WO2022126429A1 - Appareil de télémétrie, procédé de télémétrie et plate-forme mobile - Google Patents

Appareil de télémétrie, procédé de télémétrie et plate-forme mobile Download PDF

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Publication number
WO2022126429A1
WO2022126429A1 PCT/CN2020/136824 CN2020136824W WO2022126429A1 WO 2022126429 A1 WO2022126429 A1 WO 2022126429A1 CN 2020136824 W CN2020136824 W CN 2020136824W WO 2022126429 A1 WO2022126429 A1 WO 2022126429A1
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Prior art keywords
receiving circuit
optical
optical signal
signal
circuit
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PCT/CN2020/136824
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English (en)
Chinese (zh)
Inventor
马亮亮
王栗
Original Assignee
深圳市大疆创新科技有限公司
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Priority to PCT/CN2020/136824 priority Critical patent/WO2022126429A1/fr
Priority to CN202080070692.0A priority patent/CN114556151A/zh
Publication of WO2022126429A1 publication Critical patent/WO2022126429A1/fr

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06Systems determining position data of a target
    • G01S17/08Systems determining position data of a target for measuring distance only
    • G01S17/10Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06Systems determining position data of a target
    • G01S17/08Systems determining position data of a target for measuring distance only
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481Constructional features, e.g. arrangements of optical elements
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481Constructional features, e.g. arrangements of optical elements
    • G01S7/4811Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481Constructional features, e.g. arrangements of optical elements
    • G01S7/4811Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4812Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483Details of pulse systems
    • G01S7/486Receivers
    • G01S7/487Extracting wanted echo signals, e.g. pulse detection
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/495Counter-measures or counter-counter-measures using electronic or electro-optical means

Definitions

  • the present invention generally relates to the technical field of ranging, and more particularly, to a ranging device, a ranging method and a movable platform.
  • Laser ranging devices detect the distance, orientation, shape and other parameters of the measured object by emitting laser pulse signals.
  • laser ranging devices As an advanced sensor device that can perceive three-dimensional information of the environment, laser ranging devices have been used in various intelligent robots, assisted driving, etc. , autonomous driving and other fields have been widely used.
  • the laser ranging device mainly obtains the distance, azimuth, shape and other parameters of the measured object by transmitting optical pulse signals to the measured object, and then comparing the received signal reflected from the measured object with the transmitted signal.
  • the laser ranging device will also receive noise, and the existence of noise will affect the ranging device's judgment on the measured object. Whether the received signal is noise is an urgent problem to be solved at present.
  • the first aspect of the embodiments of the present invention provides a distance measuring device, the distance measuring device includes an optical transmitter, an optical system, a first receiving circuit, a second receiving circuit, and a processing module:
  • the optical transmitter is used for sequentially transmitting optical pulse signals
  • At least part of the echo signal reflected by the object of the optical pulse signal is collected by the optical system and then received by the first receiving circuit;
  • the second receiving circuit and the first receiving circuit are turned on at the same time, and the optical signals received by the first receiving circuit and the second receiving circuit in the same period are the first optical signal and the second optical signal respectively;
  • the processing module is configured to determine whether the first optical signal is noise according to the intensities of the first optical signal and the second optical signal.
  • a second aspect of the embodiments of the present invention provides a ranging method, where the ranging method includes:
  • the first receiving circuit and the second receiving circuit are simultaneously turned on, and the first receiving circuit receives at least part of the echo signal of the optical pulse signal after being converged by the optical system;
  • Whether the first optical signal is noise is determined according to the intensities of the first optical signal and the second optical signal, wherein the first optical signal and the second optical signal are the first receiving circuit and the first receiving circuit, respectively.
  • the optical signals received by the two receiving circuits at the same time period.
  • a third aspect of the embodiments of the present invention provides a movable platform, where the movable platform includes:
  • the ranging device, the ranging method and the movable platform according to the embodiments of the present invention, at least part of the echo signals of the optical pulse signal emitted by the optical transmitter reflected by the object are collected by the optical system and then received by the first receiving circuit, and the second receiving circuit.
  • the circuit and the first receiving circuit are turned on at the same time, and the optical signals received by the first receiving circuit and the second receiving circuit in the same period are the first optical signal and the second optical signal, respectively, according to the difference between the first optical signal and the second optical signal.
  • the intensity determines whether the first optical signal is noise, thereby improving the anti-interference performance of the distance measuring device.
  • FIG. 1 shows a structural block diagram of a distance measuring apparatus according to an embodiment of the present invention
  • FIG. 2 shows a schematic diagram of the spatial layout of a distance measuring device according to an embodiment of the present invention
  • FIG. 3 shows an optical path diagram of a distance measuring device according to an embodiment of the present invention
  • FIG. 4 shows a circuit diagram of a receiving circuit of a ranging device according to an embodiment of the present invention
  • FIG. 5 shows a circuit diagram of a receiving circuit of a distance measuring device according to another embodiment of the present invention.
  • Fig. 6 shows a schematic flowchart of a ranging method according to an embodiment of the present invention.
  • the ranging apparatus in the embodiment of the present invention may be an electronic device such as a laser radar or a laser ranging device.
  • the ranging device is used to sense external environmental information, for example, distance information, orientation information, reflection intensity information, speed information and the like of environmental objects.
  • the ranging device can detect the distance from the detected object to the ranging device by measuring the time of light propagation between the ranging device and the detected object, that is, Time-of-Flight (TOF).
  • TOF Time-of-Flight
  • the ranging device can also detect the distance from the detected object to the ranging device through other techniques, such as a ranging method based on phase shift measurement, or a ranging method based on frequency shift measurement. This does not limit.
  • the distance measuring device 100 includes an optical transmitter 110 , an optical system (not shown), a receiving circuit 120 and a processing module 130 .
  • the light transmitter 110 is used for sequentially transmitting light pulse signals.
  • the number of light emitters 110 may be one or more.
  • the directions of the optical pulse signals emitted by different optical transmitters 110 are the same or different.
  • the directions of the optical pulse signals emitted by different optical transmitters 110 are different, and multiple optical transmitters are packaged together or individually.
  • the light transmitter 110 may be a laser.
  • the receiving circuit 120 is used for receiving optical signals.
  • the receiving circuit 120 includes at least a first receiving circuit 120a and a second receiving circuit 120b. At least part of the echo signals of the optical pulse signal emitted by the optical transmitter 110 reflected by the object are collected by the optical system and then received by the first receiving circuit 120a.
  • the second receiving circuit 120b and the first receiving circuit 120a are turned on at the same time, and the optical signals received by the first receiving circuit 120a and the second receiving circuit 120b in the same period are the first optical signal and the second optical signal, respectively.
  • the second receiving circuit 120b is also turned on at the same time, and the first receiving circuit 120b is also turned on at the same time.
  • the circuit 120a receives the first optical signal, while the second receiving circuit 120b receives the second optical signal.
  • the processing module 130 is configured to determine whether the first optical signal is noise according to the intensities of the first optical signal and the second optical signal, thereby improving the anti-interference performance of the laser ranging device.
  • the optical transmitter that is turned on in the current time range is referred to as the first optical transmitter 110a, and at least part of the echo signal of the optical pulse signal emitted by the first optical transmitter 110a is reflected by the object. After the optical system is converged, it is received by the first receiving circuit 120a.
  • the receiving circuit that is turned on within the same time range as the first receiving circuit 120a is called the second receiving circuit 120b, and the optical transmitter corresponding to the second receiving circuit 120b is called the second receiving circuit 120b. It is the second optical transmitter 110b.
  • the second optical transmitter 110b is not turned on in the current time range, so it is represented by a dotted line in FIG. 1. It should be noted that there may be multiple optical transmitters in this embodiment of the present application. At least some of the light emitters can be turned on in sequence in different time ranges to emit light pulse signals.
  • the received optical signal may include the echo signal of the optical pulse signal emitted by the optical transmitter and reflected by the measured object, but may also include noise.
  • the noise may be a flood light signal, for example, the stray light from other directions is incident on the photoelectric converter after multiple reflections inside the ranging device, and the intensity of such noise is relatively weak.
  • the noise may also be the light emitted by other light sources in the working scene of the ranging device, which is the same or parallel to the receiving optical path of the ranging device. This kind of noise is very strong, even much stronger than the echo signal returned by the measured object.
  • the processing module 130 compares the intensities of the first optical signal received by the first receiving circuit 120a and the second optical signal received by the second receiving circuit 120b, and judges the first optical signal according to the comparison result. whether it is noise.
  • the optical pulse signal emitted by the first optical transmitter is irradiated into the field of view (FOV) corresponding to the first optical transmitter, and the echo signal 304 reflected by the measured object in the field of view is converged by the optical system 303 to the first photoelectric converter 301 in the first receiving circuit, at this time, the first receiving circuit is in an on state, and the first photoelectric converter 301 can receive the optical signal, that is, the optical signal received by the first photoelectric converter 301 at this time.
  • the signal includes at least part of the echo signal.
  • the optical system 303 Since the second receiving circuit does not correspond to the currently turned on first optical transmitter, the optical system 303 will not condense the echo signals into the second receiving circuit. On the second photoelectric converter 302, the second photoelectric converter 302 cannot receive the echo signal, but can only receive noise, such as the optical signal reflected by the stray light 305 in other directions inside the ranging device, and the signal is a relatively strong signal. Weak floodlight signal. It can be seen from this that if the optical signal received by the first receiving circuit includes an echo signal and the second receiving circuit receives a flood light signal, the intensity of the second optical signal received by the second receiving circuit will be much lower than The strength of the first optical signal received by the first receiving circuit.
  • the first receiving circuit and the second receiving circuit receive both flood light signals, then because the reflected stray light does not have strong directivity, the light in all directions
  • the difference in intensity distribution is relatively small, so the first optical signal received by the first receiving circuit and the second optical signal received by the second optical signal have similar intensities.
  • the processing module 130 determines that the first optical signal is noise.
  • the value range of the first threshold is (0, 3], and within this value range, it can be considered that the intensity ratio of the first optical signal and the second optical signal is similar.
  • the processing module 130 determines the first optical signal. not noise, where the second threshold is less than the third threshold. It can be understood that the second threshold is greater than or equal to the above-mentioned first threshold.
  • the specific values of the second threshold and the third threshold may be set according to the parameters of the ranging device and the application scenario of the ranging device and other factors.
  • the processing module 130 may perform ranging according to the first optical signal; when the first optical signal is noise, the processing module 130 may not use the first optical signal to perform ranging, optionally , the processing module 130 can filter the first optical signal, thereby effectively eliminating noise caused by stray light and reducing the generation of noise in the point cloud.
  • the second optical signal is only used for the purpose of comparison, and the processing module 130 does not perform distance measurement according to the second optical signal.
  • the noise incident to the first receiving circuit is the light parallel to the receiving optical path emitted by other light sources (such as lidars of other vehicles in the road scene), then the first receiving circuit receives the first The strength of an optical signal will be much greater than the strength of the second optical signal received by the second receiving circuit. Therefore, in one embodiment, if the ratio of the first optical signal to the second optical signal is greater than or equal to a fourth threshold, the processing module 130 determines that the first optical signal is noise. Wherein, the fourth threshold is greater than the above-mentioned third threshold.
  • the fourth threshold may be set according to factors such as the parameters of the ranging device and the application scenario of the ranging device. As an example, the fourth threshold may be determined according to the intensity of the light pulse signal emitted by each light transmitter 110 . Specifically, the intensity range P1-P2 of the flood light signal received by the receiving circuit 120 can be predetermined when there is no echo signal, and the maximum intensity of the optical pulse signal transmitted by the optical transmitter 110 is Pmax. When the ratio of the two optical signals is greater than or equal to Pmax/P1, it can be considered that the first optical signal includes direct light from other light sources parallel to the current receiving optical path, so it can be determined that the first optical signal is noise.
  • the above judgment method it can be effectively judged whether the first optical signal includes light from other light sources, so that the influence of other light sources can be suppressed.
  • the receiving circuit 120 may include more than two second receiving circuits 120b, and the processing module 130 integrates the second optical signals of the two or more second receiving circuits 120b to compare with the first optical signals, thereby improving the judge the accuracy of the results. For example, the processing module 130 determines the first optical signal as noise. Alternatively, the processing module 130 determines that the first optical signal is not noise.
  • the first receiving circuit 120a includes a first photoelectric converter for receiving an optical signal and converting the optical signal into an electrical signal; the ranging apparatus 100 further includes a first sampling circuit, the first The sampling circuit is connected to the first receiving circuit 120a and the processing module 130, and is used for sampling the electrical signal output by the first receiving circuit 120a to obtain a sampling signal, and sending the sampling signal to the processing module 130.
  • the processing module 130 determines the intensity of the optical signal according to the sampled signal.
  • the second receiving circuit 120b includes a second photoelectric converter for receiving an optical signal and converting the optical signal into an electrical signal; the distance measuring device 100 further includes a second sampling circuit, the second The sampling circuit is connected to the second receiving circuit and the processing module, and is used for sampling the electrical signal output by the second receiving circuit to obtain a sampling signal, and sending the sampling signal to the processing module 130 , the processing module 130 determines the intensity of the optical signal according to the sampled signal.
  • the first photoelectric converter and the second photoelectric converter include APD (avalanche photodiode), PIN photodiode or other photosensitive devices.
  • Each photoelectric converter may include one or more photosensitive devices, for example, each photoelectric converter may include one or more APDs in an APD array.
  • the echoes returned by the measured object in different fields of view are collected by the optical system to the photoelectric converters located at different positions, and the photosensitive surfaces of the photoelectric converters are detected.
  • the photogenerated carriers drift under the action of the electric field, and a photocurrent is generated in the external circuit.
  • the ranging device 100 includes at least three photoelectric converters.
  • at least some of the photoelectric converters are arranged at equal intervals.
  • a plurality of photoelectric converters may be arranged in a line array or an area array at equal intervals, and each photoelectric converter may correspond to a field of view area of the same size.
  • at least some of the photoelectric converters are arranged at unequal intervals.
  • the photoelectric converters corresponding to part of the field of view can be arranged relatively densely to collect more information, while the photoelectric converters corresponding to other parts of the field of view (such as the edge field of view) can relatively sparsely arranged.
  • the receiving circuit 120 may further include a current-voltage converting circuit, which is connected to the photoelectric converter and the sampling circuit, and is used for converting the current signal output by the photoelectric converter into a voltage signal, and sending the voltage signal to the sampling circuit.
  • the current-to-voltage conversion circuit may include a transimpedance amplifier (TIA) that converts the current signal to a voltage signal and may provide gain.
  • TIA transimpedance amplifier
  • the current-to-voltage conversion circuit may also employ capacitors or other types of capacitive-to-voltage conversion devices.
  • the current-to-voltage conversion circuit can also be regarded as a first-stage amplifier.
  • the first receiving circuit 120a further includes a current-to-voltage conversion circuit, the current-to-voltage conversion circuit is connected to the first photoelectric converter and the first sampling circuit, and is used for converting the first photoelectric conversion
  • the current signal output by the device is converted into a voltage signal, and the voltage signal is sent to the first sampling circuit.
  • the second receiving circuit 120b further includes a current-to-voltage conversion circuit, the current-to-voltage conversion circuit is connected to the second photoelectric converter and the second sampling circuit, and is used for converting the second photoelectric conversion
  • the current signal output by the device is converted into a voltage signal, and the voltage signal is sent to the second sampling circuit.
  • the transimpedance amplifier can also be used to implement the function of circuit gating, that is, used to turn on the receiving circuit including the transimpedance amplifier, or turn off the receiving circuit including the transimpedance amplifier.
  • the gating of the receiving circuit can also be realized by a switch, that is, the distance measuring apparatus 100 further includes a switch connected to each receiving circuit 120, and the switch is used to turn on the receiving circuit connected to it, or turn off the receiving circuit connected to it. connected receiver circuit.
  • the structures of the first sampling circuit and the second sampling circuit may be the same or different, and the first sampling circuit and the second sampling circuit are used for sampling the electrical signal.
  • the sampling signals output by the first sampling circuit and the second sampling circuit are passed to the processing module, and the processing module can determine the size of the optical signal according to the sampling signal, and then determine whether to perform ranging according to the first optical signal.
  • the first sampling circuit and the second sampling circuit include at least the following two implementations:
  • the sampling circuit includes a comparator (for example, an analog comparator (COMP) for converting an electrical signal into a digital signal) and a Time-to-Data Converter (TDC) ), the electrical signal amplified by the primary or secondary amplifying circuit enters the time measurement circuit after passing through the comparator, and the time measurement circuit measures the time difference between the transmission and reception of the laser pulse sequence.
  • a comparator for example, an analog comparator (COMP) for converting an electrical signal into a digital signal
  • TDC Time-to-Data Converter
  • TDC can be an independent TDC chip, or based on Field-Programmable Gate Array (FPGA) or Application Specific Integrated Circuit (ASIC) or Complex Programmable Logic
  • FPGA Field-Programmable Gate Array
  • ASIC Application Specific Integrated Circuit
  • Complex Programmable Logic The internal delay chain of programmable devices such as Device and CPLD realizes the TDC circuit of time measurement, or the circuit structure of time measurement is realized by using a high-frequency clock or the circuit structure of time measurement is realized by counting method.
  • the first input terminal of the comparator is used for receiving an electrical signal input from the amplifying circuit
  • the second input terminal is used for receiving a preset threshold value
  • a comparison operation is performed between the electrical signal input to the comparator and the preset threshold value.
  • the output signal of the comparator enters the TDC, and the TDC can measure the time information of the edge of the output signal of the comparator. The measured time is based on the laser emission signal as a reference, that is, the time difference between the transmission and reception of the laser signal can be measured.
  • the sampling circuit includes an analog-to-digital converter (Analog-to-Digital Converter, ADC). After the analog signal input to the sampling circuit undergoes analog-to-digital conversion by the ADC, a digital signal can be output to the operation circuit.
  • ADC Analog-to-Digital Converter
  • the ADC may be an independent ADC chip, or an ADC circuit implemented based on a programmable device such as a Field-Programmable Gate Array (FPGA).
  • FPGA Field-Programmable Gate Array
  • each receiving circuit may also include at least one signal amplifier (AMP), respectively, which may be connected after the transimpedance amplifier, and is used to detect the signal from the transimpedance amplifier.
  • AMP signal amplifier
  • the electrical signal of the resistive amplifier further provides gain to amplify the weak signal output by the transimpedance amplifier to a voltage that the comparator can recognize.
  • the receiving circuit further includes at least one third receiving circuit that is turned off within the current time range, and each third receiving circuit is associated with a first receiving circuit.
  • the third receiving circuit may include a third photoelectric converter.
  • each receiving circuit is connected to one sampling circuit, that is, the first receiving circuit is connected to the first sampling circuit, each second receiving circuit is connected to each second sampling circuit, and each third receiving circuit is respectively connected In each third sampling circuit, each receiving circuit and sampling circuit operate independently, and the crosstalk is small.
  • FIG. 4 shows an exemplary circuit structure adopting this scheme.
  • the first receiving circuit 410, the second receiving circuit 420 and the at least two third receiving circuits 430 all include a photoelectric receiver, a transimpedance amplifier (TIA) and a secondary amplifier (AMP), And each secondary amplifier is connected with a sampling circuit.
  • TIA transimpedance amplifier
  • AMP secondary amplifier
  • the remaining multiple third receiving circuits are turned off, so the sampling circuits can also be multiplexed between some receiving circuits that are not turned on within the same time range. , thereby reducing hardware cost and power consumption.
  • the first receiving circuit and the at least one third receiving circuit may multiplex the same first sampling circuit
  • the second receiving circuit and the remaining at least one third receiving circuit may multiplex the same second sampling circuit. Since the first receiving circuit and the second receiving circuit are turned on at the same time, the first receiving circuit and the second receiving circuit do not multiplex the same sampling circuit with the same third receiving circuit.
  • the sampling circuit is not multiplexed between each second receiving circuit.
  • the first receiving circuit 510 and the first and third receiving circuits 530 multiplex the same sampling circuit
  • the second receiving circuit 520 and the second and third receiving circuits Circuit 540 multiplexes the same sampling circuit.
  • each receiving circuit can include a transimpedance amplifier, thereby realizing independent gating of each receiving circuit.
  • Two receiver circuits that multiplex the same sampling circuit can also multiplex the secondary amplifier (AMP) at the same time for further cost savings.
  • AMP secondary amplifier
  • three One or more than three receiving circuits can also multiplex the same sampling circuit, that is, the first receiving circuit can multiplex the same sampling circuit with two or more third receiving circuits, and the second receiving circuit and the other two Or two or more third receiving circuits multiplex the same sampling circuit, it only needs to ensure that the first receiving circuit and the second receiving circuit that are simultaneously turned on within the same time range do not multiplex the same sampling circuit.
  • the multiplexing conditions can be combined and transformed at will, and whether multiplexing and which circuits are multiplexed can be determined according to actual needs. In the case of multiplexing, any of the above combinations falls within the protection scope of the present invention.
  • the intensity of the second optical signal is used as a reference to determine whether the first optical signal is noise, and when the intensities of the first optical signal and the second optical signal are similar, the first optical signal is considered to be for noise.
  • the first photoelectric converter may be disposed adjacent to the second photoelectric converter.
  • two photoelectric converters arranged adjacently are turned on at the same time to receive optical signals, so that when no echo signal is incident, the first receiving circuit and the second receiving circuit will receive The approximate intensity of the floodlight signal, so as to avoid the occurrence of misjudgment.
  • the transimpedance amplifiers connected after the photoelectric converter in the first receiving circuit and the second receiving circuit can also be disposed adjacent to each other, thereby further improving the accuracy of the judgment.
  • the distance between the first photoelectric converter and the second photoelectric converter can be set within a certain range, so as to ensure that the first photoelectric converter and the second photoelectric converter can receive similar floodlight Signal.
  • the distance between the first photoelectric converter and the second photoelectric converter is between 0.3 mm and 2 mm, for example, the distance between the two may be set to be about 0.5 mm, within which the first photoelectric converter and the The intensity of the flood light signal received by the second photoelectric converter is similar.
  • the first photoelectric converter and the second photoelectric converter may be arranged adjacent to each other, or may be arranged at intervals.
  • the first photoelectric converter of the first receiving circuit that multiplexes the same first sampling circuit and the third photoelectric converter of the third receiving circuit are arranged at intervals, and the second receiving circuit of the same second sampling circuit is multiplexed.
  • the second photoelectric converter of the circuit and the third photoelectric converter of the third receiving circuit are arranged at intervals, thereby reducing crosstalk between the circuits. For example, referring to FIG.
  • the first receiving circuit 510 and the first and third receiving circuits 530 multiplex the same sampling circuit, then the first photoelectric converter of the first receiving circuit 510 and the third photoelectric converter of the first and third receiving circuits 530
  • the converters are set at intervals; the second receiving circuit 520 and the second and third receiving circuits 540 multiplex the same sampling circuit, then the second photoelectric converter of the second receiving circuit 520 and the third photoelectric conversion of the second and third receiving circuits 540 interval setting.
  • a second photoelectric converter of the second receiving circuit is arranged between the first photoelectric converter of the first receiving circuit of the same first sampling circuit and the third photoelectric converter of the third receiving circuit, that is, by The second photoelectric converter separates the first photoelectric converter and the third photoelectric converter.
  • a second photoelectric converter of the second receiving circuit 520 is disposed between the first photoelectric converter of the first receiving circuit 510 and the third photoelectric converter of the first and third receiving circuits 530 .
  • the distance measuring device 100 further includes an optical system including an optical path changing element for changing the optical path of an optical signal incident thereon so that the optical signal is received by the photoelectric converter.
  • the optical path changing element may include a lens group disposed in front of the photoelectric converter.
  • the lens group can be designed to be composed of a single lens or multiple lenses.
  • the lens surface type is spherical, aspherical, or a combination of spherical and aspherical surfaces.
  • the lens material of the lens can include glass, plastic, or a combination of glass and plastic. , which is not limited in this embodiment of the present invention.
  • the lens group structure can be designed with sufficient athermalization to compensate for the influence of temperature drift on imaging.
  • the light pulse signal emitted by the light transmitter covers a certain field of view
  • the echo signal returned from the field of view is condensed by the light path changing element to the photoelectric converter corresponding to the light transmitter.
  • the optical path changing element can be designed as The echo signals are concentrated within a range smaller than the size of the photoelectric converter, so as to avoid crosstalk when two adjacent photoelectric converters are turned on at the same time.
  • the first receiving circuit includes a first photoelectric converter
  • the second receiving circuit includes a second photoelectric converter
  • the ratio of the distance between the first photoelectric converter and the second photoelectric converter to the focal length of the optical path changing element It is not greater than 1/6, so that the first photoelectric converter and the second photoelectric converter can receive similar floodlight signals, and the optical path changing element can also ensure that the echo signal is concentrated on the first photoelectric converter.
  • the optical system includes an optical path changing element for changing the optical path of an optical signal incident thereon such that the optical signal is received by the first receiving circuit, wherein the optical path changing element has
  • the focal length is between 28 millimeters and 32 millimeters, and an optical path changing element with this focal length range can better implement the above-mentioned functions of the optical path changing element in the embodiment of the present invention.
  • the focal length of the optical path changing element may be set to about 30 mm.
  • the processing module 130 determines that the first optical signal is not noise, the distance information of the object to be measured can be calculated according to the time difference from transmission to reception of the first optical signal and the laser transmission rate. Afterwards, the processing module 130 may also generate images and the like according to the calculated information, which is not limited herein.
  • the distance and orientation detected by the ranging device 100 can be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like.
  • the distance measuring device 100 may further include a scanning module for changing the propagation direction of at least one optical pulse sequence (eg, a laser pulse sequence) output from the transmitting circuit to output the field of view. to scan.
  • a scanning module for changing the propagation direction of at least one optical pulse sequence (eg, a laser pulse sequence) output from the transmitting circuit to output the field of view. to scan.
  • the scanning area of the scanning module within the field of view of the ranging device increases over time.
  • the module including the optical transmitter 110, the receiving circuit 120 and the processing module 130 may be referred to as a ranging module, and the ranging module may be independent of other modules, for example, a scanning module.
  • a coaxial optical path may be used in the ranging device, that is, the light beam emitted by the ranging device and the reflected light beam share at least part of the optical path in the ranging device.
  • the laser pulse sequence reflected by the detection object passes through the scanning module and then enters the receiving circuit.
  • the distance-measuring device may also adopt an off-axis optical path, that is, the light beam emitted by the distance-measuring device and the reflected light beam are respectively transmitted along different optical paths in the distance-measuring device.
  • FIG. 2 is a schematic diagram showing an example of a coaxial optical path used by the distance measuring device according to the embodiment of the present invention.
  • the ranging device 200 includes a ranging module 210, and the ranging module 210 includes a transmitter 203 (which may include the above-mentioned transmitting circuit), a collimating element 204, and a photoelectric converter 205 (which may include the above-mentioned receiving circuit, sampling circuit and arithmetic circuit) and an optical path changing element 206.
  • the ranging module 210 is used for emitting a light beam, receiving the returning light, and converting the returning light into an electrical signal.
  • the transmitter 203 can be used to transmit a sequence of optical pulses. In one embodiment, the transmitter 203 may emit a sequence of laser pulses.
  • the laser beam emitted by the transmitter 203 is a narrow bandwidth beam with a wavelength outside the visible light range.
  • the collimating element 204 is disposed on the outgoing light path of the transmitter, and is used for collimating the light beam emitted from the transmitter 203, and collimating the light beam emitted by the transmitter 203 into parallel light and outputting to the scanning module.
  • the collimating element also serves to converge at least a portion of the return light reflected by the probe.
  • the collimating element 204 may be a collimating lens or other elements capable of collimating light beams.
  • the transmitting optical path and the receiving optical path in the ranging device are combined by the optical path changing element 206 before the collimating element 204, so that the transmitting optical path and the receiving optical path can share the same collimating element, so that the optical path more compact.
  • the emitter 203 and the photoelectric converter 205 may use their own collimating elements, respectively, and the optical path changing element 206 may be disposed on the optical path behind the collimating elements.
  • the optical path changing element can use a small-area reflective mirror to The transmit light path and the receive light path are combined.
  • the optical path changing element can also use a reflector with a through hole, wherein the through hole is used to transmit the outgoing light of the emitter 203 , and the reflector is used to reflect the returned light to the photoelectric converter 205 . In this way, in the case of using a small reflector, the occlusion of the return light by the support of the small reflector can be reduced.
  • the optical path altering element is offset from the optical axis of the collimating element 204 .
  • the optical path altering element may also be located on the optical axis of the collimating element 204 .
  • the ranging device 200 further includes a scanning module 202 .
  • the scanning module 202 is placed on the outgoing optical path of the ranging module 210 .
  • the scanning module 202 is used to change the transmission direction of the collimated beam 219 emitted by the collimating element 204 and project it to the external environment, and project the return light to the collimating element 204 .
  • the returned light is collected on the photoelectric converter 205 through the collimating element 204 .
  • the scanning module 202 can include at least one optical element for changing the propagation path of the light beam, wherein the optical element can change the propagation path of the light beam by reflecting, refracting, diffracting the light beam, etc.
  • the optical element includes at least one light-refractive element having non-parallel exit and entrance surfaces.
  • the scanning module 202 includes lenses, mirrors, prisms, galvanometers, gratings, liquid crystals, optical phased arrays (Optical Phased Array) or any combination of the above optical elements.
  • At least part of the optical elements are moving, for example, the at least part of the optical elements are driven to move by a driving module, and the moving optical elements can reflect, refract or diffract the light beam to different directions at different times.
  • the multiple optical elements of the scanning module 202 may be rotated or oscillated about a common axis 209, each rotating or oscillating optical element being used to continuously change the propagation direction of the incident beam.
  • the plurality of optical elements of the scanning module 202 may rotate at different rotational speeds, or vibrate at different speeds.
  • at least some of the optical elements of scan module 202 may rotate at substantially the same rotational speed.
  • the plurality of optical elements of the scanning module may also be rotated about different axes. In some embodiments, the plurality of optical elements of the scanning module may also rotate in the same direction, or rotate in different directions; or vibrate in the same direction, or vibrate in different directions, which are not limited herein.
  • the scanning module 202 includes a first optical element 214 and a driver 216 connected to the first optical element 214, and the driver 216 is used to drive the first optical element 214 to rotate around the rotation axis 209, so that the first optical element 214 changes The direction of the collimated beam 219.
  • the first optical element 214 projects the collimated beam 219 in different directions.
  • the angle between the direction of the collimated light beam 219 changed by the first optical element and the rotation axis 209 changes with the rotation of the first optical element 214 .
  • the first optical element 214 includes a pair of opposing non-parallel surfaces through which the collimated beam 219 passes.
  • the first optical element 214 includes a prism whose thickness varies along at least one radial direction.
  • the first optical element 214 includes a wedge prism that refracts the collimated light beam 219 .
  • the scanning module 202 further includes a second optical element 215 , the second optical element 215 rotates around the rotation axis 209 , and the rotation speed of the second optical element 215 is different from the rotation speed of the first optical element 214 .
  • the second optical element 215 is used to change the direction of the light beam projected by the first optical element 214 .
  • the second optical element 215 is connected to another driver 217, and the driver 217 drives the second optical element 215 to rotate.
  • the first optical element 214 and the second optical element 215 can be driven by the same or different drivers, so that the rotational speed and/or steering of the first optical element 214 and the second optical element 215 are different, thereby projecting the collimated beam 219 into the external space Different directions can scan a larger spatial range.
  • the controller 218 controls the driver 216 and the driver 217 to drive the first optical element 214 and the second optical element 215, respectively.
  • the rotational speeds of the first optical element 214 and the second optical element 215 may be determined according to the area and pattern expected to be scanned in practical applications.
  • Drivers 216 and 217 may include motors or other drivers.
  • the second optical element 215 includes a pair of opposing non-parallel surfaces through which the light beam passes.
  • the second optical element 215 comprises a prism whose thickness varies along at least one radial direction.
  • the second optical element 215 comprises a wedge prism.
  • the scanning module 202 further includes a third optical element (not shown) and a driver for driving the movement of the third optical element.
  • the third optical element includes a pair of opposing non-parallel surfaces through which the light beam passes.
  • the third optical element comprises a prism of varying thickness along at least one radial direction.
  • the third optical element comprises a wedge prism. At least two of the first, second and third optical elements rotate at different rotational speeds and/or rotations.
  • the scanning module includes two or three of the light refraction elements sequentially arranged on the outgoing light path of the light pulse sequence.
  • at least two of the light refraction elements in the scanning module are rotated during the scanning process to change the direction of the light pulse sequence.
  • the scanning paths of the scanning module are different at least at some different times.
  • the rotation of each optical element in the scanning module 202 can project light in different directions, such as the direction of the projected light 211 and the direction 213 . space to scan.
  • the light 211 projected by the scanning module 202 hits the detected object 201 , a part of the light is reflected by the detected object 201 to the distance measuring device 200 in a direction opposite to the projected light 211 .
  • the returning light 212 reflected by the probe 201 passes through the scanning module 202 and then enters the collimating element 204 .
  • the photoelectric converter 205 is placed on the same side of the collimating element 204 as the transmitter 203, and the photoelectric converter 205 is used to convert at least part of the return light passing through the collimating element 204 into an electrical signal.
  • each optical element is coated with an anti-reflection coating.
  • the thickness of the anti-reflection film is equal to or close to the wavelength of the light beam emitted by the emitter 203, which can increase the intensity of the transmitted light beam.
  • a filter layer is coated on the surface of an element located on the beam propagation path in the distance measuring device, or a filter is provided on the beam propagation path for transmitting at least the wavelength band of the light beam emitted by the transmitter, Reflects other bands to reduce noise from ambient light to the receiver.
  • the transmitter 203 may comprise a laser diode through which laser pulses are emitted on the nanosecond scale.
  • the laser pulse receiving time can be determined, for example, by detecting the rising edge time and/or the falling edge time of the electrical signal pulse to determine the laser pulse receiving time.
  • the distance measuring device 200 can calculate the TOF 207 by using the pulse receiving time information and the pulse sending time information, so as to determine the distance from the probe 201 to the distance measuring device 200 .
  • the distance and orientation detected by the ranging device 200 can be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like.
  • the distance measuring device 100 in the time range when the currently turned on optical transmitter transmits the optical pulse signal, in addition to turning on the first receiving circuit corresponding to the currently turned on optical transmitter, also At the same time, the second receiving circuit is turned on, and the optical signals received by the first receiving circuit and the second receiving circuit are compared to determine whether the first receiving circuit receives noise, thereby improving the anti-interference performance of the ranging device.
  • FIG. 6 shows a flowchart of a ranging method 600 .
  • the ranging method 600 may be implemented by the ranging apparatus described in any of the above embodiments. Only the main steps of the ranging method 600 will be described below, and some of the above detailed details will be omitted.
  • the ranging method 600 includes the following steps:
  • step S610 turn on the light transmitter to transmit the light pulse signal
  • step S620 the first receiving circuit and the second receiving circuit are simultaneously turned on, and the first receiving circuit receives at least part of the echo signal of the optical pulse signal after being converged by the optical system;
  • step S630 it is determined whether the first optical signal is noise according to the intensities of the first optical signal and the second optical signal, wherein the first optical signal and the second optical signal are the first receiving circuit respectively and the optical signal received by the second receiving circuit in the same time period.
  • step S630 the determining whether the first optical signal is noise according to the intensities of the first optical signal and the second optical signal includes:
  • the ratio of the intensity of the first optical signal to the second optical signal is less than or equal to a first threshold, it is determined that the first optical signal is noise.
  • the value range of the first threshold is (0, 3].
  • step S630 the determining whether the first optical signal is noise according to the intensities of the first optical signal and the second optical signal includes:
  • the intensity ratio of the first optical signal and the second optical signal is between a second threshold and a third threshold, it is determined that the first optical signal is not noise, wherein the second threshold is smaller than the first threshold Three thresholds.
  • the second threshold is greater than the first threshold.
  • step S630 the determining whether the first optical signal is noise according to the intensities of the first optical signal and the second optical signal includes:
  • the ratio of the first optical signal to the second optical signal is greater than or equal to a fourth threshold, it is determined that the first optical signal is noise.
  • the third threshold is smaller than the fourth threshold, and the fourth threshold may be determined according to the intensity of the optical pulse signal emitted by each optical transmitter.
  • the first receiving circuit includes a first photoelectric converter
  • the method includes receiving an optical signal through the first photoelectric converter, and converting the optical signal into an electrical signal
  • the ranging The device further includes a first sampling circuit, the first sampling circuit is connected to the first receiving circuit and the processing module, and the method further includes sampling the electrical signal through the first sampling circuit to obtain A sampled signal is sent, and the sampled signal is sent to the processing module, and the processing module determines the intensity of the optical signal according to the sampled signal.
  • the first receiving circuit further includes a current-voltage conversion circuit
  • the method further includes converting the current signal output by the first photoelectric converter into a voltage signal through the current-voltage conversion circuit, and converting The voltage signal is sent to the first sampling circuit, and the current-to-voltage conversion circuit is connected to the first photoelectric converter and the first sampling circuit.
  • the second receiving circuit includes a second photoelectric converter, and the method further includes receiving an optical signal through the second photoelectric converter, and converting the optical signal into an electrical signal;
  • the measuring The distance device further includes a second sampling circuit, the second sampling circuit is connected to the second receiving circuit and the processing module, and the method further includes using the second sampling circuit to output an output signal of the second receiving circuit.
  • the electrical signal is sampled to obtain a sampled signal, and the sampled signal is sent to the processing module, and the processing module determines the intensity of the optical signal according to the sampled signal.
  • the second receiving circuit further includes a current-to-voltage conversion circuit
  • the current-to-voltage conversion circuit is connected to the second photoelectric converter and the second sampling circuit
  • the method further includes using the The current-voltage conversion circuit converts the current signal output by the second photoelectric converter into a voltage signal, and sends the voltage signal to the second sampling circuit.
  • each of the receiving circuits includes an optoelectronic converter
  • the ranging method 600 includes receiving an optical signal through the optoelectronic converter, and converting the optical signal into an electrical signal, the optoelectronic converter including the optoelectronic converter.
  • the first photoelectric converter in the first receiving circuit and the second photoelectric converter in the second receiving circuit; the ranging method 600 further includes sampling the electrical signal through a sampling circuit to obtain a sampling signal, and Send the sampling signal to the processing module, the processing module determines the strength of the optical signal according to the sampling signal, the sampling circuit is respectively connected with the receiving circuit and the processing module, the sampling circuit It includes a first sampling circuit connected to the first receiving circuit and a second sampling circuit connected to the second receiving circuit.
  • the ranging method 600 further includes converting the current signal output by the photoelectric converter into a voltage signal through a current-voltage converting circuit in the receiving circuit, and sending the voltage signal to the sampling circuit , the current-voltage conversion circuit is connected with the photoelectric converter and the sampling circuit.
  • the current-voltage conversion circuit includes a transimpedance amplifier
  • the ranging method 600 includes turning on a receiving circuit including the transimpedance amplifier through the transimpedance amplifier, or turning off the receiving circuit including the transimpedance amplifier .
  • the receiving circuit includes more than two second receiving circuits, and each of the second receiving circuits multiplexes one of the second sampling circuits. Further, the receiving circuit may further include a third receiving circuit, and the third receiving circuit is turned off at the same time period when the first receiving circuit and the second receiving circuit are turned on. Further, there are at least two third receiving circuits, the first receiving circuit and at least one third receiving circuit multiplex the same first sampling circuit, and/or, the second receiving circuit and the other at least one third receiving circuit The receiving circuit multiplexes the same second sampling circuit.
  • the first photoelectric converter is disposed adjacent to the second photoelectric converter.
  • the photoelectric converters of the first receiving circuit and the third receiving circuit that multiplex the same first sampling circuit are arranged at intervals, and the second receiving circuit and the third receiving circuit of the same second sampling circuit are multiplexed.
  • the photoelectric converters are arranged at intervals.
  • the photoelectric converter of the second receiving circuit is provided between the first receiving circuit of the first sampling circuit and the photoelectric converter of the third receiving circuit that are multiplexed.
  • the receiving circuit is connected to a switch
  • the ranging method 600 further includes turning on the receiving circuit connected to the switch through the switch, or turning off the receiving circuit connected to the switch.
  • the first receiving circuit includes a first photoelectric converter
  • the second receiving circuit includes a second photoelectric converter
  • the first photoelectric converter and the second photoelectric converter are used for receiving optical
  • the optical system includes an optical path changing element
  • the ranging method 600 includes changing the optical path of an optical signal incident thereon by the optical path changing element, so that the optical signal is received by the photoelectric converter; wherein, the first The ratio of the distance between the first photoelectric converter and the second photoelectric converter to the focal length of the optical path changing element is not greater than 1/6.
  • the optical system includes an optical path changing element for changing the optical path of an optical signal incident thereon so that the optical signal is received by the first receiving circuit, wherein the optical path changes The focal length of the element is between 28mm and 32mm.
  • the first receiving circuit includes a first photoelectric converter
  • the second receiving circuit includes a second photoelectric converter
  • the first photoelectric converter and the second photoelectric converter are used for receiving optical signals
  • the distance between the first photoelectric converter and the second photoelectric converter is between 0.3 mm and 2 mm.
  • the method further includes receiving optical signals through at least three photoelectric converters, and converting the optical signals into electrical signals, wherein at least some of the photoelectric converters are arranged at equal intervals, and/ Or, at least some of the photoelectric converters are arranged at unequal intervals.
  • the directions of the optical pulse signals emitted by different optical transmitters are the same or different.
  • Multiple light emitters are packaged together or individually.
  • the ranging method 600 further includes: filtering out the first optical signal. If it is determined that the first optical signal is not noise, the ranging method 600 may further include performing ranging according to the first optical signal based on methods such as time of flight of light or based on phase shift.
  • the second receiving circuit within the time range of the optical pulse signal emitted by the optical transmitter currently turned on, in addition to turning on the first receiving circuit corresponding to the optical transmitter currently turned on, the second receiving circuit is also turned on at the same time circuit, and compares the optical signals received by the first receiving circuit and the second receiving circuit to determine whether the first receiving circuit receives noise or not, thereby improving the accuracy of the ranging method.
  • An embodiment of the present invention further provides a movable platform, the movable platform includes any of the above distance measuring devices and a movable platform body, and the distance measuring device is mounted on the movable platform body.
  • the movable platform may operate fully autonomously or semi-autonomously.
  • the movable platform can operate either semi-autonomously in response to one or more commands from a remote control, or fully autonomously following preset program instructions.
  • the movable platform includes but is not limited to at least one of a car, a remote control car, an aircraft, and a robot.
  • the vehicle may be an autonomous vehicle or a semi-autonomous vehicle
  • the aircraft may be an unmanned aerial vehicle, such as a fixed-wing drone, a rotary-wing drone, and the like.
  • the movable platform body is the fuselage of the aircraft.
  • the movable platform body is the body of the automobile.
  • the movable platform body is the body of the remote control car.
  • the movable platform body is the body of the robot.
  • the movable platform can control the movement of the movable platform body according to the distance measurement result of the distance measuring device. For example, in the road scene, after the distance measuring device obtains the point cloud data, the movable platform can predict the relevant attributes of the obstacles according to the point cloud data, realize the detection and segmentation of the foreground obstacles, and then predict the trajectory of the obstacles, as a The judgment basis for driving planning; it can also detect the passable space according to the point cloud height and continuity information of drivable roads and intersections, etc., or can use the point cloud information to match with high-precision maps to achieve high-precision positioning .
  • the movable platform using the above distance measuring device also has similar advantages.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or May be integrated into another device, or some features may be omitted, or not implemented.
  • Various component embodiments of the present invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof.
  • a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some modules according to the embodiments of the present invention.
  • DSP digital signal processor
  • the present invention may also be implemented as apparatus programs (eg, computer programs and computer program products) for performing part or all of the methods described herein.
  • Such a program implementing the present invention may be stored on a computer-readable medium, or may be in the form of one or more signals. Such signals may be downloaded from Internet sites, or provided on carrier signals, or in any other form.

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

Abstract

L'invention concerne un appareil de télémétrie, un procédé de télémétrie et une plate-forme mobile, l'appareil de télémétrie (100) comprenant : des émetteurs optiques (110), un système optique, un premier circuit de réception (120a), un second circuit de réception (120b), et un module de traitement (130), les émetteurs optiques (110) étant utilisés pour émettre en séquence des signaux d'impulsion optique ; au moins certains des signaux d'écho des signaux d'impulsion optique réfléchis par un objet sont collectés par le système optique et reçus ensuite par le premier circuit de réception (120a) ; le second circuit de réception (120b) et le premier circuit de réception (120a) sont démarrés en même temps, et les signaux optiques reçus par le premier circuit de réception (120a) et le second circuit de réception (120b) sont respectivement un premier signal optique et un second signal optique ; et le module de traitement (130) est utilisé pour déterminer, sur la base de l'intensité du premier signal optique et du second signal optique, si le premier signal optique est du bruit. La présente solution peut améliorer les performances anti-interférences de l'appareil de télémétrie.
PCT/CN2020/136824 2020-12-16 2020-12-16 Appareil de télémétrie, procédé de télémétrie et plate-forme mobile WO2022126429A1 (fr)

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CN202080070692.0A CN114556151A (zh) 2020-12-16 2020-12-16 测距装置、测距方法和可移动平台

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CN106093958A (zh) * 2016-08-24 2016-11-09 武汉万集信息技术有限公司 基于双apd的激光测距方法及装置
CN111033313A (zh) * 2017-09-25 2020-04-17 日本电产株式会社 距离测量装置以及具备该距离测量装置的移动体
CN209356671U (zh) * 2018-02-07 2019-09-06 苏州镭图光电科技有限公司 一种激光雷达背景暗噪声响应消除装置
CN109031249A (zh) * 2018-08-17 2018-12-18 中科光绘(上海)科技有限公司 基于fpga的激光回波甄别方法
CN110888140A (zh) * 2018-08-21 2020-03-17 欧姆龙株式会社 测距装置以及测距方法
CN210690807U (zh) * 2019-03-27 2020-06-05 深圳市速腾聚创科技有限公司 激光雷达接收***

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