CN107076853A - TOF range-measurement systems and moveable platform - Google Patents
TOF range-measurement systems and moveable platform Download PDFInfo
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- CN107076853A CN107076853A CN201780000256.4A CN201780000256A CN107076853A CN 107076853 A CN107076853 A CN 107076853A CN 201780000256 A CN201780000256 A CN 201780000256A CN 107076853 A CN107076853 A CN 107076853A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- 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
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The embodiment of the present invention provides a kind of TOF range-measurement systems and moveable platform, and the TOF range-measurement systems include：Photophore, receiver, controller and optical system, optical system include at least one of the first light signal processing device and the second light signal processing device；The optical signal of photophore transmitting is by the first light signal processing device with the radiosity for the optical signal for improving photophore transmitting；The optical signal reflected by destination object passes through the second light signal processing device to improve the light signal strength for the destination object reflection that receiver is received.The embodiment of the present invention by improve photophore launch optical signal radiosity, and/or improve the light signal strength for the destination object reflection that receiver is received, the signal to noise ratio of TOF range-measurement systems can be improved, so that the detectable destination object apart from TOF range-measurement systems farther out of TOF range-measurement systems, so as to improve the finding range of TOF range-measurement systems.
Description
Technical Field
The embodiment of the invention relates to the field of distance measurement, in particular to a TOF distance measurement system and a movable platform.
Background
Mobile platforms (e.g. unmanned aerial vehicles, detection robots, etc.) are currently provided with detection devices for detecting obstacles around the mobile platform in order to prevent the mobile platform from colliding with surrounding obstacles.
Time Of Flight (TOF) is a commonly used distance measuring method, and the TOF method includes a phase modulation method, in which a Light source Of a TOF distance measuring system on a movable platform emits an amplitude-modulated continuous Light signal, usually a Light Emitting Diode (LED), and when the continuous Light signal irradiates an obstacle around the movable platform, the obstacle returns a reflected Light signal to the TOF distance measuring system, and the TOF distance measuring system calculates a distance between the obstacle and the movable platform according to a phase Of the reflected Light signal.
However, in the TOF ranging system, on one hand, the intensity of the returned optical signal decreases with the increase of the measurement distance, which results in insufficient intensity of the optical signal received by the receiver, and on the other hand, in order to obtain sufficient intensity of the optical signal, the integration time needs to be increased, and both the consumed electric power and the optical power are increased. Therefore, at present, the TOF ranging system can only detect a closer obstacle, but cannot detect an obstacle at a longer distance.
Disclosure of Invention
The embodiment of the invention provides a TOF ranging system and a movable platform, which are used for improving the ranging range of the TOF ranging system.
One aspect of an embodiment of the present invention is to provide a TOF ranging system, including: a light emitter, a receiver, a controller, and an optical system; wherein,
a light emitter for emitting a light signal;
a receiver for receiving an optical signal reflected by a target object;
the controller is used for determining the distance between the target object and the ranging system according to the optical signal emitted by the light emitter and the optical signal received by the receiver and reflected by the target object;
the optical system includes at least one of:
the first optical signal processing device is used for increasing the radiation power density of the optical signal emitted by the light emitter;
and the second optical signal processing device is used for processing the optical signal reflected by the target object so as to improve the intensity of the optical signal received by the receiver and reflected by the target object.
Another aspect of an embodiment of the present invention is to provide a TOF ranging system, including: the device comprises a light emitter, a receiver, a controller and an external driving circuit; wherein,
a light emitter for emitting a light signal;
a receiver for receiving an optical signal reflected by a target object;
the controller is used for determining the distance between the target object and the ranging system according to the optical signal emitted by the light emitter and the optical signal received by the receiver and reflected by the target object;
the external driving circuit is used for increasing the output power of the light emitter.
It is another aspect of an embodiment of the present invention to provide a movable platform, including: the TOF ranging system of any of the above.
The TOF ranging system and the movable platform provided by this embodiment are configured with an optical system, where the optical system includes at least one of a first optical signal processing device and a second optical signal processing device, so that an optical signal emitted by a light emitter in the TOF ranging system passes through the first optical signal processing device, and/or a receiver in the TOF ranging system receives an optical signal reflected by a target object through the second optical signal processing device, the first optical signal processing device can increase the radiation power density of the optical signal emitted by the light emitter, the second optical signal processing device can increase the intensity of the optical signal reflected by the target object received by the receiver, and the signal-to-noise ratio of the TOF ranging system can be increased by increasing the radiation power density of the optical signal emitted by the light emitter and/or increasing the intensity of the optical signal reflected by the target object received by the receiver, the TOF ranging system can detect the target object far away from the TOF ranging system, and therefore the ranging range of the TOF ranging system is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
FIG. 1 is a block diagram of a TOF ranging system provided in accordance with an embodiment of the present invention;
FIG. 2 is a diagram illustrating a light signal emitted by a light emitter according to the prior art;
FIG. 3 is a block diagram of a TOF ranging system provided in accordance with an embodiment of the present invention;
FIG. 4 is a block diagram of a TOF ranging system provided in accordance with an embodiment of the present invention;
FIG. 5 is a block diagram of a TOF ranging system provided in accordance with an embodiment of the present invention;
FIG. 6 is a block diagram of a TOF ranging system provided in accordance with an embodiment of the present invention;
FIG. 7 is a block diagram of a TOF ranging system provided in accordance with an embodiment of the present invention;
FIG. 8 is a diagram illustrating a prior art receiver receiving an optical signal;
FIG. 9 is a block diagram of a TOF ranging system provided in accordance with an embodiment of the present invention;
FIG. 10 is a block diagram of a TOF ranging system provided in accordance with an embodiment of the present invention;
FIG. 11 is a block diagram of a TOF ranging system provided in accordance with an embodiment of the present invention;
FIG. 12 is a block diagram of a TOF ranging system provided in accordance with an embodiment of the present invention;
FIG. 13 is a block diagram of a TOF ranging system provided in accordance with an embodiment of the present invention;
FIG. 14 is a block diagram of a TOF ranging system of the prior art;
FIG. 15 is a block diagram of a TOF ranging system provided in accordance with an embodiment of the present invention;
FIG. 16 is a graph of driving current versus luminous intensity for an illuminator in accordance with an embodiment of the present invention;
FIG. 17 is a block diagram of a TOF ranging system according to another embodiment of the present invention;
fig. 18 is a block diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
Reference numerals:
11-light emitter 12-receiver 13-controller
14-optical system 15-target object 141-first optical signal processing means
142-second optical signal processing means 21-light emitting diode
22-plane 31-first converging lens 41-mirror
51-first diaphragm 91-second converging lens 92-optical filter
131-second diaphragm 151-drive source 152-control circuit
150-external power supply 16-external driving circuit 161-external driving power supply
162-switching element 163-resistor
17-terminal 100-UAV with resistor 163 connected to switching element 162
107-motor 106-propeller 117-electronic governor
118-flight controller 108-sensing system 110-communication system
102-support device 104-photographing device 112-ground station
114-antenna 116-electromagnetic wave 119-TOF ranging system
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
The embodiment of the invention provides a TOF ranging system. Fig. 1 is a structural diagram of a TOF ranging system according to an embodiment of the present invention. As shown in fig. 1, the TOF ranging system includes: the optical system 14 includes at least one of a first optical signal processing device 141 and a second optical signal processing device 142, in the present embodiment, the optical system 14 includes the first optical signal processing device 141 and the second optical signal processing device 142, and in other embodiments, the optical system 14 includes any one of the first optical signal processing device 141 and the second optical signal processing device 142.
The TOF ranging system provided by the present embodiment may be disposed on a movable platform, the movable platform including at least one of: unmanned vehicles, mobile robots, vehicles. The TOF ranging system is used for detecting a target object, which may be an obstacle or a target of interest, around the movable platform, and in particular for detecting a distance between the target object and the TOF ranging system, and determining the distance between the target object and the movable platform from the distance between the target object and the TOF ranging system.
The Light emitter 11 is used for emitting a Light signal, and specifically, the Light emitter 11 may be a Light Emitting Diode (LED) or a Laser Diode (LD). When the light signal emitted by the light emitter 11 illuminates the target object around the movable platform, the target object returns a reflected light signal to the TOF ranging system, where the receiver 12 is used to receive the light signal reflected by the target object, and optionally, the receiver 12 includes a photosensitive element including at least one of: photodiodes, avalanche photodiodes, charge coupled devices.
As shown in fig. 1, the controller 13 is connected to the light emitter 11 and the receiver 12, respectively, and the controller 13 determines the distance between the target object 15 and the TOF ranging system based on the light signal emitted by the light emitter 11 and the light signal reflected by the target object 15 received by the receiver 12. Specifically, the controller 13 is configured to determine a phase difference between the light signal emitted by the light emitter 11 and the light signal reflected by the target object 15 received by the receiver 12, and determine a distance between the target object 15 and the TOF ranging system according to the phase difference.
In the present embodiment, the optical signal emitted by the light emitter 11 is emitted to the target object 15 through the first optical signal processing device 141, and the first optical signal processing device 141 plays a role of increasing the radiation power density of the optical signal emitted by the light emitter 11, and optionally, the first optical signal processing device 141 has an optical signal converging function, that is, the first optical signal processing device 141 can converge the optical signal emitted by the light emitter 11 to reduce the divergence angle of the optical signal emitted by the light emitter 11, so as to increase the radiation power density of the optical signal emitted by the light emitter 11.
For example, as shown in fig. 2, the light emitter 11 is a light emitting diode 21, which is typically a divergent light source that emits a light signal in a divergent light beam. In the absence of the first optical signal processing device 141, assuming that the light emitting power of the LED is P, the divergence angle of the optical signal emitted by the LED is θ, and the radius of the spot formed by the beam projection of the LED on the plane 22 perpendicular to the optical axis of the LED is r at a distance d from the LED, r is determined according to the following formula (1):
r＝dtan(θ) (1)
in addition, the radiant power density E of the optical signal emitted by the LED is determined according to the following equation (2):
in order to increase the radiation power density E of the optical signal emitted by the LED, in this embodiment, the first optical signal processing device 141 is disposed in front of the LED, so that the optical signal emitted by the LED is emitted to the plane 22 through the first optical signal processing device 141, the first optical signal processing device 141 can converge the optical signal emitted by the LED, and under the condition that the light emitting power P of the LED is not changed, the first optical signal processing device 141 can reduce the divergence angle θ of the optical signal emitted by the LED, so as to increase the radiation power density E of the optical signal emitted by the LED.
In addition, after the light signal emitted by the light emitter 11 is emitted to the target object 15 through the first light signal processing device 141, the target object 15 returns a reflected light signal to the TOF ranging system, the light signal reflected by the target object 15 is received by the second light signal processing device 142 in the optical system 14, the light signal reflected by the target object 15 is received by the receiver 12 after passing through the second light signal processing device 142, the receiver 12 sends the light signal reflected by the target object 15 to the controller 13, and the controller 13 determines the distance between the target object 15 and the TOF ranging system according to the light signal emitted by the light emitter 11 and the light signal reflected by the target object 15 received by the receiver 12. The second optical signal processing device 142 is used to increase the intensity of the optical signal reflected by the target object 15 received by the receiver 12. Optionally, the second optical signal processing device 142 may be configured to converge the optical signals reflected by the target object 15, so that more optical signals in the optical signals reflected by the target object 15 are received by the receiver 12, and the intensity of the optical signals reflected by the target object 15 received by the receiver 12 is increased.
Optionally, the target object 15 is an obstacle, the optical signal reflected by the obstacle is a reflected light beam, the reflection of the optical signal by the obstacle can be regarded as lambertian reflection, the reflected light beam of the obstacle is distributed in a solid angle of pi, if the second optical signal processing device 142 is not arranged, only a small part of the reflected light beam of the obstacle will be received by the receiver 12, in this embodiment, by arranging the second optical signal processing device 142 in front of the receiver 12, the second optical signal processing device 142 can converge the reflected light beam of the obstacle, so that more reflected light beams in the reflected light beam of the obstacle can be received by the receiver 12, thereby improving the intensity of the optical signal reflected by the obstacle received by the receiver 12.
The TOF ranging system provided by the embodiment is provided with an optical system, the optical system comprises at least one of a first optical signal processing device and a second optical signal processing device, so that an optical signal emitted by a light emitter in the TOF ranging system passes through the first optical signal processing device, and/or a receiver in the TOF ranging system receives an optical signal reflected by a target object through the second optical signal processing device, the first optical signal processing device can increase the radiation power density of the optical signal emitted by the light emitter, the second optical signal processing device can increase the intensity of the optical signal reflected by the target object received by the receiver, the signal-to-noise ratio of the TOF ranging system can be increased by increasing the radiation power density of the optical signal emitted by the light emitter, and/or the intensity of the optical signal reflected by the target object received by the receiver, so that the TOF ranging system can detect the target object far away from the TOF ranging system, thereby improving the range of the TOF ranging system.
The embodiment of the invention provides a TOF ranging system. FIG. 3 is a block diagram of a TOF ranging system provided in accordance with an embodiment of the present invention; FIG. 4 is a block diagram of a TOF ranging system provided in accordance with an embodiment of the present invention; FIG. 5 is a block diagram of a TOF ranging system provided in accordance with an embodiment of the present invention; FIG. 6 is a block diagram of a TOF ranging system provided in accordance with 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.
In the present embodiment, the first optical signal processing device 141 in the embodiment shown in fig. 1 includes at least one of a first condensing lens, a reflecting mirror, and a first diaphragm. As shown in fig. 3 to 7, 11 denotes a light emitter, the light emitter 11 may be a light emitting diode or a laser diode, and 22 denotes a plane perpendicular to an optical axis of the light emitter 11, which may be a surface of a target object.
In addition, in other embodiments, the first optical signal processing device 141 may include both the first condensing lens and the mirror, or the first optical signal processing device 141 may include both the first condensing lens and the first diaphragm.
Specifically, the first optical signal processing device 141 may have the following forms:
the first method comprises the following steps:
as shown in fig. 3, the first optical signal processing device 141 is specifically a first converging lens 31, a distance d between the first converging lens 31 and the plane 22 is d, and the first converging lens 31 includes at least one of the following components: plano-convex lenses, biconvex lenses, lens combinations. The first converging lens 31 has a function of converging optical signals, that is, the first converging lens 31 can converge the optical signals emitted by the light emitter 11 to reduce the divergence angle of the optical signals emitted by the light emitter 11, as shown in fig. 3, after the optical signals emitted by the light emitter 11 pass through the first converging lens 31, the divergence angle of the optical signals emitted by the light emitter 11 is reduced from θ shown in fig. 2 to θ 1 shown in fig. 3, accordingly, the radius of the light spot formed by the optical signals emitted by the light emitter 11 after passing through the first converging lens 31 and being projected on the plane 22 is r1, and in the case of a larger d, r1 can be approximately determined according to the following formula (3):
r1＝dtan(θ1) (3)
as shown in fig. 3, the radiant power density E1 of the optical signal emitted by the light emitter 11 is determined according to the following formula (4):
as can be seen from comparing fig. 2 and fig. 3, after the first focusing lens 31 is added, the radius of the light spot formed by the light signal emitted by the light emitter 11 projected on the plane 22 is reduced from r to dtan (θ) to r1 to dtan (θ 1), and accordingly, the radiation power density of the light signal emitted by the light emitter 11 is reduced from r to dtan (θ 1)Is improved toIf it will beAndas the amount of increase M in the radiation power density of the optical signal emitted by the light emitter 11, M can be determined according to the following formula (5):
for example, when θ is 10 degrees, and the divergence angle θ 1 of the optical signal emitted from the light emitter 11 is reduced to 3 degrees after the optical signal emitted from the light emitter 11 passes through the first converging lens 31, the radiation power density of the optical signal emitted from the light emitter 11 is increased by the amountI.e., E1 is 11.3 times greater than E.
In addition, in the present embodiment, the position of the light emitter 11 is determined according to the back focus of the first condensing lens 31. Alternatively, the light emitter 11 is located at the back focal point of the first condensing lens 31.
And the second method comprises the following steps:
as shown in fig. 4, the first optical signal processing device 141 is embodied as a reflector 41, and a mirror surface of the reflector 41 is a paraboloid which at least partially surrounds the light emitter 11. The light signal emitted by the light emitting diode generally has a large divergence angle, as indicated by the solid arrows 1 and 2 shown in fig. 4, the emitted angle is large, and when the light beams indicated by the solid arrows 1 and 2 are emitted to the paraboloid of the reflecting mirror 41, the reflecting mirror 41 reflects the light beams indicated by the solid arrows 1 and 2, according to the reflection principle of the mirror surface, the light beam indicated by the solid arrow 1 is reflected as the light beam 3, the light beam indicated by the solid arrow 2 is reflected as the light beam 4, the emission angle of the light beam 3 is smaller than that of the light beam indicated by the solid arrow 1, the emission angle of the light beam 4 is smaller than that of the light beam indicated by the solid arrow 2, and it can be seen that the reflecting mirror 41 has the function of condensing the light signal, that is, the reflector 41 can converge the optical signal emitted from the light emitter 11 to reduce the divergence angle of the optical signal emitted from the light emitter 11, and similarly, the radiation power density of the optical signal emitted from the light emitter 11 is increased.
In addition, in the present embodiment, the curvature of the paraboloid of the reflecting mirror 41 is determined according to at least one of the following parameters: the size of the light emitter 11, the energy distribution of the light signal emitted by the light emitter 11.
And the third is that:
as shown in fig. 5, the first optical signal processing device 141 is specifically a first diaphragm 51, the first diaphragm 51 is at least partially sleeved around the light emitter 11, and an axis of a light through hole of the first diaphragm 51 is parallel to an optical axis of the light emitter 11. The light beam indicated by the solid arrow shown in fig. 5 is blocked by the inner wall of the first diaphragm 51 after being emitted to the first diaphragm 51, and cannot be emitted out of the light-passing hole of the first diaphragm 51, so that the radius of the light spot formed on the plane 22 by the light signal emitted by the light emitter 11 is reduced compared with that in fig. 2. It can be seen that the first diaphragm 51 also has a function of converging optical signals, that is, the first diaphragm 51 can also converge the optical signals emitted by the light emitter 11, so as to reduce the divergence angle of the optical signals emitted by the light emitter 11, and similarly, the radiation power density of the optical signals emitted by the light emitter 11 is improved. In particular, the first diaphragm 51 may be a sleeve, the cross section of which may be circular, rectangular, square, etc.
In addition, the divergence angle of the light signal emitted by the light emitter 11 after passing through the first diaphragm 51 is determined according to at least one of the following parameters: the length of the first diaphragm 51, the aperture of the light-passing hole of the first diaphragm 51, and the position of the first diaphragm 51 with respect to the illuminator 11. Further, the size of the first diaphragm 51 may also be determined according to the size of the light emitter 11.
And fourthly:
as shown in fig. 6, the first optical signal processing device 141 includes a first condensing lens 31 and a reflecting mirror 41. As shown in fig. 3, for example, the light emitter 11 is a light emitting diode, and generally, an optical signal emitted by the light emitting diode has a large divergence angle, as shown in fig. 3, a part of the optical signal emitted by the light emitter 11 cannot be directed to the first converging lens 31, for example, light beams shown by arrows a and b, and the emitted angle is large and cannot be directed to the first converging lens 31, so that the optical signal emitted by the light emitter 11 cannot be effectively utilized, which results in a reduction in the utilization efficiency of the light emitting power of the light emitter 11, and at the same time, the efficiency of the first converging lens 31 for converging the optical signal emitted by the light emitter 11 is reduced, as shown in fig. 6, in addition to fig. 3, a reflecting mirror 41 is added, and the reflecting mirror 41 in fig. 6 is identical to the reflecting mirror 41 shown in fig. 4. For example, after the light beams shown by the arrows a and b in fig. 3 are emitted to the first collecting lens 31, the light beams shown by the arrows a and b in fig. 6 are emitted to the paraboloid of the reflector 41, the reflector 41 reflects the light beams shown by the arrows a and b, and the light beams reflected by the reflector 41 can be emitted to the first collecting lens 31, that is, the reflector 41 can reflect the light beams with large angles emitted by the light emitter 11 into light beams with small angles, so that more light beams in the light beams emitted by the light emitter 11 are emitted to the first collecting lens 31, so that the light signals emitted by the light emitter 11 can be effectively utilized, the utilization efficiency of the light emitting power of the light emitter 11 is improved, and the efficiency of the light signals emitted by the light emitter 11 of the first collecting lens 31 is improved.
And a fifth mode:
as shown in fig. 7, the first optical signal processing device 141 includes a first condenser lens 31 and a first diaphragm 51. Since the first converging lens 31 has an optical signal converging function, that is, the first converging lens 31 can converge the optical signal emitted by the light emitter 11 to reduce the divergence angle of the optical signal emitted by the light emitter 11, as shown in fig. 7, on the basis of fig. 5, the first converging lens 31 is additionally arranged in front of the light emitter 11, the optical signal emitted by the light emitter 11 firstly passes through the first diaphragm 51 to be converged to reduce the divergence angle of the optical signal emitted by the light emitter 11, after the optical signal emitted by the light emitter 11 passes through the first diaphragm 51, part of the optical signal is blocked by the inner wall of the first diaphragm 51 and cannot exit the light through hole of the first diaphragm 51, the optical signal exiting the light through hole of the first diaphragm 51 again exits the first converging lens 31, and the first converging lens 31 reconvergences the optical signal exiting the light through hole of the first diaphragm 51. Since the divergence angle of the optical signal transmitted through the first condenser lens 31 in fig. 7 is smaller than the divergence angle of the optical signal emitted from the light-transmitting hole of the first diaphragm 51 in fig. 5, the divergence angle of the optical signal emitted from the light emitter 11 can be further reduced by adding the first condenser lens 31.
In the TOF ranging system provided by this embodiment, the first optical signal processing device may be at least one of the first converging lens, the reflecting mirror and the first diaphragm, and any one of the first converging lens, the reflecting mirror and the first diaphragm can converge the optical signal emitted by the light emitter, so that multiple implementation manners are provided for reducing the divergence angle of the optical signal emitted by the light emitter; in addition, the first optical signal processing device can also be a first converging lens and a reflector, the reflector can reflect the light beams with large angles emitted by the light emitter into light beams with small angles, so that more light beams in the light beams emitted by the light emitter can be emitted to the first converging lens, the optical signals emitted by the light emitter can be effectively utilized, the utilization efficiency of the luminous power of the light emitter is improved, and meanwhile, the efficiency of the first converging lens for converging the optical signals emitted by the light emitter is improved; in addition, the first optical signal processing device may also be a first converging lens and a first diaphragm, the optical signal emitted by the light emitter is firstly converged by the first diaphragm to reduce the divergence angle of the optical signal emitted by the light emitter, the optical signal emitted out of the light through hole of the first diaphragm is emitted to the first converging lens again, and the first converging lens is used for converging the optical signal emitted out of the light through hole of the first diaphragm again to further reduce the divergence angle of the optical signal emitted by the light emitter, so that the radiation power density of the optical signal emitted by the light emitter is further improved.
The embodiment of the invention provides a TOF ranging system. Fig. 9 is a structural diagram of a TOF ranging system according to an embodiment of the present invention. The embodiments shown in fig. 3-7 improve the signal-to-noise ratio of the TOF ranging system by reducing the divergence angle of the optical signal emitted by the light emitter 11, increasing the radiated power density of the optical signal emitted by the light emitter 11, and 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. 8, 12 denotes the receiver, and the receiver 12 includes a photosensitive element, which includes at least one of the following: photodiodes, avalanche photodiodes, charge coupled devices. 15 denotes a target object, the target object 15 may be an obstacle, the optical signal reflected by the obstacle is a reflected beam, the reflection of the optical signal by the obstacle may be considered as lambertian reflection, the reflected beam of the obstacle is distributed within a solid angle of pi, if the second optical signal processing device 142 is not provided, only a small portion of the reflected beam of the obstacle will be received by the receiver 12, assuming that only the reflected beam of the obstacle within a solid angle Ω will be 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 Ω, d, and a may be determined by the following equation (6):
Ω＝A/d2(6)
in order to increase the receiving aperture of the receiver 12, in this embodiment, a second optical signal processing device 142 is disposed in front of the receiver 12, as shown in fig. 9, the second optical signal processing device 142 includes a second converging lens 91, and the second converging lens 91 includes at least one of the following: plano-convex lenses, biconvex lenses, lens combinations. The second converging lens 91 is specifically used 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. The area of the second focusing lens 91 is a1, the focal length is f, and the area a1 of the second focusing lens 91 is larger than the area a of the receiver 12, as shown in fig. 9, in the optical signal reflected by the target object 15, all the optical signals directed to the second focusing lens 91 will be focused on the receiver 12 by the second focusing lens 91, that is, all the optical signals within the solid angle Ω 1 in the optical signal reflected by the target object 15 will be received by the receiver 12, and assuming that the distance between the second focusing lens 91 and the target object 15 is d, the relationship between Ω 1, d and a1 can be determined by the following formula (7):
Ω1＝A1/d2(7)
since the area a1 of the second converging lens 91 is greater than the area a of the receiver 12, Ω 1 is greater than Ω, if the area a of the receiver 12 is 1 square millimeter, and the area a1 of the second converging lens 91 is 100 square millimeters, Ω 1 is 100 times Ω, and the intensity of the optical signal reflected by the target object received by the receiver 12 is 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, so that the intensity of the optical signal reflected by the target object received by the receiver 12 is increased.
Additionally, in other embodiments, the position of the receiver 12 is determined according to the back focus of the second converging lens 91. Optionally, the receiver 12 is located at the back focal point of the second converging lens 91.
In other embodiments, the first collecting lens 31 and the second collecting lens 91 may be the same lens or different lenses.
The TOF ranging system that this embodiment provided, through set up a convergent lens in front of the receiver, the light signal that the target object reflected is received by the receiver after this convergent lens assembles, the area of this convergent lens is greater than the area of receiver, make there can be more light signals in the light signal that the target object reflected by the receiver to be received, the receiving aperture of receiver has been improved, thereby the light signal intensity of the target object reflection that the receiver received has been improved, TOF ranging system's signal-to-noise ratio has further been improved, TOF ranging system's measuring result's accuracy has been improved.
The embodiment of the invention provides a TOF ranging system. FIG. 11 is a block diagram of a TOF ranging system provided in accordance with an embodiment of the present invention; FIG. 12 is a block diagram of a TOF ranging system provided in accordance with 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.
As shown in fig. 10, in the TOF ranging system, the receiver 12 receives the light signal converged by the second converging lens 91 and also receives a background light, the background light appears randomly, and the receiver 12 may receive the background light in various directions, the background light not only affects the intensity of the light signal reflected by the target object received by the receiver 12, but also brings large noise, and greatly affects the measurement result of the TOF ranging system, so as to reduce the measurement accuracy of the TOF ranging system, and in order to solve the problem, the embodiment limits the intensity of the background light received by the receiver 12 in the following two ways, which is described in detail below:
the first method comprises the following steps:
the second optical signal processing device 142 includes an optical filter, as shown in fig. 11, the optical filter 92 is located on a side of the second converging lens 91 close to the receiver 12, or, as shown in fig. 12, the optical filter 92 is located on a side of the second converging lens 91 far from the receiver 12, as shown in fig. 11 or 12, the optical filter 92 can filter part of the background light and let the optical signal reflected by the target object 15 pass through, so as to prevent excessive background light from being received by the receiver 12, and improve the signal-to-noise ratio of the received optical signal.
In addition, the transmission wavelength of the filter 92 is determined according to the wavelength of the optical signal emitted from the light emitter 11. For example, the wavelength of the optical signal emitted from the light emitter 11 is 850nm, and the transmission wavelength of the filter 92 may be set in the range of 830nm to 870 nm.
And the second method comprises the following steps:
the optical system 14 further includes a second diaphragm, as shown in fig. 13, a second diaphragm 131 is located between the receiver 12 and the second converging lens 91 for blocking the background light in the preset direction. Since the background light is randomly generated and the receiver 12 may receive the background light in all directions, but the direction of the light signal reflected by the target object 15 is more concentrated, as shown in fig. 13, the light signal reflected by the target object 15 is concentrated in the solid angle Ω 1, the present embodiment may block the background light in a predetermined direction, which may be the direction of the light signal reflected by the target object 15, through the second diaphragm 131, so as to prevent the excessive background light from being received by the receiver 12. In addition, the amount of the background light blocked by the second diaphragm 131 is adjusted by adjusting the size of the second diaphragm 131, and the preset direction can also be adjusted by adjusting the placing angle of the second diaphragm 131.
In the TOF ranging system provided by the embodiment, the optical filter is arranged on one side of the second converging lens close to the receiver or one side of the second converging lens far from the receiver, and the optical filter can filter part of background light and allow an optical signal reflected by a target object to pass through, so that excessive background light is prevented from being received by the receiver, and the signal-to-noise ratio of the optical signal received by the receiver is improved; in addition, the second diaphragm is arranged between the receiver and the second converging lens and used for blocking the background light in the preset direction, and the excessive background light can be prevented from being received by the receiver, so that the influence of the background light on the intensity of the light signal reflected by the target object received by the receiver is reduced, meanwhile, the larger noise caused by the background light is avoided, the influence of the background light on the measurement result of the TOF ranging system is reduced, and the accuracy of the measurement result of the TOF ranging system is further improved.
The embodiment of the invention provides a TOF ranging system. Fig. 15 is a structural diagram of a TOF ranging system according to an embodiment of the present invention. On the basis of the above-described embodiment, the controller 13 shown in fig. 1 can not only determine the distance between the target object 15 and the TOF ranging system based on the light signal emitted by the light emitter 11 and the light signal reflected by the target object 15 received by the receiver 12, but also drive the light emitter 11 to emit a modulated light signal at a preset period, and at the same time, the controller 13 can also control the intensity of the light signal emitted by the light emitter 11. As shown in fig. 14, a driving circuit is disposed inside the controller 13, the driving circuit disposed inside the controller 13 includes a driving source 151 and a control circuit 152, the driving source 151 is connected to an external power source 150, the external power source 150 provides a constant voltage to drive the driving source 151, so that the driving source 151 can be used as a constant current source, where the constant current source is a current with a maximum current of, for example, 200mA and a minimum current of 0, the control circuit 152 can include a register inside the controller 13, and the register can perform Pulse Width Modulation (PWM) on the constant current source, so that the current flowing to the light emitter 11 is a Pulse current, and specifically, the control circuit 152 can control parameters such as a start time, a duration, and a duty ratio of a PWM waveform. The pulse current controlled by the control circuit 152 flows to the light emitter 11, and the light emitter 11 emits a light signal when the pulse current is at a high level, and the light emitter 11 does not emit a light signal when the pulse current is at a low level, that is, the controller 13 controls the light emitter 11 to emit light by on-off modulation. Since the maximum current of the constant current source is fixed, the light cannot be further increased, so that the light power output from the light emitter 11 shown in fig. 14 is fixed, and a higher light power cannot be output. The Light emitter 11 may be a Light Emitting Diode (LED) or a Laser Diode (LD).
In view of the above problem, the present embodiment improves the circuit shown in fig. 14, and as shown in fig. 15, on the basis of fig. 14, the TOF ranging system further includes: and the external driving circuit 16, wherein the external driving circuit 16 is respectively connected with the controller 13 and the light emitter 11 and is used for increasing the output power of the light emitter 11. Specifically, the external driving circuit 16 includes an external driving power source 161, the external driving power source 161 is used for driving the light emitter 11, the voltage provided by the external driving power source 161 is greater than the voltage provided by the external power source 150, the controller 13 outputs a control signal I, which is the pulse current flowing to the light emitter 11 in fig. 14, unlike fig. 14, the control signal I does not directly control the light emitter 11, but controls the external driving circuit 16.
As shown in fig. 15, the external drive circuit 16 includes a switching element 162, and the light emitter 11 is connected to the switching element 162; the control signal I output by the controller 13 controls the switch element 162, when the control signal I output by the controller 13 is at a high level, the switch element 162 is turned on, when the control signal I output by the controller 13 is at a low level, the switch element 162 is turned off, that is, when the control signal I output by the controller 13 is at a high level, the external driving circuit 16 is turned on, and when the control signal I output by the controller 13 is at a low level, the external driving circuit 16 is turned off, thereby realizing the control of the external driving circuit 16 by using the control signal I output by the controller 13. In the present embodiment, the switching element 162 includes at least one of: the light emitter comprises a metal oxide semiconductor field effect transistor, a triode and a device for modulating the amplitude of the light emitted by the light emitter. Optionally, the switching element 162 is a Metal Oxide Semiconductor Field Effect Transistor (MOSFET).
In addition, the external drive circuit 16 further includes a resistor 163, and the resistor 163 is connected to the switching element 162; the control of the switching element 162 by the control signal I to control the external driving circuit 16 includes: the control signal I is applied to the end 17 of the resistor 163 connected to the switching element 162, and the control signal I is used to control the switching element 162 to open or close, thereby controlling the external driving circuit 16. Specifically, after the control signal I, i.e., the pulse current I output by the controller 13, flows through the resistor 163, a divided voltage 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 determined according to the following formula (8):
U＝I*R (8)
when the pulse current I outputted from the controller 13 is at a high level, the divided voltage U is larger than the on voltage of the MOS FET to turn on the MOS FET, and the external drive circuit 16 is turned on, so that the light emitter 11 emits light under the drive of the external drive power source 161.
When the pulse current I output by the controller 13 is at a low level, the divided voltage U formed by the pulse current I on the resistor 163 is smaller than the on voltage of the MOS FET, the MOS FET is not turned on, the external driving circuit 16 is not turned on, and the light emitter 11 does not emit light, that is, the pulse current I output by the controller 13 controls the external driving circuit 16 by controlling the on or off of the switching element 162, so that the light emitter 11 performs on-off modulation light emission under the driving of the external driving power source 161. Because the voltage provided by the external driving power source 161 is greater than the voltage provided by the external power source 150, the light emitter 11 can output higher optical power under the driving of the external driving power source 161, so that the signal-to-noise ratio of the optical signal received by the receiver 12 is improved, the power of the optical signal received by the receiver 12 is improved, the ranging range of the TOF ranging system is larger, and the measurement result is more accurate.
In addition, in other embodiments, the voltage provided by the external driving power source 161 can be adjusted according to the current-voltage characteristic of the light emitter 11, so that the light emitter 11 can achieve the maximum output power without being affected by the driving capability of the driving circuit disposed inside the controller 13.
As shown in fig. 16, the horizontal axis represents the magnitude of the driving current I flowing through the light emitter 11, and the vertical axis represents the ratio of the light emission intensity of the light emitter 11 driven by the driving current I to Ie, where Ie represents the nominal light emission power of the light emitter 11 driven by 100 mA. For example, the highest current of the pulse current I outputted from the controller 13 is fixed to 200mA, the maximum value of the pulse current I flowing through the light emitter 11 is 200mA in fig. 14, and as can be seen from fig. 16, when the driving current I is 200mA, the light emission intensity of the light emitter 11 is Ie which is 2 times. As shown in fig. 15, the voltage supplied from the external driving power source 161 is fixed to 2.4V, the driving current through the light emitter 11 is 1A, and as can be seen from fig. 16, when the driving current I is 1A, the light emission intensity of the light emitter 11 is Ie which is 7 times, which is equivalent to the light emission power of the light emitter 11 being increased by 3.5 times.
The TOF ranging system provided by the embodiment can increase the output power of the light emitter by adding an external driving circuit in the TOF ranging system, and the external driving circuit can increase the output power of the light emitter by using an external power supply driving power supply, specifically, the external driving circuit comprises an external driving power supply and a switching element, the light emitter is driven by the external driving power supply, the control signal output by the controller does not directly control the light emitter, but controls the opening or closing of the switch element to realize the control of the external driving circuit, so that the light emitter performs switch modulation light emission under the driving of the external driving power supply, since the voltage supplied by the external driving power source drives the light emitter to output a light signal with higher optical power, therefore, the signal-to-noise ratio of the optical signal received by the receiver is improved, the optical power of the optical signal received by the receiver is improved, and the ranging range of the TOF ranging system is larger and the measuring result is more accurate.
The embodiment of the invention provides a TOF ranging system. Fig. 17 is a structural diagram of a TOF ranging system according to another embodiment of the present invention. As shown in fig. 17, the TOF ranging system includes a light emitter 11, a receiver 12, a controller 13, and an external driving circuit 16, the light emitter 11 being for emitting a light signal; the receiver 12 is used for receiving the 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 light signal emitted by the light emitter 11 and the light signal reflected by the target object received by the receiver 12; the external driving circuit 16 is used to increase the output power of the light emitter 11.
As shown in fig. 15, the external drive circuit 16 includes an external drive power supply 161, and the external drive power supply 161 is used to drive the light emitter 11. The controller 13 is connected to the external driving circuit 16, and the controller 13 is further configured to output a control signal to control the external driving circuit 16.
The external drive circuit 16 includes a switching element 162, and the light emitter 11 is connected to the switching element 162; the controller 13 is specifically configured to output a control signal, and control the switching element 162 by using the control signal to realize control of the external driving circuit 16.
In addition, the external drive circuit 16 further includes a resistor 163, and the resistor 163 is connected to the switching element 162; the control of the switching element 162 by the control signal to control the external driving circuit 16 includes: the control signal is applied to one end of the resistor 163 connected to the switching element 162, and the control signal controls the switching element 162 to be opened or closed, thereby controlling the external driving circuit 16.
Optionally, the switching element 162 includes at least one of: the light emitter comprises a metal oxide semiconductor field effect transistor, a triode and a device for modulating the amplitude of the light emitted by the light emitter.
The controller 13 is specifically configured to determine a phase difference between the light signal emitted by the light emitter 11 and the light signal reflected by the target object received by the receiver 12, and determine a distance between the target object and the ranging system according to the phase difference.
The specific principle and implementation of the external driving circuit 16 provided by the embodiment of the present invention are similar to those of the embodiment shown in fig. 15, and are not described herein again.
The embodiment of the invention provides a movable platform, which comprises the TOF ranging system. The movable platform includes an unmanned aerial vehicle.
The embodiment of the invention provides an unmanned aerial vehicle. Fig. 18 is a block diagram of an unmanned aerial vehicle according to an embodiment of the present invention, and as shown in fig. 18, an unmanned aerial vehicle 100 includes: a fuselage, a power system and a control device 118, the power system including at least one of: a motor 107, a propeller 106 and an electronic speed regulator 117, wherein a power system is arranged on the airframe and used for providing flight power; the control device 118 may specifically be a flight controller.
In addition, as shown in fig. 18, the unmanned aerial vehicle 100 further includes: the sensing system 108, the communication system 110, the supporting device 102, the photographing device 104, and the TOF ranging system 119, wherein the sensing system is configured to detect a speed, an acceleration, an attitude parameter (a pitch angle, a roll angle, a yaw angle, etc.) of the unmanned aerial vehicle, or an attitude parameter (a pitch angle, a roll angle, a yaw angle, etc.) of a pan-tilt head, and the like, the supporting device 102 may specifically be the pan-tilt head, the communication system 110 may specifically include a receiver and/or a transmitter, the receiver is configured to receive a wireless signal transmitted by the antenna 114 of the ground station 112, the communication system 110 may also transmit a wireless signal (e.g., image information, status information of the unmanned aerial vehicle, etc.) to the ground station, and 116 represents an electromagnetic wave generated during a communication process between the communication system 110 and the antenna 114.
The specific principle and implementation of the TOF ranging system 119 according to the embodiment of the present invention are similar to those of the TOF ranging system according to the above embodiment, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (32)
1. A TOF ranging system comprising: a light emitter, a receiver, a controller, and an optical system, wherein,
a light emitter for emitting a light signal;
a receiver for receiving an optical signal reflected by a target object;
the controller is used for determining the distance between the target object and the ranging system according to the optical signal emitted by the light emitter and the optical signal received by the receiver and reflected by the target object;
the optical system includes at least one of:
the first optical signal processing device is used for increasing the radiation power density of the optical signal emitted by the light emitter;
and the second optical signal processing device is used for processing the optical signal reflected by the target object so as to improve the intensity of the optical signal received by the receiver and reflected by the target object.
2. The system according to claim 1, wherein the first optical signal processing means is configured to reduce a divergence angle of the optical signal emitted by the light emitter, so as to increase a radiation power density of the optical signal emitted by the light emitter.
3. The system of claim 1 or 2, wherein the first optical signal processing means comprises at least one of a first converging lens, a mirror, and a first diaphragm.
4. The system of claim 3, wherein the position of the light emitter is determined according to a back focus of the first converging lens.
5. The system of claim 4, wherein the light emitter is located at a back focal point of the first converging lens.
6. The system of any of claims 3-5, wherein the mirror surface of the reflector is a parabolic surface, the parabolic surface at least partially surrounding the light emitter.
7. The system of claim 6, wherein the curvature of the paraboloid is determined according to at least one of the following parameters:
the size of the light emitter, the energy distribution of the light signal emitted by the light emitter.
8. The system of any one of claims 3-7, wherein the first diaphragm at least partially surrounds the light emitter, and an axis of the light-passing hole of the first diaphragm is parallel to an optical axis of the light emitter.
9. The system according to any of claims 1-8, wherein the second optical signal processing means comprises a second converging lens, the second converging lens being specifically configured to increase a receiving aperture of the receiver to increase an intensity of the optical signal reflected by the target object received by the receiver.
10. The system of claim 9, wherein the position of the receiver is determined based on a back focus of the second converging lens.
11. The system of claim 10, wherein the receiver is located at a back focal point of the second converging lens.
12. The system of any of claims 9-11, wherein the second converging lens has an area greater than an area of the receiver.
13. The system according to any one of claims 9-12, wherein the second optical signal processing device further comprises an optical filter, the optical filter is located on a side of the second converging lens close to the receiver or a side of the second converging lens far from the receiver, and is used for filtering out background light.
14. The system of claim 13, wherein the transmission wavelength of the filter is determined according to the wavelength of the light signal emitted by the light emitter.
15. The system according to any one of claims 9-14, wherein said second optical signal processing means further comprises a second optical stop, said second optical stop being located between said receiver and said second converging lens for blocking background light of a predetermined direction.
16. The system of claim 3 or 9, wherein the converging lens comprises at least one of:
plano-convex lenses, biconvex lenses, lens combinations.
17. The system of any one of claims 1-16, further comprising: an external drive circuit;
wherein, the external drive circuit is connected with the controller and the light emitter and is used for increasing the output power of the light emitter.
18. The system of claim 17, wherein the external drive circuit comprises an external drive power supply;
the external driving power supply is used for driving the light emitter.
19. The system of claim 17 or 18, wherein the controller is further configured to output a control signal to control the external driving circuit.
20. The system of claim 19, wherein the external drive circuit comprises a switching element, the light emitter being connected to the switching element;
the controller is specifically configured to output a control signal, and control the switching element with the control signal to implement control of the external driving circuit.
21. The system of claim 20, wherein the external drive circuit further comprises a resistor connected to the switching element;
the controlling the switching element with the control signal to achieve the control of the external driving circuit includes:
the control signal is loaded at one end of the resistor connected with the switch element, and the switch element is controlled to be opened or closed by the control signal so as to control the external drive circuit.
22. The system of claim 20 or 21, wherein the switching element comprises at least one of:
the light emitter comprises a metal oxide semiconductor field effect transistor, a triode and a device for modulating the amplitude of the light emitted by the light emitter.
23. The system according to any of claims 1-22, wherein the controller is specifically configured to determine a phase difference between the light signal emitted by the light emitter and the light signal reflected by the target object received by the receiver, and to determine the distance between the target object and the ranging system based on the phase difference.
24. A TOF ranging system comprising: a light emitter, a receiver, a controller, and an external drive circuit, wherein,
a light emitter for emitting a light signal;
a receiver for receiving an optical signal reflected by a target object;
the controller is used for determining the distance between the target object and the ranging system according to the optical signal emitted by the light emitter and the optical signal received by the receiver and reflected by the target object;
the external driving circuit is used for increasing the output power of the light emitter.
25. The system of claim 24, wherein the external drive circuit comprises an external drive power supply;
the external driving power supply is used for driving the light emitter.
26. The system of claim 24 or 25, wherein the controller is further configured to output a control signal to control the external driving circuit.
27. The system of claim 26, wherein the external drive circuit comprises a switching element, the light emitter being connected to the switching element;
the controller is specifically configured to output a control signal, and control the switching element with the control signal to implement control of the external driving circuit.
28. The system of claim 27, wherein the external drive circuit further comprises a resistor connected to the switching element;
the controlling the switching element with the control signal to achieve the control of the external driving circuit includes:
the control signal is loaded at one end of the resistor connected with the switch element, and the switch element is controlled to be opened or closed by the control signal so as to control the external drive circuit.
29. The system of claim 27 or 28, wherein the switching element comprises at least one of:
the light emitter comprises a metal oxide semiconductor field effect transistor, a triode and a device for modulating the amplitude of the light emitted by the light emitter.
30. The system according to any of claims 24-29, wherein the controller is configured to determine a phase difference between the light signal emitted by the light emitter and the light signal reflected by the target object received by the receiver, and to determine the distance between the target object and the ranging system based on the phase difference.
31. A movable platform, comprising: the TOF ranging system of any one of claims 1 to 23 or the TOF ranging system of any one of claims 24 to 30.
32. The movable platform of claim 31, wherein the movable platform comprises an unmanned aerial vehicle.
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| PCT/CN2017/072176 WO2018133089A1 (en) | 2017-01-23 | 2017-01-23 | Tof distance measurement system and movable platform |
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| US11675076B2 (en) | 2017-08-31 | 2023-06-13 | SZ DJI Technology Co., Ltd. | Solid state light detection and ranging (LIDAR) system and system and method for improving solid state light detection and ranging (LIDAR) resolution |
| CN109490903A (en) * | 2017-09-11 | 2019-03-19 | 日立乐金光科技株式会社 | Distance-measuring device |
| CN110383105A (en) * | 2018-02-13 | 2019-10-25 | 深圳市大疆创新科技有限公司 | Range-measurement system, automation equipment and distance measuring method |
| CN110896663A (en) * | 2018-05-31 | 2020-03-20 | 深圳市大疆创新科技有限公司 | Infrared emission angle adjusting structure, infrared emission module and remote control device |
| CN108965579A (en) * | 2018-06-05 | 2018-12-07 | Oppo广东移动通信有限公司 | Method and device for realizing distance measurement based on TOF camera, terminal and storage medium |
| CN111684712A (en) * | 2019-01-09 | 2020-09-18 | 深圳市大疆创新科技有限公司 | Motor control method and controller, distance measuring sensor and mobile platform thereof |
| CN109975783A (en) * | 2019-03-19 | 2019-07-05 | 深圳市速腾聚创科技有限公司 | Laser radar |
| CN109975783B (en) * | 2019-03-19 | 2020-04-28 | 深圳市速腾聚创科技有限公司 | Laser radar |
| CN110082722A (en) * | 2019-04-29 | 2019-08-02 | 天津大学 | Flight light source localization method under the conditions of indoor solid obstacle based on white light LEDs |
| CN110082722B (en) * | 2019-04-29 | 2022-06-10 | 天津大学 | Method for positioning flying light source under indoor fixed obstacle condition based on white light LED |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018133089A1 (en) | 2018-07-26 |
| CN107076853B (en) | 2019-02-19 |
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