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WO2018133089A1 - Système de mesure de distance de tof et plateforme mobile - Google Patents

Système de mesure de distance de tof et plateforme mobile Download PDF

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Publication number
WO2018133089A1
WO2018133089A1 PCT/CN2017/072176 CN2017072176W WO2018133089A1 WO 2018133089 A1 WO2018133089 A1 WO 2018133089A1 CN 2017072176 W CN2017072176 W CN 2017072176W WO 2018133089 A1 WO2018133089 A1 WO 2018133089A1
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WO
WIPO (PCT)
Prior art keywords
optical signal
illuminator
receiver
target object
switching element
Prior art date
Application number
PCT/CN2017/072176
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English (en)
Chinese (zh)
Inventor
谢捷斌
占志鹏
任伟
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 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 CN201780000256.4A priority Critical patent/CN107076853B/zh
Priority to PCT/CN2017/072176 priority patent/WO2018133089A1/fr
Publication of WO2018133089A1 publication Critical patent/WO2018133089A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G01S17/14—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein a voltage or current pulse is initiated and terminated in accordance with the pulse transmission and echo reception respectively, e.g. using counters

Definitions

  • Embodiments of the present invention relate to the field of ranging, and in particular, to a TOF ranging system and a movable platform.
  • mobile platforms such as unmanned aerial vehicles, detection robots, etc.
  • detection devices for detecting obstacles around the movable platform to prevent the movable platform from colliding with surrounding obstacles.
  • Time Of Flight is a commonly used ranging method.
  • the TOF ranging method includes phase modulation method.
  • the phase modulation method refers to the emission of a light source of a TOF ranging system on a movable platform.
  • An amplitude-modulated continuous optical signal which is usually a Light Emitting Diode (LED).
  • LED Light Emitting Diode
  • the ranging system calculates the distance between the obstacle and the movable platform based on the phase of the reflected light signal.
  • the current TOF ranging system can only detect relatively close obstacles and cannot detect obstacles at a long distance.
  • the embodiment of the invention provides a TOF ranging system and a movable platform to improve the ranging range of the TOF ranging system.
  • An aspect of an embodiment of the present invention provides a TOF ranging system including: an illuminator, a receiver, a controller, and an optical system;
  • a receiver for receiving an optical signal reflected by the target object
  • the controller is configured to determine a distance between the target object and the ranging system according to an optical signal emitted by the illuminator and an optical signal received by the receiver and reflected by the target object;
  • the optical system includes at least one of the following:
  • a first optical signal processing device wherein an optical signal emitted by the illuminator passes through the first optical signal processing device to increase a radiation power density of an optical signal emitted by the illuminator
  • the second optical signal processing device passes the optical signal reflected by the target object through the second optical signal processing device to increase the intensity of the optical signal reflected by the target object received by the receiver.
  • a TOF ranging system including: an illuminator, a receiver, a controller, and an external driving circuit;
  • a receiver for receiving an optical signal reflected by the target object
  • the controller is configured to determine a distance between the target object and the ranging system according to an optical signal emitted by the illuminator and an optical signal received by the receiver and reflected by the target object;
  • the external driving circuit is configured to increase an output power of the illuminator.
  • Another aspect of the present invention provides a mobile platform, comprising: the TOF ranging system described in any of the above.
  • the optical system includes at least one of a first optical signal processing device and a second optical signal processing device, so that the TOF measurement
  • the optical signal emitted from the illuminator in the system passes through the first optical signal processing device, and/or the receiver in the TOF ranging system receives the optical signal reflected by the target object through the second optical signal processing device, the first optical signal processing The device can increase the radiation power density of the light signal emitted by the illuminator
  • the second light signal processing device can increase the intensity of the light signal reflected by the target object received by the receiver, by increasing the radiation power density of the light signal emitted by the illuminator, and/ Or improve the optical signal intensity reflected by the target object received by the receiver, which can improve the signal-to-noise ratio of the TOF ranging system, so that the TOF ranging system can detect the target object far from the TOF ranging system, thereby improving
  • FIG. 1 is a structural diagram of a TOF ranging system according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of a light signal emitted by an illuminator in the prior art
  • FIG. 3 is a structural diagram of a TOF ranging system according to an embodiment of the present invention.
  • FIG. 4 is a structural diagram of a TOF ranging system according to an embodiment of the present invention.
  • FIG. 5 is a structural diagram of a TOF ranging system according to an embodiment of the present invention.
  • FIG. 6 is a structural diagram of a TOF ranging system according to an embodiment of the present invention.
  • FIG. 7 is a structural diagram of a TOF ranging system according to an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of a receiver receiving an optical signal in the prior art
  • FIG. 9 is a structural diagram of a TOF ranging system according to an embodiment of the present invention.
  • FIG. 10 is a structural diagram of a TOF ranging system according to an embodiment of the present invention.
  • FIG. 11 is a structural diagram of a TOF ranging system according to an embodiment of the present invention.
  • FIG. 12 is a structural diagram of a TOF ranging system according to an embodiment of the present invention.
  • FIG. 13 is a structural diagram of a TOF ranging system according to an embodiment of the present invention.
  • FIG. 15 is a structural diagram of a TOF ranging system according to an embodiment of the present invention.
  • 16 is a diagram showing relationship between driving current and luminous intensity of an illuminator according to an embodiment of the present invention.
  • FIG. 17 is a structural diagram of a TOF ranging system according to another embodiment of the present invention.
  • FIG. 18 is a structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • FIG. 1 is a structural diagram of a TOF ranging system according to an embodiment of the present invention.
  • the TOF ranging system includes an illuminator 11, a receiver 12, a controller 13, and an optical system 14, and the optical system 14 includes at least one of the first optical signal processing device 141 and the second optical signal processing device 142.
  • the optical system 14 includes a first optical signal processing device 141 and a second optical signal processing device 142.
  • the optical system 14 includes a first optical signal processing device 141 and a second optical Signal processing Any one of the devices 142.
  • the TOF ranging system may be disposed on a movable platform, and the movable platform includes at least one of the following: an unmanned aerial vehicle, a movable robot, and a vehicle.
  • the TOF ranging system is configured to detect a target object around the movable platform, and the target object may be an obstacle or an object of interest, and the TOF ranging system is specifically configured to detect a distance between the target object and the TOF ranging system, And determining the distance between the target object and the movable platform according to the distance between the target object and the TOF ranging system.
  • the illuminator 11 is used to emit an optical signal.
  • the illuminator 11 can be a Light Emitting Diode (LED) or a Laser Diode (LD).
  • LED Light Emitting Diode
  • LD Laser Diode
  • the receiver 12 in the TOF ranging system is configured to receive the light signal reflected by the target object.
  • the receiver 12 includes a photosensitive element, and the photosensitive element includes at least one of the following: a photodiode, an avalanche photodiode, and a charge coupled device.
  • the controller 13 is connected to the illuminator 11 and the receiver 12, respectively, and the controller 13 determines the target based on the optical signal emitted by the illuminator 11 and the optical signal reflected by the target object 15 received by the receiver 12.
  • the distance between the object 15 and the TOF ranging system is configured to determine a phase difference between the optical signal emitted by the illuminator 11 and the optical signal reflected by the target 12 received by the receiver 12, and determine the target object 15 and the TOF ranging according to the phase difference. The distance between the systems.
  • the optical signal emitted by the illuminator 11 is directed to the target object 15 via the first optical signal processing device 141, and the first optical signal processing device 141 functions to increase the radiant power of the optical signal emitted by the illuminator 11.
  • Density optionally, the first optical signal processing device 141 has a function of concentrating optical signals, that is, the first optical signal processing device 141 can concentrate the optical signals emitted by the illuminator 11 to reduce the optical signal emitted by the illuminator 11. The divergence angle increases the radiation power density of the optical signal emitted by the illuminator 11.
  • the illuminator 11 is a light-emitting diode 21, which is usually a divergent light source, and the light signal emitted by the LED is a diverging light beam.
  • the divergence angle of the optical signal emitted by the LED is ⁇ , on a plane 22 that is d from the LED, perpendicular to the optical axis of the LED.
  • the radius of the spot formed by the beam projection of the LED is r, and r is determined according to the following formula (1):
  • the radiation power density E of the optical signal emitted by the LED is determined according to the following formula (2):
  • the first optical signal processing device 141 is disposed in front of the LED such that the optical signal emitted by the LED passes through the first optical signal processing device 141 to the plane 22, the first light.
  • the signal processing device 141 is capable of concentrating the optical signals emitted by the LEDs.
  • the first optical signal processing device 141 can reduce the divergence angle ⁇ of the optical signals emitted by the LEDs to increase the The radiant power density E of the optical signal emitted by the LED.
  • the target object 15 returns a reflected optical signal to the TOF ranging system, and the optical signal reflected by the target object 15 is received by the optical system 14.
  • the second optical signal processing device 142 receives, and the optical signal reflected by the target object 15 is received by the receiver 12 after passing through the second optical signal processing device 142, and the receiver 12 transmits the optical signal reflected by the target object 15 to the controller 13, and controls
  • the device 13 determines the distance between the target object 15 and the TOF ranging system based on the optical signal emitted by the illuminator 11 and the optical signal received by the receiver 12 and reflected by the target object 15.
  • the second optical signal processing device 142 functions to increase the intensity of the optical signal reflected by the target object 15 received by the receiver 12.
  • the second optical signal processing device 142 can aggregate the optical signals reflected by the target object 15 so that more optical signals in the optical signal reflected by the target object 15 can be received by the receiver 12, thereby improving the receiver. 12 Received light signal intensity reflected by the target object 15.
  • the target object 15 is an obstacle
  • the optical signal reflected by the obstacle is a reflected beam
  • the reflection of the obstacle on the optical signal can be regarded as a Lambertian reflection
  • the reflected beam of the obstacle is distributed within a solid angle of ⁇
  • the TOF ranging system provides an optical system in the TOF ranging system, the optical system including at least one of the first optical signal processing device and the second optical signal processing device, such that the TOF ranging system
  • the optical signal emitted by the illuminator passes through the first optical signal processing device, and/or the receiver in the TOF ranging system receives the optical signal reflected by the target object through the second optical signal processing device, and the first optical signal processing device can improve the illuminating
  • the radiant power density of the optical signal emitted by the device, the second optical signal processing device capable of increasing the intensity of the optical signal reflected by the target object received by the receiver, by increasing the radiant power density of the optical signal emitted by the illuminator, and/or by increasing the receiver
  • the received optical signal intensity reflected by the target object can improve the signal-to-noise ratio of the TOF ranging system, so that the TOF ranging system can detect the target object far from the TOF ranging system, thereby improving the measurement of the TOF ranging system
  • Embodiments of the present invention provide a TOF ranging system.
  • 3 is a structural diagram of a TOF ranging system according to an embodiment of the present invention.
  • FIG. 4 is a structural diagram of a TOF ranging system according to an embodiment of the present invention.
  • FIG. 5 is a structural diagram of a TOF ranging system according to an embodiment of the present invention;
  • FIG. 6 is a structural diagram of a TOF ranging system according to an embodiment of the present invention;
  • FIG. 7 is a structural diagram of a TOF ranging system according to an embodiment of the present invention.
  • the first optical signal processing device 141 in the embodiment shown in FIG. 1 includes at least one of a first converging lens, a mirror, and a first aperture.
  • 11 denotes an illuminator
  • the illuminator 11 may be a light emitting diode or a laser diode
  • 22 denotes a plane perpendicular to the optical axis of the illuminator 11, which plane may serve as a surface of the target object.
  • the first optical signal processing device 141 may include both the first converging lens and the mirror, or the first optical signal processing device 141 may include both the first converging lens and the first aperture.
  • the first optical signal processing device 141 can have the following forms:
  • the first optical signal processing device 141 is specifically a first converging lens 31.
  • the distance between the first converging lens 31 and the plane 22 is d.
  • the first converging lens 31 includes at least one of the following: a plano-convex lens, Lenticular lens, lens combination.
  • the first converging lens 31 has a function of concentrating optical signals, that is, the first converging lens 31 can converge the optical signals emitted by the illuminator 11 to The divergence angle of the optical signal emitted by the illuminator 11 is reduced. As shown in FIG.
  • the radiation power density E1 of the optical signal emitted from the illuminator 11 is determined according to the following formula (4):
  • the position of the illuminator 11 is determined in accordance with the back focus of the first converging lens 31.
  • the illuminator 11 is located at the back focus of the first converging lens 31.
  • the first optical signal processing device 141 is specifically a mirror 41.
  • the mirror surface of the mirror 41 is a paraboloid that at least partially surrounds the illuminator 11.
  • the light signal emitted by the light emitting diode has a large divergence angle, as shown by the solid arrows 1 and 2 shown in FIG. The angle of the emission is large.
  • the mirror 41 reflects the beams indicated by the solid arrows 1 and 2, according to the reflection principle of the mirror surface.
  • the light beam indicated by the line arrow 1 is reflected as the light beam 3, and the light beam indicated by the solid line arrow 2 is reflected as the light beam 4.
  • the emission angle of the light beam 3 is smaller than the emission angle of the light beam indicated by the solid line arrow 1, and the emission angle of the light beam 4 is The angle of the light beam indicated by the line arrow 2 is small.
  • the mirror 41 has the function of concentrating the light signal, that is, the mirror 41 can converge the light signal emitted by the illuminator 11 to reduce the light signal emitted by the illuminator 11.
  • the divergence angle similarly increases the radiation power density of the optical signal emitted by the illuminator 11.
  • the curvature of the paraboloid of the mirror 41 is determined according to at least one of the following parameters: the size of the illuminator 11, and the energy distribution of the optical signal emitted by the illuminator 11.
  • the third type is the third type.
  • the first optical signal processing device 141 is specifically a first aperture 51.
  • the first aperture 51 is at least partially disposed around the illuminator 11, and the axis of the aperture of the first aperture 51 is The optical axes of the illuminators 11 are parallel.
  • the light beam indicated by the solid arrow shown in FIG. 5 is blocked by the inner wall of the first aperture 51 after being directed toward the first aperture 51, and cannot pass through the aperture of the first aperture 51, as compared with FIG.
  • the light signal emitted by the illuminator 11 projects the radius of the spot formed on the plane 22.
  • the first aperture 51 also has the function of concentrating the optical signal, that is, the first aperture 51 can also converge the optical signal emitted by the illuminator 11 to reduce the divergence angle of the optical signal emitted by the illuminator 11, and the same reason.
  • the radiation power density of the optical signal emitted by the illuminator 11 is increased.
  • the first aperture 51 may be a sleeve, and the sleeve may have a circular shape, a rectangular shape, a square shape, or the like.
  • the divergence angle of the light signal emitted by the illuminator 11 after passing through the first aperture 51 is determined according to at least one of the following parameters: the length of the first aperture 51, the aperture of the aperture of the first aperture 51, and the first light.
  • the size of the first aperture 51 can also be determined according to the size of the illuminator 11.
  • the first optical signal processing device 141 includes a first converging lens 31 and a mirror 41.
  • the illuminator 11 is a light-emitting diode.
  • the light signal emitted by the light-emitting diode has a large divergence angle.
  • some of the light signals emitted by the illuminator 11 cannot be emitted.
  • the first converging lens 31 for example, a light beam indicated by an arrow a and an arrow b, has a large angle of emission and cannot be directed toward the first converging lens 31, so that the light emitted by the illuminator 11
  • the signal cannot be effectively utilized, resulting in a decrease in the utilization efficiency of the illuminating power of the illuminator 11, and at the same time, the efficiency of the first concentrating lens 31 concentrating the optical signal emitted by the illuminator 11 is lowered.
  • a mirror 41 is added, and the mirror 41 in Fig. 6 coincides with the mirror 41 shown in Fig. 4.
  • the light beams indicated by the arrow a and the arrow b in FIG. 3 cannot be directed toward the first converging lens 31, and after the beam indicated by the arrow a and the arrow b in FIG. 6 is directed toward the paraboloid of the mirror 41, the mirror 41 is opposed.
  • the light beams indicated by the arrows a and b are reflected, and the light beams reflected by the mirror 41 can be directed to the first converging lens 31, that is, the mirror 41 can reflect the large-angle beam emitted by the illuminator 11 into a small-angle beam.
  • the optical signal emitted by the illuminator 11 can be effectively utilized, thereby improving the utilization efficiency of the illuminating power of the illuminator 11.
  • the efficiency at which the first converging lens 31 converges the optical signal emitted by the illuminator 11 is increased.
  • the first optical signal processing device 141 includes a first converging lens 31 and a first aperture 51. Since the first converging lens 31 has a function of concentrating the optical signals, that is, the first converging lens 31 can converge the optical signals emitted by the illuminators 11 to reduce the divergence angle of the optical signals emitted by the illuminators 11, as shown in FIG. On the basis of FIG. 5, a first converging lens 31 is added in front of the illuminator 11, and the optical signal emitted by the illuminator 11 is first concentrated by the first aperture 51 to reduce the optical signal emitted by the illuminator 11.
  • the divergence angle after the light signal emitted by the illuminator 11 passes through the first aperture 51, part of the optical signal is blocked by the inner wall of the first aperture 51, and the light aperture of the first aperture 51 cannot be emitted, and the first aperture 51 is emitted.
  • the light signal of the light-passing hole is again incident on the first converging lens 31, and the first converging lens 31 re-converges the optical signal that emits the light-passing hole of the first aperture 51.
  • the divergence angle of the optical signal transmitted through the first converging lens 31 in FIG. 7 is smaller than the divergence angle of the optical signal of the light-passing aperture of the first aperture 51 in FIG. 5, and therefore, the first convergent lens 31 is added. Thereafter, the divergence angle of the optical signal emitted by the illuminator 11 can be further reduced.
  • the first optical signal processing device may be at least one of a first converging lens, a mirror and a first aperture, the first converging lens, the mirror and the first aperture. Any one of the foregoing can converge the optical signal emitted by the illuminator, and provides various implementation manners for reducing the divergence angle of the optical signal emitted by the illuminator; in addition, the first optical signal processing device can also be the first converging lens And a mirror capable of reflecting a large-angle beam emitted by the illuminator into a beam of a small angle so that more of the beam emitted by the illuminator can be directed toward the first a converging lens enables the optical signal emitted by the illuminator to be effectively utilized, improving the utilization efficiency of the illuminating power of the illuminator, and improving the efficiency of the optical signal emitted by the first concentrating lens concentrating illuminator; further, the first optical
  • the optical signal of the hole is again directed to the first converging lens, and the first converging lens re-converges the optical signal of the light passing through the first aperture to further reduce the divergence angle of the optical signal emitted by the illuminator, thereby further improving The radiant power density of the optical signal emitted by the illuminator.
  • FIG. 9 is a structural diagram of a TOF ranging system according to an embodiment of the present invention.
  • the embodiment shown in FIG. 3-7 improves the radiant power density of the optical signal emitted by the illuminator 11 by reducing the divergence angle of the optical signal emitted by the illuminator 11, so as to improve the signal-to-noise ratio of the TOF ranging system.
  • the example improves the signal-to-noise ratio of the TOF ranging system by increasing the receiving aperture of the receiver 12.
  • the receiving aperture of the receiver 12 determines the intensity of the optical signal reflected by the target object 15 received by the receiver 12, as shown in Fig.
  • the receiver 12 comprises a photosensitive element, and the photosensitive element comprises at least one of the following : Photodiode, avalanche photodiode, charge coupled device.
  • 15 denotes a target object, which may be an obstacle.
  • the optical signal reflected by the obstacle is a reflected beam, and the reflection of the obstacle on the optical signal can be regarded as a Lambertian reflection, and the reflected beam of the obstacle is distributed in a stereoscopic shape of ⁇ .
  • the second optical signal processing device 142 is not provided, only a small portion of the reflected light beam of the obstacle is received by the receiver 12, assuming that only the solid angle of the reflected beam of the obstacle is within ⁇ .
  • the beam is received by the receiver 12, the distance between the receiver 12 and the target object 15 is d, and the area of the receiver 12 is A.
  • the relationship between ⁇ , d and A can be determined by the following formula (6):
  • a second optical signal processing device 142 is disposed in front of the receiver 12.
  • the second optical signal processing device 142 includes a second converging lens 91, and the second convergence.
  • the lens 91 includes at least one of a plano-convex lens, a lenticular lens, and a lens combination.
  • the second converging lens 91 is specifically configured to increase the receiving aperture of the receiver 12 to increase the intensity of the optical signal reflected by the target object 15 received by the receiver 12.
  • Second converging lens 91 The area is A1, the focal length is f, and the area A1 of the second converging lens 91 is larger than the area A of the receiver 12, as shown in FIG.
  • the intensity of the optical signal reflected by the target object received by the receiver 12 will be increased by 100 times, that is, by adding the second converging lens 91 in front of the receiver 12, the receiving aperture of the receiver 12 can be increased, thereby improving The intensity of the optical signal reflected by the target object received by the receiver 12.
  • the position of the receiver 12 is determined based on the back focus of the second converging lens 91.
  • the receiver 12 is located at the back focus of the second converging lens 91.
  • first converging lens 31 and the second converging lens 91 may be the same lens or different lenses.
  • the TOF ranging system provided in this embodiment provides a converging lens in front of the receiver, and the optical signal reflected by the target object is collected by the convergent lens and received by the receiver.
  • the area of the converging lens is larger than the area of the receiver, so that the area of the converging lens is larger than that of the receiver.
  • More optical signals reflected by the target object can be received by the receiver, which improves the receiving aperture of the receiver, thereby improving the intensity of the optical signal reflected by the target object received by the receiver, further improving the TOF ranging.
  • the signal-to-noise ratio of the system improves the accuracy of the measurement results of the TOF ranging system.
  • Embodiments of the present invention provide a TOF ranging system.
  • 11 is a structural diagram of a TOF ranging system according to an embodiment of the present invention.
  • FIG. 12 is a structural diagram of a TOF ranging system according to an embodiment of the present invention.
  • FIG. 13 is a structural diagram of a TOF ranging system according to an embodiment of the present invention. .
  • the receiver 12 receives the optical signal concentrated by the second converging lens 91, and also receives the background light, the background light is randomly generated, and the receiver 12 may Receiving background light in all directions, the background light will not only affect the receiver 12
  • the received optical signal intensity reflected by the target object, and the background light also brings a large noise, which has a great influence on the measurement result of the TOF ranging system, thereby reducing the measurement accuracy of the TOF ranging system, in order to solve
  • the present embodiment limits the intensity of the background light received by the receiver 12 in the following two ways, which are described in detail below:
  • the second optical signal processing device 142 includes a filter, as shown in FIG. 11, the filter 92 is located on the side of the second converging lens 91 near the receiver 12, or, as shown in FIG. 12, the filter 92 is located at the The side of the second converging lens 91 away from the receiver 12, as shown in FIG. 11 or 12, the filter 92 can filter out part of the background light, and let the light signal reflected by the target object 15 pass, thereby avoiding excessive background light being Received by the receiver 12 to increase the signal to noise ratio of the received optical signal.
  • the transmission wavelength of the filter 92 is determined according to the wavelength of the optical signal emitted from the illuminator 11.
  • the wavelength of the optical signal emitted by the illuminator 11 is 850 nm
  • the transmission wavelength of the filter 92 can be set in the range of 830 nm to 870 nm.
  • the optical system 14 also includes a second aperture, as shown in Figure 13, with a second aperture 131 positioned between the receiver 12 and the second converging lens 91 for blocking background light in a predetermined direction. Since the background light is randomly generated, and the receiver 12 may receive the background light in each direction, the direction of the light signal reflected by the target object 15 is concentrated, as shown in FIG. 13, the light signal reflected by the target object 15 is concentrated. In the solid angle ⁇ 1, the embodiment may block the background light of the preset direction by the second aperture 131, and the preset direction may be the direction of the light signal reflected by the target object 15, thereby avoiding excessive background light being received by the receiver. 12 received. In addition, by adjusting the size of the second aperture 131 to adjust the amount of background light blocked by the second aperture 131, the preset direction can also be adjusted by adjusting the placement angle of the second aperture 131.
  • a filter is disposed on a side of the second converging lens close to the receiver or a side of the second converging lens away from the receiver, and the filter can filter part of the background light, and Passing the optical signal reflected by the target object, thereby avoiding excessive background light being received by the receiver, improving the signal-to-noise ratio of the optical signal received by the receiver; and, by setting between the receiver and the second converging lens
  • the second aperture, the second aperture is used to block the background light in the preset direction, and the excessive background light is also received by the receiver, thereby reducing the intensity of the light signal reflected by the background light on the receiver receiving the target object. Influence, at the same time, avoid the larger background light Noise, reducing the influence of background light on the measurement results of the TOF ranging system, further improves the accuracy of the measurement results of the TOF ranging system.
  • FIG. 15 is a structural diagram of a TOF ranging system according to an embodiment of the present invention.
  • the controller 13 shown in FIG. 1 can determine not only the target object 15 and the TOF measurement based on the optical signal emitted by the illuminator 11 and the optical signal reflected by the target object 15 received by the receiver 12.
  • the distance from the system can also drive the illuminator 11 to emit a modulated optical signal at a predetermined period, while the controller 13 can also control the intensity of the optical signal emitted by the illuminator 11.
  • the controller 13 is internally provided with a driving circuit.
  • the driving circuit built in the controller 13 includes a driving source 151 and a control circuit 152.
  • the driving source 151 is connected with an external power source 150, and the external power source 150 provides a constant voltage to drive the driving source.
  • the driving source 151 can be used as a constant current source, where the constant current source refers to a current having a maximum current of a fixed value, for example, 200 mA, and a minimum current of 0, and the control circuit 152 can include a register inside the controller 13.
  • the register can perform pulse width modulation (PWM) on the constant current source, so that the current flowing to the illuminator 11 is a pulse current.
  • PWM pulse width modulation
  • the control circuit 152 can control the start time of the PWM waveform and continue.
  • the pulse current controlled by the control circuit 152 flows to the illuminator 11, and the illuminator 11 emits an optical signal when the pulse current is at a high level, and the illuminator 11 does not emit an optical signal when the pulse current is at a low level, that is, the controller 13
  • the illuminator 11 is controlled to perform switching modulation illumination. Since the highest current of the constant current source is fixed, the improvement cannot be continued, and the optical power output from the illuminator 11 as shown in FIG. 14 is fixed, and higher optical power cannot be output.
  • the illuminator 11 can be a Light Emitting Diode (LED) or a Laser Diode (LD).
  • the present embodiment improves the circuit as shown in FIG. 14, as shown in FIG. 15, on the basis of FIG. 14, the TOF ranging system further includes: an external driving circuit 16, an external driving circuit 16 and control.
  • the illuminator 13 and the illuminator 11 are respectively connected for increasing the output power of the illuminator 11.
  • the external driving circuit 16 includes an external driving power source 161 for driving the illuminator 11, the external driving power source 161 provides a voltage greater than the voltage supplied from the external power source 150, and the controller 13 outputs a control signal I, the control signal I is the pulse current flowing to the illuminator 11 in FIG. 14, and unlike FIG. 14, the control signal I does not directly control the illuminating.
  • the device 11 controls the external drive circuit 16.
  • the external driving circuit 16 includes a switching element 162, and the illuminator 11 is connected to the switching element 162.
  • the control signal I outputted by the controller 13 controls the switching element 162 when the control signal I output from the controller 13 is at a high level.
  • the switching element 162 is turned on.
  • the control signal I outputted by the controller 13 is low level, the switching element 162 is turned off, that is, when the control signal I outputted by the controller 13 is at a high level, the external driving circuit 16 is turned on when controlling When the control signal I outputted by the device 13 is at a low level, the external drive circuit 16 is turned off, thereby realizing control of the external drive circuit 16 by the control signal I output from the controller 13.
  • the switching element 162 includes at least one of a metal oxide semiconductor field effect transistor, a triode, and a device for amplitude modulating the illumination of the illuminator.
  • the switching element 162 is a Metal Oxide Semi-Conductor Field Effect Transistor (MOS FET).
  • the external driving circuit 16 further includes a resistor 163, and the resistor 163 is connected to the switching element 162.
  • Controlling the switching element 162 by the control signal I to implement the control of the external driving circuit 16 includes: the control signal I is loaded in the resistor 163 and connected to the switching element 162.
  • One end 17, the control signal I is used to control the opening or closing of the switching element 162 to effect control of the external drive circuit 16.
  • the control signal I that is, the pulse current I outputted by the controller 13 flows through the resistor 163, a partial pressure U is formed on the resistor 163, and the relationship between the divided voltage U, the pulse current I, and the resistance R of the resistor 163 is as follows: Equation (8) determines:
  • the divided voltage U is greater than the turn-on voltage of the MOS FET, causing the MOS FET to be turned on, at which time the external driving circuit 16 is turned on, and the illuminator 11 is externally driven by the power source 161. Drives to illuminate.
  • the pulse current I outputted by the controller 13 When the pulse current I outputted by the controller 13 is at a low level, the divided voltage U formed on the resistor 163 by the pulse current I is smaller than the turn-on voltage of the MOS FET, and the MOS FET is not turned on, and the external driving circuit 16 is not turned on at this time.
  • the illuminator 11 does not emit light, that is, the pulse current I outputted by the controller 13 controls the external drive circuit 16 by controlling the opening or closing of the switching element 162, thereby causing the illuminator 11 to be switched under the driving of the external driving power source 161. Modulate illumination.
  • the illuminator 11 can output higher optical power under the driving of the external driving power source 161, thereby improving the receiver 12.
  • the signal-to-noise ratio of the received optical signal improves the power of the optical signal received by the receiver 12, so that the ranging range of the TOF ranging system is larger and the measurement result is more accurate.
  • the magnitude of the voltage provided by the external driving power source 161 can be adjusted according to the volt-ampere characteristics of the illuminator 11 to achieve the maximum output power of the illuminator 11 and is not driven by the driving circuit provided inside the controller 13. The impact of driving capabilities.
  • the horizontal axis represents the magnitude of the driving current I flowing through the illuminator 11
  • the vertical axis represents the ratio of the illuminating intensity of the illuminator 11 driven by the driving current I and Ie, where Ie indicates that the illuminator 11 is The nominal luminous power at 100 mA.
  • the maximum current of the pulse current I outputted by the controller 13 is fixed at 200 mA.
  • the maximum value of the pulse current I flowing through the illuminator 11 is 200 mA.
  • the driving current I is 200 mA
  • the luminous intensity of the illuminator 11 is twice the Ie. As shown in FIG.
  • the voltage supplied from the external driving power supply 161 is fixed at 2.4 V, and the driving current through the illuminator 11 is 1 A.
  • the driving current I is 1 A
  • the luminous intensity of the illuminator 11 is 7 times.
  • the Ie is equivalent to a 3.5-fold increase in the luminous power of the illuminator 11.
  • the TOF ranging system increases the output power of the illuminator by using an external power source to drive the power source by adding an external driving circuit to the TOF ranging system.
  • the external driving circuit includes an external driving power source.
  • the switching element, the external driving power source drives the illuminator, and the control signal outputted by the controller does not directly control the illuminator, but controls the opening or closing of the switching element to realize the control of the external driving circuit, so that the illuminator is externally driven
  • the switch modulates the illumination under the driving of the power source, and the voltage driven by the external driving power source drives the illuminator to output an optical signal with higher optical power, thereby improving the signal-to-noise ratio of the optical signal received by the receiver, and improving the optical signal received by the receiver.
  • the optical power makes the TOF ranging system have a larger range of measurement and more accurate measurement results.
  • FIG. 17 is a structural diagram of a TOF ranging system according to another embodiment of the present invention.
  • the TOF ranging system includes an illuminator 11, a receiver 12, a controller 13, and an external driving circuit 16, the illuminator 11 is for emitting an optical signal, and the receiver 12 is for receiving an optical signal reflected by the target object.
  • the controller 13 is configured to determine a distance between the target object and the TOF ranging system according to the optical signal emitted by the illuminator 11 and the optical signal reflected by the target 12 received by the receiver 12; the external driving circuit 16 is configured to increase Illuminate The output power of the device 11.
  • the external drive circuit 16 includes an external drive power source 161 for driving the illuminator 11.
  • the controller 13 is connected to an external drive circuit 16, which is also used to output a control signal to control the external drive circuit 16.
  • the external drive circuit 16 includes a switching element 162, and the illuminator 11 is coupled to the switching element 162.
  • the controller 13 is specifically configured to output a control signal, and the switching element 162 is controlled by the control signal to effect control of the external driving circuit 16.
  • the external driving circuit 16 further includes a resistor 163, and the resistor 163 is connected to the switching element 162.
  • Controlling the switching element 162 by the control signal to realize the control of the external driving circuit 16 includes: the control signal is loaded at the end of the connection between the resistor 163 and the switching element 162. Control of the external drive circuit 16 is accomplished using control signals to control the opening or closing of the switching element 162.
  • the switching element 162 includes at least one of a metal oxide semiconductor field effect transistor, a triode, and a device for amplitude modulating the illumination of the illuminator.
  • the controller 13 is specifically configured to determine a phase difference between an optical signal emitted by the illuminator 11 and an optical signal reflected by the target object received by the receiver 12, and determine, between the target object and the ranging system, according to the phase difference. distance.
  • the embodiment of the invention provides a mobile platform, which comprises the TOF ranging system described in the above embodiments.
  • the mobile platform includes an unmanned aerial vehicle.
  • FIG. 18 is a structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • the unmanned aerial vehicle 100 includes: a fuselage, a power system, and a control device 118.
  • the power system includes at least one of the following: a motor 107.
  • a propeller 106 and an electronic governor 117 are mounted to the fuselage for providing flight power; the control device 118 may specifically be a flight controller.
  • the unmanned aerial vehicle 100 further includes: a sensing system 108, a communication system 110, a supporting device 102, a photographing device 104, and a TOF ranging system 119, wherein the sensing system is configured to detect the unmanned Aircraft speed, acceleration, attitude parameters (pitch angle, roll angle, The yaw angle, etc.) or the attitude parameters of the pan/tilt (pitch angle, roll angle, yaw angle, etc.), etc.
  • the support device 102 may specifically be a pan/tilt
  • the communication system 110 may specifically include a receiver and/or a transmitter, and receive The machine is configured to receive wireless signals transmitted by the antenna 114 of the ground station 112.
  • the communication system 110 can also transmit wireless signals (e.g., image information, status information of the unmanned aerial vehicle, etc.) to the ground station, 116 indicating the communication process of the communication system 110 and the antenna 114. Electromagnetic waves generated in.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
  • the above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium.
  • the above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (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

L'invention concerne un système de mesure de distance de TOF et une plateforme mobile. Le système de mesure de distance de TOF comprend : un émetteur de lumière (11), un récepteur (12), un dispositif de commande (13) et un système optique (14), le système optique (14) comprenant un premier appareil de traitement de signal optique (141) et/ou un second appareil de traitement de signal optique (142); un signal optique émis par l'émetteur de lumière (11) passant à travers le premier appareil de traitement de signal optique (141) de façon à améliorer la densité de puissance de rayonnement du signal optique émis par l'émetteur de lumière (11); et un signal optique réfléchi par un objet cible (15) traversant un second appareil de traitement de signal optique (142) de façon à améliorer l'intensité du signal optique réfléchi par l'objet cible (15) et reçu par le récepteur (12). Grâce à l'amélioration de la densité de puissance de rayonnement du signal optique émis par l'émetteur de lumière (11) et/ou à l'amélioration de l'intensité du signal optique réfléchi par l'objet cible (15) et reçu par le récepteur (12), le rapport signal sur bruit d'un système de mesure de distance de TOF peut être amélioré, de telle sorte que le système de mesure de distance de TOF puisse détecter un objet cible éloigné du système de mesure de distance de TOF, ce qui permet d'améliorer la plage de mesure de distance du système de mesure de distance de TOF.
PCT/CN2017/072176 2017-01-23 2017-01-23 Système de mesure de distance de tof et plateforme mobile WO2018133089A1 (fr)

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