to be tested according to at least part of the echo signals of the optical pulses transmitted first. distance, wherein the third preset value is less than or equal to the fourth preset value.
The method according to claim 1, wherein at least one of transmission power, pulse amplitude, pulse width, or transmission time interval of the optical pulse is adjustable.
The method of claim 1, wherein the method comprises:

At least one of the transmit power, amplitude or pulse width of the next transmitted optical pulse signal is acquired according to at least part of the echo signal of the optical pulse transmitted last time.
The method according to claim 1, wherein the method further comprises:

According to the matching relationship between the pulse width and amplitude of the received echo signal and the pulse width and amplitude of the optical pulse, determine whether the echo signal is the echo signal of the optical pulse; and/or,

According to the matching relationship between the transmission time interval of the received echo signal and the transmission time interval of the optical pulse, it is determined whether the echo signal is the echo signal of the optical pulse.
The method according to claim 17, wherein the method further comprises: if the echo signal is not the echo signal of the optical pulse, filtering the echo signal.
The method according to claim 1, wherein the number of the light pulses is two, including a first light pulse and a second light pulse, and the sequentially emitting at least two light pulses in the same direction comprises:

transmitting the first light pulse;

If at least part of the echo signals of the first optical pulse satisfy a preset condition, the second optical pulse is emitted.
The method according to claim 19, wherein the pulse parameter of the first optical pulse is greater than the pulse parameter of the second optical pulse, and the preset condition comprises: at least part of the return of the first optical pulse The signal strength or signal-to-noise ratio of the wave signal is greater than the preset value;

Or, the pulse parameter of the first optical pulse is smaller than the pulse parameter of the second optical pulse, and the preset condition includes: the signal strength or signal-to-noise ratio of at least part of the echo signals of the first optical pulse is smaller than a predetermined value set value.
The method of claim 1, wherein the method comprises:

Only one light pulse is emitted in a second direction different from the first direction, the second direction being one of the directions to be measured.
The method of claim 21, wherein the number of the light pulses is two, including a first light pulse and a second light pulse, and the light is only emitted in a second direction different from the first direction A light pulse consists of:

transmitting a pulse of light in the second direction;

If the transmission power or the maximum amplitude of the second light pulse is greater than the preset value, and no object is detected in the vicinity within the preset time, the light pulse is no longer emitted in the second direction; or,

If the transmission power or the maximum amplitude of the second light pulse is smaller than the preset value, and an object is detected in the vicinity within the preset time, the light pulse is no longer emitted in the second direction.
The method according to any one of claims 1-22, wherein the different light pulses are emitted by different light transmitters.
The method according to any one of claims 1-22, wherein the wavelengths of the optical pulses emitted in the same direction are different, and the emission power of each of the optical pulses is less than or equal to the safety power; or,

The wavelengths of the optical pulses are the same, and the sum of the transmit power of each of the optical pulses is less than or equal to the safety power.
A distance measuring device, characterized in that the distance measuring device is used to detect different directions to be measured in sequence, and includes a transmitting module, a receiving module and a processing module, and when detecting the first direction, the first direction is detected. One direction is one of the directions to be measured:

The transmitting module is configured to continuously transmit at least two optical pulses to the first direction, and the pulse parameters of the optical pulses are different, and the pulse parameters include transmission power or maximum amplitude;

the receiving module is configured to receive at least part of the echo signal of each of the at least two optical pulses;

The processing module is configured to acquire the first square according to a pulse parameter of at least one of the at least two optical pulses and at least a part of the echo signal of at least one of the at least two optical pulses. The distance up the object to be measured.
The distance measuring device according to claim 25, wherein the transmitting module is further configured to transmit optical pulses to different directions to be measured, wherein the optical pulses transmitted to different directions to be measured are the same or at least partially different.
The distance measuring device according to claim 26, wherein the number of light pulses emitted in different directions to be measured is the same, and at least two of the light pulses emitted in the same direction are a group of light pulse sequences, wherein,

The emission time intervals of the different groups of light pulse sequences are the same or at least partially different; and/or,

The transmit powers of the different groups of optical pulse sequences are the same or at least partially different; and/or,

The maximum pulse amplitudes of the different groups of optical pulse sequences are the same or at least partially different; and/or,

The pulse widths of the different sets of optical pulse sequences are the same or at least partially different; and/or,

A group of light pulse sequences includes at least three light pulses, and the emission time intervals of two adjacent light pulses in the same group of light pulse sequences are the same or at least partially different.
The distance measuring device according to claim 25, wherein the emission time intervals of at least some adjacently emitted light pulses are different.
The distance measuring device according to claim 25, wherein the emission time interval between adjacent optical pulses emitted in the same direction to be measured is smaller than the emission time interval between adjacent optical pulses emitted in different directions to be measured.
The distance measuring device according to claim 25, wherein the processing module is further configured to measure the pulse parameters of one of the at least two light pulses, and at least part of the return value of the one light pulse. wave signal to determine the distance range of the object to be tested;

If it is determined that the object to be measured is far away, the processing module is further configured to calculate the distance of the object to be measured according to at least part of the echo signal of the optical pulse with a larger pulse parameter among the at least two optical pulses ;and / or,

If it is determined that the object to be measured is close, the processing module is further configured to calculate the distance of the object to be measured according to at least part of the echo signals of the optical pulse whose pulse parameter is smaller in the at least two optical pulses .
The distance measuring device according to claim 30, wherein the processing module is further configured to measure the pulse parameter of the one optical pulse and the intensity or signal-to-noise ratio of at least part of the echo signal of the one optical pulse , and determine the distance range of the object to be measured.
The distance measuring device according to claim 25, wherein the number of the light pulses is two.
The distance measuring device according to claim 32, wherein the pulse parameter of the optical pulse transmitted first is greater than the pulse parameter of the optical pulse transmitted later.
The distance measuring device according to claim 33, wherein the processing module is further configured to judge whether there is an object nearby according to at least part of the echo signal of the optical pulse transmitted first, and if there is an object nearby, Then, the processing module is further configured to calculate the distance of the object to be measured according to at least part of the echo signals of the optical pulses emitted later.
The distance measuring device according to claim 33, wherein the processing module is further configured to determine the relationship between the signal strength or the signal-to-noise ratio of at least part of the echo signals of the optical pulses transmitted first and a preset value;

If the signal strength or signal-to-noise ratio of at least a part of the echo signals of the optical pulses transmitted first is greater than a preset value, the processing module is further configured to calculate an echo signal based on at least part of the echo signals of the optical pulses transmitted later the distance to the object to be tested; and/or,

If the signal strength or the signal-to-noise ratio of at least part of the echo signals of the optical pulses transmitted first is smaller than the preset value, the processing module is further configured to use at least part of the echo signals of the optical pulses transmitted first Calculate the distance of the test object.
The distance measuring device according to claim 32, wherein the pulse parameter of the optical pulse transmitted first is smaller than the pulse parameter of the optical pulse transmitted later.
The distance measuring device according to claim 36, wherein the processing module is further configured to judge whether there is an object in the vicinity according to at least part of the echo signal of the optical pulse transmitted first, and if there is no object in the vicinity, then The processing module is further configured to calculate the distance of the object to be measured according to at least part of the echo signals of the light pulses emitted later.
The distance measuring device according to claim 36, wherein the processing module is further configured to determine the relationship between the signal strength or the signal-to-noise ratio of at least part of the echo signals of the optical pulses transmitted first and a preset value;

If the signal strength or signal-to-noise ratio of at least a part of the echo signals of the optical pulses transmitted first is smaller than a preset value, the processing module is further configured to calculate an echo signal based on at least part of the echo signals of the optical pulses transmitted later the distance to the object to be tested; and/or,

If the signal strength or the signal-to-noise ratio of at least part of the echo signals of the optical pulses transmitted first is greater than the preset value, the processing module is further configured to use at least part of the echo signals of the optical pulses transmitted first Calculate the distance of the test object.
The distance measuring device according to claim 25, wherein the distance measuring device further comprises a control module, the control module is configured to control the transmission module to adjust the transmission power, pulse amplitude, pulse value of the optical pulse At least one of width, or emission time interval.
The distance measuring device according to claim 25, wherein the processing module is further configured to acquire the transmit power and amplitude of the next optical pulse signal transmitted according to at least part of the echo signal of the optical pulse transmitted last time or at least one of the pulse width.
The distance measuring device according to claim 25, wherein the processing module is further configured to:

According to the matching relationship between the pulse width and amplitude of the received echo signal and the pulse width and amplitude of the optical pulse, determine whether the echo signal is the echo signal of the optical pulse; and/or,

According to the matching relationship between the transmission time interval of the received echo signal and the transmission time interval of the optical pulse, it is determined whether the echo signal is the echo signal of the optical pulse.
The distance measuring device according to claim 41, wherein if the echo signal is not the echo signal of the optical pulse, the processing module is further configured to filter the echo signal.
The distance measuring device according to claim 25, wherein the number of the light pulses is two, including a first light pulse and a second light pulse, the distance measuring device further comprises a control module, the control module for controlling the transmitting module to transmit the first optical pulse;

The processing module is further configured to determine whether at least a part of the echo signal of the first optical pulse satisfies a preset condition, and if so, the control module is further configured to control the transmitting module to emit the second optical pulse.
The distance measuring device according to claim 43, wherein the pulse parameter of the first optical pulse is greater than the pulse parameter of the second optical pulse, and the preset condition comprises: at least a The signal strength or signal-to-noise ratio of some echo signals is greater than the preset value;

Or, the pulse parameter of the first optical pulse is smaller than the pulse parameter of the second optical pulse, and the preset condition includes: the signal strength or signal-to-noise ratio of at least part of the echo signals of the first optical pulse is smaller than a predetermined value set value.
The distance measuring device according to claim 25, wherein the transmitting module is further configured to transmit only one light pulse in a second direction different from the first direction, and the second direction is the to-be-measured one of the directions.
The distance measuring device according to claim 45, wherein the number of the light pulses is two, including a first light pulse and a second light pulse, the distance measuring device further comprises a control module, the control module for controlling the transmitting module to transmit a light pulse to the second direction;

The processing module is further configured to judge whether the transmission power or the maximum amplitude of the second light pulse is greater than a preset value, if it is greater than the preset value, and no object is detected in the vicinity within the preset time, then The control module is further configured to control the emission module to no longer emit light pulses in the second direction; or,

The processing module is further configured to determine whether the transmission power or the maximum amplitude of the second light pulse is less than a preset value, if it is less than the preset value, and an object is detected in the vicinity within the preset time, the The control module is further configured to control the emission module not to emit light pulses in the second direction.
The distance measuring device according to any one of claims 25-46, wherein the different light pulses are emitted by different light transmitters.
The distance measuring device according to any one of claims 25-46, wherein when the wavelengths of the optical pulses emitted in the same direction are different, the emission power of each of the optical pulses emitted in the same direction is less than or equal to the safety power; or,

When the wavelengths of the optical pulses emitted in the same direction are the same, the sum of the emission powers of each of the optical pulses emitted in the same direction is less than or equal to the safety power.
A ranging method, characterized in that the method comprises:

Periodically emit the first type of optical pulse sequence;

Between at least partially adjacent two first-type optical pulses, at least one second-type optical pulse is emitted, the second-type optical pulse and the first-type optical pulse preceding the second-type optical pulse The pulse parameters of the optical pulses are different, the pulse parameters include transmission power or maximum amplitude, and the emission time interval between the second type of optical pulse and the first type of optical pulse preceding the second type of optical pulse, It is less than the emission time interval between the second type of light pulse and the first type of light pulse after the second type of light pulse.
The method according to claim 49, wherein the emission time interval between the second type of light pulse and the first type of light pulse preceding the second type of light pulse is smaller than that of the second type of light pulse The time-of-flight of the first-type optical pulse corresponding to the range of the first-type optical pulse preceding the pulse.
The method according to claim 49, wherein the emission direction of the second type of optical pulse and the first type of optical pulse preceding the second type of optical pulse is the same; and/or, the first type of optical pulse has the same emission direction; The first type of optical pulse before the second type of optical pulse is different from the emission direction of the first type of optical pulse after the second type of optical pulse.
The method of claim 49, wherein:

Different said second-type optical pulses have the same or at least partially different emission time intervals from the first-type optical pulses preceding said second-type optical pulses; and/or,

the transmit power of different said second type of light pulses is the same or at least partially different; and/or,

the maximum amplitudes of different said second type of light pulses are the same or at least partially different; and/or,

the pulse widths of different said second type of light pulses are the same or at least partially different; and/or,

The transmit powers of the different optical pulses of the first type are the same or at least partially different; and/or,

The maximum amplitudes of the different said first type of light pulses are the same or at least partially different; and/or,

The pulse widths of the different optical pulses of the first type are the same or at least partially different.
49. The method of claim 49, wherein the method comprises: transmitting one optical pulse of the second type between every two adjacent optical pulses of the first type.
The method according to claim 53, wherein the method comprises: the pulse parameters of each of the first type of light pulses are the same; and/or the pulse parameters of each of the second type of light pulses are the same.
The method of claim 53, wherein the method further comprises:

receiving at least part of the echo signal of the second type of optical pulse and at least part of the echo signal of the first type of optical pulse preceding the second type of optical pulse;

According to at least part of the echo signal of the first type of optical pulse before the second type of optical pulse, a target signal used to obtain the distance of the object to be measured is acquired, and the target signal is at least the second type of optical pulse. One of a partial echo signal and at least a partial echo signal of the optical pulse of the first type preceding the optical pulse of the second type.
The method of claim 55, wherein the pulse parameter of the first type of optical pulse is greater than the pulse parameter of the second type of optical pulse, the method comprising:

If the signal strength or signal-to-noise ratio of at least part of the echo signals of the first type of optical pulse is greater than the first preset value, then at least part of the echo signal of the second type of optical pulse is the target signal; and/ or,

If the signal strength or signal-to-noise ratio of at least part of the echo signals of the first type of optical pulse is less than or equal to the second preset value, then at least part of the echo signal of the first type of optical pulse is the target signal.
The method of claim 55, wherein the pulse parameter of the first type of optical pulse is smaller than the pulse parameter of the second type of optical pulse, the method comprising:

If the signal strength or signal-to-noise ratio of at least part of the echo signals of the first type of optical pulses is less than a third preset value, then at least part of the echo signals of the second type of optical pulses is the target signal; and/ or,

If the signal strength or signal-to-noise ratio of at least part of the echo signals of the first type of optical pulses is greater than or equal to a fourth preset value, then at least part of the echo signals of the first type of optical pulses are the target signals.
49. The method of claim 49, wherein at least one of the first type of optical pulse and the second type of optical pulse is adjustable: transmit power, maximum amplitude, pulse width, transmit frequency, and The emission time interval between the light pulses of the first type and the light pulses of the second type.
The method according to claim 58, characterized in that, in two adjacently emitted light pulses, the light pulses comprise the first type of light pulses and/or the second type of light pulses, according to the previous At least part of the echo signal of the optical pulse is used to obtain the transmit power or the maximum amplitude of the currently transmitted optical pulse.
The method of claim 55, wherein the method further comprises:

According to at least part of the echo signal of the optical pulse of the second type and at least part of the echo signal of the optical pulse of the first type before the optical pulse of the second type, and the optical pulse of the second type and the optical pulse of the second type The matching relationship between the pulse width and the amplitude of the first type of optical pulse before the second type of optical pulse, to determine whether the echo signal is the echo signal of the corresponding optical pulse; and/or,

According to at least part of the echo signal of the optical pulse of the second type and at least part of the echo signal of the optical pulse of the first type before the optical pulse of the second type, and the optical pulse of the second type and the optical pulse of the second type The matching relationship between the emission time intervals of the first type of optical pulse before the second type of optical pulse determines whether the echo signal is the echo signal of the corresponding optical pulse.
The method according to claim 60, wherein the method further comprises: if the echo signal is not the echo signal of the corresponding optical pulse, filtering the echo signal.
The method of claim 49, wherein before transmitting the second type of light pulses, further comprising:

judging whether at least part of the echo signal of the first type of optical pulse emitted before the second type of optical pulse meets a preset condition;

If the preset condition is met, the second type of light pulse is emitted.
The method according to claim 62, wherein the pulse parameter of the first type of optical pulse emitted before the second type of optical pulse is greater than the pulse parameter of the second type of optical pulse, and the preset The conditions include: the signal intensity or signal-to-noise ratio of at least part of the echo signal of the first type of optical pulse emitted before the second type of optical pulse is greater than a preset value; or,

The pulse parameter of the first type of optical pulse emitted before the second type of optical pulse is smaller than the pulse parameter of the second type of optical pulse, and the preset condition includes: the second type of optical pulse emitted before the previous emission The signal strength or signal-to-noise ratio of at least part of the echo signals of the first type of optical pulses is less than a preset value.
49. The method of claim 49, wherein no light pulses are emitted between at least partially adjacent two light pulses of the first type.
The method of claim 64, wherein the method comprises:

judging whether at least part of the echo signals of the first type of optical pulses satisfy a preset condition;

If the preset condition is satisfied, no light pulse is emitted.
The method according to claim 65, wherein the pulse parameter of the first type of optical pulse is greater than the pulse parameter of the second type of optical pulse, and the preset condition comprises: the first type of optical pulse The signal strength or signal-to-noise ratio of at least some of the echo signals is less than a preset value; or,

The pulse parameter of the first type of optical pulse is smaller than the pulse parameter of the second type of optical pulse, and the preset condition includes: the signal intensity or signal-to-noise ratio of at least part of the echo signals of the first type of optical pulse is greater than default value.
The method according to claim 49, wherein there are at least two optical pulses of the second type, different pulse parameters of the second type of optical pulses, and different pulse parameters of the second type of optical pulses .
The method of claim 49, wherein the first type of light pulses and the second type of light pulses are emitted by different light emitters.
The method according to any one of claims 49-68, wherein the wavelengths of the first type of light pulses and the second type of light pulses are different, and the first type of light pulses and the second type of light pulses have different wavelengths. The transmit power of the optical pulse is less than or equal to the safety power; or,

The wavelengths of the first type of optical pulse and the second type of optical pulse are the same, and the sum of the transmit power of the first type of optical pulse and the second type of optical pulse is less than or equal to the safety power.
A distance measuring device, characterized in that it includes a transmitting module for periodically transmitting a first-type optical pulse sequence, and also for transmitting at least one optical pulse sequence of the first type between at least partially adjacent two optical pulses of the first type The second type of optical pulse, the second type of optical pulse is different from the first type of optical pulse before the second type of optical pulse, the pulse parameter includes the transmission power or the maximum amplitude, and the The emission time interval between the second-type optical pulse and the first-type optical pulse preceding the second-type optical pulse is smaller than the time interval between the second-type optical pulse and the second-type optical pulse following the second-type optical pulse. The emission time interval of the first type of light pulses.
The distance measuring device according to claim 70, wherein the emission time interval between the second type of optical pulse and the first type of optical pulse preceding the second type of optical pulse is smaller than that of the second type of optical pulse. The time-of-flight of the first-type optical pulse corresponding to the range of the first-type optical pulse preceding the optical-type pulse.
The distance measuring device according to claim 70, wherein the emission direction of the second type of optical pulse and the first type of optical pulse preceding the second type of optical pulse is the same, and/or the The first type of optical pulse before the second type of optical pulse is different from the emission direction of the first type of optical pulse after the second type of optical pulse.
The distance measuring device according to claim 70, wherein:

Different said second-type optical pulses have the same or at least partially different emission time intervals from the first-type optical pulses preceding said second-type optical pulses; and/or,

the transmit power of different said second type of light pulses is the same or at least partially different; and/or,

the maximum amplitudes of different said second type of light pulses are the same or at least partially different; and/or,

the pulse widths of different said second type of light pulses are the same or at least partially different; and/or,

The transmit powers of the different optical pulses of the first type are the same or at least partially different; and/or,

The maximum amplitudes of the different said first type of light pulses are the same or at least partially different; and/or,

The pulse widths of the different optical pulses of the first type are the same or at least partially different.
The distance measuring device according to claim 70, wherein the transmitting module is further configured to transmit at least one optical pulse of the second type between at least partially adjacent two optical pulses of the first type, comprising: : The transmitting module is further configured to transmit one optical pulse of the second type between every two adjacent optical pulses of the first type.
The distance measuring device according to claim 74, wherein the pulse parameters of each of the first type of light pulses are the same; and/or the pulse parameters of each of the second type of light pulses are the same.
The distance measuring device according to claim 74, wherein the distance measuring device further comprises a receiving module and a processing module;

The receiving module is configured to receive at least part of the echo signal of the second type of optical pulse and at least part of the echo signal of the first type of optical pulse preceding the second type of optical pulse;

The processing module is configured to acquire a target signal used to obtain the distance of the object to be measured according to at least part of the echo signal of the first type of optical pulse before the second type of optical pulse, and the target signal is the first type of optical pulse. One of at least part of the echo signal of the second type of optical pulse and at least part of the echo signal of the first type of optical pulse preceding the second type of optical pulse.
The distance measuring device according to claim 76, wherein the pulse parameter of the first type of optical pulse is greater than the pulse parameter of the second type of optical pulse, and the processing module is further configured to determine the first type of optical pulse The relationship between the signal strength or signal-to-noise ratio of at least part of the echo signal of the optical pulse and the first preset value:

If the signal strength or signal-to-noise ratio of at least part of the echo signals of the first type of optical pulse is greater than the first preset value, then at least part of the echo signal of the second type of optical pulse is the target signal; and/ or,

If the signal strength or signal-to-noise ratio of at least part of the echo signals of the first type of optical pulse is less than or equal to the second preset value, then at least part of the echo signal of the first type of optical pulse is the target signal.
The distance measuring device according to claim 76, wherein the pulse parameter of the first type of optical pulse is smaller than the pulse parameter of the second type of optical pulse, and the processing module is further configured to determine the first type of optical pulse the relationship between the signal strength or signal-to-noise ratio of at least part of the echo signals of the optical pulse and the third preset value;

If the signal strength or signal-to-noise ratio of at least part of the echo signals of the first type of optical pulses is less than a third preset value, then at least part of the echo signals of the second type of optical pulses is the target signal; and/ or,

If the signal strength or signal-to-noise ratio of at least part of the echo signals of the first type of optical pulses is greater than or equal to a fourth preset value, then at least part of the echo signals of the first type of optical pulses are the target signals.
The distance measuring device according to claim 70, wherein the distance measuring device further comprises a control module, the control module is configured to control the transmitting module to adjust the first type of light pulses and the second type of light pulses At least one of emission power, maximum amplitude, pulse width, emission frequency, and emission time interval between the first type of optical pulse and the second type of optical pulse of the optical pulse.
The distance-measuring device according to claim 79, wherein the distance-measuring device further comprises a processing module, and in two adjacently emitted light pulses, the light pulses include the first type of light pulses and/or Or for the second type of optical pulse, the processing module is further configured to acquire the transmit power or the maximum amplitude of the currently transmitted optical pulse according to at least part of the echo signal of the previous optical pulse.
The distance measuring device according to claim 76, wherein the processing module is further configured to: at least part of the echo signal of the light-like pulse, and the matching relationship between the second-type light pulse and the pulse width and amplitude of the first-type light pulse before the second-type light pulse, and determine the echo signal whether it is the echo signal of its corresponding optical pulse; and/or,

The processing module is further configured to match the second type of optical pulse with at least part of the echo signal of the second type of optical pulse and at least part of the echo signal of the first type of optical pulse before the second type of optical pulse. According to the matching relationship between the light-like pulse and the emission time interval of the first-type light pulse before the second-type light pulse, it is judged whether the echo signal is the echo signal of the corresponding light pulse.
The distance measuring device according to claim 81, wherein if the echo signal is not the echo signal of the corresponding optical pulse, the processing module is further configured to filter the echo signal.
The distance measuring device according to claim 70, wherein the distance measuring device further comprises a processing module and a control module, and the processing module is connected with the control module;

Before transmitting the second type of optical pulse, the processing module is configured to determine whether at least part of the echo signals of the first type of optical pulse meet a preset condition;

If the preset condition is met, the control module is configured to control the emission module to emit the second type of light pulse.
The distance measuring device according to claim 83, wherein the pulse parameter of the first type of optical pulse emitted before the second type of optical pulse is greater than the pulse parameter of the second type of optical pulse, and the The preset condition includes: the signal strength or signal-to-noise ratio of at least part of the echo signal of the first type of optical pulse emitted before the second type of optical pulse is greater than a preset value; or,

The pulse parameter of the first type of optical pulse emitted before the second type of optical pulse is smaller than the pulse parameter of the second type of optical pulse, and the preset condition includes: the second type of optical pulse emitted before the previous emission The signal strength or signal-to-noise ratio of at least part of the echo signals of the first type of optical pulses is less than a preset value.
The distance measuring device according to claim 70, wherein the transmitting module is further configured to not transmit light pulses between at least part of two adjacent light pulses of the first type.
The distance measuring device according to claim 85, wherein the distance measuring device further comprises a processing module, and the processing module is configured to judge whether at least part of the echo signals of the first type of optical pulses satisfy a preset condition ;

If the preset condition is met, the transmitting module is configured not to transmit the light pulse.
The distance measuring device according to claim 86, wherein the pulse parameter of the first type of light pulse is greater than the pulse parameter of the second type of light pulse, and the preset condition comprises: the first type of light pulse The signal strength or signal-to-noise ratio of at least part of the echo signal of the pulse is less than a preset value; or,

The pulse parameter of the first type of optical pulse is smaller than the pulse parameter of the second type of optical pulse, and the preset condition includes: the signal intensity or signal-to-noise ratio of at least part of the echo signals of the first type of optical pulse is greater than default value.
The distance measuring device according to claim 70, wherein there are at least two optical pulses of the second type, and different pulse parameters of the optical pulses of the second type are different.
The distance measuring device according to claim 70, wherein the transmitting module comprises at least two optical transmitters, and the first type of optical pulse and the second type of optical pulse are composed of different optical transmitters emission.
The distance measuring device according to any one of claims 70-89, wherein the wavelengths of the first type of optical pulse and the second type of optical pulse are different, and the first type of optical pulse and the second type of optical pulse have different wavelengths. The emission power of the second-class optical pulse is less than or equal to the safety power; or,

The wavelengths of the first type of optical pulse and the second type of optical pulse are the same, and the sum of the transmit power of the first type of optical pulse and the second type of optical pulse is less than or equal to the safety power.
A system, characterized by comprising a movable platform and the ranging device according to any one of claims 25-48 and 70-90, wherein the ranging device is arranged on the movable platform.
91. The system of claim 91, wherein the ranging device is disposed in front of the movable platform.
The system of claim 91, wherein the movable platform comprises any one of a car, a remote-controlled car, an aircraft, or a mobile robot.
A computer-readable storage medium, characterized in that a computer program is stored thereon, and the computer program is executed by a processor to implement the method of any one of claims 1-24 and 49-69.