阅读说明：本技术 全波形多脉冲光学测距仪仪器 (Full-waveform multi-pulse optical distance measuring instrument ) 是由 皮埃尔·奥利维尔 于 2018-10-03 设计创作，主要内容包括：提供了一种用于根据多个扫描方向对区域进行光学扫描的方法,包括：接收定义了多个扫描方向的扫描顺序的交错序列；根据交错序列顺序地传播光脉冲；检测与传播的光脉冲在存在于该区域内的至少一个对象上的反射对应的脉冲回波；以及输出检测到的脉冲回波。还描述了一种用于对光回波的时间偏移进行校正的计算机实施的方法。(There is provided a method for optically scanning an area according to a plurality of scanning directions, comprising: receiving an interleaved sequence defining a scan order for a plurality of scan directions; propagating the optical pulses sequentially according to an interleaving sequence; detecting a pulse echo corresponding to a reflection of the propagated light pulse on at least one object present within the region; and outputting the detected pulse echo. A computer-implemented method for correcting a time offset of an optical echo is also described.)

1. A method of optically scanning an area according to a plurality of scan directions, comprising:

receiving an interleaving sequence, the interleaving sequence defining a scanning order of the plurality of scanning directions;

sequentially propagating the optical pulses according to the interleaved sequence;

detecting a pulse echo corresponding to a reflection of the propagated light pulse on at least one object present within the region; and

and outputting the detected pulse echo.

2. The method of claim 1, wherein receiving the interleaved sequence comprises:

receiving the plurality of scanning directions; and

generating the interleaved sequence.

3. The method of claim 2, wherein the receiving the plurality of scan directions comprises:

receiving a total scanning range;

receiving one of a plurality of scan directions and a field of view for each scan direction; and

the scan direction is determined.

4. The method of claim 2 or 3, wherein the generating the interleaved sequence comprises:

dividing the plurality of scan directions into a plurality of directional sub-components; and is

The interleaved sequence is formed using the directional subunits.

5. The method of any of claims 1-4, further comprising repeating:

sequentially propagating the light pulses according to the interleaved sequence;

said detecting a pulse echo corresponding to a reflection of the propagated light pulse on at least one object present within the region; and

the outputting outputs the detected pulse echo.

6. A system for optically scanning an area according to a plurality of scanning directions, comprising:

a controller for receiving an interleaved sequence defining a scan order for the plurality of scan directions;

a pulsed light source for sequentially propagating light pulses according to the interleaving sequence;

a photodetector for detecting a pulse echo corresponding to a reflection of the propagated light pulse on at least one object present within the area, and outputting the detected pulse echo.

7. The system of claim 6, wherein the controller is configured to:

receiving the plurality of scanning directions; and is

Generating the interleaved sequence.

8. The system of claim 7, wherein the controller is configured to:

receiving a total scanning range;

receiving one of a plurality of scan directions and a field of view for each scan direction; and is

The scan direction is determined.

9. The system of claim 7 or 8, wherein the controller is configured to:

dividing the plurality of scan directions into a plurality of directional sub-components; and is

The interleaved sequence is formed using the directional subunits.

10. The system of any of claims 6 to 9, wherein the system is further configured to repeat:

sequentially propagating the light pulses according to the interleaved sequence;

said detecting a pulse echo corresponding to a reflection of the propagated light pulse on at least one object present within the region; and

the outputting outputs the detected pulse echo.

11. A method for optically scanning a region comprising an object, comprising:

emitting a first light pulse at a first emission point in time to investigate the region;

detecting a first echo associated with reflection of the first light pulse on the object, the first echo corresponding to a first intensity of the detected light as a function of time from a first point in time;

emitting a second light pulse at a second point in time different from the first point in time;

detecting a second echo associated with reflection of the second light pulse on the object, the second echo corresponding to a second intensity of the detected light as a function of time from the second point in time;

receiving a displacement speed;

determining a correction time using the displacement velocity, the first and second points in time, and a speed of light;

correcting the second echo using the correction time, thereby obtaining a corrected echo; and

the corrected echo is output.

12. The method of claim 11, wherein receiving the displacement velocity comprises measuring the displacement velocity.

13. The method of claim 11, wherein receiving the displacement velocity comprises receiving a velocity of a vehicle on which a pulsed light source and a photodetector are mounted, the pulsed light source for emitting the first and second light pulses, and the photodetector for detecting the first and second echoes.

14. The method of claim 13, wherein said receiving a speed of a vehicle comprises measuring a speed of a vehicle.

15. The method of any of claims 11 to 14, wherein the correcting for the second echo comprises temporally shifting the second intensity of the detected light as a function of time by an amount corresponding to the correction time.

16. A system for optically scanning a region including an object, comprising:

a pulsed light source for emitting a first light pulse at a first point in time of emission to interrogate the region and a second light pulse at a second point in time different from the first point in time;

a photodetector for detecting a first echo associated with reflection of the first light pulse on the object and a second echo associated with reflection of the second light pulse on the object, the first echo corresponding to a first intensity of the detected light as a function of time from the first point in time and the second echo corresponding to a second intensity of the detected light as a function of time from the second point in time; and

a correction unit for:

receiving a displacement speed;

determining a correction time using the displacement velocity, the first and second points in time, and a speed of light;

correcting the second echo using the correction time, thereby obtaining a corrected echo; and is

The corrected echo is output.

17. The system of claim 16, further comprising a device for measuring the displacement velocity.

18. The system of claim 16, wherein the correction unit is configured to receive a speed of a vehicle on which the pulsed light source and the photodetector are mounted.

19. The system of claim 18, further comprising a device for measuring the displacement velocity.

20. The system according to any one of claims 16 to 19, wherein the correction unit is configured to temporally shift the second intensity of the detected light as a function of time by an amount corresponding to the correction time.

21. A computer-implemented method for correcting time-shift of light echoes, comprising:

receiving a first echo associated with a reflection of a first light pulse on an object, the first light pulse being emitted at a first point in time of emission to interrogate a region of interest, the first echo corresponding to a first intensity of detected light as a function of time from the first point in time;

receiving a second echo associated with reflection of a second light pulse on the object, the second light pulse being transmitted at a second point in time different from the first point in time, the second echo corresponding to a second intensity of the detected light as a function of time from the second point in time;

receiving a displacement speed;

determining a correction time using the displacement velocity, the first and second points in time, and a speed of light;

correcting the second echo using the correction time, thereby obtaining a corrected echo; and

the corrected echo is output.

22. The method of claim 21, wherein the receiving the displacement velocity comprises measuring the displacement velocity.

23. The method of claim 21, wherein receiving the displacement velocity comprises receiving a velocity of a vehicle on which a pulsed light source and a photodetector are mounted, the pulsed light source for emitting the first and second light pulses, and the photodetector for detecting the first and second echoes.

24. The method of claim 23, wherein receiving the speed of the vehicle comprises measuring the speed of the vehicle.

25. The method of any of claims 21 to 24, wherein the correcting for the second echo comprises temporally shifting the second intensity of the detected light as a function of time by an amount corresponding to the correction time.

26. A system for correcting time-shift of light echoes, comprising:

a correction determination module configured to:

receiving a first echo associated with a reflection of a first light pulse on an object, the first light pulse being emitted at a first point in time of emission to interrogate a region of interest, the first echo corresponding to a first intensity of detected light as a function of time from the first point in time;

receiving a second echo associated with reflection of a second light pulse on the object, the second light pulse being transmitted at a second point in time different from the first point in time, the second echo corresponding to a second intensity of the detected light as a function of time from the second point in time; and

receiving a displacement speed; and is

Determining a correction time using the displacement velocity, the first and second points in time, and a speed of light; and

a correction application module configured to:

correcting the second echo using the correction time, thereby obtaining a corrected echo; and is

The corrected echo is output.

27. The system of claim 26, further comprising a device for measuring the displacement velocity.

28. The system of claim 26, wherein the correction determination module is configured to receive a speed of a vehicle on which a pulsed light source and a photodetector are mounted, the pulsed light source to transmit the first and second light pulses, and the photodetector to detect the first and second echoes.

29. The system of claim 28, further comprising a device for measuring the displacement velocity.

30. The system of any one of claims 26 to 29, wherein the correction application module is configured to temporally translate the second intensity of the detected light as a function of time by an amount corresponding to the correction time.