WO2022021360A1 - Rangefinder device and movable platform - Google Patents

Rangefinder device and movable platform Download PDF

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Publication number
WO2022021360A1
WO2022021360A1 PCT/CN2020/106293 CN2020106293W WO2022021360A1 WO 2022021360 A1 WO2022021360 A1 WO 2022021360A1 CN 2020106293 W CN2020106293 W CN 2020106293W WO 2022021360 A1 WO2022021360 A1 WO 2022021360A1
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WO
WIPO (PCT)
Prior art keywords
optical element
measuring device
distance measuring
mobile platform
pulse sequence
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PCT/CN2020/106293
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French (fr)
Chinese (zh)
Inventor
卢栋
王国才
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202080035041.8A priority Critical patent/CN114270209A/en
Priority to PCT/CN2020/106293 priority patent/WO2022021360A1/en
Publication of WO2022021360A1 publication Critical patent/WO2022021360A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements

Definitions

  • Lidar which can be used to detect objects. Specifically, it can emit a laser beam. After receiving the laser beam reflected from the target, it can compare and calculate the reflected laser beam with the output laser beam, so as to obtain the information of the position reached by the laser beam. .
  • lidar With the popularity of lidar, people have gradually put forward higher demand for lidar.
  • one of the objectives of the present invention is to provide a ranging device to solve the problem that the scanning pattern obtained by the existing laser radar scanning does not meet the user's requirement in point cloud density.
  • a light source for emitting a sequence of light pulses
  • the scanning module includes a rotatable first optical element, a second optical element and a third optical element, wherein the first optical element and the second optical element rotate in opposite directions at the same speed;
  • the scanning module is used to refract the light pulse sequence through the first optical element, the second optical element and the third optical element to scan the external environment; wherein the ranging
  • the scanning pattern of the device within one frame duration is in the vertical direction of the central area, and the density of the point cloud in the middle is higher than that of the point clouds at both ends.
  • a second aspect of the present application provides a mobile platform, including a mobile platform body and a ranging device mounted on the mobile platform body;
  • a light source for emitting a sequence of light pulses
  • the scanning module includes a rotatable first optical element, a second optical element and a third optical element, wherein the first optical element and the second optical element rotate in opposite directions at the same speed;
  • the scanning module is used to refract the light pulse sequence through the first optical element, the second optical element and the third optical element to scan the external environment; wherein the ranging
  • the scanning pattern of the device within one frame duration is in the vertical direction of the central area, and the density of the point cloud in the middle is higher than that of the point clouds at both ends.
  • the ranging device includes a light source for emitting a light pulse sequence; a scanning module for refracting the light pulse sequence through the first optical element, the second optical element and the third optical element, so as to reflect the outside world.
  • the scanning pattern of the ranging device within one frame duration, in the vertical direction and/or the horizontal direction passing through the central area, the point cloud density in the middle is higher than the point cloud density at both ends, so that the center point cloud density can be satisfied. High-precision identification and detection requirements of the area.
  • FIG. 1 is a schematic structural diagram of a ranging apparatus provided by an embodiment of the present application.
  • FIG. 2 is a scanning pattern provided by an embodiment of the present application.
  • FIG. 3A is a basic pattern corresponding to FIG. 2 provided by an embodiment of the present application.
  • FIG. 3B , FIG. 3C and FIG. 3D are respectively the first, second and third basic patterns corresponding to the ranging device provided by the embodiment of the present application.
  • FIG. 5 is a scanning pattern within a frame duration of the ranging device provided by the embodiment of the present application as an example.
  • lidar With the popularity of lidar, users have gradually put forward higher requirements for lidar. First, users want the lidar's field of view (FOV) to be large enough to be able to detect a wider range. Second, users hope that the point cloud density and point cloud coverage in the entire field of view are high enough, so that they can have higher accuracy in related applications such as target recognition. However, it is very difficult to meet the above requirements of users at the same time, because the lidar itself is limited by the number of laser lines, emission frequency, device capabilities and safety specifications.
  • FOV field of view
  • the identified detection area needs to have a high enough point cloud density.
  • the central area which requires high recognition and detection accuracy, it needs to have a high enough point cloud density, and the edge area does not need too high a point cloud density because it does not require too high recognition and detection accuracy.
  • center area may be an area including the center point of the entire field of view, and the specific boundary and area of the area can be set by those skilled in the art according to requirements, which are not limited here.
  • the distance measuring device may be a device for measuring distance, which may be used to scan the external environment to obtain point cloud data corresponding to the external environment.
  • the point cloud data may contain multiple point cloud points, and each point cloud point may include one or more kinds of information such as distance, orientation, reflection intensity, speed, and energy.
  • the ranging device may be a lidar, and of course, the ranging device may also be other electronic devices that utilize other types of light to achieve ranging.
  • the ranging device can measure the time of light propagation between the ranging device and the detected object, that is, the time-of-flight (TOF) of light, Calculate the distance from the detected object to the ranging device.
  • the ranging device may also implement ranging through other technologies, such as a ranging method based on phase shift (phase shift) measurement, or a ranging method based on frequency shift (frequency shift) measurement, which is not limited herein.
  • the light source may be used to emit a sequence of light pulses, where the sequence of light pulses is a collection of light beams emitted by the light source at a particular frequency over a period of time.
  • the outgoing light pulse sequence may be a laser pulse sequence, of course, it may also be a pulse sequence of other light.
  • the light source may include at least two light-emitting chips, wherein each light-emitting chip may emit a light pulse sequence along different light paths, and the different light paths may be parallel or non-parallel.
  • the spacing between the light-emitting chips is any distance between 200um and 800um.
  • the scanning module 120 may include a first optical element 121 , a second optical element 122 and a third optical element 123 .
  • the first optical element 121 , the second optical element 122 and the third optical element 123 can all be rotated.
  • the first optical element, the second optical element and the third optical element can be arranged on the outgoing optical path of the light pulse sequence, so that the light pulse sequence emitted from the light source can pass through the first optical element, the second optical element and the third optical element .
  • the first optical element, the second optical element and the third optical element are constantly rotating when the light source emits the light pulse sequence, the refraction direction of each light beam in the light pulse sequence is different, so different The light beam can thus reach different positions.
  • each optical element can be provided with a driver, by means of which the optical element can be driven to rotate about the axis of rotation.
  • the driver corresponding to each optical element can also be connected to the controller respectively, and the controller can separately control parameters such as the rotational speed and steering of each driver.
  • each optical element can be the same or different, as long as the rotation of the optical element does not cause the optical pulse sequence to exist for a certain period of time and cannot pass through the optical element.
  • the first optical element, the second optical element and the third optical element may be rotated around the same central axis.
  • the first optical element and the second optical element can be rotated in opposite directions at the same speed, so that the scanning trajectory of the optical pulse sequence can be roughly back and forth on a straight line.
  • the constant velocity mentioned in this application document does not mean that the rotation speeds of the first optical element and the second optical element are absolutely equal (in fact, it is difficult to achieve such control accuracy in engineering), but allows There is a certain degree of deviation between the rotational speeds of the two. As long as the deviation does not exceed the set reasonable range, the two can be considered to be rotating at the same speed.
  • the so-called reverse direction means that when the first optical element rotates clockwise, the second optical element rotates counterclockwise, or, when the first optical element rotates counterclockwise, the second optical element rotates clockwise.
  • the third optical element is not limited in the direction of rotation, and can be clockwise or counterclockwise.
  • the first optical element and the second optical element may rotate at a higher rotational speed, and the third optical element may rotate at a lower rotational speed.
  • the rotational speed of the first optical element and the rotational speed of the third optical element may cooperate with each other, and the rotational speed of the third optical element should neither be too fast nor too slow.
  • the rotational speed of the first optical element (or the rotational speed of the second optical element, because the first optical element and the second optical element rotate at the same speed) can be made the rotational speed of the third optical element 10 to 20 times.
  • the rotation speed of the first optical element may be between 7000rpm (Round Per Minute, rotation speed per minute)-10000rpm
  • the rotation speed of the third optical element may be between 580rpm-850rpm.
  • the first optical element, the second optical element, and the third optical element on the optical path there may be various arrangements during implementation.
  • the first optical element, the second optical element and the third optical element are arranged in sequence, so that the light pulse sequence passes through the first optical element, the second optical element and the third optical element in sequence.
  • the third optical element can also be in front, and the first optical element and the second optical element can be behind, so that the light pulse sequence will first pass through the third optical element, and then pass through the first optical element and the second optical element.
  • the distance measuring device may further include a collimating element 130 and a receiver (not shown in the figure).
  • the collimating element 130 may be disposed between the light source 210 and the scanning module 220 for collimating the light pulse sequence emitted from the light source.
  • the receiver can be used to receive the optical pulse sequence reflected back by the detected object, and it can be arranged at the end of the optical path (for convenience, the optical path is referred to as the receiving optical path hereinafter) through which the reflected optical pulse sequence passes.
  • the distance measuring device may adopt a coaxial optical path, that is, the outgoing optical path and the receiving optical path of the optical pulse sequence may share at least part of the optical path. In another implementation manner, the outgoing optical path and the receiving optical path may also be off-axis optical paths.
  • each beam (optical pulse sequence) emitted from the light source can reach the target after being refracted by the first optical element, the second optical element and the third optical element rotating in the scanning module. different positions.
  • the beams reflected from different positions can be received by the receiver, and each received beam can be converted into an electrical signal by photoelectric conversion.
  • point information so that a point cloud point in the scan pattern can be generated.
  • the point cloud image formed by the information of the points (positions) reached by all the light beams emitted by the light source within one frame duration is the scanning pattern within one frame duration, and the scanning pattern within one frame duration can also be called point cloud. frame.
  • the duration of one frame may be different in different application scenarios, for example, it may be any duration between 0.04s and 0.2s.
  • the duration of one frame may be set to any of the following values: 0.1s, 0.9s, 0.8s, 0.7s, 0.6s, 0.5s, 1.1s, 1.2s, 1.3s, 1.4s, 1.5s.
  • the basis for setting the duration of one frame may be determined according to the actual required output frame rate (real-time) of the point cloud frame and/or the required point cloud density of the point cloud frame.
  • the rotation speed of the third optical element is much slower than that of the first optical element and the second optical element. Therefore, from a short period of time, the first optical element and the second optical element have often rotated a lot. circles, while the third optical element experienced only a small angular displacement. Therefore, if the role of the third optical element is not considered, or the third optical element in the ranging device is temporarily removed (not really removed, it is just assumed that there is no third optical element, only the first optical element and the second optical element When the light pulse sequence is refracted by the first optical element and the second optical element that rotate in opposite directions at the same speed, a scanning pattern formed by scanning can also be scanned. The scan pattern formed by scanning with three optical elements is called the base pattern. After considering the function of the third optical element, the third optical element can move the reference point on which the basic pattern depends on a certain trajectory.
  • the basic pattern corresponding to the scanning pattern is shown in Fig. 3A (the basic pattern obtained by scanning six light-emitting chips is shown in the figure) , is the shape of " ⁇ ".
  • the reference point of the " ⁇ " basic pattern moves along a circular trajectory (which can be a circle, an ellipse, or a circle-like shape), so that the image as shown in the figure can be scanned within one frame. 2 shows the scan pattern.
  • the reason why the basic pattern corresponding to the ranging device is in the shape of " ⁇ " is that in the embodiment corresponding to FIG. 2, the same first optical element and second optical element are used, The deflection angles formed by the first optical element and the second optical element with respect to the sequence of light pulses (light beams) are made the same.
  • the first optical element and the second optical element may be different from each other. are the same, so that the deflection angles formed by the first optical element and the second optical element for the light pulse sequence are different.
  • the optical element it can be one or a combination of lens, prism, liquid crystal, optical phased array (Optical Phased Array), etc.
  • the first optical element and the second optical element may both be wedge prisms. Wedge angle prisms may be prisms of varying thickness.
  • the vertical planes (the planes perpendicular to the optical axis) of the first optical element and the second optical element can be arranged to face each other.
  • the inclined surfaces of the first optical element and the second optical element may also be arranged to face each other, and in this case, the vertical surfaces of the two are at one end.
  • the two surfaces through which the light beams pass may not be perpendicular to the optical axis, and there is not necessarily a vertical surface perpendicular to the optical axis.
  • the scanning pattern ie, the basic pattern
  • the basic pattern can be as shown in FIG. 3B , FIG. 3C or FIG.
  • the point cloud points of the scanning pattern of the ranging device within one frame duration can be distributed flat in the horizontal direction.
  • the scanning pattern finally output by the ranging device is obtained under the joint action of the first optical element, the second optical element and the third optical element, whether the scanning pattern of the ranging device within one frame is straight or not It is also subject to the combined action of three optical elements.
  • the refractive power of the third optical element is weak, its influence on whether the point cloud is straight or not can be ignored, as long as the basic pattern, that is, the light pulse sequence, is passed through the first optical element and the For the scanning pattern formed by scanning after refraction by the second optical element, the point cloud points of the scanning pattern may be distributed flat in the horizontal direction, as shown in Figure 3D.
  • the difference between the deflection angle formed by the first optical element to the optical pulse sequence and the deflection angle formed by the second optical element to the optical pulse sequence (for convenience, the difference is hereinafter referred to as deflection The angle difference) can be between 2 degrees and 10 degrees, so that the point cloud points of the obtained basic pattern can be flatly distributed in the horizontal direction.
  • the straightness mentioned in this application document also does not mean absolute straightness. Even if the vertical heights between the point cloud points are slightly different, as long as the slight difference is within a reasonable range (the The scope is set by those skilled in the art according to experience), then it still belongs to the straightness mentioned in this application document.
  • the first optical element and the second optical element are in a rotating state, and during the rotation process, the deflection angle formed by the first optical element on the vertical plane of the light pulse sequence remains unchanged for at least part of the time.
  • the deflection angle formed by the second optical element on the vertical plane of the light pulse sequence also remains unchanged for at least part of the time period. In this way, the deflection angle difference between the first optical element and the second optical element It can also remain unchanged during rotation.
  • the vertical plane is a plane perpendicular to the horizontal plane, which may be a vertical plane facing the light source and perpendicular to the collimated light sequence pulse.
  • the basic pattern is elliptical as a whole, as shown in FIG. 3B , FIG. 3C , and FIG. 3D .
  • the third optical element can make the reference point of the basic pattern move along a circular trajectory.
  • the specific shape of the circular track is related to the deflection ability of the third optical element. If the deflection angle formed by the third optical element for the optical pulse sequence is too small, the range of the circular trajectory is also small. There is a large blank at the center, so the scanning pattern formed by the final scan will have no point in the center, as shown in Figure 4. Therefore, in one embodiment, the deflection angle formed by the third optical element for the light pulse sequence may be greater than the deflection angle difference between the first optical element and the second optical element, thereby avoiding the above-mentioned problem.
  • the third optical element can also be a wedge prism with the first optical element and the second optical element, and the aperture of the third optical element can be larger than the aperture of the first optical element to increase the light receive aperture.
  • the wedge angle of the first optical element and the second optical element may be the same or different, and in an implementation manner, the wedge angle of the third optical element may be smaller than that of the first optical element or the second optical element.
  • the wedge angle of the optical element Specifically, in one example, the wedge angle of the third optical element may be less than half of the wedge angle of the first optical element or the second optical element.
  • each optical element may be coated with an anti-reflection coating.
  • a filter layer may be coated on the surface of the optical element, or a filter may be arranged on the beam propagation path to transmit the wavelength band of the beam emitted by the light source and reflect other wavelength bands to reduce ambient light noise to the receiver.
  • the point cloud density in the central area is higher than the point cloud density in the surrounding areas (including up, down, left, and right).
  • the scanning pattern has a sufficiently large field of view, wherein the horizontal field of view is greater than the vertical field of view.
  • the horizontal field of view may be greater than twice the vertical field of view.
  • the scanning pattern has a rectangular shape as a whole.
  • the light source of the ranging device may include 12 light-emitting chips, ie, 12-line light sources.
  • the first optical element, the second optical element and the third optical element in the scanning module can all be wedge prisms, the materials of the three optical elements can be HK9, HZF6, HZK9B respectively, and the wedge angles can be 24 degrees and 24 degrees respectively. ,10 degrees.
  • the rotational speed of the first optical element can be set to 7522 rpm
  • the rotational speed of the second optical element can be equal and reversed at -7522 rpm
  • the rotational speed of the third optical element can be set to +632 rpm or -632 rpm.
  • the scanning pattern of the ranging device in one frame can refer to Figure 6.
  • the scanning pattern has a very high point cloud density in the entire field of view, the maximum gap is below 0.2 degrees, and the point cloud coverage is extremely high.
  • the ranging device provided by the embodiment of the present application includes a light source for emitting a light pulse sequence; a scanning module includes a rotatable first optical element, a second optical element and a third optical element, wherein the first optical element and the third optical element are rotatable. The two optical elements rotate in opposite directions at the same speed.
  • the scanning module is used to refract the light pulse sequence through the first optical element, the second optical element and the third optical element, so as to scan the external environment.
  • the density of the point cloud in the middle is higher than the density of the point clouds at both ends, so that the high density of the central area can be satisfied. Accurately identify detection needs.
  • the embodiment of the present application also provides a mobile platform, and the mobile platform may include a mobile platform body and a ranging device mounted on the mobile platform body.
  • the mobile platform may include at least one of an unmanned aerial vehicle, a car, a remote control car, a robot, and a camera.
  • the ranging device is applied to the unmanned aerial vehicle
  • the mobile platform body is the fuselage of the unmanned aerial vehicle.
  • the body of the mobile platform 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.
  • the mobile platform body is the body of the remote control car.
  • the mobile platform body is the robot.
  • the mobile platform body is the camera itself.
  • the ranging device may include:
  • the scanning module includes a rotatable first optical element, a second optical element and a third optical element, wherein the first optical element and the second optical element rotate in opposite directions at the same speed;
  • the scanning module is used to refract the light pulse sequence through the first optical element, the second optical element and the third optical element to scan the external environment; wherein the ranging
  • the scanning pattern of the device within one frame duration is in the vertical direction of the central area, and the density of the point cloud in the middle is higher than that of the point clouds at both ends.
  • the point cloud points of the scanning pattern within one frame of the distance measuring device are distributed flat in the horizontal direction.
  • the point cloud points of the scanning pattern formed by scanning are distributed flat in the horizontal direction.
  • the difference between the deflection angles formed by the first optical element and the second optical element with respect to the light pulse sequence is between 2 degrees and 10 degrees.
  • the deflection angle formed by the third optical element for the optical pulse sequence is greater than the difference between the deflection angles formed by the first optical element and the second optical element respectively for the optical pulse sequence .
  • the rotational speed of the first optical element is 10 times to 20 times the rotational speed of the third optical element.
  • the rotational speed of the first optical element is between 7000rpm and 10000rpm.
  • the rotational speed of the third optical element is between 580rpm and 850rpm.
  • the first optical element, the second optical element and the third optical element rotate around the same central axis.
  • the first optical element, the second optical element and the third optical element are all wedge prisms, and the aperture of the third optical element is larger than the aperture of the first optical element.
  • the wedge angles of the first optical element and the second optical element are the same; and/or,
  • the wedge angle of the third optical element is smaller than the wedge angle of the first optical element or the second optical element.
  • the wedge angle of the third optical element is less than half of the wedge angle of the first optical element or the second optical element.
  • the first optical element is disposed opposite to the vertical plane or inclined plane of the second optical element.
  • the duration of one frame is between 0.04s and 0.2s.
  • the point cloud density of the central region of the scanning pattern of the distance measuring device within one frame duration is higher than the point cloud density of the surrounding regions.
  • the horizontal field of view of the scanning pattern within one frame of the distance measuring device is larger than the vertical field of view.
  • the scanning pattern of the distance measuring device in one frame is in the shape of a rectangle as a whole.
  • the horizontal field of view of the scanning pattern with a duration of one frame of the ranging device is greater than twice the vertical field of view.
  • the distance between the at least two light-emitting chips is between 200um and 800um.
  • the scanning pattern of the distance measuring device mounted on the mobile platform is higher than the point cloud density at the two ends in the vertical direction and/or the horizontal direction passing through the central area in the vertical direction and/or the horizontal direction. Cloud density, so as to meet the high-precision identification and detection requirements of the central area.

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  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

A rangefinder device (100), comprising: a light source (110) for emitting a light pulse sequence; and a scanning module (120). The scanning module (120) comprises a first optical element (121), a second optical element (122), and a third optical element (123) which are rotatable, wherein the first optical element (121) and the second optical element (122) rotate at a same speed in opposite directions. The scanning module (120) is used for refracting the light pulse sequence by means of the first optical element (121), the second optical element (122), and the third optical element (123) to scan an external environment. In a vertical direction of a central area of a scan pattern within one frame duration of the rangefinder device (100), the point cloud density in the middle is higher than that of either end, so that high-precision identification detection requirements of a user on the central area can be met.

Description

测距装置与移动平台Ranging device and mobile platform 技术领域technical field
本申请涉及目标探测技术领域，尤其涉及一种测距装置及移动平台。The present application relates to the technical field of target detection, and in particular, to a ranging device and a mobile platform.
背景技术Background technique
激光雷达，其可以用于对目标物进行探测。具体的，其可以出射激光束，在接收到从目标物反射回来的激光束后，可以将反射回来的激光束与出射的激光束进行比较、运算等处理，从而获得激光束所到达位置的信息。而随着激光雷达的普及，人们对激光雷达逐渐提出了更高的需求。Lidar, which can be used to detect objects. Specifically, it can emit a laser beam. After receiving the laser beam reflected from the target, it can compare and calculate the reflected laser beam with the output laser beam, so as to obtain the information of the position reached by the laser beam. . With the popularity of lidar, people have gradually put forward higher demand for lidar.
发明内容SUMMARY OF THE INVENTION
有鉴于此，本发明的目的之一是提供一种测距装置，以解决现有的激光雷达扫描得到的扫描图案在点云密度上不满足用户需求的问题。In view of this, one of the objectives of the present invention is to provide a ranging device to solve the problem that the scanning pattern obtained by the existing laser radar scanning does not meet the user's requirement in point cloud density.
本申请第一方面提供一种测距装置，包括：A first aspect of the present application provides a distance measuring device, including:
光源，用于出射光脉冲序列；a light source for emitting a sequence of light pulses;
扫描模块，所述扫描模块包括可旋转的第一光学元件、第二光学元件与第三光学元件，其中，所述第一光学元件与所述第二光学元件等速反向旋转；a scanning module, the scanning module includes a rotatable first optical element, a second optical element and a third optical element, wherein the first optical element and the second optical element rotate in opposite directions at the same speed;
所述扫描模块用于，对所述光脉冲序列通过所述第一光学元件、所述第二光学元件与所述第三光学元件进行折射，以对外界环境进行扫描；其中，所述测距装置在一帧时长内的扫描图案在中心区域的竖直方向上，中间的点云密度高于两端的点云密度。The scanning module is used to refract the light pulse sequence through the first optical element, the second optical element and the third optical element to scan the external environment; wherein the ranging The scanning pattern of the device within one frame duration is in the vertical direction of the central area, and the density of the point cloud in the middle is higher than that of the point clouds at both ends.
本申请第二方面提供一种移动平台，包括移动平台本体与搭载在所述移动平台本体上的测距装置；A second aspect of the present application provides a mobile platform, including a mobile platform body and a ranging device mounted on the mobile platform body;
所述测距装置包括：The distance measuring device includes:
光源，用于出射光脉冲序列；a light source for emitting a sequence of light pulses;
扫描模块，所述扫描模块包括可旋转的第一光学元件、第二光学元件与第三光学元件，其中，所述第一光学元件与所述第二光学元件等速反向旋转；a scanning module, the scanning module includes a rotatable first optical element, a second optical element and a third optical element, wherein the first optical element and the second optical element rotate in opposite directions at the same speed;
所述扫描模块用于，对所述光脉冲序列通过所述第一光学元件、所述第二光学元 件与所述第三光学元件进行折射，以对外界环境进行扫描；其中，所述测距装置在一帧时长内的扫描图案在中心区域的竖直方向上，中间的点云密度高于两端的点云密度。The scanning module is used to refract the light pulse sequence through the first optical element, the second optical element and the third optical element to scan the external environment; wherein the ranging The scanning pattern of the device within one frame duration is in the vertical direction of the central area, and the density of the point cloud in the middle is higher than that of the point clouds at both ends.
本申请实施例提供的测距装置，包括光源，用于出射光脉冲序列；扫描模块，用于对光脉冲序列通过第一光学元件、第二光学元件与第三光学元件进行折射，以对外界环境进行扫描，其中，测距装置在一帧时长内的扫描图案，在经过中心区域的竖直方向和/或水平方向上，中间的点云密度高于两端的点云密度，从而能够满足中心区域的高精度识别探测需求。The ranging device provided by the embodiment of the present application includes a light source for emitting a light pulse sequence; a scanning module for refracting the light pulse sequence through the first optical element, the second optical element and the third optical element, so as to reflect the outside world. The scanning pattern of the ranging device within one frame duration, in the vertical direction and/or the horizontal direction passing through the central area, the point cloud density in the middle is higher than the point cloud density at both ends, so that the center point cloud density can be satisfied. High-precision identification and detection requirements of the area.
附图说明Description of drawings
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only 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.
图1是本申请实施例提供的一种测距装置的结构示意图。FIG. 1 is a schematic structural diagram of a ranging apparatus provided by an embodiment of the present application.
图2是本申请实施例提供的一种扫描图案。FIG. 2 is a scanning pattern provided by an embodiment of the present application.
图3A是本申请实施例提供的图2所对应的基础图案。FIG. 3A is a basic pattern corresponding to FIG. 2 provided by an embodiment of the present application.
图3B、图3C与图3D分别为本申请实施例提供的测距装置所对应的第一种、第二种与第三种基础图案。FIG. 3B , FIG. 3C and FIG. 3D are respectively the first, second and third basic patterns corresponding to the ranging device provided by the embodiment of the present application.
图4是第三光学元件对光脉冲序列所形成的的偏折角过小时测距装置在一帧时长内扫描形成的扫描图案。FIG. 4 is a scanning pattern formed by the range-finding device scanned within one frame of time when the deflection angle formed by the third optical element for the optical pulse sequence is too small.
图5是本申请实施例作为示例而提供的测距装置在一帧时长内的扫描图案。FIG. 5 is a scanning pattern within a frame duration of the ranging device provided by the embodiment of the present application as an example.
图6是本申请实施例作为另一个示例而提供的测距装置在一帧时长内的扫描图案。FIG. 6 is a scanning pattern of the ranging device provided by the embodiment of the present application as another example in one frame duration.
具体实施方式detailed description
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of 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.
随着激光雷达的普及，用户对激光雷达逐渐提出更高的需求。首先，用户希望激光雷达的视场(FOV)足够大，以能够探测更广阔的范围。第二，用户希望在整个视场内的点云密度与点云的覆盖率都足够高，从而能够在目标识别等相关应用中有更高的精度。然而，要同时满足用户的以上需求是十分困难的，因为激光雷达本身受到激光线数、发射频率、器件能力及安全规范等方面的限制。With the popularity of lidar, users have gradually put forward higher requirements for lidar. First, users want the lidar's field of view (FOV) to be large enough to be able to detect a wider range. Second, users hope that the point cloud density and point cloud coverage in the entire field of view are high enough, so that they can have higher accuracy in related applications such as target recognition. However, it is very difficult to meet the above requirements of users at the same time, because the lidar itself is limited by the number of laser lines, emission frequency, device capabilities and safety specifications.
申请人发现，用户对整个视场中的不同区域在识别探测精度(或准确度)上的需求是不同的，通常而言，用户对中心区域的识别探测有更高的精度要求。比如在自动驾驶的场景中，100m外的四车道对应的水平视场角实际在12度以内的中心区域，因此这12度区域是需要有较高识别探测精度的区域，相对而言，该12度区域以外的其它区域的则不需要那么高的识别探测精度。The applicant found that users have different requirements on identification and detection accuracy (or accuracy) for different regions in the entire field of view. Generally speaking, users have higher accuracy requirements for identification and detection of the central region. For example, in an automatic driving scenario, the horizontal field of view corresponding to the four lanes 100m away is actually within the central area of 12 degrees, so this 12-degree area is an area that requires high recognition and detection accuracy. Other areas than the high degree area do not need so high recognition detection accuracy.
若想使识别探测的精度高，则所识别探测的区域需要有足够高的点云密度。对于中心区域，其要求较高的识别探测精度，则其需要有足够高的点云密度，而边缘区域由于不需要太高的识别探测精度，也就不需要太高的点云密度。If you want to make the detection accuracy high, the identified detection area needs to have a high enough point cloud density. For the central area, which requires high recognition and detection accuracy, it needs to have a high enough point cloud density, and the edge area does not need too high a point cloud density because it does not require too high recognition and detection accuracy.
需要说明的是，所谓中心区域可以是包含整个视场的中心点的区域，该区域的具体边界与面积本领域技术人员可以根据需求自行设定，在此不作限制。It should be noted that the so-called center area may be an area including the center point of the entire field of view, and the specific boundary and area of the area can be set by those skilled in the art according to requirements, which are not limited here.
本申请实施例提供了一种测距装置。测距装置可以是用于测量距离的装置，其可用于对外界环境进行扫描，从而获得外界环境对应的点云数据。An embodiment of the present application provides a ranging device. The distance measuring device may be a device for measuring distance, which may be used to scan the external environment to obtain point cloud data corresponding to the external environment.
点云数据中可以包含多个点云点，每个点云点可以包括距离、方位、反射强度、速度、能量等一种或多种信息。The point cloud data may contain multiple point cloud points, and each point cloud point may include one or more kinds of information such as distance, orientation, reflection intensity, speed, and energy.
在应用层面，测距装置可以应用在遥感、避障、测绘、建模、导航等业务上。At the application level, ranging devices can be used in remote sensing, obstacle avoidance, mapping, modeling, navigation and other services.
在一个例子中，测距装置可以是激光雷达，当然，测距装置也可以是利用其它类型的光实现测距的其它电子设备。In one example, the ranging device may be a lidar, and of course, the ranging device may also be other electronic devices that utilize other types of light to achieve ranging.
关于测距装置的测距原理，在一种实施方式中，测距装置可以通过测量测距装置和探测物之间光传播的时间，即光飞行时间(Time-of-Flight，TOF)，来计算探测物到测距装置的距离。或者，测距装置也可以通过其他技术来实现测距，例如基于相位移动(phase shift)测量的测距方法，或者基于频率移动(frequency shift)测量的测距方法，在此不做限制。Regarding the ranging principle of the ranging device, in one embodiment, the ranging device can measure the time of light propagation between the ranging device and the detected object, that is, the time-of-flight (TOF) of light, Calculate the distance from the detected object to the ranging device. Alternatively, the ranging device may also implement ranging through other technologies, such as a ranging method based on phase shift (phase shift) measurement, or a ranging method based on frequency shift (frequency shift) measurement, which is not limited herein.
下面可以参见图1，图1是本申请实施例提供的一种测距装置的结构示意图。该测距装置100可以包括光源110与扫描模块120。Referring to FIG. 1 below, FIG. 1 is a schematic structural diagram of a ranging apparatus provided by an embodiment of the present application. The distance measuring device 100 may include a light source 110 and a scanning module 120 .
光源可以用于出射光脉冲序列，其中，光脉冲序列是光源在一段时间内以特定频率发射出的光束的集合。在一个例子中，出射的光脉冲序列可以是激光脉冲序列，当 然，也可以是其他光的脉冲序列。The light source may be used to emit a sequence of light pulses, where the sequence of light pulses is a collection of light beams emitted by the light source at a particular frequency over a period of time. In one example, the outgoing light pulse sequence may be a laser pulse sequence, of course, it may also be a pulse sequence of other light.
在一种实施方式中，光源可以包括至少两个发光芯片，其中，每个发光芯片可以沿不同的光路出射光脉冲序列，该不同光路之间可以平行或者不平行。一个示例中，发光芯片之间的间距为200um～800um之间的任一距离。In one embodiment, the light source may include at least two light-emitting chips, wherein each light-emitting chip may emit a light pulse sequence along different light paths, and the different light paths may be parallel or non-parallel. In one example, the spacing between the light-emitting chips is any distance between 200um and 800um.
扫描模块120可以包括第一光学元件121第二光学元件122与第三光学元件123。其中，第一光学元件121、第二光学元件122与第三光学元件123均可旋转。第一光学元件、第二光学元件与第三光学元件可以设置于光脉冲序列的出射光路上，使从光源处出射的光脉冲序列可以通过第一光学元件、第二光学元件与第三光学元件。又由于第一光学元件、第二光学元件与第三光学元件在光源出射光脉冲序列时一直在不停的旋转，因此光脉冲序列中的每一道光束的折射方向都有所不同，从而不同的光束可以从而到达不同的位置。The scanning module 120 may include a first optical element 121 , a second optical element 122 and a third optical element 123 . The first optical element 121 , the second optical element 122 and the third optical element 123 can all be rotated. The first optical element, the second optical element and the third optical element can be arranged on the outgoing optical path of the light pulse sequence, so that the light pulse sequence emitted from the light source can pass through the first optical element, the second optical element and the third optical element . And because the first optical element, the second optical element and the third optical element are constantly rotating when the light source emits the light pulse sequence, the refraction direction of each light beam in the light pulse sequence is different, so different The light beam can thus reach different positions.
关于第一光学元件、第二光学元件与第三光学元件旋转的实现，在具体实施时有多种方式。在一种实施方式中，可以为每个光学元件配备驱动器，通过驱动器，可以驱动光学元件绕转动轴转动。各个光学元件对应的驱动器还可以分别与控制器连接，控制器可以分别对每个驱动器的转速、转向等参数进行控制。Regarding the realization of the rotation of the first optical element, the second optical element and the third optical element, there are many ways in specific implementation. In one embodiment, each optical element can be provided with a driver, by means of which the optical element can be driven to rotate about the axis of rotation. The driver corresponding to each optical element can also be connected to the controller respectively, and the controller can separately control parameters such as the rotational speed and steering of each driver.
各个光学元件所绕的转动轴可以相同也可以不同，只要光学元件的旋转不会导致光脉冲序列存在某些时间无法经过该光学元件即可。当然，也可以如图1所示的例子，使第一光学元件、第二光学元件与第三光学元件绕同一中心轴旋转。The rotation axis around which each optical element can be the same or different, as long as the rotation of the optical element does not cause the optical pulse sequence to exist for a certain period of time and cannot pass through the optical element. Of course, as shown in FIG. 1 , the first optical element, the second optical element and the third optical element may be rotated around the same central axis.
关于光学元件的转动，第一光学元件与第二光学元件可以等速反向旋转，以使光脉冲序列的扫描轨迹可以大致的在一条直线上来回。需要注意的是，本申请文件中所提及的等速，并不是指第一光学元件与第二光学元件的转速绝对相等(事实在工程上也很难达到这样的控制精度)，而是允许两者的转速有一定程度的偏差，只要这个偏差不超出所设定的合理范围，都可以认为两者是等速旋转的。所谓反向，即第一光学元件顺时针旋转时，第二光学元件逆时针旋转，又或者，第一光学元件逆时针旋转时，第二光学元件顺时针旋转。而第三光学元件在转向上不作限制，可以顺时针也可以逆时针。Regarding the rotation of the optical element, the first optical element and the second optical element can be rotated in opposite directions at the same speed, so that the scanning trajectory of the optical pulse sequence can be roughly back and forth on a straight line. It should be noted that the constant velocity mentioned in this application document does not mean that the rotation speeds of the first optical element and the second optical element are absolutely equal (in fact, it is difficult to achieve such control accuracy in engineering), but allows There is a certain degree of deviation between the rotational speeds of the two. As long as the deviation does not exceed the set reasonable range, the two can be considered to be rotating at the same speed. The so-called reverse direction means that when the first optical element rotates clockwise, the second optical element rotates counterclockwise, or, when the first optical element rotates counterclockwise, the second optical element rotates clockwise. The third optical element is not limited in the direction of rotation, and can be clockwise or counterclockwise.
第一光学元件与第二光学元件可以以较高的转速旋转，第三光学元件可以以较低的转速旋转。需要说明的是，第一光学元件的转速与第三光学元件的转速可以相互配合，第三光学元件的转速不宜过快也不宜过慢。在一种实施方式中，可以使第一光学元件的转速(也可以说是第二光学元件的转速，因为第一光学元件与第二光学元件是等速旋转的)为第三光学元件的转速的10倍至20倍。比如，第一光学元件的转速可 以位于7000rpm(Round Per Minute，每分钟转速)-10000rpm之间，第三光学元件的转速可以位于580rpm-850rpm之间。The first optical element and the second optical element may rotate at a higher rotational speed, and the third optical element may rotate at a lower rotational speed. It should be noted that the rotational speed of the first optical element and the rotational speed of the third optical element may cooperate with each other, and the rotational speed of the third optical element should neither be too fast nor too slow. In one embodiment, the rotational speed of the first optical element (or the rotational speed of the second optical element, because the first optical element and the second optical element rotate at the same speed) can be made the rotational speed of the third optical element 10 to 20 times. For example, the rotation speed of the first optical element may be between 7000rpm (Round Per Minute, rotation speed per minute)-10000rpm, and the rotation speed of the third optical element may be between 580rpm-850rpm.
关于第一光学元件、第二光学元件与第三光学元件在光路上的前后顺序，在实施时可以有多种设置方式。在一种实施方式中，可以如图1所示，第一光学元件、第二光学元件与第三光学元件依次排布，使光脉冲序列依次经过第一光学元件、第二光学元件与第三光学元件。在另一种实施方式中，也可以第三光学元件在前，第一光学元件与第二光学元件在后，使光脉冲序列将先经过第三光学元件，再经过第一光学元件与第二光学元件。Regarding the sequence of the first optical element, the second optical element, and the third optical element on the optical path, there may be various arrangements during implementation. In one embodiment, as shown in FIG. 1 , the first optical element, the second optical element and the third optical element are arranged in sequence, so that the light pulse sequence passes through the first optical element, the second optical element and the third optical element in sequence. Optical element. In another embodiment, the third optical element can also be in front, and the first optical element and the second optical element can be behind, so that the light pulse sequence will first pass through the third optical element, and then pass through the first optical element and the second optical element. Optical element.
在一种实施方式中，测距装置还可以包括准直元件130与接收器(图中未示出)。其中，准直元件130可以设置在光源210与扫描模块220之间，用于对光源出射的光脉冲序列进行准直。接收器可以用于接收被探测物反射回来的光脉冲序列，其可以设置在反射回来的光脉冲序列所经过的光路(为方便，后文将该光路称为接收光路)的终点。在一种实施方式中，测距装置可以采用同轴光路，即光脉冲序列的出射光路与接收光路可以共用至少部分光路。在另一种实施方式中，出射光路与接收光路也可以是异轴光路。In one embodiment, the distance measuring device may further include a collimating element 130 and a receiver (not shown in the figure). The collimating element 130 may be disposed between the light source 210 and the scanning module 220 for collimating the light pulse sequence emitted from the light source. The receiver can be used to receive the optical pulse sequence reflected back by the detected object, and it can be arranged at the end of the optical path (for convenience, the optical path is referred to as the receiving optical path hereinafter) through which the reflected optical pulse sequence passes. In one embodiment, the distance measuring device may adopt a coaxial optical path, that is, the outgoing optical path and the receiving optical path of the optical pulse sequence may share at least part of the optical path. In another implementation manner, the outgoing optical path and the receiving optical path may also be off-axis optical paths.
通过光源110、准直元件130、扫描模块120与接收器，测距装置可以完成对外界环境的扫描。具体的，在光源处出射的一道道光束(光脉冲序列)，每一道光束在经过扫描模块中旋转的第一光学元件、第二光学元件与第三光学元件的折射后，可以到达目标物的不同位置。而从不同的位置反射回来的光束可以被接收器接收，每一道被接收的光束可以通过光电转换为电信号，通过对该电信号进行采样及运算等处理，可以计算出该道光束所到达的点的信息，从而可以生成扫描图案中的一个点云点。而在一帧时长内光源所出射的所有光束所到达的点(位置)的信息所构成的点云图，即一帧时长内的扫描图案，该一帧时长内的扫描图案也可以称为点云帧。Through the light source 110 , the collimating element 130 , the scanning module 120 and the receiver, the ranging device can complete the scanning of the external environment. Specifically, each beam (optical pulse sequence) emitted from the light source can reach the target after being refracted by the first optical element, the second optical element and the third optical element rotating in the scanning module. different positions. The beams reflected from different positions can be received by the receiver, and each received beam can be converted into an electrical signal by photoelectric conversion. point information, so that a point cloud point in the scan pattern can be generated. The point cloud image formed by the information of the points (positions) reached by all the light beams emitted by the light source within one frame duration is the scanning pattern within one frame duration, and the scanning pattern within one frame duration can also be called point cloud. frame.
对于一帧时长，其在不同的应用场景中可以是不同的时长，比如可以是位于0.04s～0.2s之间的任意时长。在一个示例中，可以设定一帧时长为以下任一数值：0.1s、0.9s、0.8s、0.7s、0.6s、0.5s、1.1s、1.2s、1.3s、1.4s、1.5s。关于一帧时长的设定依据，可以根据实际所需的点云帧的输出帧率(实时性)和/或所需的点云帧的点云密度进行确定。The duration of one frame may be different in different application scenarios, for example, it may be any duration between 0.04s and 0.2s. In an example, the duration of one frame may be set to any of the following values: 0.1s, 0.9s, 0.8s, 0.7s, 0.6s, 0.5s, 1.1s, 1.2s, 1.3s, 1.4s, 1.5s. The basis for setting the duration of one frame may be determined according to the actual required output frame rate (real-time) of the point cloud frame and/or the required point cloud density of the point cloud frame.
在一种实施方式中，本申请实施例所提供的测距装置在一帧时长内可以扫描得到如图2所示的扫描图案。通过分析该图2所示的扫描图案，可以发现，该扫描图案在水平方向上的点云密度中间比两端密，但在经过中心区域的竖直方向上，该扫描图案 的点云密度却中间比两端稀。换言之，在经过中心区域的竖直方向上，有较多的点云点没有落在中心区域，而是落在了上下两端的边缘区域，从而导致中心区域的点云密度不够高，难以满足用户对中心区域的高精度识别探测需求。In an implementation manner, the ranging device provided in the embodiment of the present application can scan to obtain a scanning pattern as shown in FIG. 2 within one frame duration. By analyzing the scanning pattern shown in Figure 2, it can be found that the point cloud density of the scanning pattern in the horizontal direction is denser in the middle than at both ends, but in the vertical direction passing through the central area, the point cloud density of the scanning pattern is higher The middle is thinner than the ends. In other words, in the vertical direction passing through the central area, many point cloud points do not fall in the central area, but in the edge areas at the upper and lower ends, resulting in a low density of point clouds in the central area, making it difficult for users to High-precision identification and detection requirements for the central area.
由前文可知，第三光学元件的转速相比第一光学元件与第二光学元件要慢很多，因此，从一个较短的时间上看，往往第一光学元件与第二光学元件已经转动了多周，而第三光学元件只发生了很小的角位移。因此，若不考虑第三光学元件的作用，或者暂时移除测距装置中的第三光学元件(并非真的移除，只是假定没有第三光学元件、只有第一光学元件和第二光学元件时的情况)，则光脉冲序列在经过等速反向旋转的第一光学元件与第二光学元件的折射后，也可以扫描形成的一种扫描图案，为方便，可以将这种不考虑第三光学元件时扫描形成的扫描图案称为基础图案。而在考虑第三光学元件的作用后，该第三光学元件可以使该基础图案所依赖的基准点沿某种轨迹运动。As can be seen from the foregoing, the rotation speed of the third optical element is much slower than that of the first optical element and the second optical element. Therefore, from a short period of time, the first optical element and the second optical element have often rotated a lot. circles, while the third optical element experienced only a small angular displacement. Therefore, if the role of the third optical element is not considered, or the third optical element in the ranging device is temporarily removed (not really removed, it is just assumed that there is no third optical element, only the first optical element and the second optical element When the light pulse sequence is refracted by the first optical element and the second optical element that rotate in opposite directions at the same speed, a scanning pattern formed by scanning can also be scanned. The scan pattern formed by scanning with three optical elements is called the base pattern. After considering the function of the third optical element, the third optical element can move the reference point on which the basic pattern depends on a certain trajectory.
对于如图2所示的扫描图案，若不考虑第三光学元件的作用，则该扫描图案对应的基础图案如图3A所示(图中示出的是六个发光芯片扫描得到的基础图案)，是“∞”的形状。而在考虑第三光学元件的作用后，即该“∞”基础图案的基准点沿一个圆形轨迹(可以是圆、椭圆、类圆)的运动，从而在一帧时长内可以扫描出如图2所示的扫描图案。For the scanning pattern shown in Fig. 2, if the function of the third optical element is not considered, the basic pattern corresponding to the scanning pattern is shown in Fig. 3A (the basic pattern obtained by scanning six light-emitting chips is shown in the figure) , is the shape of "∞". After considering the role of the third optical element, that is, the reference point of the "∞" basic pattern moves along a circular trajectory (which can be a circle, an ellipse, or a circle-like shape), so that the image as shown in the figure can be scanned within one frame. 2 shows the scan pattern.
申请人经过分析发现，之所以扫描出如图2所示的在经过中心区域的竖直方向上点云密度中间稀、两端密的图案，正是由其基础图案“∞”导致的。该基础图案由于其中间部分在竖直方向上向内收缩(即中间的交叉部分)，因此在该基础图案的基准点沿着圆形轨迹运动时，当运动到圆的顶部和底部附近时，“∞”基础图案的中间收缩使得扫描轨迹没有经过整个视场的中心区域，进而导致整体的扫描轨迹在中心区域交汇的部分较少，造成上下两端的点云密度更高，中间的点云密度反而低一些的问题。After analysis, the applicant found that the reason why the pattern with the point cloud density that is thin in the middle and dense at both ends in the vertical direction passing through the central area as shown in FIG. 2 is exactly caused by the basic pattern "∞". Since the middle part of the basic pattern shrinks inward in the vertical direction (ie, the middle intersecting part), when the reference point of the basic pattern moves along the circular trajectory, when it moves to the vicinity of the top and bottom of the circle, The central shrinkage of the "∞" basic pattern makes the scanning trajectory not pass through the central area of the entire field of view, resulting in less intersection of the overall scanning trajectory in the central area, resulting in a higher density of point clouds at the upper and lower ends, and a higher density of point clouds in the middle. On the contrary, the problem is lower.
而通过进一步的研究，可以发现，测距装置对应的基础图案之所以为“∞”形状，是因为在图2所对应的实施方式中，采用了相同的第一光学元件与第二光学元件，使第一光学元件与第二光学元件对光脉冲序列(光束)所形成的偏折角相同。Through further research, it can be found that the reason why the basic pattern corresponding to the ranging device is in the shape of "∞" is that in the embodiment corresponding to FIG. 2, the same first optical element and second optical element are used, The deflection angles formed by the first optical element and the second optical element with respect to the sequence of light pulses (light beams) are made the same.
因此，为避免测距装置所对应的基础图案是如“∞”这种中间部分在竖直方向上向内收缩的图案，在一种实施方式中，第一光学元件与第二光学元件可以不相同，从而使第一光学元件与第二光学元件对光脉冲序列所形成的偏折角不同。Therefore, in order to avoid that the basic pattern corresponding to the distance measuring device is a pattern in which the middle part shrinks inward in the vertical direction, such as "∞", in one embodiment, the first optical element and the second optical element may be different from each other. are the same, so that the deflection angles formed by the first optical element and the second optical element for the light pulse sequence are different.
对于光学元件，其可以是透镜、棱镜、液晶、光学相控阵(Optical Phased Array)等的其中一种或数种的组合。在一种实施方式中，第一光学元件与第二光学元件可以同为楔角棱镜。楔角棱镜可以是厚度变化的棱镜。在一种实施方式中，可以如图1所 示，使第一光学元件与第二光学元件的垂直面(与光轴垂直的一面)可以相面对的设置。在另一种实施方式中，也可以使第一光学元件与第二光学元件的斜面相面对的设置，此时，两者的垂直面各在一端。当然，对于第一光学元件和第二光学元件，光束所穿过的两个面可以都不与光轴垂直，并非一定要有一与光轴垂直的垂直面。For the optical element, it can be one or a combination of lens, prism, liquid crystal, optical phased array (Optical Phased Array), etc. In one embodiment, the first optical element and the second optical element may both be wedge prisms. Wedge angle prisms may be prisms of varying thickness. In one embodiment, as shown in FIG. 1 , the vertical planes (the planes perpendicular to the optical axis) of the first optical element and the second optical element can be arranged to face each other. In another embodiment, the inclined surfaces of the first optical element and the second optical element may also be arranged to face each other, and in this case, the vertical surfaces of the two are at one end. Of course, for the first optical element and the second optical element, the two surfaces through which the light beams pass may not be perpendicular to the optical axis, and there is not necessarily a vertical surface perpendicular to the optical axis.
楔角棱镜对光束所形成的偏折角可以通过δ＝α(n-1)的公式计算。其中，δ是偏折角，n是折射率，与楔角棱镜所采用的材料有关，α是楔角大小。因此，为使第一光学元件与第二光学元件对光脉冲序列所形成的偏折角不同，在一种实施方式中，第一光学元件与第二光学元件的可以楔角相同而材料不同。在另一种实施方式中，第一光学元件与第二光学元件的可以材料相同而楔角不同。在又一种实施方式中，第一光学元件与第二光学元件的可以楔角和材料都不同。The deflection angle formed by the wedge prism to the light beam can be calculated by the formula of δ=α(n-1). Among them, δ is the deflection angle, n is the refractive index, which is related to the material used in the wedge angle prism, and α is the size of the wedge angle. Therefore, in order to make the deflection angle formed by the first optical element and the second optical element to the light pulse sequence different, in one embodiment, the first optical element and the second optical element have the same wedge angle and different materials. In another embodiment, the first optical element and the second optical element may be made of the same material but with different wedge angles. In yet another embodiment, the wedge angle and material of the first optical element and the second optical element are different.
当第一光学元件与第二光学元件对光脉冲序列所形成的偏折角不同时，光脉冲序列经旋转的第一光学元件和第二光学元件折射后扫描形成的扫描图案(即基础图案)不再是图3A那种中间部分在竖直方向上向内收缩的图案，而是可以整体呈椭圆状。以光源为六线，即光源包括六个发光芯片为例，当第一光学元件与第二光学元件对光脉冲序列所形成的偏折角不同时，基础图案可以是如图3B、图3C或图3D所示的椭圆状图案。When the deflection angles formed by the first optical element and the second optical element for the optical pulse sequence are different, the scanning pattern (ie, the basic pattern) formed by scanning after the optical pulse sequence is refracted by the rotating first optical element and the second optical element Then there is the pattern in which the middle part shrinks inward in the vertical direction as shown in FIG. 3A , but the whole can be in an oval shape. Taking the six-wire light source as an example, that is, the light source includes six light-emitting chips, when the deflection angles formed by the first optical element and the second optical element for the light pulse sequence are different, the basic pattern can be as shown in FIG. 3B , FIG. 3C or FIG. The oval-shaped pattern shown in 3D.
进一步的，若测距装置的扫描图案中，点云点在水平方向上的分布不平直，则规则物体在扫描图案中的边缘线也不平直，从而导致后续算法适配难度大，且用户的视觉效果也不够自然。因此，在一种实施方式中，可以使测距装置在一帧时长内的扫描图案的点云点在水平方向上平直分布。Further, if in the scanning pattern of the ranging device, the distribution of point cloud points in the horizontal direction is not straight, the edge line of the regular object in the scanning pattern is not straight, which makes it difficult to adapt the subsequent algorithm, and The user's visuals are also not natural enough. Therefore, in one embodiment, the point cloud points of the scanning pattern of the ranging device within one frame duration can be distributed flat in the horizontal direction.
由于测距装置最终输出的扫描图案是在第一光学元件、第二光学元件与第三光学元件三者的共同作用下得到的，因此，测距装置在一帧时长内的扫描图案是否平直也会受到三个光学元件的共同作用。但在一种实施方式中，若第三光学元件的折射能力较弱，则可以忽略其对点云点是否平直的造成的影响，只要使基础图案，即光脉冲序列经第一光学元件和第二光学元件折射后扫描形成的扫描图案，其点云点在水平方向上平直分布即可，如图3D。Since the scanning pattern finally output by the ranging device is obtained under the joint action of the first optical element, the second optical element and the third optical element, whether the scanning pattern of the ranging device within one frame is straight or not It is also subject to the combined action of three optical elements. However, in an embodiment, if the refractive power of the third optical element is weak, its influence on whether the point cloud is straight or not can be ignored, as long as the basic pattern, that is, the light pulse sequence, is passed through the first optical element and the For the scanning pattern formed by scanning after refraction by the second optical element, the point cloud points of the scanning pattern may be distributed flat in the horizontal direction, as shown in Figure 3D.
在另一种实施方式中，若第三光学元件的折射能力较强，则即便基础图案的点云点在水平方向上平直分布，但在结合第三光学元件的折射后，最终呈现的扫描图案的点云点将不会平直。对于这种情况，则需要兼顾三个光学元件的综合作用来协调三个光学元件的偏折角。In another embodiment, if the refractive power of the third optical element is strong, even if the point cloud points of the basic pattern are distributed flat in the horizontal direction, after combining the refraction of the third optical element, the final scanning The point cloud points of the pattern will not be straight. In this case, it is necessary to take into account the comprehensive effects of the three optical elements to coordinate the deflection angles of the three optical elements.
在一种实施方式中，第一光学元件对光脉冲序列所形成的偏折角与第二光学元件 对光脉冲序列所形成的偏折角的差值(为方便，后文将该差值称为偏折角差值)可以在2度-10度之间，如此，所得到的基础图案的点云点在水平方向上可以平直分布。In one embodiment, the difference between the deflection angle formed by the first optical element to the optical pulse sequence and the deflection angle formed by the second optical element to the optical pulse sequence (for convenience, the difference is hereinafter referred to as deflection The angle difference) can be between 2 degrees and 10 degrees, so that the point cloud points of the obtained basic pattern can be flatly distributed in the horizontal direction.
需要说明的是，本申请文件所提及的平直，同样并不是指绝对的平直，即便点云点之间的竖直高度有些许不同，但只要该些许不同在合理的范围内(该范围由本领域技术人员根据经验自行设定)，则仍属于本申请文件所提及的平直。It should be noted that the straightness mentioned in this application document also does not mean absolute straightness. Even if the vertical heights between the point cloud points are slightly different, as long as the slight difference is within a reasonable range (the The scope is set by those skilled in the art according to experience), then it still belongs to the straightness mentioned in this application document.
在测距装置工作时，第一光学元件与第二光学元件处于旋转状态，在该旋转过程中，第一光学元件对光脉冲序列在竖直面上形成的偏折角至少在部分时长内保持不变，相应的，第二光学元件对光脉冲序列在竖直面上形成的偏折角也至少在部分时长内保持不变，如此，第一光学元件与第二光学元件之间的偏折角差值也可以在旋转过程中保持不变。其中，竖直面是垂直于水平面的平面，其可以是面向光源、垂直于准直后的光序列脉冲的竖直面。When the distance measuring device is working, the first optical element and the second optical element are in a rotating state, and during the rotation process, the deflection angle formed by the first optical element on the vertical plane of the light pulse sequence remains unchanged for at least part of the time. Correspondingly, the deflection angle formed by the second optical element on the vertical plane of the light pulse sequence also remains unchanged for at least part of the time period. In this way, the deflection angle difference between the first optical element and the second optical element It can also remain unchanged during rotation. The vertical plane is a plane perpendicular to the horizontal plane, which may be a vertical plane facing the light source and perpendicular to the collimated light sequence pulse.
当第一光学元件与第二光学元件之间的存在偏折角差值时，如前文所述，基础图案整体呈椭圆状，如图3B、图3C、图3D。同样的，在前文中已有说明，第三光学元件可以使得基础图案的基准点沿圆形轨迹运动。而该圆形轨迹的具体形状，则与第三光学元件的偏折能力相关。若第三光学元件对光脉冲序列所形成的偏折角过小，则该圆形轨迹的范围也小，在基础图案的基准点沿该圆形轨迹运动时，由于基础图案整体呈椭圆状，中心处有较大的空白，因此最终扫描形成的扫描图案将会出现中心无点的情况，如图4所示。所以，在一种实施方式中，第三光学元件对光脉冲序列所形成的偏折角可以大于第一光学元件与第二光学元件之间的偏折角差值，从而避免上述问题。When there is a deflection angle difference between the first optical element and the second optical element, as described above, the basic pattern is elliptical as a whole, as shown in FIG. 3B , FIG. 3C , and FIG. 3D . Likewise, as described above, the third optical element can make the reference point of the basic pattern move along a circular trajectory. The specific shape of the circular track is related to the deflection ability of the third optical element. If the deflection angle formed by the third optical element for the optical pulse sequence is too small, the range of the circular trajectory is also small. There is a large blank at the center, so the scanning pattern formed by the final scan will have no point in the center, as shown in Figure 4. Therefore, in one embodiment, the deflection angle formed by the third optical element for the light pulse sequence may be greater than the deflection angle difference between the first optical element and the second optical element, thereby avoiding the above-mentioned problem.
在一种实施方式中，第三光学元件也可以与第一光学元件、第二光学元件同为楔角棱镜，并且，第三光学元件的口径可以大于第一光学元件的口径，以增大光接收孔径。在前文中已有说明，第一光学元件与第二光学元件的楔角可以相同，也可以不同，而在一种实施方式中，第三光学元件的楔角可以小于第一光学元件或第二光学元件的楔角。具体的，在一个例子中，第三光学元件的楔角可以小于第一光学元件或第二光学元件的楔角的一半。In one embodiment, the third optical element can also be a wedge prism with the first optical element and the second optical element, and the aperture of the third optical element can be larger than the aperture of the first optical element to increase the light receive aperture. As described above, the wedge angle of the first optical element and the second optical element may be the same or different, and in an implementation manner, the wedge angle of the third optical element may be smaller than that of the first optical element or the second optical element. The wedge angle of the optical element. Specifically, in one example, the wedge angle of the third optical element may be less than half of the wedge angle of the first optical element or the second optical element.
在一种实施方式中，各个光学元件上可以镀有增透膜。In one embodiment, each optical element may be coated with an anti-reflection coating.
在一种实施方式中，光学元件表面上可以镀有滤光层，或者，可以在光束传播路径上设置滤光器，用于透射光源所出射的光束所在波段，反射其他波段，以减少环境光给接收器带来的噪音。In one embodiment, a filter layer may be coated on the surface of the optical element, or a filter may be arranged on the beam propagation path to transmit the wavelength band of the beam emitted by the light source and reflect other wavelength bands to reduce ambient light noise to the receiver.
可以参见图5，图5是本申请实施例提供的测距装置在一帧时长内的扫描图案，该图5所示的扫描图案仅作为一个示例。该图5所对应的测距装置，其光源包括六个 发光芯片，其中，第一光学元件与第二光学元件对光脉冲序列所形成的偏折角不同，且两者之间的偏折角差值在两者等速反向旋转的过程中保持不变。其中，通过控制器对光学元件的驱动器参数进行配置，使第一光学元件的转速在7000rpm-10000rpm之间，第三光学元件的转速在580rpm-850rpm之间。Referring to FIG. 5 , FIG. 5 is a scanning pattern of the ranging device provided by the embodiment of the present application within one frame duration, and the scanning pattern shown in FIG. 5 is only an example. The light source of the distance measuring device corresponding to FIG. 5 includes six light-emitting chips, wherein the deflection angles formed by the first optical element and the second optical element for the light pulse sequence are different, and the deflection angle difference between the two is different. It remains unchanged during the same speed and reverse rotation of the two. Wherein, the driver parameters of the optical element are configured by the controller, so that the rotational speed of the first optical element is between 7000rpm-10000rpm, and the rotational speed of the third optical element is between 580rpm-850rpm.
可见，本申请实施例提供的测距装置，其在一帧时长内的扫描图案，中心区域的点云密度高于四周区域(包括上下左右)的点云密度。并且，该扫描图案具有足够大的视场角，其中，水平视场角大于竖直视场角，在图5所示的例子中，水平视场角可以大于竖直视场角的两倍，扫描图案整体呈矩形状。It can be seen that, in the ranging device provided by the embodiment of the present application, in the scanning pattern within one frame duration, the point cloud density in the central area is higher than the point cloud density in the surrounding areas (including up, down, left, and right). Moreover, the scanning pattern has a sufficiently large field of view, wherein the horizontal field of view is greater than the vertical field of view. In the example shown in FIG. 5 , the horizontal field of view may be greater than twice the vertical field of view. The scanning pattern has a rectangular shape as a whole.
还可以提供另一示例的测距装置。在该示例中，测距装置的光源可以包括12个发光芯片，即12线光源。扫描模块中的第一光学元件、第二光学元件与第三光学元件可以均为楔角棱镜，三个光学元件的材料可以分别为HK9、HZF6、HZK9B，楔角可以分别为24度、24度、10度。其中，可以使第一光学元件的转速为7522rpm，第二光学元件等速反向，转速为-7522rpm，第三光学元件的转速可以为+632rpm或-632rpm。如此，测距装置在一帧时长内的扫描图案可以参考图6，该扫描图案在整个视场内的点云密度都非常高，最大空隙在0.2度以下，点云覆盖率极高。Another example ranging device may also be provided. In this example, the light source of the ranging device may include 12 light-emitting chips, ie, 12-line light sources. The first optical element, the second optical element and the third optical element in the scanning module can all be wedge prisms, the materials of the three optical elements can be HK9, HZF6, HZK9B respectively, and the wedge angles can be 24 degrees and 24 degrees respectively. ,10 degrees. Wherein, the rotational speed of the first optical element can be set to 7522 rpm, the rotational speed of the second optical element can be equal and reversed at -7522 rpm, and the rotational speed of the third optical element can be set to +632 rpm or -632 rpm. In this way, the scanning pattern of the ranging device in one frame can refer to Figure 6. The scanning pattern has a very high point cloud density in the entire field of view, the maximum gap is below 0.2 degrees, and the point cloud coverage is extremely high.
以上为本申请实施例提供的测距装置的详细说明。本申请实施例提供的测距装置，包括光源，用于出射光脉冲序列；扫描模块，包括可旋转的第一光学元件、第二光学元件与第三光学元件，其中，第一光学元件与第二光学元件等速反向旋转。扫描模块用于，对光脉冲序列通过第一光学元件、第二光学元件与第三光学元件进行折射，以对外界环境进行扫描。其中，测距装置在一帧时长内的扫描图案，在经过中心区域的竖直方向和/或水平方向上，中间的点云密度均高于两端的点云密度，从而能够满足中心区域的高精度识别探测需求。The above is a detailed description of the ranging apparatus provided by the embodiments of the present application. The ranging device provided by the embodiment of the present application includes a light source for emitting a light pulse sequence; a scanning module includes a rotatable first optical element, a second optical element and a third optical element, wherein the first optical element and the third optical element are rotatable. The two optical elements rotate in opposite directions at the same speed. The scanning module is used to refract the light pulse sequence through the first optical element, the second optical element and the third optical element, so as to scan the external environment. Among them, in the scanning pattern of the ranging device within one frame, in the vertical direction and/or the horizontal direction passing through the central area, the density of the point cloud in the middle is higher than the density of the point clouds at both ends, so that the high density of the central area can be satisfied. Accurately identify detection needs.
需要说明的是，以上提供了测距装置的多种实施方式，其中，不同实施方式之间，只要不存在冲突或矛盾，本领域技术人员可以根据实际情况自由组合。而限于组合的方式极多，本申请文件无法穷举，因此未对所有组合得到的实施方式展开说明，但可以理解的是，这些组合得到的实施方式也属于本申请文件公开的范围。It should be noted that the above provides various embodiments of the ranging device, wherein, as long as there is no conflict or contradiction between the different embodiments, those skilled in the art can freely combine them according to the actual situation. However, there are many ways of combination, and this document cannot be exhaustive, so all the embodiments obtained by combination are not described, but it can be understood that the embodiments obtained by these combinations also belong to the scope disclosed in this document.
本申请实施例还提供了一种移动平台，该移动平台可以包括移动平台本体与搭载在移动平台本体上的测距装置。移动平台可以包括无人飞行器、汽车、遥控车、机器人、相机中的至少一种。当测距装置应用于无人飞行器时，移动平台本体为无人飞行器的机身。当测距装置应用于汽车时，移动平台本体为汽车的车身。该汽车可以是自动驾驶汽车或者半自动驾驶汽车，在此不做限制。当测距装置应用于遥控车时，移动 平台本体为遥控车的车身。当测距装置应用于机器人时，移动平台本体为机器人。当测距装置应用于相机时，移动平台本体为相机本身。The embodiment of the present application also provides a mobile platform, and the mobile platform may include a mobile platform body and a ranging device mounted on the mobile platform body. The mobile platform may include 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 mobile platform body is the fuselage of the unmanned aerial vehicle. When the distance measuring device is applied to an automobile, the body of the mobile platform 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 mobile platform body is the body of the remote control car. When the distance measuring device is applied to the robot, the mobile platform body is the robot. When the ranging device is applied to the camera, the mobile platform body is the camera itself.
与前文一致的，该测距装置可以包括：Consistent with the foregoing, the ranging device may include:
光源，用于出射光脉冲序列；a light source for emitting a sequence of light pulses;
扫描模块，所述扫描模块包括可旋转的第一光学元件、第二光学元件与第三光学元件，其中，所述第一光学元件与所述第二光学元件等速反向旋转；a scanning module, the scanning module includes a rotatable first optical element, a second optical element and a third optical element, wherein the first optical element and the second optical element rotate in opposite directions at the same speed;
所述扫描模块用于，对所述光脉冲序列通过所述第一光学元件、所述第二光学元件与所述第三光学元件进行折射，以对外界环境进行扫描；其中，所述测距装置在一帧时长内的扫描图案在中心区域的竖直方向上，中间的点云密度高于两端的点云密度。The scanning module is used to refract the light pulse sequence through the first optical element, the second optical element and the third optical element to scan the external environment; wherein the ranging The scanning pattern of the device within one frame duration is in the vertical direction of the central area, and the density of the point cloud in the middle is higher than that of the point clouds at both ends.
可选的，所述第一光学元件与所述第二光学元件对所述光脉冲序列所形成的偏折角不同。Optionally, the deflection angles formed by the first optical element and the second optical element for the light pulse sequence are different.
可选的，所述光脉冲序列经旋转的所述第一光学元件和所述第二光学元件折射后，扫描形成的扫描图案整体呈椭圆状。Optionally, after the optical pulse sequence is refracted by the rotating first optical element and the second optical element, the scanning pattern formed by scanning is elliptical as a whole.
可选的，所述测距装置在一帧时长内的扫描图案的点云点在水平方向上平直分布。Optionally, the point cloud points of the scanning pattern within one frame of the distance measuring device are distributed flat in the horizontal direction.
可选的，所述光脉冲序列经旋转的所述第一光学元件和所述第二光学元件折射后，扫描形成的扫描图案的点云点在水平方向上平直分布。Optionally, after the optical pulse sequence is refracted by the rotating first optical element and the second optical element, the point cloud points of the scanning pattern formed by scanning are distributed flat in the horizontal direction.
可选的，所述第一光学元件与所述第二光学元件分别对所述光脉冲序列所形成的偏折角的差值在2度-10度之间。Optionally, the difference between the deflection angles formed by the first optical element and the second optical element with respect to the light pulse sequence is between 2 degrees and 10 degrees.
可选的，所述第一光学元件与所述第二光学元件分别对所述光脉冲序列在竖直面上形成的偏折角在旋转时至少部分时长内保持不变。Optionally, the deflection angles respectively formed by the first optical element and the second optical element on the vertical plane of the optical pulse sequence remain unchanged during rotation at least for a part of the time period.
可选的，所述第一光学元件与所述第二光学元件为楔角棱镜，所述第一光学元件与所述第二光学元件的楔角和/或折射率不同。Optionally, the first optical element and the second optical element are wedge angle prisms, and the wedge angle and/or the refractive index of the first optical element and the second optical element are different.
可选的，所述第三光学元件对所述光脉冲序列所形成的偏折角大于所述第一光学元件与所述第二光学元件分别对所述光脉冲序列所形成的偏折角的差值。Optionally, the deflection angle formed by the third optical element for the optical pulse sequence is greater than the difference between the deflection angles formed by the first optical element and the second optical element respectively for the optical pulse sequence .
可选的，所述第一光学元件的转速是所述第三光学元件的转速的10倍-20倍。Optionally, the rotational speed of the first optical element is 10 times to 20 times the rotational speed of the third optical element.
可选的，所述第一光学元件的转速位于7000rpm-10000rpm之间。Optionally, the rotational speed of the first optical element is between 7000rpm and 10000rpm.
可选的，所述第三光学元件的转速位于580rpm-850rpm之间。Optionally, the rotational speed of the third optical element is between 580rpm and 850rpm.
可选的，所述第一光学元件、所述第二光学元件与所述第三光学元件绕同一中心轴旋转。Optionally, the first optical element, the second optical element and the third optical element rotate around the same central axis.
可选的，所述第一光学元件、所述第二光学元件与所述第三光学元件均为楔角棱镜，所述第三光学元件的口径大于所述第一光学元件的口径。Optionally, the first optical element, the second optical element and the third optical element are all wedge prisms, and the aperture of the third optical element is larger than the aperture of the first optical element.
可选的，所述第一光学元件和所述第二光学元件的楔角相同；和/或，Optionally, the wedge angles of the first optical element and the second optical element are the same; and/or,
所述第三光学元件的楔角小于所述第一光学元件或所述第二光学元件的楔角。The wedge angle of the third optical element is smaller than the wedge angle of the first optical element or the second optical element.
可选的，所述第三光学元件的楔角小于所述第一光学元件或所述第二光学元件的楔角的一半。Optionally, the wedge angle of the third optical element is less than half of the wedge angle of the first optical element or the second optical element.
可选的，所述第一光学元件与所述第二光学元件的垂直面或斜面相对设置。Optionally, the first optical element is disposed opposite to the vertical plane or inclined plane of the second optical element.
可选的，所述一帧时长位于0.04s～0.2s之间。Optionally, the duration of one frame is between 0.04s and 0.2s.
可选的，所述测距装置在一帧时长内的扫描图案的中心区域的点云密度高于四周区域的点云密度。Optionally, the point cloud density of the central region of the scanning pattern of the distance measuring device within one frame duration is higher than the point cloud density of the surrounding regions.
可选的，所述测距装置在一帧时长内的扫描图案的水平视场角大于竖直视场角。Optionally, the horizontal field of view of the scanning pattern within one frame of the distance measuring device is larger than the vertical field of view.
可选的，所述测距装置在一帧时长内的扫描图案整体呈矩形状。Optionally, the scanning pattern of the distance measuring device in one frame is in the shape of a rectangle as a whole.
可选的，所述测距装置在一帧时长的扫描图案的水平视场角大于竖直视场角的两倍。Optionally, the horizontal field of view of the scanning pattern with a duration of one frame of the ranging device is greater than twice the vertical field of view.
可选的，所述光源包括至少两个发光芯片，用于分别沿不同光路出射光脉冲序列。Optionally, the light source includes at least two light-emitting chips for respectively emitting light pulse sequences along different light paths.
可选的，所述至少两个发光芯片之间的间距位于200um～800um之间。Optionally, the distance between the at least two light-emitting chips is between 200um and 800um.
本申请实施例提供的移动平台，其所搭载的测距装置在一帧时长内的扫描图案，在经过中心区域的竖直方向和/或水平方向上，中间的点云密度高于两端的点云密度，从而能够满足中心区域的高精度识别探测需求。In the mobile platform provided by the embodiment of the present application, the scanning pattern of the distance measuring device mounted on the mobile platform is higher than the point cloud density at the two ends in the vertical direction and/or the horizontal direction passing through the central area in the vertical direction and/or the horizontal direction. Cloud density, so as to meet the high-precision identification and detection requirements of the central area.
以上所提供的移动平台的各种实施方式，其具体实现可以参考前文中关于测距装置的相关说明，在此不再赘述。For the various implementation manners of the mobile platform provided above, reference may be made to the relevant descriptions about the distance measuring apparatus in the foregoing for the specific implementation, which will not be repeated here.
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. The terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion such that a process, method, article or device comprising a list of elements includes not only those elements, but also other not expressly listed elements, or also include elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.
以上对本发明实施例所提供的装置进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明 的限制。The devices provided by the embodiments of the present invention are described in detail above, and specific examples are used to illustrate the principles and implementations of the present invention. The descriptions of the above embodiments are only used to help understand the methods and core ideas of the present invention. At the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific embodiments and application scope. To sum up, the content of this specification should not be construed as a limitation to the present invention.

Claims (48)

  1. 一种测距装置，其特征在于，包括：A distance measuring device, comprising:
    光源，用于出射光脉冲序列；a light source for emitting a sequence of light pulses;
    扫描模块，所述扫描模块包括可旋转的第一光学元件、第二光学元件与第三光学元件，其中，所述第一光学元件与所述第二光学元件等速反向旋转；a scanning module, the scanning module includes a rotatable first optical element, a second optical element and a third optical element, wherein the first optical element and the second optical element rotate in opposite directions at the same speed;
    所述扫描模块用于，对所述光脉冲序列通过所述第一光学元件、所述第二光学元件与所述第三光学元件进行折射，以对外界环境进行扫描；其中，所述测距装置在一帧时长内的扫描图案在中心区域的竖直方向上，中间的点云密度高于两端的点云密度。The scanning module is used to refract the light pulse sequence through the first optical element, the second optical element and the third optical element to scan the external environment; wherein the ranging The scanning pattern of the device within one frame duration is in the vertical direction of the central area, and the density of the point cloud in the middle is higher than that of the point clouds at both ends.
  2. 根据权利要求1所述的测距装置，其特征在于，所述第一光学元件与所述第二光学元件对所述光脉冲序列所形成的偏折角不同。The distance measuring device according to claim 1, wherein the deflection angles formed by the first optical element and the second optical element for the light pulse sequence are different.
  3. 根据权利要求2所述的测距装置，其特征在于，所述光脉冲序列经旋转的所述第一光学元件和所述第二光学元件折射后，扫描形成的扫描图案整体呈椭圆状。The distance measuring device according to claim 2, wherein after the optical pulse sequence is refracted by the rotating first optical element and the second optical element, the scanning pattern formed by scanning is elliptical as a whole.
  4. 根据权利要求2所述的测距装置，其特征在于，所述测距装置在一帧时长内的扫描图案的点云点在水平方向上平直分布。The distance measuring device according to claim 2, wherein the point cloud points of the scanning pattern of the distance measuring device within one frame duration are distributed flat in the horizontal direction.
  5. 根据权利要求4所述的测距装置，其特征在于，所述光脉冲序列经旋转的所述第一光学元件和所述第二光学元件折射后，扫描形成的扫描图案的点云点在水平方向上平直分布。The distance measuring device according to claim 4, wherein after the optical pulse sequence is refracted by the rotating first optical element and the second optical element, the point cloud of the scanning pattern formed by scanning is horizontal Straight distribution in the direction.
  6. 根据权利要求2所述的测距装置，其特征在于，所述第一光学元件与所述第二光学元件分别对所述光脉冲序列所形成的偏折角的差值在2度-10度之间。The distance measuring device according to claim 2, wherein the difference between the deflection angles formed by the first optical element and the second optical element respectively for the light pulse sequence is between 2 degrees and 10 degrees. between.
  7. 根据权利要求2所述的测距装置，其特征在于，所述第一光学元件与所述第二光学元件分别对所述光脉冲序列在竖直面上形成的偏折角在旋转时至少部分时长内保持不变。The distance measuring device according to claim 2, wherein the deflection angle formed by the first optical element and the second optical element on the vertical plane of the optical pulse sequence is at least a part of the duration when rotating. remain unchanged within.
  8. 根据权利要求2所述的测距装置，其特征在于，所述第一光学元件与所述第二光学元件为楔角棱镜，所述第一光学元件与所述第二光学元件的楔角和/或折射率不同。The distance measuring device according to claim 2, wherein the first optical element and the second optical element are wedge angle prisms, and the wedge angle sum of the first optical element and the second optical element / or different refractive indices.
  9. 根据权利要求2所述的测距装置，其特征在于，所述第三光学元件对所述光脉冲序列所形成的偏折角大于所述第一光学元件与所述第二光学元件分别对所述光脉冲序列所形成的偏折角的差值。The distance measuring device according to claim 2, wherein the deflection angle formed by the third optical element for the light pulse sequence is greater than the deflection angle formed by the first optical element and the second optical element for the optical pulse sequence, respectively. The difference in deflection angle formed by a sequence of light pulses.
  10. 根据权利要求1所述的测距装置，其特征在于，所述第一光学元件的转速是所述第三光学元件的转速的10倍-20倍。The distance measuring device according to claim 1, wherein the rotational speed of the first optical element is 10 times to 20 times the rotational speed of the third optical element.
  11. 根据权利要求1所述的测距装置，其特征在于，所述第一光学元件的转速位 于7000rpm-10000rpm之间。The distance measuring device according to claim 1, wherein the rotational speed of the first optical element is between 7000rpm and 10000rpm.
  12. 根据权利要求1所述的测距装置，其特征在于，所述第三光学元件的转速位于580rpm-850rpm之间。The distance measuring device according to claim 1, wherein the rotational speed of the third optical element is between 580rpm and 850rpm.
  13. 根据权利要求1所述的测距装置，其特征在于，所述第一光学元件、所述第二光学元件与所述第三光学元件绕同一中心轴旋转。The distance measuring device according to claim 1, wherein the first optical element, the second optical element and the third optical element rotate around the same central axis.
  14. 根据权利要求1所述的测距装置，其特征在于，所述第一光学元件、所述第二光学元件与所述第三光学元件均为楔角棱镜，所述第三光学元件的口径大于所述第一光学元件的口径。The distance measuring device according to claim 1, wherein the first optical element, the second optical element and the third optical element are all wedge prisms, and the diameter of the third optical element is larger than The aperture of the first optical element.
  15. 根据权利要求14所述的测距装置，其特征在于，所述第一光学元件和所述第二光学元件的楔角相同；和/或，The distance measuring device according to claim 14, wherein the wedge angles of the first optical element and the second optical element are the same; and/or,
    所述第三光学元件的楔角小于所述第一光学元件或所述第二光学元件的楔角。The wedge angle of the third optical element is smaller than the wedge angle of the first optical element or the second optical element.
  16. 根据权利要求15所述的测距装置，其特征在于，所述第三光学元件的楔角小于所述第一光学元件或所述第二光学元件的楔角的一半。The distance measuring device according to claim 15, wherein the wedge angle of the third optical element is less than half of the wedge angle of the first optical element or the second optical element.
  17. 根据权利要求14所述的测距装置，其特征在于，所述第一光学元件与所述第二光学元件的垂直面或斜面相对设置。The distance measuring device according to claim 14, wherein the first optical element and the vertical plane or inclined plane of the second optical element are disposed opposite to each other.
  18. 根据权利要求1所述的测距装置，其特征在于，所述一帧时长位于0.04s～0.2s之间。The distance measuring device according to claim 1, wherein the duration of one frame is between 0.04s and 0.2s.
  19. 根据权利要求1所述的测距装置，其特征在于，所述测距装置在一帧时长内的扫描图案的中心区域的点云密度高于四周区域的点云密度。The distance measuring device according to claim 1, wherein the point cloud density of the central area of the scanning pattern of the distance measuring device within one frame is higher than the point cloud density of the surrounding areas.
  20. 根据权利要求1所述的测距装置，其特征在于，所述测距装置在一帧时长内的扫描图案的水平视场角大于竖直视场角。The distance measuring device according to claim 1, wherein a horizontal field of view angle of the scanning pattern of the distance measuring device within one frame duration is greater than a vertical field of view angle.
  21. 根据权利要求20所述的测距装置，其特征在于，所述测距装置在一帧时长内的扫描图案整体呈矩形状。The distance measuring device according to claim 20, wherein the scanning pattern of the distance measuring device in one frame is in the shape of a rectangle as a whole.
  22. 根据权利要求20所述的测距装置，其特征在于，所述测距装置在一帧时长的扫描图案的水平视场角大于竖直视场角的两倍。The distance measuring device according to claim 20, characterized in that, the horizontal field of view angle of the scanning pattern with one frame duration of the distance measuring device is greater than twice the vertical field of view.
  23. 根据权利要求1所述的测距装置，其特征在于，所述光源包括至少两个发光芯片，用于分别沿不同光路出射光脉冲序列。The distance measuring device according to claim 1, wherein the light source comprises at least two light-emitting chips for respectively emitting light pulse sequences along different optical paths.
  24. 根据权利要求23所述的测距装置，其特征在于，所述至少两个发光芯片之间的间距位于200um～800um之间。The distance measuring device according to claim 23, wherein the distance between the at least two light-emitting chips is between 200um and 800um.
  25. 一种移动平台，其特征在于，包括移动平台本体与搭载在所述移动平台本体上的测距装置；A mobile platform is characterized by comprising a mobile platform body and a distance measuring device mounted on the mobile platform body;
    所述测距装置包括：The distance measuring device includes:
    光源，用于出射光脉冲序列；a light source for emitting a sequence of light pulses;
    扫描模块，所述扫描模块包括可旋转的第一光学元件、第二光学元件与第三光学元件，其中，所述第一光学元件与所述第二光学元件等速反向旋转；a scanning module, the scanning module includes a rotatable first optical element, a second optical element and a third optical element, wherein the first optical element and the second optical element rotate in opposite directions at the same speed;
    所述扫描模块用于，对所述光脉冲序列通过所述第一光学元件、所述第二光学元件与所述第三光学元件进行折射，以对外界环境进行扫描；其中，所述测距装置在一帧时长内的扫描图案在中心区域的竖直方向上，中间的点云密度高于两端的点云密度。The scanning module is used to refract the light pulse sequence through the first optical element, the second optical element and the third optical element to scan the external environment; wherein the ranging The scanning pattern of the device within one frame duration is in the vertical direction of the central area, and the density of the point cloud in the middle is higher than that of the point clouds at both ends.
  26. 根据权利要求25所述的移动平台，其特征在于，所述第一光学元件与所述第二光学元件对所述光脉冲序列所形成的偏折角不同。The mobile platform according to claim 25, wherein the deflection angles formed by the first optical element and the second optical element for the light pulse sequence are different.
  27. 根据权利要求26所述的移动平台，其特征在于，所述光脉冲序列经旋转的所述第一光学元件和所述第二光学元件折射后，扫描形成的扫描图案整体呈椭圆状。The mobile platform according to claim 26, wherein after the optical pulse sequence is refracted by the rotating first optical element and the second optical element, the scanning pattern formed by scanning is elliptical as a whole.
  28. 根据权利要求26所述的移动平台，其特征在于，所述测距装置在一帧时长内的扫描图案的点云点在水平方向上平直分布。The mobile platform according to claim 26, wherein the point cloud points of the scanning pattern of the ranging device within one frame duration are distributed flat in the horizontal direction.
  29. 根据权利要求28所述的移动平台，其特征在于，所述光脉冲序列经旋转的所述第一光学元件和所述第二光学元件折射后，扫描形成的扫描图案的点云点在水平方向上平直分布。The mobile platform according to claim 28, wherein after the optical pulse sequence is refracted by the rotating first optical element and the second optical element, the point cloud points of the scanning pattern formed by scanning are in a horizontal direction top flat distribution.
  30. 根据权利要求26所述的移动平台，其特征在于，所述第一光学元件与所述第二光学元件分别对所述光脉冲序列所形成的偏折角的差值在2度-10度之间。The mobile platform according to claim 26, wherein the difference between the deflection angles formed by the first optical element and the second optical element respectively for the light pulse sequence is between 2 degrees and 10 degrees. .
  31. 根据权利要求26所述的移动平台，其特征在于，所述第一光学元件与所述第二光学元件分别对所述光脉冲序列在竖直面上形成的偏折角在旋转时至少部分时长内保持不变。The mobile platform according to claim 26, wherein the deflection angles formed by the first optical element and the second optical element on the vertical plane of the light pulse sequence respectively are within at least part of the duration of the rotation. constant.
  32. 根据权利要求26所述的移动平台，其特征在于，所述第一光学元件与所述第二光学元件为楔角棱镜，所述第一光学元件与所述第二光学元件的楔角和/或折射率不同。The mobile platform according to claim 26, wherein the first optical element and the second optical element are wedge prisms, and the wedge angle and/or the wedge angle of the first optical element and the second optical element are or different refractive indices.
  33. 根据权利要求26所述的移动平台，其特征在于，所述第三光学元件对所述光脉冲序列所形成的偏折角大于所述第一光学元件与所述第二光学元件分别对所述光脉冲序列所形成的偏折角的差值。The mobile platform according to claim 26, wherein the deflection angle formed by the third optical element to the light pulse sequence is greater than the deflection angle formed by the first optical element and the second optical element to the light respectively. The difference in deflection angle formed by the pulse train.
  34. 根据权利要求25所述的移动平台，其特征在于，所述第一光学元件的转速是所述第三光学元件的转速的10倍-20倍。The mobile platform according to claim 25, wherein the rotational speed of the first optical element is 10 times to 20 times the rotational speed of the third optical element.
  35. 根据权利要求25所述的移动平台，其特征在于，所述第一光学元件的转速位于7000rpm-10000rpm之间。The mobile platform according to claim 25, wherein the rotational speed of the first optical element is between 7000rpm-10000rpm.
  36. 根据权利要求25所述的移动平台，其特征在于，所述第三光学元件的转速位于580rpm-850rpm之间。The mobile platform according to claim 25, wherein the rotational speed of the third optical element is between 580rpm and 850rpm.
  37. 根据权利要求25所述的移动平台，其特征在于，所述第一光学元件、所述第二光学元件与所述第三光学元件绕同一中心轴旋转。The mobile platform according to claim 25, wherein the first optical element, the second optical element and the third optical element rotate around the same central axis.
  38. 根据权利要求25所述的移动平台，其特征在于，所述第一光学元件、所述第二光学元件与所述第三光学元件均为楔角棱镜，所述第三光学元件的口径大于所述第一光学元件的口径。The mobile platform according to claim 25, wherein the first optical element, the second optical element and the third optical element are all wedge prisms, and the diameter of the third optical element is larger than that of the third optical element. The aperture of the first optical element.
  39. 根据权利要求38所述的移动平台，其特征在于，所述第一光学元件和所述第二光学元件的楔角相同；和/或，The mobile platform according to claim 38, wherein the wedge angle of the first optical element and the second optical element are the same; and/or,
    所述第三光学元件的楔角小于所述第一光学元件或所述第二光学元件的楔角。The wedge angle of the third optical element is smaller than the wedge angle of the first optical element or the second optical element.
  40. 根据权利要求39所述的移动平台，其特征在于，所述第三光学元件的楔角小于所述第一光学元件或所述第二光学元件的楔角的一半。The mobile platform of claim 39, wherein the wedge angle of the third optical element is less than half of the wedge angle of the first optical element or the second optical element.
  41. 根据权利要求38所述的移动平台，其特征在于，所述第一光学元件与所述第二光学元件的垂直面或斜面相对设置。The mobile platform according to claim 38, wherein the first optical element and the second optical element are disposed opposite to the vertical plane or the inclined plane.
  42. 根据权利要求25所述的移动平台，其特征在于，所述一帧时长位于0.04s～0.2s之间。The mobile platform according to claim 25, wherein the duration of one frame is between 0.04s and 0.2s.
  43. 根据权利要求25所述的移动平台，其特征在于，所述测距装置在一帧时长内的扫描图案的中心区域的点云密度高于四周区域的点云密度。The mobile platform according to claim 25, wherein the point cloud density of the central area of the scanning pattern of the distance measuring device is higher than the point cloud density of the surrounding areas within one frame duration.
  44. 根据权利要求25所述的移动平台，其特征在于，所述测距装置在一帧时长内的扫描图案的水平视场角大于竖直视场角。The mobile platform according to claim 25, wherein the horizontal field of view of the scanning pattern within one frame of the distance measuring device is larger than the vertical field of view.
  45. 根据权利要求44所述的移动平台，其特征在于，所述测距装置在一帧时长内的扫描图案整体呈矩形状。The mobile platform according to claim 44, wherein the scanning pattern of the distance measuring device in one frame is in the shape of a rectangle as a whole.
  46. 根据权利要求44所述的移动平台，其特征在于，所述测距装置在一帧时长的扫描图案的水平视场角大于竖直视场角的两倍。The mobile platform according to claim 44, wherein the horizontal field of view of the scanning pattern with one frame duration of the ranging device is greater than twice the vertical field of view.
  47. 根据权利要求25所述的移动平台，其特征在于，所述光源包括至少两个发光芯片，用于分别沿不同光路出射光脉冲序列。The mobile platform according to claim 25, wherein the light source comprises at least two light-emitting chips for respectively emitting light pulse sequences along different light paths.
  48. 根据权利要求47所述的移动平台，其特征在于，所述至少两个发光芯片之间的间距位于200um～800um之间。The mobile platform according to claim 47, wherein the distance between the at least two light-emitting chips is between 200um and 800um.
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